Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 415 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 415 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -86741.438 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -86741.438

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 28 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 415 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 193837,6145.059,-903.436,36,1.1,36,-9.3 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,-0.151

_SM_DEPTHo 1.72 KALMAN_X 600084.3,-1295.6,86.1,-628198.0,3156.0

_SM_ANGLEo -62.1 KALMAN_Y 117607.9,31.6,1045.6,-96288.3,4810.7

GPS2 194814,6145.251,-903.287,9,1.2,14,-9.3 MHEAD_RNG_PITCHd_Wd 239.9,46856,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 716

Post-dive calculations and measurements:

FINISH 1.0,1.025853 XPDR_PINGS 2

SM_CCo 14452,0.00,0.000,0,0,1545,326.98 ALTIM_TOP_PING 18.2,999.0

SM_GC 1.63,12.07,0.00,0.00,0.034,0.000,0.000,34,1883,1545,-11.26,-0.48,326.98 _24V_AH 22.9,80.914

IRIDIUM_FIX 6121.73,-858.59,030597,191927 _10V_AH 10.1,39.129

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34851,692

HUMID 2098 CFSIZE 260165632,233648128

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.40 GPS 070208,235201,6146.722,-904.029,36,1.4,36,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 135 82.07 SBE_CT 516 24 283.96

Roll_motor 92 88 187.70 SBE_O2 467 19 203.21

VBD_pump_during_apogee 400 1331 12224.09 WL_BB2F 414 105 997.68

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 173.06 nil 0 0 0.00

Iridium_during_connect 73 160 267.78 nil 0 0 0.00

Iridium_during_xfer 237 223 1214.06

Transponder_ping 6 420 62.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.97

TT8 1293 19 258.73

LPSleep 11024 2 243.86

TT8_Active 479 19 95.96

TT8_Sampling 1596 39 641.96

TT8_CF8 682 45 315.71

TT8_Kalman 33 81 27.57

Analog_circuits 1286 12 155.93

GPS_charging 0 0 0.00

Compass 1561 8 126.14

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

25 -1.23 -146.6 0.0 0.0 0 87 0.00 0.00 -60.78 0.000 2 0.000 0.000 36 1878 2716

91 -1.23 -146.6 3.1 -3.2 3 134 11.65 0.00 -28.65 0.000 6 0.136 0.000 2226 1879 3476

438 -1.23 -146.6 41.3 -10.2 20 443 0.00 2.55 0.00 0.000 4 0.000 0.048 2226 3293 3476

595 -1.23 -146.6 59.2 -10.5 27 600 0.00 2.47 0.00 0.000 6 0.000 0.041 2226 1905 3476

917 -1.23 -146.6 87.4 -10.0 43 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1905 3476

1228 -1.23 -146.6 118.3 -9.6 58 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1905 3476

1536 -1.23 -146.6 150.4 -9.0 73 1538 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1905 3476

1845 -1.23 -146.6 172.7 -6.5 88 1849 0.00 2.50 0.00 0.000 4 0.000 0.046 2226 3296 3476

1930 -1.23 -146.6 177.7 -5.6 92 1934 0.00 2.50 0.00 0.000 6 0.000 0.041 2226 1900 3476

2256 -1.23 -146.6 197.6 -5.9 108 2257 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1900 3476

2565 -1.23 -146.6 215.0 -7.2 123 2570 0.00 2.53 0.00 0.000 4 0.000 0.047 2226 3303 3475

2629 -1.23 -146.6 220.3 -7.8 126 2633 0.00 2.50 0.00 0.000 6 0.000 0.041 2226 1899 3476

2955 -1.23 -146.6 249.4 -9.7 142 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1898 3476

3264 -1.23 -146.6 280.9 -11.3 157 3269 0.00 2.50 0.00 0.000 4 0.000 0.048 2226 3297 3476

3327 -1.23 -146.6 287.6 -10.9 160 3331 0.00 2.50 0.00 0.000 6 0.000 0.042 2226 1899 3476

3653 -1.23 -146.6 321.9 -10.9 176 3654 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1898 3476

3963 -1.23 -146.6 355.1 -11.7 191 3964 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1898 3476

4272 -1.23 -146.6 392.3 -11.2 206 4276 0.00 2.53 0.00 0.000 4 0.000 0.048 2226 3297 3476

4345 -1.23 -146.6 401.8 -12.8 209 4349 0.00 2.50 0.00 0.000 6 0.000 0.042 2226 1894 3476

4661 -1.23 -146.6 439.6 -11.2 224 4662 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1894 3476

4969 -1.23 -146.6 474.4 -10.9 239 4974 0.00 2.55 0.00 0.000 4 0.000 0.049 2226 3303 3476

5087 -1.23 -146.6 485.9 -9.1 244 5091 0.00 2.53 0.00 0.000 6 0.000 0.043 2226 1896 3476

5403 -1.23 -146.6 510.6 -7.2 259 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1896 3476

5712 -1.23 -146.6 533.1 -7.0 274 5716 0.00 2.55 0.00 0.000 4 0.000 0.051 2226 3300 3476

5768 -1.23 -146.6 537.0 -7.0 276 5774 0.00 2.50 0.00 0.000 6 0.000 0.043 2226 1900 3476

6084 -1.23 -146.6 558.5 -6.9 292 6088 0.00 2.55 0.00 0.000 4 0.000 0.051 2226 3301 3476

6161 -1.23 -146.6 563.6 -5.9 295 6168 0.00 2.53 0.00 0.000 6 0.000 0.044 2226 1900 3476

6478 -1.23 -146.6 584.0 -6.5 311 6482 0.00 2.53 0.00 0.000 4 0.000 0.050 2226 3295 3476

6700 -1.23 -146.6 597.7 -4.7 321 6704 0.00 2.50 0.00 0.000 6 0.000 0.043 2226 1899 3476

7027 -1.23 -146.6 624.1 -8.5 337 7029 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1898 3476

7336 -1.23 -146.6 655.5 -9.7 352 7340 0.00 2.58 0.00 0.000 4 0.000 0.060 2226 3293 3476

7399 -1.23 -146.6 657.7 -4.3 355 7403 0.00 2.55 0.00 0.000 6 0.000 0.054 2226 1902 3476

7726 -1.23 -146.6 684.2 -10.5 371 7727 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1902 3475

8035 -1.23 -146.6 701.8 -1.5 386 8039 0.00 2.70 0.00 0.000 4 0.000 0.088 2226 496 3473

8075 -1.23 -146.6 701.8 0.4 388 8080 0.00 2.53 0.00 0.000 6 0.000 0.053 2227 1899 3472

8402 -1.23 -146.6 699.8 1.2 404 8403 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1901 3470

8712 -1.23 -146.6 699.4 -0.1 419 8716 0.00 2.72 0.00 0.000 4 0.000 0.088 2226 496 3469

8719 end dive: NO_VERTICAL_VELOCITY

state 8719 begin apogee

8730 -0.36 0.0 699.4 0.0 419 8859 0.85 0.00 125.57 1.332 6 0.074 0.000 2412 2101 2878

8859 end apogee: CONTROL_FINISHED_OK

state 8859 begin climb

8862 1.23 146.6 698.8 0.0 426 8994 1.62 2.80 123.72 1.297 4 0.068 0.081 2760 690 2280

9253 1.27 179.5 666.6 6.7 444 9287 0.00 2.58 28.45 1.298 6 0.000 0.051 2759 2101 2145

9605 1.45 327.5 656.8 2.4 461 9736 0.20 2.85 123.15 1.285 4 0.047 0.086 2814 698 1543

9867 1.45 327.5 620.1 15.6 473 9872 0.00 2.55 0.00 0.000 6 0.000 0.051 2814 2100 1543

10189 1.45 327.5 569.1 13.8 489 10193 0.00 2.62 0.00 0.000 4 0.000 0.063 2814 3505 1542

10390 1.45 327.5 540.3 15.9 498 10395 0.00 2.60 0.00 0.000 6 0.000 0.054 2814 2096 1540

10712 1.45 327.5 491.3 14.5 514 10713 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2096 1539

11021 1.45 327.5 447.3 15.3 529 11022 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2096 1540

11330 1.45 327.5 403.7 13.6 544 11334 0.00 2.58 0.00 0.000 4 0.000 0.051 2814 3511 1540

11372 1.45 327.5 398.1 15.1 546 11376 0.00 2.55 0.00 0.000 6 0.000 0.043 2814 2091 1540

11698 1.45 327.5 351.4 15.6 562 11699 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2090 1541

12007 1.45 327.5 307.7 14.2 577 12011 0.00 2.58 0.00 0.000 4 0.000 0.048 2814 3506 1542

12051 1.45 327.5 301.1 14.4 579 12055 0.00 2.53 0.00 0.000 6 0.000 0.041 2814 2097 1541

12372 1.45 327.5 257.1 12.7 595 12373 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2097 1542

12681 1.45 327.5 214.9 13.0 610 12682 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2097 1543

12991 1.45 327.5 176.2 12.5 625 12992 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2097 1543

13300 1.45 327.5 138.0 14.0 640 13301 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2097 1544

13609 1.45 327.5 98.8 11.7 655 13610 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2097 1545

13919 1.45 327.5 55.6 14.2 670 13923 0.00 2.55 0.00 0.000 4 0.000 0.047 2814 3505 1545

13981 1.45 327.5 47.3 13.4 673 13985 0.00 2.50 0.00 0.000 6 0.000 0.038 2814 2096 1545

14308 1.45 327.5 4.7 12.9 689 14309 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2095 1545

14346 end climb: SURFACE_DEPTH_REACHED

state 14346 begin surface coast

14368 end surface coast: CONTROL_FINISHED_OK

state 14368 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	415	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-86741.438	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	193837,6145.059,-903.436,36,1.1,36,-9.3	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,-0.151
_SM_DEPTHo	1.72	KALMAN_X	600084.3,-1295.6,86.1,-628198.0,3156.0
_SM_ANGLEo	-62.1	KALMAN_Y	117607.9,31.6,1045.6,-96288.3,4810.7
GPS2	194814,6145.251,-903.287,9,1.2,14,-9.3	MHEAD_RNG_PITCHd_Wd	239.9,46856,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	716

FINISH	1.0,1.025853	XPDR_PINGS	2
SM_CCo	14452,0.00,0.000,0,0,1545,326.98	ALTIM_TOP_PING	18.2,999.0
SM_GC	1.63,12.07,0.00,0.00,0.034,0.000,0.000,34,1883,1545,-11.26,-0.48,326.98	_24V_AH	22.9,80.914
IRIDIUM_FIX	6121.73,-858.59,030597,191927	_10V_AH	10.1,39.129
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34851,692
HUMID	2098	CFSIZE	260165632,233648128
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.40	GPS	070208,235201,6146.722,-904.029,36,1.4,36,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	135	82.07	SBE_CT	516	24	283.96
Roll_motor	92	88	187.70	SBE_O2	467	19	203.21
VBD_pump_during_apogee	400	1331	12224.09	WL_BB2F	414	105	997.68
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	173.06	nil	0	0	0.00
Iridium_during_connect	73	160	267.78	nil	0	0	0.00
Iridium_during_xfer	237	223	1214.06
Transponder_ping	6	420	62.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.97
TT8	1293	19	258.73
LPSleep	11024	2	243.86
TT8_Active	479	19	95.96
TT8_Sampling	1596	39	641.96
TT8_CF8	682	45	315.71
TT8_Kalman	33	81	27.57
Analog_circuits	1286	12	155.93
GPS_charging	0	0	0.00
Compass	1561	8	126.14
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
25	-1.23	-146.6	0.0	0.0	0	87	0.00	0.00	-60.78	0.000	2	0.000	0.000	36	1878	2716
91	-1.23	-146.6	3.1	-3.2	3	134	11.65	0.00	-28.65	0.000	6	0.136	0.000	2226	1879	3476
438	-1.23	-146.6	41.3	-10.2	20	443	0.00	2.55	0.00	0.000	4	0.000	0.048	2226	3293	3476
595	-1.23	-146.6	59.2	-10.5	27	600	0.00	2.47	0.00	0.000	6	0.000	0.041	2226	1905	3476
917	-1.23	-146.6	87.4	-10.0	43	918	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1905	3476
1228	-1.23	-146.6	118.3	-9.6	58	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1905	3476
1536	-1.23	-146.6	150.4	-9.0	73	1538	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1905	3476
1845	-1.23	-146.6	172.7	-6.5	88	1849	0.00	2.50	0.00	0.000	4	0.000	0.046	2226	3296	3476
1930	-1.23	-146.6	177.7	-5.6	92	1934	0.00	2.50	0.00	0.000	6	0.000	0.041	2226	1900	3476
2256	-1.23	-146.6	197.6	-5.9	108	2257	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1900	3476
2565	-1.23	-146.6	215.0	-7.2	123	2570	0.00	2.53	0.00	0.000	4	0.000	0.047	2226	3303	3475
2629	-1.23	-146.6	220.3	-7.8	126	2633	0.00	2.50	0.00	0.000	6	0.000	0.041	2226	1899	3476
2955	-1.23	-146.6	249.4	-9.7	142	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1898	3476
3264	-1.23	-146.6	280.9	-11.3	157	3269	0.00	2.50	0.00	0.000	4	0.000	0.048	2226	3297	3476
3327	-1.23	-146.6	287.6	-10.9	160	3331	0.00	2.50	0.00	0.000	6	0.000	0.042	2226	1899	3476
3653	-1.23	-146.6	321.9	-10.9	176	3654	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1898	3476
3963	-1.23	-146.6	355.1	-11.7	191	3964	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1898	3476
4272	-1.23	-146.6	392.3	-11.2	206	4276	0.00	2.53	0.00	0.000	4	0.000	0.048	2226	3297	3476
4345	-1.23	-146.6	401.8	-12.8	209	4349	0.00	2.50	0.00	0.000	6	0.000	0.042	2226	1894	3476
4661	-1.23	-146.6	439.6	-11.2	224	4662	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1894	3476
4969	-1.23	-146.6	474.4	-10.9	239	4974	0.00	2.55	0.00	0.000	4	0.000	0.049	2226	3303	3476
5087	-1.23	-146.6	485.9	-9.1	244	5091	0.00	2.53	0.00	0.000	6	0.000	0.043	2226	1896	3476
5403	-1.23	-146.6	510.6	-7.2	259	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1896	3476
5712	-1.23	-146.6	533.1	-7.0	274	5716	0.00	2.55	0.00	0.000	4	0.000	0.051	2226	3300	3476
5768	-1.23	-146.6	537.0	-7.0	276	5774	0.00	2.50	0.00	0.000	6	0.000	0.043	2226	1900	3476
6084	-1.23	-146.6	558.5	-6.9	292	6088	0.00	2.55	0.00	0.000	4	0.000	0.051	2226	3301	3476
6161	-1.23	-146.6	563.6	-5.9	295	6168	0.00	2.53	0.00	0.000	6	0.000	0.044	2226	1900	3476
6478	-1.23	-146.6	584.0	-6.5	311	6482	0.00	2.53	0.00	0.000	4	0.000	0.050	2226	3295	3476
6700	-1.23	-146.6	597.7	-4.7	321	6704	0.00	2.50	0.00	0.000	6	0.000	0.043	2226	1899	3476
7027	-1.23	-146.6	624.1	-8.5	337	7029	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1898	3476
7336	-1.23	-146.6	655.5	-9.7	352	7340	0.00	2.58	0.00	0.000	4	0.000	0.060	2226	3293	3476
7399	-1.23	-146.6	657.7	-4.3	355	7403	0.00	2.55	0.00	0.000	6	0.000	0.054	2226	1902	3476
7726	-1.23	-146.6	684.2	-10.5	371	7727	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1902	3475
8035	-1.23	-146.6	701.8	-1.5	386	8039	0.00	2.70	0.00	0.000	4	0.000	0.088	2226	496	3473
8075	-1.23	-146.6	701.8	0.4	388	8080	0.00	2.53	0.00	0.000	6	0.000	0.053	2227	1899	3472
8402	-1.23	-146.6	699.8	1.2	404	8403	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1901	3470
8712	-1.23	-146.6	699.4	-0.1	419	8716	0.00	2.72	0.00	0.000	4	0.000	0.088	2226	496	3469
8719	end dive: NO_VERTICAL_VELOCITY
state	8719	begin apogee
8730	-0.36	0.0	699.4	0.0	419	8859	0.85	0.00	125.57	1.332	6	0.074	0.000	2412	2101	2878
8859	end apogee: CONTROL_FINISHED_OK
state	8859	begin climb
8862	1.23	146.6	698.8	0.0	426	8994	1.62	2.80	123.72	1.297	4	0.068	0.081	2760	690	2280
9253	1.27	179.5	666.6	6.7	444	9287	0.00	2.58	28.45	1.298	6	0.000	0.051	2759	2101	2145
9605	1.45	327.5	656.8	2.4	461	9736	0.20	2.85	123.15	1.285	4	0.047	0.086	2814	698	1543
9867	1.45	327.5	620.1	15.6	473	9872	0.00	2.55	0.00	0.000	6	0.000	0.051	2814	2100	1543
10189	1.45	327.5	569.1	13.8	489	10193	0.00	2.62	0.00	0.000	4	0.000	0.063	2814	3505	1542
10390	1.45	327.5	540.3	15.9	498	10395	0.00	2.60	0.00	0.000	6	0.000	0.054	2814	2096	1540
10712	1.45	327.5	491.3	14.5	514	10713	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2096	1539
11021	1.45	327.5	447.3	15.3	529	11022	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2096	1540
11330	1.45	327.5	403.7	13.6	544	11334	0.00	2.58	0.00	0.000	4	0.000	0.051	2814	3511	1540
11372	1.45	327.5	398.1	15.1	546	11376	0.00	2.55	0.00	0.000	6	0.000	0.043	2814	2091	1540
11698	1.45	327.5	351.4	15.6	562	11699	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2090	1541
12007	1.45	327.5	307.7	14.2	577	12011	0.00	2.58	0.00	0.000	4	0.000	0.048	2814	3506	1542
12051	1.45	327.5	301.1	14.4	579	12055	0.00	2.53	0.00	0.000	6	0.000	0.041	2814	2097	1541
12372	1.45	327.5	257.1	12.7	595	12373	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2097	1542
12681	1.45	327.5	214.9	13.0	610	12682	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2097	1543
12991	1.45	327.5	176.2	12.5	625	12992	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2097	1543
13300	1.45	327.5	138.0	14.0	640	13301	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2097	1544
13609	1.45	327.5	98.8	11.7	655	13610	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2097	1545
13919	1.45	327.5	55.6	14.2	670	13923	0.00	2.55	0.00	0.000	4	0.000	0.047	2814	3505	1545
13981	1.45	327.5	47.3	13.4	673	13985	0.00	2.50	0.00	0.000	6	0.000	0.038	2814	2096	1545
14308	1.45	327.5	4.7	12.9	689	14309	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2095	1545
14346	end climb: SURFACE_DEPTH_REACHED
state	14346	begin surface coast
14368	end surface coast: CONTROL_FINISHED_OK
state	14368	begin surface