Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 81 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 81 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 597.30548 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2860 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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16149.799 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1379 AH0_24V 147 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 122.2 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3363 PRESSURE_YINT -2.3287585 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 597.30548

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.3287585 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

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 -16149.799

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 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 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3363 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2860 MASS 51528 R_PORT_OVSHOOT 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 81 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-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 092435,4811.295,-12550.355,10,5.6,29,18.9 TGT_NAME CAPE_FLATTERY

_CALLS 5 TGT_LATLONG 4809.000,-12540.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.222,-0.143

_SM_DEPTHo 1.36 KALMAN_X -19352.0,746.9,570.8,5708.1,-13383.7

_SM_ANGLEo -67.5 KALMAN_Y 21209.5,-638.4,-528.4,-3079.2,12545.8

GPS2 093157,4811.351,-12550.395,9,1.7,9,18.9 MHEAD_RNG_PITCHd_Wd 103.9,13562,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.025249 XPDR_PINGS 78

SM_CCo 12871,142.88,0.739,0,0,425,597.31 ALTIM_BOTTOM_PING 679.2,5.8

SM_GC 1.22,0.00,0.00,142.88,0.000,0.000,0.739,1376,2233,425,-9.14,0.37,597.31 _24V_AH 23.5,14.276

IRIDIUM_FIX 0.00,0.00,010170,000000 _10V_AH 10.6,6.214

TT8_MAMPS 0.028379 DATA_FILE_SIZE 25351,539

HUMID 1874 CFSIZE 260165632,254885888

INTERNAL_PRESSURE 9.45349 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

TCM_TEMP 16.20 GPS 250108,131056,4811.154,-12548.151,38,1.4,38,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 164 106.47 SBE_CT 380 24 214.73

Roll_motor 111 108 282.10 SBE_O2 420 19 187.89

VBD_pump_during_apogee 362 1244 10606.68 WL_BB2F 698 105 1723.58

VBD_pump_during_surface 142 738 2479.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 282.09 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 25 420 254.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.94

TT8 1089 19 228.75

LPSleep 9871 2 229.16

TT8_Active 680 19 142.83

TT8_Sampling 1579 39 666.37

TT8_CF8 246 45 119.87

TT8_Kalman 33 81 28.92

Analog_circuits 1459 12 185.70

GPS_charging 0 0 0.00

Compass 1545 8 131.04

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.00 -146.6 0.0 0.0 0 133 0.00 0.00 -111.80 0.000 2 0.000 0.000 1377 2238 2660

135 -1.00 -146.6 3.4 -3.9 11 178 12.27 2.47 -20.70 0.000 4 0.165 0.072 3140 821 3461

193 -1.00 -146.6 14.9 -18.2 16 201 0.00 2.35 0.00 0.000 6 0.000 0.049 3140 2212 3461

529 -1.00 -146.6 79.5 -18.5 65 535 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2212 3461

853 -1.00 -146.6 130.9 -14.5 96 854 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2212 3461

1166 -1.00 -146.6 174.3 -12.2 117 1170 0.00 2.35 0.00 0.000 4 0.000 0.057 3140 812 3461

1197 -1.00 -146.6 178.2 -11.9 118 1205 0.00 2.33 0.00 0.000 6 0.000 0.048 3140 2217 3461

1514 -1.00 -146.6 212.7 -11.0 134 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2218 3461

1823 -1.00 -146.6 244.5 -10.7 149 1824 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2218 3460

2132 -1.00 -146.6 278.7 -11.5 164 2136 0.00 2.35 0.00 0.000 4 0.000 0.060 3140 817 3461

2242 -1.00 -146.6 291.6 -10.9 169 2247 0.00 2.33 0.00 0.000 6 0.000 0.051 3140 2218 3461

2564 -1.00 -146.6 328.6 -11.6 177 2566 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2219 3460

2868 -1.00 -146.6 365.8 -12.3 182 2872 0.00 2.35 0.00 0.000 4 0.000 0.062 3140 820 3461

2923 -1.00 -146.6 372.8 -12.5 182 2930 0.00 2.33 0.00 0.000 6 0.000 0.054 3140 2219 3461

3232 -1.00 -146.6 411.2 -12.6 188 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 3141 2219 3461

3535 -1.00 -146.6 447.5 -11.8 193 3539 0.00 2.35 0.00 0.000 4 0.000 0.064 3140 812 3461

3583 -1.00 -146.6 453.1 -11.1 193 3588 0.00 2.33 0.00 0.000 6 0.000 0.054 3140 2213 3461

3898 -1.00 -146.6 486.6 -10.6 199 3900 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2213 3460

4203 -1.00 -146.6 517.6 -10.2 204 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2214 3459

4505 -1.00 -146.6 547.2 -9.6 209 4509 0.00 2.38 0.00 0.000 4 0.000 0.069 3140 814 3459

4587 -1.00 -146.6 555.2 -9.5 210 4591 0.00 2.33 0.00 0.000 6 0.000 0.058 3140 2222 3459

4936 -1.00 -146.6 588.0 -9.5 216 4937 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2222 3459

5239 -1.00 -146.6 617.1 -9.5 221 5243 0.00 2.35 0.00 0.000 4 0.000 0.067 3140 823 3458

5271 -1.00 -146.6 620.4 -9.8 221 5275 0.00 2.33 0.00 0.000 6 0.000 0.058 3140 2214 3458

5605 -1.00 -146.6 653.9 -10.2 227 5609 0.00 2.38 0.00 0.000 4 0.000 0.068 3140 814 3457

5659 -1.00 -146.6 660.0 -10.9 227 5666 0.00 2.35 0.00 0.000 6 0.000 0.057 3140 2218 3457

5850 end dive: BOTTOM_OBSTACLE_DETECTED

state 5850 begin apogee

5854 -0.23 0.0 679.2 10.3 231 5979 1.00 0.00 121.80 1.245 6 0.100 0.000 3306 2219 2860

5980 end apogee: CONTROL_FINISHED_OK

state 5980 begin climb

5982 1.00 146.6 684.6 0.0 233 6117 1.60 2.75 125.35 1.197 4 0.058 0.068 3576 782 2262

6183 1.00 146.6 680.2 11.2 236 6188 0.00 2.47 0.00 0.000 6 0.000 0.054 3576 2183 2261

6537 1.00 146.6 643.2 10.4 242 6541 0.00 2.53 0.00 0.000 4 0.000 0.084 3575 3589 2261

6670 1.00 146.6 627.8 11.3 244 6675 0.00 2.40 0.00 0.000 6 0.000 0.048 3576 2190 2261

7036 1.00 146.6 589.2 10.5 250 7040 0.00 2.47 0.00 0.000 4 0.000 0.080 3576 3588 2261

7174 1.00 146.6 573.6 11.7 252 7179 0.00 2.38 0.00 0.000 6 0.000 0.048 3576 2185 2261

7534 1.00 146.6 536.7 10.0 258 7538 0.00 2.47 0.00 0.000 4 0.000 0.080 3576 3589 2260

7724 1.00 146.6 517.0 10.1 260 7730 0.00 2.35 0.00 0.000 6 0.000 0.048 3576 2174 2260

8032 1.02 163.1 488.6 9.2 266 8051 0.00 2.53 14.40 1.101 4 0.000 0.081 3576 3594 2195

8107 1.02 163.1 481.0 10.2 267 8112 0.00 2.40 0.00 0.000 6 0.000 0.048 3576 2186 2195

8467 1.02 163.1 444.9 10.3 273 8472 0.00 2.47 0.00 0.000 4 0.000 0.078 3576 3590 2195

8701 1.02 163.1 418.9 11.4 276 8706 0.00 2.38 0.00 0.000 6 0.000 0.048 3576 2178 2194

9033 1.02 163.1 385.7 10.1 282 9037 0.00 2.47 0.00 0.000 4 0.000 0.078 3576 3592 2194

9195 1.02 163.6 368.6 10.0 284 9199 0.00 2.35 0.00 0.000 6 0.000 0.048 3576 2171 2194

9532 1.02 163.6 334.8 10.1 290 9536 0.00 2.47 0.00 0.000 4 0.000 0.078 3576 3596 2194

9648 1.02 163.6 322.4 11.1 291 9652 0.00 2.38 0.00 0.000 6 0.000 0.047 3576 2175 2194

9964 1.04 173.4 291.2 9.6 299 9979 0.00 2.47 9.35 0.951 4 0.000 0.077 3576 3592 2152

10035 1.04 173.4 284.2 10.6 302 10039 0.00 2.38 0.00 0.000 6 0.000 0.047 3576 2180 2153

10362 1.07 197.8 256.2 8.9 318 10388 0.00 2.53 20.95 0.983 4 0.000 0.077 3576 3596 2052

10448 1.07 197.8 247.3 11.3 322 10453 0.00 2.40 0.00 0.000 6 0.000 0.046 3576 2181 2052

10776 1.07 197.8 212.1 11.0 338 10780 0.00 2.47 0.00 0.000 4 0.000 0.077 3576 3589 2052

10904 1.07 197.8 196.5 12.2 344 10908 0.00 2.35 0.00 0.000 6 0.000 0.046 3576 2174 2052

11230 1.08 207.6 163.6 9.6 360 11244 0.00 2.47 9.10 0.865 4 0.000 0.075 3576 3590 2013

11283 1.08 207.6 158.1 10.8 362 11287 0.00 2.35 0.00 0.000 6 0.000 0.046 3576 2177 2013

11612 1.09 216.4 124.9 9.6 389 11627 0.12 2.50 8.60 0.834 4 0.071 0.073 3601 3590 1977

11694 1.09 216.4 114.4 13.4 396 11701 0.00 2.38 0.00 0.000 6 0.000 0.045 3601 2182 1977

12021 1.13 246.2 81.1 8.6 427 12055 0.00 2.50 24.15 0.858 4 0.000 0.072 3601 3582 1855

12274 1.13 249.3 56.2 9.9 470 12286 0.00 2.33 4.50 0.636 6 0.000 0.044 3601 2177 1842

12614 1.17 279.8 25.9 8.6 517 12647 0.00 2.53 24.38 0.815 4 0.000 0.073 3601 3587 1719

12685 1.17 279.8 18.8 11.4 523 12692 0.00 2.38 0.00 0.000 6 0.000 0.043 3601 2186 1719

12838 end climb: SURFACE_DEPTH_REACHED

state 12838 begin surface coast

12850 end surface coast: CONTROL_FINISHED_OK

state 12850 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	81	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	597.30548	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2860	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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16149.799	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1379	AH0_24V	147	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	122.2	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3363	PRESSURE_YINT	-2.3287585	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	092435,4811.295,-12550.355,10,5.6,29,18.9	TGT_NAME	CAPE_FLATTERY
_CALLS	5	TGT_LATLONG	4809.000,-12540.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.222,-0.143
_SM_DEPTHo	1.36	KALMAN_X	-19352.0,746.9,570.8,5708.1,-13383.7
_SM_ANGLEo	-67.5	KALMAN_Y	21209.5,-638.4,-528.4,-3079.2,12545.8
GPS2	093157,4811.351,-12550.395,9,1.7,9,18.9	MHEAD_RNG_PITCHd_Wd	103.9,13562,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.025249	XPDR_PINGS	78
SM_CCo	12871,142.88,0.739,0,0,425,597.31	ALTIM_BOTTOM_PING	679.2,5.8
SM_GC	1.22,0.00,0.00,142.88,0.000,0.000,0.739,1376,2233,425,-9.14,0.37,597.31	_24V_AH	23.5,14.276
IRIDIUM_FIX	0.00,0.00,010170,000000	_10V_AH	10.6,6.214
TT8_MAMPS	0.028379	DATA_FILE_SIZE	25351,539
HUMID	1874	CFSIZE	260165632,254885888
INTERNAL_PRESSURE	9.45349	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
TCM_TEMP	16.20	GPS	250108,131056,4811.154,-12548.151,38,1.4,38,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	164	106.47	SBE_CT	380	24	214.73
Roll_motor	111	108	282.10	SBE_O2	420	19	187.89
VBD_pump_during_apogee	362	1244	10606.68	WL_BB2F	698	105	1723.58
VBD_pump_during_surface	142	738	2479.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	282.09	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	25	420	254.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.94
TT8	1089	19	228.75
LPSleep	9871	2	229.16
TT8_Active	680	19	142.83
TT8_Sampling	1579	39	666.37
TT8_CF8	246	45	119.87
TT8_Kalman	33	81	28.92
Analog_circuits	1459	12	185.70
GPS_charging	0	0	0.00
Compass	1545	8	131.04
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.00	-146.6	0.0	0.0	0	133	0.00	0.00	-111.80	0.000	2	0.000	0.000	1377	2238	2660
135	-1.00	-146.6	3.4	-3.9	11	178	12.27	2.47	-20.70	0.000	4	0.165	0.072	3140	821	3461
193	-1.00	-146.6	14.9	-18.2	16	201	0.00	2.35	0.00	0.000	6	0.000	0.049	3140	2212	3461
529	-1.00	-146.6	79.5	-18.5	65	535	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2212	3461
853	-1.00	-146.6	130.9	-14.5	96	854	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2212	3461
1166	-1.00	-146.6	174.3	-12.2	117	1170	0.00	2.35	0.00	0.000	4	0.000	0.057	3140	812	3461
1197	-1.00	-146.6	178.2	-11.9	118	1205	0.00	2.33	0.00	0.000	6	0.000	0.048	3140	2217	3461
1514	-1.00	-146.6	212.7	-11.0	134	1515	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2218	3461
1823	-1.00	-146.6	244.5	-10.7	149	1824	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2218	3460
2132	-1.00	-146.6	278.7	-11.5	164	2136	0.00	2.35	0.00	0.000	4	0.000	0.060	3140	817	3461
2242	-1.00	-146.6	291.6	-10.9	169	2247	0.00	2.33	0.00	0.000	6	0.000	0.051	3140	2218	3461
2564	-1.00	-146.6	328.6	-11.6	177	2566	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2219	3460
2868	-1.00	-146.6	365.8	-12.3	182	2872	0.00	2.35	0.00	0.000	4	0.000	0.062	3140	820	3461
2923	-1.00	-146.6	372.8	-12.5	182	2930	0.00	2.33	0.00	0.000	6	0.000	0.054	3140	2219	3461
3232	-1.00	-146.6	411.2	-12.6	188	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	3141	2219	3461
3535	-1.00	-146.6	447.5	-11.8	193	3539	0.00	2.35	0.00	0.000	4	0.000	0.064	3140	812	3461
3583	-1.00	-146.6	453.1	-11.1	193	3588	0.00	2.33	0.00	0.000	6	0.000	0.054	3140	2213	3461
3898	-1.00	-146.6	486.6	-10.6	199	3900	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2213	3460
4203	-1.00	-146.6	517.6	-10.2	204	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2214	3459
4505	-1.00	-146.6	547.2	-9.6	209	4509	0.00	2.38	0.00	0.000	4	0.000	0.069	3140	814	3459
4587	-1.00	-146.6	555.2	-9.5	210	4591	0.00	2.33	0.00	0.000	6	0.000	0.058	3140	2222	3459
4936	-1.00	-146.6	588.0	-9.5	216	4937	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2222	3459
5239	-1.00	-146.6	617.1	-9.5	221	5243	0.00	2.35	0.00	0.000	4	0.000	0.067	3140	823	3458
5271	-1.00	-146.6	620.4	-9.8	221	5275	0.00	2.33	0.00	0.000	6	0.000	0.058	3140	2214	3458
5605	-1.00	-146.6	653.9	-10.2	227	5609	0.00	2.38	0.00	0.000	4	0.000	0.068	3140	814	3457
5659	-1.00	-146.6	660.0	-10.9	227	5666	0.00	2.35	0.00	0.000	6	0.000	0.057	3140	2218	3457
5850	end dive: BOTTOM_OBSTACLE_DETECTED
state	5850	begin apogee
5854	-0.23	0.0	679.2	10.3	231	5979	1.00	0.00	121.80	1.245	6	0.100	0.000	3306	2219	2860
5980	end apogee: CONTROL_FINISHED_OK
state	5980	begin climb
5982	1.00	146.6	684.6	0.0	233	6117	1.60	2.75	125.35	1.197	4	0.058	0.068	3576	782	2262
6183	1.00	146.6	680.2	11.2	236	6188	0.00	2.47	0.00	0.000	6	0.000	0.054	3576	2183	2261
6537	1.00	146.6	643.2	10.4	242	6541	0.00	2.53	0.00	0.000	4	0.000	0.084	3575	3589	2261
6670	1.00	146.6	627.8	11.3	244	6675	0.00	2.40	0.00	0.000	6	0.000	0.048	3576	2190	2261
7036	1.00	146.6	589.2	10.5	250	7040	0.00	2.47	0.00	0.000	4	0.000	0.080	3576	3588	2261
7174	1.00	146.6	573.6	11.7	252	7179	0.00	2.38	0.00	0.000	6	0.000	0.048	3576	2185	2261
7534	1.00	146.6	536.7	10.0	258	7538	0.00	2.47	0.00	0.000	4	0.000	0.080	3576	3589	2260
7724	1.00	146.6	517.0	10.1	260	7730	0.00	2.35	0.00	0.000	6	0.000	0.048	3576	2174	2260
8032	1.02	163.1	488.6	9.2	266	8051	0.00	2.53	14.40	1.101	4	0.000	0.081	3576	3594	2195
8107	1.02	163.1	481.0	10.2	267	8112	0.00	2.40	0.00	0.000	6	0.000	0.048	3576	2186	2195
8467	1.02	163.1	444.9	10.3	273	8472	0.00	2.47	0.00	0.000	4	0.000	0.078	3576	3590	2195
8701	1.02	163.1	418.9	11.4	276	8706	0.00	2.38	0.00	0.000	6	0.000	0.048	3576	2178	2194
9033	1.02	163.1	385.7	10.1	282	9037	0.00	2.47	0.00	0.000	4	0.000	0.078	3576	3592	2194
9195	1.02	163.6	368.6	10.0	284	9199	0.00	2.35	0.00	0.000	6	0.000	0.048	3576	2171	2194
9532	1.02	163.6	334.8	10.1	290	9536	0.00	2.47	0.00	0.000	4	0.000	0.078	3576	3596	2194
9648	1.02	163.6	322.4	11.1	291	9652	0.00	2.38	0.00	0.000	6	0.000	0.047	3576	2175	2194
9964	1.04	173.4	291.2	9.6	299	9979	0.00	2.47	9.35	0.951	4	0.000	0.077	3576	3592	2152
10035	1.04	173.4	284.2	10.6	302	10039	0.00	2.38	0.00	0.000	6	0.000	0.047	3576	2180	2153
10362	1.07	197.8	256.2	8.9	318	10388	0.00	2.53	20.95	0.983	4	0.000	0.077	3576	3596	2052
10448	1.07	197.8	247.3	11.3	322	10453	0.00	2.40	0.00	0.000	6	0.000	0.046	3576	2181	2052
10776	1.07	197.8	212.1	11.0	338	10780	0.00	2.47	0.00	0.000	4	0.000	0.077	3576	3589	2052
10904	1.07	197.8	196.5	12.2	344	10908	0.00	2.35	0.00	0.000	6	0.000	0.046	3576	2174	2052
11230	1.08	207.6	163.6	9.6	360	11244	0.00	2.47	9.10	0.865	4	0.000	0.075	3576	3590	2013
11283	1.08	207.6	158.1	10.8	362	11287	0.00	2.35	0.00	0.000	6	0.000	0.046	3576	2177	2013
11612	1.09	216.4	124.9	9.6	389	11627	0.12	2.50	8.60	0.834	4	0.071	0.073	3601	3590	1977
11694	1.09	216.4	114.4	13.4	396	11701	0.00	2.38	0.00	0.000	6	0.000	0.045	3601	2182	1977
12021	1.13	246.2	81.1	8.6	427	12055	0.00	2.50	24.15	0.858	4	0.000	0.072	3601	3582	1855
12274	1.13	249.3	56.2	9.9	470	12286	0.00	2.33	4.50	0.636	6	0.000	0.044	3601	2177	1842
12614	1.17	279.8	25.9	8.6	517	12647	0.00	2.53	24.38	0.815	4	0.000	0.073	3601	3587	1719
12685	1.17	279.8	18.8	11.4	523	12692	0.00	2.38	0.00	0.000	6	0.000	0.043	3601	2186	1719
12838	end climb: SURFACE_DEPTH_REACHED
state	12838	begin surface coast
12850	end surface coast: CONTROL_FINISHED_OK
state	12850	begin surface