Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 339 * 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 339 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 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 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 -2100704.8 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 -2100704.8

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 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 339 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 174607,6451.509,-1036.497,41,1.0,52,-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 1.20 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.1 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 175039,6451.569,-1036.555,16,1.6,16,-11.4 MHEAD_RNG_PITCHd_Wd 159.5,86304,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.012834 ALTIM_BOTTOM_PING 400.5,32.2

SM_CCo 12563,148.95,0.650,0,0,509,557.32 _24V_AH 23.5,54.723

SM_GC 1.28,0.00,0.00,148.95,0.000,0.000,0.650,71,2236,509,-10.39,0.17,557.32 _10V_AH 10.1,26.991

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31666,606

TT8_MAMPS 0.023777 CAP_FILE_SIZE 89926,0

HUMID 1907 CFSIZE 260165632,239742976

TCM_TEMP 16.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 54 GPS 090808,212408,6451.190,-1036.508,38,2.0,38,-11.4

ALTIM_TOP_PING 19.0,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 172 100.78 SBE_CT 452 24 255.01

Roll_motor 105 84 209.12 SBE_O2 412 19 184.03

VBD_pump_during_apogee 365 984 8451.19 WL_BB2F 470 105 1160.67

VBD_pump_during_surface 148 649 2273.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.70 nil 0 0 0.00

Iridium_during_connect 25 160 97.08 nil 0 0 0.00

Iridium_during_xfer 108 223 570.94

Transponder_ping 16 420 165.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.46

TT8 1107 19 221.41

LPSleep 9551 2 211.27

TT8_Active 679 19 135.89

TT8_Sampling 1258 39 506.02

TT8_CF8 393 45 182.12

TT8_Kalman 0 81 0.00

Analog_circuits 1329 12 161.12

GPS_charging 0 0 0.00

Compass 1234 8 99.71

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 -120.70 0.000 2 0.000 0.000 72 2243 2845

150 -0.85 -146.6 3.9 -3.1 6 181 11.73 2.65 -13.45 0.000 4 0.173 0.070 2139 811 3379

250 -0.78 -146.6 16.8 -8.3 10 256 0.00 2.58 0.00 0.000 6 0.000 0.048 2139 2229 3380

566 -0.67 -146.6 45.8 -9.8 26 571 0.17 2.65 0.00 0.000 4 0.098 0.067 2177 3643 3380

629 -0.67 -146.6 51.3 -8.8 29 633 0.00 2.58 0.00 0.000 6 0.000 0.048 2177 2225 3380

958 -0.67 -146.6 79.4 -8.9 45 962 0.00 2.60 0.00 0.000 4 0.000 0.057 2177 813 3380

986 -0.72 -146.6 82.1 -8.8 46 990 0.00 2.58 0.00 0.000 6 0.000 0.045 2177 2235 3380

1301 -0.72 -146.6 109.4 -8.4 61 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2235 3381

1611 -0.72 -146.6 132.8 -7.2 76 1616 0.00 2.62 0.00 0.000 4 0.000 0.067 2177 3643 3381

1633 -0.72 -146.6 134.6 -7.4 77 1638 0.00 2.55 0.00 0.000 6 0.000 0.046 2177 2230 3381

1954 -0.72 -146.6 155.3 -6.6 93 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2230 3381

2264 -0.72 -146.6 177.1 -7.3 108 2268 0.00 2.65 0.00 0.000 4 0.000 0.068 2177 3638 3382

2297 -0.72 -146.6 179.8 -8.1 109 2303 0.00 2.55 0.00 0.000 6 0.000 0.046 2177 2226 3382

2613 -0.72 -146.6 203.6 -7.1 125 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2225 3382

2925 -0.76 -146.6 225.8 -7.1 140 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2225 3382

3233 -0.81 -146.6 248.2 -7.6 155 3234 0.12 0.00 0.00 0.000 6 0.049 0.000 2138 2225 3383

3541 -0.73 -146.6 277.2 -9.4 170 3543 0.15 0.00 0.00 0.000 6 0.091 0.000 2167 2225 3383

3853 -0.73 -146.6 301.2 -7.3 185 3857 0.00 2.70 0.00 0.000 4 0.000 0.078 2166 3636 3382

3892 -0.73 -146.6 304.6 -8.4 187 3897 0.00 2.60 0.00 0.000 6 0.000 0.054 2167 2227 3382

4222 -0.73 -146.6 326.1 -6.3 203 4223 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2227 3382

4529 -0.73 -146.6 345.7 -6.3 218 4534 0.00 2.72 0.00 0.000 4 0.000 0.082 2167 3636 3381

4573 -0.73 -146.6 349.1 -7.4 220 4577 0.00 2.60 0.00 0.000 6 0.000 0.056 2168 2230 3381

4894 -0.73 -146.6 372.0 -7.8 236 4898 0.00 2.67 0.00 0.000 4 0.000 0.069 2167 813 3380

4922 -0.81 -146.6 374.3 -8.2 237 4927 0.00 2.62 0.00 0.000 6 0.000 0.057 2167 2227 3380

5238 -0.81 -146.6 398.8 -8.1 252 5242 0.00 2.70 0.00 0.000 4 0.000 0.082 2167 3640 3378

5270 -0.81 -146.6 401.4 -8.2 253 5276 0.00 2.62 0.00 0.000 6 0.000 0.058 2167 2227 3377

5583 end dive: BOTTOM_OBSTACLE_DETECTED

state 5583 begin apogee

5590 -0.31 0.0 423.6 6.6 269 5725 0.47 0.00 127.72 0.984 6 0.098 0.000 2262 2227 2781

5726 end apogee: CONTROL_FINISHED_OK

state 5726 begin climb

5729 0.85 146.6 429.9 0.0 276 5865 1.17 2.78 126.80 0.966 4 0.081 0.071 2507 830 2182

5959 0.80 181.1 426.0 5.1 286 5995 0.00 2.65 30.98 0.925 6 0.000 0.058 2507 2244 2042

6311 0.84 211.2 408.0 5.2 304 6340 0.00 0.00 27.08 0.923 6 0.000 0.000 2507 2244 1919

6641 0.84 218.6 388.8 5.8 320 6651 0.00 0.00 8.20 0.816 6 0.000 0.000 2507 2244 1889

6950 0.84 219.0 371.1 6.0 335 6954 0.00 2.72 0.00 0.000 4 0.000 0.071 2507 828 1888

6989 0.84 219.0 368.5 7.3 337 6993 0.00 2.62 0.00 0.000 6 0.000 0.058 2507 2242 1888

7316 0.84 219.0 347.3 6.3 353 7317 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2242 1887

7624 0.84 219.0 327.0 6.1 368 7625 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2242 1887

7934 0.84 219.0 307.8 6.3 383 7938 0.00 2.70 0.00 0.000 4 0.000 0.084 2507 3647 1886

7956 0.84 219.0 306.2 7.4 384 7960 0.00 2.62 0.00 0.000 6 0.000 0.063 2507 2242 1885

8276 0.84 219.0 284.1 6.9 400 8281 0.00 2.70 0.00 0.000 4 0.000 0.075 2507 827 1885

8298 0.84 219.0 282.7 6.3 401 8303 0.00 2.65 0.00 0.000 6 0.000 0.060 2507 2246 1885

8621 0.85 224.8 262.8 5.8 417 8629 0.00 0.00 6.05 0.744 6 0.000 0.000 2507 2246 1864

8929 0.85 224.8 242.6 7.0 432 8933 0.00 2.72 0.00 0.000 4 0.000 0.072 2507 823 1863

8956 0.85 224.8 240.7 6.9 433 8960 0.00 2.62 0.00 0.000 6 0.000 0.058 2507 2240 1863

9272 0.85 224.8 219.1 6.5 448 9276 0.00 2.70 0.00 0.000 4 0.000 0.082 2507 3653 1863

9322 0.89 224.8 215.3 7.3 450 9327 0.00 2.65 0.00 0.000 6 0.000 0.062 2507 2237 1863

9638 0.97 263.4 198.8 4.9 465 9678 0.15 0.00 33.83 0.852 6 0.077 0.000 2538 2237 1706

9988 0.93 263.4 178.9 6.1 482 9989 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2237 1704

10297 0.93 267.2 160.9 5.9 497 10303 0.00 0.00 4.80 0.621 6 0.000 0.000 2538 2237 1690

10606 0.93 267.2 142.0 6.7 512 10610 0.00 2.67 0.00 0.000 4 0.000 0.073 2538 3648 1690

10628 0.93 267.2 140.3 7.5 513 10633 0.00 2.60 0.00 0.000 6 0.000 0.055 2539 2238 1690

10949 0.93 267.2 114.5 8.9 529 10954 0.00 2.62 0.00 0.000 4 0.000 0.064 2539 827 1690

10977 0.93 267.2 111.9 9.1 530 10982 0.00 2.60 0.00 0.000 6 0.000 0.051 2539 2250 1691

11294 0.93 267.2 85.4 8.0 545 11298 0.00 2.60 0.00 0.000 4 0.000 0.067 2539 3645 1691

11327 0.93 267.2 82.7 8.0 546 11333 0.00 2.58 0.00 0.000 6 0.000 0.054 2539 2239 1691

11644 0.93 267.2 59.6 6.8 562 11645 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2240 1692

11952 0.93 267.2 39.5 6.8 577 11957 0.00 2.62 0.00 0.000 4 0.000 0.061 2539 819 1693

11974 0.93 267.2 37.8 7.4 578 11978 0.00 2.58 0.00 0.000 6 0.000 0.048 2539 2241 1693

12295 0.93 267.2 16.2 7.2 594 12299 0.00 2.62 0.00 0.000 4 0.000 0.068 2539 3651 1694

12328 0.93 267.2 13.7 7.0 595 12334 0.00 2.58 0.00 0.000 6 0.000 0.054 2539 2239 1695

12518 end climb: SURFACE_DEPTH_REACHED

state 12518 begin surface coast

12541 end surface coast: CONTROL_FINISHED_OK

state 12541 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	339	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	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	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	-2100704.8	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	174607,6451.509,-1036.497,41,1.0,52,-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	1.20	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.1	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	175039,6451.569,-1036.555,16,1.6,16,-11.4	MHEAD_RNG_PITCHd_Wd	159.5,86304,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.012834	ALTIM_BOTTOM_PING	400.5,32.2
SM_CCo	12563,148.95,0.650,0,0,509,557.32	_24V_AH	23.5,54.723
SM_GC	1.28,0.00,0.00,148.95,0.000,0.000,0.650,71,2236,509,-10.39,0.17,557.32	_10V_AH	10.1,26.991
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31666,606
TT8_MAMPS	0.023777	CAP_FILE_SIZE	89926,0
HUMID	1907	CFSIZE	260165632,239742976
TCM_TEMP	16.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	54	GPS	090808,212408,6451.190,-1036.508,38,2.0,38,-11.4
ALTIM_TOP_PING	19.0,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	172	100.78	SBE_CT	452	24	255.01
Roll_motor	105	84	209.12	SBE_O2	412	19	184.03
VBD_pump_during_apogee	365	984	8451.19	WL_BB2F	470	105	1160.67
VBD_pump_during_surface	148	649	2273.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.70	nil	0	0	0.00
Iridium_during_connect	25	160	97.08	nil	0	0	0.00
Iridium_during_xfer	108	223	570.94
Transponder_ping	16	420	165.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.46
TT8	1107	19	221.41
LPSleep	9551	2	211.27
TT8_Active	679	19	135.89
TT8_Sampling	1258	39	506.02
TT8_CF8	393	45	182.12
TT8_Kalman	0	81	0.00
Analog_circuits	1329	12	161.12
GPS_charging	0	0	0.00
Compass	1234	8	99.71
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	-120.70	0.000	2	0.000	0.000	72	2243	2845
150	-0.85	-146.6	3.9	-3.1	6	181	11.73	2.65	-13.45	0.000	4	0.173	0.070	2139	811	3379
250	-0.78	-146.6	16.8	-8.3	10	256	0.00	2.58	0.00	0.000	6	0.000	0.048	2139	2229	3380
566	-0.67	-146.6	45.8	-9.8	26	571	0.17	2.65	0.00	0.000	4	0.098	0.067	2177	3643	3380
629	-0.67	-146.6	51.3	-8.8	29	633	0.00	2.58	0.00	0.000	6	0.000	0.048	2177	2225	3380
958	-0.67	-146.6	79.4	-8.9	45	962	0.00	2.60	0.00	0.000	4	0.000	0.057	2177	813	3380
986	-0.72	-146.6	82.1	-8.8	46	990	0.00	2.58	0.00	0.000	6	0.000	0.045	2177	2235	3380
1301	-0.72	-146.6	109.4	-8.4	61	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2235	3381
1611	-0.72	-146.6	132.8	-7.2	76	1616	0.00	2.62	0.00	0.000	4	0.000	0.067	2177	3643	3381
1633	-0.72	-146.6	134.6	-7.4	77	1638	0.00	2.55	0.00	0.000	6	0.000	0.046	2177	2230	3381
1954	-0.72	-146.6	155.3	-6.6	93	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2230	3381
2264	-0.72	-146.6	177.1	-7.3	108	2268	0.00	2.65	0.00	0.000	4	0.000	0.068	2177	3638	3382
2297	-0.72	-146.6	179.8	-8.1	109	2303	0.00	2.55	0.00	0.000	6	0.000	0.046	2177	2226	3382
2613	-0.72	-146.6	203.6	-7.1	125	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2225	3382
2925	-0.76	-146.6	225.8	-7.1	140	2926	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2225	3382
3233	-0.81	-146.6	248.2	-7.6	155	3234	0.12	0.00	0.00	0.000	6	0.049	0.000	2138	2225	3383
3541	-0.73	-146.6	277.2	-9.4	170	3543	0.15	0.00	0.00	0.000	6	0.091	0.000	2167	2225	3383
3853	-0.73	-146.6	301.2	-7.3	185	3857	0.00	2.70	0.00	0.000	4	0.000	0.078	2166	3636	3382
3892	-0.73	-146.6	304.6	-8.4	187	3897	0.00	2.60	0.00	0.000	6	0.000	0.054	2167	2227	3382
4222	-0.73	-146.6	326.1	-6.3	203	4223	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2227	3382
4529	-0.73	-146.6	345.7	-6.3	218	4534	0.00	2.72	0.00	0.000	4	0.000	0.082	2167	3636	3381
4573	-0.73	-146.6	349.1	-7.4	220	4577	0.00	2.60	0.00	0.000	6	0.000	0.056	2168	2230	3381
4894	-0.73	-146.6	372.0	-7.8	236	4898	0.00	2.67	0.00	0.000	4	0.000	0.069	2167	813	3380
4922	-0.81	-146.6	374.3	-8.2	237	4927	0.00	2.62	0.00	0.000	6	0.000	0.057	2167	2227	3380
5238	-0.81	-146.6	398.8	-8.1	252	5242	0.00	2.70	0.00	0.000	4	0.000	0.082	2167	3640	3378
5270	-0.81	-146.6	401.4	-8.2	253	5276	0.00	2.62	0.00	0.000	6	0.000	0.058	2167	2227	3377
5583	end dive: BOTTOM_OBSTACLE_DETECTED
state	5583	begin apogee
5590	-0.31	0.0	423.6	6.6	269	5725	0.47	0.00	127.72	0.984	6	0.098	0.000	2262	2227	2781
5726	end apogee: CONTROL_FINISHED_OK
state	5726	begin climb
5729	0.85	146.6	429.9	0.0	276	5865	1.17	2.78	126.80	0.966	4	0.081	0.071	2507	830	2182
5959	0.80	181.1	426.0	5.1	286	5995	0.00	2.65	30.98	0.925	6	0.000	0.058	2507	2244	2042
6311	0.84	211.2	408.0	5.2	304	6340	0.00	0.00	27.08	0.923	6	0.000	0.000	2507	2244	1919
6641	0.84	218.6	388.8	5.8	320	6651	0.00	0.00	8.20	0.816	6	0.000	0.000	2507	2244	1889
6950	0.84	219.0	371.1	6.0	335	6954	0.00	2.72	0.00	0.000	4	0.000	0.071	2507	828	1888
6989	0.84	219.0	368.5	7.3	337	6993	0.00	2.62	0.00	0.000	6	0.000	0.058	2507	2242	1888
7316	0.84	219.0	347.3	6.3	353	7317	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2242	1887
7624	0.84	219.0	327.0	6.1	368	7625	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2242	1887
7934	0.84	219.0	307.8	6.3	383	7938	0.00	2.70	0.00	0.000	4	0.000	0.084	2507	3647	1886
7956	0.84	219.0	306.2	7.4	384	7960	0.00	2.62	0.00	0.000	6	0.000	0.063	2507	2242	1885
8276	0.84	219.0	284.1	6.9	400	8281	0.00	2.70	0.00	0.000	4	0.000	0.075	2507	827	1885
8298	0.84	219.0	282.7	6.3	401	8303	0.00	2.65	0.00	0.000	6	0.000	0.060	2507	2246	1885
8621	0.85	224.8	262.8	5.8	417	8629	0.00	0.00	6.05	0.744	6	0.000	0.000	2507	2246	1864
8929	0.85	224.8	242.6	7.0	432	8933	0.00	2.72	0.00	0.000	4	0.000	0.072	2507	823	1863
8956	0.85	224.8	240.7	6.9	433	8960	0.00	2.62	0.00	0.000	6	0.000	0.058	2507	2240	1863
9272	0.85	224.8	219.1	6.5	448	9276	0.00	2.70	0.00	0.000	4	0.000	0.082	2507	3653	1863
9322	0.89	224.8	215.3	7.3	450	9327	0.00	2.65	0.00	0.000	6	0.000	0.062	2507	2237	1863
9638	0.97	263.4	198.8	4.9	465	9678	0.15	0.00	33.83	0.852	6	0.077	0.000	2538	2237	1706
9988	0.93	263.4	178.9	6.1	482	9989	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2237	1704
10297	0.93	267.2	160.9	5.9	497	10303	0.00	0.00	4.80	0.621	6	0.000	0.000	2538	2237	1690
10606	0.93	267.2	142.0	6.7	512	10610	0.00	2.67	0.00	0.000	4	0.000	0.073	2538	3648	1690
10628	0.93	267.2	140.3	7.5	513	10633	0.00	2.60	0.00	0.000	6	0.000	0.055	2539	2238	1690
10949	0.93	267.2	114.5	8.9	529	10954	0.00	2.62	0.00	0.000	4	0.000	0.064	2539	827	1690
10977	0.93	267.2	111.9	9.1	530	10982	0.00	2.60	0.00	0.000	6	0.000	0.051	2539	2250	1691
11294	0.93	267.2	85.4	8.0	545	11298	0.00	2.60	0.00	0.000	4	0.000	0.067	2539	3645	1691
11327	0.93	267.2	82.7	8.0	546	11333	0.00	2.58	0.00	0.000	6	0.000	0.054	2539	2239	1691
11644	0.93	267.2	59.6	6.8	562	11645	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2240	1692
11952	0.93	267.2	39.5	6.8	577	11957	0.00	2.62	0.00	0.000	4	0.000	0.061	2539	819	1693
11974	0.93	267.2	37.8	7.4	578	11978	0.00	2.58	0.00	0.000	6	0.000	0.048	2539	2241	1693
12295	0.93	267.2	16.2	7.2	594	12299	0.00	2.62	0.00	0.000	4	0.000	0.068	2539	3651	1694
12328	0.93	267.2	13.7	7.0	595	12334	0.00	2.58	0.00	0.000	6	0.000	0.054	2539	2239	1695
12518	end climb: SURFACE_DEPTH_REACHED
state	12518	begin surface coast
12541	end surface coast: CONTROL_FINISHED_OK
state	12541	begin surface