Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 118 * 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 118 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2095424 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 -2095424

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 118 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 112416,6218.320,-857.987,42,2.5,61,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.041,-0.219

_SM_DEPTHo 1.03 KALMAN_X -163924.2,165.3,-153.8,-35918.9,2782.7

_SM_ANGLEo -53.9 KALMAN_Y 9689.5,-2574.7,-1047.2,161981.1,52919.4

GPS2 112911,6218.341,-858.058,9,2.2,28,-9.5 MHEAD_RNG_PITCHd_Wd 194.5,59198,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.023080 ALTIM_BOTTOM_PING 350.5,99.4

SM_CCo 11234,117.65,0.627,0,0,509,557.32 _24V_AH 23.7,22.236

SM_GC 1.12,0.00,0.00,117.65,0.000,0.000,0.627,65,2311,509,-10.28,0.31,557.32 _10V_AH 10.2,11.173

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28587,541

TT8_MAMPS 0.023777 CAP_FILE_SIZE 87903,0

HUMID 1842 CFSIZE 260165632,251043840

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 3 GPS 010708,144037,6217.492,-900.433,39,1.8,44,-9.5

ALTIM_TOP_PING 19.2,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 163 96.51 SBE_CT 396 24 225.58

Roll_motor 111 78 206.83 SBE_O2 367 19 165.40

VBD_pump_during_apogee 397 927 8733.69 WL_BB2F 391 105 973.11

VBD_pump_during_surface 117 627 1749.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.99 nil 0 0 0.00

Iridium_during_connect 28 160 106.96 nil 0 0 0.00

Iridium_during_xfer 124 223 657.20

Transponder_ping 3 420 34.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.11

TT8 1018 19 205.74

LPSleep 8350 2 186.54

TT8_Active 678 19 137.06

TT8_Sampling 1224 39 497.11

TT8_CF8 380 45 177.60

TT8_Kalman 33 81 27.84

Analog_circuits 1312 12 160.69

GPS_charging 0 0 0.00

Compass 1184 8 96.67

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 -121.12 0.000 2 0.000 0.000 68 2306 2908

150 -0.85 -146.6 3.3 -2.8 6 180 11.27 2.70 -11.90 0.000 4 0.163 0.075 2108 890 3380

315 -0.70 -146.6 25.5 -11.3 13 320 0.20 2.62 0.00 0.000 6 0.099 0.055 2146 2303 3381

632 -0.63 -146.6 58.8 -11.4 28 633 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2303 3381

942 -0.56 -146.6 93.9 -10.8 43 947 0.15 2.67 0.00 0.000 4 0.121 0.063 2175 881 3380

1060 -0.62 -146.6 104.7 -8.4 48 1064 0.00 2.62 0.00 0.000 6 0.000 0.054 2175 2305 3380

1376 -0.62 -146.6 132.0 -8.5 63 1380 0.00 2.67 0.00 0.000 4 0.000 0.064 2175 881 3381

1426 -0.68 -146.6 136.5 -8.5 65 1431 0.12 2.62 0.00 0.000 6 0.049 0.054 2131 2304 3381

1742 -0.58 -146.6 169.5 -10.5 80 1747 0.17 2.67 0.00 0.000 4 0.087 0.065 2170 881 3381

1787 -0.65 -146.6 173.6 -8.4 82 1791 0.00 2.60 0.00 0.000 6 0.000 0.055 2170 2298 3381

2107 -0.65 -146.6 199.5 -8.1 98 2112 0.00 2.65 0.00 0.000 4 0.000 0.066 2170 880 3381

2153 -0.70 -146.6 203.3 -8.5 100 2157 0.00 2.62 0.00 0.000 6 0.000 0.055 2170 2304 3381

2480 -0.70 -146.6 230.9 -8.6 116 2484 0.00 2.67 0.00 0.000 4 0.000 0.067 2170 880 3381

2519 -0.75 -146.6 234.3 -9.0 118 2525 0.15 2.62 0.00 0.000 6 0.044 0.056 2121 2302 3380

2846 -0.63 -146.6 268.9 -10.4 134 2851 0.17 2.67 0.00 0.000 4 0.087 0.067 2159 881 3381

2887 -0.63 -146.6 272.5 -8.7 136 2891 0.00 2.62 0.00 0.000 6 0.000 0.056 2159 2300 3381

3213 -0.63 -146.6 298.3 -7.1 152 3217 0.00 2.67 0.00 0.000 4 0.000 0.068 2159 881 3381

3245 -0.63 -146.6 300.6 -6.7 153 3251 0.00 2.62 0.00 0.000 6 0.000 0.056 2159 2302 3381

3561 -0.63 -146.6 322.0 -7.4 169 3566 0.00 2.70 0.00 0.000 4 0.000 0.068 2159 873 3381

3594 -0.63 -146.6 324.7 -7.4 170 3605 0.00 2.62 0.00 0.000 6 0.000 0.056 2159 2300 3381

3910 -0.63 -146.6 347.7 -6.9 186 3912 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2300 3381

4220 -0.63 -146.6 367.4 -7.0 201 4224 0.00 2.67 0.00 0.000 4 0.000 0.066 2159 874 3381

4292 -0.68 -146.6 372.0 -6.2 204 4297 0.00 2.62 0.00 0.000 6 0.000 0.056 2159 2298 3381

4608 -0.68 -146.6 389.7 -5.4 219 4612 0.00 2.67 0.00 0.000 4 0.000 0.068 2159 880 3380

4649 -0.72 -146.6 391.9 -5.6 221 4653 0.00 2.62 0.00 0.000 6 0.000 0.057 2159 2300 3381

4975 -0.72 -146.6 408.0 -4.8 237 4980 0.00 2.67 0.00 0.000 4 0.000 0.070 2159 882 3380

5038 -0.72 -146.6 411.6 -5.8 240 5043 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2299 3380

5365 -0.72 -146.6 433.1 -7.7 256 5370 0.00 2.67 0.00 0.000 4 0.000 0.070 2159 881 3380

5452 end dive: BOTTOM_OBSTACLE_DETECTED

state 5452 begin apogee

5461 -0.31 0.0 439.9 7.7 260 5592 0.32 0.00 127.62 0.927 6 0.119 0.000 2223 2203 2781

5593 end apogee: CONTROL_FINISHED_OK

state 5593 begin climb

5596 0.85 146.6 445.4 0.0 266 5731 1.23 2.78 126.47 0.912 4 0.085 0.067 2481 786 2183

5748 0.89 187.5 442.6 4.9 274 5789 0.00 2.65 36.12 0.881 6 0.000 0.054 2479 2201 2016

6113 0.95 187.5 421.5 6.2 292 6115 0.12 0.00 0.00 0.000 6 0.051 0.000 2519 2201 2015

6420 0.90 187.5 402.8 6.2 307 6426 0.12 2.72 0.00 0.000 4 0.087 0.070 2494 776 2014

6488 0.98 266.2 399.9 3.8 310 6565 0.00 2.62 67.78 0.890 6 0.000 0.054 2494 2201 1694

6878 1.11 311.7 382.2 4.8 329 6921 0.22 0.00 39.40 0.865 6 0.044 0.000 2555 2201 1510

7224 1.07 311.7 353.3 9.1 346 7226 0.12 0.00 0.00 0.000 6 0.086 0.000 2530 2201 1509

7533 1.07 311.7 328.4 7.6 361 7537 0.00 2.72 0.00 0.000 4 0.000 0.078 2530 3622 1509

7554 1.07 311.7 326.4 8.8 362 7559 0.00 2.67 0.00 0.000 6 0.000 0.064 2530 2203 1509

7876 1.07 311.7 300.9 8.3 378 7880 0.00 2.70 0.00 0.000 4 0.000 0.069 2530 773 1508

7919 1.07 311.7 296.9 8.7 380 7924 0.00 2.62 0.00 0.000 6 0.000 0.053 2530 2203 1508

8240 1.07 311.7 269.2 8.6 396 8242 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2203 1508

8550 1.07 311.7 242.9 8.5 411 8554 0.00 2.67 0.00 0.000 4 0.000 0.067 2530 779 1509

8571 1.07 311.7 240.9 8.4 412 8576 0.00 2.62 0.00 0.000 6 0.000 0.052 2529 2204 1508

8892 1.07 311.7 213.8 8.7 428 8894 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2204 1508

9202 1.07 311.7 186.8 8.8 443 9203 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2205 1508

9511 1.07 311.7 159.1 8.9 458 9516 0.00 2.67 0.00 0.000 4 0.000 0.066 2530 781 1508

9551 1.07 311.7 155.5 9.6 460 9555 0.00 2.60 0.00 0.000 6 0.000 0.052 2530 2202 1508

9878 1.07 311.7 125.4 9.6 476 9879 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2202 1508

10189 1.07 311.7 96.0 9.8 491 10190 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2202 1508

10496 1.07 311.7 66.2 9.3 506 10501 0.00 2.67 0.00 0.000 4 0.000 0.065 2530 778 1508

10529 1.07 311.7 63.0 9.5 507 10536 0.00 2.60 0.00 0.000 6 0.000 0.052 2530 2203 1508

10847 1.07 311.7 29.9 10.4 523 10851 0.00 2.65 0.00 0.000 4 0.000 0.074 2530 3609 1509

10869 1.12 311.7 27.3 10.7 524 10874 0.00 2.60 0.00 0.000 6 0.000 0.059 2530 2197 1509

11189 end climb: SURFACE_DEPTH_REACHED

state 11189 begin surface coast

11211 end surface coast: CONTROL_FINISHED_OK

state 11211 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	118	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2095424	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	112416,6218.320,-857.987,42,2.5,61,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.041,-0.219
_SM_DEPTHo	1.03	KALMAN_X	-163924.2,165.3,-153.8,-35918.9,2782.7
_SM_ANGLEo	-53.9	KALMAN_Y	9689.5,-2574.7,-1047.2,161981.1,52919.4
GPS2	112911,6218.341,-858.058,9,2.2,28,-9.5	MHEAD_RNG_PITCHd_Wd	194.5,59198,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.023080	ALTIM_BOTTOM_PING	350.5,99.4
SM_CCo	11234,117.65,0.627,0,0,509,557.32	_24V_AH	23.7,22.236
SM_GC	1.12,0.00,0.00,117.65,0.000,0.000,0.627,65,2311,509,-10.28,0.31,557.32	_10V_AH	10.2,11.173
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28587,541
TT8_MAMPS	0.023777	CAP_FILE_SIZE	87903,0
HUMID	1842	CFSIZE	260165632,251043840
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	3	GPS	010708,144037,6217.492,-900.433,39,1.8,44,-9.5
ALTIM_TOP_PING	19.2,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	163	96.51	SBE_CT	396	24	225.58
Roll_motor	111	78	206.83	SBE_O2	367	19	165.40
VBD_pump_during_apogee	397	927	8733.69	WL_BB2F	391	105	973.11
VBD_pump_during_surface	117	627	1749.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.99	nil	0	0	0.00
Iridium_during_connect	28	160	106.96	nil	0	0	0.00
Iridium_during_xfer	124	223	657.20
Transponder_ping	3	420	34.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.11
TT8	1018	19	205.74
LPSleep	8350	2	186.54
TT8_Active	678	19	137.06
TT8_Sampling	1224	39	497.11
TT8_CF8	380	45	177.60
TT8_Kalman	33	81	27.84
Analog_circuits	1312	12	160.69
GPS_charging	0	0	0.00
Compass	1184	8	96.67
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	-121.12	0.000	2	0.000	0.000	68	2306	2908
150	-0.85	-146.6	3.3	-2.8	6	180	11.27	2.70	-11.90	0.000	4	0.163	0.075	2108	890	3380
315	-0.70	-146.6	25.5	-11.3	13	320	0.20	2.62	0.00	0.000	6	0.099	0.055	2146	2303	3381
632	-0.63	-146.6	58.8	-11.4	28	633	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2303	3381
942	-0.56	-146.6	93.9	-10.8	43	947	0.15	2.67	0.00	0.000	4	0.121	0.063	2175	881	3380
1060	-0.62	-146.6	104.7	-8.4	48	1064	0.00	2.62	0.00	0.000	6	0.000	0.054	2175	2305	3380
1376	-0.62	-146.6	132.0	-8.5	63	1380	0.00	2.67	0.00	0.000	4	0.000	0.064	2175	881	3381
1426	-0.68	-146.6	136.5	-8.5	65	1431	0.12	2.62	0.00	0.000	6	0.049	0.054	2131	2304	3381
1742	-0.58	-146.6	169.5	-10.5	80	1747	0.17	2.67	0.00	0.000	4	0.087	0.065	2170	881	3381
1787	-0.65	-146.6	173.6	-8.4	82	1791	0.00	2.60	0.00	0.000	6	0.000	0.055	2170	2298	3381
2107	-0.65	-146.6	199.5	-8.1	98	2112	0.00	2.65	0.00	0.000	4	0.000	0.066	2170	880	3381
2153	-0.70	-146.6	203.3	-8.5	100	2157	0.00	2.62	0.00	0.000	6	0.000	0.055	2170	2304	3381
2480	-0.70	-146.6	230.9	-8.6	116	2484	0.00	2.67	0.00	0.000	4	0.000	0.067	2170	880	3381
2519	-0.75	-146.6	234.3	-9.0	118	2525	0.15	2.62	0.00	0.000	6	0.044	0.056	2121	2302	3380
2846	-0.63	-146.6	268.9	-10.4	134	2851	0.17	2.67	0.00	0.000	4	0.087	0.067	2159	881	3381
2887	-0.63	-146.6	272.5	-8.7	136	2891	0.00	2.62	0.00	0.000	6	0.000	0.056	2159	2300	3381
3213	-0.63	-146.6	298.3	-7.1	152	3217	0.00	2.67	0.00	0.000	4	0.000	0.068	2159	881	3381
3245	-0.63	-146.6	300.6	-6.7	153	3251	0.00	2.62	0.00	0.000	6	0.000	0.056	2159	2302	3381
3561	-0.63	-146.6	322.0	-7.4	169	3566	0.00	2.70	0.00	0.000	4	0.000	0.068	2159	873	3381
3594	-0.63	-146.6	324.7	-7.4	170	3605	0.00	2.62	0.00	0.000	6	0.000	0.056	2159	2300	3381
3910	-0.63	-146.6	347.7	-6.9	186	3912	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2300	3381
4220	-0.63	-146.6	367.4	-7.0	201	4224	0.00	2.67	0.00	0.000	4	0.000	0.066	2159	874	3381
4292	-0.68	-146.6	372.0	-6.2	204	4297	0.00	2.62	0.00	0.000	6	0.000	0.056	2159	2298	3381
4608	-0.68	-146.6	389.7	-5.4	219	4612	0.00	2.67	0.00	0.000	4	0.000	0.068	2159	880	3380
4649	-0.72	-146.6	391.9	-5.6	221	4653	0.00	2.62	0.00	0.000	6	0.000	0.057	2159	2300	3381
4975	-0.72	-146.6	408.0	-4.8	237	4980	0.00	2.67	0.00	0.000	4	0.000	0.070	2159	882	3380
5038	-0.72	-146.6	411.6	-5.8	240	5043	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2299	3380
5365	-0.72	-146.6	433.1	-7.7	256	5370	0.00	2.67	0.00	0.000	4	0.000	0.070	2159	881	3380
5452	end dive: BOTTOM_OBSTACLE_DETECTED
state	5452	begin apogee
5461	-0.31	0.0	439.9	7.7	260	5592	0.32	0.00	127.62	0.927	6	0.119	0.000	2223	2203	2781
5593	end apogee: CONTROL_FINISHED_OK
state	5593	begin climb
5596	0.85	146.6	445.4	0.0	266	5731	1.23	2.78	126.47	0.912	4	0.085	0.067	2481	786	2183
5748	0.89	187.5	442.6	4.9	274	5789	0.00	2.65	36.12	0.881	6	0.000	0.054	2479	2201	2016
6113	0.95	187.5	421.5	6.2	292	6115	0.12	0.00	0.00	0.000	6	0.051	0.000	2519	2201	2015
6420	0.90	187.5	402.8	6.2	307	6426	0.12	2.72	0.00	0.000	4	0.087	0.070	2494	776	2014
6488	0.98	266.2	399.9	3.8	310	6565	0.00	2.62	67.78	0.890	6	0.000	0.054	2494	2201	1694
6878	1.11	311.7	382.2	4.8	329	6921	0.22	0.00	39.40	0.865	6	0.044	0.000	2555	2201	1510
7224	1.07	311.7	353.3	9.1	346	7226	0.12	0.00	0.00	0.000	6	0.086	0.000	2530	2201	1509
7533	1.07	311.7	328.4	7.6	361	7537	0.00	2.72	0.00	0.000	4	0.000	0.078	2530	3622	1509
7554	1.07	311.7	326.4	8.8	362	7559	0.00	2.67	0.00	0.000	6	0.000	0.064	2530	2203	1509
7876	1.07	311.7	300.9	8.3	378	7880	0.00	2.70	0.00	0.000	4	0.000	0.069	2530	773	1508
7919	1.07	311.7	296.9	8.7	380	7924	0.00	2.62	0.00	0.000	6	0.000	0.053	2530	2203	1508
8240	1.07	311.7	269.2	8.6	396	8242	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2203	1508
8550	1.07	311.7	242.9	8.5	411	8554	0.00	2.67	0.00	0.000	4	0.000	0.067	2530	779	1509
8571	1.07	311.7	240.9	8.4	412	8576	0.00	2.62	0.00	0.000	6	0.000	0.052	2529	2204	1508
8892	1.07	311.7	213.8	8.7	428	8894	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2204	1508
9202	1.07	311.7	186.8	8.8	443	9203	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2205	1508
9511	1.07	311.7	159.1	8.9	458	9516	0.00	2.67	0.00	0.000	4	0.000	0.066	2530	781	1508
9551	1.07	311.7	155.5	9.6	460	9555	0.00	2.60	0.00	0.000	6	0.000	0.052	2530	2202	1508
9878	1.07	311.7	125.4	9.6	476	9879	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2202	1508
10189	1.07	311.7	96.0	9.8	491	10190	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2202	1508
10496	1.07	311.7	66.2	9.3	506	10501	0.00	2.67	0.00	0.000	4	0.000	0.065	2530	778	1508
10529	1.07	311.7	63.0	9.5	507	10536	0.00	2.60	0.00	0.000	6	0.000	0.052	2530	2203	1508
10847	1.07	311.7	29.9	10.4	523	10851	0.00	2.65	0.00	0.000	4	0.000	0.074	2530	3609	1509
10869	1.12	311.7	27.3	10.7	524	10874	0.00	2.60	0.00	0.000	6	0.000	0.059	2530	2197	1509
11189	end climb: SURFACE_DEPTH_REACHED
state	11189	begin surface coast
11211	end surface coast: CONTROL_FINISHED_OK
state	11211	begin surface