Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 123 * 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 123 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2095534.4 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 -2095534.4

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 123 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 053608,6220.507,-856.899,32,1.2,32,-9.5 TGT_NAME B1

_CALLS 3 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,-0.221

_SM_DEPTHo 1.03 KALMAN_X -169545.4,635.7,421.3,-30239.9,-6669.9

_SM_ANGLEo -55.5 KALMAN_Y 20669.2,-3087.3,-1841.5,156774.1,49016.7

GPS2 054632,6220.759,-856.827,14,1.8,31,-9.5 MHEAD_RNG_PITCHd_Wd 195.2,63758,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013688 ALTIM_BOTTOM_PING 350.8,100.3

SM_CCo 12423,65.05,0.621,0,0,509,557.32 _24V_AH 23.7,22.939

SM_GC 0.94,0.00,0.00,65.05,0.000,0.000,0.621,70,2311,509,-10.25,0.31,557.32 _10V_AH 10.2,11.508

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28643,595

TT8_MAMPS 0.02301 CAP_FILE_SIZE 102016,0

HUMID 1880 CFSIZE 260165632,250785792

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 5 GPS 020708,091655,6222.814,-851.166,27,1.1,45,-9.5

ALTIM_TOP_PING 19.6,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 163 96.02 SBE_CT 440 24 250.60

Roll_motor 132 78 246.32 SBE_O2 403 19 181.77

VBD_pump_during_apogee 491 928 10813.00 WL_BB2F 422 105 1050.70

VBD_pump_during_surface 65 620 956.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 133.92 nil 0 0 0.00

Iridium_during_connect 163 160 619.66 nil 0 0 0.00

Iridium_during_xfer 155 223 819.70

Transponder_ping 4 420 39.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.81

TT8 1125 19 227.23

LPSleep 9292 2 207.58

TT8_Active 679 19 137.23

TT8_Sampling 1410 39 572.61

TT8_CF8 609 45 284.66

TT8_Kalman 33 81 27.83

Analog_circuits 1433 12 175.50

GPS_charging 0 0 0.00

Compass 1362 8 111.16

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

23 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -121.00 0.000 2 0.000 0.000 63 2313 2886

150 -0.85 -146.6 3.0 -2.6 6 180 11.30 2.65 -13.20 0.000 4 0.163 0.074 2109 880 3380

289 -0.70 -146.6 21.1 -11.2 12 295 0.17 2.60 0.00 0.000 6 0.092 0.054 2143 2298 3381

612 -0.60 -146.6 53.6 -10.5 28 617 0.12 2.65 0.00 0.000 4 0.099 0.062 2166 880 3381

679 -0.64 -146.6 60.3 -9.9 31 683 0.00 2.60 0.00 0.000 6 0.000 0.053 2167 2302 3380

1000 -0.64 -146.6 89.1 -9.2 47 1001 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2302 3381

1309 -0.64 -146.6 118.5 -9.8 62 1313 0.00 2.65 0.00 0.000 4 0.000 0.064 2167 880 3381

1342 -0.64 -146.6 121.9 -9.6 63 1348 0.00 2.60 0.00 0.000 6 0.000 0.054 2167 2302 3381

1660 -0.64 -146.6 151.0 -8.7 79 1664 0.00 2.65 0.00 0.000 4 0.000 0.064 2167 880 3381

1700 -0.64 -146.6 154.5 -8.6 81 1704 0.00 2.60 0.00 0.000 6 0.000 0.054 2167 2299 3381

2026 -0.64 -146.6 181.3 -7.9 97 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2300 3381

2335 -0.64 -146.6 204.5 -7.3 112 2340 0.00 2.67 0.00 0.000 4 0.000 0.066 2167 871 3380

2386 -0.68 -146.6 208.2 -7.1 114 2391 0.00 2.62 0.00 0.000 6 0.000 0.054 2167 2302 3381

2701 -0.68 -146.6 230.7 -7.1 129 2703 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2302 3381

3011 -0.68 -146.6 251.9 -6.6 144 3015 0.00 2.67 0.00 0.000 4 0.000 0.066 2167 872 3381

3078 -0.73 -146.6 256.6 -6.6 147 3083 0.12 2.62 0.00 0.000 6 0.046 0.054 2125 2303 3381

3399 -0.62 -146.6 285.5 -9.2 163 3404 0.15 2.67 0.00 0.000 4 0.087 0.067 2158 878 3381

3462 -0.62 -146.6 290.7 -8.2 166 3466 0.00 2.62 0.00 0.000 6 0.000 0.056 2158 2301 3381

3788 -0.62 -146.6 315.5 -7.1 182 3792 0.00 2.67 0.00 0.000 4 0.000 0.067 2158 879 3381

3837 -0.62 -146.6 318.8 -6.3 184 3842 0.00 2.60 0.00 0.000 6 0.000 0.056 2158 2304 3381

4153 -0.62 -146.6 338.7 -6.2 199 4158 0.00 2.67 0.00 0.000 4 0.000 0.067 2158 877 3381

4203 -0.62 -146.6 341.8 -6.1 201 4208 0.00 2.62 0.00 0.000 6 0.000 0.056 2158 2305 3381

4520 -0.62 -146.6 360.1 -5.5 216 4524 0.00 2.70 0.00 0.000 4 0.000 0.068 2158 874 3380

4560 -0.62 -146.6 362.3 -5.0 218 4564 0.00 2.62 0.00 0.000 6 0.000 0.055 2158 2302 3380

4886 -0.62 -146.6 380.3 -5.1 234 4891 0.00 2.67 0.00 0.000 4 0.000 0.068 2158 880 3380

4936 -0.62 -146.6 382.1 -2.9 236 4941 0.00 2.60 0.00 0.000 6 0.000 0.056 2158 2299 3380

5253 -0.62 -146.6 379.3 1.6 251 5257 0.00 2.67 0.00 0.000 4 0.000 0.078 2158 3716 3380

5303 -0.62 -146.6 380.4 -2.7 253 5308 0.00 2.62 0.00 0.000 6 0.000 0.059 2158 2297 3380

5619 -0.62 -146.6 396.7 -3.8 268 5624 0.00 2.70 0.00 0.000 4 0.000 0.076 2158 878 3380

5704 -0.67 -146.6 402.5 -7.3 272 5709 0.00 2.62 0.00 0.000 6 0.000 0.057 2158 2301 3380

6031 -0.67 -146.6 421.3 -6.3 288 6032 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2301 3380

6341 -0.67 -146.6 440.7 -5.2 303 6342 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2302 3379

6358 end dive: BOTTOM_OBSTACLE_DETECTED

state 6359 begin apogee

6365 -0.31 0.0 442.5 6.2 304 6495 0.35 0.00 127.20 0.929 6 0.094 0.000 2228 2193 2782

6496 end apogee: CONTROL_FINISHED_OK

state 6496 begin climb

6499 0.85 146.6 446.5 0.0 310 6635 1.15 2.70 125.80 0.909 4 0.062 0.063 2481 785 2183

6667 0.98 168.7 439.9 5.4 318 6693 0.15 2.65 20.23 0.846 6 0.045 0.053 2526 2201 2093

7017 0.86 168.7 408.3 12.1 335 7019 0.20 0.00 0.00 0.000 6 0.084 0.000 2485 2202 2093

7324 0.86 168.7 382.2 8.2 350 7328 0.00 2.70 0.00 0.000 4 0.000 0.077 2485 3615 2092

7441 0.86 168.7 372.4 9.5 355 7446 0.00 2.65 0.00 0.000 6 0.000 0.061 2485 2199 2092

7757 0.90 168.7 349.5 7.5 370 7758 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2199 2092

8066 0.94 168.7 321.9 9.3 385 8067 0.00 0.00 0.00 0.000 6 0.000 0.000 2485 2199 2091

8375 0.94 168.7 293.3 8.7 400 8379 0.00 2.70 0.00 0.000 4 0.000 0.076 2487 3613 2091

8419 0.94 168.7 289.4 9.1 402 8423 0.00 2.62 0.00 0.000 6 0.000 0.061 2485 2199 2091

8740 1.00 223.1 270.7 4.5 418 8789 0.15 0.00 46.35 0.815 6 0.045 0.000 2531 2199 1870

9089 1.11 324.9 255.8 3.2 435 9180 0.00 2.80 85.15 0.806 4 0.000 0.074 2531 3617 1456

9203 1.19 396.7 252.2 4.0 440 9271 0.12 2.67 60.28 0.787 6 0.048 0.061 2570 2190 1163

9581 1.20 409.3 230.7 5.7 459 9603 0.00 2.72 12.30 0.713 4 0.000 0.069 2570 784 1112

9649 1.22 424.3 226.9 5.6 462 9670 0.00 2.62 13.90 0.718 6 0.000 0.053 2570 2209 1051

9980 1.22 424.3 206.4 6.3 478 9984 0.00 2.67 0.00 0.000 4 0.000 0.068 2570 784 1051

10020 1.22 424.3 204.0 6.5 480 10024 0.00 2.60 0.00 0.000 6 0.000 0.053 2570 2203 1051

10346 1.22 424.3 182.0 7.0 496 10351 0.00 2.65 0.00 0.000 4 0.000 0.068 2570 785 1051

10385 1.22 424.3 179.1 7.0 498 10390 0.00 2.60 0.00 0.000 6 0.000 0.053 2570 2201 1050

10712 1.22 424.3 153.9 7.7 514 10716 0.00 2.67 0.00 0.000 4 0.000 0.068 2570 777 1050

10751 1.22 424.3 150.9 7.4 516 10756 0.00 2.62 0.00 0.000 6 0.000 0.052 2570 2209 1050

11080 1.22 424.3 124.6 8.5 532 11084 0.00 2.65 0.00 0.000 4 0.000 0.067 2570 784 1050

11129 1.22 424.3 120.0 9.1 534 11134 0.00 2.60 0.00 0.000 6 0.000 0.052 2570 2206 1051

11447 1.22 424.3 93.0 8.2 549 11451 0.00 2.67 0.00 0.000 4 0.000 0.067 2570 781 1051

11486 1.22 424.3 89.1 9.4 551 11491 0.00 2.60 0.00 0.000 6 0.000 0.051 2570 2207 1050

11814 1.22 424.3 56.4 10.3 567 11818 0.00 2.67 0.00 0.000 4 0.000 0.067 2570 778 1051

11854 1.22 424.3 52.5 10.0 569 11858 0.00 2.60 0.00 0.000 6 0.000 0.051 2570 2201 1051

12180 1.22 424.3 20.8 9.5 585 12185 0.00 2.65 0.00 0.000 4 0.000 0.072 2570 3614 1051

12208 1.26 424.3 17.8 10.4 586 12213 0.00 2.62 0.00 0.000 6 0.000 0.061 2570 2197 1051

12377 end climb: SURFACE_DEPTH_REACHED

state 12377 begin surface coast

12401 end surface coast: CONTROL_FINISHED_OK

state 12401 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	123	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2095534.4	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	053608,6220.507,-856.899,32,1.2,32,-9.5	TGT_NAME	B1
_CALLS	3	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,-0.221
_SM_DEPTHo	1.03	KALMAN_X	-169545.4,635.7,421.3,-30239.9,-6669.9
_SM_ANGLEo	-55.5	KALMAN_Y	20669.2,-3087.3,-1841.5,156774.1,49016.7
GPS2	054632,6220.759,-856.827,14,1.8,31,-9.5	MHEAD_RNG_PITCHd_Wd	195.2,63758,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.013688	ALTIM_BOTTOM_PING	350.8,100.3
SM_CCo	12423,65.05,0.621,0,0,509,557.32	_24V_AH	23.7,22.939
SM_GC	0.94,0.00,0.00,65.05,0.000,0.000,0.621,70,2311,509,-10.25,0.31,557.32	_10V_AH	10.2,11.508
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28643,595
TT8_MAMPS	0.02301	CAP_FILE_SIZE	102016,0
HUMID	1880	CFSIZE	260165632,250785792
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	5	GPS	020708,091655,6222.814,-851.166,27,1.1,45,-9.5
ALTIM_TOP_PING	19.6,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	163	96.02	SBE_CT	440	24	250.60
Roll_motor	132	78	246.32	SBE_O2	403	19	181.77
VBD_pump_during_apogee	491	928	10813.00	WL_BB2F	422	105	1050.70
VBD_pump_during_surface	65	620	956.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	133.92	nil	0	0	0.00
Iridium_during_connect	163	160	619.66	nil	0	0	0.00
Iridium_during_xfer	155	223	819.70
Transponder_ping	4	420	39.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.81
TT8	1125	19	227.23
LPSleep	9292	2	207.58
TT8_Active	679	19	137.23
TT8_Sampling	1410	39	572.61
TT8_CF8	609	45	284.66
TT8_Kalman	33	81	27.83
Analog_circuits	1433	12	175.50
GPS_charging	0	0	0.00
Compass	1362	8	111.16
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
23	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-121.00	0.000	2	0.000	0.000	63	2313	2886
150	-0.85	-146.6	3.0	-2.6	6	180	11.30	2.65	-13.20	0.000	4	0.163	0.074	2109	880	3380
289	-0.70	-146.6	21.1	-11.2	12	295	0.17	2.60	0.00	0.000	6	0.092	0.054	2143	2298	3381
612	-0.60	-146.6	53.6	-10.5	28	617	0.12	2.65	0.00	0.000	4	0.099	0.062	2166	880	3381
679	-0.64	-146.6	60.3	-9.9	31	683	0.00	2.60	0.00	0.000	6	0.000	0.053	2167	2302	3380
1000	-0.64	-146.6	89.1	-9.2	47	1001	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2302	3381
1309	-0.64	-146.6	118.5	-9.8	62	1313	0.00	2.65	0.00	0.000	4	0.000	0.064	2167	880	3381
1342	-0.64	-146.6	121.9	-9.6	63	1348	0.00	2.60	0.00	0.000	6	0.000	0.054	2167	2302	3381
1660	-0.64	-146.6	151.0	-8.7	79	1664	0.00	2.65	0.00	0.000	4	0.000	0.064	2167	880	3381
1700	-0.64	-146.6	154.5	-8.6	81	1704	0.00	2.60	0.00	0.000	6	0.000	0.054	2167	2299	3381
2026	-0.64	-146.6	181.3	-7.9	97	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2300	3381
2335	-0.64	-146.6	204.5	-7.3	112	2340	0.00	2.67	0.00	0.000	4	0.000	0.066	2167	871	3380
2386	-0.68	-146.6	208.2	-7.1	114	2391	0.00	2.62	0.00	0.000	6	0.000	0.054	2167	2302	3381
2701	-0.68	-146.6	230.7	-7.1	129	2703	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2302	3381
3011	-0.68	-146.6	251.9	-6.6	144	3015	0.00	2.67	0.00	0.000	4	0.000	0.066	2167	872	3381
3078	-0.73	-146.6	256.6	-6.6	147	3083	0.12	2.62	0.00	0.000	6	0.046	0.054	2125	2303	3381
3399	-0.62	-146.6	285.5	-9.2	163	3404	0.15	2.67	0.00	0.000	4	0.087	0.067	2158	878	3381
3462	-0.62	-146.6	290.7	-8.2	166	3466	0.00	2.62	0.00	0.000	6	0.000	0.056	2158	2301	3381
3788	-0.62	-146.6	315.5	-7.1	182	3792	0.00	2.67	0.00	0.000	4	0.000	0.067	2158	879	3381
3837	-0.62	-146.6	318.8	-6.3	184	3842	0.00	2.60	0.00	0.000	6	0.000	0.056	2158	2304	3381
4153	-0.62	-146.6	338.7	-6.2	199	4158	0.00	2.67	0.00	0.000	4	0.000	0.067	2158	877	3381
4203	-0.62	-146.6	341.8	-6.1	201	4208	0.00	2.62	0.00	0.000	6	0.000	0.056	2158	2305	3381
4520	-0.62	-146.6	360.1	-5.5	216	4524	0.00	2.70	0.00	0.000	4	0.000	0.068	2158	874	3380
4560	-0.62	-146.6	362.3	-5.0	218	4564	0.00	2.62	0.00	0.000	6	0.000	0.055	2158	2302	3380
4886	-0.62	-146.6	380.3	-5.1	234	4891	0.00	2.67	0.00	0.000	4	0.000	0.068	2158	880	3380
4936	-0.62	-146.6	382.1	-2.9	236	4941	0.00	2.60	0.00	0.000	6	0.000	0.056	2158	2299	3380
5253	-0.62	-146.6	379.3	1.6	251	5257	0.00	2.67	0.00	0.000	4	0.000	0.078	2158	3716	3380
5303	-0.62	-146.6	380.4	-2.7	253	5308	0.00	2.62	0.00	0.000	6	0.000	0.059	2158	2297	3380
5619	-0.62	-146.6	396.7	-3.8	268	5624	0.00	2.70	0.00	0.000	4	0.000	0.076	2158	878	3380
5704	-0.67	-146.6	402.5	-7.3	272	5709	0.00	2.62	0.00	0.000	6	0.000	0.057	2158	2301	3380
6031	-0.67	-146.6	421.3	-6.3	288	6032	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2301	3380
6341	-0.67	-146.6	440.7	-5.2	303	6342	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2302	3379
6358	end dive: BOTTOM_OBSTACLE_DETECTED
state	6359	begin apogee
6365	-0.31	0.0	442.5	6.2	304	6495	0.35	0.00	127.20	0.929	6	0.094	0.000	2228	2193	2782
6496	end apogee: CONTROL_FINISHED_OK
state	6496	begin climb
6499	0.85	146.6	446.5	0.0	310	6635	1.15	2.70	125.80	0.909	4	0.062	0.063	2481	785	2183
6667	0.98	168.7	439.9	5.4	318	6693	0.15	2.65	20.23	0.846	6	0.045	0.053	2526	2201	2093
7017	0.86	168.7	408.3	12.1	335	7019	0.20	0.00	0.00	0.000	6	0.084	0.000	2485	2202	2093
7324	0.86	168.7	382.2	8.2	350	7328	0.00	2.70	0.00	0.000	4	0.000	0.077	2485	3615	2092
7441	0.86	168.7	372.4	9.5	355	7446	0.00	2.65	0.00	0.000	6	0.000	0.061	2485	2199	2092
7757	0.90	168.7	349.5	7.5	370	7758	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2199	2092
8066	0.94	168.7	321.9	9.3	385	8067	0.00	0.00	0.00	0.000	6	0.000	0.000	2485	2199	2091
8375	0.94	168.7	293.3	8.7	400	8379	0.00	2.70	0.00	0.000	4	0.000	0.076	2487	3613	2091
8419	0.94	168.7	289.4	9.1	402	8423	0.00	2.62	0.00	0.000	6	0.000	0.061	2485	2199	2091
8740	1.00	223.1	270.7	4.5	418	8789	0.15	0.00	46.35	0.815	6	0.045	0.000	2531	2199	1870
9089	1.11	324.9	255.8	3.2	435	9180	0.00	2.80	85.15	0.806	4	0.000	0.074	2531	3617	1456
9203	1.19	396.7	252.2	4.0	440	9271	0.12	2.67	60.28	0.787	6	0.048	0.061	2570	2190	1163
9581	1.20	409.3	230.7	5.7	459	9603	0.00	2.72	12.30	0.713	4	0.000	0.069	2570	784	1112
9649	1.22	424.3	226.9	5.6	462	9670	0.00	2.62	13.90	0.718	6	0.000	0.053	2570	2209	1051
9980	1.22	424.3	206.4	6.3	478	9984	0.00	2.67	0.00	0.000	4	0.000	0.068	2570	784	1051
10020	1.22	424.3	204.0	6.5	480	10024	0.00	2.60	0.00	0.000	6	0.000	0.053	2570	2203	1051
10346	1.22	424.3	182.0	7.0	496	10351	0.00	2.65	0.00	0.000	4	0.000	0.068	2570	785	1051
10385	1.22	424.3	179.1	7.0	498	10390	0.00	2.60	0.00	0.000	6	0.000	0.053	2570	2201	1050
10712	1.22	424.3	153.9	7.7	514	10716	0.00	2.67	0.00	0.000	4	0.000	0.068	2570	777	1050
10751	1.22	424.3	150.9	7.4	516	10756	0.00	2.62	0.00	0.000	6	0.000	0.052	2570	2209	1050
11080	1.22	424.3	124.6	8.5	532	11084	0.00	2.65	0.00	0.000	4	0.000	0.067	2570	784	1050
11129	1.22	424.3	120.0	9.1	534	11134	0.00	2.60	0.00	0.000	6	0.000	0.052	2570	2206	1051
11447	1.22	424.3	93.0	8.2	549	11451	0.00	2.67	0.00	0.000	4	0.000	0.067	2570	781	1051
11486	1.22	424.3	89.1	9.4	551	11491	0.00	2.60	0.00	0.000	6	0.000	0.051	2570	2207	1050
11814	1.22	424.3	56.4	10.3	567	11818	0.00	2.67	0.00	0.000	4	0.000	0.067	2570	778	1051
11854	1.22	424.3	52.5	10.0	569	11858	0.00	2.60	0.00	0.000	6	0.000	0.051	2570	2201	1051
12180	1.22	424.3	20.8	9.5	585	12185	0.00	2.65	0.00	0.000	4	0.000	0.072	2570	3614	1051
12208	1.26	424.3	17.8	10.4	586	12213	0.00	2.62	0.00	0.000	6	0.000	0.061	2570	2197	1051
12377	end climb: SURFACE_DEPTH_REACHED
state	12377	begin surface coast
12401	end surface coast: CONTROL_FINISHED_OK
state	12401	begin surface