Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 107 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 107 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 0.00109 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 -2095130.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

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 -2095130.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 107 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-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 194407,6210.979,-909.874,36,1.1,41,-9.6 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.057,-0.214

_SM_DEPTHo 1.10 KALMAN_X -171559.7,2375.5,588.9,-41950.6,-21832.3

_SM_ANGLEo -59.3 KALMAN_Y -13727.2,-1982.6,-1859.9,172123.5,57090.9

GPS2 194833,6211.052,-909.860,12,1.8,12,-9.6 MHEAD_RNG_PITCHd_Wd 183.2,45758,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024300 ALTIM_BOTTOM_PING 425.2,48.2

SM_CCo 12011,107.40,0.628,0,0,509,557.32 _24V_AH 23.7,20.697

SM_GC 1.20,0.00,0.00,107.40,0.000,0.000,0.628,71,2303,509,-10.25,0.08,557.32 _10V_AH 10.1,10.462

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28563,576

TT8_MAMPS 0.02301 CAP_FILE_SIZE 99129,0

HUMID 1856 CFSIZE 260165632,251572224

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 17 GPS 290608,231257,6211.633,-908.924,33,2.6,52,-9.5

ALTIM_TOP_PING 19.6,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 165 98.55 SBE_CT 425 24 241.98

Roll_motor 145 87 301.26 SBE_O2 389 19 175.55

VBD_pump_during_apogee 421 961 9605.85 WL_BB2F 423 105 1055.01

VBD_pump_during_surface 107 628 1598.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.74 nil 0 0 0.00

Iridium_during_connect 27 160 103.60 nil 0 0 0.00

Iridium_during_xfer 113 223 598.10

Transponder_ping 8 420 82.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.22

TT8 1092 19 218.52

LPSleep 8881 2 196.44

TT8_Active 687 19 137.44

TT8_Sampling 1344 39 540.52

TT8_CF8 386 45 178.79

TT8_Kalman 33 81 27.56

Analog_circuits 1417 12 171.80

GPS_charging 0 0 0.00

Compass 1311 8 105.98

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 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.82 0.000 2 0.000 0.000 74 2310 2851

150 -0.85 -146.6 3.3 -2.6 6 182 11.27 2.67 -14.52 0.000 4 0.166 0.085 2107 3715 3379

235 -0.66 -146.6 14.4 -11.4 10 240 0.22 2.62 0.00 0.000 6 0.090 0.055 2151 2296 3379

562 -0.59 -146.6 42.2 -8.3 26 567 0.00 2.65 0.00 0.000 4 0.000 0.067 2152 883 3379

647 -0.59 -146.6 49.5 -8.4 30 652 0.00 2.62 0.00 0.000 6 0.000 0.056 2152 2298 3379

975 -0.53 -146.6 78.7 -9.1 46 977 0.17 0.00 0.00 0.000 6 0.093 0.000 2186 2298 3379

1283 -0.53 -146.6 103.2 -8.0 61 1288 0.00 2.65 0.00 0.000 4 0.000 0.064 2186 883 3379

1339 -0.65 -146.6 107.8 -7.6 63 1346 0.12 2.62 0.00 0.000 6 0.044 0.056 2143 2304 3379

1657 -0.56 -146.6 139.3 -10.3 79 1662 0.15 2.70 0.00 0.000 4 0.084 0.077 2176 3715 3379

1690 -0.56 -146.6 142.8 -9.2 80 1696 0.00 2.62 0.00 0.000 6 0.000 0.056 2176 2292 3380

2006 -0.56 -146.6 169.1 -8.4 96 2007 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2292 3379

2315 -0.56 -146.6 195.1 -8.4 111 2320 0.00 2.75 0.00 0.000 4 0.000 0.079 2176 3718 3380

2348 -0.56 -146.6 198.2 -9.6 112 2354 0.00 2.62 0.00 0.000 6 0.000 0.054 2177 2290 3380

2664 -0.56 -146.6 225.2 -8.8 128 2669 0.00 2.75 0.00 0.000 4 0.000 0.080 2176 3715 3380

2697 -0.56 -146.6 228.3 -9.3 129 2703 0.00 2.62 0.00 0.000 6 0.000 0.054 2177 2293 3380

3012 -0.56 -146.6 256.0 -8.9 145 3017 0.00 2.62 0.00 0.000 4 0.000 0.067 2177 885 3380

3046 -0.64 -146.6 259.1 -9.2 146 3052 0.00 2.62 0.00 0.000 6 0.000 0.058 2177 2300 3380

3362 -0.64 -146.6 285.1 -7.6 162 3366 0.00 2.70 0.00 0.000 4 0.000 0.081 2176 3712 3380

3406 -0.69 -146.6 289.0 -8.5 164 3411 0.12 2.60 0.00 0.000 6 0.046 0.057 2135 2300 3379

3727 -0.59 -146.6 318.5 -9.1 180 3729 0.17 0.00 0.00 0.000 6 0.082 0.000 2170 2300 3380

4036 -0.59 -146.6 338.2 -6.1 195 4040 0.00 2.72 0.00 0.000 4 0.000 0.083 2170 3711 3380

4080 -0.59 -146.6 341.2 -6.6 197 4084 0.00 2.60 0.00 0.000 6 0.000 0.057 2170 2298 3380

4401 -0.59 -146.6 357.2 -4.5 213 4405 0.00 2.75 0.00 0.000 4 0.000 0.082 2170 3718 3380

4428 -0.59 -146.6 358.6 -5.0 214 4433 0.00 2.62 0.00 0.000 6 0.000 0.057 2170 2296 3380

4744 -0.59 -146.6 372.8 -4.4 229 4749 0.00 2.75 0.00 0.000 4 0.000 0.083 2170 3715 3380

4777 -0.59 -146.6 374.5 -5.3 230 4784 0.00 2.60 0.00 0.000 6 0.000 0.058 2170 2299 3380

5094 -0.59 -146.6 389.4 -4.6 246 5095 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2298 3380

5403 -0.59 -146.6 404.7 -5.4 261 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2300 3379

5712 -0.59 -146.6 422.2 -5.2 276 5717 0.00 2.75 0.00 0.000 4 0.000 0.085 2170 3710 3379

5740 -0.59 -146.6 423.7 -5.4 277 5744 0.00 2.60 0.00 0.000 6 0.000 0.058 2170 2299 3379

6056 -0.63 -146.6 441.0 -6.2 292 6060 0.00 2.75 0.00 0.000 4 0.000 0.087 2170 3711 3380

6105 -0.63 -146.6 444.0 -6.2 294 6110 0.00 2.62 0.00 0.000 6 0.000 0.060 2170 2294 3379

6421 -0.63 -146.6 460.0 -4.6 309 6425 0.00 2.75 0.00 0.000 4 0.000 0.087 2170 3710 3379

6454 -0.70 -146.6 460.5 -1.0 310 6461 0.12 2.60 0.00 0.000 6 0.054 0.058 2136 2297 3379

6499 end dive: BOTTOM_OBSTACLE_DETECTED

state 6499 begin apogee

6507 -0.31 0.0 463.6 6.2 313 6642 0.45 0.00 128.27 0.962 6 0.090 0.000 2227 2204 2781

6643 end apogee: CONTROL_FINISHED_OK

state 6643 begin climb

6645 0.85 146.6 470.7 0.0 320 6782 1.20 2.80 126.93 0.942 4 0.084 0.072 2477 792 2183

6838 0.86 155.4 465.7 5.8 329 6855 0.00 2.67 9.20 0.802 6 0.000 0.061 2477 2200 2147

7164 1.04 257.4 450.7 3.2 345 7260 0.20 2.88 88.43 0.936 4 0.072 0.086 2524 3607 1731

7309 1.04 257.4 443.2 6.6 351 7315 0.00 2.70 0.00 0.000 6 0.000 0.066 2525 2201 1731

7624 1.09 305.4 425.2 4.7 367 7673 0.00 2.90 41.83 0.917 4 0.000 0.087 2525 3613 1536

7697 1.09 305.4 421.2 6.6 370 7702 0.00 2.70 0.00 0.000 6 0.000 0.066 2525 2197 1536

8013 1.13 335.3 402.2 5.2 385 8047 0.00 2.83 26.75 0.900 4 0.000 0.075 2525 784 1412

8064 1.13 335.3 399.2 6.3 387 8069 0.00 2.70 0.00 0.000 6 0.000 0.060 2525 2203 1412

8380 1.13 335.3 378.8 6.6 402 8385 0.00 2.72 0.00 0.000 4 0.000 0.072 2525 783 1412

8407 1.18 335.3 377.0 6.7 403 8413 0.15 2.65 0.00 0.000 6 0.078 0.058 2554 2201 1412

8723 1.18 335.3 347.0 10.7 418 8727 0.00 2.75 0.00 0.000 4 0.000 0.083 2554 3616 1412

8767 1.18 335.3 341.6 12.6 420 8771 0.00 2.67 0.00 0.000 6 0.000 0.065 2554 2196 1411

9088 1.18 335.3 302.2 12.8 436 9089 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2196 1412

9397 1.18 335.3 262.1 12.2 451 9402 0.00 2.75 0.00 0.000 4 0.000 0.080 2554 3622 1412

9460 1.18 335.3 254.2 12.4 454 9464 0.00 2.65 0.00 0.000 6 0.000 0.062 2554 2197 1412

9786 1.18 335.3 215.3 11.7 470 9790 0.00 2.67 0.00 0.000 4 0.000 0.070 2555 775 1412

9870 1.18 335.3 205.7 11.8 474 9875 0.00 2.62 0.00 0.000 6 0.000 0.054 2554 2203 1412

10197 1.18 335.3 168.4 11.4 490 10201 0.00 2.70 0.00 0.000 4 0.000 0.078 2555 3615 1412

10258 1.18 335.3 161.2 12.2 493 10263 0.00 2.65 0.00 0.000 6 0.000 0.061 2555 2193 1412

10585 1.18 335.3 125.8 10.6 509 10590 0.00 2.72 0.00 0.000 4 0.000 0.077 2555 3616 1412

10635 1.18 335.3 120.4 11.3 511 10640 0.00 2.62 0.00 0.000 6 0.000 0.061 2555 2199 1412

10951 1.18 335.3 90.5 9.3 526 10955 0.00 2.70 0.00 0.000 4 0.000 0.077 2555 3613 1412

11013 1.18 335.3 84.4 10.0 529 11018 0.00 2.62 0.00 0.000 6 0.000 0.061 2555 2196 1412

11341 1.18 335.3 56.5 8.5 545 11345 0.00 2.72 0.00 0.000 4 0.000 0.077 2555 3620 1412

11380 1.18 335.3 52.8 9.4 547 11385 0.00 2.65 0.00 0.000 6 0.000 0.061 2555 2192 1412

11707 1.18 335.3 24.3 8.2 563 11711 0.00 2.72 0.00 0.000 4 0.000 0.077 2555 3616 1412

11757 1.18 335.3 19.6 9.3 565 11762 0.00 2.62 0.00 0.000 6 0.000 0.061 2555 2203 1413

11968 end climb: SURFACE_DEPTH_REACHED

state 11968 begin surface coast

11989 end surface coast: CONTROL_FINISHED_OK

state 11990 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	107	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	0.00109	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	-2095130.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	194407,6210.979,-909.874,36,1.1,41,-9.6	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.057,-0.214
_SM_DEPTHo	1.10	KALMAN_X	-171559.7,2375.5,588.9,-41950.6,-21832.3
_SM_ANGLEo	-59.3	KALMAN_Y	-13727.2,-1982.6,-1859.9,172123.5,57090.9
GPS2	194833,6211.052,-909.860,12,1.8,12,-9.6	MHEAD_RNG_PITCHd_Wd	183.2,45758,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.024300	ALTIM_BOTTOM_PING	425.2,48.2
SM_CCo	12011,107.40,0.628,0,0,509,557.32	_24V_AH	23.7,20.697
SM_GC	1.20,0.00,0.00,107.40,0.000,0.000,0.628,71,2303,509,-10.25,0.08,557.32	_10V_AH	10.1,10.462
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28563,576
TT8_MAMPS	0.02301	CAP_FILE_SIZE	99129,0
HUMID	1856	CFSIZE	260165632,251572224
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	17	GPS	290608,231257,6211.633,-908.924,33,2.6,52,-9.5
ALTIM_TOP_PING	19.6,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	165	98.55	SBE_CT	425	24	241.98
Roll_motor	145	87	301.26	SBE_O2	389	19	175.55
VBD_pump_during_apogee	421	961	9605.85	WL_BB2F	423	105	1055.01
VBD_pump_during_surface	107	628	1598.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.74	nil	0	0	0.00
Iridium_during_connect	27	160	103.60	nil	0	0	0.00
Iridium_during_xfer	113	223	598.10
Transponder_ping	8	420	82.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.22
TT8	1092	19	218.52
LPSleep	8881	2	196.44
TT8_Active	687	19	137.44
TT8_Sampling	1344	39	540.52
TT8_CF8	386	45	178.79
TT8_Kalman	33	81	27.56
Analog_circuits	1417	12	171.80
GPS_charging	0	0	0.00
Compass	1311	8	105.98
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	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.82	0.000	2	0.000	0.000	74	2310	2851
150	-0.85	-146.6	3.3	-2.6	6	182	11.27	2.67	-14.52	0.000	4	0.166	0.085	2107	3715	3379
235	-0.66	-146.6	14.4	-11.4	10	240	0.22	2.62	0.00	0.000	6	0.090	0.055	2151	2296	3379
562	-0.59	-146.6	42.2	-8.3	26	567	0.00	2.65	0.00	0.000	4	0.000	0.067	2152	883	3379
647	-0.59	-146.6	49.5	-8.4	30	652	0.00	2.62	0.00	0.000	6	0.000	0.056	2152	2298	3379
975	-0.53	-146.6	78.7	-9.1	46	977	0.17	0.00	0.00	0.000	6	0.093	0.000	2186	2298	3379
1283	-0.53	-146.6	103.2	-8.0	61	1288	0.00	2.65	0.00	0.000	4	0.000	0.064	2186	883	3379
1339	-0.65	-146.6	107.8	-7.6	63	1346	0.12	2.62	0.00	0.000	6	0.044	0.056	2143	2304	3379
1657	-0.56	-146.6	139.3	-10.3	79	1662	0.15	2.70	0.00	0.000	4	0.084	0.077	2176	3715	3379
1690	-0.56	-146.6	142.8	-9.2	80	1696	0.00	2.62	0.00	0.000	6	0.000	0.056	2176	2292	3380
2006	-0.56	-146.6	169.1	-8.4	96	2007	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2292	3379
2315	-0.56	-146.6	195.1	-8.4	111	2320	0.00	2.75	0.00	0.000	4	0.000	0.079	2176	3718	3380
2348	-0.56	-146.6	198.2	-9.6	112	2354	0.00	2.62	0.00	0.000	6	0.000	0.054	2177	2290	3380
2664	-0.56	-146.6	225.2	-8.8	128	2669	0.00	2.75	0.00	0.000	4	0.000	0.080	2176	3715	3380
2697	-0.56	-146.6	228.3	-9.3	129	2703	0.00	2.62	0.00	0.000	6	0.000	0.054	2177	2293	3380
3012	-0.56	-146.6	256.0	-8.9	145	3017	0.00	2.62	0.00	0.000	4	0.000	0.067	2177	885	3380
3046	-0.64	-146.6	259.1	-9.2	146	3052	0.00	2.62	0.00	0.000	6	0.000	0.058	2177	2300	3380
3362	-0.64	-146.6	285.1	-7.6	162	3366	0.00	2.70	0.00	0.000	4	0.000	0.081	2176	3712	3380
3406	-0.69	-146.6	289.0	-8.5	164	3411	0.12	2.60	0.00	0.000	6	0.046	0.057	2135	2300	3379
3727	-0.59	-146.6	318.5	-9.1	180	3729	0.17	0.00	0.00	0.000	6	0.082	0.000	2170	2300	3380
4036	-0.59	-146.6	338.2	-6.1	195	4040	0.00	2.72	0.00	0.000	4	0.000	0.083	2170	3711	3380
4080	-0.59	-146.6	341.2	-6.6	197	4084	0.00	2.60	0.00	0.000	6	0.000	0.057	2170	2298	3380
4401	-0.59	-146.6	357.2	-4.5	213	4405	0.00	2.75	0.00	0.000	4	0.000	0.082	2170	3718	3380
4428	-0.59	-146.6	358.6	-5.0	214	4433	0.00	2.62	0.00	0.000	6	0.000	0.057	2170	2296	3380
4744	-0.59	-146.6	372.8	-4.4	229	4749	0.00	2.75	0.00	0.000	4	0.000	0.083	2170	3715	3380
4777	-0.59	-146.6	374.5	-5.3	230	4784	0.00	2.60	0.00	0.000	6	0.000	0.058	2170	2299	3380
5094	-0.59	-146.6	389.4	-4.6	246	5095	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2298	3380
5403	-0.59	-146.6	404.7	-5.4	261	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2300	3379
5712	-0.59	-146.6	422.2	-5.2	276	5717	0.00	2.75	0.00	0.000	4	0.000	0.085	2170	3710	3379
5740	-0.59	-146.6	423.7	-5.4	277	5744	0.00	2.60	0.00	0.000	6	0.000	0.058	2170	2299	3379
6056	-0.63	-146.6	441.0	-6.2	292	6060	0.00	2.75	0.00	0.000	4	0.000	0.087	2170	3711	3380
6105	-0.63	-146.6	444.0	-6.2	294	6110	0.00	2.62	0.00	0.000	6	0.000	0.060	2170	2294	3379
6421	-0.63	-146.6	460.0	-4.6	309	6425	0.00	2.75	0.00	0.000	4	0.000	0.087	2170	3710	3379
6454	-0.70	-146.6	460.5	-1.0	310	6461	0.12	2.60	0.00	0.000	6	0.054	0.058	2136	2297	3379
6499	end dive: BOTTOM_OBSTACLE_DETECTED
state	6499	begin apogee
6507	-0.31	0.0	463.6	6.2	313	6642	0.45	0.00	128.27	0.962	6	0.090	0.000	2227	2204	2781
6643	end apogee: CONTROL_FINISHED_OK
state	6643	begin climb
6645	0.85	146.6	470.7	0.0	320	6782	1.20	2.80	126.93	0.942	4	0.084	0.072	2477	792	2183
6838	0.86	155.4	465.7	5.8	329	6855	0.00	2.67	9.20	0.802	6	0.000	0.061	2477	2200	2147
7164	1.04	257.4	450.7	3.2	345	7260	0.20	2.88	88.43	0.936	4	0.072	0.086	2524	3607	1731
7309	1.04	257.4	443.2	6.6	351	7315	0.00	2.70	0.00	0.000	6	0.000	0.066	2525	2201	1731
7624	1.09	305.4	425.2	4.7	367	7673	0.00	2.90	41.83	0.917	4	0.000	0.087	2525	3613	1536
7697	1.09	305.4	421.2	6.6	370	7702	0.00	2.70	0.00	0.000	6	0.000	0.066	2525	2197	1536
8013	1.13	335.3	402.2	5.2	385	8047	0.00	2.83	26.75	0.900	4	0.000	0.075	2525	784	1412
8064	1.13	335.3	399.2	6.3	387	8069	0.00	2.70	0.00	0.000	6	0.000	0.060	2525	2203	1412
8380	1.13	335.3	378.8	6.6	402	8385	0.00	2.72	0.00	0.000	4	0.000	0.072	2525	783	1412
8407	1.18	335.3	377.0	6.7	403	8413	0.15	2.65	0.00	0.000	6	0.078	0.058	2554	2201	1412
8723	1.18	335.3	347.0	10.7	418	8727	0.00	2.75	0.00	0.000	4	0.000	0.083	2554	3616	1412
8767	1.18	335.3	341.6	12.6	420	8771	0.00	2.67	0.00	0.000	6	0.000	0.065	2554	2196	1411
9088	1.18	335.3	302.2	12.8	436	9089	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2196	1412
9397	1.18	335.3	262.1	12.2	451	9402	0.00	2.75	0.00	0.000	4	0.000	0.080	2554	3622	1412
9460	1.18	335.3	254.2	12.4	454	9464	0.00	2.65	0.00	0.000	6	0.000	0.062	2554	2197	1412
9786	1.18	335.3	215.3	11.7	470	9790	0.00	2.67	0.00	0.000	4	0.000	0.070	2555	775	1412
9870	1.18	335.3	205.7	11.8	474	9875	0.00	2.62	0.00	0.000	6	0.000	0.054	2554	2203	1412
10197	1.18	335.3	168.4	11.4	490	10201	0.00	2.70	0.00	0.000	4	0.000	0.078	2555	3615	1412
10258	1.18	335.3	161.2	12.2	493	10263	0.00	2.65	0.00	0.000	6	0.000	0.061	2555	2193	1412
10585	1.18	335.3	125.8	10.6	509	10590	0.00	2.72	0.00	0.000	4	0.000	0.077	2555	3616	1412
10635	1.18	335.3	120.4	11.3	511	10640	0.00	2.62	0.00	0.000	6	0.000	0.061	2555	2199	1412
10951	1.18	335.3	90.5	9.3	526	10955	0.00	2.70	0.00	0.000	4	0.000	0.077	2555	3613	1412
11013	1.18	335.3	84.4	10.0	529	11018	0.00	2.62	0.00	0.000	6	0.000	0.061	2555	2196	1412
11341	1.18	335.3	56.5	8.5	545	11345	0.00	2.72	0.00	0.000	4	0.000	0.077	2555	3620	1412
11380	1.18	335.3	52.8	9.4	547	11385	0.00	2.65	0.00	0.000	6	0.000	0.061	2555	2192	1412
11707	1.18	335.3	24.3	8.2	563	11711	0.00	2.72	0.00	0.000	4	0.000	0.077	2555	3616	1412
11757	1.18	335.3	19.6	9.3	565	11762	0.00	2.62	0.00	0.000	6	0.000	0.061	2555	2203	1413
11968	end climb: SURFACE_DEPTH_REACHED
state	11968	begin surface coast
11989	end surface coast: CONTROL_FINISHED_OK
state	11990	begin surface