Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 74 * 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 74 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 25 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 -77643.602 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 -77643.602

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 25 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 74 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 073908,6130.026,-900.002,38,1.4,38,-9.2 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.135

_SM_DEPTHo 1.26 KALMAN_X 58535.2,-1585.1,-599.4,-82539.3,31632.5

_SM_ANGLEo -56.5 KALMAN_Y 139141.6,573.8,-591.2,-144898.5,-10690.3

GPS2 074333,6130.043,-859.788,11,1.4,11,-9.2 MHEAD_RNG_PITCHd_Wd 319.6,30743,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026642 XPDR_PINGS 1

SM_CCo 14720,33.65,0.796,4,0,1655,300.00 ALTIM_BOTTOM_PING 450.6,91.9

SM_GC 1.11,0.00,0.00,33.65,0.000,0.000,0.796,31,1882,1655,-11.33,-0.57,300.00 _24V_AH 23.5,22.900

IRIDIUM_FIX 6103.81,-906.30,241107,080838 _10V_AH 10.1,9.590

TT8_MAMPS 0.026078 DATA_FILE_SIZE 34871,710

HUMID 2059 CFSIZE 260165632,254439424

INTERNAL_PRESSURE 9.25817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,4,0

TCM_TEMP 16.80 GPS 241107,115225,6130.787,-856.267,70,1.2,70,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 142 86.24 SBE_CT 524 24 295.64

Roll_motor 78 65 119.54 SBE_O2 479 19 214.24

VBD_pump_during_apogee 335 1116 8806.72 WL_BB2F 498 105 1231.08

VBD_pump_during_surface 33 796 629.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 89.05 nil 0 0 0.00

Iridium_during_connect 26 160 99.00 nil 0 0 0.00

Iridium_during_xfer 126 223 662.95

Transponder_ping 3 420 37.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.71

TT8 1280 19 256.10

LPSleep 11452 2 253.32

TT8_Active 485 19 97.17

TT8_Sampling 1533 39 616.63

TT8_CF8 297 45 137.58

TT8_Kalman 33 81 27.56

Analog_circuits 1237 12 150.03

GPS_charging 0 0 0.00

Compass 1516 8 122.56

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 -62.62 0.000 2 0.000 0.000 32 1886 2953

85 -0.95 -146.6 3.5 -5.6 3 114 11.98 0.00 -13.75 0.000 6 0.143 0.000 2287 1886 3477

417 -0.95 -146.6 22.5 -4.5 19 421 0.00 2.58 0.00 0.000 4 0.000 0.065 2287 498 3478

493 -0.95 -146.6 26.0 -7.1 22 501 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1909 3478

809 -0.95 -146.6 46.9 -3.6 38 810 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

1118 -0.95 -146.6 68.4 -8.2 53 1119 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3477

1427 -0.95 -146.6 93.2 -7.7 68 1429 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

1737 -0.95 -146.6 117.0 -9.1 83 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

2046 -0.95 -146.6 144.0 -8.9 98 2047 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

2355 -0.95 -146.6 177.1 -8.8 113 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

2664 -0.95 -146.6 198.9 -7.9 128 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1909 3478

2973 -0.95 -146.6 227.8 -10.0 143 2975 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

3283 -0.95 -146.6 255.6 -8.9 158 3284 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3477

3592 -0.95 -146.6 281.0 -8.2 173 3593 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1909 3478

3901 -0.95 -146.6 303.9 -7.4 188 3906 0.00 2.60 0.00 0.000 4 0.000 0.065 2287 500 3478

3963 -0.95 -146.6 308.5 -7.6 191 3968 0.00 2.45 0.00 0.000 6 0.000 0.042 2287 1902 3477

4289 -0.95 -146.6 331.2 -7.2 207 4290 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3478

4598 -0.95 -146.6 353.1 -6.9 222 4599 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3478

4910 -0.95 -146.6 375.8 -7.6 237 4911 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3478

5216 -0.95 -146.6 398.5 -7.5 252 5217 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3477

5526 -0.95 -146.6 419.2 -6.0 267 5530 0.00 2.50 0.00 0.000 4 0.000 0.051 2287 3301 3478

5591 -0.95 -146.6 423.4 -6.5 270 5596 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1908 3477

5918 -0.95 -146.6 441.8 -5.6 286 5919 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

6227 -0.95 -146.6 461.9 -7.0 301 6229 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

6537 -0.95 -146.6 483.1 -7.0 316 6538 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3478

6846 -0.95 -146.6 501.3 -5.4 331 6847 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

7155 -0.95 -146.6 518.8 -6.2 346 7156 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3478

7422 end dive: BOTTOM_OBSTACLE_DETECTED

state 7422 begin apogee

7426 -0.36 0.0 533.0 5.4 359 7550 0.62 0.00 120.47 1.117 6 0.091 0.000 2418 2348 2878

7551 end apogee: CONTROL_FINISHED_OK

state 7551 begin climb

7552 0.95 146.6 535.3 0.0 365 7679 1.27 2.65 118.22 1.091 4 0.059 0.061 2700 3744 2280

7712 0.95 146.6 529.5 6.1 372 7719 0.00 2.55 0.00 0.000 6 0.000 0.041 2700 2349 2279

8028 0.95 149.2 508.1 5.9 388 8037 0.00 2.65 3.35 0.987 4 0.000 0.061 2700 939 2269

8099 0.96 154.8 504.0 5.8 391 8109 0.00 2.53 5.60 1.052 6 0.000 0.041 2700 2354 2246

8419 0.96 154.8 484.7 6.9 406 8420 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2354 2246

8728 0.96 154.8 461.3 7.8 421 8733 0.00 2.60 0.00 0.000 4 0.000 0.058 2700 941 2246

8850 0.96 154.8 451.5 7.9 426 8857 0.00 2.53 0.00 0.000 6 0.000 0.041 2700 2351 2245

9165 0.96 154.8 429.3 6.9 442 9167 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2351 2245

9475 0.96 154.8 408.8 6.7 457 9479 0.00 2.58 0.00 0.000 4 0.000 0.057 2700 941 2245

9603 0.96 154.8 398.4 9.5 463 9607 0.00 2.50 0.00 0.000 6 0.000 0.041 2700 2359 2245

9928 0.96 154.8 373.5 7.9 479 9929 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2359 2245

10238 0.96 154.8 350.7 6.2 494 10242 0.00 2.58 0.00 0.000 4 0.000 0.054 2700 940 2245

10321 0.96 159.6 345.3 5.9 498 10330 0.00 2.47 4.60 1.017 6 0.000 0.040 2700 2352 2227

10645 1.00 188.1 327.4 5.1 514 10671 0.00 0.00 23.80 1.010 6 0.000 0.000 2700 2352 2110

10975 1.09 262.8 313.6 3.8 530 11041 0.15 2.67 59.53 0.974 4 0.047 0.058 2756 936 1806

11141 1.09 262.8 302.7 7.7 538 11146 0.12 2.50 0.00 0.000 6 0.090 0.041 2731 2351 1806

11467 1.09 262.8 277.1 9.4 554 11471 0.00 2.60 0.00 0.000 4 0.000 0.058 2731 942 1806

11565 1.09 262.8 266.1 11.1 558 11572 0.00 2.53 0.00 0.000 6 0.000 0.039 2731 2354 1806

11881 1.09 262.8 233.3 9.1 574 11885 0.00 2.58 0.00 0.000 4 0.000 0.056 2731 939 1806

11968 1.09 262.8 225.1 9.7 578 11973 0.00 2.50 0.00 0.000 6 0.000 0.039 2730 2344 1806

12295 1.09 262.8 199.0 6.4 594 12299 0.00 2.55 0.00 0.000 4 0.000 0.057 2731 941 1806

12389 1.09 262.8 191.3 7.7 598 12394 0.00 2.50 0.00 0.000 6 0.000 0.039 2731 2351 1805

12710 1.09 262.8 166.8 8.3 614 12712 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2351 1806

13020 1.09 262.8 143.6 7.4 629 13024 0.00 2.60 0.00 0.000 4 0.000 0.057 2731 937 1806

13152 1.09 262.8 133.1 8.6 635 13157 0.00 2.50 0.00 0.000 6 0.000 0.039 2731 2348 1806

13479 1.09 262.8 106.1 8.8 651 13483 0.00 2.58 0.00 0.000 4 0.000 0.056 2731 941 1806

13550 1.09 262.8 98.8 8.8 654 13554 0.00 2.47 0.00 0.000 6 0.000 0.038 2731 2343 1806

13871 1.09 262.8 67.7 11.6 670 13872 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2343 1806

14180 1.09 262.8 42.2 7.8 685 14185 0.00 2.55 0.00 0.000 4 0.000 0.054 2731 939 1806

14291 1.09 262.8 34.4 7.4 690 14295 0.00 2.50 0.00 0.000 6 0.000 0.039 2731 2344 1806

14619 1.09 262.8 6.3 6.9 706 14621 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2345 1806

14679 end climb: SURFACE_DEPTH_REACHED

state 14679 begin surface coast

14700 end surface coast: CONTROL_FINISHED_OK

state 14700 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	74	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	25	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	-77643.602	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	073908,6130.026,-900.002,38,1.4,38,-9.2	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.135
_SM_DEPTHo	1.26	KALMAN_X	58535.2,-1585.1,-599.4,-82539.3,31632.5
_SM_ANGLEo	-56.5	KALMAN_Y	139141.6,573.8,-591.2,-144898.5,-10690.3
GPS2	074333,6130.043,-859.788,11,1.4,11,-9.2	MHEAD_RNG_PITCHd_Wd	319.6,30743,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	0.4,1.026642	XPDR_PINGS	1
SM_CCo	14720,33.65,0.796,4,0,1655,300.00	ALTIM_BOTTOM_PING	450.6,91.9
SM_GC	1.11,0.00,0.00,33.65,0.000,0.000,0.796,31,1882,1655,-11.33,-0.57,300.00	_24V_AH	23.5,22.900
IRIDIUM_FIX	6103.81,-906.30,241107,080838	_10V_AH	10.1,9.590
TT8_MAMPS	0.026078	DATA_FILE_SIZE	34871,710
HUMID	2059	CFSIZE	260165632,254439424
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,4,0
TCM_TEMP	16.80	GPS	241107,115225,6130.787,-856.267,70,1.2,70,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	142	86.24	SBE_CT	524	24	295.64
Roll_motor	78	65	119.54	SBE_O2	479	19	214.24
VBD_pump_during_apogee	335	1116	8806.72	WL_BB2F	498	105	1231.08
VBD_pump_during_surface	33	796	629.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	89.05	nil	0	0	0.00
Iridium_during_connect	26	160	99.00	nil	0	0	0.00
Iridium_during_xfer	126	223	662.95
Transponder_ping	3	420	37.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.71
TT8	1280	19	256.10
LPSleep	11452	2	253.32
TT8_Active	485	19	97.17
TT8_Sampling	1533	39	616.63
TT8_CF8	297	45	137.58
TT8_Kalman	33	81	27.56
Analog_circuits	1237	12	150.03
GPS_charging	0	0	0.00
Compass	1516	8	122.56
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	-62.62	0.000	2	0.000	0.000	32	1886	2953
85	-0.95	-146.6	3.5	-5.6	3	114	11.98	0.00	-13.75	0.000	6	0.143	0.000	2287	1886	3477
417	-0.95	-146.6	22.5	-4.5	19	421	0.00	2.58	0.00	0.000	4	0.000	0.065	2287	498	3478
493	-0.95	-146.6	26.0	-7.1	22	501	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1909	3478
809	-0.95	-146.6	46.9	-3.6	38	810	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
1118	-0.95	-146.6	68.4	-8.2	53	1119	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3477
1427	-0.95	-146.6	93.2	-7.7	68	1429	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
1737	-0.95	-146.6	117.0	-9.1	83	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
2046	-0.95	-146.6	144.0	-8.9	98	2047	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
2355	-0.95	-146.6	177.1	-8.8	113	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
2664	-0.95	-146.6	198.9	-7.9	128	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1909	3478
2973	-0.95	-146.6	227.8	-10.0	143	2975	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
3283	-0.95	-146.6	255.6	-8.9	158	3284	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3477
3592	-0.95	-146.6	281.0	-8.2	173	3593	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1909	3478
3901	-0.95	-146.6	303.9	-7.4	188	3906	0.00	2.60	0.00	0.000	4	0.000	0.065	2287	500	3478
3963	-0.95	-146.6	308.5	-7.6	191	3968	0.00	2.45	0.00	0.000	6	0.000	0.042	2287	1902	3477
4289	-0.95	-146.6	331.2	-7.2	207	4290	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3478
4598	-0.95	-146.6	353.1	-6.9	222	4599	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3478
4910	-0.95	-146.6	375.8	-7.6	237	4911	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3478
5216	-0.95	-146.6	398.5	-7.5	252	5217	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3477
5526	-0.95	-146.6	419.2	-6.0	267	5530	0.00	2.50	0.00	0.000	4	0.000	0.051	2287	3301	3478
5591	-0.95	-146.6	423.4	-6.5	270	5596	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1908	3477
5918	-0.95	-146.6	441.8	-5.6	286	5919	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
6227	-0.95	-146.6	461.9	-7.0	301	6229	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
6537	-0.95	-146.6	483.1	-7.0	316	6538	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3478
6846	-0.95	-146.6	501.3	-5.4	331	6847	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
7155	-0.95	-146.6	518.8	-6.2	346	7156	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3478
7422	end dive: BOTTOM_OBSTACLE_DETECTED
state	7422	begin apogee
7426	-0.36	0.0	533.0	5.4	359	7550	0.62	0.00	120.47	1.117	6	0.091	0.000	2418	2348	2878
7551	end apogee: CONTROL_FINISHED_OK
state	7551	begin climb
7552	0.95	146.6	535.3	0.0	365	7679	1.27	2.65	118.22	1.091	4	0.059	0.061	2700	3744	2280
7712	0.95	146.6	529.5	6.1	372	7719	0.00	2.55	0.00	0.000	6	0.000	0.041	2700	2349	2279
8028	0.95	149.2	508.1	5.9	388	8037	0.00	2.65	3.35	0.987	4	0.000	0.061	2700	939	2269
8099	0.96	154.8	504.0	5.8	391	8109	0.00	2.53	5.60	1.052	6	0.000	0.041	2700	2354	2246
8419	0.96	154.8	484.7	6.9	406	8420	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2354	2246
8728	0.96	154.8	461.3	7.8	421	8733	0.00	2.60	0.00	0.000	4	0.000	0.058	2700	941	2246
8850	0.96	154.8	451.5	7.9	426	8857	0.00	2.53	0.00	0.000	6	0.000	0.041	2700	2351	2245
9165	0.96	154.8	429.3	6.9	442	9167	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2351	2245
9475	0.96	154.8	408.8	6.7	457	9479	0.00	2.58	0.00	0.000	4	0.000	0.057	2700	941	2245
9603	0.96	154.8	398.4	9.5	463	9607	0.00	2.50	0.00	0.000	6	0.000	0.041	2700	2359	2245
9928	0.96	154.8	373.5	7.9	479	9929	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2359	2245
10238	0.96	154.8	350.7	6.2	494	10242	0.00	2.58	0.00	0.000	4	0.000	0.054	2700	940	2245
10321	0.96	159.6	345.3	5.9	498	10330	0.00	2.47	4.60	1.017	6	0.000	0.040	2700	2352	2227
10645	1.00	188.1	327.4	5.1	514	10671	0.00	0.00	23.80	1.010	6	0.000	0.000	2700	2352	2110
10975	1.09	262.8	313.6	3.8	530	11041	0.15	2.67	59.53	0.974	4	0.047	0.058	2756	936	1806
11141	1.09	262.8	302.7	7.7	538	11146	0.12	2.50	0.00	0.000	6	0.090	0.041	2731	2351	1806
11467	1.09	262.8	277.1	9.4	554	11471	0.00	2.60	0.00	0.000	4	0.000	0.058	2731	942	1806
11565	1.09	262.8	266.1	11.1	558	11572	0.00	2.53	0.00	0.000	6	0.000	0.039	2731	2354	1806
11881	1.09	262.8	233.3	9.1	574	11885	0.00	2.58	0.00	0.000	4	0.000	0.056	2731	939	1806
11968	1.09	262.8	225.1	9.7	578	11973	0.00	2.50	0.00	0.000	6	0.000	0.039	2730	2344	1806
12295	1.09	262.8	199.0	6.4	594	12299	0.00	2.55	0.00	0.000	4	0.000	0.057	2731	941	1806
12389	1.09	262.8	191.3	7.7	598	12394	0.00	2.50	0.00	0.000	6	0.000	0.039	2731	2351	1805
12710	1.09	262.8	166.8	8.3	614	12712	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2351	1806
13020	1.09	262.8	143.6	7.4	629	13024	0.00	2.60	0.00	0.000	4	0.000	0.057	2731	937	1806
13152	1.09	262.8	133.1	8.6	635	13157	0.00	2.50	0.00	0.000	6	0.000	0.039	2731	2348	1806
13479	1.09	262.8	106.1	8.8	651	13483	0.00	2.58	0.00	0.000	4	0.000	0.056	2731	941	1806
13550	1.09	262.8	98.8	8.8	654	13554	0.00	2.47	0.00	0.000	6	0.000	0.038	2731	2343	1806
13871	1.09	262.8	67.7	11.6	670	13872	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2343	1806
14180	1.09	262.8	42.2	7.8	685	14185	0.00	2.55	0.00	0.000	4	0.000	0.054	2731	939	1806
14291	1.09	262.8	34.4	7.4	690	14295	0.00	2.50	0.00	0.000	6	0.000	0.039	2731	2344	1806
14619	1.09	262.8	6.3	6.9	706	14621	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2345	1806
14679	end climb: SURFACE_DEPTH_REACHED
state	14679	begin surface coast
14700	end surface coast: CONTROL_FINISHED_OK
state	14700	begin surface