Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 336 * 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 336 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2100638.5 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 0 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 2330 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 -2100638.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 336 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 072338,6451.092,-1035.739,29,1.6,29,-11.4 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 072909,6451.154,-1035.894,15,1.7,15,-11.4 MHEAD_RNG_PITCHd_Wd 159.5,85370,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027035 ALTIM_BOTTOM_PING 400.1,30.8

SM_CCo 12020,118.55,0.632,0,0,508,557.32 _24V_AH 23.5,54.309

SM_GC 1.24,0.00,0.00,118.55,0.000,0.000,0.632,70,2241,508,-10.39,0.31,557.32 _10V_AH 10.1,26.804

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28518,576

TT8_MAMPS 0.02301 CAP_FILE_SIZE 92024,0

HUMID 1915 CFSIZE 260165632,239882240

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 44 GPS 090808,105308,6450.536,-1037.586,41,1.6,41,-11.4

ALTIM_TOP_PING 19.9,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.50 SBE_CT 424 24 239.34

Roll_motor 121 82 234.04 SBE_O2 390 19 174.47

VBD_pump_during_apogee 404 971 9231.43 WL_BB2F 463 105 1142.78

VBD_pump_during_surface 118 632 1760.73 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.21 nil 0 0 0.00

Iridium_during_connect 51 160 192.46 nil 0 0 0.00

Iridium_during_xfer 136 223 716.42

Transponder_ping 14 420 140.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.71

TT8 1072 19 214.50

LPSleep 9007 2 199.23

TT8_Active 673 19 134.73

TT8_Sampling 1264 39 508.32

TT8_CF8 457 45 211.85

TT8_Kalman 0 81 0.00

Analog_circuits 1349 12 163.61

GPS_charging 0 0 0.00

Compass 1236 8 99.94

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

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.60 0.000 2 0.000 0.000 72 2243 2890

150 -0.85 -146.6 3.9 -3.2 6 180 11.70 2.67 -12.07 0.000 4 0.171 0.069 2141 814 3382

239 -0.80 -146.6 15.6 -8.7 10 243 0.00 2.58 0.00 0.000 6 0.000 0.048 2141 2230 3382

566 -0.69 -146.6 44.1 -8.4 26 571 0.15 2.62 0.00 0.000 4 0.096 0.067 2174 3638 3382

606 -0.69 -146.6 47.1 -6.8 28 611 0.00 2.58 0.00 0.000 6 0.000 0.048 2173 2221 3383

933 -0.69 -146.6 73.0 -8.7 44 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2221 3383

1242 -0.69 -146.6 101.1 -8.8 59 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2221 3383

1553 -0.69 -146.6 125.1 -7.1 74 1557 0.00 2.67 0.00 0.000 4 0.000 0.070 2174 3641 3383

1592 -0.69 -146.6 128.0 -7.5 76 1597 0.00 2.58 0.00 0.000 6 0.000 0.049 2174 2226 3383

1921 -0.69 -146.6 147.1 -5.7 92 1925 0.00 2.65 0.00 0.000 4 0.000 0.070 2174 3644 3383

1948 -0.69 -146.6 149.0 -6.4 93 1952 0.00 2.58 0.00 0.000 6 0.000 0.048 2173 2226 3384

2264 -0.69 -146.6 171.7 -7.6 108 2268 0.00 2.65 0.00 0.000 4 0.000 0.070 2174 3638 3383

2297 -0.69 -146.6 174.6 -8.4 109 2306 0.00 2.55 0.00 0.000 6 0.000 0.048 2174 2230 3384

2612 -0.69 -146.6 198.3 -7.2 125 2613 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3384

2922 -0.69 -146.6 218.6 -5.9 140 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2228 3384

3232 -0.69 -146.6 232.3 -3.7 155 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2228 3384

3540 -0.69 -146.6 248.2 -6.0 170 3545 0.00 2.67 0.00 0.000 4 0.000 0.076 2174 3638 3384

3570 -0.69 -146.6 250.0 -6.9 171 3575 0.00 2.58 0.00 0.000 6 0.000 0.052 2174 2230 3384

3887 -0.73 -146.6 271.2 -6.3 186 3892 0.00 2.70 0.00 0.000 4 0.000 0.077 2174 3642 3384

3945 -0.73 -146.6 275.3 -6.5 188 3951 0.00 2.60 0.00 0.000 6 0.000 0.054 2174 2226 3384

4262 -0.73 -146.6 295.3 -6.5 204 4266 0.00 2.62 0.00 0.000 4 0.000 0.065 2174 817 3383

4302 -0.84 -146.6 298.0 -7.1 206 4307 0.15 2.62 0.00 0.000 6 0.052 0.054 2131 2234 3383

4632 -0.77 -146.6 325.1 -8.8 222 4637 0.15 2.67 0.00 0.000 4 0.093 0.079 2159 3638 3382

4672 -0.77 -146.6 328.8 -7.7 224 4677 0.00 2.60 0.00 0.000 6 0.000 0.057 2159 2231 3382

4999 -0.77 -146.6 353.1 -7.4 240 5000 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2231 3381

5309 -0.77 -146.6 376.2 -7.3 255 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2231 3381

5618 -0.77 -146.6 399.0 -7.9 270 5623 0.00 2.67 0.00 0.000 4 0.000 0.071 2159 816 3379

5663 -0.84 -146.6 402.8 -8.5 272 5667 0.00 2.62 0.00 0.000 6 0.000 0.059 2159 2229 3379

5898 end dive: BOTTOM_OBSTACLE_DETECTED

state 5898 begin apogee

5906 -0.31 0.0 421.6 7.9 284 6041 0.50 0.00 127.43 0.971 6 0.094 0.000 2260 2229 2781

6041 end apogee: CONTROL_FINISHED_OK

state 6041 begin climb

6044 0.85 146.6 428.2 0.0 291 6180 1.17 2.88 126.15 0.956 4 0.075 0.082 2507 3650 2183

6217 0.89 276.0 430.0 2.5 299 6335 0.00 2.67 110.72 0.941 6 0.000 0.061 2507 2235 1656

6644 1.08 276.0 401.4 7.9 320 6649 0.22 2.72 0.00 0.000 4 0.074 0.081 2558 3648 1654

6672 1.08 276.0 398.8 9.6 321 6676 0.00 2.65 0.00 0.000 6 0.000 0.061 2559 2240 1654

6989 1.00 276.0 367.9 9.7 336 6993 0.00 2.70 0.00 0.000 4 0.000 0.076 2559 828 1653

7061 0.92 276.0 360.3 10.5 339 7066 0.15 2.62 0.00 0.000 6 0.104 0.058 2532 2240 1652

7377 0.92 276.0 332.8 8.8 354 7382 0.00 2.70 0.00 0.000 4 0.000 0.074 2532 828 1651

7405 0.92 276.0 330.0 9.8 355 7409 0.00 2.62 0.00 0.000 6 0.000 0.058 2533 2240 1651

7720 0.92 276.0 304.5 7.5 370 7725 0.00 2.70 0.00 0.000 4 0.000 0.073 2531 828 1651

7748 0.92 276.0 302.5 7.1 371 7752 0.00 2.62 0.00 0.000 6 0.000 0.057 2532 2240 1651

8065 0.92 276.0 280.0 7.9 386 8069 0.00 2.70 0.00 0.000 4 0.000 0.081 2532 3653 1651

8097 0.92 276.0 277.0 9.0 387 8103 0.00 2.65 0.00 0.000 6 0.000 0.061 2532 2235 1651

8413 0.92 276.0 252.1 7.6 403 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2235 1650

8724 0.92 276.0 227.6 8.1 418 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2235 1650

9031 0.92 279.6 206.7 5.9 433 9040 0.00 2.72 3.45 0.528 4 0.000 0.075 2532 3646 1641

9070 0.92 279.6 204.5 6.2 434 9076 0.00 2.62 0.00 0.000 6 0.000 0.056 2532 2231 1641

9386 0.97 321.8 188.6 4.8 450 9425 0.00 0.00 36.80 0.815 6 0.000 0.000 2532 2232 1469

9735 0.97 321.8 167.1 7.0 467 9739 0.00 2.62 0.00 0.000 4 0.000 0.066 2532 823 1467

9762 1.01 321.8 165.0 7.9 468 9766 0.00 2.60 0.00 0.000 6 0.000 0.049 2532 2245 1467

10079 1.01 321.8 142.2 6.8 483 10083 0.00 2.65 0.00 0.000 4 0.000 0.063 2532 828 1467

10100 1.01 321.8 140.6 7.0 484 10104 0.00 2.58 0.00 0.000 6 0.000 0.048 2532 2241 1467

10421 1.01 321.8 119.4 6.7 500 10422 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2242 1467

10731 1.01 321.8 98.1 6.6 515 10735 0.00 2.65 0.00 0.000 4 0.000 0.061 2532 820 1468

10786 1.07 321.8 94.5 6.6 517 10793 0.15 2.58 0.00 0.000 6 0.051 0.046 2565 2243 1468

11103 1.00 321.8 69.6 7.6 533 11107 0.00 2.65 0.00 0.000 4 0.000 0.061 2565 820 1469

11131 0.95 321.8 67.2 8.0 534 11136 0.15 2.58 0.00 0.000 6 0.087 0.046 2536 2243 1469

11449 0.95 321.8 45.4 6.7 549 11453 0.00 2.62 0.00 0.000 4 0.000 0.061 2536 827 1470

11481 0.95 321.8 42.9 7.2 550 11487 0.00 2.55 0.00 0.000 6 0.000 0.046 2536 2242 1471

11798 1.00 321.8 16.3 8.6 566 11803 0.00 2.62 0.00 0.000 4 0.000 0.061 2536 826 1472

11821 1.06 321.8 14.4 8.3 567 11826 0.12 2.55 0.00 0.000 6 0.049 0.047 2568 2241 1471

11974 end climb: SURFACE_DEPTH_REACHED

state 11974 begin surface coast

11998 end surface coast: CONTROL_FINISHED_OK

state 11998 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	336	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2100638.5	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	0	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	2330	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	072338,6451.092,-1035.739,29,1.6,29,-11.4	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	072909,6451.154,-1035.894,15,1.7,15,-11.4	MHEAD_RNG_PITCHd_Wd	159.5,85370,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027035	ALTIM_BOTTOM_PING	400.1,30.8
SM_CCo	12020,118.55,0.632,0,0,508,557.32	_24V_AH	23.5,54.309
SM_GC	1.24,0.00,0.00,118.55,0.000,0.000,0.632,70,2241,508,-10.39,0.31,557.32	_10V_AH	10.1,26.804
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28518,576
TT8_MAMPS	0.02301	CAP_FILE_SIZE	92024,0
HUMID	1915	CFSIZE	260165632,239882240
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	44	GPS	090808,105308,6450.536,-1037.586,41,1.6,41,-11.4
ALTIM_TOP_PING	19.9,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.50	SBE_CT	424	24	239.34
Roll_motor	121	82	234.04	SBE_O2	390	19	174.47
VBD_pump_during_apogee	404	971	9231.43	WL_BB2F	463	105	1142.78
VBD_pump_during_surface	118	632	1760.73	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.21	nil	0	0	0.00
Iridium_during_connect	51	160	192.46	nil	0	0	0.00
Iridium_during_xfer	136	223	716.42
Transponder_ping	14	420	140.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.71
TT8	1072	19	214.50
LPSleep	9007	2	199.23
TT8_Active	673	19	134.73
TT8_Sampling	1264	39	508.32
TT8_CF8	457	45	211.85
TT8_Kalman	0	81	0.00
Analog_circuits	1349	12	163.61
GPS_charging	0	0	0.00
Compass	1236	8	99.94
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
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.60	0.000	2	0.000	0.000	72	2243	2890
150	-0.85	-146.6	3.9	-3.2	6	180	11.70	2.67	-12.07	0.000	4	0.171	0.069	2141	814	3382
239	-0.80	-146.6	15.6	-8.7	10	243	0.00	2.58	0.00	0.000	6	0.000	0.048	2141	2230	3382
566	-0.69	-146.6	44.1	-8.4	26	571	0.15	2.62	0.00	0.000	4	0.096	0.067	2174	3638	3382
606	-0.69	-146.6	47.1	-6.8	28	611	0.00	2.58	0.00	0.000	6	0.000	0.048	2173	2221	3383
933	-0.69	-146.6	73.0	-8.7	44	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2221	3383
1242	-0.69	-146.6	101.1	-8.8	59	1243	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2221	3383
1553	-0.69	-146.6	125.1	-7.1	74	1557	0.00	2.67	0.00	0.000	4	0.000	0.070	2174	3641	3383
1592	-0.69	-146.6	128.0	-7.5	76	1597	0.00	2.58	0.00	0.000	6	0.000	0.049	2174	2226	3383
1921	-0.69	-146.6	147.1	-5.7	92	1925	0.00	2.65	0.00	0.000	4	0.000	0.070	2174	3644	3383
1948	-0.69	-146.6	149.0	-6.4	93	1952	0.00	2.58	0.00	0.000	6	0.000	0.048	2173	2226	3384
2264	-0.69	-146.6	171.7	-7.6	108	2268	0.00	2.65	0.00	0.000	4	0.000	0.070	2174	3638	3383
2297	-0.69	-146.6	174.6	-8.4	109	2306	0.00	2.55	0.00	0.000	6	0.000	0.048	2174	2230	3384
2612	-0.69	-146.6	198.3	-7.2	125	2613	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3384
2922	-0.69	-146.6	218.6	-5.9	140	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2228	3384
3232	-0.69	-146.6	232.3	-3.7	155	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2228	3384
3540	-0.69	-146.6	248.2	-6.0	170	3545	0.00	2.67	0.00	0.000	4	0.000	0.076	2174	3638	3384
3570	-0.69	-146.6	250.0	-6.9	171	3575	0.00	2.58	0.00	0.000	6	0.000	0.052	2174	2230	3384
3887	-0.73	-146.6	271.2	-6.3	186	3892	0.00	2.70	0.00	0.000	4	0.000	0.077	2174	3642	3384
3945	-0.73	-146.6	275.3	-6.5	188	3951	0.00	2.60	0.00	0.000	6	0.000	0.054	2174	2226	3384
4262	-0.73	-146.6	295.3	-6.5	204	4266	0.00	2.62	0.00	0.000	4	0.000	0.065	2174	817	3383
4302	-0.84	-146.6	298.0	-7.1	206	4307	0.15	2.62	0.00	0.000	6	0.052	0.054	2131	2234	3383
4632	-0.77	-146.6	325.1	-8.8	222	4637	0.15	2.67	0.00	0.000	4	0.093	0.079	2159	3638	3382
4672	-0.77	-146.6	328.8	-7.7	224	4677	0.00	2.60	0.00	0.000	6	0.000	0.057	2159	2231	3382
4999	-0.77	-146.6	353.1	-7.4	240	5000	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2231	3381
5309	-0.77	-146.6	376.2	-7.3	255	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2231	3381
5618	-0.77	-146.6	399.0	-7.9	270	5623	0.00	2.67	0.00	0.000	4	0.000	0.071	2159	816	3379
5663	-0.84	-146.6	402.8	-8.5	272	5667	0.00	2.62	0.00	0.000	6	0.000	0.059	2159	2229	3379
5898	end dive: BOTTOM_OBSTACLE_DETECTED
state	5898	begin apogee
5906	-0.31	0.0	421.6	7.9	284	6041	0.50	0.00	127.43	0.971	6	0.094	0.000	2260	2229	2781
6041	end apogee: CONTROL_FINISHED_OK
state	6041	begin climb
6044	0.85	146.6	428.2	0.0	291	6180	1.17	2.88	126.15	0.956	4	0.075	0.082	2507	3650	2183
6217	0.89	276.0	430.0	2.5	299	6335	0.00	2.67	110.72	0.941	6	0.000	0.061	2507	2235	1656
6644	1.08	276.0	401.4	7.9	320	6649	0.22	2.72	0.00	0.000	4	0.074	0.081	2558	3648	1654
6672	1.08	276.0	398.8	9.6	321	6676	0.00	2.65	0.00	0.000	6	0.000	0.061	2559	2240	1654
6989	1.00	276.0	367.9	9.7	336	6993	0.00	2.70	0.00	0.000	4	0.000	0.076	2559	828	1653
7061	0.92	276.0	360.3	10.5	339	7066	0.15	2.62	0.00	0.000	6	0.104	0.058	2532	2240	1652
7377	0.92	276.0	332.8	8.8	354	7382	0.00	2.70	0.00	0.000	4	0.000	0.074	2532	828	1651
7405	0.92	276.0	330.0	9.8	355	7409	0.00	2.62	0.00	0.000	6	0.000	0.058	2533	2240	1651
7720	0.92	276.0	304.5	7.5	370	7725	0.00	2.70	0.00	0.000	4	0.000	0.073	2531	828	1651
7748	0.92	276.0	302.5	7.1	371	7752	0.00	2.62	0.00	0.000	6	0.000	0.057	2532	2240	1651
8065	0.92	276.0	280.0	7.9	386	8069	0.00	2.70	0.00	0.000	4	0.000	0.081	2532	3653	1651
8097	0.92	276.0	277.0	9.0	387	8103	0.00	2.65	0.00	0.000	6	0.000	0.061	2532	2235	1651
8413	0.92	276.0	252.1	7.6	403	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2235	1650
8724	0.92	276.0	227.6	8.1	418	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2235	1650
9031	0.92	279.6	206.7	5.9	433	9040	0.00	2.72	3.45	0.528	4	0.000	0.075	2532	3646	1641
9070	0.92	279.6	204.5	6.2	434	9076	0.00	2.62	0.00	0.000	6	0.000	0.056	2532	2231	1641
9386	0.97	321.8	188.6	4.8	450	9425	0.00	0.00	36.80	0.815	6	0.000	0.000	2532	2232	1469
9735	0.97	321.8	167.1	7.0	467	9739	0.00	2.62	0.00	0.000	4	0.000	0.066	2532	823	1467
9762	1.01	321.8	165.0	7.9	468	9766	0.00	2.60	0.00	0.000	6	0.000	0.049	2532	2245	1467
10079	1.01	321.8	142.2	6.8	483	10083	0.00	2.65	0.00	0.000	4	0.000	0.063	2532	828	1467
10100	1.01	321.8	140.6	7.0	484	10104	0.00	2.58	0.00	0.000	6	0.000	0.048	2532	2241	1467
10421	1.01	321.8	119.4	6.7	500	10422	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2242	1467
10731	1.01	321.8	98.1	6.6	515	10735	0.00	2.65	0.00	0.000	4	0.000	0.061	2532	820	1468
10786	1.07	321.8	94.5	6.6	517	10793	0.15	2.58	0.00	0.000	6	0.051	0.046	2565	2243	1468
11103	1.00	321.8	69.6	7.6	533	11107	0.00	2.65	0.00	0.000	4	0.000	0.061	2565	820	1469
11131	0.95	321.8	67.2	8.0	534	11136	0.15	2.58	0.00	0.000	6	0.087	0.046	2536	2243	1469
11449	0.95	321.8	45.4	6.7	549	11453	0.00	2.62	0.00	0.000	4	0.000	0.061	2536	827	1470
11481	0.95	321.8	42.9	7.2	550	11487	0.00	2.55	0.00	0.000	6	0.000	0.046	2536	2242	1471
11798	1.00	321.8	16.3	8.6	566	11803	0.00	2.62	0.00	0.000	4	0.000	0.061	2536	826	1472
11821	1.06	321.8	14.4	8.3	567	11826	0.12	2.55	0.00	0.000	6	0.049	0.047	2568	2241	1471
11974	end climb: SURFACE_DEPTH_REACHED
state	11974	begin surface coast
11998	end surface coast: CONTROL_FINISHED_OK
state	11998	begin surface