Glider dive log

Monterey Jul07 * SG112 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 990 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2720 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 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 2 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 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 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 2800 DEVICE6 -1

T_NO_W 120 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -20422.725 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 160 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043712994

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064806995

RHO 1.0275 C_PITCH 2235 PRESSURE_YINT -3.6470764 SEABIRD_T_I 2.9318924e-05

MASS 51814 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 3.4945006e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.125542

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1422628

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00066794927

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014236888

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.6470764 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.0275 T_GPS_CHARGE -20422.725

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2235 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2720 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2300 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51814 R_PORT_OVSHOOT 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 160 R_STBD_OVSHOOT 8 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.125542 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1422628 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.00066794927 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00014236888 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712994 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064806995 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.9318924e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 5 PHONE_DEVICE 48 SEABIRD_T_J 3.4945006e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 014126,3645.789,-12201.177,39,1.5,39,14.8 TGT_NAME BRAVO

_CALLS 1 TGT_LATLONG 3639.000,-12208.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.191,-0.113

_SM_DEPTHo 2.03 KALMAN_X 1962.4,458.8,-374.8,-5040.8,917.3

_SM_ANGLEo -48.4 KALMAN_Y -2434.4,-527.4,236.3,842.2,-707.8

GPS2 015144,3645.686,-12201.146,8,1.4,13,14.8 MHEAD_RNG_PITCHd_Wd 231.7,16031,-20.5,-10.000

SPEED_LIMITS 0.173,0.222 D_GRID 760

Post-dive calculations and measurements:

FINISH 1.6,1.025399 XPDR_PINGS 1

SM_CCo 13389,75.32,0.680,0,0,1372,350.04 ALTIM_TOP_PING 20.0,19.7

SM_GC 2.12,0.00,0.00,75.32,0.000,0.000,0.680,672,2287,1372,-7.19,-0.37,350.04 _24V_AH 20.1,19.678

RAFOS_CLK 688 _10V_AH 9.9,7.376

RAFOS 0,1184990651,4.083333,4.069722,50,41,38,0,0,0,817,63,922,0,0,0 DATA_FILE_SIZE 47313,1286

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,255561728

IRIDIUM_FIX 3629.60,-12200.04,210707,020241 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.025311 SOUNDSPEED 1485.7

HUMID 2273 CURRENT 0.096,182.0,1

INTERNAL_PRESSURE 10.7719 GPS 210707,053838,3644.325,-12203.173,33,1.3,33,14.8

TCM_TEMP 10.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 234 107.21 SBE_CT 892 24 430.44

Roll_motor 113 138 316.78 SBE_O2 1050 19 401.04

VBD_pump_during_apogee 398 1206 9652.29 nil 0 0 0.00

VBD_pump_during_surface 75 679 1028.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 79.02 nil 0 0 0.00

Iridium_during_connect 33 160 109.19 nil 0 0 0.00

Iridium_during_xfer 341 223 1531.31

Transponder_ping 2 420 21.11

GPS 14 50 7.41

TT8 2690 19 530.54

LPSleep 8673 2 198.34

TT8_Active 666 19 131.39

TT8_Sampling 1259 39 497.72

TT8_CF8 781 45 355.30

TT8_Kalman 33 81 27.03

Analog_circuits 1650 12 196.10

GPS_charging 0 0 0.00

Compass 1204 20 238.43

RAFOS 2160 1 32.08

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.12 -155.7 0.0 0.0 0 80 0.00 0.00 -49.62 0.000 2 0.000 0.000 674 2290 2639

84 -1.12 -155.7 3.3 -4.1 8 124 10.85 3.15 -22.40 0.000 4 0.235 0.090 1988 3711 3437

282 -1.12 -155.7 32.8 -13.7 42 288 0.00 2.75 0.00 0.000 6 0.000 0.035 1987 2290 3439

626 -1.12 -155.7 81.0 -13.6 103 631 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2290 3441

969 -1.12 -155.7 125.9 -13.7 164 976 0.00 2.88 0.00 0.000 4 0.000 0.072 1987 894 3379

1016 -1.12 -155.7 132.4 -13.9 172 1024 0.00 2.75 -1.40 0.000 6 0.000 0.042 1987 2305 3422

1362 -1.12 -155.7 184.6 -14.4 233 1368 0.00 3.25 0.00 0.000 4 0.000 0.117 1988 3710 3706

1414 -1.12 -155.7 192.1 -14.0 242 1421 0.00 2.72 0.00 0.000 6 0.000 0.039 1987 2293 3706

1749 -1.12 -155.7 238.7 -13.8 278 1753 0.00 2.95 0.00 0.000 4 0.000 0.082 1988 894 3688

1800 -1.12 -155.7 246.0 -14.6 282 1804 0.00 2.80 0.00 0.000 6 0.000 0.056 1987 2296 3706

2127 -1.12 -155.7 292.3 -14.3 312 2132 0.00 3.45 0.00 0.000 4 0.000 0.139 1987 3710 3706

2156 -1.12 -155.7 296.6 -14.0 314 2160 0.00 2.80 0.00 0.000 6 0.000 0.050 1988 2304 3706

2483 -1.12 -155.7 341.7 -14.4 344 2488 0.00 3.30 0.00 0.000 4 0.000 0.122 1988 3708 3706

2516 -1.12 -155.7 347.1 -15.0 346 2522 0.00 2.85 0.00 0.000 6 0.000 0.059 1987 2298 3706

2843 -1.12 -155.7 392.5 -13.1 377 2844 0.00 0.00 0.00 0.000 6 0.000 0.000 1987 2297 3706

3163 -1.12 -155.7 433.1 -12.8 407 3168 0.00 3.30 0.00 0.000 4 0.000 0.122 1988 3707 3705

3207 -1.12 -155.7 439.6 -13.2 410 3214 0.00 2.88 0.00 0.000 6 0.000 0.064 1988 2302 3705

3532 -1.12 -155.7 482.9 -13.2 441 3533 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2300 3705

3845 -1.12 -155.7 525.1 -13.1 462 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2299 3704

4154 -1.12 -155.7 566.5 -13.7 477 4159 0.00 3.30 0.00 0.000 4 0.000 0.120 1987 3711 3704

4181 -1.12 -155.7 570.7 -14.6 478 4186 0.00 2.88 0.00 0.000 6 0.000 0.061 1988 2297 3704

4497 -1.12 -155.7 611.2 -12.3 493 4498 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2297 3703

4807 -1.12 -155.7 647.1 -11.5 508 4808 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2296 3702

5116 -1.12 -155.7 684.6 -12.2 523 5121 0.00 3.30 0.00 0.000 4 0.000 0.117 1988 3712 3702

5178 -1.12 -155.7 692.4 -12.7 526 5183 0.00 2.88 0.00 0.000 6 0.000 0.059 1988 2294 3701

5505 -1.12 -155.7 735.2 -13.6 542 5506 0.00 0.00 0.00 0.000 6 0.000 0.000 1988 2294 3700

5687 end dive: TARGET_DEPTH_EXCEEDED

state 5687 begin apogee

5696 -0.21 0.0 760.5 13.2 551 5904 1.15 0.00 204.90 1.206 6 0.115 0.000 2183 2731 2800

5905 end apogee: CONTROL_FINISHED_OK

state 5905 begin climb

5908 1.12 155.7 772.5 0.0 561 6062 1.55 2.75 144.82 1.162 4 0.067 0.136 2474 3781 2165

6131 1.12 155.7 763.6 10.8 572 6136 0.00 2.22 0.00 0.000 6 0.000 0.044 2474 2707 2164

6447 1.12 155.7 731.3 10.3 587 6452 0.00 3.15 0.00 0.000 4 0.000 0.099 2474 1312 2163

6480 1.12 155.7 727.9 10.3 588 6487 0.00 2.97 0.00 0.000 6 0.000 0.065 2474 2715 2164

6796 1.12 155.7 694.5 11.1 604 6797 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2715 2163

7105 1.12 155.7 660.1 10.8 619 7106 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2716 2163

7414 1.12 155.7 627.1 10.3 634 7419 0.00 2.60 0.00 0.000 4 0.000 0.134 2475 3787 2161

7455 1.12 155.7 622.8 10.9 636 7458 0.00 2.12 0.00 0.000 6 0.000 0.044 2475 2713 2162

7782 1.12 155.7 591.4 10.0 652 7786 0.00 3.12 0.00 0.000 4 0.000 0.100 2475 1302 2162

7844 1.12 155.7 584.5 10.7 655 7849 0.00 2.95 0.00 0.000 6 0.000 0.067 2475 2722 2161

8170 1.12 155.7 549.9 10.6 671 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2722 2161

8483 1.13 167.5 518.2 9.5 686 8497 0.00 2.58 9.27 1.180 4 0.000 0.137 2475 3790 2117

8611 1.13 167.5 504.4 10.6 691 8615 0.00 2.12 0.00 0.000 6 0.000 0.044 2475 2710 2116

8938 1.13 167.5 472.5 10.4 719 8943 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2710 2116

9264 1.16 183.2 440.2 9.3 750 9286 0.00 3.08 13.52 1.097 4 0.000 0.096 2474 1304 2052

9314 1.16 183.2 435.0 10.3 754 9321 0.00 2.92 0.00 0.000 6 0.000 0.067 2475 2718 2052

9642 1.16 183.2 401.1 10.7 785 9643 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2718 2052

9957 1.16 183.2 367.6 10.1 815 9958 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2720 2052

10281 1.19 197.9 336.7 9.3 845 10298 0.00 0.00 12.50 1.022 6 0.000 0.000 2475 2721 1993

10619 1.19 197.9 301.5 10.6 877 10623 0.00 2.50 0.00 0.000 4 0.000 0.126 2474 3787 1993

10658 1.19 197.9 296.9 11.5 880 10662 0.00 2.08 0.00 0.000 6 0.000 0.039 2474 2714 1993

10983 1.19 197.9 259.9 12.4 910 10984 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2714 1993

11304 1.19 197.9 223.3 11.1 940 11309 0.00 2.95 0.00 0.000 4 0.000 0.082 2475 1311 1992

11333 1.19 197.9 219.8 11.9 942 11337 0.00 2.83 0.00 0.000 6 0.000 0.056 2475 2723 1993

11666 1.19 197.9 182.4 10.1 986 11673 0.00 2.90 0.00 0.000 4 0.000 0.067 2475 1312 1992

11707 1.19 197.9 178.0 10.5 993 11714 0.00 2.80 0.00 0.000 6 0.000 0.054 2474 2720 1993

12052 1.21 210.3 143.4 9.4 1054 12065 0.12 0.00 10.50 0.884 6 0.064 0.000 2501 2720 1942

12403 1.21 210.3 104.2 11.3 1116 12409 0.00 2.47 0.00 0.000 4 0.000 0.123 2502 3789 1909

12570 1.21 210.3 84.1 12.6 1145 12577 0.00 2.05 0.00 0.000 6 0.000 0.038 2501 2711 1942

12915 1.21 210.3 46.5 10.9 1206 12921 0.00 2.35 0.00 0.000 4 0.000 0.093 2501 3788 1897

13052 1.21 213.2 32.7 9.9 1230 13059 0.00 2.05 2.50 0.877 6 0.000 0.036 2501 2710 1931

13349 end climb: SURFACE_DEPTH_REACHED

state 13349 begin surface coast

13367 end surface coast: CONTROL_FINISHED_OK

state 13367 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	990	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2720	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	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	2	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	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	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	2800	DEVICE6	-1
T_NO_W	120	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-20422.725	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	160	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043712994
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064806995
RHO	1.0275	C_PITCH	2235	PRESSURE_YINT	-3.6470764	SEABIRD_T_I	2.9318924e-05
MASS	51814	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	3.4945006e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.125542
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1422628
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00066794927
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014236888

GPS1	014126,3645.789,-12201.177,39,1.5,39,14.8	TGT_NAME	BRAVO
_CALLS	1	TGT_LATLONG	3639.000,-12208.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.191,-0.113
_SM_DEPTHo	2.03	KALMAN_X	1962.4,458.8,-374.8,-5040.8,917.3
_SM_ANGLEo	-48.4	KALMAN_Y	-2434.4,-527.4,236.3,842.2,-707.8
GPS2	015144,3645.686,-12201.146,8,1.4,13,14.8	MHEAD_RNG_PITCHd_Wd	231.7,16031,-20.5,-10.000
SPEED_LIMITS	0.173,0.222	D_GRID	760

FINISH	1.6,1.025399	XPDR_PINGS	1
SM_CCo	13389,75.32,0.680,0,0,1372,350.04	ALTIM_TOP_PING	20.0,19.7
SM_GC	2.12,0.00,0.00,75.32,0.000,0.000,0.680,672,2287,1372,-7.19,-0.37,350.04	_24V_AH	20.1,19.678
RAFOS_CLK	688	_10V_AH	9.9,7.376
RAFOS	0,1184990651,4.083333,4.069722,50,41,38,0,0,0,817,63,922,0,0,0	DATA_FILE_SIZE	47313,1286
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,255561728
IRIDIUM_FIX	3629.60,-12200.04,210707,020241	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.025311	SOUNDSPEED	1485.7
HUMID	2273	CURRENT	0.096,182.0,1
INTERNAL_PRESSURE	10.7719	GPS	210707,053838,3644.325,-12203.173,33,1.3,33,14.8
TCM_TEMP	10.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	234	107.21	SBE_CT	892	24	430.44
Roll_motor	113	138	316.78	SBE_O2	1050	19	401.04
VBD_pump_during_apogee	398	1206	9652.29	nil	0	0	0.00
VBD_pump_during_surface	75	679	1028.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	79.02	nil	0	0	0.00
Iridium_during_connect	33	160	109.19	nil	0	0	0.00
Iridium_during_xfer	341	223	1531.31
Transponder_ping	2	420	21.11
GPS	14	50	7.41
TT8	2690	19	530.54
LPSleep	8673	2	198.34
TT8_Active	666	19	131.39
TT8_Sampling	1259	39	497.72
TT8_CF8	781	45	355.30
TT8_Kalman	33	81	27.03
Analog_circuits	1650	12	196.10
GPS_charging	0	0	0.00
Compass	1204	20	238.43
RAFOS	2160	1	32.08

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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.12	-155.7	0.0	0.0	0	80	0.00	0.00	-49.62	0.000	2	0.000	0.000	674	2290	2639
84	-1.12	-155.7	3.3	-4.1	8	124	10.85	3.15	-22.40	0.000	4	0.235	0.090	1988	3711	3437
282	-1.12	-155.7	32.8	-13.7	42	288	0.00	2.75	0.00	0.000	6	0.000	0.035	1987	2290	3439
626	-1.12	-155.7	81.0	-13.6	103	631	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2290	3441
969	-1.12	-155.7	125.9	-13.7	164	976	0.00	2.88	0.00	0.000	4	0.000	0.072	1987	894	3379
1016	-1.12	-155.7	132.4	-13.9	172	1024	0.00	2.75	-1.40	0.000	6	0.000	0.042	1987	2305	3422
1362	-1.12	-155.7	184.6	-14.4	233	1368	0.00	3.25	0.00	0.000	4	0.000	0.117	1988	3710	3706
1414	-1.12	-155.7	192.1	-14.0	242	1421	0.00	2.72	0.00	0.000	6	0.000	0.039	1987	2293	3706
1749	-1.12	-155.7	238.7	-13.8	278	1753	0.00	2.95	0.00	0.000	4	0.000	0.082	1988	894	3688
1800	-1.12	-155.7	246.0	-14.6	282	1804	0.00	2.80	0.00	0.000	6	0.000	0.056	1987	2296	3706
2127	-1.12	-155.7	292.3	-14.3	312	2132	0.00	3.45	0.00	0.000	4	0.000	0.139	1987	3710	3706
2156	-1.12	-155.7	296.6	-14.0	314	2160	0.00	2.80	0.00	0.000	6	0.000	0.050	1988	2304	3706
2483	-1.12	-155.7	341.7	-14.4	344	2488	0.00	3.30	0.00	0.000	4	0.000	0.122	1988	3708	3706
2516	-1.12	-155.7	347.1	-15.0	346	2522	0.00	2.85	0.00	0.000	6	0.000	0.059	1987	2298	3706
2843	-1.12	-155.7	392.5	-13.1	377	2844	0.00	0.00	0.00	0.000	6	0.000	0.000	1987	2297	3706
3163	-1.12	-155.7	433.1	-12.8	407	3168	0.00	3.30	0.00	0.000	4	0.000	0.122	1988	3707	3705
3207	-1.12	-155.7	439.6	-13.2	410	3214	0.00	2.88	0.00	0.000	6	0.000	0.064	1988	2302	3705
3532	-1.12	-155.7	482.9	-13.2	441	3533	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2300	3705
3845	-1.12	-155.7	525.1	-13.1	462	3846	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2299	3704
4154	-1.12	-155.7	566.5	-13.7	477	4159	0.00	3.30	0.00	0.000	4	0.000	0.120	1987	3711	3704
4181	-1.12	-155.7	570.7	-14.6	478	4186	0.00	2.88	0.00	0.000	6	0.000	0.061	1988	2297	3704
4497	-1.12	-155.7	611.2	-12.3	493	4498	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2297	3703
4807	-1.12	-155.7	647.1	-11.5	508	4808	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2296	3702
5116	-1.12	-155.7	684.6	-12.2	523	5121	0.00	3.30	0.00	0.000	4	0.000	0.117	1988	3712	3702
5178	-1.12	-155.7	692.4	-12.7	526	5183	0.00	2.88	0.00	0.000	6	0.000	0.059	1988	2294	3701
5505	-1.12	-155.7	735.2	-13.6	542	5506	0.00	0.00	0.00	0.000	6	0.000	0.000	1988	2294	3700
5687	end dive: TARGET_DEPTH_EXCEEDED
state	5687	begin apogee
5696	-0.21	0.0	760.5	13.2	551	5904	1.15	0.00	204.90	1.206	6	0.115	0.000	2183	2731	2800
5905	end apogee: CONTROL_FINISHED_OK
state	5905	begin climb
5908	1.12	155.7	772.5	0.0	561	6062	1.55	2.75	144.82	1.162	4	0.067	0.136	2474	3781	2165
6131	1.12	155.7	763.6	10.8	572	6136	0.00	2.22	0.00	0.000	6	0.000	0.044	2474	2707	2164
6447	1.12	155.7	731.3	10.3	587	6452	0.00	3.15	0.00	0.000	4	0.000	0.099	2474	1312	2163
6480	1.12	155.7	727.9	10.3	588	6487	0.00	2.97	0.00	0.000	6	0.000	0.065	2474	2715	2164
6796	1.12	155.7	694.5	11.1	604	6797	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2715	2163
7105	1.12	155.7	660.1	10.8	619	7106	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2716	2163
7414	1.12	155.7	627.1	10.3	634	7419	0.00	2.60	0.00	0.000	4	0.000	0.134	2475	3787	2161
7455	1.12	155.7	622.8	10.9	636	7458	0.00	2.12	0.00	0.000	6	0.000	0.044	2475	2713	2162
7782	1.12	155.7	591.4	10.0	652	7786	0.00	3.12	0.00	0.000	4	0.000	0.100	2475	1302	2162
7844	1.12	155.7	584.5	10.7	655	7849	0.00	2.95	0.00	0.000	6	0.000	0.067	2475	2722	2161
8170	1.12	155.7	549.9	10.6	671	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2722	2161
8483	1.13	167.5	518.2	9.5	686	8497	0.00	2.58	9.27	1.180	4	0.000	0.137	2475	3790	2117
8611	1.13	167.5	504.4	10.6	691	8615	0.00	2.12	0.00	0.000	6	0.000	0.044	2475	2710	2116
8938	1.13	167.5	472.5	10.4	719	8943	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2710	2116
9264	1.16	183.2	440.2	9.3	750	9286	0.00	3.08	13.52	1.097	4	0.000	0.096	2474	1304	2052
9314	1.16	183.2	435.0	10.3	754	9321	0.00	2.92	0.00	0.000	6	0.000	0.067	2475	2718	2052
9642	1.16	183.2	401.1	10.7	785	9643	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2718	2052
9957	1.16	183.2	367.6	10.1	815	9958	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2720	2052
10281	1.19	197.9	336.7	9.3	845	10298	0.00	0.00	12.50	1.022	6	0.000	0.000	2475	2721	1993
10619	1.19	197.9	301.5	10.6	877	10623	0.00	2.50	0.00	0.000	4	0.000	0.126	2474	3787	1993
10658	1.19	197.9	296.9	11.5	880	10662	0.00	2.08	0.00	0.000	6	0.000	0.039	2474	2714	1993
10983	1.19	197.9	259.9	12.4	910	10984	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2714	1993
11304	1.19	197.9	223.3	11.1	940	11309	0.00	2.95	0.00	0.000	4	0.000	0.082	2475	1311	1992
11333	1.19	197.9	219.8	11.9	942	11337	0.00	2.83	0.00	0.000	6	0.000	0.056	2475	2723	1993
11666	1.19	197.9	182.4	10.1	986	11673	0.00	2.90	0.00	0.000	4	0.000	0.067	2475	1312	1992
11707	1.19	197.9	178.0	10.5	993	11714	0.00	2.80	0.00	0.000	6	0.000	0.054	2474	2720	1993
12052	1.21	210.3	143.4	9.4	1054	12065	0.12	0.00	10.50	0.884	6	0.064	0.000	2501	2720	1942
12403	1.21	210.3	104.2	11.3	1116	12409	0.00	2.47	0.00	0.000	4	0.000	0.123	2502	3789	1909
12570	1.21	210.3	84.1	12.6	1145	12577	0.00	2.05	0.00	0.000	6	0.000	0.038	2501	2711	1942
12915	1.21	210.3	46.5	10.9	1206	12921	0.00	2.35	0.00	0.000	4	0.000	0.093	2501	3788	1897
13052	1.21	213.2	32.7	9.9	1230	13059	0.00	2.05	2.50	0.877	6	0.000	0.036	2501	2710	1931
13349	end climb: SURFACE_DEPTH_REACHED
state	13349	begin surface coast
13367	end surface coast: CONTROL_FINISHED_OK
state	13367	begin surface