Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 420 * 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 420 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 31 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 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 -86835.961 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 -86835.961

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 31 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 420 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 145737,6146.902,-904.372,36,1.1,36,-9.4 TGT_NAME AW

_CALLS 3 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,-0.120

_SM_DEPTHo 1.75 KALMAN_X 609403.2,-73.9,-123.2,-639553.3,3077.4

_SM_ANGLEo -61.7 KALMAN_Y 134818.3,-332.3,-1646.7,-107574.8,6480.0

GPS2 151032,6146.760,-904.436,13,1.1,13,-9.4 MHEAD_RNG_PITCHd_Wd 249.2,49717,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 668

Post-dive calculations and measurements:

FINISH 1.0,1.014912 XPDR_PINGS 3

SM_CCo 12663,0.52,1.088,0,0,1655,300.00 ALTIM_TOP_PING 18.5,999.0

SM_GC 2.65,0.00,0.00,0.52,0.000,0.000,1.088,33,1894,1655,-11.33,-0.17,300.00 _24V_AH 23.0,81.689

IRIDIUM_FIX 6121.73,-908.29,040597,151553 _10V_AH 10.1,39.459

TT8_MAMPS 0.026845 DATA_FILE_SIZE 28555,605

HUMID 2068 CFSIZE 260165632,233426944

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 16.50 GPS 080208,184438,6144.458,-908.810,40,1.1,40,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 83.82 SBE_CT 446 24 246.23

Roll_motor 117 62 170.22 SBE_O2 407 19 177.91

VBD_pump_during_apogee 377 1238 10767.16 WL_BB2F 392 105 948.03

VBD_pump_during_surface 0 1087 13.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 276.56 nil 0 0 0.00

Iridium_during_connect 185 160 682.15 nil 0 0 0.00

Iridium_during_xfer 227 223 1165.63

Transponder_ping 6 420 60.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.60

TT8 1168 19 233.70

LPSleep 9530 2 210.79

TT8_Active 486 19 97.24

TT8_Sampling 1491 39 599.55

TT8_CF8 818 45 378.51

TT8_Kalman 33 81 27.57

Analog_circuits 1250 12 151.51

GPS_charging 0 0 0.00

Compass 1453 8 117.48

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 -1.23 -146.6 0.0 0.0 0 87 0.00 0.00 -61.15 0.000 2 0.000 0.000 32 1884 2853

91 -1.23 -146.6 3.1 -2.8 3 133 11.62 2.62 -21.30 0.000 4 0.139 0.060 2224 3302 3477

386 -1.23 -146.6 37.0 -6.8 16 391 0.00 2.50 0.00 0.000 6 0.000 0.039 2224 1903 3477

708 -1.23 -146.6 67.5 -10.1 32 712 0.00 2.55 0.00 0.000 4 0.000 0.046 2224 3313 3477

797 -1.23 -146.6 77.0 -11.1 36 802 0.00 2.53 0.00 0.000 6 0.000 0.040 2224 1897 3477

1118 -1.23 -146.6 108.7 -9.7 52 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

1429 -1.23 -146.6 139.9 -9.4 67 1433 0.00 2.55 0.00 0.000 4 0.000 0.045 2224 3313 3477

1491 -1.23 -146.6 145.3 -9.0 70 1496 0.00 2.50 0.00 0.000 6 0.000 0.040 2224 1901 3477

1818 -1.23 -146.6 177.7 -10.6 86 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1902 3477

2127 -1.23 -146.6 215.0 -11.4 101 2131 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3308 3477

2190 -1.23 -146.6 222.2 -10.8 104 2194 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1903 3477

2516 -1.23 -146.6 261.1 -12.2 120 2517 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3477

2825 -1.23 -146.6 294.9 -10.9 135 2830 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3308 3477

2893 -1.23 -146.6 303.0 -11.8 138 2897 0.00 2.53 0.00 0.000 6 0.000 0.041 2224 1895 3477

3213 -1.23 -146.6 342.5 -12.6 154 3214 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3477

3523 -1.23 -146.6 379.8 -11.5 169 3527 0.00 2.55 0.00 0.000 4 0.000 0.047 2224 3308 3477

3585 -1.23 -146.6 386.6 -11.0 172 3589 0.00 2.53 0.00 0.000 6 0.000 0.041 2224 1900 3477

3913 -1.23 -146.6 426.2 -11.5 188 3917 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3311 3477

3986 -1.23 -146.6 434.2 -10.4 191 3991 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1897 3477

4302 -1.23 -146.6 464.4 -8.7 206 4303 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

4611 -1.23 -146.6 496.4 -11.2 221 4616 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3308 3477

4712 -1.23 -146.6 508.0 -11.7 225 4719 0.00 2.50 0.00 0.000 6 0.000 0.044 2224 1903 3477

5028 -1.23 -146.6 543.4 -11.5 241 5033 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3308 3477

5113 -1.23 -146.6 552.2 -10.4 245 5117 0.00 2.55 0.00 0.000 6 0.000 0.045 2223 1894 3477

5440 -1.23 -146.6 585.5 -11.0 261 5444 0.00 2.58 0.00 0.000 4 0.000 0.051 2224 3308 3477

5489 -1.23 -146.6 591.5 -11.3 263 5493 0.00 2.53 0.00 0.000 6 0.000 0.046 2224 1899 3477

5805 -1.23 -146.6 623.2 -7.7 278 5810 0.00 2.58 0.00 0.000 4 0.000 0.054 2224 3308 3477

5991 -1.23 -146.6 631.9 -6.1 286 5996 0.00 2.55 0.00 0.000 6 0.000 0.049 2224 1899 3477

6308 -1.23 -146.6 657.5 -10.1 301 6312 0.00 2.58 0.00 0.000 4 0.000 0.058 2224 3305 3477

6374 -1.23 -146.6 665.1 -11.2 304 6379 0.00 2.55 0.00 0.000 6 0.000 0.051 2224 1900 3477

6405 end dive: TARGET_DEPTH_EXCEEDED

state 6405 begin apogee

6412 -0.36 0.0 668.2 10.1 306 6540 0.93 0.00 125.40 1.239 6 0.089 0.000 2415 2114 2878

6541 end apogee: CONTROL_FINISHED_OK

state 6541 begin climb

6545 1.23 146.6 673.9 0.0 312 6673 1.58 0.00 124.32 1.200 6 0.055 0.000 2764 2115 2280

6977 1.40 286.0 660.0 2.7 333 7101 0.17 2.67 116.35 1.218 4 0.046 0.063 2815 3501 1711

7242 1.42 299.1 645.0 7.5 345 7259 0.00 2.60 11.85 1.203 6 0.000 0.053 2815 2100 1658

7568 1.42 299.1 613.0 12.3 361 7572 0.00 2.60 0.00 0.000 4 0.000 0.061 2815 3499 1657

7640 1.42 299.1 603.2 13.6 364 7644 0.00 2.58 0.00 0.000 6 0.000 0.051 2815 2100 1656

7955 1.42 299.1 551.1 17.8 379 7956 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2100 1655

8264 1.42 299.1 502.3 13.9 394 8269 0.00 2.58 0.00 0.000 4 0.000 0.053 2815 3502 1655

8354 1.42 299.1 490.2 12.9 398 8359 0.00 2.53 0.00 0.000 6 0.000 0.044 2815 2097 1654

8675 1.42 299.1 454.0 11.0 414 8680 0.00 2.58 0.00 0.000 4 0.000 0.051 2815 3502 1654

8731 1.42 299.1 447.7 11.4 416 8737 0.00 2.55 0.00 0.000 6 0.000 0.044 2815 2094 1654

9047 1.42 299.1 413.8 10.8 432 9051 0.00 2.55 0.00 0.000 4 0.000 0.050 2815 3498 1654

9102 1.42 299.1 407.8 10.9 434 9108 0.00 2.53 0.00 0.000 6 0.000 0.042 2815 2095 1654

9418 1.42 299.1 374.7 10.3 450 9422 0.00 2.55 0.00 0.000 4 0.000 0.049 2815 3505 1655

9467 1.42 299.1 369.3 10.5 452 9472 0.00 2.53 0.00 0.000 6 0.000 0.041 2815 2092 1655

9783 1.42 299.1 335.4 10.8 467 9787 0.00 2.55 0.00 0.000 4 0.000 0.048 2815 3499 1656

9855 1.42 299.1 326.7 12.2 470 9859 0.00 2.50 0.00 0.000 6 0.000 0.040 2816 2098 1655

10170 1.42 299.1 288.2 12.7 485 10175 0.00 2.53 0.00 0.000 4 0.000 0.048 2815 3499 1655

10226 1.42 299.1 281.2 12.9 487 10232 0.00 2.50 0.00 0.000 6 0.000 0.040 2815 2097 1656

10542 1.42 299.1 244.7 11.6 503 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2097 1657

10851 1.42 299.1 208.9 10.3 518 10855 0.00 2.55 0.00 0.000 4 0.000 0.047 2815 3506 1657

10913 1.42 299.1 201.5 12.3 521 10917 0.00 2.50 0.00 0.000 6 0.000 0.038 2815 2101 1657

11240 1.42 299.1 164.0 12.0 537 11241 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2101 1657

11550 1.42 299.1 129.3 11.4 552 11555 0.00 2.53 0.00 0.000 4 0.000 0.047 2815 3500 1658

11606 1.42 299.1 122.8 11.1 554 11613 0.00 2.47 0.00 0.000 6 0.000 0.038 2816 2100 1658

11922 1.42 299.1 84.2 12.3 570 11924 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2100 1658

12231 1.42 299.1 47.6 12.3 585 12232 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2099 1658

12540 1.42 299.1 11.3 11.7 600 12545 0.00 2.53 0.00 0.000 4 0.000 0.046 2815 3501 1658

12603 1.42 299.1 3.7 12.1 603 12607 0.00 2.50 0.00 0.000 6 0.000 0.038 2816 2096 1658

12618 end climb: SURFACE_DEPTH_REACHED

state 12618 begin surface coast

12640 end surface coast: CONTROL_FINISHED_OK

state 12640 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	420	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	31	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	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	-86835.961	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	145737,6146.902,-904.372,36,1.1,36,-9.4	TGT_NAME	AW
_CALLS	3	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,-0.120
_SM_DEPTHo	1.75	KALMAN_X	609403.2,-73.9,-123.2,-639553.3,3077.4
_SM_ANGLEo	-61.7	KALMAN_Y	134818.3,-332.3,-1646.7,-107574.8,6480.0
GPS2	151032,6146.760,-904.436,13,1.1,13,-9.4	MHEAD_RNG_PITCHd_Wd	249.2,49717,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	668

FINISH	1.0,1.014912	XPDR_PINGS	3
SM_CCo	12663,0.52,1.088,0,0,1655,300.00	ALTIM_TOP_PING	18.5,999.0
SM_GC	2.65,0.00,0.00,0.52,0.000,0.000,1.088,33,1894,1655,-11.33,-0.17,300.00	_24V_AH	23.0,81.689
IRIDIUM_FIX	6121.73,-908.29,040597,151553	_10V_AH	10.1,39.459
TT8_MAMPS	0.026845	DATA_FILE_SIZE	28555,605
HUMID	2068	CFSIZE	260165632,233426944
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	16.50	GPS	080208,184438,6144.458,-908.810,40,1.1,40,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	83.82	SBE_CT	446	24	246.23
Roll_motor	117	62	170.22	SBE_O2	407	19	177.91
VBD_pump_during_apogee	377	1238	10767.16	WL_BB2F	392	105	948.03
VBD_pump_during_surface	0	1087	13.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	276.56	nil	0	0	0.00
Iridium_during_connect	185	160	682.15	nil	0	0	0.00
Iridium_during_xfer	227	223	1165.63
Transponder_ping	6	420	60.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.60
TT8	1168	19	233.70
LPSleep	9530	2	210.79
TT8_Active	486	19	97.24
TT8_Sampling	1491	39	599.55
TT8_CF8	818	45	378.51
TT8_Kalman	33	81	27.57
Analog_circuits	1250	12	151.51
GPS_charging	0	0	0.00
Compass	1453	8	117.48
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	-1.23	-146.6	0.0	0.0	0	87	0.00	0.00	-61.15	0.000	2	0.000	0.000	32	1884	2853
91	-1.23	-146.6	3.1	-2.8	3	133	11.62	2.62	-21.30	0.000	4	0.139	0.060	2224	3302	3477
386	-1.23	-146.6	37.0	-6.8	16	391	0.00	2.50	0.00	0.000	6	0.000	0.039	2224	1903	3477
708	-1.23	-146.6	67.5	-10.1	32	712	0.00	2.55	0.00	0.000	4	0.000	0.046	2224	3313	3477
797	-1.23	-146.6	77.0	-11.1	36	802	0.00	2.53	0.00	0.000	6	0.000	0.040	2224	1897	3477
1118	-1.23	-146.6	108.7	-9.7	52	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
1429	-1.23	-146.6	139.9	-9.4	67	1433	0.00	2.55	0.00	0.000	4	0.000	0.045	2224	3313	3477
1491	-1.23	-146.6	145.3	-9.0	70	1496	0.00	2.50	0.00	0.000	6	0.000	0.040	2224	1901	3477
1818	-1.23	-146.6	177.7	-10.6	86	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1902	3477
2127	-1.23	-146.6	215.0	-11.4	101	2131	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3308	3477
2190	-1.23	-146.6	222.2	-10.8	104	2194	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1903	3477
2516	-1.23	-146.6	261.1	-12.2	120	2517	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3477
2825	-1.23	-146.6	294.9	-10.9	135	2830	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3308	3477
2893	-1.23	-146.6	303.0	-11.8	138	2897	0.00	2.53	0.00	0.000	6	0.000	0.041	2224	1895	3477
3213	-1.23	-146.6	342.5	-12.6	154	3214	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3477
3523	-1.23	-146.6	379.8	-11.5	169	3527	0.00	2.55	0.00	0.000	4	0.000	0.047	2224	3308	3477
3585	-1.23	-146.6	386.6	-11.0	172	3589	0.00	2.53	0.00	0.000	6	0.000	0.041	2224	1900	3477
3913	-1.23	-146.6	426.2	-11.5	188	3917	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3311	3477
3986	-1.23	-146.6	434.2	-10.4	191	3991	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1897	3477
4302	-1.23	-146.6	464.4	-8.7	206	4303	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
4611	-1.23	-146.6	496.4	-11.2	221	4616	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3308	3477
4712	-1.23	-146.6	508.0	-11.7	225	4719	0.00	2.50	0.00	0.000	6	0.000	0.044	2224	1903	3477
5028	-1.23	-146.6	543.4	-11.5	241	5033	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3308	3477
5113	-1.23	-146.6	552.2	-10.4	245	5117	0.00	2.55	0.00	0.000	6	0.000	0.045	2223	1894	3477
5440	-1.23	-146.6	585.5	-11.0	261	5444	0.00	2.58	0.00	0.000	4	0.000	0.051	2224	3308	3477
5489	-1.23	-146.6	591.5	-11.3	263	5493	0.00	2.53	0.00	0.000	6	0.000	0.046	2224	1899	3477
5805	-1.23	-146.6	623.2	-7.7	278	5810	0.00	2.58	0.00	0.000	4	0.000	0.054	2224	3308	3477
5991	-1.23	-146.6	631.9	-6.1	286	5996	0.00	2.55	0.00	0.000	6	0.000	0.049	2224	1899	3477
6308	-1.23	-146.6	657.5	-10.1	301	6312	0.00	2.58	0.00	0.000	4	0.000	0.058	2224	3305	3477
6374	-1.23	-146.6	665.1	-11.2	304	6379	0.00	2.55	0.00	0.000	6	0.000	0.051	2224	1900	3477
6405	end dive: TARGET_DEPTH_EXCEEDED
state	6405	begin apogee
6412	-0.36	0.0	668.2	10.1	306	6540	0.93	0.00	125.40	1.239	6	0.089	0.000	2415	2114	2878
6541	end apogee: CONTROL_FINISHED_OK
state	6541	begin climb
6545	1.23	146.6	673.9	0.0	312	6673	1.58	0.00	124.32	1.200	6	0.055	0.000	2764	2115	2280
6977	1.40	286.0	660.0	2.7	333	7101	0.17	2.67	116.35	1.218	4	0.046	0.063	2815	3501	1711
7242	1.42	299.1	645.0	7.5	345	7259	0.00	2.60	11.85	1.203	6	0.000	0.053	2815	2100	1658
7568	1.42	299.1	613.0	12.3	361	7572	0.00	2.60	0.00	0.000	4	0.000	0.061	2815	3499	1657
7640	1.42	299.1	603.2	13.6	364	7644	0.00	2.58	0.00	0.000	6	0.000	0.051	2815	2100	1656
7955	1.42	299.1	551.1	17.8	379	7956	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2100	1655
8264	1.42	299.1	502.3	13.9	394	8269	0.00	2.58	0.00	0.000	4	0.000	0.053	2815	3502	1655
8354	1.42	299.1	490.2	12.9	398	8359	0.00	2.53	0.00	0.000	6	0.000	0.044	2815	2097	1654
8675	1.42	299.1	454.0	11.0	414	8680	0.00	2.58	0.00	0.000	4	0.000	0.051	2815	3502	1654
8731	1.42	299.1	447.7	11.4	416	8737	0.00	2.55	0.00	0.000	6	0.000	0.044	2815	2094	1654
9047	1.42	299.1	413.8	10.8	432	9051	0.00	2.55	0.00	0.000	4	0.000	0.050	2815	3498	1654
9102	1.42	299.1	407.8	10.9	434	9108	0.00	2.53	0.00	0.000	6	0.000	0.042	2815	2095	1654
9418	1.42	299.1	374.7	10.3	450	9422	0.00	2.55	0.00	0.000	4	0.000	0.049	2815	3505	1655
9467	1.42	299.1	369.3	10.5	452	9472	0.00	2.53	0.00	0.000	6	0.000	0.041	2815	2092	1655
9783	1.42	299.1	335.4	10.8	467	9787	0.00	2.55	0.00	0.000	4	0.000	0.048	2815	3499	1656
9855	1.42	299.1	326.7	12.2	470	9859	0.00	2.50	0.00	0.000	6	0.000	0.040	2816	2098	1655
10170	1.42	299.1	288.2	12.7	485	10175	0.00	2.53	0.00	0.000	4	0.000	0.048	2815	3499	1655
10226	1.42	299.1	281.2	12.9	487	10232	0.00	2.50	0.00	0.000	6	0.000	0.040	2815	2097	1656
10542	1.42	299.1	244.7	11.6	503	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2097	1657
10851	1.42	299.1	208.9	10.3	518	10855	0.00	2.55	0.00	0.000	4	0.000	0.047	2815	3506	1657
10913	1.42	299.1	201.5	12.3	521	10917	0.00	2.50	0.00	0.000	6	0.000	0.038	2815	2101	1657
11240	1.42	299.1	164.0	12.0	537	11241	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2101	1657
11550	1.42	299.1	129.3	11.4	552	11555	0.00	2.53	0.00	0.000	4	0.000	0.047	2815	3500	1658
11606	1.42	299.1	122.8	11.1	554	11613	0.00	2.47	0.00	0.000	6	0.000	0.038	2816	2100	1658
11922	1.42	299.1	84.2	12.3	570	11924	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2100	1658
12231	1.42	299.1	47.6	12.3	585	12232	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2099	1658
12540	1.42	299.1	11.3	11.7	600	12545	0.00	2.53	0.00	0.000	4	0.000	0.046	2815	3501	1658
12603	1.42	299.1	3.7	12.1	603	12607	0.00	2.50	0.00	0.000	6	0.000	0.038	2816	2096	1658
12618	end climb: SURFACE_DEPTH_REACHED
state	12618	begin surface coast
12640	end surface coast: CONTROL_FINISHED_OK
state	12640	begin surface