Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 47 * 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 47 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 300 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 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 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 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 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 120 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 -2076010.2 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 300

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 412.5

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 -2076010.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 47 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 214008,6128.405,-822.837,41,1.3,41,-8.9 TGT_NAME default

_CALLS 1 TGT_LATLONG 62.000,-6.800

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.016,-0.245

_SM_DEPTHo 1.76 KALMAN_X -10485.6,464.9,426.3,47195.0,-12074.3

_SM_ANGLEo -65.9 KALMAN_Y 81032.5,192.3,-640.5,-98752.8,10919.6

GPS2 214415,6128.377,-822.854,11,1.3,11,-8.9 MHEAD_RNG_PITCHd_Wd 185.1,6778568,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.027258 ALTIM_BOTTOM_PING 725.4,111.7

SM_CCo 12875,0.00,0.000,0,0,1019,441.05 _24V_AH 23.4,13.342

SM_GC 1.76,11.50,0.00,0.00,0.037,0.000,0.000,72,2398,1019,-10.68,-0.11,441.05 _10V_AH 10.1,5.436

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31666,617

TT8_MAMPS 0.02301 CFSIZE 260165632,256217088

HUMID 2122 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 19.50 GPS 201107,012037,6127.770,-826.396,27,1.1,27,-8.9

XPDR_PINGS 42

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 104.59 SBE_CT 439 24 246.57

Roll_motor 115 90 245.09 SBE_O2 429 19 190.94

VBD_pump_during_apogee 481 1292 14553.98 WL_BB2F 352 105 866.32

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 32 103 78.63 nil 0 0 0.00

Iridium_during_connect 27 160 103.14 nil 0 0 0.00

Iridium_during_xfer 111 223 583.58

Transponder_ping 16 420 164.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.65

TT8 1159 19 231.96

LPSleep 9652 2 213.50

TT8_Active 540 19 108.06

TT8_Sampling 1522 39 612.01

TT8_CF8 250 45 115.90

TT8_Kalman 33 81 27.56

Analog_circuits 1336 12 161.93

GPS_charging 0 0 0.00

Compass 1480 8 119.63

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -61.92 0.000 2 0.000 0.000 71 2402 3231

84 -1.08 -146.6 4.4 -6.6 3 107 11.77 2.65 -3.90 0.000 4 0.173 0.076 2168 982 3415

242 -1.08 -146.6 27.7 -10.5 10 247 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2400 3416

568 -1.08 -146.6 63.3 -10.8 26 569 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2400 3417

877 -1.08 -146.6 96.9 -11.1 41 878 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2400 3416

1187 -1.08 -146.6 131.5 -11.5 56 1188 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3416

1496 -1.08 -146.6 167.2 -11.4 71 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2400 3416

1806 -1.08 -146.6 201.4 -10.9 86 1807 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2400 3416

2114 -1.08 -146.6 235.7 -11.0 101 2116 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2400 3416

2424 -1.08 -146.6 267.9 -10.4 116 2428 0.00 2.62 0.00 0.000 4 0.000 0.061 2169 976 3416

2461 -1.08 -146.6 271.8 -10.1 118 2466 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2401 3416

2787 -1.08 -146.6 303.1 -8.9 134 2792 0.00 2.55 0.00 0.000 4 0.000 0.074 2169 3766 3416

2836 -1.08 -146.6 307.4 -8.5 136 2841 0.00 2.50 0.00 0.000 6 0.000 0.048 2169 2396 3416

3157 -1.08 -146.6 337.5 -10.0 152 3158 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2396 3416

3466 -1.08 -146.6 367.8 -9.9 167 3467 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2396 3416

3776 -1.08 -146.6 399.0 -10.0 182 3777 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2396 3416

4085 -1.08 -146.6 431.8 -10.6 197 4089 0.00 2.60 0.00 0.000 4 0.000 0.065 2168 984 3416

4128 -1.08 -146.6 436.5 -10.6 199 4133 0.00 2.60 0.00 0.000 6 0.000 0.051 2169 2398 3417

4455 -1.08 -146.6 469.9 -9.6 215 4459 0.00 2.58 0.00 0.000 4 0.000 0.074 2169 3773 3417

4497 -1.08 -146.6 474.2 -9.4 217 4502 0.00 2.50 0.00 0.000 6 0.000 0.048 2169 2399 3417

4824 -1.08 -146.6 507.4 -10.5 233 4825 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2399 3417

5133 -1.08 -146.6 536.9 -9.1 248 5138 0.00 2.62 0.00 0.000 4 0.000 0.067 2169 980 3417

5199 -1.08 -146.6 543.5 -10.2 251 5204 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2392 3417

5526 -1.08 -146.6 586.1 -12.1 267 5530 0.00 2.58 0.00 0.000 4 0.000 0.074 2168 3769 3418

5621 -1.08 -146.6 596.8 -10.9 271 5625 0.00 2.47 0.00 0.000 6 0.000 0.050 2168 2395 3418

5940 -1.08 -146.6 629.2 -10.2 287 5944 0.00 2.60 0.00 0.000 4 0.000 0.076 2169 3773 3418

6174 -1.08 -146.6 654.2 -11.2 297 6181 0.00 2.53 0.00 0.000 6 0.000 0.053 2168 2400 3418

6490 -1.08 -146.6 683.5 -8.5 313 6494 0.00 2.62 0.00 0.000 4 0.000 0.082 2168 3772 3419

6577 -1.08 -146.6 691.8 -10.4 317 6582 0.00 2.53 0.00 0.000 6 0.000 0.057 2169 2407 3418

6904 -1.08 -146.6 722.7 -11.8 333 6905 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2407 3419

7213 -1.08 -146.6 754.6 -9.0 348 7217 0.00 2.65 0.00 0.000 4 0.000 0.091 2169 3770 3417

7268 -1.08 -146.6 761.9 -15.0 350 7272 0.00 2.58 0.00 0.000 6 0.000 0.064 2168 2401 3417

7590 -1.08 -146.6 798.7 -6.6 366 7591 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2401 3416

7814 end dive: BOTTOM_OBSTACLE_DETECTED

state 7815 begin apogee

7819 -0.31 0.0 829.6 15.7 377 7944 0.88 0.00 122.47 1.292 6 0.129 0.000 2337 2202 2818

7945 end apogee: CONTROL_FINISHED_OK

state 7945 begin climb

7947 1.08 146.6 827.8 0.0 383 8078 1.48 2.85 120.97 1.262 4 0.081 0.080 2643 787 2219

8144 1.40 441.1 836.5 -2.7 392 8390 0.28 2.67 237.80 1.253 6 0.044 0.061 2720 2190 1018

8704 1.40 441.1 754.1 20.9 420 8709 0.00 2.72 0.00 0.000 4 0.000 0.081 2722 786 1016

8871 1.40 441.1 725.0 18.5 427 8879 0.00 2.67 0.00 0.000 6 0.000 0.061 2721 2193 1017

9186 1.40 441.1 673.1 15.1 443 9191 0.00 2.72 0.00 0.000 4 0.000 0.080 2722 779 1015

9212 1.40 441.1 668.3 18.9 444 9217 0.00 2.67 0.00 0.000 6 0.000 0.059 2721 2193 1015

9533 1.40 441.1 610.6 18.9 460 9538 0.00 2.70 0.00 0.000 4 0.000 0.076 2721 785 1012

9582 1.40 441.1 601.5 18.7 462 9586 0.00 2.65 0.00 0.000 6 0.000 0.054 2721 2201 1012

9903 1.40 441.1 542.4 19.0 478 9907 0.00 2.67 0.00 0.000 4 0.000 0.071 2722 784 1011

9947 1.40 441.1 534.0 18.5 480 9951 0.00 2.58 0.00 0.000 6 0.000 0.049 2721 2204 1011

10279 1.40 441.1 474.6 17.1 496 10283 0.00 2.67 0.00 0.000 4 0.000 0.068 2721 782 1011

10377 1.40 441.1 457.4 16.8 500 10385 0.00 2.60 0.00 0.000 6 0.000 0.047 2721 2198 1012

10693 1.40 441.1 399.9 19.1 516 10698 0.00 2.65 0.00 0.000 4 0.000 0.067 2721 778 1013

10776 1.40 441.1 384.0 19.7 520 10781 0.00 2.58 0.00 0.000 6 0.000 0.046 2722 2202 1013

11102 1.40 441.1 320.8 18.9 536 11107 0.00 2.65 0.00 0.000 4 0.000 0.066 2722 783 1014

11190 1.40 441.1 304.0 19.3 540 11195 0.00 2.58 0.00 0.000 6 0.000 0.045 2721 2195 1014

11517 1.40 441.1 242.4 19.5 556 11522 0.00 2.62 0.00 0.000 4 0.000 0.065 2722 784 1016

11593 1.40 441.1 227.3 19.8 559 11600 0.00 2.58 0.00 0.000 6 0.000 0.044 2722 2195 1017

11909 1.40 441.1 163.5 20.7 575 11913 0.00 2.62 0.00 0.000 4 0.000 0.064 2721 782 1018

12003 1.40 441.1 144.8 20.0 579 12008 0.00 2.58 0.00 0.000 6 0.000 0.044 2721 2198 1018

12324 1.40 441.1 85.3 19.2 595 12329 0.00 2.62 0.00 0.000 4 0.000 0.064 2721 782 1019

12418 1.40 441.1 68.2 18.0 599 12422 0.00 2.58 0.00 0.000 6 0.000 0.044 2722 2201 1018

12741 1.40 441.1 11.4 17.8 615 12745 0.00 2.62 0.00 0.000 4 0.000 0.064 2722 782 1020

12787 end climb: SURFACE_DEPTH_REACHED

state 12787 begin surface coast

12794 end surface coast: CONTROL_FINISHED_OK

state 12794 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	47	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	300	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	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	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	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	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	120	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	-2076010.2	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	214008,6128.405,-822.837,41,1.3,41,-8.9	TGT_NAME	default
_CALLS	1	TGT_LATLONG	62.000,-6.800
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.016,-0.245
_SM_DEPTHo	1.76	KALMAN_X	-10485.6,464.9,426.3,47195.0,-12074.3
_SM_ANGLEo	-65.9	KALMAN_Y	81032.5,192.3,-640.5,-98752.8,10919.6
GPS2	214415,6128.377,-822.854,11,1.3,11,-8.9	MHEAD_RNG_PITCHd_Wd	185.1,6778568,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.1,1.027258	ALTIM_BOTTOM_PING	725.4,111.7
SM_CCo	12875,0.00,0.000,0,0,1019,441.05	_24V_AH	23.4,13.342
SM_GC	1.76,11.50,0.00,0.00,0.037,0.000,0.000,72,2398,1019,-10.68,-0.11,441.05	_10V_AH	10.1,5.436
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31666,617
TT8_MAMPS	0.02301	CFSIZE	260165632,256217088
HUMID	2122	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	19.50	GPS	201107,012037,6127.770,-826.396,27,1.1,27,-8.9
XPDR_PINGS	42

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	104.59	SBE_CT	439	24	246.57
Roll_motor	115	90	245.09	SBE_O2	429	19	190.94
VBD_pump_during_apogee	481	1292	14553.98	WL_BB2F	352	105	866.32
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	32	103	78.63	nil	0	0	0.00
Iridium_during_connect	27	160	103.14	nil	0	0	0.00
Iridium_during_xfer	111	223	583.58
Transponder_ping	16	420	164.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.65
TT8	1159	19	231.96
LPSleep	9652	2	213.50
TT8_Active	540	19	108.06
TT8_Sampling	1522	39	612.01
TT8_CF8	250	45	115.90
TT8_Kalman	33	81	27.56
Analog_circuits	1336	12	161.93
GPS_charging	0	0	0.00
Compass	1480	8	119.63
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-61.92	0.000	2	0.000	0.000	71	2402	3231
84	-1.08	-146.6	4.4	-6.6	3	107	11.77	2.65	-3.90	0.000	4	0.173	0.076	2168	982	3415
242	-1.08	-146.6	27.7	-10.5	10	247	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2400	3416
568	-1.08	-146.6	63.3	-10.8	26	569	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2400	3417
877	-1.08	-146.6	96.9	-11.1	41	878	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2400	3416
1187	-1.08	-146.6	131.5	-11.5	56	1188	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3416
1496	-1.08	-146.6	167.2	-11.4	71	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2400	3416
1806	-1.08	-146.6	201.4	-10.9	86	1807	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2400	3416
2114	-1.08	-146.6	235.7	-11.0	101	2116	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2400	3416
2424	-1.08	-146.6	267.9	-10.4	116	2428	0.00	2.62	0.00	0.000	4	0.000	0.061	2169	976	3416
2461	-1.08	-146.6	271.8	-10.1	118	2466	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2401	3416
2787	-1.08	-146.6	303.1	-8.9	134	2792	0.00	2.55	0.00	0.000	4	0.000	0.074	2169	3766	3416
2836	-1.08	-146.6	307.4	-8.5	136	2841	0.00	2.50	0.00	0.000	6	0.000	0.048	2169	2396	3416
3157	-1.08	-146.6	337.5	-10.0	152	3158	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2396	3416
3466	-1.08	-146.6	367.8	-9.9	167	3467	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2396	3416
3776	-1.08	-146.6	399.0	-10.0	182	3777	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2396	3416
4085	-1.08	-146.6	431.8	-10.6	197	4089	0.00	2.60	0.00	0.000	4	0.000	0.065	2168	984	3416
4128	-1.08	-146.6	436.5	-10.6	199	4133	0.00	2.60	0.00	0.000	6	0.000	0.051	2169	2398	3417
4455	-1.08	-146.6	469.9	-9.6	215	4459	0.00	2.58	0.00	0.000	4	0.000	0.074	2169	3773	3417
4497	-1.08	-146.6	474.2	-9.4	217	4502	0.00	2.50	0.00	0.000	6	0.000	0.048	2169	2399	3417
4824	-1.08	-146.6	507.4	-10.5	233	4825	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2399	3417
5133	-1.08	-146.6	536.9	-9.1	248	5138	0.00	2.62	0.00	0.000	4	0.000	0.067	2169	980	3417
5199	-1.08	-146.6	543.5	-10.2	251	5204	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2392	3417
5526	-1.08	-146.6	586.1	-12.1	267	5530	0.00	2.58	0.00	0.000	4	0.000	0.074	2168	3769	3418
5621	-1.08	-146.6	596.8	-10.9	271	5625	0.00	2.47	0.00	0.000	6	0.000	0.050	2168	2395	3418
5940	-1.08	-146.6	629.2	-10.2	287	5944	0.00	2.60	0.00	0.000	4	0.000	0.076	2169	3773	3418
6174	-1.08	-146.6	654.2	-11.2	297	6181	0.00	2.53	0.00	0.000	6	0.000	0.053	2168	2400	3418
6490	-1.08	-146.6	683.5	-8.5	313	6494	0.00	2.62	0.00	0.000	4	0.000	0.082	2168	3772	3419
6577	-1.08	-146.6	691.8	-10.4	317	6582	0.00	2.53	0.00	0.000	6	0.000	0.057	2169	2407	3418
6904	-1.08	-146.6	722.7	-11.8	333	6905	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2407	3419
7213	-1.08	-146.6	754.6	-9.0	348	7217	0.00	2.65	0.00	0.000	4	0.000	0.091	2169	3770	3417
7268	-1.08	-146.6	761.9	-15.0	350	7272	0.00	2.58	0.00	0.000	6	0.000	0.064	2168	2401	3417
7590	-1.08	-146.6	798.7	-6.6	366	7591	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2401	3416
7814	end dive: BOTTOM_OBSTACLE_DETECTED
state	7815	begin apogee
7819	-0.31	0.0	829.6	15.7	377	7944	0.88	0.00	122.47	1.292	6	0.129	0.000	2337	2202	2818
7945	end apogee: CONTROL_FINISHED_OK
state	7945	begin climb
7947	1.08	146.6	827.8	0.0	383	8078	1.48	2.85	120.97	1.262	4	0.081	0.080	2643	787	2219
8144	1.40	441.1	836.5	-2.7	392	8390	0.28	2.67	237.80	1.253	6	0.044	0.061	2720	2190	1018
8704	1.40	441.1	754.1	20.9	420	8709	0.00	2.72	0.00	0.000	4	0.000	0.081	2722	786	1016
8871	1.40	441.1	725.0	18.5	427	8879	0.00	2.67	0.00	0.000	6	0.000	0.061	2721	2193	1017
9186	1.40	441.1	673.1	15.1	443	9191	0.00	2.72	0.00	0.000	4	0.000	0.080	2722	779	1015
9212	1.40	441.1	668.3	18.9	444	9217	0.00	2.67	0.00	0.000	6	0.000	0.059	2721	2193	1015
9533	1.40	441.1	610.6	18.9	460	9538	0.00	2.70	0.00	0.000	4	0.000	0.076	2721	785	1012
9582	1.40	441.1	601.5	18.7	462	9586	0.00	2.65	0.00	0.000	6	0.000	0.054	2721	2201	1012
9903	1.40	441.1	542.4	19.0	478	9907	0.00	2.67	0.00	0.000	4	0.000	0.071	2722	784	1011
9947	1.40	441.1	534.0	18.5	480	9951	0.00	2.58	0.00	0.000	6	0.000	0.049	2721	2204	1011
10279	1.40	441.1	474.6	17.1	496	10283	0.00	2.67	0.00	0.000	4	0.000	0.068	2721	782	1011
10377	1.40	441.1	457.4	16.8	500	10385	0.00	2.60	0.00	0.000	6	0.000	0.047	2721	2198	1012
10693	1.40	441.1	399.9	19.1	516	10698	0.00	2.65	0.00	0.000	4	0.000	0.067	2721	778	1013
10776	1.40	441.1	384.0	19.7	520	10781	0.00	2.58	0.00	0.000	6	0.000	0.046	2722	2202	1013
11102	1.40	441.1	320.8	18.9	536	11107	0.00	2.65	0.00	0.000	4	0.000	0.066	2722	783	1014
11190	1.40	441.1	304.0	19.3	540	11195	0.00	2.58	0.00	0.000	6	0.000	0.045	2721	2195	1014
11517	1.40	441.1	242.4	19.5	556	11522	0.00	2.62	0.00	0.000	4	0.000	0.065	2722	784	1016
11593	1.40	441.1	227.3	19.8	559	11600	0.00	2.58	0.00	0.000	6	0.000	0.044	2722	2195	1017
11909	1.40	441.1	163.5	20.7	575	11913	0.00	2.62	0.00	0.000	4	0.000	0.064	2721	782	1018
12003	1.40	441.1	144.8	20.0	579	12008	0.00	2.58	0.00	0.000	6	0.000	0.044	2721	2198	1018
12324	1.40	441.1	85.3	19.2	595	12329	0.00	2.62	0.00	0.000	4	0.000	0.064	2721	782	1019
12418	1.40	441.1	68.2	18.0	599	12422	0.00	2.58	0.00	0.000	6	0.000	0.044	2722	2201	1018
12741	1.40	441.1	11.4	17.8	615	12745	0.00	2.62	0.00	0.000	4	0.000	0.064	2722	782	1020
12787	end climb: SURFACE_DEPTH_REACHED
state	12787	begin surface coast
12794	end surface coast: CONTROL_FINISHED_OK
state	12794	begin surface