Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 40 * 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 40 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 2250 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 19 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 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 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 -77018.016 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 330

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 -77018.016

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

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 2250 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 19 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 40 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 123607,6129.624,-828.436,40,1.3,46,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.254,-0.051

_SM_DEPTHo -0.00 KALMAN_X 27011.1,-2018.0,-952.5,-22542.7,9669.9

_SM_ANGLEo -50.5 KALMAN_Y 89165.4,209.3,29.6,-95997.3,2237.1

GPS2 124033,6129.573,-828.421,11,1.3,11,-8.9 MHEAD_RNG_PITCHd_Wd 267.5,3125,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.8,1.016234 XPDR_PINGS 419

SM_CCo 14707,54.25,0.810,7,0,1655,300.00 ALTIM_BOTTOM_PING 750.9,107.6

SM_GC -0.15,0.00,0.00,54.25,0.000,0.000,0.810,32,1885,1655,-11.33,-0.42,300.00 _24V_AH 23.3,17.741

IRIDIUM_FIX 6103.81,-825.62,181107,121213 _10V_AH 10.1,7.269

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34751,702

HUMID 2042 CFSIZE 260165632,256167936

INTERNAL_PRESSURE 9.23864 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,20,7,0

TCM_TEMP 16.90 GPS 181107,164952,6129.395,-831.275,74,1.5,74,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 145 90.74 SBE_CT 516 24 288.61

Roll_motor 109 89 228.43 SBE_O2 474 19 210.08

VBD_pump_during_apogee 329 1406 10812.67 WL_BB2F 390 105 956.44

VBD_pump_during_surface 54 809 1023.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.22 nil 0 0 0.00

Iridium_during_connect 35 160 130.71 nil 0 0 0.00

Iridium_during_xfer 119 223 619.53

Transponder_ping 111 420 1088.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.70

TT8 1360 19 272.02

LPSleep 11013 2 243.60

TT8_Active 541 19 108.38

TT8_Sampling 1871 39 752.25

TT8_CF8 288 45 133.36

TT8_Kalman 33 81 27.56

Analog_circuits 1451 12 175.94

GPS_charging 0 0 0.00

Compass 1829 8 147.85

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -1.46 -146.6 0.0 0.0 0 101 0.00 0.00 -82.03 0.000 2 0.000 0.000 35 1880 3251

103 -1.46 -146.6 3.4 -5.9 4 126 11.45 2.58 -5.15 0.000 4 0.146 0.056 2169 3315 3476

377 -1.46 -146.6 50.7 -16.6 16 382 0.00 2.55 0.00 0.000 6 0.000 0.041 2170 1904 3476

704 -1.46 -146.6 95.4 -12.6 32 708 0.00 2.55 0.00 0.000 4 0.000 0.048 2170 3317 3476

810 -1.46 -146.6 109.7 -15.0 37 814 0.00 2.55 0.00 0.000 6 0.000 0.043 2170 1892 3476

1134 -1.46 -146.6 159.1 -14.0 53 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1892 3476

1444 -1.46 -146.6 195.7 -12.0 68 1448 0.00 2.55 0.00 0.000 4 0.000 0.048 2169 3312 3477

1492 -1.46 -146.6 201.6 -11.0 70 1497 0.00 2.55 0.00 0.000 6 0.000 0.044 2170 1900 3477

1813 -1.46 -146.6 240.4 -12.1 86 1815 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1900 3477

2123 -1.46 -146.6 277.8 -11.8 101 2124 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 1900 3477

2432 -1.46 -146.6 316.9 -13.1 116 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 1900 3477

2741 -1.46 -146.6 355.8 -12.1 131 2742 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1900 3477

3051 -1.46 -146.6 392.5 -11.5 146 3052 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1900 3477

3360 -1.46 -146.6 431.3 -13.3 161 3364 0.00 2.55 0.00 0.000 4 0.000 0.049 2170 3316 3477

3413 -1.46 -146.6 438.6 -12.8 163 3421 0.00 2.55 0.00 0.000 6 0.000 0.044 2170 1906 3477

3730 -1.46 -146.6 476.3 -11.6 179 3731 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 1906 3477

4038 -1.46 -146.6 512.0 -11.9 194 4040 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 1906 3477

4348 -1.46 -146.6 553.2 -13.4 209 4349 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1906 3477

4657 -1.46 -146.6 585.2 -8.9 224 4662 0.00 2.55 0.00 0.000 4 0.000 0.055 2169 3310 3477

4729 -1.46 -146.6 591.8 -9.0 227 4733 0.00 2.58 0.00 0.000 6 0.000 0.050 2170 1904 3477

5050 -1.46 -146.6 619.8 -9.2 243 5051 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1904 3477

5359 -1.46 -146.6 639.9 -8.6 258 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1904 3477

5668 -1.46 -146.6 687.0 -17.0 273 5672 0.00 2.58 0.00 0.000 4 0.000 0.058 2169 3310 3477

5762 -1.46 -146.6 699.5 -8.0 277 5767 0.00 2.58 0.00 0.000 6 0.000 0.049 2170 1900 3477

6083 -1.46 -146.6 721.7 -3.7 293 6084 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 1895 3477

6392 -1.46 -146.6 752.0 -4.7 308 6397 0.00 2.60 0.00 0.000 4 0.000 0.058 2170 3315 3477

6649 -1.46 -146.6 770.8 -12.4 319 6656 0.00 2.60 0.00 0.000 6 0.000 0.055 2170 1903 3477

6964 -1.46 -146.6 800.5 -10.8 335 6968 0.00 2.60 0.00 0.000 4 0.000 0.066 2169 3308 3477

7036 -1.46 -146.6 810.1 -13.1 338 7040 0.00 2.60 0.00 0.000 6 0.000 0.061 2170 1906 3477

7362 -1.46 -146.6 846.7 -10.2 354 7367 0.00 2.72 0.00 0.000 4 0.000 0.090 2170 493 3475

7378 end dive: BOTTOM_OBSTACLE_DETECTED

state 7378 begin apogee

7384 -0.36 0.0 848.8 11.9 355 7513 1.15 0.00 124.97 1.407 6 0.081 0.000 2413 2256 2878

7514 end apogee: CONTROL_FINISHED_OK

state 7514 begin climb

7515 1.46 146.6 848.0 0.0 361 7647 1.83 2.78 123.43 1.360 4 0.056 0.081 2812 838 2280

7901 1.46 146.6 802.1 19.9 379 7905 0.00 2.62 0.00 0.000 6 0.000 0.059 2812 2255 2279

8226 1.47 152.2 762.9 9.7 395 8236 0.00 2.67 5.45 1.317 4 0.000 0.071 2812 3654 2257

8488 1.49 166.2 749.9 9.3 407 8510 0.00 2.60 12.73 1.348 6 0.000 0.060 2812 2243 2199

8818 1.49 166.2 715.4 12.7 423 8822 0.00 2.67 0.00 0.000 4 0.000 0.080 2811 834 2198

9075 1.58 242.6 684.1 6.4 434 9148 0.08 2.60 63.33 1.338 6 0.057 0.051 2840 2255 1889

9455 1.58 242.6 644.1 12.3 453 9460 0.00 2.65 0.00 0.000 4 0.000 0.070 2840 834 1889

9684 1.58 242.6 613.3 13.9 463 9689 0.00 2.55 0.00 0.000 6 0.000 0.045 2840 2248 1888

10005 1.58 242.6 571.7 13.1 479 10006 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2250 1889

10314 1.58 242.6 532.7 12.2 494 10318 0.00 2.55 0.00 0.000 4 0.000 0.054 2840 3660 1889

10430 1.58 242.6 518.1 12.4 499 10436 0.00 2.55 0.00 0.000 6 0.000 0.044 2840 2246 1890

10757 1.58 242.6 478.2 12.7 515 10761 0.00 2.55 0.00 0.000 4 0.000 0.053 2841 3656 1891

10903 1.58 242.6 458.8 13.9 521 10907 0.00 2.50 0.00 0.000 6 0.000 0.042 2840 2247 1891

11218 1.58 242.6 419.7 12.2 536 11222 0.00 2.58 0.00 0.000 4 0.000 0.051 2840 3661 1891

11288 1.58 242.6 410.7 13.2 539 11293 0.00 2.53 0.00 0.000 6 0.000 0.041 2840 2253 1892

11609 1.58 242.6 370.5 12.8 555 11610 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2253 1892

11918 1.58 242.6 331.5 12.2 570 11923 0.00 2.53 0.00 0.000 4 0.000 0.051 2840 3656 1893

12074 1.58 242.6 311.9 11.9 577 12079 0.00 2.50 0.00 0.000 6 0.000 0.039 2840 2250 1893

12401 1.58 242.6 273.8 11.9 593 12402 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2250 1894

12710 1.58 242.6 237.1 11.8 608 12714 0.00 2.53 0.00 0.000 4 0.000 0.052 2840 3659 1894

12900 1.58 242.6 214.1 11.7 616 12904 0.00 2.50 0.00 0.000 6 0.000 0.040 2840 2250 1894

13220 1.58 242.6 177.9 10.9 632 13225 0.00 2.55 0.00 0.000 4 0.000 0.051 2840 3660 1894

13331 1.58 242.6 163.9 13.0 637 13336 0.00 2.50 0.00 0.000 6 0.000 0.040 2840 2254 1895

13658 1.58 242.6 123.5 11.2 653 13659 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2253 1895

13967 1.58 242.6 87.4 10.5 668 13971 0.00 2.53 0.00 0.000 4 0.000 0.050 2840 3657 1895

14167 1.58 242.6 65.1 11.6 677 14172 0.00 2.47 0.00 0.000 6 0.000 0.038 2840 2254 1896

14495 1.58 242.6 25.6 14.6 693 14499 0.00 2.53 0.00 0.000 4 0.000 0.049 2840 3658 1896

14633 1.58 242.6 4.3 18.2 699 14638 0.00 2.47 0.00 0.000 6 0.000 0.038 2840 2258 1896

14664 end climb: SURFACE_DEPTH_REACHED

state 14665 begin surface coast

14688 end surface coast: CONTROL_FINISHED_OK

state 14688 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	40	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	2250	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	19	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	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	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	-77018.016	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	123607,6129.624,-828.436,40,1.3,46,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.254,-0.051
_SM_DEPTHo	-0.00	KALMAN_X	27011.1,-2018.0,-952.5,-22542.7,9669.9
_SM_ANGLEo	-50.5	KALMAN_Y	89165.4,209.3,29.6,-95997.3,2237.1
GPS2	124033,6129.573,-828.421,11,1.3,11,-8.9	MHEAD_RNG_PITCHd_Wd	267.5,3125,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	-0.8,1.016234	XPDR_PINGS	419
SM_CCo	14707,54.25,0.810,7,0,1655,300.00	ALTIM_BOTTOM_PING	750.9,107.6
SM_GC	-0.15,0.00,0.00,54.25,0.000,0.000,0.810,32,1885,1655,-11.33,-0.42,300.00	_24V_AH	23.3,17.741
IRIDIUM_FIX	6103.81,-825.62,181107,121213	_10V_AH	10.1,7.269
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34751,702
HUMID	2042	CFSIZE	260165632,256167936
INTERNAL_PRESSURE	9.23864	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,20,7,0
TCM_TEMP	16.90	GPS	181107,164952,6129.395,-831.275,74,1.5,74,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	145	90.74	SBE_CT	516	24	288.61
Roll_motor	109	89	228.43	SBE_O2	474	19	210.08
VBD_pump_during_apogee	329	1406	10812.67	WL_BB2F	390	105	956.44
VBD_pump_during_surface	54	809	1023.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.22	nil	0	0	0.00
Iridium_during_connect	35	160	130.71	nil	0	0	0.00
Iridium_during_xfer	119	223	619.53
Transponder_ping	111	420	1088.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.70
TT8	1360	19	272.02
LPSleep	11013	2	243.60
TT8_Active	541	19	108.38
TT8_Sampling	1871	39	752.25
TT8_CF8	288	45	133.36
TT8_Kalman	33	81	27.56
Analog_circuits	1451	12	175.94
GPS_charging	0	0	0.00
Compass	1829	8	147.85
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-1.46	-146.6	0.0	0.0	0	101	0.00	0.00	-82.03	0.000	2	0.000	0.000	35	1880	3251
103	-1.46	-146.6	3.4	-5.9	4	126	11.45	2.58	-5.15	0.000	4	0.146	0.056	2169	3315	3476
377	-1.46	-146.6	50.7	-16.6	16	382	0.00	2.55	0.00	0.000	6	0.000	0.041	2170	1904	3476
704	-1.46	-146.6	95.4	-12.6	32	708	0.00	2.55	0.00	0.000	4	0.000	0.048	2170	3317	3476
810	-1.46	-146.6	109.7	-15.0	37	814	0.00	2.55	0.00	0.000	6	0.000	0.043	2170	1892	3476
1134	-1.46	-146.6	159.1	-14.0	53	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1892	3476
1444	-1.46	-146.6	195.7	-12.0	68	1448	0.00	2.55	0.00	0.000	4	0.000	0.048	2169	3312	3477
1492	-1.46	-146.6	201.6	-11.0	70	1497	0.00	2.55	0.00	0.000	6	0.000	0.044	2170	1900	3477
1813	-1.46	-146.6	240.4	-12.1	86	1815	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1900	3477
2123	-1.46	-146.6	277.8	-11.8	101	2124	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	1900	3477
2432	-1.46	-146.6	316.9	-13.1	116	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	1900	3477
2741	-1.46	-146.6	355.8	-12.1	131	2742	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1900	3477
3051	-1.46	-146.6	392.5	-11.5	146	3052	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1900	3477
3360	-1.46	-146.6	431.3	-13.3	161	3364	0.00	2.55	0.00	0.000	4	0.000	0.049	2170	3316	3477
3413	-1.46	-146.6	438.6	-12.8	163	3421	0.00	2.55	0.00	0.000	6	0.000	0.044	2170	1906	3477
3730	-1.46	-146.6	476.3	-11.6	179	3731	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	1906	3477
4038	-1.46	-146.6	512.0	-11.9	194	4040	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	1906	3477
4348	-1.46	-146.6	553.2	-13.4	209	4349	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1906	3477
4657	-1.46	-146.6	585.2	-8.9	224	4662	0.00	2.55	0.00	0.000	4	0.000	0.055	2169	3310	3477
4729	-1.46	-146.6	591.8	-9.0	227	4733	0.00	2.58	0.00	0.000	6	0.000	0.050	2170	1904	3477
5050	-1.46	-146.6	619.8	-9.2	243	5051	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1904	3477
5359	-1.46	-146.6	639.9	-8.6	258	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1904	3477
5668	-1.46	-146.6	687.0	-17.0	273	5672	0.00	2.58	0.00	0.000	4	0.000	0.058	2169	3310	3477
5762	-1.46	-146.6	699.5	-8.0	277	5767	0.00	2.58	0.00	0.000	6	0.000	0.049	2170	1900	3477
6083	-1.46	-146.6	721.7	-3.7	293	6084	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	1895	3477
6392	-1.46	-146.6	752.0	-4.7	308	6397	0.00	2.60	0.00	0.000	4	0.000	0.058	2170	3315	3477
6649	-1.46	-146.6	770.8	-12.4	319	6656	0.00	2.60	0.00	0.000	6	0.000	0.055	2170	1903	3477
6964	-1.46	-146.6	800.5	-10.8	335	6968	0.00	2.60	0.00	0.000	4	0.000	0.066	2169	3308	3477
7036	-1.46	-146.6	810.1	-13.1	338	7040	0.00	2.60	0.00	0.000	6	0.000	0.061	2170	1906	3477
7362	-1.46	-146.6	846.7	-10.2	354	7367	0.00	2.72	0.00	0.000	4	0.000	0.090	2170	493	3475
7378	end dive: BOTTOM_OBSTACLE_DETECTED
state	7378	begin apogee
7384	-0.36	0.0	848.8	11.9	355	7513	1.15	0.00	124.97	1.407	6	0.081	0.000	2413	2256	2878
7514	end apogee: CONTROL_FINISHED_OK
state	7514	begin climb
7515	1.46	146.6	848.0	0.0	361	7647	1.83	2.78	123.43	1.360	4	0.056	0.081	2812	838	2280
7901	1.46	146.6	802.1	19.9	379	7905	0.00	2.62	0.00	0.000	6	0.000	0.059	2812	2255	2279
8226	1.47	152.2	762.9	9.7	395	8236	0.00	2.67	5.45	1.317	4	0.000	0.071	2812	3654	2257
8488	1.49	166.2	749.9	9.3	407	8510	0.00	2.60	12.73	1.348	6	0.000	0.060	2812	2243	2199
8818	1.49	166.2	715.4	12.7	423	8822	0.00	2.67	0.00	0.000	4	0.000	0.080	2811	834	2198
9075	1.58	242.6	684.1	6.4	434	9148	0.08	2.60	63.33	1.338	6	0.057	0.051	2840	2255	1889
9455	1.58	242.6	644.1	12.3	453	9460	0.00	2.65	0.00	0.000	4	0.000	0.070	2840	834	1889
9684	1.58	242.6	613.3	13.9	463	9689	0.00	2.55	0.00	0.000	6	0.000	0.045	2840	2248	1888
10005	1.58	242.6	571.7	13.1	479	10006	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2250	1889
10314	1.58	242.6	532.7	12.2	494	10318	0.00	2.55	0.00	0.000	4	0.000	0.054	2840	3660	1889
10430	1.58	242.6	518.1	12.4	499	10436	0.00	2.55	0.00	0.000	6	0.000	0.044	2840	2246	1890
10757	1.58	242.6	478.2	12.7	515	10761	0.00	2.55	0.00	0.000	4	0.000	0.053	2841	3656	1891
10903	1.58	242.6	458.8	13.9	521	10907	0.00	2.50	0.00	0.000	6	0.000	0.042	2840	2247	1891
11218	1.58	242.6	419.7	12.2	536	11222	0.00	2.58	0.00	0.000	4	0.000	0.051	2840	3661	1891
11288	1.58	242.6	410.7	13.2	539	11293	0.00	2.53	0.00	0.000	6	0.000	0.041	2840	2253	1892
11609	1.58	242.6	370.5	12.8	555	11610	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2253	1892
11918	1.58	242.6	331.5	12.2	570	11923	0.00	2.53	0.00	0.000	4	0.000	0.051	2840	3656	1893
12074	1.58	242.6	311.9	11.9	577	12079	0.00	2.50	0.00	0.000	6	0.000	0.039	2840	2250	1893
12401	1.58	242.6	273.8	11.9	593	12402	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2250	1894
12710	1.58	242.6	237.1	11.8	608	12714	0.00	2.53	0.00	0.000	4	0.000	0.052	2840	3659	1894
12900	1.58	242.6	214.1	11.7	616	12904	0.00	2.50	0.00	0.000	6	0.000	0.040	2840	2250	1894
13220	1.58	242.6	177.9	10.9	632	13225	0.00	2.55	0.00	0.000	4	0.000	0.051	2840	3660	1894
13331	1.58	242.6	163.9	13.0	637	13336	0.00	2.50	0.00	0.000	6	0.000	0.040	2840	2254	1895
13658	1.58	242.6	123.5	11.2	653	13659	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2253	1895
13967	1.58	242.6	87.4	10.5	668	13971	0.00	2.53	0.00	0.000	4	0.000	0.050	2840	3657	1895
14167	1.58	242.6	65.1	11.6	677	14172	0.00	2.47	0.00	0.000	6	0.000	0.038	2840	2254	1896
14495	1.58	242.6	25.6	14.6	693	14499	0.00	2.53	0.00	0.000	4	0.000	0.049	2840	3658	1896
14633	1.58	242.6	4.3	18.2	699	14638	0.00	2.47	0.00	0.000	6	0.000	0.038	2840	2258	1896
14664	end climb: SURFACE_DEPTH_REACHED
state	14665	begin surface coast
14688	end surface coast: CONTROL_FINISHED_OK
state	14688	begin surface