Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 145 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 145 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2078447.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2078447.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 145 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 084828,6241.458,-1017.826,27,2.8,46,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,0.066

_SM_DEPTHo 1.13 KALMAN_X -124529.5,998.0,1748.9,58207.1,-23645.1

_SM_ANGLEo -48.2 KALMAN_Y 116770.7,153.4,154.1,73.7,-2062.8

GPS2 085345,6241.470,-1017.805,10,1.9,10,-10.4 MHEAD_RNG_PITCHd_Wd 83.0,35658,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.025648 ALTIM_BOTTOM_PING 427.0,92.8

SM_CCo 12075,173.57,0.658,0,0,509,566.15 _24V_AH 23.6,25.973

SM_GC 1.05,0.00,0.00,173.57,0.000,0.000,0.658,69,2404,509,-10.76,0.11,566.15 _10V_AH 10.2,12.539

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28496,585

TT8_MAMPS 0.023777 CFSIZE 260165632,250949632

HUMID 2063 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.90 GPS 081207,122007,6241.649,-1012.909,38,2.0,49,-10.3

XPDR_PINGS 16

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 104.00 SBE_CT 420 24 238.21

Roll_motor 130 79 246.28 SBE_O2 408 19 182.98

VBD_pump_during_apogee 321 1012 7692.54 WL_BB2F 415 105 1030.62

VBD_pump_during_surface 173 658 2695.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.34 nil 0 0 0.00

Iridium_during_connect 41 160 154.83 nil 0 0 0.00

Iridium_during_xfer 153 223 809.11

Transponder_ping 7 420 71.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.29

TT8 1109 19 224.13

LPSleep 9036 2 201.85

TT8_Active 673 19 135.99

TT8_Sampling 1398 39 567.92

TT8_CF8 352 45 164.90

TT8_Kalman 33 81 27.84

Analog_circuits 1386 12 169.68

GPS_charging 0 0 0.00

Compass 1371 8 111.92

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.88 0.000 2 0.000 0.000 64 2403 3102

126 -0.85 -146.6 3.7 -3.1 5 151 12.15 2.58 -7.12 0.000 4 0.172 0.080 2219 3762 3416

303 -0.85 -146.6 25.9 -10.3 13 308 0.00 2.45 0.00 0.000 6 0.000 0.044 2219 2398 3417

629 -0.85 -146.6 55.4 -9.0 29 630 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3417

939 -0.85 -146.6 83.1 -8.2 44 943 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 992 3417

1010 -0.85 -146.6 88.9 -7.9 47 1014 0.00 2.53 0.00 0.000 6 0.000 0.048 2219 2397 3417

1332 -0.85 -146.6 114.0 -7.9 63 1337 0.00 2.62 0.00 0.000 4 0.000 0.064 2219 988 3417

1364 -0.85 -146.6 117.1 -8.7 64 1372 0.00 2.55 0.00 0.000 6 0.000 0.048 2219 2391 3417

1680 -0.85 -146.6 144.1 -9.6 80 1685 0.00 2.60 0.00 0.000 4 0.000 0.064 2219 992 3417

1712 -0.85 -146.6 147.4 -9.1 81 1720 0.00 2.55 0.00 0.000 6 0.000 0.050 2219 2393 3417

2029 -0.85 -146.6 176.1 -9.2 97 2030 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3417

2337 -0.85 -146.6 203.2 -8.5 112 2342 0.00 2.60 0.00 0.000 4 0.000 0.066 2219 991 3417

2381 -0.85 -146.6 208.0 -11.6 114 2386 0.00 2.55 0.00 0.000 6 0.000 0.048 2219 2396 3416

2707 -0.85 -146.6 235.2 -6.7 130 2712 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 990 3417

2746 -0.85 -146.6 237.7 -7.3 132 2751 0.00 2.55 0.00 0.000 6 0.000 0.051 2219 2403 3417

3072 -0.85 -146.6 263.0 -8.7 148 3076 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 991 3417

3110 -0.85 -146.6 266.4 -8.8 150 3114 0.00 2.55 0.00 0.000 6 0.000 0.053 2219 2404 3416

3436 -0.85 -146.6 291.1 -6.4 166 3437 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3417

3745 -0.85 -146.6 317.1 -9.4 181 3749 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 991 3417

3787 -0.85 -146.6 321.5 -9.5 183 3792 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2401 3417

4114 -0.85 -146.6 349.3 -7.8 199 4119 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 991 3417

4146 -0.85 -146.6 352.1 -8.4 200 4154 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2401 3417

4462 -0.85 -146.6 378.5 -8.1 216 4467 0.00 2.60 0.00 0.000 4 0.000 0.067 2219 992 3417

4524 -0.85 -146.6 382.9 -6.9 219 4528 0.00 2.55 0.00 0.000 6 0.000 0.053 2219 2400 3417

4850 -0.85 -146.6 400.8 -5.3 235 4854 0.00 2.50 0.00 0.000 4 0.000 0.069 2220 3763 3417

4933 -0.85 -146.6 406.2 -7.0 239 4937 0.00 2.45 0.00 0.000 6 0.000 0.049 2219 2396 3417

5258 -0.85 -146.6 439.7 -12.4 255 5263 0.00 2.60 0.00 0.000 4 0.000 0.069 2219 994 3417

5375 -0.85 -146.6 452.1 -9.6 260 5379 0.00 2.58 0.00 0.000 6 0.000 0.056 2219 2397 3418

5697 -0.85 -146.6 470.7 -4.8 276 5701 0.00 2.65 0.00 0.000 4 0.000 0.072 2219 989 3418

5745 -0.85 -146.6 473.5 -6.3 278 5749 0.00 2.60 0.00 0.000 6 0.000 0.058 2219 2400 3418

6066 -0.85 -146.6 494.8 -7.9 294 6070 0.00 2.58 0.00 0.000 4 0.000 0.080 2219 3765 3418

6120 -0.85 -146.6 499.1 -7.0 296 6127 0.00 2.47 0.00 0.000 6 0.000 0.054 2218 2407 3418

6269 end dive: BOTTOM_OBSTACLE_DETECTED

state 6269 begin apogee

6274 -0.31 0.0 510.2 7.4 304 6397 0.60 0.00 119.80 1.012 6 0.107 0.000 2339 2197 2817

6397 end apogee: CONTROL_FINISHED_OK

state 6398 begin climb

6399 0.85 146.6 514.2 0.0 310 6521 1.25 0.00 118.25 1.000 6 0.093 0.000 2589 2197 2218

6821 0.85 146.6 492.1 7.2 331 6822 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2197 2216

7130 0.89 191.1 471.8 4.8 346 7172 0.00 2.80 36.08 0.961 4 0.000 0.080 2589 3617 2036

7210 0.96 250.7 468.7 4.4 349 7266 0.15 2.67 47.83 0.968 6 0.061 0.063 2631 2205 1795

7587 0.96 250.7 437.6 9.4 368 7591 0.00 2.72 0.00 0.000 4 0.000 0.078 2631 785 1792

7635 0.96 250.7 432.5 10.9 370 7640 0.00 2.65 0.00 0.000 6 0.000 0.054 2631 2201 1792

7957 0.96 250.7 406.8 7.4 386 7961 0.00 2.70 0.00 0.000 4 0.000 0.074 2631 779 1791

8022 0.96 250.7 401.9 7.5 389 8027 0.00 2.65 0.00 0.000 6 0.000 0.053 2631 2205 1790

8349 0.96 250.7 375.4 9.4 405 8353 0.00 2.70 0.00 0.000 4 0.000 0.072 2631 784 1790

8387 0.96 250.7 371.4 11.1 407 8391 0.00 2.60 0.00 0.000 6 0.000 0.051 2631 2204 1791

8712 0.96 250.7 337.1 10.0 423 8716 0.00 2.67 0.00 0.000 4 0.000 0.070 2631 782 1790

8766 0.96 250.7 331.4 9.3 425 8773 0.00 2.60 0.00 0.000 6 0.000 0.050 2631 2197 1790

9082 0.96 250.7 300.2 10.6 441 9086 0.00 2.67 0.00 0.000 4 0.000 0.069 2631 775 1790

9271 0.96 250.7 281.0 9.9 449 9278 0.00 2.58 0.00 0.000 6 0.000 0.048 2631 2198 1790

9587 0.96 250.7 249.1 9.9 465 9591 0.00 2.67 0.00 0.000 4 0.000 0.067 2631 774 1788

9715 0.96 250.7 235.3 12.3 471 9719 0.00 2.58 0.00 0.000 6 0.000 0.047 2631 2202 1790

10040 0.96 250.7 202.0 8.1 487 10044 0.00 2.65 0.00 0.000 4 0.000 0.066 2631 778 1790

10191 0.96 250.7 190.0 11.9 494 10195 0.00 2.55 0.00 0.000 6 0.000 0.046 2631 2201 1790

10516 0.96 250.7 155.5 11.1 510 10517 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2201 1790

10826 0.96 250.7 125.3 10.5 525 10830 0.00 2.60 0.00 0.000 4 0.000 0.066 2631 3610 1790

10851 0.96 250.7 122.5 10.6 526 10856 0.00 2.60 0.00 0.000 6 0.000 0.054 2631 2204 1791

11174 0.96 250.7 89.6 9.4 542 11176 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2204 1790

11483 0.96 250.7 57.1 11.4 557 11487 0.00 2.62 0.00 0.000 4 0.000 0.066 2631 782 1791

11525 0.96 250.7 51.8 12.1 559 11530 0.00 2.58 0.00 0.000 6 0.000 0.046 2631 2198 1791

11853 0.96 250.7 17.6 10.0 575 11857 0.00 2.65 0.00 0.000 4 0.000 0.067 2631 780 1791

11884 0.96 250.7 14.3 9.9 576 11891 0.00 2.58 0.00 0.000 6 0.000 0.046 2631 2195 1791

12033 end climb: SURFACE_DEPTH_REACHED

state 12033 begin surface coast

12055 end surface coast: CONTROL_FINISHED_OK

state 12055 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	145	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2078447.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	084828,6241.458,-1017.826,27,2.8,46,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,0.066
_SM_DEPTHo	1.13	KALMAN_X	-124529.5,998.0,1748.9,58207.1,-23645.1
_SM_ANGLEo	-48.2	KALMAN_Y	116770.7,153.4,154.1,73.7,-2062.8
GPS2	085345,6241.470,-1017.805,10,1.9,10,-10.4	MHEAD_RNG_PITCHd_Wd	83.0,35658,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.025648	ALTIM_BOTTOM_PING	427.0,92.8
SM_CCo	12075,173.57,0.658,0,0,509,566.15	_24V_AH	23.6,25.973
SM_GC	1.05,0.00,0.00,173.57,0.000,0.000,0.658,69,2404,509,-10.76,0.11,566.15	_10V_AH	10.2,12.539
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28496,585
TT8_MAMPS	0.023777	CFSIZE	260165632,250949632
HUMID	2063	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.90	GPS	081207,122007,6241.649,-1012.909,38,2.0,49,-10.3
XPDR_PINGS	16

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	104.00	SBE_CT	420	24	238.21
Roll_motor	130	79	246.28	SBE_O2	408	19	182.98
VBD_pump_during_apogee	321	1012	7692.54	WL_BB2F	415	105	1030.62
VBD_pump_during_surface	173	658	2695.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.34	nil	0	0	0.00
Iridium_during_connect	41	160	154.83	nil	0	0	0.00
Iridium_during_xfer	153	223	809.11
Transponder_ping	7	420	71.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.29
TT8	1109	19	224.13
LPSleep	9036	2	201.85
TT8_Active	673	19	135.99
TT8_Sampling	1398	39	567.92
TT8_CF8	352	45	164.90
TT8_Kalman	33	81	27.84
Analog_circuits	1386	12	169.68
GPS_charging	0	0	0.00
Compass	1371	8	111.92
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.88	0.000	2	0.000	0.000	64	2403	3102
126	-0.85	-146.6	3.7	-3.1	5	151	12.15	2.58	-7.12	0.000	4	0.172	0.080	2219	3762	3416
303	-0.85	-146.6	25.9	-10.3	13	308	0.00	2.45	0.00	0.000	6	0.000	0.044	2219	2398	3417
629	-0.85	-146.6	55.4	-9.0	29	630	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3417
939	-0.85	-146.6	83.1	-8.2	44	943	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	992	3417
1010	-0.85	-146.6	88.9	-7.9	47	1014	0.00	2.53	0.00	0.000	6	0.000	0.048	2219	2397	3417
1332	-0.85	-146.6	114.0	-7.9	63	1337	0.00	2.62	0.00	0.000	4	0.000	0.064	2219	988	3417
1364	-0.85	-146.6	117.1	-8.7	64	1372	0.00	2.55	0.00	0.000	6	0.000	0.048	2219	2391	3417
1680	-0.85	-146.6	144.1	-9.6	80	1685	0.00	2.60	0.00	0.000	4	0.000	0.064	2219	992	3417
1712	-0.85	-146.6	147.4	-9.1	81	1720	0.00	2.55	0.00	0.000	6	0.000	0.050	2219	2393	3417
2029	-0.85	-146.6	176.1	-9.2	97	2030	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3417
2337	-0.85	-146.6	203.2	-8.5	112	2342	0.00	2.60	0.00	0.000	4	0.000	0.066	2219	991	3417
2381	-0.85	-146.6	208.0	-11.6	114	2386	0.00	2.55	0.00	0.000	6	0.000	0.048	2219	2396	3416
2707	-0.85	-146.6	235.2	-6.7	130	2712	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	990	3417
2746	-0.85	-146.6	237.7	-7.3	132	2751	0.00	2.55	0.00	0.000	6	0.000	0.051	2219	2403	3417
3072	-0.85	-146.6	263.0	-8.7	148	3076	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	991	3417
3110	-0.85	-146.6	266.4	-8.8	150	3114	0.00	2.55	0.00	0.000	6	0.000	0.053	2219	2404	3416
3436	-0.85	-146.6	291.1	-6.4	166	3437	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3417
3745	-0.85	-146.6	317.1	-9.4	181	3749	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	991	3417
3787	-0.85	-146.6	321.5	-9.5	183	3792	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2401	3417
4114	-0.85	-146.6	349.3	-7.8	199	4119	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	991	3417
4146	-0.85	-146.6	352.1	-8.4	200	4154	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2401	3417
4462	-0.85	-146.6	378.5	-8.1	216	4467	0.00	2.60	0.00	0.000	4	0.000	0.067	2219	992	3417
4524	-0.85	-146.6	382.9	-6.9	219	4528	0.00	2.55	0.00	0.000	6	0.000	0.053	2219	2400	3417
4850	-0.85	-146.6	400.8	-5.3	235	4854	0.00	2.50	0.00	0.000	4	0.000	0.069	2220	3763	3417
4933	-0.85	-146.6	406.2	-7.0	239	4937	0.00	2.45	0.00	0.000	6	0.000	0.049	2219	2396	3417
5258	-0.85	-146.6	439.7	-12.4	255	5263	0.00	2.60	0.00	0.000	4	0.000	0.069	2219	994	3417
5375	-0.85	-146.6	452.1	-9.6	260	5379	0.00	2.58	0.00	0.000	6	0.000	0.056	2219	2397	3418
5697	-0.85	-146.6	470.7	-4.8	276	5701	0.00	2.65	0.00	0.000	4	0.000	0.072	2219	989	3418
5745	-0.85	-146.6	473.5	-6.3	278	5749	0.00	2.60	0.00	0.000	6	0.000	0.058	2219	2400	3418
6066	-0.85	-146.6	494.8	-7.9	294	6070	0.00	2.58	0.00	0.000	4	0.000	0.080	2219	3765	3418
6120	-0.85	-146.6	499.1	-7.0	296	6127	0.00	2.47	0.00	0.000	6	0.000	0.054	2218	2407	3418
6269	end dive: BOTTOM_OBSTACLE_DETECTED
state	6269	begin apogee
6274	-0.31	0.0	510.2	7.4	304	6397	0.60	0.00	119.80	1.012	6	0.107	0.000	2339	2197	2817
6397	end apogee: CONTROL_FINISHED_OK
state	6398	begin climb
6399	0.85	146.6	514.2	0.0	310	6521	1.25	0.00	118.25	1.000	6	0.093	0.000	2589	2197	2218
6821	0.85	146.6	492.1	7.2	331	6822	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2197	2216
7130	0.89	191.1	471.8	4.8	346	7172	0.00	2.80	36.08	0.961	4	0.000	0.080	2589	3617	2036
7210	0.96	250.7	468.7	4.4	349	7266	0.15	2.67	47.83	0.968	6	0.061	0.063	2631	2205	1795
7587	0.96	250.7	437.6	9.4	368	7591	0.00	2.72	0.00	0.000	4	0.000	0.078	2631	785	1792
7635	0.96	250.7	432.5	10.9	370	7640	0.00	2.65	0.00	0.000	6	0.000	0.054	2631	2201	1792
7957	0.96	250.7	406.8	7.4	386	7961	0.00	2.70	0.00	0.000	4	0.000	0.074	2631	779	1791
8022	0.96	250.7	401.9	7.5	389	8027	0.00	2.65	0.00	0.000	6	0.000	0.053	2631	2205	1790
8349	0.96	250.7	375.4	9.4	405	8353	0.00	2.70	0.00	0.000	4	0.000	0.072	2631	784	1790
8387	0.96	250.7	371.4	11.1	407	8391	0.00	2.60	0.00	0.000	6	0.000	0.051	2631	2204	1791
8712	0.96	250.7	337.1	10.0	423	8716	0.00	2.67	0.00	0.000	4	0.000	0.070	2631	782	1790
8766	0.96	250.7	331.4	9.3	425	8773	0.00	2.60	0.00	0.000	6	0.000	0.050	2631	2197	1790
9082	0.96	250.7	300.2	10.6	441	9086	0.00	2.67	0.00	0.000	4	0.000	0.069	2631	775	1790
9271	0.96	250.7	281.0	9.9	449	9278	0.00	2.58	0.00	0.000	6	0.000	0.048	2631	2198	1790
9587	0.96	250.7	249.1	9.9	465	9591	0.00	2.67	0.00	0.000	4	0.000	0.067	2631	774	1788
9715	0.96	250.7	235.3	12.3	471	9719	0.00	2.58	0.00	0.000	6	0.000	0.047	2631	2202	1790
10040	0.96	250.7	202.0	8.1	487	10044	0.00	2.65	0.00	0.000	4	0.000	0.066	2631	778	1790
10191	0.96	250.7	190.0	11.9	494	10195	0.00	2.55	0.00	0.000	6	0.000	0.046	2631	2201	1790
10516	0.96	250.7	155.5	11.1	510	10517	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2201	1790
10826	0.96	250.7	125.3	10.5	525	10830	0.00	2.60	0.00	0.000	4	0.000	0.066	2631	3610	1790
10851	0.96	250.7	122.5	10.6	526	10856	0.00	2.60	0.00	0.000	6	0.000	0.054	2631	2204	1791
11174	0.96	250.7	89.6	9.4	542	11176	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2204	1790
11483	0.96	250.7	57.1	11.4	557	11487	0.00	2.62	0.00	0.000	4	0.000	0.066	2631	782	1791
11525	0.96	250.7	51.8	12.1	559	11530	0.00	2.58	0.00	0.000	6	0.000	0.046	2631	2198	1791
11853	0.96	250.7	17.6	10.0	575	11857	0.00	2.65	0.00	0.000	4	0.000	0.067	2631	780	1791
11884	0.96	250.7	14.3	9.9	576	11891	0.00	2.58	0.00	0.000	6	0.000	0.046	2631	2195	1791
12033	end climb: SURFACE_DEPTH_REACHED
state	12033	begin surface coast
12055	end surface coast: CONTROL_FINISHED_OK
state	12055	begin surface