Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 75 * 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 75 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -77659.656 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 -77659.656

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 75 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 115225,6130.787,-856.267,70,1.2,70,-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 -0.163,0.130

_SM_DEPTHo 1.20 KALMAN_X 63979.3,-1353.5,-1038.9,-84568.6,32941.6

_SM_ANGLEo -55.7 KALMAN_Y 136014.8,923.1,-20.8,-141463.6,-13083.0

GPS2 115638,6130.695,-856.168,14,1.2,14,-9.2 MHEAD_RNG_PITCHd_Wd 317.8,31215,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.027270 XPDR_PINGS 1

SM_CCo 12876,0.00,0.000,0,0,1400,362.55 ALTIM_BOTTOM_PING 451.5,67.6

SM_GC 1.40,11.57,0.00,0.00,0.027,0.000,0.000,30,1882,1400,-11.27,-0.48,362.55 _24V_AH 23.5,23.028

IRIDIUM_FIX 6108.28,-858.83,241107,111136 _10V_AH 10.1,9.653

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31687,618

HUMID 2058 CFSIZE 260165632,254406656

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,0,0

TCM_TEMP 17.00 GPS 241107,153327,6130.508,-855.171,26,2.2,45,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 85.15 SBE_CT 449 24 253.65

Roll_motor 93 60 132.75 SBE_O2 415 19 185.64

VBD_pump_during_apogee 410 1102 10632.45 WL_BB2F 444 105 1095.71

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 37 103 91.02 nil 0 0 0.00

Iridium_during_connect 27 160 102.97 nil 0 0 0.00

Iridium_during_xfer 107 223 563.02

Transponder_ping 4 420 39.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.79

TT8 1132 19 226.44

LPSleep 9816 2 217.12

TT8_Active 498 19 99.63

TT8_Sampling 1417 39 569.94

TT8_CF8 273 45 126.29

TT8_Kalman 33 81 27.57

Analog_circuits 1222 12 148.19

GPS_charging 0 0 0.00

Compass 1389 8 112.28

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 0 103 0.00 0.00 -82.12 0.000 2 0.000 0.000 30 1886 3362

105 -0.95 -146.6 4.7 -5.5 4 124 12.05 0.00 -2.65 0.000 6 0.141 0.000 2279 1885 3477

433 -0.95 -146.6 30.2 -3.1 20 434 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 1885 3477

741 -0.95 -146.6 54.9 -8.7 35 742 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1885 3478

1050 -0.95 -146.6 77.3 -7.6 50 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1885 3477

1359 -0.95 -146.6 101.3 -7.2 65 1360 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1885 3478

1668 -0.95 -146.6 131.8 -11.9 80 1673 0.00 2.55 0.00 0.000 4 0.000 0.048 2279 3308 3478

1756 -0.95 -146.6 141.0 -9.8 84 1761 0.00 2.53 0.00 0.000 6 0.000 0.041 2279 1904 3478

2083 -0.95 -146.6 166.7 -8.8 100 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3477

2392 -0.95 -146.6 192.3 -7.9 115 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3478

2702 -0.95 -146.6 223.9 -10.8 130 2706 0.00 2.53 0.00 0.000 4 0.000 0.047 2279 3311 3477

2751 -0.95 -146.6 228.9 -10.2 132 2755 0.00 2.53 0.00 0.000 6 0.000 0.041 2279 1904 3477

3072 -0.95 -146.6 258.2 -8.7 148 3073 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3478

3381 -0.95 -146.6 284.3 -8.5 163 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3477

3690 -0.95 -146.6 314.0 -9.6 178 3691 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3477

4000 -0.95 -146.6 338.7 -7.2 193 4001 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1904 3478

4309 -0.95 -146.6 363.0 -7.9 208 4313 0.00 2.53 0.00 0.000 4 0.000 0.049 2279 3312 3478

4362 -0.95 -146.6 367.7 -8.7 210 4370 0.00 2.55 0.00 0.000 6 0.000 0.044 2279 1901 3478

4679 -0.95 -146.6 394.9 -8.6 226 4680 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1900 3478

4988 -0.95 -146.6 421.0 -8.3 241 4989 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1901 3478

5297 -0.95 -146.6 446.4 -8.6 256 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1900 3477

5606 -0.95 -146.6 470.8 -6.9 271 5608 0.00 0.00 0.00 0.000 6 0.000 0.000 2279 1900 3478

5915 -0.95 -146.6 492.7 -7.3 286 5919 0.00 2.53 0.00 0.000 4 0.000 0.051 2279 3310 3477

6020 -0.95 -146.6 501.5 -6.4 290 6028 0.00 2.55 0.00 0.000 6 0.000 0.045 2279 1902 3477

6149 end dive: BOTTOM_OBSTACLE_DETECTED

state 6149 begin apogee

6154 -0.36 0.0 510.2 6.9 297 6278 0.65 0.00 120.50 1.102 6 0.090 0.000 2416 2356 2878

6279 end apogee: CONTROL_FINISHED_OK

state 6279 begin climb

6280 0.95 146.6 514.1 0.0 303 6406 1.27 2.60 118.70 1.065 4 0.058 0.061 2698 3747 2280

6456 1.01 200.2 508.1 4.4 311 6509 0.00 2.50 44.25 1.051 6 0.000 0.040 2698 2347 2060

6817 1.01 200.2 486.2 6.8 329 6821 0.00 2.60 0.00 0.000 4 0.000 0.061 2698 943 2060

6882 1.01 200.2 482.2 7.0 332 6887 0.00 2.53 0.00 0.000 6 0.000 0.042 2698 2342 2060

7208 1.01 200.2 462.5 6.3 348 7210 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2342 2060

7518 1.01 200.2 444.4 6.1 363 7522 0.00 2.58 0.00 0.000 4 0.000 0.059 2698 942 2059

7612 1.02 206.7 438.6 5.8 367 7623 0.00 2.53 5.88 1.050 6 0.000 0.042 2698 2348 2035

7932 1.05 227.0 421.4 5.4 382 7957 0.12 2.67 17.35 1.064 4 0.050 0.058 2740 948 1951

8057 1.05 227.0 412.7 7.0 387 8064 0.00 2.50 0.00 0.000 6 0.000 0.041 2740 2352 1951

8372 1.05 227.0 389.8 7.8 403 8376 0.00 2.60 0.00 0.000 4 0.000 0.058 2740 936 1951

8427 1.05 227.0 385.4 8.1 405 8432 0.00 2.53 0.00 0.000 6 0.000 0.042 2740 2343 1951

8748 1.05 227.0 358.3 8.6 421 8750 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2343 1951

9057 1.05 227.0 331.7 8.2 436 9062 0.00 2.58 0.00 0.000 4 0.000 0.058 2740 941 1951

9118 1.05 227.0 326.6 8.9 439 9123 0.00 2.50 0.00 0.000 6 0.000 0.041 2740 2359 1951

9450 1.05 227.0 300.2 8.0 455 9454 0.00 2.58 0.00 0.000 4 0.000 0.056 2740 942 1951

9526 1.05 227.0 293.7 8.7 458 9533 0.00 2.50 0.00 0.000 6 0.000 0.039 2740 2350 1951

9842 1.05 227.0 260.8 11.9 474 9846 0.00 2.58 0.00 0.000 4 0.000 0.057 2740 936 1951

9909 1.05 227.0 252.3 12.5 477 9913 0.00 2.50 0.00 0.000 6 0.000 0.041 2740 2351 1951

10228 1.05 227.0 217.7 8.7 493 10232 0.00 2.58 0.00 0.000 4 0.000 0.057 2740 940 1951

10277 1.05 227.0 213.1 9.4 495 10282 0.00 2.50 0.00 0.000 6 0.000 0.040 2740 2351 1951

10599 1.05 227.0 189.7 8.3 511 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2351 1951

10908 1.05 227.0 164.8 10.4 526 10912 0.00 2.53 0.00 0.000 4 0.000 0.053 2740 3756 1951

10978 1.05 227.0 158.4 7.9 529 10983 0.00 2.50 0.00 0.000 6 0.000 0.039 2740 2355 1951

11300 1.05 227.0 141.0 6.8 545 11304 0.00 2.58 0.00 0.000 4 0.000 0.057 2740 938 1950

11344 1.21 362.2 139.4 2.0 547 11454 0.00 2.47 103.82 0.871 6 0.000 0.039 2740 2358 1400

11768 1.21 362.2 108.1 10.2 568 11773 0.00 2.62 0.00 0.000 4 0.000 0.058 2740 939 1400

11874 1.21 362.2 94.3 11.1 573 11879 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2350 1400

12200 1.21 362.2 63.2 8.3 589 12204 0.00 2.60 0.00 0.000 4 0.000 0.058 2740 942 1400

12284 1.21 362.2 54.5 12.2 593 12288 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 2354 1400

12609 1.21 362.2 22.1 9.1 609 12613 0.00 2.60 0.00 0.000 4 0.000 0.054 2740 936 1400

12708 1.21 362.2 10.2 15.7 613 12715 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2347 1401

12776 end climb: SURFACE_DEPTH_REACHED

state 12776 begin surface coast

12797 end surface coast: CONTROL_FINISHED_OK

state 12797 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	75	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-77659.656	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	115225,6130.787,-856.267,70,1.2,70,-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	-0.163,0.130
_SM_DEPTHo	1.20	KALMAN_X	63979.3,-1353.5,-1038.9,-84568.6,32941.6
_SM_ANGLEo	-55.7	KALMAN_Y	136014.8,923.1,-20.8,-141463.6,-13083.0
GPS2	115638,6130.695,-856.168,14,1.2,14,-9.2	MHEAD_RNG_PITCHd_Wd	317.8,31215,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.1,1.027270	XPDR_PINGS	1
SM_CCo	12876,0.00,0.000,0,0,1400,362.55	ALTIM_BOTTOM_PING	451.5,67.6
SM_GC	1.40,11.57,0.00,0.00,0.027,0.000,0.000,30,1882,1400,-11.27,-0.48,362.55	_24V_AH	23.5,23.028
IRIDIUM_FIX	6108.28,-858.83,241107,111136	_10V_AH	10.1,9.653
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31687,618
HUMID	2058	CFSIZE	260165632,254406656
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
TCM_TEMP	17.00	GPS	241107,153327,6130.508,-855.171,26,2.2,45,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	85.15	SBE_CT	449	24	253.65
Roll_motor	93	60	132.75	SBE_O2	415	19	185.64
VBD_pump_during_apogee	410	1102	10632.45	WL_BB2F	444	105	1095.71
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	37	103	91.02	nil	0	0	0.00
Iridium_during_connect	27	160	102.97	nil	0	0	0.00
Iridium_during_xfer	107	223	563.02
Transponder_ping	4	420	39.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.79
TT8	1132	19	226.44
LPSleep	9816	2	217.12
TT8_Active	498	19	99.63
TT8_Sampling	1417	39	569.94
TT8_CF8	273	45	126.29
TT8_Kalman	33	81	27.57
Analog_circuits	1222	12	148.19
GPS_charging	0	0	0.00
Compass	1389	8	112.28
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	103	0.00	0.00	-82.12	0.000	2	0.000	0.000	30	1886	3362
105	-0.95	-146.6	4.7	-5.5	4	124	12.05	0.00	-2.65	0.000	6	0.141	0.000	2279	1885	3477
433	-0.95	-146.6	30.2	-3.1	20	434	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	1885	3477
741	-0.95	-146.6	54.9	-8.7	35	742	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1885	3478
1050	-0.95	-146.6	77.3	-7.6	50	1051	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1885	3477
1359	-0.95	-146.6	101.3	-7.2	65	1360	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1885	3478
1668	-0.95	-146.6	131.8	-11.9	80	1673	0.00	2.55	0.00	0.000	4	0.000	0.048	2279	3308	3478
1756	-0.95	-146.6	141.0	-9.8	84	1761	0.00	2.53	0.00	0.000	6	0.000	0.041	2279	1904	3478
2083	-0.95	-146.6	166.7	-8.8	100	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3477
2392	-0.95	-146.6	192.3	-7.9	115	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3478
2702	-0.95	-146.6	223.9	-10.8	130	2706	0.00	2.53	0.00	0.000	4	0.000	0.047	2279	3311	3477
2751	-0.95	-146.6	228.9	-10.2	132	2755	0.00	2.53	0.00	0.000	6	0.000	0.041	2279	1904	3477
3072	-0.95	-146.6	258.2	-8.7	148	3073	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3478
3381	-0.95	-146.6	284.3	-8.5	163	3382	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3477
3690	-0.95	-146.6	314.0	-9.6	178	3691	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3477
4000	-0.95	-146.6	338.7	-7.2	193	4001	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1904	3478
4309	-0.95	-146.6	363.0	-7.9	208	4313	0.00	2.53	0.00	0.000	4	0.000	0.049	2279	3312	3478
4362	-0.95	-146.6	367.7	-8.7	210	4370	0.00	2.55	0.00	0.000	6	0.000	0.044	2279	1901	3478
4679	-0.95	-146.6	394.9	-8.6	226	4680	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1900	3478
4988	-0.95	-146.6	421.0	-8.3	241	4989	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1901	3478
5297	-0.95	-146.6	446.4	-8.6	256	5298	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1900	3477
5606	-0.95	-146.6	470.8	-6.9	271	5608	0.00	0.00	0.00	0.000	6	0.000	0.000	2279	1900	3478
5915	-0.95	-146.6	492.7	-7.3	286	5919	0.00	2.53	0.00	0.000	4	0.000	0.051	2279	3310	3477
6020	-0.95	-146.6	501.5	-6.4	290	6028	0.00	2.55	0.00	0.000	6	0.000	0.045	2279	1902	3477
6149	end dive: BOTTOM_OBSTACLE_DETECTED
state	6149	begin apogee
6154	-0.36	0.0	510.2	6.9	297	6278	0.65	0.00	120.50	1.102	6	0.090	0.000	2416	2356	2878
6279	end apogee: CONTROL_FINISHED_OK
state	6279	begin climb
6280	0.95	146.6	514.1	0.0	303	6406	1.27	2.60	118.70	1.065	4	0.058	0.061	2698	3747	2280
6456	1.01	200.2	508.1	4.4	311	6509	0.00	2.50	44.25	1.051	6	0.000	0.040	2698	2347	2060
6817	1.01	200.2	486.2	6.8	329	6821	0.00	2.60	0.00	0.000	4	0.000	0.061	2698	943	2060
6882	1.01	200.2	482.2	7.0	332	6887	0.00	2.53	0.00	0.000	6	0.000	0.042	2698	2342	2060
7208	1.01	200.2	462.5	6.3	348	7210	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2342	2060
7518	1.01	200.2	444.4	6.1	363	7522	0.00	2.58	0.00	0.000	4	0.000	0.059	2698	942	2059
7612	1.02	206.7	438.6	5.8	367	7623	0.00	2.53	5.88	1.050	6	0.000	0.042	2698	2348	2035
7932	1.05	227.0	421.4	5.4	382	7957	0.12	2.67	17.35	1.064	4	0.050	0.058	2740	948	1951
8057	1.05	227.0	412.7	7.0	387	8064	0.00	2.50	0.00	0.000	6	0.000	0.041	2740	2352	1951
8372	1.05	227.0	389.8	7.8	403	8376	0.00	2.60	0.00	0.000	4	0.000	0.058	2740	936	1951
8427	1.05	227.0	385.4	8.1	405	8432	0.00	2.53	0.00	0.000	6	0.000	0.042	2740	2343	1951
8748	1.05	227.0	358.3	8.6	421	8750	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2343	1951
9057	1.05	227.0	331.7	8.2	436	9062	0.00	2.58	0.00	0.000	4	0.000	0.058	2740	941	1951
9118	1.05	227.0	326.6	8.9	439	9123	0.00	2.50	0.00	0.000	6	0.000	0.041	2740	2359	1951
9450	1.05	227.0	300.2	8.0	455	9454	0.00	2.58	0.00	0.000	4	0.000	0.056	2740	942	1951
9526	1.05	227.0	293.7	8.7	458	9533	0.00	2.50	0.00	0.000	6	0.000	0.039	2740	2350	1951
9842	1.05	227.0	260.8	11.9	474	9846	0.00	2.58	0.00	0.000	4	0.000	0.057	2740	936	1951
9909	1.05	227.0	252.3	12.5	477	9913	0.00	2.50	0.00	0.000	6	0.000	0.041	2740	2351	1951
10228	1.05	227.0	217.7	8.7	493	10232	0.00	2.58	0.00	0.000	4	0.000	0.057	2740	940	1951
10277	1.05	227.0	213.1	9.4	495	10282	0.00	2.50	0.00	0.000	6	0.000	0.040	2740	2351	1951
10599	1.05	227.0	189.7	8.3	511	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2351	1951
10908	1.05	227.0	164.8	10.4	526	10912	0.00	2.53	0.00	0.000	4	0.000	0.053	2740	3756	1951
10978	1.05	227.0	158.4	7.9	529	10983	0.00	2.50	0.00	0.000	6	0.000	0.039	2740	2355	1951
11300	1.05	227.0	141.0	6.8	545	11304	0.00	2.58	0.00	0.000	4	0.000	0.057	2740	938	1950
11344	1.21	362.2	139.4	2.0	547	11454	0.00	2.47	103.82	0.871	6	0.000	0.039	2740	2358	1400
11768	1.21	362.2	108.1	10.2	568	11773	0.00	2.62	0.00	0.000	4	0.000	0.058	2740	939	1400
11874	1.21	362.2	94.3	11.1	573	11879	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2350	1400
12200	1.21	362.2	63.2	8.3	589	12204	0.00	2.60	0.00	0.000	4	0.000	0.058	2740	942	1400
12284	1.21	362.2	54.5	12.2	593	12288	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	2354	1400
12609	1.21	362.2	22.1	9.1	609	12613	0.00	2.60	0.00	0.000	4	0.000	0.054	2740	936	1400
12708	1.21	362.2	10.2	15.7	613	12715	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2347	1401
12776	end climb: SURFACE_DEPTH_REACHED
state	12776	begin surface coast
12797	end surface coast: CONTROL_FINISHED_OK
state	12797	begin surface