Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 128 * 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 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 128 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -2095629.4 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 2 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 -2095629.4

CAPUPLOAD 0 HEADING 270 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 2 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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 128 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 231531,6225.424,-851.955,36,1.5,36,-9.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6225.442,-856.915

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.03 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 232009,6225.442,-851.915,14,1.6,14,-9.5 MHEAD_RNG_PITCHd_Wd 279.5,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.013734 ALTIM_BOTTOM_PING 425.1,45.1

SM_CCo 12969,127.45,0.620,0,0,509,557.32 _24V_AH 23.7,23.612

SM_GC 1.04,0.00,0.00,127.45,0.000,0.000,0.620,71,2306,509,-10.25,0.17,557.32 _10V_AH 10.2,11.825

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31766,624

TT8_MAMPS 0.023777 CAP_FILE_SIZE 90956,0

HUMID 1872 CFSIZE 260165632,250548224

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 9 GPS 030708,030025,6224.887,-857.040,44,1.1,61,-9.5

ALTIM_TOP_PING 19.8,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 165 94.14 SBE_CT 458 24 261.03

Roll_motor 95 82 186.09 SBE_O2 423 19 190.88

VBD_pump_during_apogee 383 942 8565.40 WL_BB2F 441 105 1097.77

VBD_pump_during_surface 127 619 1871.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.55 nil 0 0 0.00

Iridium_during_connect 29 160 112.31 nil 0 0 0.00

Iridium_during_xfer 120 223 639.42

Transponder_ping 6 420 59.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.32

TT8 1145 19 231.25

LPSleep 9847 2 219.97

TT8_Active 648 19 131.02

TT8_Sampling 1354 39 549.78

TT8_CF8 387 45 180.96

TT8_Kalman 0 81 0.00

Analog_circuits 1343 12 164.49

GPS_charging 0 0 0.00

Compass 1325 8 108.19

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

29 -0.85 -146.6 0.0 0.0 0 152 0.00 0.00 -121.15 0.000 2 0.000 0.000 72 2309 2977

156 -0.85 -146.6 4.0 -3.6 6 183 11.32 2.65 -9.18 0.000 4 0.166 0.082 2108 3705 3380

436 -0.66 -146.6 43.9 -12.4 18 443 0.25 2.58 0.00 0.000 6 0.092 0.052 2157 2291 3380

753 -0.61 -146.6 74.8 -9.1 34 755 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2291 3380

1061 -0.61 -146.6 99.7 -8.4 49 1066 0.00 2.60 0.00 0.000 4 0.000 0.064 2157 883 3381

1124 -0.61 -146.6 105.3 -8.6 52 1129 0.00 2.62 0.00 0.000 6 0.000 0.054 2157 2303 3380

1452 -0.61 -146.6 138.7 -10.4 68 1457 0.00 2.65 0.00 0.000 4 0.000 0.063 2157 883 3381

1502 -0.61 -146.6 144.4 -10.8 70 1506 0.00 2.62 0.00 0.000 6 0.000 0.054 2157 2305 3381

1817 -0.61 -146.6 177.3 -10.6 85 1822 0.00 2.67 0.00 0.000 4 0.000 0.064 2157 878 3381

1850 -0.61 -146.6 181.0 -10.8 86 1856 0.00 2.62 0.00 0.000 6 0.000 0.055 2157 2302 3381

2166 -0.61 -146.6 210.2 -8.5 102 2167 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3381

2475 -0.61 -146.6 234.7 -7.7 117 2480 0.00 2.67 0.00 0.000 4 0.000 0.065 2157 877 3381

2548 -0.61 -146.6 240.6 -8.1 120 2552 0.00 2.62 0.00 0.000 6 0.000 0.056 2157 2300 3381

2864 -0.61 -146.6 263.1 -6.5 135 2868 0.00 2.65 0.00 0.000 4 0.000 0.065 2157 883 3381

2903 -0.61 -146.6 265.7 -6.6 137 2907 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2300 3381

3229 -0.61 -146.6 282.3 -4.8 153 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2300 3381

3539 -0.61 -146.6 293.3 -2.8 168 3543 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 879 3381

3602 -0.61 -146.6 295.4 -3.7 171 3606 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2301 3381

3928 -0.61 -146.6 309.1 -5.7 187 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3381

4237 -0.61 -146.6 330.4 -6.7 202 4242 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 877 3381

4282 -0.66 -146.6 333.1 -6.1 204 4286 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2300 3381

4602 -0.66 -146.6 352.8 -6.1 220 4607 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 884 3380

4659 -0.70 -146.6 356.1 -6.0 222 4665 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2302 3380

4975 -0.70 -146.6 373.5 -4.6 238 4976 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3380

5284 -0.70 -146.6 390.0 -4.7 253 5285 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3380

5593 -0.70 -146.6 410.8 -7.7 268 5594 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3380

5902 -0.70 -146.6 434.3 -7.1 283 5903 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3379

6212 -0.70 -146.6 457.3 -7.3 298 6216 0.00 2.67 0.00 0.000 4 0.000 0.071 2157 886 3379

6249 end dive: BOTTOM_OBSTACLE_DETECTED

state 6249 begin apogee

6258 -0.31 0.0 460.3 7.6 300 6391 0.35 0.00 127.65 0.943 6 0.091 0.000 2228 2201 2781

6392 end apogee: CONTROL_FINISHED_OK

state 6392 begin climb

6395 0.85 146.6 466.1 0.0 307 6531 1.17 2.80 126.38 0.930 4 0.077 0.077 2478 3607 2183

6583 0.92 218.5 461.6 4.0 316 6653 0.10 2.65 62.28 0.910 6 0.058 0.059 2509 2195 1890

6975 0.92 218.5 436.4 6.8 335 6979 0.00 2.67 0.00 0.000 4 0.000 0.070 2509 779 1889

7018 0.92 218.5 433.6 6.2 337 7023 0.00 2.65 0.00 0.000 6 0.000 0.055 2509 2204 1888

7340 0.95 241.7 414.3 5.4 353 7366 0.00 2.75 21.02 0.864 4 0.000 0.077 2509 3612 1795

7418 0.95 241.7 409.2 7.2 356 7424 0.00 2.65 0.00 0.000 6 0.000 0.061 2509 2199 1795

7734 0.95 241.7 390.4 6.8 372 7735 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2199 1795

8043 0.95 241.7 366.4 7.3 387 8047 0.00 2.72 0.00 0.000 4 0.000 0.079 2509 3619 1794

8087 0.95 241.7 363.4 7.5 389 8092 0.00 2.65 0.00 0.000 6 0.000 0.063 2509 2203 1794

8408 0.97 263.4 344.9 5.4 405 8433 0.00 2.75 19.58 0.840 4 0.000 0.071 2509 775 1706

8456 0.99 280.6 342.1 5.5 407 8477 0.00 2.67 16.00 0.811 6 0.000 0.055 2509 2206 1637

8802 1.05 291.4 322.2 5.7 424 8818 0.00 0.00 10.50 0.772 6 0.000 0.000 2509 2206 1593

9128 1.11 291.4 301.3 6.4 440 9130 0.15 0.00 0.00 0.000 6 0.062 0.000 2544 2206 1592

9437 1.11 291.4 275.8 8.5 455 9442 0.00 2.67 0.00 0.000 4 0.000 0.077 2544 3616 1592

9487 1.11 291.4 271.1 8.5 457 9492 0.00 2.65 0.00 0.000 6 0.000 0.062 2544 2193 1592

9803 1.11 291.4 246.0 7.7 472 9804 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2192 1592

10112 1.11 291.4 224.1 7.1 487 10114 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2192 1592

10421 1.11 291.4 202.2 6.9 502 10422 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2193 1592

10731 1.11 291.4 178.6 8.1 517 10732 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2193 1592

11040 1.11 291.4 151.0 9.4 532 11041 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2193 1592

11350 1.11 291.4 121.4 9.5 547 11351 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2193 1592

11660 1.11 291.4 94.7 8.0 562 11662 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2193 1592

11968 1.11 291.4 69.8 7.9 577 11973 0.00 2.70 0.00 0.000 4 0.000 0.074 2545 3619 1592

11995 1.11 291.4 67.6 7.6 578 12000 0.00 2.62 0.00 0.000 6 0.000 0.058 2544 2196 1593

12311 1.11 291.4 44.6 7.5 593 12312 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2196 1593

12620 1.11 291.4 23.9 6.2 608 12625 0.00 2.62 0.00 0.000 4 0.000 0.065 2545 775 1593

12661 1.11 291.4 21.0 7.2 610 12666 0.00 2.62 0.00 0.000 6 0.000 0.051 2544 2209 1593

12923 end climb: SURFACE_DEPTH_REACHED

state 12923 begin surface coast

12945 end surface coast: CONTROL_FINISHED_OK

state 12947 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	128	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-2095629.4	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	2	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	231531,6225.424,-851.955,36,1.5,36,-9.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6225.442,-856.915
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.03	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	232009,6225.442,-851.915,14,1.6,14,-9.5	MHEAD_RNG_PITCHd_Wd	279.5,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.013734	ALTIM_BOTTOM_PING	425.1,45.1
SM_CCo	12969,127.45,0.620,0,0,509,557.32	_24V_AH	23.7,23.612
SM_GC	1.04,0.00,0.00,127.45,0.000,0.000,0.620,71,2306,509,-10.25,0.17,557.32	_10V_AH	10.2,11.825
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31766,624
TT8_MAMPS	0.023777	CAP_FILE_SIZE	90956,0
HUMID	1872	CFSIZE	260165632,250548224
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	9	GPS	030708,030025,6224.887,-857.040,44,1.1,61,-9.5
ALTIM_TOP_PING	19.8,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	165	94.14	SBE_CT	458	24	261.03
Roll_motor	95	82	186.09	SBE_O2	423	19	190.88
VBD_pump_during_apogee	383	942	8565.40	WL_BB2F	441	105	1097.77
VBD_pump_during_surface	127	619	1871.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.55	nil	0	0	0.00
Iridium_during_connect	29	160	112.31	nil	0	0	0.00
Iridium_during_xfer	120	223	639.42
Transponder_ping	6	420	59.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.32
TT8	1145	19	231.25
LPSleep	9847	2	219.97
TT8_Active	648	19	131.02
TT8_Sampling	1354	39	549.78
TT8_CF8	387	45	180.96
TT8_Kalman	0	81	0.00
Analog_circuits	1343	12	164.49
GPS_charging	0	0	0.00
Compass	1325	8	108.19
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
29	-0.85	-146.6	0.0	0.0	0	152	0.00	0.00	-121.15	0.000	2	0.000	0.000	72	2309	2977
156	-0.85	-146.6	4.0	-3.6	6	183	11.32	2.65	-9.18	0.000	4	0.166	0.082	2108	3705	3380
436	-0.66	-146.6	43.9	-12.4	18	443	0.25	2.58	0.00	0.000	6	0.092	0.052	2157	2291	3380
753	-0.61	-146.6	74.8	-9.1	34	755	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2291	3380
1061	-0.61	-146.6	99.7	-8.4	49	1066	0.00	2.60	0.00	0.000	4	0.000	0.064	2157	883	3381
1124	-0.61	-146.6	105.3	-8.6	52	1129	0.00	2.62	0.00	0.000	6	0.000	0.054	2157	2303	3380
1452	-0.61	-146.6	138.7	-10.4	68	1457	0.00	2.65	0.00	0.000	4	0.000	0.063	2157	883	3381
1502	-0.61	-146.6	144.4	-10.8	70	1506	0.00	2.62	0.00	0.000	6	0.000	0.054	2157	2305	3381
1817	-0.61	-146.6	177.3	-10.6	85	1822	0.00	2.67	0.00	0.000	4	0.000	0.064	2157	878	3381
1850	-0.61	-146.6	181.0	-10.8	86	1856	0.00	2.62	0.00	0.000	6	0.000	0.055	2157	2302	3381
2166	-0.61	-146.6	210.2	-8.5	102	2167	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3381
2475	-0.61	-146.6	234.7	-7.7	117	2480	0.00	2.67	0.00	0.000	4	0.000	0.065	2157	877	3381
2548	-0.61	-146.6	240.6	-8.1	120	2552	0.00	2.62	0.00	0.000	6	0.000	0.056	2157	2300	3381
2864	-0.61	-146.6	263.1	-6.5	135	2868	0.00	2.65	0.00	0.000	4	0.000	0.065	2157	883	3381
2903	-0.61	-146.6	265.7	-6.6	137	2907	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2300	3381
3229	-0.61	-146.6	282.3	-4.8	153	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2300	3381
3539	-0.61	-146.6	293.3	-2.8	168	3543	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	879	3381
3602	-0.61	-146.6	295.4	-3.7	171	3606	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2301	3381
3928	-0.61	-146.6	309.1	-5.7	187	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3381
4237	-0.61	-146.6	330.4	-6.7	202	4242	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	877	3381
4282	-0.66	-146.6	333.1	-6.1	204	4286	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2300	3381
4602	-0.66	-146.6	352.8	-6.1	220	4607	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	884	3380
4659	-0.70	-146.6	356.1	-6.0	222	4665	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2302	3380
4975	-0.70	-146.6	373.5	-4.6	238	4976	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3380
5284	-0.70	-146.6	390.0	-4.7	253	5285	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3380
5593	-0.70	-146.6	410.8	-7.7	268	5594	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3380
5902	-0.70	-146.6	434.3	-7.1	283	5903	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3379
6212	-0.70	-146.6	457.3	-7.3	298	6216	0.00	2.67	0.00	0.000	4	0.000	0.071	2157	886	3379
6249	end dive: BOTTOM_OBSTACLE_DETECTED
state	6249	begin apogee
6258	-0.31	0.0	460.3	7.6	300	6391	0.35	0.00	127.65	0.943	6	0.091	0.000	2228	2201	2781
6392	end apogee: CONTROL_FINISHED_OK
state	6392	begin climb
6395	0.85	146.6	466.1	0.0	307	6531	1.17	2.80	126.38	0.930	4	0.077	0.077	2478	3607	2183
6583	0.92	218.5	461.6	4.0	316	6653	0.10	2.65	62.28	0.910	6	0.058	0.059	2509	2195	1890
6975	0.92	218.5	436.4	6.8	335	6979	0.00	2.67	0.00	0.000	4	0.000	0.070	2509	779	1889
7018	0.92	218.5	433.6	6.2	337	7023	0.00	2.65	0.00	0.000	6	0.000	0.055	2509	2204	1888
7340	0.95	241.7	414.3	5.4	353	7366	0.00	2.75	21.02	0.864	4	0.000	0.077	2509	3612	1795
7418	0.95	241.7	409.2	7.2	356	7424	0.00	2.65	0.00	0.000	6	0.000	0.061	2509	2199	1795
7734	0.95	241.7	390.4	6.8	372	7735	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2199	1795
8043	0.95	241.7	366.4	7.3	387	8047	0.00	2.72	0.00	0.000	4	0.000	0.079	2509	3619	1794
8087	0.95	241.7	363.4	7.5	389	8092	0.00	2.65	0.00	0.000	6	0.000	0.063	2509	2203	1794
8408	0.97	263.4	344.9	5.4	405	8433	0.00	2.75	19.58	0.840	4	0.000	0.071	2509	775	1706
8456	0.99	280.6	342.1	5.5	407	8477	0.00	2.67	16.00	0.811	6	0.000	0.055	2509	2206	1637
8802	1.05	291.4	322.2	5.7	424	8818	0.00	0.00	10.50	0.772	6	0.000	0.000	2509	2206	1593
9128	1.11	291.4	301.3	6.4	440	9130	0.15	0.00	0.00	0.000	6	0.062	0.000	2544	2206	1592
9437	1.11	291.4	275.8	8.5	455	9442	0.00	2.67	0.00	0.000	4	0.000	0.077	2544	3616	1592
9487	1.11	291.4	271.1	8.5	457	9492	0.00	2.65	0.00	0.000	6	0.000	0.062	2544	2193	1592
9803	1.11	291.4	246.0	7.7	472	9804	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2192	1592
10112	1.11	291.4	224.1	7.1	487	10114	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2192	1592
10421	1.11	291.4	202.2	6.9	502	10422	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2193	1592
10731	1.11	291.4	178.6	8.1	517	10732	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2193	1592
11040	1.11	291.4	151.0	9.4	532	11041	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2193	1592
11350	1.11	291.4	121.4	9.5	547	11351	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2193	1592
11660	1.11	291.4	94.7	8.0	562	11662	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2193	1592
11968	1.11	291.4	69.8	7.9	577	11973	0.00	2.70	0.00	0.000	4	0.000	0.074	2545	3619	1592
11995	1.11	291.4	67.6	7.6	578	12000	0.00	2.62	0.00	0.000	6	0.000	0.058	2544	2196	1593
12311	1.11	291.4	44.6	7.5	593	12312	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2196	1593
12620	1.11	291.4	23.9	6.2	608	12625	0.00	2.62	0.00	0.000	4	0.000	0.065	2545	775	1593
12661	1.11	291.4	21.0	7.2	610	12666	0.00	2.62	0.00	0.000	6	0.000	0.051	2544	2209	1593
12923	end climb: SURFACE_DEPTH_REACHED
state	12923	begin surface coast
12945	end surface coast: CONTROL_FINISHED_OK
state	12947	begin surface