Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 72 * 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 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 72 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 2350 ALTIM_PULSE 3

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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 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 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 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 0.0012300001 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 -77615.281 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 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 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 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 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

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 -77615.281

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 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 2350 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 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 72 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 001556,6126.424,-902.617,36,1.5,36,-9.2 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.129,0.164

_SM_DEPTHo 1.13 KALMAN_X 52789.4,-1452.5,-159.8,-79849.3,29082.5

_SM_ANGLEo -57.8 KALMAN_Y 138975.2,1376.7,-641.4,-152221.1,-16474.0

GPS2 002003,6126.391,-902.610,13,1.1,13,-9.2 MHEAD_RNG_PITCHd_Wd 331.0,36136,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027326 XPDR_PINGS 86

SM_CCo 13355,19.67,0.809,2,0,1655,300.00 ALTIM_BOTTOM_PING 376.7,86.2

SM_GC 1.13,0.00,0.00,19.67,0.000,0.000,0.809,30,1885,1655,-11.34,-0.42,300.00 _24V_AH 23.5,22.665

IRIDIUM_FIX 6103.81,-906.30,241107,000032 _10V_AH 10.1,9.462

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31773,645

HUMID 2045 CFSIZE 260165632,254537728

INTERNAL_PRESSURE 9.26793 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,2,0

TCM_TEMP 17.00 GPS 241107,040508,6127.570,-903.202,31,1.2,31,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 83.68 SBE_CT 472 24 266.25

Roll_motor 98 74 171.56 SBE_O2 434 19 194.15

VBD_pump_during_apogee 347 1057 8626.20 WL_BB2F 457 105 1129.55

VBD_pump_during_surface 19 809 374.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.33 nil 0 0 0.00

Iridium_during_connect 28 160 108.52 nil 0 0 0.00

Iridium_during_xfer 101 223 532.65

Transponder_ping 24 420 241.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.75

TT8 1193 19 238.70

LPSleep 10244 2 226.60

TT8_Active 487 19 97.54

TT8_Sampling 1452 39 583.76

TT8_CF8 267 45 123.70

TT8_Kalman 33 81 27.57

Analog_circuits 1211 12 146.85

GPS_charging 0 0 0.00

Compass 1430 8 115.59

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

19 -0.95 -146.6 0.0 0.0 0 83 0.00 0.00 -62.47 0.000 2 0.000 0.000 29 1879 2972

85 -0.95 -146.6 3.6 -5.5 3 117 11.88 2.55 -13.38 0.000 4 0.139 0.074 2286 499 3477

171 -0.95 -146.6 14.4 -9.4 7 176 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1905 3477

498 -0.95 -146.6 38.7 -8.2 23 500 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

808 -0.95 -146.6 64.2 -8.9 38 809 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

1117 -0.95 -146.6 86.6 -6.5 53 1118 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

1426 -0.95 -146.6 108.5 -8.4 68 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

1735 -0.95 -146.6 137.5 -9.5 83 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

2044 -0.95 -146.6 161.3 -7.1 98 2045 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

2354 -0.95 -146.6 180.8 -6.5 113 2358 0.00 2.47 0.00 0.000 4 0.000 0.048 2286 3295 3477

2424 -0.95 -146.6 185.7 -6.9 116 2429 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1906 3477

2745 -0.95 -146.6 208.6 -8.1 132 2747 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3477

3055 -0.95 -146.6 234.4 -7.7 147 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3477

3364 -0.95 -146.6 252.1 -4.6 162 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3477

3674 -0.95 -146.6 267.0 -5.3 177 3678 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3303 3477

3762 -0.95 -146.6 272.1 -5.9 181 3766 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3477

4089 -0.95 -146.6 290.4 -4.8 197 4090 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

4398 -0.95 -146.6 304.2 -4.6 212 4399 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

4707 -0.95 -146.6 322.1 -6.3 227 4708 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

5016 -0.95 -146.6 338.9 -4.8 242 5021 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3297 3477

5065 -0.95 -146.6 341.3 -5.4 244 5070 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1902 3477

5387 -0.95 -146.6 356.3 -4.6 260 5388 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

5696 -0.95 -146.6 366.2 -2.7 275 5697 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

6005 -0.95 -146.6 387.2 -7.0 290 6006 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

6314 -0.95 -146.6 411.3 -8.8 305 6318 0.00 2.50 0.00 0.000 4 0.000 0.050 2286 3297 3477

6391 -0.95 -146.6 416.7 -7.8 308 6396 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1899 3477

6712 -0.95 -146.6 436.4 -8.0 324 6713 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3477

6917 end dive: BOTTOM_OBSTACLE_DETECTED

state 6917 begin apogee

6922 -0.36 0.0 452.9 6.7 334 7045 0.65 0.00 119.60 1.058 6 0.104 0.000 2419 2351 2878

7045 end apogee: CONTROL_FINISHED_OK

state 7046 begin climb

7047 0.95 146.6 456.8 0.0 340 7175 1.30 2.65 118.15 1.022 4 0.056 0.058 2701 3746 2280

7236 0.95 148.1 452.3 6.0 349 7241 0.00 2.50 0.00 0.000 6 0.000 0.038 2701 2346 2280

7557 0.99 177.8 434.6 5.1 365 7585 0.00 0.00 26.00 1.032 6 0.000 0.000 2702 2347 2153

7887 0.99 177.8 414.0 6.1 381 7891 0.00 2.60 0.00 0.000 4 0.000 0.059 2702 941 2153

7985 0.99 177.8 406.9 7.4 385 7993 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2336 2153

8301 1.01 196.8 387.8 5.4 401 8322 0.00 0.00 16.17 1.034 6 0.000 0.000 2702 2336 2075

8630 1.04 221.9 368.2 5.3 417 8657 0.00 2.62 21.00 1.019 4 0.000 0.055 2702 943 1973

8739 1.04 221.9 362.1 6.1 422 8744 0.00 2.53 0.00 0.000 6 0.000 0.041 2702 2349 1973

9066 1.04 221.9 341.3 6.6 438 9070 0.00 2.58 0.00 0.000 4 0.000 0.057 2702 941 1973

9143 1.04 221.9 336.3 6.3 441 9150 0.00 2.53 0.00 0.000 6 0.000 0.041 2702 2351 1973

9459 1.07 249.3 317.5 5.2 457 9488 0.12 2.67 22.58 0.996 4 0.054 0.058 2746 948 1861

9577 1.07 249.3 308.7 8.4 462 9581 0.00 2.50 0.00 0.000 6 0.000 0.040 2746 2342 1861

9898 1.07 249.3 280.4 10.0 478 9902 0.00 2.58 0.00 0.000 4 0.000 0.058 2746 939 1861

9969 1.07 249.3 272.9 9.9 481 9974 0.00 2.53 0.00 0.000 6 0.000 0.041 2746 2350 1861

10290 1.07 249.3 240.6 10.1 497 10294 0.00 2.58 0.00 0.000 4 0.000 0.057 2746 939 1861

10360 1.07 249.3 233.9 9.9 500 10365 0.00 2.53 0.00 0.000 6 0.000 0.039 2746 2349 1861

10682 1.07 249.3 208.0 6.4 516 10686 0.00 2.60 0.00 0.000 4 0.000 0.057 2746 938 1861

10742 1.07 249.3 204.0 8.2 519 10747 0.00 2.50 0.00 0.000 6 0.000 0.040 2746 2349 1861

11068 1.11 278.0 183.3 5.1 535 11098 0.00 2.65 23.55 0.919 4 0.000 0.057 2746 949 1743

11142 1.11 278.0 179.0 6.4 538 11147 0.00 2.50 0.00 0.000 6 0.000 0.039 2746 2348 1743

11463 1.11 278.0 163.5 6.5 554 11468 0.00 2.58 0.00 0.000 4 0.000 0.056 2746 941 1743

11557 1.11 278.0 156.6 7.7 558 11562 0.00 2.50 0.00 0.000 6 0.000 0.038 2746 2352 1743

11879 1.11 278.0 131.3 8.7 574 11883 0.00 2.60 0.00 0.000 4 0.000 0.056 2746 938 1743

11940 1.11 278.0 126.2 9.4 577 11944 0.00 2.47 0.00 0.000 6 0.000 0.038 2746 2351 1743

12265 1.11 278.0 99.5 8.4 593 12270 0.00 2.58 0.00 0.000 4 0.000 0.055 2746 942 1743

12327 1.11 278.0 94.1 8.9 596 12331 0.00 2.47 0.00 0.000 6 0.000 0.038 2746 2358 1743

12652 1.11 278.0 62.1 11.0 612 12656 0.00 2.58 0.00 0.000 4 0.000 0.054 2746 942 1744

12739 1.11 278.0 51.9 11.3 616 12744 0.00 2.47 0.00 0.000 6 0.000 0.037 2746 2345 1744

13066 1.11 278.0 21.2 11.6 632 13070 0.00 2.58 0.00 0.000 4 0.000 0.056 2746 941 1743

13131 1.11 278.0 13.9 10.5 635 13136 0.00 2.47 0.00 0.000 6 0.000 0.038 2746 2349 1743

13312 end climb: SURFACE_DEPTH_REACHED

state 13313 begin surface coast

13336 end surface coast: CONTROL_FINISHED_OK

state 13336 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	72	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	2350	ALTIM_PULSE	3
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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	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	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	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	0.0012300001	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	-77615.281	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	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	001556,6126.424,-902.617,36,1.5,36,-9.2	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.129,0.164
_SM_DEPTHo	1.13	KALMAN_X	52789.4,-1452.5,-159.8,-79849.3,29082.5
_SM_ANGLEo	-57.8	KALMAN_Y	138975.2,1376.7,-641.4,-152221.1,-16474.0
GPS2	002003,6126.391,-902.610,13,1.1,13,-9.2	MHEAD_RNG_PITCHd_Wd	331.0,36136,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	0.6,1.027326	XPDR_PINGS	86
SM_CCo	13355,19.67,0.809,2,0,1655,300.00	ALTIM_BOTTOM_PING	376.7,86.2
SM_GC	1.13,0.00,0.00,19.67,0.000,0.000,0.809,30,1885,1655,-11.34,-0.42,300.00	_24V_AH	23.5,22.665
IRIDIUM_FIX	6103.81,-906.30,241107,000032	_10V_AH	10.1,9.462
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31773,645
HUMID	2045	CFSIZE	260165632,254537728
INTERNAL_PRESSURE	9.26793	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
TCM_TEMP	17.00	GPS	241107,040508,6127.570,-903.202,31,1.2,31,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	83.68	SBE_CT	472	24	266.25
Roll_motor	98	74	171.56	SBE_O2	434	19	194.15
VBD_pump_during_apogee	347	1057	8626.20	WL_BB2F	457	105	1129.55
VBD_pump_during_surface	19	809	374.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.33	nil	0	0	0.00
Iridium_during_connect	28	160	108.52	nil	0	0	0.00
Iridium_during_xfer	101	223	532.65
Transponder_ping	24	420	241.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.75
TT8	1193	19	238.70
LPSleep	10244	2	226.60
TT8_Active	487	19	97.54
TT8_Sampling	1452	39	583.76
TT8_CF8	267	45	123.70
TT8_Kalman	33	81	27.57
Analog_circuits	1211	12	146.85
GPS_charging	0	0	0.00
Compass	1430	8	115.59
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
19	-0.95	-146.6	0.0	0.0	0	83	0.00	0.00	-62.47	0.000	2	0.000	0.000	29	1879	2972
85	-0.95	-146.6	3.6	-5.5	3	117	11.88	2.55	-13.38	0.000	4	0.139	0.074	2286	499	3477
171	-0.95	-146.6	14.4	-9.4	7	176	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1905	3477
498	-0.95	-146.6	38.7	-8.2	23	500	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
808	-0.95	-146.6	64.2	-8.9	38	809	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
1117	-0.95	-146.6	86.6	-6.5	53	1118	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
1426	-0.95	-146.6	108.5	-8.4	68	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
1735	-0.95	-146.6	137.5	-9.5	83	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
2044	-0.95	-146.6	161.3	-7.1	98	2045	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
2354	-0.95	-146.6	180.8	-6.5	113	2358	0.00	2.47	0.00	0.000	4	0.000	0.048	2286	3295	3477
2424	-0.95	-146.6	185.7	-6.9	116	2429	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1906	3477
2745	-0.95	-146.6	208.6	-8.1	132	2747	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3477
3055	-0.95	-146.6	234.4	-7.7	147	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3477
3364	-0.95	-146.6	252.1	-4.6	162	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3477
3674	-0.95	-146.6	267.0	-5.3	177	3678	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3303	3477
3762	-0.95	-146.6	272.1	-5.9	181	3766	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3477
4089	-0.95	-146.6	290.4	-4.8	197	4090	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
4398	-0.95	-146.6	304.2	-4.6	212	4399	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
4707	-0.95	-146.6	322.1	-6.3	227	4708	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
5016	-0.95	-146.6	338.9	-4.8	242	5021	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3297	3477
5065	-0.95	-146.6	341.3	-5.4	244	5070	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1902	3477
5387	-0.95	-146.6	356.3	-4.6	260	5388	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
5696	-0.95	-146.6	366.2	-2.7	275	5697	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
6005	-0.95	-146.6	387.2	-7.0	290	6006	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
6314	-0.95	-146.6	411.3	-8.8	305	6318	0.00	2.50	0.00	0.000	4	0.000	0.050	2286	3297	3477
6391	-0.95	-146.6	416.7	-7.8	308	6396	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1899	3477
6712	-0.95	-146.6	436.4	-8.0	324	6713	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3477
6917	end dive: BOTTOM_OBSTACLE_DETECTED
state	6917	begin apogee
6922	-0.36	0.0	452.9	6.7	334	7045	0.65	0.00	119.60	1.058	6	0.104	0.000	2419	2351	2878
7045	end apogee: CONTROL_FINISHED_OK
state	7046	begin climb
7047	0.95	146.6	456.8	0.0	340	7175	1.30	2.65	118.15	1.022	4	0.056	0.058	2701	3746	2280
7236	0.95	148.1	452.3	6.0	349	7241	0.00	2.50	0.00	0.000	6	0.000	0.038	2701	2346	2280
7557	0.99	177.8	434.6	5.1	365	7585	0.00	0.00	26.00	1.032	6	0.000	0.000	2702	2347	2153
7887	0.99	177.8	414.0	6.1	381	7891	0.00	2.60	0.00	0.000	4	0.000	0.059	2702	941	2153
7985	0.99	177.8	406.9	7.4	385	7993	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2336	2153
8301	1.01	196.8	387.8	5.4	401	8322	0.00	0.00	16.17	1.034	6	0.000	0.000	2702	2336	2075
8630	1.04	221.9	368.2	5.3	417	8657	0.00	2.62	21.00	1.019	4	0.000	0.055	2702	943	1973
8739	1.04	221.9	362.1	6.1	422	8744	0.00	2.53	0.00	0.000	6	0.000	0.041	2702	2349	1973
9066	1.04	221.9	341.3	6.6	438	9070	0.00	2.58	0.00	0.000	4	0.000	0.057	2702	941	1973
9143	1.04	221.9	336.3	6.3	441	9150	0.00	2.53	0.00	0.000	6	0.000	0.041	2702	2351	1973
9459	1.07	249.3	317.5	5.2	457	9488	0.12	2.67	22.58	0.996	4	0.054	0.058	2746	948	1861
9577	1.07	249.3	308.7	8.4	462	9581	0.00	2.50	0.00	0.000	6	0.000	0.040	2746	2342	1861
9898	1.07	249.3	280.4	10.0	478	9902	0.00	2.58	0.00	0.000	4	0.000	0.058	2746	939	1861
9969	1.07	249.3	272.9	9.9	481	9974	0.00	2.53	0.00	0.000	6	0.000	0.041	2746	2350	1861
10290	1.07	249.3	240.6	10.1	497	10294	0.00	2.58	0.00	0.000	4	0.000	0.057	2746	939	1861
10360	1.07	249.3	233.9	9.9	500	10365	0.00	2.53	0.00	0.000	6	0.000	0.039	2746	2349	1861
10682	1.07	249.3	208.0	6.4	516	10686	0.00	2.60	0.00	0.000	4	0.000	0.057	2746	938	1861
10742	1.07	249.3	204.0	8.2	519	10747	0.00	2.50	0.00	0.000	6	0.000	0.040	2746	2349	1861
11068	1.11	278.0	183.3	5.1	535	11098	0.00	2.65	23.55	0.919	4	0.000	0.057	2746	949	1743
11142	1.11	278.0	179.0	6.4	538	11147	0.00	2.50	0.00	0.000	6	0.000	0.039	2746	2348	1743
11463	1.11	278.0	163.5	6.5	554	11468	0.00	2.58	0.00	0.000	4	0.000	0.056	2746	941	1743
11557	1.11	278.0	156.6	7.7	558	11562	0.00	2.50	0.00	0.000	6	0.000	0.038	2746	2352	1743
11879	1.11	278.0	131.3	8.7	574	11883	0.00	2.60	0.00	0.000	4	0.000	0.056	2746	938	1743
11940	1.11	278.0	126.2	9.4	577	11944	0.00	2.47	0.00	0.000	6	0.000	0.038	2746	2351	1743
12265	1.11	278.0	99.5	8.4	593	12270	0.00	2.58	0.00	0.000	4	0.000	0.055	2746	942	1743
12327	1.11	278.0	94.1	8.9	596	12331	0.00	2.47	0.00	0.000	6	0.000	0.038	2746	2358	1743
12652	1.11	278.0	62.1	11.0	612	12656	0.00	2.58	0.00	0.000	4	0.000	0.054	2746	942	1744
12739	1.11	278.0	51.9	11.3	616	12744	0.00	2.47	0.00	0.000	6	0.000	0.037	2746	2345	1744
13066	1.11	278.0	21.2	11.6	632	13070	0.00	2.58	0.00	0.000	4	0.000	0.056	2746	941	1743
13131	1.11	278.0	13.9	10.5	635	13136	0.00	2.47	0.00	0.000	6	0.000	0.038	2746	2349	1743
13312	end climb: SURFACE_DEPTH_REACHED
state	13313	begin surface coast
13336	end surface coast: CONTROL_FINISHED_OK
state	13336	begin surface