Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 213 * 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 213 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 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 558.0575 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 28 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 300 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 -80166.766 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 558.0575

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 -80166.766

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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 2100 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 28 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 213 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 001708,6258.701,-1248.487,35,1.9,35,-11.9 TGT_NAME IW

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,0.181

_SM_DEPTHo 3.62 KALMAN_X 253905.1,-54.3,3295.7,-485102.5,636.5

_SM_ANGLEo -54.7 KALMAN_Y -12916.1,555.4,2103.5,169082.5,-11975.2

GPS2 003615,6258.915,-1248.456,13,1.7,13,-11.9 MHEAD_RNG_PITCHd_Wd 342.0,37108,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16774,1.12,0.890,0,0,603,558.06 ALTIM_BOTTOM_PING 475.3,96.9

SM_GC 3.95,0.00,0.00,1.12,0.000,0.000,0.890,27,1897,603,-11.35,-0.06,558.06 _24V_AH 23.3,47.508

IRIDIUM_FIX 6235.17,-1244.06,301207,040420 _10V_AH 10.1,22.977

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41120,789

HUMID 2038 CFSIZE 260165632,245145600

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.50 GPS 301207,051801,6302.233,-1248.750,40,1.1,40,-11.9

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 64.33 SBE_CT 581 24 325.34

Roll_motor 62 72 104.49 SBE_O2 531 19 235.39

VBD_pump_during_apogee 433 1172 11841.93 WL_BB2F 550 105 1346.23

VBD_pump_during_surface 63 890 1315.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 195 103 470.24 nil 0 0 0.00

Iridium_during_connect 190 160 710.52 nil 0 0 0.00

Iridium_during_xfer 383 223 1993.38

Transponder_ping 4 420 44.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.47

TT8 1380 19 275.97

LPSleep 13304 2 294.28

TT8_Active 649 19 129.90

TT8_Sampling 1621 39 651.67

TT8_CF8 972 45 449.86

TT8_Kalman 33 81 27.56

Analog_circuits 1456 12 176.48

GPS_charging 0 0 0.00

Compass 1596 8 128.97

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.88 0.000 2 0.000 0.000 29 1885 1114

47 -0.95 -146.6 3.6 -0.0 1 213 11.23 2.60 -148.57 0.000 4 0.109 0.060 2288 3302 3476

331 -0.95 -146.6 13.4 -7.9 14 336 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1899 3476

659 -0.95 -146.6 38.0 -7.8 30 660 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

968 -0.95 -146.6 62.2 -5.5 45 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

1277 -0.95 -146.6 83.1 -6.4 60 1278 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

1588 -0.95 -146.6 109.8 -8.9 75 1589 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

1896 -0.95 -146.6 135.3 -6.8 90 1897 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

2205 -0.95 -146.6 159.3 -8.9 105 2206 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3477

2514 -0.95 -146.6 181.4 -7.3 120 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

2823 -0.95 -146.6 203.3 -7.5 135 2827 0.00 2.55 0.00 0.000 4 0.000 0.048 2287 3310 3476

2900 -0.95 -146.6 209.0 -8.0 138 2906 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1902 3476

3215 -0.95 -146.6 230.4 -6.6 154 3217 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3476

3524 -0.95 -146.6 255.6 -7.9 169 3529 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3304 3476

3574 -0.95 -146.6 259.8 -7.8 171 3578 0.00 2.55 0.00 0.000 6 0.000 0.044 2288 1900 3476

3895 -0.95 -146.6 283.1 -6.9 187 3896 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

4204 -0.95 -146.6 305.8 -7.4 202 4205 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

4513 -0.95 -146.6 327.5 -7.2 217 4514 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

4823 -0.95 -146.6 349.6 -7.8 232 4824 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5132 -0.95 -146.6 374.2 -7.4 247 5136 0.00 2.55 0.00 0.000 4 0.000 0.050 2288 3309 3476

5204 -0.95 -146.6 380.2 -9.3 250 5208 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1901 3476

5526 -0.95 -146.6 402.9 -6.9 266 5527 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

5835 -0.95 -146.6 419.5 -4.8 281 5836 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

6144 -0.95 -146.6 436.9 -6.1 296 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3476

6454 -0.95 -146.6 457.3 -6.7 311 6455 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

6763 -0.95 -146.6 476.4 -5.1 326 6764 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

7072 -0.95 -146.6 497.9 -7.4 341 7073 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

7381 -0.95 -146.6 518.6 -6.3 356 7383 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

7690 -0.95 -146.6 538.4 -6.7 371 7695 0.00 2.62 0.00 0.000 4 0.000 0.072 2288 494 3475

7790 -0.95 -146.6 545.3 -6.2 375 7797 0.00 2.50 0.00 0.000 6 0.000 0.048 2287 1899 3475

8063 end dive: BOTTOM_OBSTACLE_DETECTED

state 8063 begin apogee

8068 -0.36 0.0 562.6 6.9 389 8194 0.60 0.00 122.12 1.172 6 0.067 0.000 2419 2104 2877

8194 end apogee: CONTROL_FINISHED_OK

state 8194 begin climb

8196 0.95 146.6 566.1 0.0 395 8326 1.30 0.00 121.28 1.133 6 0.058 0.000 2702 2104 2280

8636 1.01 197.5 550.0 4.5 417 8681 0.00 0.00 42.75 1.151 6 0.000 0.000 2702 2104 2072

8983 1.01 197.5 527.3 6.6 434 8988 0.00 2.67 0.00 0.000 4 0.000 0.071 2702 689 2071

9083 1.01 197.5 520.5 6.4 438 9089 0.00 2.53 0.00 0.000 6 0.000 0.049 2703 2094 2071

9399 1.02 207.9 501.8 5.7 454 9410 0.00 0.00 9.15 1.173 6 0.000 0.000 2702 2095 2030

9707 1.02 207.9 481.1 7.1 469 9712 0.00 2.62 0.00 0.000 4 0.000 0.069 2702 692 2030

9792 1.02 207.9 474.6 7.7 473 9796 0.00 2.53 0.00 0.000 6 0.000 0.047 2702 2110 2030

10117 1.02 207.9 451.6 6.9 489 10118 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2110 2029

10426 1.02 207.9 427.2 8.0 504 10431 0.00 2.55 0.00 0.000 4 0.000 0.058 2702 3499 2029

10510 1.02 207.9 420.6 7.3 508 10515 0.00 2.53 0.00 0.000 6 0.000 0.048 2702 2101 2029

10836 1.05 226.1 401.2 5.5 524 10856 0.00 0.00 15.73 1.119 6 0.000 0.000 2702 2101 1956

11165 1.05 226.1 379.5 7.5 540 11166 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2101 1956

11475 1.05 226.1 356.9 7.4 555 11479 0.00 2.62 0.00 0.000 4 0.000 0.067 2702 685 1955

11535 1.05 226.1 352.5 7.1 558 11540 0.00 2.50 0.00 0.000 6 0.000 0.042 2702 2105 1956

11861 1.05 226.1 329.0 7.5 574 11862 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2110 1956

12170 1.05 226.1 305.6 6.8 589 12171 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2109 1956

12479 1.05 226.1 280.3 8.6 604 12480 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2109 1956

12789 1.05 226.1 254.5 8.2 619 12793 0.00 2.62 0.00 0.000 4 0.000 0.062 2702 691 1957

12860 1.05 226.1 249.2 7.9 622 12864 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2105 1956

13181 1.05 226.1 225.4 7.2 638 13182 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1957

13490 1.05 226.1 202.5 7.7 653 13491 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1957

13799 1.05 226.1 176.5 8.6 668 13800 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1957

14108 1.05 226.1 153.6 6.5 683 14110 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1957

14418 1.09 260.8 135.1 5.0 698 14453 0.12 2.70 28.65 0.909 4 0.049 0.061 2748 694 1813

14493 1.09 260.8 128.0 10.4 701 14497 0.00 2.47 0.00 0.000 6 0.000 0.041 2748 2102 1813

14808 1.09 260.8 100.6 7.1 716 14809 0.00 0.00 0.00 0.000 6 0.000 0.000 2747 2105 1813

15117 1.09 260.8 75.6 9.3 731 15119 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2105 1813

15426 1.09 260.8 48.6 8.8 746 15428 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2105 1814

15737 1.09 260.8 21.4 9.4 761 15738 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2105 1814

16046 1.30 437.1 3.1 0.7 776 16150 0.15 2.60 93.70 0.793 4 0.057 0.046 2794 3494 1095

16344 end climb: NO_VERTICAL_VELOCITY

state 16344 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	213	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	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	558.0575	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	28	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	300	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	-80166.766	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	001708,6258.701,-1248.487,35,1.9,35,-11.9	TGT_NAME	IW
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,0.181
_SM_DEPTHo	3.62	KALMAN_X	253905.1,-54.3,3295.7,-485102.5,636.5
_SM_ANGLEo	-54.7	KALMAN_Y	-12916.1,555.4,2103.5,169082.5,-11975.2
GPS2	003615,6258.915,-1248.456,13,1.7,13,-11.9	MHEAD_RNG_PITCHd_Wd	342.0,37108,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16774,1.12,0.890,0,0,603,558.06	ALTIM_BOTTOM_PING	475.3,96.9
SM_GC	3.95,0.00,0.00,1.12,0.000,0.000,0.890,27,1897,603,-11.35,-0.06,558.06	_24V_AH	23.3,47.508
IRIDIUM_FIX	6235.17,-1244.06,301207,040420	_10V_AH	10.1,22.977
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41120,789
HUMID	2038	CFSIZE	260165632,245145600
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.50	GPS	301207,051801,6302.233,-1248.750,40,1.1,40,-11.9
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	64.33	SBE_CT	581	24	325.34
Roll_motor	62	72	104.49	SBE_O2	531	19	235.39
VBD_pump_during_apogee	433	1172	11841.93	WL_BB2F	550	105	1346.23
VBD_pump_during_surface	63	890	1315.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	195	103	470.24	nil	0	0	0.00
Iridium_during_connect	190	160	710.52	nil	0	0	0.00
Iridium_during_xfer	383	223	1993.38
Transponder_ping	4	420	44.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.47
TT8	1380	19	275.97
LPSleep	13304	2	294.28
TT8_Active	649	19	129.90
TT8_Sampling	1621	39	651.67
TT8_CF8	972	45	449.86
TT8_Kalman	33	81	27.56
Analog_circuits	1456	12	176.48
GPS_charging	0	0	0.00
Compass	1596	8	128.97
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.88	0.000	2	0.000	0.000	29	1885	1114
47	-0.95	-146.6	3.6	-0.0	1	213	11.23	2.60	-148.57	0.000	4	0.109	0.060	2288	3302	3476
331	-0.95	-146.6	13.4	-7.9	14	336	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1899	3476
659	-0.95	-146.6	38.0	-7.8	30	660	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
968	-0.95	-146.6	62.2	-5.5	45	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
1277	-0.95	-146.6	83.1	-6.4	60	1278	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
1588	-0.95	-146.6	109.8	-8.9	75	1589	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
1896	-0.95	-146.6	135.3	-6.8	90	1897	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
2205	-0.95	-146.6	159.3	-8.9	105	2206	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3477
2514	-0.95	-146.6	181.4	-7.3	120	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
2823	-0.95	-146.6	203.3	-7.5	135	2827	0.00	2.55	0.00	0.000	4	0.000	0.048	2287	3310	3476
2900	-0.95	-146.6	209.0	-8.0	138	2906	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1902	3476
3215	-0.95	-146.6	230.4	-6.6	154	3217	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3476
3524	-0.95	-146.6	255.6	-7.9	169	3529	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3304	3476
3574	-0.95	-146.6	259.8	-7.8	171	3578	0.00	2.55	0.00	0.000	6	0.000	0.044	2288	1900	3476
3895	-0.95	-146.6	283.1	-6.9	187	3896	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
4204	-0.95	-146.6	305.8	-7.4	202	4205	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
4513	-0.95	-146.6	327.5	-7.2	217	4514	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
4823	-0.95	-146.6	349.6	-7.8	232	4824	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5132	-0.95	-146.6	374.2	-7.4	247	5136	0.00	2.55	0.00	0.000	4	0.000	0.050	2288	3309	3476
5204	-0.95	-146.6	380.2	-9.3	250	5208	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1901	3476
5526	-0.95	-146.6	402.9	-6.9	266	5527	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
5835	-0.95	-146.6	419.5	-4.8	281	5836	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
6144	-0.95	-146.6	436.9	-6.1	296	6145	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3476
6454	-0.95	-146.6	457.3	-6.7	311	6455	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
6763	-0.95	-146.6	476.4	-5.1	326	6764	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
7072	-0.95	-146.6	497.9	-7.4	341	7073	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
7381	-0.95	-146.6	518.6	-6.3	356	7383	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
7690	-0.95	-146.6	538.4	-6.7	371	7695	0.00	2.62	0.00	0.000	4	0.000	0.072	2288	494	3475
7790	-0.95	-146.6	545.3	-6.2	375	7797	0.00	2.50	0.00	0.000	6	0.000	0.048	2287	1899	3475
8063	end dive: BOTTOM_OBSTACLE_DETECTED
state	8063	begin apogee
8068	-0.36	0.0	562.6	6.9	389	8194	0.60	0.00	122.12	1.172	6	0.067	0.000	2419	2104	2877
8194	end apogee: CONTROL_FINISHED_OK
state	8194	begin climb
8196	0.95	146.6	566.1	0.0	395	8326	1.30	0.00	121.28	1.133	6	0.058	0.000	2702	2104	2280
8636	1.01	197.5	550.0	4.5	417	8681	0.00	0.00	42.75	1.151	6	0.000	0.000	2702	2104	2072
8983	1.01	197.5	527.3	6.6	434	8988	0.00	2.67	0.00	0.000	4	0.000	0.071	2702	689	2071
9083	1.01	197.5	520.5	6.4	438	9089	0.00	2.53	0.00	0.000	6	0.000	0.049	2703	2094	2071
9399	1.02	207.9	501.8	5.7	454	9410	0.00	0.00	9.15	1.173	6	0.000	0.000	2702	2095	2030
9707	1.02	207.9	481.1	7.1	469	9712	0.00	2.62	0.00	0.000	4	0.000	0.069	2702	692	2030
9792	1.02	207.9	474.6	7.7	473	9796	0.00	2.53	0.00	0.000	6	0.000	0.047	2702	2110	2030
10117	1.02	207.9	451.6	6.9	489	10118	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2110	2029
10426	1.02	207.9	427.2	8.0	504	10431	0.00	2.55	0.00	0.000	4	0.000	0.058	2702	3499	2029
10510	1.02	207.9	420.6	7.3	508	10515	0.00	2.53	0.00	0.000	6	0.000	0.048	2702	2101	2029
10836	1.05	226.1	401.2	5.5	524	10856	0.00	0.00	15.73	1.119	6	0.000	0.000	2702	2101	1956
11165	1.05	226.1	379.5	7.5	540	11166	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2101	1956
11475	1.05	226.1	356.9	7.4	555	11479	0.00	2.62	0.00	0.000	4	0.000	0.067	2702	685	1955
11535	1.05	226.1	352.5	7.1	558	11540	0.00	2.50	0.00	0.000	6	0.000	0.042	2702	2105	1956
11861	1.05	226.1	329.0	7.5	574	11862	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2110	1956
12170	1.05	226.1	305.6	6.8	589	12171	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2109	1956
12479	1.05	226.1	280.3	8.6	604	12480	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2109	1956
12789	1.05	226.1	254.5	8.2	619	12793	0.00	2.62	0.00	0.000	4	0.000	0.062	2702	691	1957
12860	1.05	226.1	249.2	7.9	622	12864	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2105	1956
13181	1.05	226.1	225.4	7.2	638	13182	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1957
13490	1.05	226.1	202.5	7.7	653	13491	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1957
13799	1.05	226.1	176.5	8.6	668	13800	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1957
14108	1.05	226.1	153.6	6.5	683	14110	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1957
14418	1.09	260.8	135.1	5.0	698	14453	0.12	2.70	28.65	0.909	4	0.049	0.061	2748	694	1813
14493	1.09	260.8	128.0	10.4	701	14497	0.00	2.47	0.00	0.000	6	0.000	0.041	2748	2102	1813
14808	1.09	260.8	100.6	7.1	716	14809	0.00	0.00	0.00	0.000	6	0.000	0.000	2747	2105	1813
15117	1.09	260.8	75.6	9.3	731	15119	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2105	1813
15426	1.09	260.8	48.6	8.8	746	15428	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2105	1814
15737	1.09	260.8	21.4	9.4	761	15738	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2105	1814
16046	1.30	437.1	3.1	0.7	776	16150	0.15	2.60	93.70	0.793	4	0.057	0.046	2794	3494	1095
16344	end climb: NO_VERTICAL_VELOCITY
state	16344	begin surface