Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 378 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 378 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 31 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -83829.602 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 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 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

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 5

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 -83829.602

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2730 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 31 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 378 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-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 132026,6346.137,-605.300,40,1.5,41,-8.4 TGT_NAME NO9

_CALLS 1 TGT_LATLONG 6340.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 1500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.244

_SM_DEPTHo 0.50 KALMAN_X -91057.6,-195.1,-778.7,341589.6,4445.4

_SM_ANGLEo -56.3 KALMAN_Y -192743.2,975.1,605.0,370553.4,-4337.1

GPS2 132657,6346.137,-605.139,13,1.6,13,-8.4 MHEAD_RNG_PITCHd_Wd 224.3,11365,-11.2,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.027015 ALTIM_BOTTOM_PING 325.3,7.0

SM_CCo 10961,47.45,0.805,0,0,390,547.02 _24V_AH 23.7,69.734

SM_GC 0.47,0.00,0.00,47.45,0.000,0.000,0.805,422,2167,390,-10.61,0.45,547.02 _10V_AH 10.1,34.038

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25465,524

TT8_MAMPS 0.029146 CAP_FILE_SIZE 99681,0

HUMID 1720 CFSIZE 254472192,227172352

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

XPDR_PINGS 327 GPS 270808,163305,6345.235,-605.948,68,2.0,68,-8.4

ALTIM_TOP_PING 19.9,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 86.82 SBE_CT 357 24 203.07

Roll_motor 133 71 225.52 SBE_O2 390 19 175.75

VBD_pump_during_apogee 487 1079 12488.83 WL_BB2F 490 105 1221.49

VBD_pump_during_surface 47 804 904.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.17 nil 0 0 0.00

Iridium_during_connect 31 160 118.51 nil 0 0 0.00

Iridium_during_xfer 169 223 894.59

Transponder_ping 84 420 838.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.89

TT8 1018 19 203.60

LPSleep 7959 2 176.05

TT8_Active 678 19 135.60

TT8_Sampling 1217 39 489.49

TT8_CF8 516 45 239.02

TT8_Kalman 33 81 27.58

Analog_circuits 1350 12 163.71

GPS_charging 0 0 0.00

Compass 1194 8 96.48

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.94 -117.3 0.0 0.0 0 146 0.00 0.00 -117.10 0.000 6 0.000 0.000 418 2105 3098

151 -0.94 -117.3 3.1 -3.2 6 167 11.00 2.65 0.00 0.000 4 0.140 0.057 2517 3567 3097

321 -0.65 -117.3 23.2 -9.1 12 328 0.32 2.50 0.00 0.000 6 0.091 0.044 2584 2153 3096

641 -0.59 -117.3 42.3 -5.6 28 645 0.00 2.58 0.00 0.000 4 0.000 0.058 2584 3565 3097

652 -0.53 -117.3 43.0 -5.4 28 659 0.15 2.50 0.00 0.000 6 0.087 0.043 2615 2150 3097

969 -0.58 -117.3 56.6 -4.2 44 973 0.00 2.58 0.00 0.000 4 0.000 0.058 2615 3569 3098

1026 -0.63 -117.3 59.1 -4.8 46 1032 0.00 2.50 0.00 0.000 6 0.000 0.044 2615 2153 3098

1342 -0.68 -117.3 74.0 -4.9 62 1347 0.15 2.58 0.00 0.000 4 0.051 0.059 2569 3569 3099

1354 -0.68 -117.3 74.6 -4.8 62 1360 0.00 2.50 0.00 0.000 6 0.000 0.045 2569 2157 3099

1671 -0.59 -117.3 94.8 -6.3 78 1676 0.15 2.58 0.00 0.000 4 0.085 0.059 2604 3571 3099

1683 -0.52 -117.3 95.6 -6.1 78 1689 0.00 2.50 0.00 0.000 6 0.000 0.045 2603 2156 3099

2000 -0.52 -117.3 111.8 -4.9 94 2004 0.00 2.55 0.00 0.000 4 0.000 0.060 2603 3564 3099

2018 -0.52 -117.3 112.8 -5.0 95 2023 0.00 2.50 0.00 0.000 6 0.000 0.046 2603 2152 3099

2346 -0.52 -117.3 128.0 -4.7 111 2350 0.00 2.58 0.00 0.000 4 0.000 0.062 2603 3564 3100

2357 -0.52 -117.3 128.6 -4.8 111 2363 0.00 2.50 0.00 0.000 6 0.000 0.048 2603 2152 3100

2676 -0.52 -117.3 142.8 -4.1 127 2680 0.00 2.58 0.00 0.000 4 0.000 0.063 2603 3564 3099

2686 -0.52 -117.3 143.4 -4.2 127 2693 0.00 2.50 0.00 0.000 6 0.000 0.048 2603 2157 3099

3002 -0.52 -117.3 155.2 -3.8 143 3007 0.00 2.58 0.00 0.000 4 0.000 0.061 2603 3570 3099

3021 -0.52 -117.3 155.9 -3.5 144 3025 0.00 2.50 0.00 0.000 6 0.000 0.046 2603 2156 3099

3348 -0.52 -117.3 168.9 -4.4 160 3352 0.00 2.58 0.00 0.000 4 0.000 0.062 2603 3568 3099

3375 -0.52 -117.3 170.2 -4.7 161 3379 0.00 2.50 0.00 0.000 6 0.000 0.046 2603 2157 3099

3693 -0.52 -117.3 184.4 -4.8 176 3697 0.00 2.58 0.00 0.000 4 0.000 0.062 2603 3569 3098

3703 -0.52 -117.3 185.0 -4.9 176 3709 0.00 2.50 0.00 0.000 6 0.000 0.047 2603 2158 3098

4020 -0.52 -117.3 199.6 -4.8 192 4025 0.00 2.58 0.00 0.000 4 0.000 0.063 2603 3568 3098

4071 -0.52 -117.3 202.6 -5.5 194 4075 0.00 2.47 0.00 0.000 6 0.000 0.048 2603 2174 3098

4392 -0.52 -117.3 219.5 -5.1 210 4396 0.00 2.55 0.00 0.000 4 0.000 0.065 2603 3564 3098

4436 -0.52 -117.3 222.0 -5.8 212 4441 0.00 2.47 0.00 0.000 6 0.000 0.050 2603 2179 3098

4759 -0.52 -117.3 235.8 -4.1 228 4763 0.00 2.53 0.00 0.000 4 0.000 0.064 2603 3564 3097

4771 -0.52 -117.3 236.4 -4.3 228 4777 0.00 2.47 0.00 0.000 6 0.000 0.050 2603 2181 3098

5088 -0.52 -117.3 250.7 -4.6 244 5092 0.00 2.55 0.00 0.000 4 0.000 0.065 2603 3567 3097

5139 -0.52 -117.3 253.3 -5.4 246 5143 0.00 2.45 0.00 0.000 6 0.000 0.049 2603 2195 3097

5456 -0.57 -117.3 267.1 -4.5 261 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2195 3097

5766 -0.62 -117.3 280.9 -4.6 276 5770 0.00 2.55 0.00 0.000 4 0.000 0.069 2603 3570 3097

5817 -0.67 -117.3 283.4 -4.8 278 5821 0.00 2.45 0.00 0.000 6 0.000 0.053 2603 2209 3097

6133 -0.71 -117.3 297.9 -4.9 293 6135 0.12 0.00 0.00 0.000 6 0.057 0.000 2569 2209 3097

6443 -0.65 -117.3 316.9 -6.4 308 6448 0.00 2.65 0.00 0.000 4 0.000 0.067 2569 750 3096

6455 -0.59 -117.3 317.7 -6.2 308 6461 0.17 2.67 0.00 0.000 6 0.090 0.060 2603 2211 3096

6606 end dive: BOTTOM_OBSTACLE_DETECTED

state 6606 begin apogee

6614 -0.33 0.0 325.3 4.9 316 6713 0.25 0.00 96.32 1.080 6 0.079 0.000 2655 2102 2620

6714 end apogee: CONTROL_FINISHED_OK

state 6714 begin climb

6717 0.94 117.3 327.8 0.0 321 6820 1.33 2.67 96.25 1.039 4 0.068 0.071 2936 3511 2140

6849 0.97 173.3 320.4 6.7 327 6905 0.00 2.62 46.25 1.012 6 0.000 0.058 2936 2074 1912

7219 0.99 186.1 293.1 7.7 345 7234 0.00 0.00 11.55 0.932 6 0.000 0.000 2936 2074 1861

7544 1.05 222.3 268.9 7.2 361 7581 0.10 2.70 30.67 1.011 4 0.063 0.070 2967 3510 1713

7658 0.99 222.3 259.3 8.7 365 7663 0.10 2.55 0.00 0.000 6 0.094 0.057 2946 2125 1712

7980 0.99 223.3 234.5 8.0 381 7984 0.00 2.62 0.00 0.000 4 0.000 0.071 2946 3518 1712

8042 0.99 223.3 229.3 8.4 384 8047 0.00 2.53 0.00 0.000 6 0.000 0.056 2946 2136 1712

8370 1.00 232.0 203.9 7.8 400 8384 0.00 2.60 9.27 0.909 4 0.000 0.067 2946 3515 1674

8430 1.01 234.7 199.1 7.9 402 8439 0.00 2.47 4.12 0.692 6 0.000 0.054 2946 2158 1663

8769 1.04 255.7 173.6 7.5 419 8792 0.00 2.72 18.30 0.953 4 0.000 0.066 2947 687 1576

8820 1.04 255.7 169.5 8.2 421 8825 0.00 2.72 0.00 0.000 6 0.000 0.058 2947 2175 1576

9141 1.12 308.4 147.1 6.8 437 9192 0.12 2.55 42.80 0.956 4 0.054 0.064 2983 3515 1362

9229 1.08 308.4 139.4 9.6 441 9233 0.00 2.45 0.00 0.000 6 0.000 0.051 2983 2168 1362

9556 1.00 308.4 109.6 9.2 457 9561 0.15 2.70 0.00 0.000 4 0.084 0.066 2948 683 1363

9598 1.06 308.4 106.1 8.9 459 9602 0.00 2.70 0.00 0.000 6 0.000 0.054 2948 2182 1362

9926 1.22 367.7 82.8 6.7 475 9981 0.17 2.50 47.95 0.896 4 0.048 0.061 3003 3511 1120

10013 1.15 367.7 74.0 11.2 479 10018 0.12 2.47 0.00 0.000 6 0.082 0.050 2978 2149 1120

10340 1.20 399.9 47.9 7.3 495 10374 0.00 2.67 26.65 0.848 4 0.000 0.064 2977 690 989

10409 1.21 408.3 42.7 7.8 498 10426 0.00 2.67 8.25 0.752 6 0.000 0.053 2977 2165 954

10738 1.38 470.1 21.3 6.6 514 10795 0.22 0.00 49.55 0.834 6 0.044 0.000 3038 2165 703

10917 end climb: SURFACE_DEPTH_REACHED

state 10917 begin surface coast

10938 end surface coast: CONTROL_FINISHED_OK

state 10938 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	378	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	31	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-83829.602	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	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	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	132026,6346.137,-605.300,40,1.5,41,-8.4	TGT_NAME	NO9
_CALLS	1	TGT_LATLONG	6340.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	1500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.244
_SM_DEPTHo	0.50	KALMAN_X	-91057.6,-195.1,-778.7,341589.6,4445.4
_SM_ANGLEo	-56.3	KALMAN_Y	-192743.2,975.1,605.0,370553.4,-4337.1
GPS2	132657,6346.137,-605.139,13,1.6,13,-8.4	MHEAD_RNG_PITCHd_Wd	224.3,11365,-11.2,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.027015	ALTIM_BOTTOM_PING	325.3,7.0
SM_CCo	10961,47.45,0.805,0,0,390,547.02	_24V_AH	23.7,69.734
SM_GC	0.47,0.00,0.00,47.45,0.000,0.000,0.805,422,2167,390,-10.61,0.45,547.02	_10V_AH	10.1,34.038
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25465,524
TT8_MAMPS	0.029146	CAP_FILE_SIZE	99681,0
HUMID	1720	CFSIZE	254472192,227172352
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
XPDR_PINGS	327	GPS	270808,163305,6345.235,-605.948,68,2.0,68,-8.4
ALTIM_TOP_PING	19.9,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	86.82	SBE_CT	357	24	203.07
Roll_motor	133	71	225.52	SBE_O2	390	19	175.75
VBD_pump_during_apogee	487	1079	12488.83	WL_BB2F	490	105	1221.49
VBD_pump_during_surface	47	804	904.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.17	nil	0	0	0.00
Iridium_during_connect	31	160	118.51	nil	0	0	0.00
Iridium_during_xfer	169	223	894.59
Transponder_ping	84	420	838.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.89
TT8	1018	19	203.60
LPSleep	7959	2	176.05
TT8_Active	678	19	135.60
TT8_Sampling	1217	39	489.49
TT8_CF8	516	45	239.02
TT8_Kalman	33	81	27.58
Analog_circuits	1350	12	163.71
GPS_charging	0	0	0.00
Compass	1194	8	96.48
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.94	-117.3	0.0	0.0	0	146	0.00	0.00	-117.10	0.000	6	0.000	0.000	418	2105	3098
151	-0.94	-117.3	3.1	-3.2	6	167	11.00	2.65	0.00	0.000	4	0.140	0.057	2517	3567	3097
321	-0.65	-117.3	23.2	-9.1	12	328	0.32	2.50	0.00	0.000	6	0.091	0.044	2584	2153	3096
641	-0.59	-117.3	42.3	-5.6	28	645	0.00	2.58	0.00	0.000	4	0.000	0.058	2584	3565	3097
652	-0.53	-117.3	43.0	-5.4	28	659	0.15	2.50	0.00	0.000	6	0.087	0.043	2615	2150	3097
969	-0.58	-117.3	56.6	-4.2	44	973	0.00	2.58	0.00	0.000	4	0.000	0.058	2615	3569	3098
1026	-0.63	-117.3	59.1	-4.8	46	1032	0.00	2.50	0.00	0.000	6	0.000	0.044	2615	2153	3098
1342	-0.68	-117.3	74.0	-4.9	62	1347	0.15	2.58	0.00	0.000	4	0.051	0.059	2569	3569	3099
1354	-0.68	-117.3	74.6	-4.8	62	1360	0.00	2.50	0.00	0.000	6	0.000	0.045	2569	2157	3099
1671	-0.59	-117.3	94.8	-6.3	78	1676	0.15	2.58	0.00	0.000	4	0.085	0.059	2604	3571	3099
1683	-0.52	-117.3	95.6	-6.1	78	1689	0.00	2.50	0.00	0.000	6	0.000	0.045	2603	2156	3099
2000	-0.52	-117.3	111.8	-4.9	94	2004	0.00	2.55	0.00	0.000	4	0.000	0.060	2603	3564	3099
2018	-0.52	-117.3	112.8	-5.0	95	2023	0.00	2.50	0.00	0.000	6	0.000	0.046	2603	2152	3099
2346	-0.52	-117.3	128.0	-4.7	111	2350	0.00	2.58	0.00	0.000	4	0.000	0.062	2603	3564	3100
2357	-0.52	-117.3	128.6	-4.8	111	2363	0.00	2.50	0.00	0.000	6	0.000	0.048	2603	2152	3100
2676	-0.52	-117.3	142.8	-4.1	127	2680	0.00	2.58	0.00	0.000	4	0.000	0.063	2603	3564	3099
2686	-0.52	-117.3	143.4	-4.2	127	2693	0.00	2.50	0.00	0.000	6	0.000	0.048	2603	2157	3099
3002	-0.52	-117.3	155.2	-3.8	143	3007	0.00	2.58	0.00	0.000	4	0.000	0.061	2603	3570	3099
3021	-0.52	-117.3	155.9	-3.5	144	3025	0.00	2.50	0.00	0.000	6	0.000	0.046	2603	2156	3099
3348	-0.52	-117.3	168.9	-4.4	160	3352	0.00	2.58	0.00	0.000	4	0.000	0.062	2603	3568	3099
3375	-0.52	-117.3	170.2	-4.7	161	3379	0.00	2.50	0.00	0.000	6	0.000	0.046	2603	2157	3099
3693	-0.52	-117.3	184.4	-4.8	176	3697	0.00	2.58	0.00	0.000	4	0.000	0.062	2603	3569	3098
3703	-0.52	-117.3	185.0	-4.9	176	3709	0.00	2.50	0.00	0.000	6	0.000	0.047	2603	2158	3098
4020	-0.52	-117.3	199.6	-4.8	192	4025	0.00	2.58	0.00	0.000	4	0.000	0.063	2603	3568	3098
4071	-0.52	-117.3	202.6	-5.5	194	4075	0.00	2.47	0.00	0.000	6	0.000	0.048	2603	2174	3098
4392	-0.52	-117.3	219.5	-5.1	210	4396	0.00	2.55	0.00	0.000	4	0.000	0.065	2603	3564	3098
4436	-0.52	-117.3	222.0	-5.8	212	4441	0.00	2.47	0.00	0.000	6	0.000	0.050	2603	2179	3098
4759	-0.52	-117.3	235.8	-4.1	228	4763	0.00	2.53	0.00	0.000	4	0.000	0.064	2603	3564	3097
4771	-0.52	-117.3	236.4	-4.3	228	4777	0.00	2.47	0.00	0.000	6	0.000	0.050	2603	2181	3098
5088	-0.52	-117.3	250.7	-4.6	244	5092	0.00	2.55	0.00	0.000	4	0.000	0.065	2603	3567	3097
5139	-0.52	-117.3	253.3	-5.4	246	5143	0.00	2.45	0.00	0.000	6	0.000	0.049	2603	2195	3097
5456	-0.57	-117.3	267.1	-4.5	261	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2195	3097
5766	-0.62	-117.3	280.9	-4.6	276	5770	0.00	2.55	0.00	0.000	4	0.000	0.069	2603	3570	3097
5817	-0.67	-117.3	283.4	-4.8	278	5821	0.00	2.45	0.00	0.000	6	0.000	0.053	2603	2209	3097
6133	-0.71	-117.3	297.9	-4.9	293	6135	0.12	0.00	0.00	0.000	6	0.057	0.000	2569	2209	3097
6443	-0.65	-117.3	316.9	-6.4	308	6448	0.00	2.65	0.00	0.000	4	0.000	0.067	2569	750	3096
6455	-0.59	-117.3	317.7	-6.2	308	6461	0.17	2.67	0.00	0.000	6	0.090	0.060	2603	2211	3096
6606	end dive: BOTTOM_OBSTACLE_DETECTED
state	6606	begin apogee
6614	-0.33	0.0	325.3	4.9	316	6713	0.25	0.00	96.32	1.080	6	0.079	0.000	2655	2102	2620
6714	end apogee: CONTROL_FINISHED_OK
state	6714	begin climb
6717	0.94	117.3	327.8	0.0	321	6820	1.33	2.67	96.25	1.039	4	0.068	0.071	2936	3511	2140
6849	0.97	173.3	320.4	6.7	327	6905	0.00	2.62	46.25	1.012	6	0.000	0.058	2936	2074	1912
7219	0.99	186.1	293.1	7.7	345	7234	0.00	0.00	11.55	0.932	6	0.000	0.000	2936	2074	1861
7544	1.05	222.3	268.9	7.2	361	7581	0.10	2.70	30.67	1.011	4	0.063	0.070	2967	3510	1713
7658	0.99	222.3	259.3	8.7	365	7663	0.10	2.55	0.00	0.000	6	0.094	0.057	2946	2125	1712
7980	0.99	223.3	234.5	8.0	381	7984	0.00	2.62	0.00	0.000	4	0.000	0.071	2946	3518	1712
8042	0.99	223.3	229.3	8.4	384	8047	0.00	2.53	0.00	0.000	6	0.000	0.056	2946	2136	1712
8370	1.00	232.0	203.9	7.8	400	8384	0.00	2.60	9.27	0.909	4	0.000	0.067	2946	3515	1674
8430	1.01	234.7	199.1	7.9	402	8439	0.00	2.47	4.12	0.692	6	0.000	0.054	2946	2158	1663
8769	1.04	255.7	173.6	7.5	419	8792	0.00	2.72	18.30	0.953	4	0.000	0.066	2947	687	1576
8820	1.04	255.7	169.5	8.2	421	8825	0.00	2.72	0.00	0.000	6	0.000	0.058	2947	2175	1576
9141	1.12	308.4	147.1	6.8	437	9192	0.12	2.55	42.80	0.956	4	0.054	0.064	2983	3515	1362
9229	1.08	308.4	139.4	9.6	441	9233	0.00	2.45	0.00	0.000	6	0.000	0.051	2983	2168	1362
9556	1.00	308.4	109.6	9.2	457	9561	0.15	2.70	0.00	0.000	4	0.084	0.066	2948	683	1363
9598	1.06	308.4	106.1	8.9	459	9602	0.00	2.70	0.00	0.000	6	0.000	0.054	2948	2182	1362
9926	1.22	367.7	82.8	6.7	475	9981	0.17	2.50	47.95	0.896	4	0.048	0.061	3003	3511	1120
10013	1.15	367.7	74.0	11.2	479	10018	0.12	2.47	0.00	0.000	6	0.082	0.050	2978	2149	1120
10340	1.20	399.9	47.9	7.3	495	10374	0.00	2.67	26.65	0.848	4	0.000	0.064	2977	690	989
10409	1.21	408.3	42.7	7.8	498	10426	0.00	2.67	8.25	0.752	6	0.000	0.053	2977	2165	954
10738	1.38	470.1	21.3	6.6	514	10795	0.22	0.00	49.55	0.834	6	0.044	0.000	3038	2165	703
10917	end climb: SURFACE_DEPTH_REACHED
state	10917	begin surface coast
10938	end surface coast: CONTROL_FINISHED_OK
state	10938	begin surface