Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 236 * 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 236 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2098162.5 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 0 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 2 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 -2098162.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 236 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 165438,6342.258,-1241.855,29,1.6,29,-12.1 TGT_NAME WV

_CALLS 1 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.32 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -60.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 171214,6342.125,-1241.428,13,1.7,30,-12.1 MHEAD_RNG_PITCHd_Wd 38.4,92707,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026968 ALTIM_BOTTOM_PING 476.3,64.7

SM_CCo 15129,136.12,0.599,0,0,508,557.32 _24V_AH 23.6,41.208

SM_GC 1.52,0.00,0.00,136.12,0.000,0.000,0.599,74,2237,508,-10.24,0.23,557.32 _10V_AH 10.2,20.937

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34837,727

TT8_MAMPS 0.023777 CAP_FILE_SIZE 114801,0

HUMID 1868 CFSIZE 260165632,243924992

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 93 GPS 260708,212807,6342.862,-1238.495,28,1.3,28,-12.1

ALTIM_TOP_PING 18.3,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 96.78 SBE_CT 534 24 302.56

Roll_motor 78 79 147.07 SBE_O2 496 19 222.45

VBD_pump_during_apogee 370 961 8409.47 WL_BB2F 468 105 1161.36

VBD_pump_during_surface 136 599 1924.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.79 nil 0 0 0.00

Iridium_during_connect 29 160 109.68 nil 0 0 0.00

Iridium_during_xfer 871 223 4586.62

Transponder_ping 27 420 270.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.40

TT8 1288 19 260.25

LPSleep 11752 2 262.52

TT8_Active 637 19 128.75

TT8_Sampling 1475 39 598.92

TT8_CF8 1171 45 547.50

TT8_Kalman 0 81 0.00

Analog_circuits 1368 12 167.54

GPS_charging 0 0 0.00

Compass 1434 8 117.06

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.15 0.000 2 0.000 0.000 70 2251 3063

151 -0.85 -146.6 4.5 -3.7 6 176 11.48 2.62 -6.55 0.000 4 0.167 0.080 2116 3631 3380

314 -0.69 -146.6 30.1 -11.3 13 319 0.17 2.55 0.00 0.000 6 0.092 0.048 2150 2226 3380

637 -0.61 -146.6 58.8 -8.9 29 638 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2226 3380

945 -0.55 -146.6 85.8 -8.7 44 947 0.15 0.00 0.00 0.000 6 0.094 0.000 2179 2226 3380

1254 -0.55 -146.6 114.8 -10.9 59 1258 0.00 2.58 0.00 0.000 4 0.000 0.060 2179 815 3380

1299 -0.63 -146.6 119.8 -10.9 61 1304 0.00 2.55 0.00 0.000 6 0.000 0.048 2179 2229 3380

1621 -0.63 -146.6 156.4 -10.6 77 1622 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2229 3380

1929 -0.63 -146.6 184.9 -8.6 92 1934 0.00 2.62 0.00 0.000 4 0.000 0.070 2179 3641 3380

1970 -0.68 -146.6 188.3 -8.9 94 1975 0.12 2.55 0.00 0.000 6 0.045 0.050 2135 2225 3380

2297 -0.59 -146.6 217.5 -8.4 110 2299 0.17 0.00 0.00 0.000 6 0.083 0.000 2170 2225 3380

2606 -0.59 -146.6 236.6 -5.9 125 2607 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2225 3380

2916 -0.59 -146.6 254.9 -6.0 140 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2226 3380

3224 -0.59 -146.6 274.0 -6.2 155 3228 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3638 3380

3263 -0.59 -146.6 276.7 -6.7 157 3268 0.00 2.53 0.00 0.000 6 0.000 0.050 2170 2230 3380

3592 -0.59 -146.6 300.4 -7.6 173 3593 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3379

3900 -0.59 -146.6 322.5 -7.1 188 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3379

4209 -0.59 -146.6 342.9 -6.6 203 4210 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3379

4518 -0.59 -146.6 363.8 -6.4 218 4520 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3379

4827 -0.59 -146.6 383.1 -6.3 233 4828 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3379

5136 -0.59 -146.6 401.5 -6.1 248 5141 0.00 2.65 0.00 0.000 4 0.000 0.072 2170 3643 3378

5181 -0.59 -146.6 404.6 -6.6 250 5186 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2225 3378

5503 -0.59 -146.6 423.2 -5.5 266 5504 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2225 3378

5813 -0.59 -146.6 437.8 -4.6 281 5814 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2225 3378

6122 -0.59 -146.6 453.8 -5.7 296 6127 0.00 2.65 0.00 0.000 4 0.000 0.072 2170 3639 3378

6155 -0.59 -146.6 456.1 -6.8 297 6162 0.00 2.53 0.00 0.000 6 0.000 0.051 2170 2232 3378

6475 -0.59 -146.6 476.3 -6.8 313 6476 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2231 3377

6782 -0.63 -146.6 493.5 -5.4 328 6783 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2231 3377

7090 -0.67 -146.6 512.6 -6.4 343 7091 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2231 3377

7356 end dive: BOTTOM_OBSTACLE_DETECTED

state 7356 begin apogee

7362 -0.31 0.0 531.3 7.0 356 7498 0.30 0.00 129.65 0.961 6 0.080 0.000 2232 2231 2780

7498 end apogee: CONTROL_FINISHED_OK

state 7499 begin climb

7502 0.85 146.6 536.3 0.0 363 7638 1.15 2.78 127.12 0.953 4 0.075 0.072 2477 3648 2183

7692 0.91 203.8 532.4 4.4 372 7747 0.00 2.60 49.80 0.931 6 0.000 0.052 2477 2234 1950

8063 1.01 219.4 514.0 5.6 389 8085 0.17 2.65 14.98 0.868 4 0.067 0.063 2519 831 1886

8141 1.01 219.4 508.4 7.2 392 8146 0.00 2.58 0.00 0.000 6 0.000 0.051 2521 2238 1885

8457 1.01 219.4 486.6 6.7 407 8458 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2238 1886

8766 1.01 219.4 462.3 7.8 422 8770 0.00 2.62 0.00 0.000 4 0.000 0.064 2519 830 1884

8838 1.01 219.4 457.0 7.3 425 8842 0.00 2.58 0.00 0.000 6 0.000 0.051 2520 2241 1883

9154 1.01 219.4 434.5 6.9 440 9158 0.00 2.65 0.00 0.000 4 0.000 0.074 2520 3647 1883

9204 0.96 219.4 430.7 7.8 442 9208 0.00 2.58 0.00 0.000 6 0.000 0.055 2519 2236 1883

9519 0.96 219.4 410.8 6.4 457 9520 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2236 1882

9829 0.96 219.4 389.1 7.1 472 9830 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2236 1882

10138 0.96 219.4 368.1 7.0 487 10142 0.00 2.67 0.00 0.000 4 0.000 0.073 2519 3650 1882

10187 0.96 219.4 364.3 7.9 489 10191 0.00 2.58 0.00 0.000 6 0.000 0.054 2519 2236 1882

10503 0.96 219.4 343.8 6.3 504 10504 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2235 1882

10812 1.00 249.8 325.8 5.2 519 10840 0.00 0.00 26.50 0.818 6 0.000 0.000 2519 2236 1761

11141 1.02 270.0 308.0 5.4 535 11166 0.00 2.72 18.15 0.787 4 0.000 0.071 2519 3644 1679

11212 1.02 270.0 303.4 6.9 538 11216 0.00 2.58 0.00 0.000 6 0.000 0.054 2520 2240 1680

11533 1.02 273.2 285.0 5.9 554 11539 0.00 0.00 4.57 0.574 6 0.000 0.000 2519 2241 1667

11842 1.02 273.2 266.5 6.3 569 11844 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2240 1667

12151 1.02 273.2 245.4 7.0 584 12152 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2240 1667

12460 1.02 273.2 223.4 7.0 599 12462 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2240 1667

12770 1.02 273.2 200.3 7.5 614 12771 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2240 1667

13079 1.02 273.2 174.7 8.4 629 13083 0.00 2.62 0.00 0.000 4 0.000 0.069 2519 3648 1667

13123 1.02 273.2 170.5 9.2 631 13127 0.00 2.55 0.00 0.000 6 0.000 0.053 2519 2239 1667

13446 1.02 273.2 142.8 9.1 647 13447 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2239 1667

13753 1.02 273.2 116.0 8.4 662 13754 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2239 1667

14062 1.02 273.2 92.9 7.6 677 14067 0.00 2.62 0.00 0.000 4 0.000 0.069 2519 3648 1667

14135 1.07 273.2 86.6 9.0 680 14139 0.00 2.55 0.00 0.000 6 0.000 0.052 2519 2239 1668

14453 1.12 273.2 59.2 9.2 695 14455 0.10 0.00 0.00 0.000 6 0.070 0.000 2543 2239 1668

14760 1.12 273.2 29.8 8.7 710 14765 0.00 2.62 0.00 0.000 4 0.000 0.067 2543 3650 1667

14801 1.12 273.2 25.6 10.4 712 14805 0.00 2.55 0.00 0.000 6 0.000 0.052 2543 2239 1667

15085 end climb: SURFACE_DEPTH_REACHED

state 15085 begin surface coast

15106 end surface coast: CONTROL_FINISHED_OK

state 15108 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	236	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2098162.5	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	0	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	2	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	165438,6342.258,-1241.855,29,1.6,29,-12.1	TGT_NAME	WV
_CALLS	1	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.32	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-60.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	171214,6342.125,-1241.428,13,1.7,30,-12.1	MHEAD_RNG_PITCHd_Wd	38.4,92707,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026968	ALTIM_BOTTOM_PING	476.3,64.7
SM_CCo	15129,136.12,0.599,0,0,508,557.32	_24V_AH	23.6,41.208
SM_GC	1.52,0.00,0.00,136.12,0.000,0.000,0.599,74,2237,508,-10.24,0.23,557.32	_10V_AH	10.2,20.937
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34837,727
TT8_MAMPS	0.023777	CAP_FILE_SIZE	114801,0
HUMID	1868	CFSIZE	260165632,243924992
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	93	GPS	260708,212807,6342.862,-1238.495,28,1.3,28,-12.1
ALTIM_TOP_PING	18.3,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	96.78	SBE_CT	534	24	302.56
Roll_motor	78	79	147.07	SBE_O2	496	19	222.45
VBD_pump_during_apogee	370	961	8409.47	WL_BB2F	468	105	1161.36
VBD_pump_during_surface	136	599	1924.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.79	nil	0	0	0.00
Iridium_during_connect	29	160	109.68	nil	0	0	0.00
Iridium_during_xfer	871	223	4586.62
Transponder_ping	27	420	270.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.40
TT8	1288	19	260.25
LPSleep	11752	2	262.52
TT8_Active	637	19	128.75
TT8_Sampling	1475	39	598.92
TT8_CF8	1171	45	547.50
TT8_Kalman	0	81	0.00
Analog_circuits	1368	12	167.54
GPS_charging	0	0	0.00
Compass	1434	8	117.06
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.15	0.000	2	0.000	0.000	70	2251	3063
151	-0.85	-146.6	4.5	-3.7	6	176	11.48	2.62	-6.55	0.000	4	0.167	0.080	2116	3631	3380
314	-0.69	-146.6	30.1	-11.3	13	319	0.17	2.55	0.00	0.000	6	0.092	0.048	2150	2226	3380
637	-0.61	-146.6	58.8	-8.9	29	638	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2226	3380
945	-0.55	-146.6	85.8	-8.7	44	947	0.15	0.00	0.00	0.000	6	0.094	0.000	2179	2226	3380
1254	-0.55	-146.6	114.8	-10.9	59	1258	0.00	2.58	0.00	0.000	4	0.000	0.060	2179	815	3380
1299	-0.63	-146.6	119.8	-10.9	61	1304	0.00	2.55	0.00	0.000	6	0.000	0.048	2179	2229	3380
1621	-0.63	-146.6	156.4	-10.6	77	1622	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2229	3380
1929	-0.63	-146.6	184.9	-8.6	92	1934	0.00	2.62	0.00	0.000	4	0.000	0.070	2179	3641	3380
1970	-0.68	-146.6	188.3	-8.9	94	1975	0.12	2.55	0.00	0.000	6	0.045	0.050	2135	2225	3380
2297	-0.59	-146.6	217.5	-8.4	110	2299	0.17	0.00	0.00	0.000	6	0.083	0.000	2170	2225	3380
2606	-0.59	-146.6	236.6	-5.9	125	2607	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2225	3380
2916	-0.59	-146.6	254.9	-6.0	140	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2226	3380
3224	-0.59	-146.6	274.0	-6.2	155	3228	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3638	3380
3263	-0.59	-146.6	276.7	-6.7	157	3268	0.00	2.53	0.00	0.000	6	0.000	0.050	2170	2230	3380
3592	-0.59	-146.6	300.4	-7.6	173	3593	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3379
3900	-0.59	-146.6	322.5	-7.1	188	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3379
4209	-0.59	-146.6	342.9	-6.6	203	4210	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3379
4518	-0.59	-146.6	363.8	-6.4	218	4520	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3379
4827	-0.59	-146.6	383.1	-6.3	233	4828	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3379
5136	-0.59	-146.6	401.5	-6.1	248	5141	0.00	2.65	0.00	0.000	4	0.000	0.072	2170	3643	3378
5181	-0.59	-146.6	404.6	-6.6	250	5186	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2225	3378
5503	-0.59	-146.6	423.2	-5.5	266	5504	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2225	3378
5813	-0.59	-146.6	437.8	-4.6	281	5814	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2225	3378
6122	-0.59	-146.6	453.8	-5.7	296	6127	0.00	2.65	0.00	0.000	4	0.000	0.072	2170	3639	3378
6155	-0.59	-146.6	456.1	-6.8	297	6162	0.00	2.53	0.00	0.000	6	0.000	0.051	2170	2232	3378
6475	-0.59	-146.6	476.3	-6.8	313	6476	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2231	3377
6782	-0.63	-146.6	493.5	-5.4	328	6783	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2231	3377
7090	-0.67	-146.6	512.6	-6.4	343	7091	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2231	3377
7356	end dive: BOTTOM_OBSTACLE_DETECTED
state	7356	begin apogee
7362	-0.31	0.0	531.3	7.0	356	7498	0.30	0.00	129.65	0.961	6	0.080	0.000	2232	2231	2780
7498	end apogee: CONTROL_FINISHED_OK
state	7499	begin climb
7502	0.85	146.6	536.3	0.0	363	7638	1.15	2.78	127.12	0.953	4	0.075	0.072	2477	3648	2183
7692	0.91	203.8	532.4	4.4	372	7747	0.00	2.60	49.80	0.931	6	0.000	0.052	2477	2234	1950
8063	1.01	219.4	514.0	5.6	389	8085	0.17	2.65	14.98	0.868	4	0.067	0.063	2519	831	1886
8141	1.01	219.4	508.4	7.2	392	8146	0.00	2.58	0.00	0.000	6	0.000	0.051	2521	2238	1885
8457	1.01	219.4	486.6	6.7	407	8458	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2238	1886
8766	1.01	219.4	462.3	7.8	422	8770	0.00	2.62	0.00	0.000	4	0.000	0.064	2519	830	1884
8838	1.01	219.4	457.0	7.3	425	8842	0.00	2.58	0.00	0.000	6	0.000	0.051	2520	2241	1883
9154	1.01	219.4	434.5	6.9	440	9158	0.00	2.65	0.00	0.000	4	0.000	0.074	2520	3647	1883
9204	0.96	219.4	430.7	7.8	442	9208	0.00	2.58	0.00	0.000	6	0.000	0.055	2519	2236	1883
9519	0.96	219.4	410.8	6.4	457	9520	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2236	1882
9829	0.96	219.4	389.1	7.1	472	9830	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2236	1882
10138	0.96	219.4	368.1	7.0	487	10142	0.00	2.67	0.00	0.000	4	0.000	0.073	2519	3650	1882
10187	0.96	219.4	364.3	7.9	489	10191	0.00	2.58	0.00	0.000	6	0.000	0.054	2519	2236	1882
10503	0.96	219.4	343.8	6.3	504	10504	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2235	1882
10812	1.00	249.8	325.8	5.2	519	10840	0.00	0.00	26.50	0.818	6	0.000	0.000	2519	2236	1761
11141	1.02	270.0	308.0	5.4	535	11166	0.00	2.72	18.15	0.787	4	0.000	0.071	2519	3644	1679
11212	1.02	270.0	303.4	6.9	538	11216	0.00	2.58	0.00	0.000	6	0.000	0.054	2520	2240	1680
11533	1.02	273.2	285.0	5.9	554	11539	0.00	0.00	4.57	0.574	6	0.000	0.000	2519	2241	1667
11842	1.02	273.2	266.5	6.3	569	11844	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2240	1667
12151	1.02	273.2	245.4	7.0	584	12152	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2240	1667
12460	1.02	273.2	223.4	7.0	599	12462	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2240	1667
12770	1.02	273.2	200.3	7.5	614	12771	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2240	1667
13079	1.02	273.2	174.7	8.4	629	13083	0.00	2.62	0.00	0.000	4	0.000	0.069	2519	3648	1667
13123	1.02	273.2	170.5	9.2	631	13127	0.00	2.55	0.00	0.000	6	0.000	0.053	2519	2239	1667
13446	1.02	273.2	142.8	9.1	647	13447	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2239	1667
13753	1.02	273.2	116.0	8.4	662	13754	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2239	1667
14062	1.02	273.2	92.9	7.6	677	14067	0.00	2.62	0.00	0.000	4	0.000	0.069	2519	3648	1667
14135	1.07	273.2	86.6	9.0	680	14139	0.00	2.55	0.00	0.000	6	0.000	0.052	2519	2239	1668
14453	1.12	273.2	59.2	9.2	695	14455	0.10	0.00	0.00	0.000	6	0.070	0.000	2543	2239	1668
14760	1.12	273.2	29.8	8.7	710	14765	0.00	2.62	0.00	0.000	4	0.000	0.067	2543	3650	1667
14801	1.12	273.2	25.6	10.4	712	14805	0.00	2.55	0.00	0.000	6	0.000	0.052	2543	2239	1667
15085	end climb: SURFACE_DEPTH_REACHED
state	15085	begin surface coast
15106	end surface coast: CONTROL_FINISHED_OK
state	15108	begin surface