Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 143 * 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 143 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 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 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 -2095958.5 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 -2095958.5

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 15 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 143 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 034208,6221.991,-938.182,27,1.8,27,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6221.947,-943.322

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.34 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 034814,6221.947,-938.313,12,1.8,17,-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 0.6,1.013313 ALTIM_BOTTOM_PING 527.2,84.7

SM_CCo 12436,126.57,0.627,0,0,508,557.32 _24V_AH 23.6,25.775

SM_GC 1.30,0.00,0.00,126.57,0.000,0.000,0.627,72,2312,508,-10.25,0.34,557.32 _10V_AH 10.2,12.741

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31623,598

TT8_MAMPS 0.023777 CAP_FILE_SIZE 95533,0

HUMID 1870 CFSIZE 260165632,249868288

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 17 GPS 050708,071928,6219.741,-943.799,35,2.3,54,-9.9

ALTIM_TOP_PING 19.3,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 102.18 SBE_CT 440 24 249.52

Roll_motor 107 82 209.28 SBE_O2 406 19 182.12

VBD_pump_during_apogee 395 1039 9690.67 WL_BB2F 394 105 977.41

VBD_pump_during_surface 126 627 1874.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.93 nil 0 0 0.00

Iridium_during_connect 27 160 102.18 nil 0 0 0.00

Iridium_during_xfer 186 223 982.61

Transponder_ping 9 420 89.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.87

TT8 1122 19 226.72

LPSleep 9298 2 207.72

TT8_Active 689 19 139.25

TT8_Sampling 1350 39 548.30

TT8_CF8 472 45 220.56

TT8_Kalman 0 81 0.00

Analog_circuits 1378 12 168.71

GPS_charging 0 0 0.00

Compass 1314 8 107.25

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 0 153 0.00 0.00 -120.53 0.000 2 0.000 0.000 73 2305 3041

157 -1.08 -146.6 4.4 -3.8 6 182 11.12 2.70 -7.32 0.000 4 0.168 0.077 2056 883 3379

381 -0.97 -146.6 38.4 -12.4 16 386 0.17 2.62 0.00 0.000 6 0.107 0.054 2089 2300 3379

708 -0.90 -146.6 73.5 -10.5 32 713 0.00 2.67 0.00 0.000 4 0.000 0.064 2089 877 3380

753 -0.90 -146.6 78.4 -10.9 34 757 0.00 2.62 0.00 0.000 6 0.000 0.053 2089 2300 3380

1074 -0.83 -146.6 113.1 -11.4 50 1076 0.15 0.00 0.00 0.000 6 0.100 0.000 2117 2300 3381

1385 -0.83 -146.6 142.9 -9.5 65 1389 0.00 2.67 0.00 0.000 4 0.000 0.065 2117 880 3381

1470 -0.89 -146.6 150.7 -9.1 69 1475 0.00 2.65 0.00 0.000 6 0.000 0.055 2117 2306 3381

1796 -0.89 -146.6 179.3 -8.5 85 1801 0.00 2.70 0.00 0.000 4 0.000 0.066 2117 873 3381

1830 -0.94 -146.6 182.3 -8.5 86 1837 0.12 2.65 0.00 0.000 6 0.048 0.055 2079 2303 3381

2146 -0.85 -146.6 214.9 -10.6 102 2148 0.17 0.00 0.00 0.000 6 0.091 0.000 2112 2303 3381

2455 -0.85 -146.6 243.2 -9.3 117 2459 0.00 2.70 0.00 0.000 4 0.000 0.067 2112 873 3381

2528 -0.91 -146.6 250.2 -10.1 120 2533 0.00 2.65 0.00 0.000 6 0.000 0.055 2112 2305 3381

2844 -0.91 -146.6 281.0 -9.9 135 2845 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2305 3381

3153 -0.91 -146.6 311.2 -9.8 150 3158 0.00 2.70 0.00 0.000 4 0.000 0.067 2112 873 3381

3221 -0.96 -146.6 317.7 -9.4 153 3225 0.00 2.65 0.00 0.000 6 0.000 0.055 2112 2305 3381

3541 -0.96 -146.6 347.9 -9.5 169 3546 0.00 2.67 0.00 0.000 4 0.000 0.067 2112 880 3381

3586 -1.02 -146.6 352.4 -9.5 171 3591 0.17 2.62 0.00 0.000 6 0.043 0.056 2062 2300 3381

3908 -0.90 -146.6 394.7 -13.3 187 3913 0.17 2.67 0.00 0.000 4 0.094 0.067 2100 880 3381

3963 -0.90 -146.6 401.0 -10.3 189 3969 0.00 2.62 0.00 0.000 6 0.000 0.056 2100 2300 3380

4279 -0.90 -146.6 429.0 -8.0 205 4280 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2300 3381

4588 -0.90 -146.6 453.7 -8.9 220 4592 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 878 3380

4688 -0.90 -146.6 464.6 -12.3 224 4694 0.00 2.62 0.00 0.000 6 0.000 0.056 2100 2300 3381

5004 -0.90 -146.6 510.6 -14.3 240 5008 0.00 2.70 0.00 0.000 4 0.000 0.079 2100 3712 3380

5030 -0.90 -146.6 514.4 -14.1 241 5035 0.00 2.60 0.00 0.000 6 0.000 0.054 2100 2294 3380

5347 -0.90 -146.6 545.7 -8.0 256 5351 0.00 2.65 0.00 0.000 4 0.000 0.070 2100 886 3380

5425 -0.90 -146.6 552.1 -7.8 259 5431 0.00 2.62 0.00 0.000 6 0.000 0.058 2100 2301 3380

5740 -0.90 -146.6 580.6 -9.8 275 5745 0.00 2.70 0.00 0.000 4 0.000 0.082 2100 3715 3379

5807 -0.90 -146.6 587.7 -11.2 278 5812 0.00 2.62 0.00 0.000 6 0.000 0.058 2101 2294 3379

5962 end dive: BOTTOM_OBSTACLE_DETECTED

state 5962 begin apogee

5969 -0.31 0.0 602.3 9.7 286 6104 0.65 0.00 130.02 1.039 6 0.096 0.000 2231 2197 2781

6105 end apogee: CONTROL_FINISHED_OK

state 6105 begin climb

6107 1.08 146.6 608.7 0.0 293 6241 1.40 0.00 128.95 1.023 6 0.066 0.000 2534 2197 2182

6539 1.13 186.3 589.7 6.6 314 6579 0.00 0.00 35.75 0.991 6 0.000 0.000 2534 2196 2021

6889 1.18 237.8 568.8 6.1 331 6943 0.10 2.83 46.05 1.005 4 0.059 0.083 2562 3610 1810

7033 1.18 237.8 557.5 8.0 337 7039 0.00 2.67 0.00 0.000 6 0.000 0.062 2562 2201 1809

7349 1.22 268.2 536.7 6.9 353 7378 0.00 0.00 27.40 0.977 6 0.000 0.000 2562 2201 1687

7678 1.22 268.2 504.4 12.0 369 7683 0.00 2.72 0.00 0.000 4 0.000 0.080 2562 3610 1686

7767 1.22 268.2 492.3 13.6 373 7772 0.00 2.65 0.00 0.000 6 0.000 0.061 2562 2199 1686

8088 1.28 282.7 460.8 7.5 389 8110 0.00 2.78 13.62 0.893 4 0.000 0.078 2562 3611 1628

8135 1.35 296.1 457.5 7.5 391 8156 0.15 2.65 13.30 0.883 6 0.051 0.060 2603 2200 1573

8466 1.30 296.1 426.9 10.0 407 8467 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2200 1572

8775 1.30 296.1 394.3 10.3 422 8779 0.00 2.70 0.00 0.000 4 0.000 0.077 2603 3618 1572

8830 1.26 296.1 387.6 12.5 424 8837 0.15 2.65 0.00 0.000 6 0.093 0.062 2574 2199 1572

9146 1.26 296.1 354.9 10.6 440 9147 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2199 1572

9455 1.26 296.1 321.3 10.8 455 9456 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2198 1572

9765 1.31 296.1 290.3 9.8 470 9769 0.00 2.70 0.00 0.000 4 0.000 0.075 2575 3620 1572

9809 1.36 296.1 285.5 10.8 472 9813 0.00 2.65 0.00 0.000 6 0.000 0.061 2575 2196 1573

10130 1.40 296.1 251.6 11.0 488 10132 0.15 0.00 0.00 0.000 6 0.046 0.000 2618 2196 1572

10439 1.33 296.1 211.5 12.4 503 10441 0.15 0.00 0.00 0.000 6 0.090 0.000 2589 2196 1573

10748 1.33 296.1 178.2 10.7 518 10753 0.00 2.67 0.00 0.000 4 0.000 0.075 2589 3613 1573

10798 1.33 296.1 172.2 12.0 520 10802 0.00 2.62 0.00 0.000 6 0.000 0.060 2589 2197 1574

11114 1.33 296.1 138.3 10.4 535 11115 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 1573

11423 1.33 296.1 108.6 9.7 550 11424 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 1573

11733 1.33 296.1 72.2 13.3 565 11737 0.00 2.67 0.00 0.000 4 0.000 0.072 2589 3613 1574

11819 1.33 296.1 61.1 11.7 569 11823 0.00 2.62 0.00 0.000 6 0.000 0.060 2589 2192 1574

12147 1.33 296.1 28.9 10.1 585 12152 0.00 2.67 0.00 0.000 4 0.000 0.072 2589 3612 1574

12202 1.33 296.1 22.2 11.4 587 12209 0.00 2.60 0.00 0.000 6 0.000 0.061 2589 2201 1574

12392 end climb: SURFACE_DEPTH_REACHED

state 12392 begin surface coast

12414 end surface coast: CONTROL_FINISHED_OK

state 12414 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	143	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	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	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	-2095958.5	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	034208,6221.991,-938.182,27,1.8,27,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6221.947,-943.322
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.34	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	034814,6221.947,-938.313,12,1.8,17,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.013313	ALTIM_BOTTOM_PING	527.2,84.7
SM_CCo	12436,126.57,0.627,0,0,508,557.32	_24V_AH	23.6,25.775
SM_GC	1.30,0.00,0.00,126.57,0.000,0.000,0.627,72,2312,508,-10.25,0.34,557.32	_10V_AH	10.2,12.741
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31623,598
TT8_MAMPS	0.023777	CAP_FILE_SIZE	95533,0
HUMID	1870	CFSIZE	260165632,249868288
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	17	GPS	050708,071928,6219.741,-943.799,35,2.3,54,-9.9
ALTIM_TOP_PING	19.3,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	102.18	SBE_CT	440	24	249.52
Roll_motor	107	82	209.28	SBE_O2	406	19	182.12
VBD_pump_during_apogee	395	1039	9690.67	WL_BB2F	394	105	977.41
VBD_pump_during_surface	126	627	1874.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.93	nil	0	0	0.00
Iridium_during_connect	27	160	102.18	nil	0	0	0.00
Iridium_during_xfer	186	223	982.61
Transponder_ping	9	420	89.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.87
TT8	1122	19	226.72
LPSleep	9298	2	207.72
TT8_Active	689	19	139.25
TT8_Sampling	1350	39	548.30
TT8_CF8	472	45	220.56
TT8_Kalman	0	81	0.00
Analog_circuits	1378	12	168.71
GPS_charging	0	0	0.00
Compass	1314	8	107.25
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	153	0.00	0.00	-120.53	0.000	2	0.000	0.000	73	2305	3041
157	-1.08	-146.6	4.4	-3.8	6	182	11.12	2.70	-7.32	0.000	4	0.168	0.077	2056	883	3379
381	-0.97	-146.6	38.4	-12.4	16	386	0.17	2.62	0.00	0.000	6	0.107	0.054	2089	2300	3379
708	-0.90	-146.6	73.5	-10.5	32	713	0.00	2.67	0.00	0.000	4	0.000	0.064	2089	877	3380
753	-0.90	-146.6	78.4	-10.9	34	757	0.00	2.62	0.00	0.000	6	0.000	0.053	2089	2300	3380
1074	-0.83	-146.6	113.1	-11.4	50	1076	0.15	0.00	0.00	0.000	6	0.100	0.000	2117	2300	3381
1385	-0.83	-146.6	142.9	-9.5	65	1389	0.00	2.67	0.00	0.000	4	0.000	0.065	2117	880	3381
1470	-0.89	-146.6	150.7	-9.1	69	1475	0.00	2.65	0.00	0.000	6	0.000	0.055	2117	2306	3381
1796	-0.89	-146.6	179.3	-8.5	85	1801	0.00	2.70	0.00	0.000	4	0.000	0.066	2117	873	3381
1830	-0.94	-146.6	182.3	-8.5	86	1837	0.12	2.65	0.00	0.000	6	0.048	0.055	2079	2303	3381
2146	-0.85	-146.6	214.9	-10.6	102	2148	0.17	0.00	0.00	0.000	6	0.091	0.000	2112	2303	3381
2455	-0.85	-146.6	243.2	-9.3	117	2459	0.00	2.70	0.00	0.000	4	0.000	0.067	2112	873	3381
2528	-0.91	-146.6	250.2	-10.1	120	2533	0.00	2.65	0.00	0.000	6	0.000	0.055	2112	2305	3381
2844	-0.91	-146.6	281.0	-9.9	135	2845	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2305	3381
3153	-0.91	-146.6	311.2	-9.8	150	3158	0.00	2.70	0.00	0.000	4	0.000	0.067	2112	873	3381
3221	-0.96	-146.6	317.7	-9.4	153	3225	0.00	2.65	0.00	0.000	6	0.000	0.055	2112	2305	3381
3541	-0.96	-146.6	347.9	-9.5	169	3546	0.00	2.67	0.00	0.000	4	0.000	0.067	2112	880	3381
3586	-1.02	-146.6	352.4	-9.5	171	3591	0.17	2.62	0.00	0.000	6	0.043	0.056	2062	2300	3381
3908	-0.90	-146.6	394.7	-13.3	187	3913	0.17	2.67	0.00	0.000	4	0.094	0.067	2100	880	3381
3963	-0.90	-146.6	401.0	-10.3	189	3969	0.00	2.62	0.00	0.000	6	0.000	0.056	2100	2300	3380
4279	-0.90	-146.6	429.0	-8.0	205	4280	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2300	3381
4588	-0.90	-146.6	453.7	-8.9	220	4592	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	878	3380
4688	-0.90	-146.6	464.6	-12.3	224	4694	0.00	2.62	0.00	0.000	6	0.000	0.056	2100	2300	3381
5004	-0.90	-146.6	510.6	-14.3	240	5008	0.00	2.70	0.00	0.000	4	0.000	0.079	2100	3712	3380
5030	-0.90	-146.6	514.4	-14.1	241	5035	0.00	2.60	0.00	0.000	6	0.000	0.054	2100	2294	3380
5347	-0.90	-146.6	545.7	-8.0	256	5351	0.00	2.65	0.00	0.000	4	0.000	0.070	2100	886	3380
5425	-0.90	-146.6	552.1	-7.8	259	5431	0.00	2.62	0.00	0.000	6	0.000	0.058	2100	2301	3380
5740	-0.90	-146.6	580.6	-9.8	275	5745	0.00	2.70	0.00	0.000	4	0.000	0.082	2100	3715	3379
5807	-0.90	-146.6	587.7	-11.2	278	5812	0.00	2.62	0.00	0.000	6	0.000	0.058	2101	2294	3379
5962	end dive: BOTTOM_OBSTACLE_DETECTED
state	5962	begin apogee
5969	-0.31	0.0	602.3	9.7	286	6104	0.65	0.00	130.02	1.039	6	0.096	0.000	2231	2197	2781
6105	end apogee: CONTROL_FINISHED_OK
state	6105	begin climb
6107	1.08	146.6	608.7	0.0	293	6241	1.40	0.00	128.95	1.023	6	0.066	0.000	2534	2197	2182
6539	1.13	186.3	589.7	6.6	314	6579	0.00	0.00	35.75	0.991	6	0.000	0.000	2534	2196	2021
6889	1.18	237.8	568.8	6.1	331	6943	0.10	2.83	46.05	1.005	4	0.059	0.083	2562	3610	1810
7033	1.18	237.8	557.5	8.0	337	7039	0.00	2.67	0.00	0.000	6	0.000	0.062	2562	2201	1809
7349	1.22	268.2	536.7	6.9	353	7378	0.00	0.00	27.40	0.977	6	0.000	0.000	2562	2201	1687
7678	1.22	268.2	504.4	12.0	369	7683	0.00	2.72	0.00	0.000	4	0.000	0.080	2562	3610	1686
7767	1.22	268.2	492.3	13.6	373	7772	0.00	2.65	0.00	0.000	6	0.000	0.061	2562	2199	1686
8088	1.28	282.7	460.8	7.5	389	8110	0.00	2.78	13.62	0.893	4	0.000	0.078	2562	3611	1628
8135	1.35	296.1	457.5	7.5	391	8156	0.15	2.65	13.30	0.883	6	0.051	0.060	2603	2200	1573
8466	1.30	296.1	426.9	10.0	407	8467	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2200	1572
8775	1.30	296.1	394.3	10.3	422	8779	0.00	2.70	0.00	0.000	4	0.000	0.077	2603	3618	1572
8830	1.26	296.1	387.6	12.5	424	8837	0.15	2.65	0.00	0.000	6	0.093	0.062	2574	2199	1572
9146	1.26	296.1	354.9	10.6	440	9147	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2199	1572
9455	1.26	296.1	321.3	10.8	455	9456	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2198	1572
9765	1.31	296.1	290.3	9.8	470	9769	0.00	2.70	0.00	0.000	4	0.000	0.075	2575	3620	1572
9809	1.36	296.1	285.5	10.8	472	9813	0.00	2.65	0.00	0.000	6	0.000	0.061	2575	2196	1573
10130	1.40	296.1	251.6	11.0	488	10132	0.15	0.00	0.00	0.000	6	0.046	0.000	2618	2196	1572
10439	1.33	296.1	211.5	12.4	503	10441	0.15	0.00	0.00	0.000	6	0.090	0.000	2589	2196	1573
10748	1.33	296.1	178.2	10.7	518	10753	0.00	2.67	0.00	0.000	4	0.000	0.075	2589	3613	1573
10798	1.33	296.1	172.2	12.0	520	10802	0.00	2.62	0.00	0.000	6	0.000	0.060	2589	2197	1574
11114	1.33	296.1	138.3	10.4	535	11115	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	1573
11423	1.33	296.1	108.6	9.7	550	11424	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	1573
11733	1.33	296.1	72.2	13.3	565	11737	0.00	2.67	0.00	0.000	4	0.000	0.072	2589	3613	1574
11819	1.33	296.1	61.1	11.7	569	11823	0.00	2.62	0.00	0.000	6	0.000	0.060	2589	2192	1574
12147	1.33	296.1	28.9	10.1	585	12152	0.00	2.67	0.00	0.000	4	0.000	0.072	2589	3612	1574
12202	1.33	296.1	22.2	11.4	587	12209	0.00	2.60	0.00	0.000	6	0.000	0.061	2589	2201	1574
12392	end climb: SURFACE_DEPTH_REACHED
state	12392	begin surface coast
12414	end surface coast: CONTROL_FINISHED_OK
state	12414	begin surface