Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 115 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 115 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2095331.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2095331.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 115 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 010137,6214.918,-902.672,34,1.3,34,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.030,-0.219

_SM_DEPTHo 1.12 KALMAN_X -171582.5,717.0,357.1,-33541.9,-12998.3

_SM_ANGLEo -57.2 KALMAN_Y -4407.8,-2875.8,-1153.4,170235.0,35116.4

GPS2 010614,6214.966,-902.718,10,1.4,15,-9.5 MHEAD_RNG_PITCHd_Wd 190.7,52731,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.023467 ALTIM_BOTTOM_PING 375.0,81.2

SM_CCo 12265,121.55,0.622,0,0,509,557.32 _24V_AH 23.7,21.818

SM_GC 0.94,0.00,0.00,121.55,0.000,0.000,0.622,70,2313,509,-10.25,0.37,557.32 _10V_AH 10.2,10.988

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28536,590

TT8_MAMPS 0.023777 CAP_FILE_SIZE 99523,0

HUMID 1847 CFSIZE 260165632,251183104

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 2 GPS 010708,043500,6215.794,-902.952,28,3.1,47,-9.5

ALTIM_TOP_PING 18.8,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 101.60 SBE_CT 432 24 246.18

Roll_motor 128 78 237.38 SBE_O2 400 19 180.57

VBD_pump_during_apogee 394 928 8673.29 WL_BB2F 483 105 1204.19

VBD_pump_during_surface 121 622 1791.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.03 nil 0 0 0.00

Iridium_during_connect 28 160 106.96 nil 0 0 0.00

Iridium_during_xfer 121 223 641.25

Transponder_ping 3 420 37.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.99

TT8 1112 19 224.63

LPSleep 9148 2 204.35

TT8_Active 675 19 136.52

TT8_Sampling 1344 39 545.68

TT8_CF8 389 45 182.15

TT8_Kalman 33 81 27.83

Analog_circuits 1380 12 168.93

GPS_charging 0 0 0.00

Compass 1311 8 106.98

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.90 0.000 2 0.000 0.000 70 2308 2900

150 -0.85 -146.6 3.1 -2.4 6 180 11.35 2.72 -12.85 0.000 4 0.166 0.074 2109 879 3380

265 -0.70 -146.6 17.5 -9.2 11 270 0.20 2.65 0.00 0.000 6 0.092 0.054 2148 2307 3381

588 -0.63 -146.6 45.7 -8.8 27 593 0.00 2.67 0.00 0.000 4 0.000 0.063 2148 880 3381

628 -0.63 -146.6 49.5 -8.7 29 633 0.00 2.62 0.00 0.000 6 0.000 0.054 2148 2302 3381

956 -0.57 -146.6 74.3 -6.1 45 958 0.12 0.00 0.00 0.000 6 0.094 0.000 2173 2302 3381

1265 -0.57 -146.6 89.3 -4.8 60 1270 0.00 2.67 0.00 0.000 4 0.000 0.064 2172 877 3381

1306 -0.63 -146.6 91.3 -5.3 62 1311 0.00 2.60 0.00 0.000 6 0.000 0.054 2173 2302 3381

1634 -0.63 -146.6 107.5 -5.3 78 1638 0.00 2.67 0.00 0.000 4 0.000 0.064 2173 876 3381

1667 -0.68 -146.6 109.4 -5.5 79 1673 0.00 2.62 0.00 0.000 6 0.000 0.056 2173 2303 3381

1984 -0.68 -146.6 127.5 -6.1 95 1986 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2303 3381

2293 -0.68 -146.6 145.7 -5.9 110 2297 0.00 2.67 0.00 0.000 4 0.000 0.065 2173 874 3381

2356 -0.74 -146.6 149.4 -5.9 113 2361 0.15 2.62 0.00 0.000 6 0.042 0.055 2124 2300 3381

2685 -0.62 -146.6 177.0 -9.0 129 2687 0.20 0.00 0.00 0.000 6 0.084 0.000 2165 2301 3381

2992 -0.62 -146.6 199.1 -7.0 144 2996 0.00 2.65 0.00 0.000 4 0.000 0.067 2165 880 3381

3064 -0.62 -146.6 204.4 -7.2 147 3068 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2304 3381

3380 -0.62 -146.6 228.6 -8.1 162 3384 0.00 2.65 0.00 0.000 4 0.000 0.067 2165 879 3381

3435 -0.66 -146.6 233.1 -8.2 164 3441 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2305 3381

3751 -0.66 -146.6 258.6 -8.2 180 3755 0.00 2.67 0.00 0.000 4 0.000 0.067 2165 877 3381

3784 -0.71 -146.6 261.5 -8.8 181 3790 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2303 3381

4099 -0.71 -146.6 288.1 -8.3 197 4104 0.00 2.67 0.00 0.000 4 0.000 0.067 2165 878 3381

4139 -0.71 -146.6 291.5 -8.8 199 4143 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2305 3381

4465 -0.71 -146.6 320.4 -8.8 215 4470 0.00 2.67 0.00 0.000 4 0.000 0.069 2165 874 3381

4498 -0.76 -146.6 323.4 -8.6 216 4505 0.15 2.62 0.00 0.000 6 0.043 0.056 2117 2300 3381

4815 -0.63 -146.6 356.8 -11.0 232 4820 0.20 2.67 0.00 0.000 4 0.084 0.069 2160 877 3381

4855 -0.67 -146.6 361.0 -9.9 234 4859 0.00 2.62 0.00 0.000 6 0.000 0.056 2160 2301 3381

5181 -0.67 -146.6 393.7 -10.1 250 5182 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2299 3381

5490 -0.67 -146.6 421.8 -8.7 265 5495 0.00 2.65 0.00 0.000 4 0.000 0.068 2160 880 3381

5591 -0.67 -146.6 430.2 -7.8 269 5597 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2305 3380

5842 end dive: BOTTOM_OBSTACLE_DETECTED

state 5842 begin apogee

5850 -0.31 0.0 447.2 6.7 282 5984 0.35 0.00 127.70 0.929 6 0.091 0.000 2231 2196 2781

5985 end apogee: CONTROL_FINISHED_OK

state 5985 begin climb

5988 0.85 146.6 452.7 0.0 289 6124 1.12 2.80 126.43 0.910 4 0.059 0.077 2482 3608 2183

6237 0.90 194.4 443.4 4.7 300 6284 0.00 2.65 41.78 0.887 6 0.000 0.061 2482 2199 1988

6596 1.00 219.7 423.8 5.3 318 6621 0.17 0.00 22.95 0.863 6 0.045 0.000 2531 2199 1885

6923 0.93 219.7 397.5 8.2 334 6928 0.15 2.70 0.00 0.000 4 0.087 0.071 2496 777 1884

6956 0.93 219.7 394.9 7.5 335 6963 0.00 2.62 0.00 0.000 6 0.000 0.056 2496 2198 1883

7272 1.01 240.8 377.5 5.4 351 7297 0.10 2.78 19.02 0.845 4 0.054 0.078 2529 3613 1800

7326 0.96 240.8 373.7 8.1 353 7330 0.00 2.65 0.00 0.000 6 0.000 0.063 2529 2201 1799

7641 0.96 240.8 348.6 8.8 368 7642 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2202 1799

7950 0.96 240.8 319.2 9.4 383 7955 0.00 2.70 0.00 0.000 4 0.000 0.077 2529 3622 1799

8001 0.92 240.8 314.0 10.5 385 8006 0.15 2.65 0.00 0.000 6 0.087 0.061 2499 2200 1799

8317 0.97 240.8 288.5 7.7 400 8318 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2200 1798

8626 1.03 240.8 268.4 6.3 415 8631 0.12 2.70 0.00 0.000 4 0.048 0.075 2535 3616 1798

8654 0.98 240.8 266.2 8.7 416 8659 0.00 2.62 0.00 0.000 6 0.000 0.060 2535 2197 1799

8970 0.94 240.8 240.1 8.6 431 8972 0.15 0.00 0.00 0.000 6 0.086 0.000 2504 2197 1798

9280 0.98 240.8 219.4 6.2 446 9284 0.00 2.70 0.00 0.000 4 0.000 0.076 2504 3621 1798

9312 0.98 240.8 217.1 6.6 447 9318 0.00 2.62 0.00 0.000 6 0.000 0.059 2504 2199 1798

9629 1.08 292.3 200.7 4.6 463 9679 0.15 2.75 43.28 0.765 4 0.043 0.067 2548 791 1588

9692 1.02 292.3 197.0 6.6 466 9697 0.15 2.62 0.00 0.000 6 0.081 0.054 2517 2201 1587

10019 1.08 306.1 179.8 5.6 482 10040 0.00 2.75 12.85 0.700 4 0.000 0.074 2518 3607 1533

10064 1.13 306.1 177.0 6.7 484 10069 0.12 2.62 0.00 0.000 6 0.048 0.060 2557 2200 1533

10391 1.08 306.1 150.9 8.2 500 10396 0.12 2.65 0.00 0.000 4 0.084 0.067 2531 783 1533

10414 1.04 306.1 148.9 8.5 501 10418 0.00 2.60 0.00 0.000 6 0.000 0.052 2531 2204 1533

10735 1.04 306.1 124.4 7.4 517 10739 0.00 2.67 0.00 0.000 4 0.000 0.074 2531 3614 1533

10774 1.04 306.1 121.1 8.6 519 10779 0.00 2.62 0.00 0.000 6 0.000 0.060 2531 2198 1533

11102 1.04 306.1 96.2 7.9 535 11103 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2199 1533

11411 1.04 306.1 70.6 8.7 550 11412 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2198 1533

11720 1.04 306.1 42.7 8.6 565 11725 0.00 2.67 0.00 0.000 4 0.000 0.074 2531 3613 1533

11769 1.04 306.1 38.2 8.7 567 11774 0.00 2.62 0.00 0.000 6 0.000 0.058 2531 2197 1533

12086 1.04 306.1 12.5 7.6 582 12090 0.00 2.65 0.00 0.000 4 0.000 0.067 2531 779 1533

12130 1.04 306.1 8.6 8.5 584 12134 0.00 2.60 0.00 0.000 6 0.000 0.052 2531 2198 1533

12221 end climb: SURFACE_DEPTH_REACHED

state 12222 begin surface coast

12243 end surface coast: CONTROL_FINISHED_OK

state 12243 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	115	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2095331.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	010137,6214.918,-902.672,34,1.3,34,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.030,-0.219
_SM_DEPTHo	1.12	KALMAN_X	-171582.5,717.0,357.1,-33541.9,-12998.3
_SM_ANGLEo	-57.2	KALMAN_Y	-4407.8,-2875.8,-1153.4,170235.0,35116.4
GPS2	010614,6214.966,-902.718,10,1.4,15,-9.5	MHEAD_RNG_PITCHd_Wd	190.7,52731,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.023467	ALTIM_BOTTOM_PING	375.0,81.2
SM_CCo	12265,121.55,0.622,0,0,509,557.32	_24V_AH	23.7,21.818
SM_GC	0.94,0.00,0.00,121.55,0.000,0.000,0.622,70,2313,509,-10.25,0.37,557.32	_10V_AH	10.2,10.988
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28536,590
TT8_MAMPS	0.023777	CAP_FILE_SIZE	99523,0
HUMID	1847	CFSIZE	260165632,251183104
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	2	GPS	010708,043500,6215.794,-902.952,28,3.1,47,-9.5
ALTIM_TOP_PING	18.8,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	101.60	SBE_CT	432	24	246.18
Roll_motor	128	78	237.38	SBE_O2	400	19	180.57
VBD_pump_during_apogee	394	928	8673.29	WL_BB2F	483	105	1204.19
VBD_pump_during_surface	121	622	1791.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.03	nil	0	0	0.00
Iridium_during_connect	28	160	106.96	nil	0	0	0.00
Iridium_during_xfer	121	223	641.25
Transponder_ping	3	420	37.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.99
TT8	1112	19	224.63
LPSleep	9148	2	204.35
TT8_Active	675	19	136.52
TT8_Sampling	1344	39	545.68
TT8_CF8	389	45	182.15
TT8_Kalman	33	81	27.83
Analog_circuits	1380	12	168.93
GPS_charging	0	0	0.00
Compass	1311	8	106.98
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.90	0.000	2	0.000	0.000	70	2308	2900
150	-0.85	-146.6	3.1	-2.4	6	180	11.35	2.72	-12.85	0.000	4	0.166	0.074	2109	879	3380
265	-0.70	-146.6	17.5	-9.2	11	270	0.20	2.65	0.00	0.000	6	0.092	0.054	2148	2307	3381
588	-0.63	-146.6	45.7	-8.8	27	593	0.00	2.67	0.00	0.000	4	0.000	0.063	2148	880	3381
628	-0.63	-146.6	49.5	-8.7	29	633	0.00	2.62	0.00	0.000	6	0.000	0.054	2148	2302	3381
956	-0.57	-146.6	74.3	-6.1	45	958	0.12	0.00	0.00	0.000	6	0.094	0.000	2173	2302	3381
1265	-0.57	-146.6	89.3	-4.8	60	1270	0.00	2.67	0.00	0.000	4	0.000	0.064	2172	877	3381
1306	-0.63	-146.6	91.3	-5.3	62	1311	0.00	2.60	0.00	0.000	6	0.000	0.054	2173	2302	3381
1634	-0.63	-146.6	107.5	-5.3	78	1638	0.00	2.67	0.00	0.000	4	0.000	0.064	2173	876	3381
1667	-0.68	-146.6	109.4	-5.5	79	1673	0.00	2.62	0.00	0.000	6	0.000	0.056	2173	2303	3381
1984	-0.68	-146.6	127.5	-6.1	95	1986	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2303	3381
2293	-0.68	-146.6	145.7	-5.9	110	2297	0.00	2.67	0.00	0.000	4	0.000	0.065	2173	874	3381
2356	-0.74	-146.6	149.4	-5.9	113	2361	0.15	2.62	0.00	0.000	6	0.042	0.055	2124	2300	3381
2685	-0.62	-146.6	177.0	-9.0	129	2687	0.20	0.00	0.00	0.000	6	0.084	0.000	2165	2301	3381
2992	-0.62	-146.6	199.1	-7.0	144	2996	0.00	2.65	0.00	0.000	4	0.000	0.067	2165	880	3381
3064	-0.62	-146.6	204.4	-7.2	147	3068	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2304	3381
3380	-0.62	-146.6	228.6	-8.1	162	3384	0.00	2.65	0.00	0.000	4	0.000	0.067	2165	879	3381
3435	-0.66	-146.6	233.1	-8.2	164	3441	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2305	3381
3751	-0.66	-146.6	258.6	-8.2	180	3755	0.00	2.67	0.00	0.000	4	0.000	0.067	2165	877	3381
3784	-0.71	-146.6	261.5	-8.8	181	3790	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2303	3381
4099	-0.71	-146.6	288.1	-8.3	197	4104	0.00	2.67	0.00	0.000	4	0.000	0.067	2165	878	3381
4139	-0.71	-146.6	291.5	-8.8	199	4143	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2305	3381
4465	-0.71	-146.6	320.4	-8.8	215	4470	0.00	2.67	0.00	0.000	4	0.000	0.069	2165	874	3381
4498	-0.76	-146.6	323.4	-8.6	216	4505	0.15	2.62	0.00	0.000	6	0.043	0.056	2117	2300	3381
4815	-0.63	-146.6	356.8	-11.0	232	4820	0.20	2.67	0.00	0.000	4	0.084	0.069	2160	877	3381
4855	-0.67	-146.6	361.0	-9.9	234	4859	0.00	2.62	0.00	0.000	6	0.000	0.056	2160	2301	3381
5181	-0.67	-146.6	393.7	-10.1	250	5182	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2299	3381
5490	-0.67	-146.6	421.8	-8.7	265	5495	0.00	2.65	0.00	0.000	4	0.000	0.068	2160	880	3381
5591	-0.67	-146.6	430.2	-7.8	269	5597	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2305	3380
5842	end dive: BOTTOM_OBSTACLE_DETECTED
state	5842	begin apogee
5850	-0.31	0.0	447.2	6.7	282	5984	0.35	0.00	127.70	0.929	6	0.091	0.000	2231	2196	2781
5985	end apogee: CONTROL_FINISHED_OK
state	5985	begin climb
5988	0.85	146.6	452.7	0.0	289	6124	1.12	2.80	126.43	0.910	4	0.059	0.077	2482	3608	2183
6237	0.90	194.4	443.4	4.7	300	6284	0.00	2.65	41.78	0.887	6	0.000	0.061	2482	2199	1988
6596	1.00	219.7	423.8	5.3	318	6621	0.17	0.00	22.95	0.863	6	0.045	0.000	2531	2199	1885
6923	0.93	219.7	397.5	8.2	334	6928	0.15	2.70	0.00	0.000	4	0.087	0.071	2496	777	1884
6956	0.93	219.7	394.9	7.5	335	6963	0.00	2.62	0.00	0.000	6	0.000	0.056	2496	2198	1883
7272	1.01	240.8	377.5	5.4	351	7297	0.10	2.78	19.02	0.845	4	0.054	0.078	2529	3613	1800
7326	0.96	240.8	373.7	8.1	353	7330	0.00	2.65	0.00	0.000	6	0.000	0.063	2529	2201	1799
7641	0.96	240.8	348.6	8.8	368	7642	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2202	1799
7950	0.96	240.8	319.2	9.4	383	7955	0.00	2.70	0.00	0.000	4	0.000	0.077	2529	3622	1799
8001	0.92	240.8	314.0	10.5	385	8006	0.15	2.65	0.00	0.000	6	0.087	0.061	2499	2200	1799
8317	0.97	240.8	288.5	7.7	400	8318	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2200	1798
8626	1.03	240.8	268.4	6.3	415	8631	0.12	2.70	0.00	0.000	4	0.048	0.075	2535	3616	1798
8654	0.98	240.8	266.2	8.7	416	8659	0.00	2.62	0.00	0.000	6	0.000	0.060	2535	2197	1799
8970	0.94	240.8	240.1	8.6	431	8972	0.15	0.00	0.00	0.000	6	0.086	0.000	2504	2197	1798
9280	0.98	240.8	219.4	6.2	446	9284	0.00	2.70	0.00	0.000	4	0.000	0.076	2504	3621	1798
9312	0.98	240.8	217.1	6.6	447	9318	0.00	2.62	0.00	0.000	6	0.000	0.059	2504	2199	1798
9629	1.08	292.3	200.7	4.6	463	9679	0.15	2.75	43.28	0.765	4	0.043	0.067	2548	791	1588
9692	1.02	292.3	197.0	6.6	466	9697	0.15	2.62	0.00	0.000	6	0.081	0.054	2517	2201	1587
10019	1.08	306.1	179.8	5.6	482	10040	0.00	2.75	12.85	0.700	4	0.000	0.074	2518	3607	1533
10064	1.13	306.1	177.0	6.7	484	10069	0.12	2.62	0.00	0.000	6	0.048	0.060	2557	2200	1533
10391	1.08	306.1	150.9	8.2	500	10396	0.12	2.65	0.00	0.000	4	0.084	0.067	2531	783	1533
10414	1.04	306.1	148.9	8.5	501	10418	0.00	2.60	0.00	0.000	6	0.000	0.052	2531	2204	1533
10735	1.04	306.1	124.4	7.4	517	10739	0.00	2.67	0.00	0.000	4	0.000	0.074	2531	3614	1533
10774	1.04	306.1	121.1	8.6	519	10779	0.00	2.62	0.00	0.000	6	0.000	0.060	2531	2198	1533
11102	1.04	306.1	96.2	7.9	535	11103	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2199	1533
11411	1.04	306.1	70.6	8.7	550	11412	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2198	1533
11720	1.04	306.1	42.7	8.6	565	11725	0.00	2.67	0.00	0.000	4	0.000	0.074	2531	3613	1533
11769	1.04	306.1	38.2	8.7	567	11774	0.00	2.62	0.00	0.000	6	0.000	0.058	2531	2197	1533
12086	1.04	306.1	12.5	7.6	582	12090	0.00	2.65	0.00	0.000	4	0.000	0.067	2531	779	1533
12130	1.04	306.1	8.6	8.5	584	12134	0.00	2.60	0.00	0.000	6	0.000	0.052	2531	2198	1533
12221	end climb: SURFACE_DEPTH_REACHED
state	12222	begin surface coast
12243	end surface coast: CONTROL_FINISHED_OK
state	12243	begin surface