Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 73 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 73 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 240 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -78010.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -78010.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 240

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 73 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 134751,6207.601,-858.972,54,1.0,54,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.091,-0.179

_SM_DEPTHo 0.78 KALMAN_X -74112.7,-1479.1,-1479.6,39485.8,31584.8

_SM_ANGLEo -60.5 KALMAN_Y 12736.7,-1890.0,-1853.3,70041.5,34020.5

GPS2 135633,6207.513,-858.930,14,1.9,14,-9.4 MHEAD_RNG_PITCHd_Wd 216.4,50233,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.026349 ALTIM_BOTTOM_PING 350.5,48.5

SM_CCo 11192,45.50,0.783,0,0,1396,300.00 _24V_AH 24.0,16.733

SM_GC 0.83,0.00,0.00,45.50,0.000,0.000,0.783,421,2155,1396,-10.48,0.14,300.00 _10V_AH 10.1,7.242

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 25344,536

TT8_MAMPS 0.029146 CAP_FILE_SIZE 87233,0

HUMID 1678 CFSIZE 254472192,247480320

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 391 GPS 210608,170652,6203.591,-859.022,89,1.7,89,-9.4

ALTIM_TOP_PING 20.0,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 141 82.98 SBE_CT 366 24 210.94

Roll_motor 91 69 153.90 SBE_O2 393 19 179.45

VBD_pump_during_apogee 280 1056 7108.88 WL_BB2F 442 105 1114.61

VBD_pump_during_surface 45 783 855.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 186.69 nil 0 0 0.00

Iridium_during_connect 61 160 236.21 nil 0 0 0.00

Iridium_during_xfer 205 223 1102.14

Transponder_ping 100 420 1013.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.18

TT8 1016 19 203.31

LPSleep 8503 2 188.09

TT8_Active 427 19 85.56

TT8_Sampling 1251 39 503.24

TT8_CF8 564 45 261.15

TT8_Kalman 33 81 27.57

Analog_circuits 1056 12 128.07

GPS_charging 0 0 0.00

Compass 1231 8 99.51

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 -1.03 -117.3 0.0 0.0 0 95 0.00 0.00 -68.97 0.000 6 0.000 0.000 426 2155 3098

99 -1.03 -117.3 2.7 -2.8 4 115 10.65 2.53 0.00 0.000 4 0.141 0.058 2470 3562 3100

368 -0.73 -117.3 34.7 -10.7 15 373 0.32 2.53 0.00 0.000 6 0.089 0.047 2540 2143 3101

690 -0.64 -117.3 56.7 -7.2 31 695 0.10 2.58 0.00 0.000 4 0.101 0.059 2559 3563 3102

855 -0.64 -117.3 69.0 -8.0 38 859 0.00 2.50 0.00 0.000 6 0.000 0.047 2559 2152 3102

1171 -0.64 -117.3 90.8 -6.9 53 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2151 3103

1480 -0.64 -117.3 111.6 -6.9 68 1484 0.00 2.53 0.00 0.000 4 0.000 0.064 2559 746 3103

1497 -0.64 -117.3 112.6 -6.7 69 1501 0.00 2.47 0.00 0.000 6 0.000 0.050 2559 2137 3103

1825 -0.64 -117.3 129.6 -4.2 85 1829 0.00 2.55 0.00 0.000 4 0.000 0.061 2559 740 3103

1865 -0.64 -117.3 131.3 -4.6 87 1869 0.00 2.50 0.00 0.000 6 0.000 0.051 2559 2140 3102

2192 -0.64 -117.3 146.0 -4.9 103 2196 0.00 2.55 0.00 0.000 4 0.000 0.064 2559 749 3102

2232 -0.64 -117.3 148.4 -6.1 105 2236 0.00 2.47 0.00 0.000 6 0.000 0.052 2559 2132 3102

2559 -0.64 -117.3 171.7 -7.7 121 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2132 3102

2868 -0.64 -117.3 196.2 -7.7 136 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2132 3102

3177 -0.64 -117.3 218.1 -6.3 151 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2133 3102

3487 -0.64 -117.3 234.1 -4.3 166 3488 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2133 3102

3796 -0.64 -117.3 243.7 -2.4 181 3797 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2133 3102

4106 -0.64 -117.3 251.8 -3.0 196 4107 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2133 3102

4415 -0.64 -117.3 265.3 -5.3 211 4416 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2133 3101

4724 -0.64 -117.3 288.4 -8.7 226 4728 0.00 2.58 0.00 0.000 4 0.000 0.066 2559 3562 3101

4734 -0.64 -117.3 289.4 -8.8 226 4740 0.00 2.58 0.00 0.000 6 0.000 0.053 2559 2121 3101

5050 -0.64 -117.3 319.1 -9.2 242 5051 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2121 3101

5359 -0.64 -117.3 346.7 -8.5 257 5363 0.00 2.62 0.00 0.000 4 0.000 0.066 2558 3561 3101

5437 -0.64 -117.3 353.6 -9.0 260 5444 0.00 2.58 0.00 0.000 6 0.000 0.053 2559 2117 3101

5754 -0.64 -117.3 380.2 -8.4 276 5758 0.00 2.62 0.00 0.000 4 0.000 0.064 2559 3559 3100

5885 end dive: BOTTOM_OBSTACLE_DETECTED

state 5885 begin apogee

5895 -0.33 0.0 389.3 4.3 282 5994 0.30 0.00 96.97 1.057 6 0.086 0.000 2623 2070 2620

5995 end apogee: CONTROL_FINISHED_OK

state 5995 begin climb

5998 1.03 117.3 392.5 0.0 287 6100 1.40 0.00 95.30 1.025 6 0.078 0.000 2920 2069 2141

6410 1.14 187.8 374.4 3.6 307 6475 0.12 2.72 57.47 1.006 4 0.050 0.063 2960 3506 1854

6554 1.10 187.8 363.8 8.3 313 6560 0.00 2.58 0.00 0.000 6 0.000 0.054 2960 2096 1854

6870 1.05 187.8 337.8 8.7 329 6875 0.15 2.60 0.00 0.000 4 0.082 0.064 2925 3507 1853

6926 1.11 187.8 333.0 8.0 331 6932 0.00 2.53 0.00 0.000 6 0.000 0.054 2925 2119 1853

7242 1.16 187.8 310.1 7.4 347 7244 0.12 0.00 0.00 0.000 6 0.049 0.000 2964 2119 1852

7552 1.10 187.8 281.5 9.1 362 7557 0.12 2.58 0.00 0.000 4 0.082 0.062 2939 3515 1852

7607 1.10 187.8 276.7 8.3 364 7613 0.00 2.50 0.00 0.000 6 0.000 0.053 2938 2133 1852

7923 1.10 187.8 252.1 7.5 380 7924 0.00 0.00 0.00 0.000 6 0.000 0.000 2939 2132 1852

8232 1.10 187.8 229.8 6.7 395 8236 0.00 2.53 0.00 0.000 4 0.000 0.063 2939 3508 1852

8281 1.10 187.8 226.4 6.9 397 8286 0.00 2.47 0.00 0.000 6 0.000 0.054 2938 2133 1852

8598 1.13 210.2 208.5 5.2 412 8618 0.00 0.00 19.00 0.907 6 0.000 0.000 2939 2133 1763

8927 1.14 214.9 189.9 5.8 428 8937 0.00 2.53 5.90 0.745 4 0.000 0.061 2939 3508 1742

8983 1.18 214.9 186.2 6.8 430 8989 0.00 2.45 0.00 0.000 6 0.000 0.053 2939 2149 1742

9299 1.19 219.9 167.0 5.8 446 9310 0.00 2.67 5.60 0.725 4 0.000 0.070 2938 688 1722

9350 1.24 219.9 163.6 7.6 448 9355 0.15 2.65 0.00 0.000 6 0.045 0.053 2982 2160 1721

9667 1.16 219.9 132.0 11.6 463 9672 0.15 2.42 0.00 0.000 4 0.080 0.062 2947 3508 1721

9723 1.16 219.9 125.6 10.8 465 9730 0.00 2.42 0.00 0.000 6 0.000 0.053 2948 2161 1722

10040 1.16 219.9 95.7 8.9 481 10044 0.00 2.65 0.00 0.000 4 0.000 0.068 2947 691 1722

10106 1.16 219.9 89.2 9.7 484 10111 0.00 2.62 0.00 0.000 6 0.000 0.052 2948 2159 1722

10428 1.16 219.9 60.7 9.0 500 10432 0.00 2.42 0.00 0.000 4 0.000 0.062 2948 3511 1722

10483 1.16 219.9 55.2 9.9 502 10490 0.00 2.42 0.00 0.000 6 0.000 0.053 2948 2151 1722

10800 1.20 219.9 26.7 7.8 518 10804 0.00 2.65 0.00 0.000 4 0.000 0.069 2948 683 1722

10862 1.20 219.9 21.4 8.1 521 10867 0.00 2.62 0.00 0.000 6 0.000 0.051 2947 2152 1722

11145 end climb: SURFACE_DEPTH_REACHED

state 11145 begin surface coast

11170 end surface coast: CONTROL_FINISHED_OK

state 11171 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	73	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	240	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-78010.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	134751,6207.601,-858.972,54,1.0,54,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.091,-0.179
_SM_DEPTHo	0.78	KALMAN_X	-74112.7,-1479.1,-1479.6,39485.8,31584.8
_SM_ANGLEo	-60.5	KALMAN_Y	12736.7,-1890.0,-1853.3,70041.5,34020.5
GPS2	135633,6207.513,-858.930,14,1.9,14,-9.4	MHEAD_RNG_PITCHd_Wd	216.4,50233,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.0,1.026349	ALTIM_BOTTOM_PING	350.5,48.5
SM_CCo	11192,45.50,0.783,0,0,1396,300.00	_24V_AH	24.0,16.733
SM_GC	0.83,0.00,0.00,45.50,0.000,0.000,0.783,421,2155,1396,-10.48,0.14,300.00	_10V_AH	10.1,7.242
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	25344,536
TT8_MAMPS	0.029146	CAP_FILE_SIZE	87233,0
HUMID	1678	CFSIZE	254472192,247480320
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	391	GPS	210608,170652,6203.591,-859.022,89,1.7,89,-9.4
ALTIM_TOP_PING	20.0,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	141	82.98	SBE_CT	366	24	210.94
Roll_motor	91	69	153.90	SBE_O2	393	19	179.45
VBD_pump_during_apogee	280	1056	7108.88	WL_BB2F	442	105	1114.61
VBD_pump_during_surface	45	783	855.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	186.69	nil	0	0	0.00
Iridium_during_connect	61	160	236.21	nil	0	0	0.00
Iridium_during_xfer	205	223	1102.14
Transponder_ping	100	420	1013.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.18
TT8	1016	19	203.31
LPSleep	8503	2	188.09
TT8_Active	427	19	85.56
TT8_Sampling	1251	39	503.24
TT8_CF8	564	45	261.15
TT8_Kalman	33	81	27.57
Analog_circuits	1056	12	128.07
GPS_charging	0	0	0.00
Compass	1231	8	99.51
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	-1.03	-117.3	0.0	0.0	0	95	0.00	0.00	-68.97	0.000	6	0.000	0.000	426	2155	3098
99	-1.03	-117.3	2.7	-2.8	4	115	10.65	2.53	0.00	0.000	4	0.141	0.058	2470	3562	3100
368	-0.73	-117.3	34.7	-10.7	15	373	0.32	2.53	0.00	0.000	6	0.089	0.047	2540	2143	3101
690	-0.64	-117.3	56.7	-7.2	31	695	0.10	2.58	0.00	0.000	4	0.101	0.059	2559	3563	3102
855	-0.64	-117.3	69.0	-8.0	38	859	0.00	2.50	0.00	0.000	6	0.000	0.047	2559	2152	3102
1171	-0.64	-117.3	90.8	-6.9	53	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2151	3103
1480	-0.64	-117.3	111.6	-6.9	68	1484	0.00	2.53	0.00	0.000	4	0.000	0.064	2559	746	3103
1497	-0.64	-117.3	112.6	-6.7	69	1501	0.00	2.47	0.00	0.000	6	0.000	0.050	2559	2137	3103
1825	-0.64	-117.3	129.6	-4.2	85	1829	0.00	2.55	0.00	0.000	4	0.000	0.061	2559	740	3103
1865	-0.64	-117.3	131.3	-4.6	87	1869	0.00	2.50	0.00	0.000	6	0.000	0.051	2559	2140	3102
2192	-0.64	-117.3	146.0	-4.9	103	2196	0.00	2.55	0.00	0.000	4	0.000	0.064	2559	749	3102
2232	-0.64	-117.3	148.4	-6.1	105	2236	0.00	2.47	0.00	0.000	6	0.000	0.052	2559	2132	3102
2559	-0.64	-117.3	171.7	-7.7	121	2560	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2132	3102
2868	-0.64	-117.3	196.2	-7.7	136	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2132	3102
3177	-0.64	-117.3	218.1	-6.3	151	3179	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2133	3102
3487	-0.64	-117.3	234.1	-4.3	166	3488	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2133	3102
3796	-0.64	-117.3	243.7	-2.4	181	3797	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2133	3102
4106	-0.64	-117.3	251.8	-3.0	196	4107	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2133	3102
4415	-0.64	-117.3	265.3	-5.3	211	4416	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2133	3101
4724	-0.64	-117.3	288.4	-8.7	226	4728	0.00	2.58	0.00	0.000	4	0.000	0.066	2559	3562	3101
4734	-0.64	-117.3	289.4	-8.8	226	4740	0.00	2.58	0.00	0.000	6	0.000	0.053	2559	2121	3101
5050	-0.64	-117.3	319.1	-9.2	242	5051	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2121	3101
5359	-0.64	-117.3	346.7	-8.5	257	5363	0.00	2.62	0.00	0.000	4	0.000	0.066	2558	3561	3101
5437	-0.64	-117.3	353.6	-9.0	260	5444	0.00	2.58	0.00	0.000	6	0.000	0.053	2559	2117	3101
5754	-0.64	-117.3	380.2	-8.4	276	5758	0.00	2.62	0.00	0.000	4	0.000	0.064	2559	3559	3100
5885	end dive: BOTTOM_OBSTACLE_DETECTED
state	5885	begin apogee
5895	-0.33	0.0	389.3	4.3	282	5994	0.30	0.00	96.97	1.057	6	0.086	0.000	2623	2070	2620
5995	end apogee: CONTROL_FINISHED_OK
state	5995	begin climb
5998	1.03	117.3	392.5	0.0	287	6100	1.40	0.00	95.30	1.025	6	0.078	0.000	2920	2069	2141
6410	1.14	187.8	374.4	3.6	307	6475	0.12	2.72	57.47	1.006	4	0.050	0.063	2960	3506	1854
6554	1.10	187.8	363.8	8.3	313	6560	0.00	2.58	0.00	0.000	6	0.000	0.054	2960	2096	1854
6870	1.05	187.8	337.8	8.7	329	6875	0.15	2.60	0.00	0.000	4	0.082	0.064	2925	3507	1853
6926	1.11	187.8	333.0	8.0	331	6932	0.00	2.53	0.00	0.000	6	0.000	0.054	2925	2119	1853
7242	1.16	187.8	310.1	7.4	347	7244	0.12	0.00	0.00	0.000	6	0.049	0.000	2964	2119	1852
7552	1.10	187.8	281.5	9.1	362	7557	0.12	2.58	0.00	0.000	4	0.082	0.062	2939	3515	1852
7607	1.10	187.8	276.7	8.3	364	7613	0.00	2.50	0.00	0.000	6	0.000	0.053	2938	2133	1852
7923	1.10	187.8	252.1	7.5	380	7924	0.00	0.00	0.00	0.000	6	0.000	0.000	2939	2132	1852
8232	1.10	187.8	229.8	6.7	395	8236	0.00	2.53	0.00	0.000	4	0.000	0.063	2939	3508	1852
8281	1.10	187.8	226.4	6.9	397	8286	0.00	2.47	0.00	0.000	6	0.000	0.054	2938	2133	1852
8598	1.13	210.2	208.5	5.2	412	8618	0.00	0.00	19.00	0.907	6	0.000	0.000	2939	2133	1763
8927	1.14	214.9	189.9	5.8	428	8937	0.00	2.53	5.90	0.745	4	0.000	0.061	2939	3508	1742
8983	1.18	214.9	186.2	6.8	430	8989	0.00	2.45	0.00	0.000	6	0.000	0.053	2939	2149	1742
9299	1.19	219.9	167.0	5.8	446	9310	0.00	2.67	5.60	0.725	4	0.000	0.070	2938	688	1722
9350	1.24	219.9	163.6	7.6	448	9355	0.15	2.65	0.00	0.000	6	0.045	0.053	2982	2160	1721
9667	1.16	219.9	132.0	11.6	463	9672	0.15	2.42	0.00	0.000	4	0.080	0.062	2947	3508	1721
9723	1.16	219.9	125.6	10.8	465	9730	0.00	2.42	0.00	0.000	6	0.000	0.053	2948	2161	1722
10040	1.16	219.9	95.7	8.9	481	10044	0.00	2.65	0.00	0.000	4	0.000	0.068	2947	691	1722
10106	1.16	219.9	89.2	9.7	484	10111	0.00	2.62	0.00	0.000	6	0.000	0.052	2948	2159	1722
10428	1.16	219.9	60.7	9.0	500	10432	0.00	2.42	0.00	0.000	4	0.000	0.062	2948	3511	1722
10483	1.16	219.9	55.2	9.9	502	10490	0.00	2.42	0.00	0.000	6	0.000	0.053	2948	2151	1722
10800	1.20	219.9	26.7	7.8	518	10804	0.00	2.65	0.00	0.000	4	0.000	0.069	2948	683	1722
10862	1.20	219.9	21.4	8.1	521	10867	0.00	2.62	0.00	0.000	6	0.000	0.051	2947	2152	1722
11145	end climb: SURFACE_DEPTH_REACHED
state	11145	begin surface coast
11170	end surface coast: CONTROL_FINISHED_OK
state	11171	begin surface