Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 7 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 600 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2052 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 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 -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 200 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 240 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 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 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -35143.57 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 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 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 600 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 200

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35143.57

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 240

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 2052 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 7 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 065423,6133.690,-258.419,12,6.0,31,-6.0 TGT_NAME BE

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.263,0.013

_SM_DEPTHo 1.12 KALMAN_X 7016.4,6401.4,1966.5,-5415.0,-976.3

_SM_ANGLEo -59.3 KALMAN_Y -157.1,-217.0,410.4,-508.3,105.6

GPS2 070259,6133.728,-257.902,15,5.0,34,-6.0 MHEAD_RNG_PITCHd_Wd 278.8,331218,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 600

Post-dive calculations and measurements:

FINISH 0.2,1.027402 XPDR_PINGS 0

SM_CCo 12041,74.20,0.693,1,0,1692,300.00 ALTIM_TOP_PING 19.4,18.9

SM_GC 1.06,0.00,0.00,74.20,0.000,0.000,0.693,44,2048,1692,-11.07,-0.11,300.00 _24V_AH 23.1,4.006

IRIDIUM_FIX 6108.28,-247.01,110597,070738 _10V_AH 10.1,2.098

TT8_MAMPS 0.026845 DATA_FILE_SIZE 28605,576

HUMID 1746 CFSIZE 260165632,256786432

INTERNAL_PRESSURE 8.38143 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,1,0

TCM_TEMP 16.90 GPS 150208,102708,6132.680,-256.280,40,1.6,40,-6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 98.66 SBE_CT 425 24 236.05

Roll_motor 115 72 194.07 SBE_O2 388 19 170.32

VBD_pump_during_apogee 259 1175 7049.70 WL_BB2F 432 105 1048.98

VBD_pump_during_surface 74 692 1187.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 173.91 nil 0 0 0.00

Iridium_during_connect 78 160 289.87 nil 0 0 0.00

Iridium_during_xfer 183 223 945.88

Transponder_ping 5 420 48.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.46

TT8 1108 19 221.59

LPSleep 9073 2 200.71

TT8_Active 471 19 94.35

TT8_Sampling 1459 39 586.86

TT8_CF8 535 45 247.92

TT8_Kalman 33 81 27.55

Analog_circuits 1180 12 143.03

GPS_charging 0 0 0.00

Compass 1412 8 114.09

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.39 -146.6 0.0 0.0 0 107 0.00 0.00 -81.65 0.000 2 0.000 0.000 42 2043 3242

110 -1.39 -146.6 3.5 -3.9 4 135 11.90 2.60 -6.53 0.000 4 0.159 0.073 2141 652 3515

268 -1.39 -146.6 26.0 -9.8 11 272 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2055 3515

594 -1.39 -146.6 59.7 -11.1 27 599 0.00 2.55 0.00 0.000 4 0.000 0.062 2141 650 3516

650 -1.39 -146.6 66.1 -11.3 29 656 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2049 3515

966 -1.39 -146.6 100.1 -10.5 45 970 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 646 3516

1043 -1.39 -146.6 108.9 -10.8 48 1050 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2058 3516

1359 -1.39 -146.6 141.6 -10.1 64 1364 0.00 2.55 0.00 0.000 4 0.000 0.062 2141 649 3516

1403 -1.39 -146.6 146.4 -10.6 66 1408 0.00 2.40 0.00 0.000 6 0.000 0.038 2141 2050 3516

1726 -1.39 -146.6 180.0 -10.6 82 1730 0.00 2.55 0.00 0.000 4 0.000 0.062 2141 650 3516

1765 -1.39 -146.6 184.3 -11.0 84 1769 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2057 3516

2091 -1.39 -146.6 219.0 -10.8 100 2095 0.00 2.58 0.00 0.000 4 0.000 0.062 2141 644 3516

2168 -1.39 -146.6 227.9 -11.2 103 2174 0.00 2.42 0.00 0.000 6 0.000 0.038 2141 2051 3516

2483 -1.39 -146.6 261.6 -10.2 119 2488 0.00 2.55 0.00 0.000 4 0.000 0.062 2141 650 3516

2546 -1.39 -146.6 268.0 -10.7 122 2550 0.00 2.42 0.00 0.000 6 0.000 0.039 2141 2057 3516

2872 -1.39 -146.6 299.7 -9.5 138 2877 0.00 2.55 0.00 0.000 4 0.000 0.063 2141 650 3516

2949 -1.39 -146.6 307.7 -10.8 141 2954 0.00 2.40 0.00 0.000 6 0.000 0.038 2141 2050 3516

3266 -1.39 -146.6 338.0 -9.6 156 3270 0.00 2.55 0.00 0.000 4 0.000 0.064 2141 650 3516

3316 -1.39 -146.6 343.2 -9.9 158 3320 0.00 2.42 0.00 0.000 6 0.000 0.039 2141 2051 3516

3631 -1.39 -146.6 374.8 -10.6 173 3635 0.00 2.55 0.00 0.000 4 0.000 0.064 2141 646 3515

3680 -1.39 -146.6 380.4 -11.3 175 3684 0.00 2.42 0.00 0.000 6 0.000 0.041 2141 2053 3515

4002 -1.39 -146.6 410.6 -9.3 191 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2053 3515

4310 -1.39 -146.6 440.1 -10.0 206 4315 0.00 2.55 0.00 0.000 4 0.000 0.067 2141 651 3514

4360 -1.39 -146.6 445.3 -10.4 208 4365 0.00 2.42 0.00 0.000 6 0.000 0.042 2141 2054 3514

4676 -1.39 -146.6 474.5 -8.8 223 4680 0.00 2.58 0.00 0.000 4 0.000 0.068 2141 651 3514

4725 -1.39 -146.6 479.0 -9.6 225 4730 0.00 2.45 0.00 0.000 6 0.000 0.043 2141 2055 3514

5041 -1.39 -146.6 504.7 -7.5 240 5045 0.00 2.60 0.00 0.000 4 0.000 0.068 2141 646 3513

5175 -1.39 -146.6 516.7 -9.2 246 5179 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2051 3512

5496 -1.39 -146.6 544.1 -8.7 262 5500 0.00 2.58 0.00 0.000 4 0.000 0.069 2141 651 3510

5581 -1.39 -146.6 552.0 -9.5 266 5585 0.00 2.45 0.00 0.000 6 0.000 0.045 2141 2053 3510

5907 -1.39 -146.6 582.1 -9.4 282 5911 0.00 2.60 0.00 0.000 4 0.000 0.070 2141 646 3508

5973 -1.39 -146.6 589.0 -10.4 285 5977 0.00 2.45 0.00 0.000 6 0.000 0.046 2141 2053 3508

6106 end dive: TARGET_DEPTH_EXCEEDED

state 6106 begin apogee

6112 -0.33 0.0 601.7 9.4 292 6238 1.15 0.00 122.55 1.176 6 0.096 0.000 2372 2053 2915

6239 end apogee: CONTROL_FINISHED_OK

state 6239 begin climb

6242 1.39 146.6 605.7 0.0 298 6373 1.75 2.67 122.75 1.128 4 0.060 0.064 2748 3455 2317

6477 1.39 146.6 591.4 10.7 309 6481 0.00 2.50 0.00 0.000 6 0.000 0.048 2749 2054 2316

6803 1.39 146.6 557.6 10.3 325 6807 0.00 2.58 0.00 0.000 4 0.000 0.062 2748 3454 2316

6852 1.39 146.6 552.2 10.8 327 6856 0.00 2.50 0.00 0.000 6 0.000 0.048 2748 2050 2316

7173 1.39 146.6 519.5 10.2 343 7174 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2049 2315

7483 1.39 146.6 488.3 10.2 358 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2049 2314

7792 1.39 146.6 456.0 11.0 373 7796 0.00 2.58 0.00 0.000 4 0.000 0.062 2749 3455 2314

7863 1.39 146.6 448.1 10.8 376 7868 0.00 2.50 0.00 0.000 6 0.000 0.047 2749 2051 2313

8180 1.39 146.6 415.9 10.0 391 8181 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2051 2313

8489 1.41 162.9 386.8 9.3 406 8511 0.00 2.60 14.25 1.035 4 0.000 0.062 2748 3454 2250

8602 1.41 162.9 374.8 11.2 411 8606 0.00 2.50 0.00 0.000 6 0.000 0.047 2748 2052 2250

8928 1.41 162.9 339.6 10.8 427 8929 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2052 2250

9237 1.41 162.9 307.1 10.4 442 9238 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2052 2249

9546 1.41 162.9 273.1 11.4 457 9550 0.00 2.55 0.00 0.000 4 0.000 0.058 2748 3463 2249

9608 1.41 162.9 265.3 13.0 460 9612 0.00 2.47 0.00 0.000 6 0.000 0.043 2748 2052 2249

9935 1.41 162.9 227.9 11.5 476 9936 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2052 2249

10244 1.41 162.9 193.8 10.8 491 10245 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2052 2250

10553 1.41 162.9 159.3 11.7 506 10558 0.00 2.53 0.00 0.000 4 0.000 0.054 2748 3463 2251

10654 1.41 162.9 147.1 12.0 510 10661 0.00 2.47 0.00 0.000 6 0.000 0.040 2748 2040 2251

10970 1.41 162.9 112.2 10.6 526 10974 0.00 2.53 0.00 0.000 4 0.000 0.054 2748 3455 2252

11020 1.41 162.9 106.6 11.2 528 11024 0.00 2.45 0.00 0.000 6 0.000 0.039 2749 2046 2252

11336 1.41 162.9 74.6 10.1 543 11338 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2046 2253

11645 1.41 162.9 39.8 11.5 558 11650 0.00 2.53 0.00 0.000 4 0.000 0.054 2749 3456 2254

11746 1.41 162.9 27.3 12.5 562 11752 0.00 2.45 0.00 0.000 6 0.000 0.041 2749 2051 2254

11997 end climb: SURFACE_DEPTH_REACHED

state 11997 begin surface coast

12019 end surface coast: CONTROL_FINISHED_OK

state 12019 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	7	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	600	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2052	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	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	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	200	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	240	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	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	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-35143.57	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	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	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	065423,6133.690,-258.419,12,6.0,31,-6.0	TGT_NAME	BE
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.263,0.013
_SM_DEPTHo	1.12	KALMAN_X	7016.4,6401.4,1966.5,-5415.0,-976.3
_SM_ANGLEo	-59.3	KALMAN_Y	-157.1,-217.0,410.4,-508.3,105.6
GPS2	070259,6133.728,-257.902,15,5.0,34,-6.0	MHEAD_RNG_PITCHd_Wd	278.8,331218,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	600

FINISH	0.2,1.027402	XPDR_PINGS	0
SM_CCo	12041,74.20,0.693,1,0,1692,300.00	ALTIM_TOP_PING	19.4,18.9
SM_GC	1.06,0.00,0.00,74.20,0.000,0.000,0.693,44,2048,1692,-11.07,-0.11,300.00	_24V_AH	23.1,4.006
IRIDIUM_FIX	6108.28,-247.01,110597,070738	_10V_AH	10.1,2.098
TT8_MAMPS	0.026845	DATA_FILE_SIZE	28605,576
HUMID	1746	CFSIZE	260165632,256786432
INTERNAL_PRESSURE	8.38143	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
TCM_TEMP	16.90	GPS	150208,102708,6132.680,-256.280,40,1.6,40,-6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	98.66	SBE_CT	425	24	236.05
Roll_motor	115	72	194.07	SBE_O2	388	19	170.32
VBD_pump_during_apogee	259	1175	7049.70	WL_BB2F	432	105	1048.98
VBD_pump_during_surface	74	692	1187.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	173.91	nil	0	0	0.00
Iridium_during_connect	78	160	289.87	nil	0	0	0.00
Iridium_during_xfer	183	223	945.88
Transponder_ping	5	420	48.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.46
TT8	1108	19	221.59
LPSleep	9073	2	200.71
TT8_Active	471	19	94.35
TT8_Sampling	1459	39	586.86
TT8_CF8	535	45	247.92
TT8_Kalman	33	81	27.55
Analog_circuits	1180	12	143.03
GPS_charging	0	0	0.00
Compass	1412	8	114.09
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.39	-146.6	0.0	0.0	0	107	0.00	0.00	-81.65	0.000	2	0.000	0.000	42	2043	3242
110	-1.39	-146.6	3.5	-3.9	4	135	11.90	2.60	-6.53	0.000	4	0.159	0.073	2141	652	3515
268	-1.39	-146.6	26.0	-9.8	11	272	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2055	3515
594	-1.39	-146.6	59.7	-11.1	27	599	0.00	2.55	0.00	0.000	4	0.000	0.062	2141	650	3516
650	-1.39	-146.6	66.1	-11.3	29	656	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2049	3515
966	-1.39	-146.6	100.1	-10.5	45	970	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	646	3516
1043	-1.39	-146.6	108.9	-10.8	48	1050	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2058	3516
1359	-1.39	-146.6	141.6	-10.1	64	1364	0.00	2.55	0.00	0.000	4	0.000	0.062	2141	649	3516
1403	-1.39	-146.6	146.4	-10.6	66	1408	0.00	2.40	0.00	0.000	6	0.000	0.038	2141	2050	3516
1726	-1.39	-146.6	180.0	-10.6	82	1730	0.00	2.55	0.00	0.000	4	0.000	0.062	2141	650	3516
1765	-1.39	-146.6	184.3	-11.0	84	1769	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2057	3516
2091	-1.39	-146.6	219.0	-10.8	100	2095	0.00	2.58	0.00	0.000	4	0.000	0.062	2141	644	3516
2168	-1.39	-146.6	227.9	-11.2	103	2174	0.00	2.42	0.00	0.000	6	0.000	0.038	2141	2051	3516
2483	-1.39	-146.6	261.6	-10.2	119	2488	0.00	2.55	0.00	0.000	4	0.000	0.062	2141	650	3516
2546	-1.39	-146.6	268.0	-10.7	122	2550	0.00	2.42	0.00	0.000	6	0.000	0.039	2141	2057	3516
2872	-1.39	-146.6	299.7	-9.5	138	2877	0.00	2.55	0.00	0.000	4	0.000	0.063	2141	650	3516
2949	-1.39	-146.6	307.7	-10.8	141	2954	0.00	2.40	0.00	0.000	6	0.000	0.038	2141	2050	3516
3266	-1.39	-146.6	338.0	-9.6	156	3270	0.00	2.55	0.00	0.000	4	0.000	0.064	2141	650	3516
3316	-1.39	-146.6	343.2	-9.9	158	3320	0.00	2.42	0.00	0.000	6	0.000	0.039	2141	2051	3516
3631	-1.39	-146.6	374.8	-10.6	173	3635	0.00	2.55	0.00	0.000	4	0.000	0.064	2141	646	3515
3680	-1.39	-146.6	380.4	-11.3	175	3684	0.00	2.42	0.00	0.000	6	0.000	0.041	2141	2053	3515
4002	-1.39	-146.6	410.6	-9.3	191	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2053	3515
4310	-1.39	-146.6	440.1	-10.0	206	4315	0.00	2.55	0.00	0.000	4	0.000	0.067	2141	651	3514
4360	-1.39	-146.6	445.3	-10.4	208	4365	0.00	2.42	0.00	0.000	6	0.000	0.042	2141	2054	3514
4676	-1.39	-146.6	474.5	-8.8	223	4680	0.00	2.58	0.00	0.000	4	0.000	0.068	2141	651	3514
4725	-1.39	-146.6	479.0	-9.6	225	4730	0.00	2.45	0.00	0.000	6	0.000	0.043	2141	2055	3514
5041	-1.39	-146.6	504.7	-7.5	240	5045	0.00	2.60	0.00	0.000	4	0.000	0.068	2141	646	3513
5175	-1.39	-146.6	516.7	-9.2	246	5179	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2051	3512
5496	-1.39	-146.6	544.1	-8.7	262	5500	0.00	2.58	0.00	0.000	4	0.000	0.069	2141	651	3510
5581	-1.39	-146.6	552.0	-9.5	266	5585	0.00	2.45	0.00	0.000	6	0.000	0.045	2141	2053	3510
5907	-1.39	-146.6	582.1	-9.4	282	5911	0.00	2.60	0.00	0.000	4	0.000	0.070	2141	646	3508
5973	-1.39	-146.6	589.0	-10.4	285	5977	0.00	2.45	0.00	0.000	6	0.000	0.046	2141	2053	3508
6106	end dive: TARGET_DEPTH_EXCEEDED
state	6106	begin apogee
6112	-0.33	0.0	601.7	9.4	292	6238	1.15	0.00	122.55	1.176	6	0.096	0.000	2372	2053	2915
6239	end apogee: CONTROL_FINISHED_OK
state	6239	begin climb
6242	1.39	146.6	605.7	0.0	298	6373	1.75	2.67	122.75	1.128	4	0.060	0.064	2748	3455	2317
6477	1.39	146.6	591.4	10.7	309	6481	0.00	2.50	0.00	0.000	6	0.000	0.048	2749	2054	2316
6803	1.39	146.6	557.6	10.3	325	6807	0.00	2.58	0.00	0.000	4	0.000	0.062	2748	3454	2316
6852	1.39	146.6	552.2	10.8	327	6856	0.00	2.50	0.00	0.000	6	0.000	0.048	2748	2050	2316
7173	1.39	146.6	519.5	10.2	343	7174	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2049	2315
7483	1.39	146.6	488.3	10.2	358	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2049	2314
7792	1.39	146.6	456.0	11.0	373	7796	0.00	2.58	0.00	0.000	4	0.000	0.062	2749	3455	2314
7863	1.39	146.6	448.1	10.8	376	7868	0.00	2.50	0.00	0.000	6	0.000	0.047	2749	2051	2313
8180	1.39	146.6	415.9	10.0	391	8181	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2051	2313
8489	1.41	162.9	386.8	9.3	406	8511	0.00	2.60	14.25	1.035	4	0.000	0.062	2748	3454	2250
8602	1.41	162.9	374.8	11.2	411	8606	0.00	2.50	0.00	0.000	6	0.000	0.047	2748	2052	2250
8928	1.41	162.9	339.6	10.8	427	8929	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2052	2250
9237	1.41	162.9	307.1	10.4	442	9238	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2052	2249
9546	1.41	162.9	273.1	11.4	457	9550	0.00	2.55	0.00	0.000	4	0.000	0.058	2748	3463	2249
9608	1.41	162.9	265.3	13.0	460	9612	0.00	2.47	0.00	0.000	6	0.000	0.043	2748	2052	2249
9935	1.41	162.9	227.9	11.5	476	9936	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2052	2249
10244	1.41	162.9	193.8	10.8	491	10245	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2052	2250
10553	1.41	162.9	159.3	11.7	506	10558	0.00	2.53	0.00	0.000	4	0.000	0.054	2748	3463	2251
10654	1.41	162.9	147.1	12.0	510	10661	0.00	2.47	0.00	0.000	6	0.000	0.040	2748	2040	2251
10970	1.41	162.9	112.2	10.6	526	10974	0.00	2.53	0.00	0.000	4	0.000	0.054	2748	3455	2252
11020	1.41	162.9	106.6	11.2	528	11024	0.00	2.45	0.00	0.000	6	0.000	0.039	2749	2046	2252
11336	1.41	162.9	74.6	10.1	543	11338	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2046	2253
11645	1.41	162.9	39.8	11.5	558	11650	0.00	2.53	0.00	0.000	4	0.000	0.054	2749	3456	2254
11746	1.41	162.9	27.3	12.5	562	11752	0.00	2.45	0.00	0.000	6	0.000	0.041	2749	2051	2254
11997	end climb: SURFACE_DEPTH_REACHED
state	11997	begin surface coast
12019	end surface coast: CONTROL_FINISHED_OK
state	12019	begin surface