Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 423 * 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 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 423 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 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -3 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 -86903 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 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 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 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 20 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 412.5

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 -86903

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 57

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 34 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 423 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 030221,6141.491,-912.577,41,2.2,60,-9.4 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,-0.206

_SM_DEPTHo 1.56 KALMAN_X 609471.6,-1025.6,-470.9,-645516.2,2457.0

_SM_ANGLEo -53.5 KALMAN_Y 133230.4,-574.6,-1056.3,-116083.9,3787.6

GPS2 030823,6141.506,-912.637,13,2.3,32,-9.4 MHEAD_RNG_PITCHd_Wd 219.1,41381,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 801

Post-dive calculations and measurements:

FINISH 0.9,1.003549 XPDR_PINGS 1

SM_CCo 13168,0.00,0.000,0,0,658,544.32 ALTIM_TOP_PING 16.5,999.0

SM_GC 1.55,12.35,0.00,0.00,0.033,0.000,0.000,31,1887,658,-11.27,-0.37,544.32 _24V_AH 22.9,82.299

IRIDIUM_FIX 6117.23,-915.81,040597,232334 _10V_AH 10.1,39.672

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31639,630

HUMID 2104 CFSIZE 260165632,233267200

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 16.60 GPS 090208,065037,6139.109,-917.383,30,1.1,30,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 85.52 SBE_CT 467 24 256.94

Roll_motor 129 84 249.58 SBE_O2 422 19 183.98

VBD_pump_during_apogee 590 1347 18228.51 WL_BB2F 365 105 878.28

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 38 103 90.74 nil 0 0 0.00

Iridium_during_connect 42 160 155.12 nil 0 0 0.00

Iridium_during_xfer 142 223 729.56

Transponder_ping 7 420 69.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.31

TT8 1207 19 241.57

LPSleep 9536 2 210.95

TT8_Active 651 19 130.24

TT8_Sampling 1670 39 671.31

TT8_CF8 513 45 237.65

TT8_Kalman 33 81 27.57

Analog_circuits 1531 12 185.61

GPS_charging 0 0 0.00

Compass 1607 8 129.85

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.23 -146.6 0.0 0.0 0 106 0.00 0.00 -80.57 0.000 2 0.000 0.000 34 1882 3018

110 -1.23 -146.6 4.0 -4.1 4 140 11.60 2.62 -11.62 0.000 4 0.139 0.062 2225 3302 3477

153 -1.23 -146.6 12.8 -15.1 6 157 0.00 2.53 0.00 0.000 6 0.000 0.041 2225 1903 3477

480 -1.23 -146.6 53.7 -10.0 22 484 0.00 2.53 0.00 0.000 4 0.000 0.045 2225 3307 3477

524 -1.23 -146.6 58.3 -10.1 24 528 0.00 2.53 0.00 0.000 6 0.000 0.040 2225 1894 3477

846 -1.23 -146.6 92.7 -13.4 40 850 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3307 3477

901 -1.23 -146.6 98.7 -7.6 42 908 0.00 2.50 0.00 0.000 6 0.000 0.040 2225 1897 3477

1217 -1.23 -146.6 128.3 -11.6 58 1221 0.00 2.55 0.00 0.000 4 0.000 0.045 2225 3314 3477

1261 -1.23 -146.6 133.3 -10.8 60 1265 0.00 2.53 0.00 0.000 6 0.000 0.040 2225 1900 3477

1582 -1.23 -146.6 164.2 -9.5 76 1584 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3477

1892 -1.23 -146.6 191.7 -7.8 91 1896 0.00 2.53 0.00 0.000 4 0.000 0.045 2224 3307 3477

1964 -1.23 -146.6 197.6 -8.3 94 1969 0.00 2.53 0.00 0.000 6 0.000 0.040 2225 1893 3477

2280 -1.23 -146.6 220.7 -7.7 109 2281 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1893 3477

2590 -1.23 -146.6 247.6 -9.8 124 2594 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3306 3477

2645 -1.23 -146.6 253.6 -10.9 126 2652 0.00 2.53 0.00 0.000 6 0.000 0.041 2224 1893 3477

2961 -1.23 -146.6 290.1 -12.1 142 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1893 3478

3270 -1.23 -146.6 331.6 -14.6 157 3275 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3307 3477

3333 -1.23 -146.6 340.8 -15.1 160 3337 0.00 2.53 0.00 0.000 6 0.000 0.042 2225 1898 3477

3660 -1.23 -146.6 393.7 -15.6 176 3664 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3477

3731 -1.23 -146.6 405.6 -15.6 179 3736 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1898 3477

4047 -1.23 -146.6 453.0 -14.6 194 4048 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1898 3477

4356 -1.23 -146.6 496.8 -14.7 209 4360 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3477

4412 -1.23 -146.6 504.3 -13.5 211 4418 0.00 2.53 0.00 0.000 6 0.000 0.043 2225 1900 3477

4728 -1.23 -146.6 550.1 -14.6 227 4729 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

5036 -1.23 -146.6 588.1 -9.3 242 5041 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3305 3477

5127 -1.23 -146.6 592.8 -3.7 246 5131 0.00 2.53 0.00 0.000 6 0.000 0.045 2225 1902 3477

5447 -1.23 -146.6 596.4 1.8 262 5452 0.00 2.65 0.00 0.000 4 0.000 0.072 2225 488 3477

5503 -1.23 -146.6 594.6 2.7 264 5509 0.00 2.50 0.00 0.000 6 0.000 0.041 2225 1911 3477

5819 -1.23 -146.6 612.9 -10.3 280 5824 0.00 2.53 0.00 0.000 4 0.000 0.056 2224 3298 3477

5927 -1.23 -146.6 622.9 -7.8 285 5931 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1894 3477

6254 -1.23 -146.6 667.6 -12.5 301 6255 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1894 3477

6564 -1.23 -146.6 692.1 -6.4 316 6568 0.00 2.58 0.00 0.000 4 0.000 0.053 2225 3302 3477

6816 -1.23 -146.6 704.4 -5.7 327 6820 0.00 2.55 0.00 0.000 6 0.000 0.049 2224 1899 3477

7132 -1.23 -146.6 725.2 -9.3 342 7136 0.00 2.58 0.00 0.000 4 0.000 0.055 2225 3304 3477

7255 -1.23 -146.6 740.1 -11.4 347 7261 0.00 2.55 0.00 0.000 6 0.000 0.051 2225 1901 3477

7570 -1.23 -146.6 781.0 -10.4 363 7572 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1901 3477

7794 end dive: TARGET_DEPTH_EXCEEDED

state 7795 begin apogee

7801 -0.36 0.0 802.8 10.6 374 7937 0.93 0.00 127.60 1.348 6 0.084 0.000 2420 2100 2878

7938 end apogee: CONTROL_FINISHED_OK

state 7938 begin climb

7941 1.23 146.6 809.6 0.0 381 8078 1.58 2.80 126.45 1.308 4 0.051 0.077 2767 693 2280

8305 1.28 191.4 796.3 6.3 398 8350 0.00 2.55 39.38 1.312 6 0.000 0.052 2767 2097 2097

8674 1.31 213.8 766.6 7.1 416 8699 0.00 2.70 19.65 1.323 4 0.000 0.066 2767 3499 2006

8936 1.72 544.6 761.8 -4.6 428 9224 0.45 2.60 277.60 1.322 6 0.038 0.058 2880 2102 657

9551 1.72 544.6 669.9 22.8 458 9556 0.00 2.72 0.00 0.000 4 0.000 0.084 2880 693 655

9613 1.72 544.6 654.9 27.1 461 9618 0.00 2.53 0.00 0.000 6 0.000 0.047 2880 2104 656

9940 1.72 544.6 583.8 23.1 477 9944 0.00 2.70 0.00 0.000 4 0.000 0.077 2880 692 656

10007 1.72 544.6 567.4 24.5 480 10011 0.00 2.50 0.00 0.000 6 0.000 0.043 2880 2102 655

10327 1.72 544.6 507.1 18.1 496 10332 0.00 2.67 0.00 0.000 4 0.000 0.075 2880 692 656

10390 1.72 544.6 496.0 20.9 499 10394 0.00 2.47 0.00 0.000 6 0.000 0.041 2879 2101 655

10716 1.72 544.6 434.1 17.2 515 10720 0.00 2.70 0.00 0.000 4 0.000 0.074 2880 685 656

10800 1.72 544.6 417.7 19.2 519 10805 0.00 2.50 0.00 0.000 6 0.000 0.040 2880 2112 656

11127 1.72 544.6 361.3 18.0 535 11131 0.00 2.70 0.00 0.000 4 0.000 0.073 2880 691 656

11216 1.72 544.6 342.7 20.6 539 11220 0.00 2.47 0.00 0.000 6 0.000 0.040 2880 2098 656

11537 1.72 544.6 286.9 16.6 555 11541 0.00 2.67 0.00 0.000 4 0.000 0.071 2880 685 657

11614 1.72 544.6 272.6 19.0 558 11620 0.00 2.50 0.00 0.000 6 0.000 0.038 2880 2111 657

11930 1.72 544.6 213.6 18.1 574 11934 0.00 2.67 0.00 0.000 4 0.000 0.070 2880 691 658

12007 1.72 544.6 199.4 17.7 577 12013 0.00 2.47 0.00 0.000 6 0.000 0.038 2880 2105 658

12324 1.72 544.6 139.3 18.7 593 12328 0.00 2.67 0.00 0.000 4 0.000 0.070 2880 683 658

12431 1.72 544.6 122.8 14.5 598 12435 0.00 2.47 0.00 0.000 6 0.000 0.038 2880 2106 659

12758 1.72 544.6 62.2 17.5 614 12762 0.00 2.67 0.00 0.000 4 0.000 0.069 2880 685 659

12847 1.72 544.6 42.0 18.8 618 12851 0.00 2.47 0.00 0.000 6 0.000 0.038 2880 2104 659

13062 end climb: SURFACE_DEPTH_REACHED

state 13062 begin surface coast

13084 end surface coast: CONTROL_FINISHED_OK

state 13084 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	423	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	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-3	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	-86903	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	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	030221,6141.491,-912.577,41,2.2,60,-9.4	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,-0.206
_SM_DEPTHo	1.56	KALMAN_X	609471.6,-1025.6,-470.9,-645516.2,2457.0
_SM_ANGLEo	-53.5	KALMAN_Y	133230.4,-574.6,-1056.3,-116083.9,3787.6
GPS2	030823,6141.506,-912.637,13,2.3,32,-9.4	MHEAD_RNG_PITCHd_Wd	219.1,41381,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	801

FINISH	0.9,1.003549	XPDR_PINGS	1
SM_CCo	13168,0.00,0.000,0,0,658,544.32	ALTIM_TOP_PING	16.5,999.0
SM_GC	1.55,12.35,0.00,0.00,0.033,0.000,0.000,31,1887,658,-11.27,-0.37,544.32	_24V_AH	22.9,82.299
IRIDIUM_FIX	6117.23,-915.81,040597,232334	_10V_AH	10.1,39.672
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31639,630
HUMID	2104	CFSIZE	260165632,233267200
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.60	GPS	090208,065037,6139.109,-917.383,30,1.1,30,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	85.52	SBE_CT	467	24	256.94
Roll_motor	129	84	249.58	SBE_O2	422	19	183.98
VBD_pump_during_apogee	590	1347	18228.51	WL_BB2F	365	105	878.28
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	38	103	90.74	nil	0	0	0.00
Iridium_during_connect	42	160	155.12	nil	0	0	0.00
Iridium_during_xfer	142	223	729.56
Transponder_ping	7	420	69.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.31
TT8	1207	19	241.57
LPSleep	9536	2	210.95
TT8_Active	651	19	130.24
TT8_Sampling	1670	39	671.31
TT8_CF8	513	45	237.65
TT8_Kalman	33	81	27.57
Analog_circuits	1531	12	185.61
GPS_charging	0	0	0.00
Compass	1607	8	129.85
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.23	-146.6	0.0	0.0	0	106	0.00	0.00	-80.57	0.000	2	0.000	0.000	34	1882	3018
110	-1.23	-146.6	4.0	-4.1	4	140	11.60	2.62	-11.62	0.000	4	0.139	0.062	2225	3302	3477
153	-1.23	-146.6	12.8	-15.1	6	157	0.00	2.53	0.00	0.000	6	0.000	0.041	2225	1903	3477
480	-1.23	-146.6	53.7	-10.0	22	484	0.00	2.53	0.00	0.000	4	0.000	0.045	2225	3307	3477
524	-1.23	-146.6	58.3	-10.1	24	528	0.00	2.53	0.00	0.000	6	0.000	0.040	2225	1894	3477
846	-1.23	-146.6	92.7	-13.4	40	850	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3307	3477
901	-1.23	-146.6	98.7	-7.6	42	908	0.00	2.50	0.00	0.000	6	0.000	0.040	2225	1897	3477
1217	-1.23	-146.6	128.3	-11.6	58	1221	0.00	2.55	0.00	0.000	4	0.000	0.045	2225	3314	3477
1261	-1.23	-146.6	133.3	-10.8	60	1265	0.00	2.53	0.00	0.000	6	0.000	0.040	2225	1900	3477
1582	-1.23	-146.6	164.2	-9.5	76	1584	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3477
1892	-1.23	-146.6	191.7	-7.8	91	1896	0.00	2.53	0.00	0.000	4	0.000	0.045	2224	3307	3477
1964	-1.23	-146.6	197.6	-8.3	94	1969	0.00	2.53	0.00	0.000	6	0.000	0.040	2225	1893	3477
2280	-1.23	-146.6	220.7	-7.7	109	2281	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1893	3477
2590	-1.23	-146.6	247.6	-9.8	124	2594	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3306	3477
2645	-1.23	-146.6	253.6	-10.9	126	2652	0.00	2.53	0.00	0.000	6	0.000	0.041	2224	1893	3477
2961	-1.23	-146.6	290.1	-12.1	142	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1893	3478
3270	-1.23	-146.6	331.6	-14.6	157	3275	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3307	3477
3333	-1.23	-146.6	340.8	-15.1	160	3337	0.00	2.53	0.00	0.000	6	0.000	0.042	2225	1898	3477
3660	-1.23	-146.6	393.7	-15.6	176	3664	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3477
3731	-1.23	-146.6	405.6	-15.6	179	3736	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1898	3477
4047	-1.23	-146.6	453.0	-14.6	194	4048	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1898	3477
4356	-1.23	-146.6	496.8	-14.7	209	4360	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3477
4412	-1.23	-146.6	504.3	-13.5	211	4418	0.00	2.53	0.00	0.000	6	0.000	0.043	2225	1900	3477
4728	-1.23	-146.6	550.1	-14.6	227	4729	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
5036	-1.23	-146.6	588.1	-9.3	242	5041	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3305	3477
5127	-1.23	-146.6	592.8	-3.7	246	5131	0.00	2.53	0.00	0.000	6	0.000	0.045	2225	1902	3477
5447	-1.23	-146.6	596.4	1.8	262	5452	0.00	2.65	0.00	0.000	4	0.000	0.072	2225	488	3477
5503	-1.23	-146.6	594.6	2.7	264	5509	0.00	2.50	0.00	0.000	6	0.000	0.041	2225	1911	3477
5819	-1.23	-146.6	612.9	-10.3	280	5824	0.00	2.53	0.00	0.000	4	0.000	0.056	2224	3298	3477
5927	-1.23	-146.6	622.9	-7.8	285	5931	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1894	3477
6254	-1.23	-146.6	667.6	-12.5	301	6255	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1894	3477
6564	-1.23	-146.6	692.1	-6.4	316	6568	0.00	2.58	0.00	0.000	4	0.000	0.053	2225	3302	3477
6816	-1.23	-146.6	704.4	-5.7	327	6820	0.00	2.55	0.00	0.000	6	0.000	0.049	2224	1899	3477
7132	-1.23	-146.6	725.2	-9.3	342	7136	0.00	2.58	0.00	0.000	4	0.000	0.055	2225	3304	3477
7255	-1.23	-146.6	740.1	-11.4	347	7261	0.00	2.55	0.00	0.000	6	0.000	0.051	2225	1901	3477
7570	-1.23	-146.6	781.0	-10.4	363	7572	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1901	3477
7794	end dive: TARGET_DEPTH_EXCEEDED
state	7795	begin apogee
7801	-0.36	0.0	802.8	10.6	374	7937	0.93	0.00	127.60	1.348	6	0.084	0.000	2420	2100	2878
7938	end apogee: CONTROL_FINISHED_OK
state	7938	begin climb
7941	1.23	146.6	809.6	0.0	381	8078	1.58	2.80	126.45	1.308	4	0.051	0.077	2767	693	2280
8305	1.28	191.4	796.3	6.3	398	8350	0.00	2.55	39.38	1.312	6	0.000	0.052	2767	2097	2097
8674	1.31	213.8	766.6	7.1	416	8699	0.00	2.70	19.65	1.323	4	0.000	0.066	2767	3499	2006
8936	1.72	544.6	761.8	-4.6	428	9224	0.45	2.60	277.60	1.322	6	0.038	0.058	2880	2102	657
9551	1.72	544.6	669.9	22.8	458	9556	0.00	2.72	0.00	0.000	4	0.000	0.084	2880	693	655
9613	1.72	544.6	654.9	27.1	461	9618	0.00	2.53	0.00	0.000	6	0.000	0.047	2880	2104	656
9940	1.72	544.6	583.8	23.1	477	9944	0.00	2.70	0.00	0.000	4	0.000	0.077	2880	692	656
10007	1.72	544.6	567.4	24.5	480	10011	0.00	2.50	0.00	0.000	6	0.000	0.043	2880	2102	655
10327	1.72	544.6	507.1	18.1	496	10332	0.00	2.67	0.00	0.000	4	0.000	0.075	2880	692	656
10390	1.72	544.6	496.0	20.9	499	10394	0.00	2.47	0.00	0.000	6	0.000	0.041	2879	2101	655
10716	1.72	544.6	434.1	17.2	515	10720	0.00	2.70	0.00	0.000	4	0.000	0.074	2880	685	656
10800	1.72	544.6	417.7	19.2	519	10805	0.00	2.50	0.00	0.000	6	0.000	0.040	2880	2112	656
11127	1.72	544.6	361.3	18.0	535	11131	0.00	2.70	0.00	0.000	4	0.000	0.073	2880	691	656
11216	1.72	544.6	342.7	20.6	539	11220	0.00	2.47	0.00	0.000	6	0.000	0.040	2880	2098	656
11537	1.72	544.6	286.9	16.6	555	11541	0.00	2.67	0.00	0.000	4	0.000	0.071	2880	685	657
11614	1.72	544.6	272.6	19.0	558	11620	0.00	2.50	0.00	0.000	6	0.000	0.038	2880	2111	657
11930	1.72	544.6	213.6	18.1	574	11934	0.00	2.67	0.00	0.000	4	0.000	0.070	2880	691	658
12007	1.72	544.6	199.4	17.7	577	12013	0.00	2.47	0.00	0.000	6	0.000	0.038	2880	2105	658
12324	1.72	544.6	139.3	18.7	593	12328	0.00	2.67	0.00	0.000	4	0.000	0.070	2880	683	658
12431	1.72	544.6	122.8	14.5	598	12435	0.00	2.47	0.00	0.000	6	0.000	0.038	2880	2106	659
12758	1.72	544.6	62.2	17.5	614	12762	0.00	2.67	0.00	0.000	4	0.000	0.069	2880	685	659
12847	1.72	544.6	42.0	18.8	618	12851	0.00	2.47	0.00	0.000	6	0.000	0.038	2880	2104	659
13062	end climb: SURFACE_DEPTH_REACHED
state	13062	begin surface coast
13084	end surface coast: CONTROL_FINISHED_OK
state	13084	begin surface