Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 170 * 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 170 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -2079137.5 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 -2079137.5

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 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 170 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 050458,6304.048,-843.604,33,3.9,52,-9.6 TGT_NAME IFRVAL

_CALLS 2 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.103,0.196

_SM_DEPTHo 1.36 KALMAN_X -127503.5,752.6,553.1,145595.2,3301.9

_SM_ANGLEo -56.5 KALMAN_Y 94863.5,355.8,665.1,62941.6,-18964.9

GPS2 051402,6303.964,-843.591,47,1.9,47,-9.6 MHEAD_RNG_PITCHd_Wd 341.9,20229,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.015081 ALTIM_BOTTOM_PING 400.9,85.7

SM_CCo 13246,188.20,0.671,1,0,509,566.15 _24V_AH 23.6,29.548

SM_GC 1.43,0.00,0.00,188.20,0.000,0.000,0.671,68,2404,509,-10.77,0.14,566.15 _10V_AH 10.2,14.173

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31780,642

TT8_MAMPS 0.023777 CFSIZE 260165632,249806848

HUMID 2072 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,1,0

TCM_TEMP 16.70 GPS 121207,090007,6306.447,-844.170,41,2.0,41,-9.6

XPDR_PINGS 41

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.13 SBE_CT 467 24 264.57

Roll_motor 102 85 207.40 SBE_O2 441 19 197.93

VBD_pump_during_apogee 318 1020 7674.13 WL_BB2F 490 105 1215.18

VBD_pump_during_surface 188 671 2980.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 158.56 nil 0 0 0.00

Iridium_during_connect 82 160 310.49 nil 0 0 0.00

Iridium_during_xfer 205 223 1081.44

Transponder_ping 13 420 131.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 47 50 24.40

TT8 1174 19 237.24

LPSleep 10247 2 228.90

TT8_Active 662 19 133.85

TT8_Sampling 1413 39 573.99

TT8_CF8 491 45 229.46

TT8_Kalman 33 81 27.84

Analog_circuits 1349 12 165.16

GPS_charging 0 0 0.00

Compass 1356 8 110.68

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 0 125 0.00 0.00 -102.53 0.000 2 0.000 0.000 72 2399 3139

127 -0.85 -146.6 3.6 -2.7 5 153 12.10 2.70 -6.50 0.000 4 0.171 0.081 2222 988 3417

376 -0.85 -146.6 28.9 -7.9 16 381 0.00 2.62 0.00 0.000 6 0.000 0.057 2222 2398 3417

704 -0.85 -146.6 54.3 -7.8 32 708 0.00 2.67 0.00 0.000 4 0.000 0.069 2222 979 3418

724 -0.85 -146.6 55.8 -7.0 33 728 0.00 2.65 0.00 0.000 6 0.000 0.057 2222 2418 3418

1053 -0.85 -146.6 80.0 -7.3 49 1057 0.00 2.70 0.00 0.000 4 0.000 0.071 2222 982 3418

1084 -0.85 -146.6 82.4 -7.5 50 1091 0.00 2.62 0.00 0.000 6 0.000 0.057 2222 2399 3418

1400 -0.85 -146.6 106.1 -7.3 66 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3418

1711 -0.85 -146.6 128.7 -6.9 81 1715 0.00 2.67 0.00 0.000 4 0.000 0.072 2222 982 3418

1777 -0.85 -146.6 132.9 -6.4 84 1781 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2400 3418

2097 -0.85 -146.6 156.8 -8.8 100 2101 0.00 2.70 0.00 0.000 4 0.000 0.076 2222 980 3418

2135 -0.85 -146.6 159.7 -8.0 102 2140 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2405 3418

2461 -0.85 -146.6 185.7 -8.0 118 2466 0.00 2.67 0.00 0.000 4 0.000 0.072 2222 982 3418

2487 -0.85 -146.6 187.8 -7.5 119 2492 0.00 2.60 0.00 0.000 6 0.000 0.058 2223 2399 3419

2808 -0.85 -146.6 213.1 -8.6 135 2809 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3419

3118 -0.85 -146.6 239.3 -8.2 150 3122 0.00 2.67 0.00 0.000 4 0.000 0.074 2222 979 3419

3207 -0.85 -146.6 247.0 -8.9 154 3211 0.00 2.62 0.00 0.000 6 0.000 0.059 2222 2400 3418

3527 -0.85 -146.6 275.3 -9.0 170 3531 0.00 2.67 0.00 0.000 4 0.000 0.075 2223 982 3418

3570 -0.85 -146.6 279.3 -9.2 172 3574 0.00 2.60 0.00 0.000 6 0.000 0.060 2223 2400 3418

3897 -0.85 -146.6 307.9 -8.7 188 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3419

4206 -0.85 -146.6 333.9 -7.6 203 4210 0.00 2.70 0.00 0.000 4 0.000 0.077 2223 976 3419

4249 -0.85 -146.6 337.2 -7.5 205 4253 0.00 2.62 0.00 0.000 6 0.000 0.060 2222 2401 3418

4576 -0.85 -146.6 358.6 -6.9 221 4580 0.00 2.70 0.00 0.000 4 0.000 0.076 2222 979 3418

4637 -0.85 -146.6 363.0 -7.3 224 4641 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2401 3418

4962 -0.85 -146.6 387.8 -7.0 240 4966 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 976 3419

5005 -0.85 -146.6 390.3 -5.9 242 5010 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2401 3419

5332 -0.85 -146.6 407.8 -4.9 258 5333 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3418

5641 -0.85 -146.6 421.2 -5.5 273 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3418

5950 -0.85 -146.6 442.1 -6.3 288 5951 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3418

6259 -0.85 -146.6 461.0 -6.2 303 6260 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3418

6505 end dive: BOTTOM_OBSTACLE_DETECTED

state 6505 begin apogee

6511 -0.31 0.0 476.9 5.7 315 6633 0.60 0.00 119.40 1.021 6 0.110 0.000 2341 2191 2816

6634 end apogee: CONTROL_FINISHED_OK

state 6634 begin climb

6636 0.85 146.6 480.5 0.0 321 6757 1.20 0.00 117.45 1.002 6 0.078 0.000 2589 2191 2218

7060 0.90 198.1 461.2 4.6 342 7108 0.00 2.83 41.28 0.976 4 0.000 0.084 2589 3612 2009

7144 0.90 198.1 456.1 6.9 346 7148 0.00 2.70 0.00 0.000 6 0.000 0.068 2589 2205 2008

7469 0.90 198.1 432.2 7.9 362 7470 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2205 2008

7778 0.90 198.1 410.5 6.9 377 7782 0.00 2.75 0.00 0.000 4 0.000 0.086 2589 3614 2005

7826 0.90 198.1 407.0 7.2 379 7831 0.00 2.70 0.00 0.000 6 0.000 0.071 2589 2200 2006

8148 0.94 228.8 391.7 5.2 395 8179 0.12 2.80 24.98 0.950 4 0.071 0.081 2619 778 1884

8223 0.94 228.8 385.6 9.1 398 8229 0.00 2.67 0.00 0.000 6 0.000 0.058 2619 2206 1883

8538 0.94 228.8 362.2 6.9 414 8542 0.00 2.70 0.00 0.000 4 0.000 0.086 2619 3613 1880

8604 0.94 228.8 357.1 7.9 417 8608 0.00 2.70 0.00 0.000 6 0.000 0.070 2619 2195 1880

8930 0.96 247.2 336.3 5.5 433 8952 0.00 2.75 15.43 0.889 4 0.000 0.075 2619 782 1808

8990 0.96 247.2 332.3 6.8 435 8997 0.00 2.67 0.00 0.000 6 0.000 0.055 2619 2200 1807

9306 0.96 247.2 309.4 7.1 451 9307 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1807

9615 0.96 247.2 286.6 7.8 466 9616 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1807

9924 0.96 247.2 260.8 8.3 481 9925 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1807

10234 0.96 247.2 234.1 9.1 496 10235 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1807

10543 0.96 247.2 204.7 9.7 511 10544 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1807

10852 0.96 247.2 176.6 8.4 526 10857 0.00 2.67 0.00 0.000 4 0.000 0.068 2619 775 1807

10891 0.96 247.2 173.4 8.0 528 10895 0.00 2.60 0.00 0.000 6 0.000 0.051 2619 2204 1807

11216 0.96 247.2 147.3 7.8 544 11221 0.00 2.65 0.00 0.000 4 0.000 0.075 2619 3611 1809

11255 0.96 247.2 144.1 8.5 546 11259 0.00 2.65 0.00 0.000 6 0.000 0.063 2619 2191 1809

11581 0.96 247.2 121.5 7.2 562 11585 0.00 2.65 0.00 0.000 4 0.000 0.071 2619 781 1808

11612 0.96 247.2 119.0 7.4 563 11619 0.00 2.60 0.00 0.000 6 0.000 0.050 2619 2193 1809

11930 0.96 247.2 96.2 6.8 579 11931 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2193 1809

12238 0.96 247.2 75.5 6.9 594 12239 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2193 1809

12547 0.96 247.2 53.8 7.4 609 12548 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2193 1808

12856 0.96 247.2 28.3 8.2 624 12857 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2193 1810

13165 0.96 247.2 3.8 7.5 639 13167 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2193 1811

13205 end climb: SURFACE_DEPTH_REACHED

state 13205 begin surface coast

13227 end surface coast: CONTROL_FINISHED_OK

state 13227 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	170	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-2079137.5	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	050458,6304.048,-843.604,33,3.9,52,-9.6	TGT_NAME	IFRVAL
_CALLS	2	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.103,0.196
_SM_DEPTHo	1.36	KALMAN_X	-127503.5,752.6,553.1,145595.2,3301.9
_SM_ANGLEo	-56.5	KALMAN_Y	94863.5,355.8,665.1,62941.6,-18964.9
GPS2	051402,6303.964,-843.591,47,1.9,47,-9.6	MHEAD_RNG_PITCHd_Wd	341.9,20229,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.015081	ALTIM_BOTTOM_PING	400.9,85.7
SM_CCo	13246,188.20,0.671,1,0,509,566.15	_24V_AH	23.6,29.548
SM_GC	1.43,0.00,0.00,188.20,0.000,0.000,0.671,68,2404,509,-10.77,0.14,566.15	_10V_AH	10.2,14.173
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31780,642
TT8_MAMPS	0.023777	CFSIZE	260165632,249806848
HUMID	2072	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
TCM_TEMP	16.70	GPS	121207,090007,6306.447,-844.170,41,2.0,41,-9.6
XPDR_PINGS	41

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.13	SBE_CT	467	24	264.57
Roll_motor	102	85	207.40	SBE_O2	441	19	197.93
VBD_pump_during_apogee	318	1020	7674.13	WL_BB2F	490	105	1215.18
VBD_pump_during_surface	188	671	2980.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	158.56	nil	0	0	0.00
Iridium_during_connect	82	160	310.49	nil	0	0	0.00
Iridium_during_xfer	205	223	1081.44
Transponder_ping	13	420	131.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	47	50	24.40
TT8	1174	19	237.24
LPSleep	10247	2	228.90
TT8_Active	662	19	133.85
TT8_Sampling	1413	39	573.99
TT8_CF8	491	45	229.46
TT8_Kalman	33	81	27.84
Analog_circuits	1349	12	165.16
GPS_charging	0	0	0.00
Compass	1356	8	110.68
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	125	0.00	0.00	-102.53	0.000	2	0.000	0.000	72	2399	3139
127	-0.85	-146.6	3.6	-2.7	5	153	12.10	2.70	-6.50	0.000	4	0.171	0.081	2222	988	3417
376	-0.85	-146.6	28.9	-7.9	16	381	0.00	2.62	0.00	0.000	6	0.000	0.057	2222	2398	3417
704	-0.85	-146.6	54.3	-7.8	32	708	0.00	2.67	0.00	0.000	4	0.000	0.069	2222	979	3418
724	-0.85	-146.6	55.8	-7.0	33	728	0.00	2.65	0.00	0.000	6	0.000	0.057	2222	2418	3418
1053	-0.85	-146.6	80.0	-7.3	49	1057	0.00	2.70	0.00	0.000	4	0.000	0.071	2222	982	3418
1084	-0.85	-146.6	82.4	-7.5	50	1091	0.00	2.62	0.00	0.000	6	0.000	0.057	2222	2399	3418
1400	-0.85	-146.6	106.1	-7.3	66	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3418
1711	-0.85	-146.6	128.7	-6.9	81	1715	0.00	2.67	0.00	0.000	4	0.000	0.072	2222	982	3418
1777	-0.85	-146.6	132.9	-6.4	84	1781	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2400	3418
2097	-0.85	-146.6	156.8	-8.8	100	2101	0.00	2.70	0.00	0.000	4	0.000	0.076	2222	980	3418
2135	-0.85	-146.6	159.7	-8.0	102	2140	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2405	3418
2461	-0.85	-146.6	185.7	-8.0	118	2466	0.00	2.67	0.00	0.000	4	0.000	0.072	2222	982	3418
2487	-0.85	-146.6	187.8	-7.5	119	2492	0.00	2.60	0.00	0.000	6	0.000	0.058	2223	2399	3419
2808	-0.85	-146.6	213.1	-8.6	135	2809	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3419
3118	-0.85	-146.6	239.3	-8.2	150	3122	0.00	2.67	0.00	0.000	4	0.000	0.074	2222	979	3419
3207	-0.85	-146.6	247.0	-8.9	154	3211	0.00	2.62	0.00	0.000	6	0.000	0.059	2222	2400	3418
3527	-0.85	-146.6	275.3	-9.0	170	3531	0.00	2.67	0.00	0.000	4	0.000	0.075	2223	982	3418
3570	-0.85	-146.6	279.3	-9.2	172	3574	0.00	2.60	0.00	0.000	6	0.000	0.060	2223	2400	3418
3897	-0.85	-146.6	307.9	-8.7	188	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3419
4206	-0.85	-146.6	333.9	-7.6	203	4210	0.00	2.70	0.00	0.000	4	0.000	0.077	2223	976	3419
4249	-0.85	-146.6	337.2	-7.5	205	4253	0.00	2.62	0.00	0.000	6	0.000	0.060	2222	2401	3418
4576	-0.85	-146.6	358.6	-6.9	221	4580	0.00	2.70	0.00	0.000	4	0.000	0.076	2222	979	3418
4637	-0.85	-146.6	363.0	-7.3	224	4641	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2401	3418
4962	-0.85	-146.6	387.8	-7.0	240	4966	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	976	3419
5005	-0.85	-146.6	390.3	-5.9	242	5010	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2401	3419
5332	-0.85	-146.6	407.8	-4.9	258	5333	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3418
5641	-0.85	-146.6	421.2	-5.5	273	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3418
5950	-0.85	-146.6	442.1	-6.3	288	5951	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3418
6259	-0.85	-146.6	461.0	-6.2	303	6260	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3418
6505	end dive: BOTTOM_OBSTACLE_DETECTED
state	6505	begin apogee
6511	-0.31	0.0	476.9	5.7	315	6633	0.60	0.00	119.40	1.021	6	0.110	0.000	2341	2191	2816
6634	end apogee: CONTROL_FINISHED_OK
state	6634	begin climb
6636	0.85	146.6	480.5	0.0	321	6757	1.20	0.00	117.45	1.002	6	0.078	0.000	2589	2191	2218
7060	0.90	198.1	461.2	4.6	342	7108	0.00	2.83	41.28	0.976	4	0.000	0.084	2589	3612	2009
7144	0.90	198.1	456.1	6.9	346	7148	0.00	2.70	0.00	0.000	6	0.000	0.068	2589	2205	2008
7469	0.90	198.1	432.2	7.9	362	7470	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2205	2008
7778	0.90	198.1	410.5	6.9	377	7782	0.00	2.75	0.00	0.000	4	0.000	0.086	2589	3614	2005
7826	0.90	198.1	407.0	7.2	379	7831	0.00	2.70	0.00	0.000	6	0.000	0.071	2589	2200	2006
8148	0.94	228.8	391.7	5.2	395	8179	0.12	2.80	24.98	0.950	4	0.071	0.081	2619	778	1884
8223	0.94	228.8	385.6	9.1	398	8229	0.00	2.67	0.00	0.000	6	0.000	0.058	2619	2206	1883
8538	0.94	228.8	362.2	6.9	414	8542	0.00	2.70	0.00	0.000	4	0.000	0.086	2619	3613	1880
8604	0.94	228.8	357.1	7.9	417	8608	0.00	2.70	0.00	0.000	6	0.000	0.070	2619	2195	1880
8930	0.96	247.2	336.3	5.5	433	8952	0.00	2.75	15.43	0.889	4	0.000	0.075	2619	782	1808
8990	0.96	247.2	332.3	6.8	435	8997	0.00	2.67	0.00	0.000	6	0.000	0.055	2619	2200	1807
9306	0.96	247.2	309.4	7.1	451	9307	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1807
9615	0.96	247.2	286.6	7.8	466	9616	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1807
9924	0.96	247.2	260.8	8.3	481	9925	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1807
10234	0.96	247.2	234.1	9.1	496	10235	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1807
10543	0.96	247.2	204.7	9.7	511	10544	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1807
10852	0.96	247.2	176.6	8.4	526	10857	0.00	2.67	0.00	0.000	4	0.000	0.068	2619	775	1807
10891	0.96	247.2	173.4	8.0	528	10895	0.00	2.60	0.00	0.000	6	0.000	0.051	2619	2204	1807
11216	0.96	247.2	147.3	7.8	544	11221	0.00	2.65	0.00	0.000	4	0.000	0.075	2619	3611	1809
11255	0.96	247.2	144.1	8.5	546	11259	0.00	2.65	0.00	0.000	6	0.000	0.063	2619	2191	1809
11581	0.96	247.2	121.5	7.2	562	11585	0.00	2.65	0.00	0.000	4	0.000	0.071	2619	781	1808
11612	0.96	247.2	119.0	7.4	563	11619	0.00	2.60	0.00	0.000	6	0.000	0.050	2619	2193	1809
11930	0.96	247.2	96.2	6.8	579	11931	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2193	1809
12238	0.96	247.2	75.5	6.9	594	12239	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2193	1809
12547	0.96	247.2	53.8	7.4	609	12548	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2193	1808
12856	0.96	247.2	28.3	8.2	624	12857	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2193	1810
13165	0.96	247.2	3.8	7.5	639	13167	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2193	1811
13205	end climb: SURFACE_DEPTH_REACHED
state	13205	begin surface coast
13227	end surface coast: CONTROL_FINISHED_OK
state	13227	begin surface