Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 152 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 152 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 SM_CC 350 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 10 DEVICE2 20

T_MISSION 660 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 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 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -212640.17 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

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 1001 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 600

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 -212640.17

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 660

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 10 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 31 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 27 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 152 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 232528,4804.321,-12537.417,34,3.2,53,18.9 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,-0.085

_SM_DEPTHo 1.14 KALMAN_X -29780.8,1457.7,97416.3,-118803.5,-48209.8

_SM_ANGLEo -69.0 KALMAN_Y 115040.5,802.2,92874.1,-86988.1,-54727.1

GPS2 233032,4804.278,-12537.330,16,1.2,16,18.9 MHEAD_RNG_PITCHd_Wd 225.1,215971,-11.5,-5.500

SPEED_LIMITS 0.095,0.195 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.012821 ALTIM_BOTTOM_PING 351.3,63.3

SM_CCo 13514,41.50,0.796,0,0,1409,350.04 _24V_AH 23.3,55.381

SM_GC 1.45,0.00,0.00,41.50,0.000,0.000,0.796,864,2217,1409,-8.91,0.48,350.04 _10V_AH 10.6,38.139

IRIDIUM_FIX 4748.51,-12534.88,170198,202016 DATA_FILE_SIZE 41055,836

TT8_MAMPS 0.027612 CAP_FILE_SIZE 111288,0

HUMID 2061 CFSIZE 260165632,248606720

INTERNAL_PRESSURE 8.71127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 241008,031900,4804.070,-12538.826,55,1.1,62,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 146 95.66 SBE_CT 569 24 318.42

Roll_motor 107 76 191.27 SBE_O2 659 19 292.12

VBD_pump_during_apogee 320 1088 8119.98 WL_BB2F 1296 105 3171.91

VBD_pump_during_surface 41 796 769.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.20 nil 0 0 0.00

Iridium_during_connect 36 160 136.33 nil 0 0 0.00

Iridium_during_xfer 135 223 706.41

Transponder_ping 2 420 26.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.42

TT8 1499 19 314.66

LPSleep 9611 2 223.12

TT8_Active 474 19 99.55

TT8_Sampling 1885 39 795.27

TT8_CF8 393 45 191.05

TT8_Kalman 33 81 28.92

Analog_circuits 1321 12 168.15

GPS_charging 0 0 0.00

Compass 1866 8 158.27

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.67 -117.3 0.0 0.0 0 84 0.00 0.00 -61.95 0.000 2 0.000 0.000 861 2235 2799

87 -0.67 -117.3 3.2 -4.9 6 118 12.23 2.33 -11.95 0.000 4 0.146 0.077 2647 3598 3317

231 -0.48 -117.3 23.3 -11.1 19 238 0.28 2.22 0.00 0.000 6 0.080 0.041 2693 2194 3317

560 -0.48 -117.3 45.7 -5.9 58 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2192 3317

904 -0.56 -117.3 67.2 -6.2 119 910 0.00 2.35 0.00 0.000 4 0.000 0.066 2693 3610 3316

928 -0.64 -117.3 68.8 -6.2 123 935 0.15 2.15 0.00 0.000 6 0.041 0.044 2649 2263 3317

1262 -0.55 -117.3 92.0 -4.9 166 1264 0.17 0.00 0.00 0.000 6 0.080 0.000 2679 2262 3317

1582 -0.63 -117.3 101.1 -3.0 196 1586 0.00 2.40 0.00 0.000 4 0.000 0.061 2679 793 3317

1611 -0.74 -117.3 102.2 -3.9 198 1616 0.22 2.38 0.00 0.000 6 0.048 0.047 2631 2306 3317

1938 -0.64 -117.3 124.3 -6.7 228 1940 0.15 0.00 0.00 0.000 6 0.084 0.000 2657 2307 3317

2255 -0.64 -117.3 144.6 -6.6 258 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2307 3317

2566 -0.64 -117.3 165.6 -6.5 277 2570 0.00 2.45 0.00 0.000 4 0.000 0.061 2657 789 3317

2592 -0.64 -117.3 167.5 -7.2 278 2596 0.00 2.35 0.00 0.000 6 0.000 0.048 2657 2288 3317

2913 -0.64 -117.3 186.0 -5.7 294 2915 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2288 3317

3223 -0.64 -117.3 202.4 -5.3 309 3227 0.00 2.42 0.00 0.000 4 0.000 0.061 2657 786 3317

3250 -0.64 -117.3 203.8 -4.8 310 3254 0.00 2.30 0.00 0.000 6 0.000 0.048 2657 2257 3317

3572 -0.64 -117.3 220.4 -5.2 326 3573 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2258 3317

3881 -0.64 -117.3 238.3 -5.9 341 3885 0.00 2.38 0.00 0.000 4 0.000 0.063 2657 788 3317

3936 -0.70 -117.3 241.7 -6.2 343 3942 0.00 2.25 0.00 0.000 6 0.000 0.048 2657 2237 3317

4252 -0.70 -117.3 259.4 -5.5 359 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2237 3317

4561 -0.70 -117.3 276.9 -5.6 374 4562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2237 3317

4870 -0.75 -117.3 296.1 -6.1 389 4874 0.00 2.35 0.00 0.000 4 0.000 0.064 2657 792 3316

4897 -0.80 -117.3 297.7 -5.6 390 4902 0.17 2.28 0.00 0.000 6 0.053 0.048 2618 2249 3317

5253 -0.67 -117.3 324.1 -7.5 398 5257 0.15 2.35 0.00 0.000 4 0.086 0.065 2648 800 3316

5290 -0.67 -117.3 326.7 -6.8 398 5294 0.00 2.25 0.00 0.000 6 0.000 0.048 2648 2220 3316

5616 -0.67 -117.3 345.7 -5.8 404 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2220 3316

5920 -0.67 -117.3 360.4 -4.8 409 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2220 3315

6222 -0.67 -117.3 379.5 -6.5 414 6224 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2220 3316

6526 -0.67 -117.3 393.4 -4.7 419 6530 0.00 2.35 0.00 0.000 4 0.000 0.069 2648 795 3315

6558 -0.67 -117.3 395.3 -5.1 419 6562 0.00 2.20 0.00 0.000 6 0.000 0.049 2648 2192 3315

6767 end dive: BOTTOM_OBSTACLE_DETECTED

state 6767 begin apogee

6772 -0.23 0.0 406.4 5.2 423 6869 0.57 0.00 94.65 1.088 6 0.068 0.000 2749 2192 2837

6870 end apogee: CONTROL_FINISHED_OK

state 6870 begin climb

6872 0.67 117.3 408.7 0.0 424 6978 1.12 2.58 97.72 1.038 4 0.043 0.072 2950 3596 2358

7002 0.41 136.3 411.2 4.9 426 7027 0.38 2.35 18.02 0.996 6 0.093 0.047 2893 2205 2280

7381 0.41 136.3 391.0 5.8 433 7385 0.00 2.38 0.00 0.000 4 0.000 0.073 2893 795 2280

7519 0.41 136.3 383.2 5.8 435 7524 0.00 2.17 0.00 0.000 6 0.000 0.050 2893 2138 2280

7879 0.41 136.3 362.4 5.9 441 7884 0.00 2.42 0.00 0.000 4 0.000 0.072 2893 3602 2279

7923 0.41 136.3 359.7 6.2 441 7927 0.00 2.35 0.00 0.000 6 0.000 0.048 2893 2123 2280

8244 0.41 136.3 341.5 5.7 447 8247 0.00 2.20 0.00 0.000 4 0.000 0.073 2893 796 2279

8288 0.42 142.3 338.8 5.3 447 8299 0.00 2.08 6.40 0.884 6 0.000 0.050 2893 2114 2256

8602 0.42 142.3 319.4 6.3 452 8606 0.00 2.47 0.00 0.000 4 0.000 0.071 2893 3602 2256

8633 0.42 142.3 317.0 7.5 452 8638 0.00 2.38 0.00 0.000 6 0.000 0.047 2893 2125 2256

8946 0.42 142.3 297.6 5.9 459 8947 0.00 0.00 0.00 0.000 6 0.000 0.000 2893 2126 2255

9256 0.47 186.0 283.0 4.1 474 9299 0.00 2.58 37.15 1.015 4 0.000 0.070 2893 3599 2078

9349 0.55 186.0 277.5 6.6 478 9354 0.15 2.33 0.00 0.000 6 0.060 0.047 2925 2162 2078

9670 0.55 186.0 256.2 7.0 494 9674 0.00 2.28 0.00 0.000 4 0.000 0.071 2924 787 2078

9741 0.49 186.0 250.6 8.3 497 9745 0.00 2.15 0.00 0.000 6 0.000 0.050 2924 2138 2078

10063 0.49 186.0 226.4 7.2 513 10067 0.00 2.42 0.00 0.000 4 0.000 0.070 2924 3603 2078

10103 0.44 186.0 223.3 8.2 515 10107 0.15 2.33 0.00 0.000 6 0.091 0.047 2899 2138 2078

10429 0.51 186.0 200.8 7.1 531 10433 0.00 2.20 0.00 0.000 4 0.000 0.068 2899 795 2078

10513 0.56 186.0 194.4 8.0 535 10518 0.12 2.03 0.00 0.000 6 0.062 0.049 2927 2081 2078

10840 0.56 186.0 167.2 8.1 551 10844 0.00 2.53 0.00 0.000 4 0.000 0.069 2927 3610 2078

10879 0.50 186.0 163.9 8.6 553 10883 0.00 2.42 0.00 0.000 6 0.000 0.048 2927 2084 2078

11199 0.50 186.0 141.2 6.4 574 11203 0.00 2.08 0.00 0.000 4 0.000 0.068 2927 798 2078

11226 0.45 186.0 139.3 6.8 576 11233 0.17 2.00 0.00 0.000 6 0.087 0.048 2898 2081 2078

11551 0.59 232.3 124.9 4.0 607 11593 0.15 0.00 39.00 0.913 6 0.059 0.000 2930 2081 1890

11910 0.63 232.3 104.3 6.8 641 11911 0.00 0.00 0.00 0.000 6 0.000 0.000 2930 2081 1890

12229 0.67 232.3 81.6 7.9 671 12234 0.00 2.50 0.00 0.000 4 0.000 0.068 2930 3601 1890

12325 0.67 232.3 73.3 8.6 685 12331 0.00 2.38 0.00 0.000 6 0.000 0.048 2930 2099 1890

12671 0.76 232.3 51.3 5.5 746 12677 0.15 2.12 0.00 0.000 4 0.058 0.066 2966 792 1890

12746 0.68 232.3 45.9 7.2 759 12753 0.00 1.85 0.00 0.000 6 0.000 0.048 2967 1955 1890

13082 0.72 263.5 26.2 4.5 798 13115 0.00 2.75 27.25 0.845 4 0.000 0.067 2966 3611 1761

13221 0.72 263.5 17.2 7.6 810 13228 0.00 2.60 0.00 0.000 6 0.000 0.047 2966 1981 1761

13470 end climb: SURFACE_DEPTH_REACHED

state 13470 begin surface coast

13494 end surface coast: CONTROL_FINISHED_OK

state 13494 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	152	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	SM_CC	350	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	10	DEVICE2	20
T_MISSION	660	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	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	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-212640.17	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	232528,4804.321,-12537.417,34,3.2,53,18.9	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,-0.085
_SM_DEPTHo	1.14	KALMAN_X	-29780.8,1457.7,97416.3,-118803.5,-48209.8
_SM_ANGLEo	-69.0	KALMAN_Y	115040.5,802.2,92874.1,-86988.1,-54727.1
GPS2	233032,4804.278,-12537.330,16,1.2,16,18.9	MHEAD_RNG_PITCHd_Wd	225.1,215971,-11.5,-5.500
SPEED_LIMITS	0.095,0.195	D_GRID	990

FINISH	0.1,1.012821	ALTIM_BOTTOM_PING	351.3,63.3
SM_CCo	13514,41.50,0.796,0,0,1409,350.04	_24V_AH	23.3,55.381
SM_GC	1.45,0.00,0.00,41.50,0.000,0.000,0.796,864,2217,1409,-8.91,0.48,350.04	_10V_AH	10.6,38.139
IRIDIUM_FIX	4748.51,-12534.88,170198,202016	DATA_FILE_SIZE	41055,836
TT8_MAMPS	0.027612	CAP_FILE_SIZE	111288,0
HUMID	2061	CFSIZE	260165632,248606720
INTERNAL_PRESSURE	8.71127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	241008,031900,4804.070,-12538.826,55,1.1,62,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	146	95.66	SBE_CT	569	24	318.42
Roll_motor	107	76	191.27	SBE_O2	659	19	292.12
VBD_pump_during_apogee	320	1088	8119.98	WL_BB2F	1296	105	3171.91
VBD_pump_during_surface	41	796	769.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.20	nil	0	0	0.00
Iridium_during_connect	36	160	136.33	nil	0	0	0.00
Iridium_during_xfer	135	223	706.41
Transponder_ping	2	420	26.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.42
TT8	1499	19	314.66
LPSleep	9611	2	223.12
TT8_Active	474	19	99.55
TT8_Sampling	1885	39	795.27
TT8_CF8	393	45	191.05
TT8_Kalman	33	81	28.92
Analog_circuits	1321	12	168.15
GPS_charging	0	0	0.00
Compass	1866	8	158.27
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.67	-117.3	0.0	0.0	0	84	0.00	0.00	-61.95	0.000	2	0.000	0.000	861	2235	2799
87	-0.67	-117.3	3.2	-4.9	6	118	12.23	2.33	-11.95	0.000	4	0.146	0.077	2647	3598	3317
231	-0.48	-117.3	23.3	-11.1	19	238	0.28	2.22	0.00	0.000	6	0.080	0.041	2693	2194	3317
560	-0.48	-117.3	45.7	-5.9	58	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2192	3317
904	-0.56	-117.3	67.2	-6.2	119	910	0.00	2.35	0.00	0.000	4	0.000	0.066	2693	3610	3316
928	-0.64	-117.3	68.8	-6.2	123	935	0.15	2.15	0.00	0.000	6	0.041	0.044	2649	2263	3317
1262	-0.55	-117.3	92.0	-4.9	166	1264	0.17	0.00	0.00	0.000	6	0.080	0.000	2679	2262	3317
1582	-0.63	-117.3	101.1	-3.0	196	1586	0.00	2.40	0.00	0.000	4	0.000	0.061	2679	793	3317
1611	-0.74	-117.3	102.2	-3.9	198	1616	0.22	2.38	0.00	0.000	6	0.048	0.047	2631	2306	3317
1938	-0.64	-117.3	124.3	-6.7	228	1940	0.15	0.00	0.00	0.000	6	0.084	0.000	2657	2307	3317
2255	-0.64	-117.3	144.6	-6.6	258	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2307	3317
2566	-0.64	-117.3	165.6	-6.5	277	2570	0.00	2.45	0.00	0.000	4	0.000	0.061	2657	789	3317
2592	-0.64	-117.3	167.5	-7.2	278	2596	0.00	2.35	0.00	0.000	6	0.000	0.048	2657	2288	3317
2913	-0.64	-117.3	186.0	-5.7	294	2915	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2288	3317
3223	-0.64	-117.3	202.4	-5.3	309	3227	0.00	2.42	0.00	0.000	4	0.000	0.061	2657	786	3317
3250	-0.64	-117.3	203.8	-4.8	310	3254	0.00	2.30	0.00	0.000	6	0.000	0.048	2657	2257	3317
3572	-0.64	-117.3	220.4	-5.2	326	3573	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2258	3317
3881	-0.64	-117.3	238.3	-5.9	341	3885	0.00	2.38	0.00	0.000	4	0.000	0.063	2657	788	3317
3936	-0.70	-117.3	241.7	-6.2	343	3942	0.00	2.25	0.00	0.000	6	0.000	0.048	2657	2237	3317
4252	-0.70	-117.3	259.4	-5.5	359	4253	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2237	3317
4561	-0.70	-117.3	276.9	-5.6	374	4562	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2237	3317
4870	-0.75	-117.3	296.1	-6.1	389	4874	0.00	2.35	0.00	0.000	4	0.000	0.064	2657	792	3316
4897	-0.80	-117.3	297.7	-5.6	390	4902	0.17	2.28	0.00	0.000	6	0.053	0.048	2618	2249	3317
5253	-0.67	-117.3	324.1	-7.5	398	5257	0.15	2.35	0.00	0.000	4	0.086	0.065	2648	800	3316
5290	-0.67	-117.3	326.7	-6.8	398	5294	0.00	2.25	0.00	0.000	6	0.000	0.048	2648	2220	3316
5616	-0.67	-117.3	345.7	-5.8	404	5617	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2220	3316
5920	-0.67	-117.3	360.4	-4.8	409	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2220	3315
6222	-0.67	-117.3	379.5	-6.5	414	6224	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2220	3316
6526	-0.67	-117.3	393.4	-4.7	419	6530	0.00	2.35	0.00	0.000	4	0.000	0.069	2648	795	3315
6558	-0.67	-117.3	395.3	-5.1	419	6562	0.00	2.20	0.00	0.000	6	0.000	0.049	2648	2192	3315
6767	end dive: BOTTOM_OBSTACLE_DETECTED
state	6767	begin apogee
6772	-0.23	0.0	406.4	5.2	423	6869	0.57	0.00	94.65	1.088	6	0.068	0.000	2749	2192	2837
6870	end apogee: CONTROL_FINISHED_OK
state	6870	begin climb
6872	0.67	117.3	408.7	0.0	424	6978	1.12	2.58	97.72	1.038	4	0.043	0.072	2950	3596	2358
7002	0.41	136.3	411.2	4.9	426	7027	0.38	2.35	18.02	0.996	6	0.093	0.047	2893	2205	2280
7381	0.41	136.3	391.0	5.8	433	7385	0.00	2.38	0.00	0.000	4	0.000	0.073	2893	795	2280
7519	0.41	136.3	383.2	5.8	435	7524	0.00	2.17	0.00	0.000	6	0.000	0.050	2893	2138	2280
7879	0.41	136.3	362.4	5.9	441	7884	0.00	2.42	0.00	0.000	4	0.000	0.072	2893	3602	2279
7923	0.41	136.3	359.7	6.2	441	7927	0.00	2.35	0.00	0.000	6	0.000	0.048	2893	2123	2280
8244	0.41	136.3	341.5	5.7	447	8247	0.00	2.20	0.00	0.000	4	0.000	0.073	2893	796	2279
8288	0.42	142.3	338.8	5.3	447	8299	0.00	2.08	6.40	0.884	6	0.000	0.050	2893	2114	2256
8602	0.42	142.3	319.4	6.3	452	8606	0.00	2.47	0.00	0.000	4	0.000	0.071	2893	3602	2256
8633	0.42	142.3	317.0	7.5	452	8638	0.00	2.38	0.00	0.000	6	0.000	0.047	2893	2125	2256
8946	0.42	142.3	297.6	5.9	459	8947	0.00	0.00	0.00	0.000	6	0.000	0.000	2893	2126	2255
9256	0.47	186.0	283.0	4.1	474	9299	0.00	2.58	37.15	1.015	4	0.000	0.070	2893	3599	2078
9349	0.55	186.0	277.5	6.6	478	9354	0.15	2.33	0.00	0.000	6	0.060	0.047	2925	2162	2078
9670	0.55	186.0	256.2	7.0	494	9674	0.00	2.28	0.00	0.000	4	0.000	0.071	2924	787	2078
9741	0.49	186.0	250.6	8.3	497	9745	0.00	2.15	0.00	0.000	6	0.000	0.050	2924	2138	2078
10063	0.49	186.0	226.4	7.2	513	10067	0.00	2.42	0.00	0.000	4	0.000	0.070	2924	3603	2078
10103	0.44	186.0	223.3	8.2	515	10107	0.15	2.33	0.00	0.000	6	0.091	0.047	2899	2138	2078
10429	0.51	186.0	200.8	7.1	531	10433	0.00	2.20	0.00	0.000	4	0.000	0.068	2899	795	2078
10513	0.56	186.0	194.4	8.0	535	10518	0.12	2.03	0.00	0.000	6	0.062	0.049	2927	2081	2078
10840	0.56	186.0	167.2	8.1	551	10844	0.00	2.53	0.00	0.000	4	0.000	0.069	2927	3610	2078
10879	0.50	186.0	163.9	8.6	553	10883	0.00	2.42	0.00	0.000	6	0.000	0.048	2927	2084	2078
11199	0.50	186.0	141.2	6.4	574	11203	0.00	2.08	0.00	0.000	4	0.000	0.068	2927	798	2078
11226	0.45	186.0	139.3	6.8	576	11233	0.17	2.00	0.00	0.000	6	0.087	0.048	2898	2081	2078
11551	0.59	232.3	124.9	4.0	607	11593	0.15	0.00	39.00	0.913	6	0.059	0.000	2930	2081	1890
11910	0.63	232.3	104.3	6.8	641	11911	0.00	0.00	0.00	0.000	6	0.000	0.000	2930	2081	1890
12229	0.67	232.3	81.6	7.9	671	12234	0.00	2.50	0.00	0.000	4	0.000	0.068	2930	3601	1890
12325	0.67	232.3	73.3	8.6	685	12331	0.00	2.38	0.00	0.000	6	0.000	0.048	2930	2099	1890
12671	0.76	232.3	51.3	5.5	746	12677	0.15	2.12	0.00	0.000	4	0.058	0.066	2966	792	1890
12746	0.68	232.3	45.9	7.2	759	12753	0.00	1.85	0.00	0.000	6	0.000	0.048	2967	1955	1890
13082	0.72	263.5	26.2	4.5	798	13115	0.00	2.75	27.25	0.845	4	0.000	0.067	2966	3611	1761
13221	0.72	263.5	17.2	7.6	810	13228	0.00	2.60	0.00	0.000	6	0.000	0.047	2966	1981	1761
13470	end climb: SURFACE_DEPTH_REACHED
state	13470	begin surface coast
13494	end surface coast: CONTROL_FINISHED_OK
state	13494	begin surface