Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 157 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 157 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2078723.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2078723.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 157 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-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 21

Pre-dive calculations and measurements:

GPS1 063628,6247.021,-933.189,35,3.7,54,-10.0 TGT_NAME IFRVAL

_CALLS 3 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.150,0.163

_SM_DEPTHo 1.39 KALMAN_X -135966.0,725.5,1152.3,109785.0,-21002.0

_SM_ANGLEo -57.3 KALMAN_Y 110120.9,-192.9,86.9,17491.0,-8261.1

GPS2 064745,6247.054,-933.221,12,1.8,12,-10.0 MHEAD_RNG_PITCHd_Wd 52.7,53888,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027514 ALTIM_BOTTOM_PING 400.9,96.2

SM_CCo 13211,195.55,0.662,1,0,509,566.15 _24V_AH 23.6,27.691

SM_GC 1.40,0.00,0.00,195.55,0.000,0.000,0.662,72,2407,509,-10.75,0.20,566.15 _10V_AH 10.2,13.335

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31691,639

TT8_MAMPS 0.02301 CFSIZE 260165632,250388480

HUMID 2068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,1,0

TCM_TEMP 16.90 GPS 101207,103326,6249.736,-926.814,43,1.9,43,-9.9

XPDR_PINGS 22

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.57 SBE_CT 453 24 257.03

Roll_motor 134 91 289.50 SBE_O2 441 19 197.94

VBD_pump_during_apogee 310 1007 7368.92 WL_BB2F 452 105 1120.99

VBD_pump_during_surface 195 661 3054.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 238.07 nil 0 0 0.00

Iridium_during_connect 105 160 397.13 nil 0 0 0.00

Iridium_during_xfer 251 223 1324.25

Transponder_ping 8 420 84.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.57

TT8 1169 19 236.27

LPSleep 10268 2 229.37

TT8_Active 674 19 136.32

TT8_Sampling 1380 39 560.61

TT8_CF8 603 45 282.12

TT8_Kalman 33 81 27.84

Analog_circuits 1384 12 169.45

GPS_charging 0 0 0.00

Compass 1356 8 110.66

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 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -102.47 0.000 2 0.000 0.000 68 2398 3154

127 -0.85 -146.6 3.9 -3.0 5 152 12.30 2.72 -5.95 0.000 4 0.174 0.085 2222 986 3418

168 -0.85 -146.6 11.9 -11.0 7 173 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2394 3418

495 -0.85 -146.6 36.2 -7.2 23 500 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 978 3418

522 -0.85 -146.6 38.4 -8.1 24 526 0.00 2.62 0.00 0.000 6 0.000 0.058 2223 2405 3418

837 -0.85 -146.6 62.2 -7.8 39 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2405 3418

1147 -0.85 -146.6 90.0 -9.0 54 1151 0.00 2.70 0.00 0.000 4 0.000 0.072 2223 977 3418

1195 -0.85 -146.6 94.4 -8.9 56 1200 0.00 2.62 0.00 0.000 6 0.000 0.060 2222 2400 3419

1511 -0.85 -146.6 119.7 -8.1 71 1515 0.00 2.67 0.00 0.000 4 0.000 0.071 2223 980 3419

1549 -0.85 -146.6 122.9 -8.8 73 1554 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2400 3418

1875 -0.85 -146.6 156.9 -10.3 89 1876 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

2184 -0.85 -146.6 190.6 -11.7 104 2188 0.00 2.67 0.00 0.000 4 0.000 0.071 2223 978 3418

2232 -0.85 -146.6 195.8 -9.5 106 2237 0.00 2.65 0.00 0.000 6 0.000 0.060 2223 2398 3418

2554 -0.85 -146.6 219.0 -5.9 122 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2398 3419

2863 -0.85 -146.6 242.2 -8.1 137 2867 0.00 2.67 0.00 0.000 4 0.000 0.071 2223 980 3418

2905 -0.85 -146.6 245.8 -8.2 139 2910 0.00 2.65 0.00 0.000 6 0.000 0.061 2223 2415 3418

3232 -0.85 -146.6 270.6 -7.6 155 3237 0.00 2.72 0.00 0.000 4 0.000 0.073 2223 973 3418

3259 -0.85 -146.6 272.6 -7.8 156 3263 0.00 2.65 0.00 0.000 6 0.000 0.061 2223 2407 3419

3580 -0.85 -146.6 295.4 -6.9 172 3584 0.00 2.70 0.00 0.000 4 0.000 0.073 2223 972 3418

3618 -0.85 -146.6 298.3 -7.9 174 3623 0.00 2.62 0.00 0.000 6 0.000 0.062 2223 2401 3418

3944 -0.85 -146.6 320.9 -6.8 190 3948 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 980 3418

3975 -0.85 -146.6 323.0 -6.8 191 3982 0.00 2.65 0.00 0.000 6 0.000 0.062 2223 2397 3419

4292 -0.85 -146.6 341.3 -4.6 207 4296 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 981 3419

4324 -0.85 -146.6 342.8 -4.8 208 4330 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2404 3419

4639 -0.85 -146.6 356.3 -5.8 224 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2404 3419

4948 -0.85 -146.6 378.9 -7.6 239 4952 0.00 2.70 0.00 0.000 4 0.000 0.074 2223 976 3418

5003 -0.85 -146.6 383.3 -8.2 241 5009 0.00 2.65 0.00 0.000 6 0.000 0.062 2223 2403 3418

5318 -0.85 -146.6 406.5 -8.6 257 5322 0.00 2.70 0.00 0.000 4 0.000 0.074 2223 974 3419

5361 -0.85 -146.6 410.6 -9.3 259 5365 0.00 2.65 0.00 0.000 6 0.000 0.063 2223 2407 3418

5687 -0.85 -146.6 436.3 -7.3 275 5692 0.00 2.70 0.00 0.000 4 0.000 0.074 2223 977 3419

5736 -0.85 -146.6 440.3 -8.4 277 5741 0.00 2.62 0.00 0.000 6 0.000 0.063 2223 2400 3419

6057 -0.85 -146.6 463.8 -6.6 293 6062 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 980 3419

6083 -0.85 -146.6 465.6 -6.8 294 6088 0.00 2.65 0.00 0.000 6 0.000 0.064 2223 2397 3419

6404 -0.85 -146.6 486.3 -6.9 310 6409 0.00 2.65 0.00 0.000 4 0.000 0.091 2223 3769 3419

6420 end dive: BOTTOM_OBSTACLE_DETECTED

state 6420 begin apogee

6428 -0.31 0.0 487.3 6.7 311 6550 0.57 0.00 119.47 1.007 6 0.107 0.000 2337 2192 2817

6551 end apogee: CONTROL_FINISHED_OK

state 6551 begin climb

6553 0.85 146.6 491.7 0.0 317 6679 1.25 2.80 117.07 0.989 4 0.097 0.079 2590 788 2218

6757 0.86 157.7 483.6 5.7 326 6772 0.00 2.67 10.18 0.846 6 0.000 0.061 2590 2205 2174

7087 0.89 187.7 466.0 5.2 343 7118 0.00 2.83 25.15 0.942 4 0.000 0.091 2590 3617 2050

7162 0.89 187.7 460.9 7.8 346 7169 0.00 2.72 0.00 0.000 6 0.000 0.069 2590 2193 2050

7477 0.93 223.7 442.6 5.0 362 7513 0.10 2.78 29.15 0.956 4 0.073 0.081 2615 788 1904

7551 0.93 223.7 438.3 6.7 364 7557 0.00 2.67 0.00 0.000 6 0.000 0.061 2615 2201 1903

7866 0.93 223.7 419.9 6.0 380 7871 0.00 2.75 0.00 0.000 4 0.000 0.091 2615 3616 1902

7920 0.93 223.7 416.3 6.7 382 7927 0.00 2.70 0.00 0.000 6 0.000 0.070 2615 2196 1901

8236 0.93 224.6 397.3 6.0 398 8240 0.00 2.70 0.00 0.000 4 0.000 0.080 2615 786 1900

8285 0.94 233.6 394.4 5.8 400 8300 0.00 2.65 9.02 0.839 6 0.000 0.059 2615 2206 1863

8628 0.94 233.6 364.4 8.9 417 8629 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1863

8936 0.94 233.6 337.1 8.9 432 8937 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1862

9246 0.94 233.6 310.8 8.1 447 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2206 1862

9555 0.94 233.6 286.7 8.1 462 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1862

9865 0.94 233.6 263.6 7.1 477 9866 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1863

10174 0.94 233.6 242.0 6.8 492 10175 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2206 1862

10483 0.94 233.6 220.8 6.6 507 10484 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1863

10792 0.94 233.6 200.5 6.7 522 10796 0.00 2.67 0.00 0.000 4 0.000 0.081 2615 3616 1863

10823 0.94 233.6 198.1 7.2 523 10830 0.00 2.67 0.00 0.000 6 0.000 0.064 2615 2199 1863

11139 0.94 233.6 174.8 7.7 539 11144 0.00 2.67 0.00 0.000 4 0.000 0.075 2615 781 1863

11166 0.94 233.6 172.6 8.4 540 11170 0.00 2.62 0.00 0.000 6 0.000 0.054 2615 2198 1863

11487 0.94 233.6 148.6 7.5 556 11492 0.00 2.67 0.00 0.000 4 0.000 0.080 2615 3619 1864

11514 0.94 233.6 146.3 8.5 557 11519 0.00 2.65 0.00 0.000 6 0.000 0.063 2615 2188 1864

11835 0.94 233.6 121.1 8.3 573 11836 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2188 1864

12144 0.94 233.6 95.0 8.1 588 12146 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2188 1864

12454 0.94 233.6 68.7 7.9 603 12458 0.00 2.62 0.00 0.000 4 0.000 0.074 2615 787 1864

12497 0.94 233.6 64.9 8.6 605 12501 0.00 2.60 0.00 0.000 6 0.000 0.054 2615 2208 1864

12824 0.94 233.6 33.8 9.5 621 12828 0.00 2.65 0.00 0.000 4 0.000 0.078 2615 3615 1865

12850 0.94 233.6 31.2 9.5 622 12854 0.00 2.62 0.00 0.000 6 0.000 0.063 2615 2199 1865

13170 end climb: SURFACE_DEPTH_REACHED

state 13170 begin surface coast

13191 end surface coast: CONTROL_FINISHED_OK

state 13192 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	157	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2078723.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	063628,6247.021,-933.189,35,3.7,54,-10.0	TGT_NAME	IFRVAL
_CALLS	3	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.150,0.163
_SM_DEPTHo	1.39	KALMAN_X	-135966.0,725.5,1152.3,109785.0,-21002.0
_SM_ANGLEo	-57.3	KALMAN_Y	110120.9,-192.9,86.9,17491.0,-8261.1
GPS2	064745,6247.054,-933.221,12,1.8,12,-10.0	MHEAD_RNG_PITCHd_Wd	52.7,53888,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027514	ALTIM_BOTTOM_PING	400.9,96.2
SM_CCo	13211,195.55,0.662,1,0,509,566.15	_24V_AH	23.6,27.691
SM_GC	1.40,0.00,0.00,195.55,0.000,0.000,0.662,72,2407,509,-10.75,0.20,566.15	_10V_AH	10.2,13.335
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31691,639
TT8_MAMPS	0.02301	CFSIZE	260165632,250388480
HUMID	2068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
TCM_TEMP	16.90	GPS	101207,103326,6249.736,-926.814,43,1.9,43,-9.9
XPDR_PINGS	22

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.57	SBE_CT	453	24	257.03
Roll_motor	134	91	289.50	SBE_O2	441	19	197.94
VBD_pump_during_apogee	310	1007	7368.92	WL_BB2F	452	105	1120.99
VBD_pump_during_surface	195	661	3054.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	238.07	nil	0	0	0.00
Iridium_during_connect	105	160	397.13	nil	0	0	0.00
Iridium_during_xfer	251	223	1324.25
Transponder_ping	8	420	84.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.57
TT8	1169	19	236.27
LPSleep	10268	2	229.37
TT8_Active	674	19	136.32
TT8_Sampling	1380	39	560.61
TT8_CF8	603	45	282.12
TT8_Kalman	33	81	27.84
Analog_circuits	1384	12	169.45
GPS_charging	0	0	0.00
Compass	1356	8	110.66
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	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-102.47	0.000	2	0.000	0.000	68	2398	3154
127	-0.85	-146.6	3.9	-3.0	5	152	12.30	2.72	-5.95	0.000	4	0.174	0.085	2222	986	3418
168	-0.85	-146.6	11.9	-11.0	7	173	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2394	3418
495	-0.85	-146.6	36.2	-7.2	23	500	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	978	3418
522	-0.85	-146.6	38.4	-8.1	24	526	0.00	2.62	0.00	0.000	6	0.000	0.058	2223	2405	3418
837	-0.85	-146.6	62.2	-7.8	39	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2405	3418
1147	-0.85	-146.6	90.0	-9.0	54	1151	0.00	2.70	0.00	0.000	4	0.000	0.072	2223	977	3418
1195	-0.85	-146.6	94.4	-8.9	56	1200	0.00	2.62	0.00	0.000	6	0.000	0.060	2222	2400	3419
1511	-0.85	-146.6	119.7	-8.1	71	1515	0.00	2.67	0.00	0.000	4	0.000	0.071	2223	980	3419
1549	-0.85	-146.6	122.9	-8.8	73	1554	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2400	3418
1875	-0.85	-146.6	156.9	-10.3	89	1876	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
2184	-0.85	-146.6	190.6	-11.7	104	2188	0.00	2.67	0.00	0.000	4	0.000	0.071	2223	978	3418
2232	-0.85	-146.6	195.8	-9.5	106	2237	0.00	2.65	0.00	0.000	6	0.000	0.060	2223	2398	3418
2554	-0.85	-146.6	219.0	-5.9	122	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2398	3419
2863	-0.85	-146.6	242.2	-8.1	137	2867	0.00	2.67	0.00	0.000	4	0.000	0.071	2223	980	3418
2905	-0.85	-146.6	245.8	-8.2	139	2910	0.00	2.65	0.00	0.000	6	0.000	0.061	2223	2415	3418
3232	-0.85	-146.6	270.6	-7.6	155	3237	0.00	2.72	0.00	0.000	4	0.000	0.073	2223	973	3418
3259	-0.85	-146.6	272.6	-7.8	156	3263	0.00	2.65	0.00	0.000	6	0.000	0.061	2223	2407	3419
3580	-0.85	-146.6	295.4	-6.9	172	3584	0.00	2.70	0.00	0.000	4	0.000	0.073	2223	972	3418
3618	-0.85	-146.6	298.3	-7.9	174	3623	0.00	2.62	0.00	0.000	6	0.000	0.062	2223	2401	3418
3944	-0.85	-146.6	320.9	-6.8	190	3948	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	980	3418
3975	-0.85	-146.6	323.0	-6.8	191	3982	0.00	2.65	0.00	0.000	6	0.000	0.062	2223	2397	3419
4292	-0.85	-146.6	341.3	-4.6	207	4296	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	981	3419
4324	-0.85	-146.6	342.8	-4.8	208	4330	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2404	3419
4639	-0.85	-146.6	356.3	-5.8	224	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2404	3419
4948	-0.85	-146.6	378.9	-7.6	239	4952	0.00	2.70	0.00	0.000	4	0.000	0.074	2223	976	3418
5003	-0.85	-146.6	383.3	-8.2	241	5009	0.00	2.65	0.00	0.000	6	0.000	0.062	2223	2403	3418
5318	-0.85	-146.6	406.5	-8.6	257	5322	0.00	2.70	0.00	0.000	4	0.000	0.074	2223	974	3419
5361	-0.85	-146.6	410.6	-9.3	259	5365	0.00	2.65	0.00	0.000	6	0.000	0.063	2223	2407	3418
5687	-0.85	-146.6	436.3	-7.3	275	5692	0.00	2.70	0.00	0.000	4	0.000	0.074	2223	977	3419
5736	-0.85	-146.6	440.3	-8.4	277	5741	0.00	2.62	0.00	0.000	6	0.000	0.063	2223	2400	3419
6057	-0.85	-146.6	463.8	-6.6	293	6062	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	980	3419
6083	-0.85	-146.6	465.6	-6.8	294	6088	0.00	2.65	0.00	0.000	6	0.000	0.064	2223	2397	3419
6404	-0.85	-146.6	486.3	-6.9	310	6409	0.00	2.65	0.00	0.000	4	0.000	0.091	2223	3769	3419
6420	end dive: BOTTOM_OBSTACLE_DETECTED
state	6420	begin apogee
6428	-0.31	0.0	487.3	6.7	311	6550	0.57	0.00	119.47	1.007	6	0.107	0.000	2337	2192	2817
6551	end apogee: CONTROL_FINISHED_OK
state	6551	begin climb
6553	0.85	146.6	491.7	0.0	317	6679	1.25	2.80	117.07	0.989	4	0.097	0.079	2590	788	2218
6757	0.86	157.7	483.6	5.7	326	6772	0.00	2.67	10.18	0.846	6	0.000	0.061	2590	2205	2174
7087	0.89	187.7	466.0	5.2	343	7118	0.00	2.83	25.15	0.942	4	0.000	0.091	2590	3617	2050
7162	0.89	187.7	460.9	7.8	346	7169	0.00	2.72	0.00	0.000	6	0.000	0.069	2590	2193	2050
7477	0.93	223.7	442.6	5.0	362	7513	0.10	2.78	29.15	0.956	4	0.073	0.081	2615	788	1904
7551	0.93	223.7	438.3	6.7	364	7557	0.00	2.67	0.00	0.000	6	0.000	0.061	2615	2201	1903
7866	0.93	223.7	419.9	6.0	380	7871	0.00	2.75	0.00	0.000	4	0.000	0.091	2615	3616	1902
7920	0.93	223.7	416.3	6.7	382	7927	0.00	2.70	0.00	0.000	6	0.000	0.070	2615	2196	1901
8236	0.93	224.6	397.3	6.0	398	8240	0.00	2.70	0.00	0.000	4	0.000	0.080	2615	786	1900
8285	0.94	233.6	394.4	5.8	400	8300	0.00	2.65	9.02	0.839	6	0.000	0.059	2615	2206	1863
8628	0.94	233.6	364.4	8.9	417	8629	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1863
8936	0.94	233.6	337.1	8.9	432	8937	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1862
9246	0.94	233.6	310.8	8.1	447	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2206	1862
9555	0.94	233.6	286.7	8.1	462	9556	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1862
9865	0.94	233.6	263.6	7.1	477	9866	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1863
10174	0.94	233.6	242.0	6.8	492	10175	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2206	1862
10483	0.94	233.6	220.8	6.6	507	10484	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1863
10792	0.94	233.6	200.5	6.7	522	10796	0.00	2.67	0.00	0.000	4	0.000	0.081	2615	3616	1863
10823	0.94	233.6	198.1	7.2	523	10830	0.00	2.67	0.00	0.000	6	0.000	0.064	2615	2199	1863
11139	0.94	233.6	174.8	7.7	539	11144	0.00	2.67	0.00	0.000	4	0.000	0.075	2615	781	1863
11166	0.94	233.6	172.6	8.4	540	11170	0.00	2.62	0.00	0.000	6	0.000	0.054	2615	2198	1863
11487	0.94	233.6	148.6	7.5	556	11492	0.00	2.67	0.00	0.000	4	0.000	0.080	2615	3619	1864
11514	0.94	233.6	146.3	8.5	557	11519	0.00	2.65	0.00	0.000	6	0.000	0.063	2615	2188	1864
11835	0.94	233.6	121.1	8.3	573	11836	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2188	1864
12144	0.94	233.6	95.0	8.1	588	12146	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2188	1864
12454	0.94	233.6	68.7	7.9	603	12458	0.00	2.62	0.00	0.000	4	0.000	0.074	2615	787	1864
12497	0.94	233.6	64.9	8.6	605	12501	0.00	2.60	0.00	0.000	6	0.000	0.054	2615	2208	1864
12824	0.94	233.6	33.8	9.5	621	12828	0.00	2.65	0.00	0.000	4	0.000	0.078	2615	3615	1865
12850	0.94	233.6	31.2	9.5	622	12854	0.00	2.62	0.00	0.000	6	0.000	0.063	2615	2199	1865
13170	end climb: SURFACE_DEPTH_REACHED
state	13170	begin surface coast
13191	end surface coast: CONTROL_FINISHED_OK
state	13192	begin surface