Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 142 * 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 142 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 22 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2095940.5 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 412.5

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 -2095940.5

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 142 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 001037,6224.916,-935.326,33,2.0,33,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6224.890,-940.267

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.31 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 001603,6224.890,-935.266,11,1.8,11,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015482 ALTIM_BOTTOM_PING 526.2,74.0

SM_CCo 12138,142.75,0.628,0,0,508,557.32 _24V_AH 23.6,25.625

SM_GC 1.26,0.00,0.00,142.75,0.000,0.000,0.628,73,2304,508,-10.24,0.11,557.32 _10V_AH 10.2,12.679

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28541,581

TT8_MAMPS 0.02301 CAP_FILE_SIZE 95189,0

HUMID 1870 CFSIZE 260165632,249917440

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 23 GPS 050708,034208,6221.991,-938.182,27,1.8,27,-9.9

ALTIM_TOP_PING 18.5,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.72 SBE_CT 426 24 241.71

Roll_motor 123 82 238.57 SBE_O2 394 19 176.89

VBD_pump_during_apogee 360 1033 8784.15 WL_BB2F 394 105 977.66

VBD_pump_during_surface 142 628 2116.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.91 nil 0 0 0.00

Iridium_during_connect 28 160 106.89 nil 0 0 0.00

Iridium_during_xfer 175 223 923.90

Transponder_ping 10 420 101.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.93

TT8 1109 19 224.14

LPSleep 9038 2 201.91

TT8_Active 674 19 136.30

TT8_Sampling 1351 39 548.60

TT8_CF8 438 45 204.69

TT8_Kalman 0 81 0.00

Analog_circuits 1373 12 168.06

GPS_charging 0 0 0.00

Compass 1318 8 107.62

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

31 -1.08 -146.6 0.0 0.0 0 152 0.00 0.00 -119.30 0.000 2 0.000 0.000 69 2315 2992

156 -1.08 -146.6 4.1 -3.3 6 182 11.23 2.70 -8.68 0.000 4 0.171 0.075 2057 877 3381

421 -0.99 -146.6 43.4 -12.9 18 426 0.12 2.62 0.00 0.000 6 0.108 0.054 2080 2296 3381

750 -0.90 -146.6 79.6 -11.4 34 755 0.12 2.67 0.00 0.000 4 0.104 0.063 2101 872 3382

790 -0.90 -146.6 84.0 -10.2 36 795 0.00 2.65 0.00 0.000 6 0.000 0.054 2103 2304 3382

1117 -0.90 -146.6 119.9 -11.6 52 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2304 3382

1427 -0.90 -146.6 154.7 -11.2 67 1431 0.00 2.67 0.00 0.000 4 0.000 0.065 2103 880 3382

1498 -0.90 -146.6 162.5 -10.4 70 1503 0.00 2.65 0.00 0.000 6 0.000 0.055 2103 2305 3383

1814 -0.90 -146.6 195.7 -10.7 85 1818 0.00 2.70 0.00 0.000 4 0.000 0.066 2103 871 3383

1854 -0.90 -146.6 199.8 -10.2 87 1861 0.00 2.65 0.00 0.000 6 0.000 0.055 2103 2302 3383

2188 -0.90 -146.6 235.7 -11.3 103 2193 0.00 2.67 0.00 0.000 4 0.000 0.067 2103 880 3382

2238 -0.94 -146.6 241.6 -11.5 105 2243 0.00 2.62 0.00 0.000 6 0.000 0.056 2103 2302 3382

2554 -0.94 -146.6 278.2 -11.3 120 2558 0.00 2.67 0.00 0.000 4 0.000 0.067 2103 880 3382

2586 -0.94 -146.6 282.0 -11.0 121 2592 0.00 2.62 0.00 0.000 6 0.000 0.055 2103 2300 3382

2902 -0.94 -146.6 315.5 -10.1 137 2903 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2300 3383

3211 -0.94 -146.6 346.0 -9.7 152 3216 0.00 2.67 0.00 0.000 4 0.000 0.068 2103 879 3382

3284 -0.94 -146.6 352.8 -8.8 155 3288 0.00 2.62 0.00 0.000 6 0.000 0.055 2103 2304 3382

3599 -0.94 -146.6 383.8 -10.4 170 3600 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2305 3382

3909 -0.94 -146.6 420.3 -12.0 185 3913 0.00 2.67 0.00 0.000 4 0.000 0.067 2103 880 3382

3971 -0.99 -146.6 427.5 -11.2 188 3975 0.00 2.62 0.00 0.000 6 0.000 0.054 2103 2302 3382

4297 -0.99 -146.6 464.0 -11.0 204 4302 0.00 2.70 0.00 0.000 4 0.000 0.077 2103 3719 3382

4337 -0.99 -146.6 468.5 -11.5 206 4342 0.00 2.62 0.00 0.000 6 0.000 0.057 2103 2297 3382

4664 -0.99 -146.6 502.7 -11.9 222 4668 0.00 2.65 0.00 0.000 4 0.000 0.070 2103 885 3382

4771 -1.04 -146.6 515.8 -12.7 227 4776 0.15 2.62 0.00 0.000 6 0.047 0.056 2060 2302 3381

5100 -0.92 -146.6 556.9 -11.6 243 5102 0.20 0.00 0.00 0.000 6 0.094 0.000 2098 2302 3381

5407 -0.92 -146.6 585.7 -9.2 258 5412 0.00 2.70 0.00 0.000 4 0.000 0.082 2098 3713 3381

5449 end dive: BOTTOM_OBSTACLE_DETECTED

state 5449 begin apogee

5458 -0.31 0.0 590.5 10.6 260 5595 0.62 0.00 129.70 1.034 6 0.101 0.000 2226 2204 2781

5595 end apogee: CONTROL_FINISHED_OK

state 5596 begin climb

5598 1.08 146.6 596.8 0.0 267 5736 1.45 2.80 128.88 1.016 4 0.068 0.080 2534 3611 2182

5765 1.07 181.4 591.8 6.7 275 5803 0.00 2.67 31.35 0.973 6 0.000 0.061 2534 2189 2042

6111 1.07 181.4 561.9 9.9 292 6116 0.00 2.75 0.00 0.000 4 0.000 0.081 2535 3614 2040

6223 1.07 181.4 549.3 12.0 297 6227 0.00 2.65 0.00 0.000 6 0.000 0.063 2535 2204 2040

6544 1.12 181.4 515.4 9.6 313 6548 0.00 2.72 0.00 0.000 4 0.000 0.082 2534 3610 2038

6599 1.12 181.4 510.1 10.0 315 6605 0.00 2.65 0.00 0.000 6 0.000 0.063 2535 2194 2038

6915 1.19 245.4 489.2 5.7 331 6978 0.12 2.80 55.17 0.983 4 0.055 0.080 2568 3617 1779

7017 1.19 245.4 481.8 8.5 335 7024 0.00 2.67 0.00 0.000 6 0.000 0.062 2568 2202 1779

7333 1.19 245.4 458.1 8.5 351 7334 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2202 1779

7642 1.19 245.4 428.2 11.2 366 7647 0.00 2.70 0.00 0.000 4 0.000 0.080 2568 3613 1778

7720 1.19 245.4 418.5 12.3 369 7726 0.00 2.65 0.00 0.000 6 0.000 0.062 2568 2198 1778

8036 1.19 245.4 385.5 10.2 385 8037 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2198 1777

8345 1.19 245.4 353.1 10.4 400 8349 0.00 2.70 0.00 0.000 4 0.000 0.077 2568 3615 1777

8400 1.19 245.4 346.8 11.6 402 8406 0.00 2.65 0.00 0.000 6 0.000 0.063 2568 2196 1777

8716 1.19 245.4 314.2 10.3 418 8720 0.00 2.70 0.00 0.000 4 0.000 0.075 2568 3613 1777

8760 1.19 245.4 309.2 10.7 420 8764 0.00 2.62 0.00 0.000 6 0.000 0.061 2568 2199 1777

9081 1.19 245.4 279.4 8.9 436 9082 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2199 1777

9391 1.21 261.6 255.0 7.4 451 9412 0.00 2.75 14.90 0.774 4 0.000 0.075 2568 3613 1714

9468 1.21 261.6 248.5 8.4 454 9473 0.00 2.62 0.00 0.000 6 0.000 0.061 2568 2200 1714

9784 1.21 261.6 222.4 8.7 469 9785 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2200 1714

10094 1.26 261.6 193.1 9.6 484 10098 0.00 2.70 0.00 0.000 4 0.000 0.074 2568 3620 1714

10137 1.26 261.6 188.4 10.6 486 10142 0.00 2.65 0.00 0.000 6 0.000 0.060 2568 2196 1714

10459 1.26 261.6 156.3 10.0 502 10460 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2196 1714

10769 1.26 261.6 125.6 9.7 517 10773 0.00 2.70 0.00 0.000 4 0.000 0.074 2568 3618 1715

10818 1.26 261.6 120.4 11.2 519 10822 0.00 2.62 0.00 0.000 6 0.000 0.060 2568 2199 1715

11134 1.30 261.6 89.4 10.4 534 11136 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2199 1715

11444 1.30 261.6 59.1 9.1 549 11448 0.00 2.67 0.00 0.000 4 0.000 0.074 2568 3613 1715

11493 1.30 261.6 54.1 9.6 551 11497 0.00 2.62 0.00 0.000 6 0.000 0.059 2568 2198 1716

11809 1.35 261.6 25.9 8.4 566 11814 0.12 2.65 0.00 0.000 4 0.049 0.067 2608 776 1715

11855 1.26 261.6 21.5 10.0 568 11860 0.17 2.60 0.00 0.000 6 0.087 0.051 2574 2203 1715

12091 end climb: SURFACE_DEPTH_REACHED

state 12091 begin surface coast

12116 end surface coast: CONTROL_FINISHED_OK

state 12117 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	142	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	22	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2095940.5	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	001037,6224.916,-935.326,33,2.0,33,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6224.890,-940.267
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.31	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	001603,6224.890,-935.266,11,1.8,11,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.015482	ALTIM_BOTTOM_PING	526.2,74.0
SM_CCo	12138,142.75,0.628,0,0,508,557.32	_24V_AH	23.6,25.625
SM_GC	1.26,0.00,0.00,142.75,0.000,0.000,0.628,73,2304,508,-10.24,0.11,557.32	_10V_AH	10.2,12.679
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28541,581
TT8_MAMPS	0.02301	CAP_FILE_SIZE	95189,0
HUMID	1870	CFSIZE	260165632,249917440
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	23	GPS	050708,034208,6221.991,-938.182,27,1.8,27,-9.9
ALTIM_TOP_PING	18.5,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.72	SBE_CT	426	24	241.71
Roll_motor	123	82	238.57	SBE_O2	394	19	176.89
VBD_pump_during_apogee	360	1033	8784.15	WL_BB2F	394	105	977.66
VBD_pump_during_surface	142	628	2116.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.91	nil	0	0	0.00
Iridium_during_connect	28	160	106.89	nil	0	0	0.00
Iridium_during_xfer	175	223	923.90
Transponder_ping	10	420	101.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.93
TT8	1109	19	224.14
LPSleep	9038	2	201.91
TT8_Active	674	19	136.30
TT8_Sampling	1351	39	548.60
TT8_CF8	438	45	204.69
TT8_Kalman	0	81	0.00
Analog_circuits	1373	12	168.06
GPS_charging	0	0	0.00
Compass	1318	8	107.62
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
31	-1.08	-146.6	0.0	0.0	0	152	0.00	0.00	-119.30	0.000	2	0.000	0.000	69	2315	2992
156	-1.08	-146.6	4.1	-3.3	6	182	11.23	2.70	-8.68	0.000	4	0.171	0.075	2057	877	3381
421	-0.99	-146.6	43.4	-12.9	18	426	0.12	2.62	0.00	0.000	6	0.108	0.054	2080	2296	3381
750	-0.90	-146.6	79.6	-11.4	34	755	0.12	2.67	0.00	0.000	4	0.104	0.063	2101	872	3382
790	-0.90	-146.6	84.0	-10.2	36	795	0.00	2.65	0.00	0.000	6	0.000	0.054	2103	2304	3382
1117	-0.90	-146.6	119.9	-11.6	52	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2304	3382
1427	-0.90	-146.6	154.7	-11.2	67	1431	0.00	2.67	0.00	0.000	4	0.000	0.065	2103	880	3382
1498	-0.90	-146.6	162.5	-10.4	70	1503	0.00	2.65	0.00	0.000	6	0.000	0.055	2103	2305	3383
1814	-0.90	-146.6	195.7	-10.7	85	1818	0.00	2.70	0.00	0.000	4	0.000	0.066	2103	871	3383
1854	-0.90	-146.6	199.8	-10.2	87	1861	0.00	2.65	0.00	0.000	6	0.000	0.055	2103	2302	3383
2188	-0.90	-146.6	235.7	-11.3	103	2193	0.00	2.67	0.00	0.000	4	0.000	0.067	2103	880	3382
2238	-0.94	-146.6	241.6	-11.5	105	2243	0.00	2.62	0.00	0.000	6	0.000	0.056	2103	2302	3382
2554	-0.94	-146.6	278.2	-11.3	120	2558	0.00	2.67	0.00	0.000	4	0.000	0.067	2103	880	3382
2586	-0.94	-146.6	282.0	-11.0	121	2592	0.00	2.62	0.00	0.000	6	0.000	0.055	2103	2300	3382
2902	-0.94	-146.6	315.5	-10.1	137	2903	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2300	3383
3211	-0.94	-146.6	346.0	-9.7	152	3216	0.00	2.67	0.00	0.000	4	0.000	0.068	2103	879	3382
3284	-0.94	-146.6	352.8	-8.8	155	3288	0.00	2.62	0.00	0.000	6	0.000	0.055	2103	2304	3382
3599	-0.94	-146.6	383.8	-10.4	170	3600	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2305	3382
3909	-0.94	-146.6	420.3	-12.0	185	3913	0.00	2.67	0.00	0.000	4	0.000	0.067	2103	880	3382
3971	-0.99	-146.6	427.5	-11.2	188	3975	0.00	2.62	0.00	0.000	6	0.000	0.054	2103	2302	3382
4297	-0.99	-146.6	464.0	-11.0	204	4302	0.00	2.70	0.00	0.000	4	0.000	0.077	2103	3719	3382
4337	-0.99	-146.6	468.5	-11.5	206	4342	0.00	2.62	0.00	0.000	6	0.000	0.057	2103	2297	3382
4664	-0.99	-146.6	502.7	-11.9	222	4668	0.00	2.65	0.00	0.000	4	0.000	0.070	2103	885	3382
4771	-1.04	-146.6	515.8	-12.7	227	4776	0.15	2.62	0.00	0.000	6	0.047	0.056	2060	2302	3381
5100	-0.92	-146.6	556.9	-11.6	243	5102	0.20	0.00	0.00	0.000	6	0.094	0.000	2098	2302	3381
5407	-0.92	-146.6	585.7	-9.2	258	5412	0.00	2.70	0.00	0.000	4	0.000	0.082	2098	3713	3381
5449	end dive: BOTTOM_OBSTACLE_DETECTED
state	5449	begin apogee
5458	-0.31	0.0	590.5	10.6	260	5595	0.62	0.00	129.70	1.034	6	0.101	0.000	2226	2204	2781
5595	end apogee: CONTROL_FINISHED_OK
state	5596	begin climb
5598	1.08	146.6	596.8	0.0	267	5736	1.45	2.80	128.88	1.016	4	0.068	0.080	2534	3611	2182
5765	1.07	181.4	591.8	6.7	275	5803	0.00	2.67	31.35	0.973	6	0.000	0.061	2534	2189	2042
6111	1.07	181.4	561.9	9.9	292	6116	0.00	2.75	0.00	0.000	4	0.000	0.081	2535	3614	2040
6223	1.07	181.4	549.3	12.0	297	6227	0.00	2.65	0.00	0.000	6	0.000	0.063	2535	2204	2040
6544	1.12	181.4	515.4	9.6	313	6548	0.00	2.72	0.00	0.000	4	0.000	0.082	2534	3610	2038
6599	1.12	181.4	510.1	10.0	315	6605	0.00	2.65	0.00	0.000	6	0.000	0.063	2535	2194	2038
6915	1.19	245.4	489.2	5.7	331	6978	0.12	2.80	55.17	0.983	4	0.055	0.080	2568	3617	1779
7017	1.19	245.4	481.8	8.5	335	7024	0.00	2.67	0.00	0.000	6	0.000	0.062	2568	2202	1779
7333	1.19	245.4	458.1	8.5	351	7334	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2202	1779
7642	1.19	245.4	428.2	11.2	366	7647	0.00	2.70	0.00	0.000	4	0.000	0.080	2568	3613	1778
7720	1.19	245.4	418.5	12.3	369	7726	0.00	2.65	0.00	0.000	6	0.000	0.062	2568	2198	1778
8036	1.19	245.4	385.5	10.2	385	8037	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2198	1777
8345	1.19	245.4	353.1	10.4	400	8349	0.00	2.70	0.00	0.000	4	0.000	0.077	2568	3615	1777
8400	1.19	245.4	346.8	11.6	402	8406	0.00	2.65	0.00	0.000	6	0.000	0.063	2568	2196	1777
8716	1.19	245.4	314.2	10.3	418	8720	0.00	2.70	0.00	0.000	4	0.000	0.075	2568	3613	1777
8760	1.19	245.4	309.2	10.7	420	8764	0.00	2.62	0.00	0.000	6	0.000	0.061	2568	2199	1777
9081	1.19	245.4	279.4	8.9	436	9082	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2199	1777
9391	1.21	261.6	255.0	7.4	451	9412	0.00	2.75	14.90	0.774	4	0.000	0.075	2568	3613	1714
9468	1.21	261.6	248.5	8.4	454	9473	0.00	2.62	0.00	0.000	6	0.000	0.061	2568	2200	1714
9784	1.21	261.6	222.4	8.7	469	9785	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2200	1714
10094	1.26	261.6	193.1	9.6	484	10098	0.00	2.70	0.00	0.000	4	0.000	0.074	2568	3620	1714
10137	1.26	261.6	188.4	10.6	486	10142	0.00	2.65	0.00	0.000	6	0.000	0.060	2568	2196	1714
10459	1.26	261.6	156.3	10.0	502	10460	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2196	1714
10769	1.26	261.6	125.6	9.7	517	10773	0.00	2.70	0.00	0.000	4	0.000	0.074	2568	3618	1715
10818	1.26	261.6	120.4	11.2	519	10822	0.00	2.62	0.00	0.000	6	0.000	0.060	2568	2199	1715
11134	1.30	261.6	89.4	10.4	534	11136	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2199	1715
11444	1.30	261.6	59.1	9.1	549	11448	0.00	2.67	0.00	0.000	4	0.000	0.074	2568	3613	1715
11493	1.30	261.6	54.1	9.6	551	11497	0.00	2.62	0.00	0.000	6	0.000	0.059	2568	2198	1716
11809	1.35	261.6	25.9	8.4	566	11814	0.12	2.65	0.00	0.000	4	0.049	0.067	2608	776	1715
11855	1.26	261.6	21.5	10.0	568	11860	0.17	2.60	0.00	0.000	6	0.087	0.051	2574	2203	1715
12091	end climb: SURFACE_DEPTH_REACHED
state	12091	begin surface coast
12116	end surface coast: CONTROL_FINISHED_OK
state	12117	begin surface