Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 237 * 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 237 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 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 -2098175.5 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 -2098175.5

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 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 237 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 212807,6342.862,-1238.495,28,1.3,28,-12.1 TGT_NAME WV

_CALLS 1 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.37 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 213245,6342.839,-1238.600,12,1.8,12,-12.1 MHEAD_RNG_PITCHd_Wd 37.5,90531,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026628 ALTIM_BOTTOM_PING 450.7,75.9

SM_CCo 15061,134.10,0.601,0,0,508,557.32 _24V_AH 23.6,41.339

SM_GC 1.39,0.00,0.00,134.10,0.000,0.000,0.601,69,2246,508,-10.26,0.45,557.32 _10V_AH 10.2,21.008

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37931,726

TT8_MAMPS 0.023777 CAP_FILE_SIZE 100636,0

HUMID 1885 CFSIZE 260165632,243888128

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 9 GPS 270708,014737,6345.077,-1233.995,38,1.6,38,-12.1

ALTIM_TOP_PING 19.4,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 99.40 SBE_CT 532 24 301.61

Roll_motor 94 78 173.65 SBE_O2 495 19 222.04

VBD_pump_during_apogee 378 961 8594.89 WL_BB2F 515 105 1276.98

VBD_pump_during_surface 134 600 1900.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.82 nil 0 0 0.00

Iridium_during_connect 26 160 99.73 nil 0 0 0.00

Iridium_during_xfer 119 223 627.44

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.19

TT8 1296 19 261.89

LPSleep 11588 2 258.86

TT8_Active 676 19 136.70

TT8_Sampling 1503 39 610.35

TT8_CF8 412 45 192.48

TT8_Kalman 0 81 0.00

Analog_circuits 1422 12 174.06

GPS_charging 0 0 0.00

Compass 1476 8 120.46

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 0 147 0.00 0.00 -120.95 0.000 2 0.000 0.000 74 2236 3037

150 -0.85 -146.6 4.3 -3.5 6 175 11.43 2.65 -7.35 0.000 4 0.168 0.078 2108 3638 3380

328 -0.66 -146.6 31.0 -11.6 14 333 0.22 2.55 0.00 0.000 6 0.091 0.050 2152 2223 3381

656 -0.59 -146.6 64.0 -9.8 30 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2223 3381

965 -0.53 -146.6 92.2 -8.8 45 967 0.15 0.00 0.00 0.000 6 0.096 0.000 2181 2223 3381

1276 -0.53 -146.6 112.4 -6.3 60 1280 0.00 2.65 0.00 0.000 4 0.000 0.069 2181 3638 3382

1331 -0.57 -146.6 116.7 -7.6 62 1338 0.00 2.53 0.00 0.000 6 0.000 0.048 2181 2228 3382

1647 -0.57 -146.6 137.3 -6.9 78 1648 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2228 3382

1957 -0.62 -146.6 162.8 -8.0 93 1958 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2228 3382

2266 -0.67 -146.6 185.8 -7.2 108 2268 0.12 0.00 0.00 0.000 6 0.044 0.000 2137 2228 3382

2576 -0.59 -146.6 212.1 -8.2 123 2581 0.17 2.62 0.00 0.000 4 0.082 0.071 2176 3638 3382

2620 -0.64 -146.6 215.4 -7.1 125 2625 0.00 2.53 0.00 0.000 6 0.000 0.049 2176 2230 3382

2942 -0.64 -146.6 235.0 -6.2 141 2943 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3382

3252 -0.64 -146.6 255.2 -6.7 156 3253 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3382

3560 -0.64 -146.6 276.9 -7.1 171 3565 0.00 2.65 0.00 0.000 4 0.000 0.072 2176 3643 3381

3601 -0.69 -146.6 280.0 -7.7 173 3606 0.12 2.55 0.00 0.000 6 0.055 0.050 2147 2223 3381

3928 -0.64 -146.6 307.8 -8.7 189 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2223 3381

4237 -0.59 -146.6 335.5 -9.0 204 4239 0.12 0.00 0.00 0.000 6 0.087 0.000 2171 2223 3381

4546 -0.59 -146.6 358.1 -6.7 219 4551 0.00 2.65 0.00 0.000 4 0.000 0.072 2171 3644 3381

4579 -0.59 -146.6 360.7 -7.3 220 4586 0.00 2.53 0.00 0.000 6 0.000 0.051 2171 2231 3381

4895 -0.59 -146.6 381.8 -6.8 236 4896 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3381

5204 -0.59 -146.6 405.0 -7.8 251 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3381

5515 -0.59 -146.6 428.0 -7.3 266 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3380

5824 -0.63 -146.6 449.4 -6.2 281 5825 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2232 3380

6134 -0.68 -146.6 465.2 -4.5 296 6135 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3380

6443 -0.72 -146.6 480.1 -5.5 311 6444 0.12 0.00 0.00 0.000 6 0.048 0.000 2135 2231 3380

6751 -0.65 -146.6 503.5 -8.0 326 6753 0.10 0.00 0.00 0.000 6 0.094 0.000 2154 2231 3380

6933 end dive: BOTTOM_OBSTACLE_DETECTED

state 6934 begin apogee

6941 -0.31 0.0 517.2 7.6 335 7076 0.38 0.00 129.00 0.961 6 0.087 0.000 2230 2231 2781

7077 end apogee: CONTROL_FINISHED_OK

state 7077 begin climb

7080 0.85 146.6 522.8 0.0 342 7217 1.20 2.75 127.75 0.948 4 0.075 0.072 2482 3650 2182

7270 0.91 206.8 517.6 4.4 351 7329 0.00 2.60 52.92 0.926 6 0.000 0.052 2482 2234 1936

7661 1.13 242.4 497.9 5.0 370 7703 0.28 2.72 31.90 0.907 4 0.065 0.064 2548 829 1791

7802 1.03 242.4 488.1 7.8 376 7807 0.12 2.58 0.00 0.000 6 0.095 0.051 2523 2242 1791

8122 1.03 242.4 465.5 7.6 392 8127 0.00 2.65 0.00 0.000 4 0.000 0.074 2523 3647 1791

8189 1.03 242.4 459.9 8.2 395 8194 0.00 2.58 0.00 0.000 6 0.000 0.055 2523 2242 1790

8511 1.03 242.4 436.4 7.2 411 8515 0.00 2.67 0.00 0.000 4 0.000 0.074 2523 3648 1790

8550 1.03 242.4 433.3 8.1 413 8554 0.00 2.60 0.00 0.000 6 0.000 0.055 2523 2235 1790

8876 1.03 242.4 410.4 7.1 429 8880 0.00 2.62 0.00 0.000 4 0.000 0.067 2523 825 1789

8948 1.03 242.4 405.5 6.8 432 8953 0.00 2.58 0.00 0.000 6 0.000 0.051 2523 2240 1788

9264 1.03 242.4 385.8 6.5 447 9268 0.00 2.65 0.00 0.000 4 0.000 0.074 2523 3652 1788

9341 1.03 242.4 380.0 6.9 450 9348 0.00 2.58 0.00 0.000 6 0.000 0.056 2523 2241 1789

9658 1.03 242.4 359.6 6.3 466 9662 0.00 2.60 0.00 0.000 4 0.000 0.065 2523 828 1788

9702 1.03 242.4 356.7 6.2 468 9706 0.00 2.55 0.00 0.000 6 0.000 0.050 2523 2243 1788

10022 1.03 242.4 335.6 6.8 484 10023 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2242 1787

10332 1.03 242.4 312.6 7.4 499 10336 0.00 2.62 0.00 0.000 4 0.000 0.072 2523 3647 1788

10381 1.03 242.4 308.4 8.6 501 10386 0.00 2.55 0.00 0.000 6 0.000 0.054 2523 2240 1788

10697 1.03 242.4 285.1 7.2 516 10699 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2240 1787

11007 1.03 242.4 263.1 7.4 531 11008 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2240 1788

11316 1.03 242.4 240.5 7.2 546 11320 0.00 2.65 0.00 0.000 4 0.000 0.071 2523 3650 1788

11371 1.03 242.4 236.3 7.6 548 11377 0.00 2.58 0.00 0.000 6 0.000 0.054 2523 2234 1788

11687 1.03 242.4 215.4 6.3 564 11688 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2234 1788

11996 1.06 267.9 198.0 5.3 579 12025 0.00 2.75 21.85 0.726 4 0.000 0.070 2523 3648 1688

12060 1.06 267.9 194.1 6.5 582 12064 0.00 2.60 0.00 0.000 6 0.000 0.054 2523 2234 1688

12387 1.07 274.5 175.5 5.8 598 12396 0.00 0.00 7.40 0.624 6 0.000 0.000 2523 2234 1661

12695 1.07 274.5 156.2 6.2 613 12697 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2234 1661

13005 1.07 274.5 137.8 6.1 628 13010 0.00 2.65 0.00 0.000 4 0.000 0.070 2523 3647 1660

13056 1.07 274.5 134.3 6.5 630 13060 0.00 2.58 0.00 0.000 6 0.000 0.054 2523 2234 1660

13373 1.07 274.5 114.1 6.5 645 13378 0.00 2.65 0.00 0.000 4 0.000 0.070 2523 3648 1660

13414 1.07 274.5 111.2 7.5 647 13418 0.00 2.55 0.00 0.000 6 0.000 0.054 2523 2241 1660

13741 1.07 274.5 88.1 7.2 663 13742 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2241 1660

14050 1.08 282.5 67.8 5.8 678 14064 0.00 2.67 8.12 0.577 4 0.000 0.064 2523 824 1628

14094 1.12 282.5 64.8 6.4 680 14099 0.00 2.58 0.00 0.000 6 0.000 0.049 2523 2246 1627

14422 1.12 282.5 43.1 6.9 696 14423 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2246 1628

14731 1.12 282.5 20.8 6.8 711 14732 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2245 1628

15017 end climb: SURFACE_DEPTH_REACHED

state 15017 begin surface coast

15039 end surface coast: CONTROL_FINISHED_OK

state 15039 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	237	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	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	-2098175.5	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	212807,6342.862,-1238.495,28,1.3,28,-12.1	TGT_NAME	WV
_CALLS	1	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.37	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	213245,6342.839,-1238.600,12,1.8,12,-12.1	MHEAD_RNG_PITCHd_Wd	37.5,90531,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026628	ALTIM_BOTTOM_PING	450.7,75.9
SM_CCo	15061,134.10,0.601,0,0,508,557.32	_24V_AH	23.6,41.339
SM_GC	1.39,0.00,0.00,134.10,0.000,0.000,0.601,69,2246,508,-10.26,0.45,557.32	_10V_AH	10.2,21.008
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37931,726
TT8_MAMPS	0.023777	CAP_FILE_SIZE	100636,0
HUMID	1885	CFSIZE	260165632,243888128
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	9	GPS	270708,014737,6345.077,-1233.995,38,1.6,38,-12.1
ALTIM_TOP_PING	19.4,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	99.40	SBE_CT	532	24	301.61
Roll_motor	94	78	173.65	SBE_O2	495	19	222.04
VBD_pump_during_apogee	378	961	8594.89	WL_BB2F	515	105	1276.98
VBD_pump_during_surface	134	600	1900.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.82	nil	0	0	0.00
Iridium_during_connect	26	160	99.73	nil	0	0	0.00
Iridium_during_xfer	119	223	627.44
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.19
TT8	1296	19	261.89
LPSleep	11588	2	258.86
TT8_Active	676	19	136.70
TT8_Sampling	1503	39	610.35
TT8_CF8	412	45	192.48
TT8_Kalman	0	81	0.00
Analog_circuits	1422	12	174.06
GPS_charging	0	0	0.00
Compass	1476	8	120.46
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	147	0.00	0.00	-120.95	0.000	2	0.000	0.000	74	2236	3037
150	-0.85	-146.6	4.3	-3.5	6	175	11.43	2.65	-7.35	0.000	4	0.168	0.078	2108	3638	3380
328	-0.66	-146.6	31.0	-11.6	14	333	0.22	2.55	0.00	0.000	6	0.091	0.050	2152	2223	3381
656	-0.59	-146.6	64.0	-9.8	30	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2223	3381
965	-0.53	-146.6	92.2	-8.8	45	967	0.15	0.00	0.00	0.000	6	0.096	0.000	2181	2223	3381
1276	-0.53	-146.6	112.4	-6.3	60	1280	0.00	2.65	0.00	0.000	4	0.000	0.069	2181	3638	3382
1331	-0.57	-146.6	116.7	-7.6	62	1338	0.00	2.53	0.00	0.000	6	0.000	0.048	2181	2228	3382
1647	-0.57	-146.6	137.3	-6.9	78	1648	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2228	3382
1957	-0.62	-146.6	162.8	-8.0	93	1958	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2228	3382
2266	-0.67	-146.6	185.8	-7.2	108	2268	0.12	0.00	0.00	0.000	6	0.044	0.000	2137	2228	3382
2576	-0.59	-146.6	212.1	-8.2	123	2581	0.17	2.62	0.00	0.000	4	0.082	0.071	2176	3638	3382
2620	-0.64	-146.6	215.4	-7.1	125	2625	0.00	2.53	0.00	0.000	6	0.000	0.049	2176	2230	3382
2942	-0.64	-146.6	235.0	-6.2	141	2943	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3382
3252	-0.64	-146.6	255.2	-6.7	156	3253	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3382
3560	-0.64	-146.6	276.9	-7.1	171	3565	0.00	2.65	0.00	0.000	4	0.000	0.072	2176	3643	3381
3601	-0.69	-146.6	280.0	-7.7	173	3606	0.12	2.55	0.00	0.000	6	0.055	0.050	2147	2223	3381
3928	-0.64	-146.6	307.8	-8.7	189	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	2147	2223	3381
4237	-0.59	-146.6	335.5	-9.0	204	4239	0.12	0.00	0.00	0.000	6	0.087	0.000	2171	2223	3381
4546	-0.59	-146.6	358.1	-6.7	219	4551	0.00	2.65	0.00	0.000	4	0.000	0.072	2171	3644	3381
4579	-0.59	-146.6	360.7	-7.3	220	4586	0.00	2.53	0.00	0.000	6	0.000	0.051	2171	2231	3381
4895	-0.59	-146.6	381.8	-6.8	236	4896	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3381
5204	-0.59	-146.6	405.0	-7.8	251	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3381
5515	-0.59	-146.6	428.0	-7.3	266	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3380
5824	-0.63	-146.6	449.4	-6.2	281	5825	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2232	3380
6134	-0.68	-146.6	465.2	-4.5	296	6135	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3380
6443	-0.72	-146.6	480.1	-5.5	311	6444	0.12	0.00	0.00	0.000	6	0.048	0.000	2135	2231	3380
6751	-0.65	-146.6	503.5	-8.0	326	6753	0.10	0.00	0.00	0.000	6	0.094	0.000	2154	2231	3380
6933	end dive: BOTTOM_OBSTACLE_DETECTED
state	6934	begin apogee
6941	-0.31	0.0	517.2	7.6	335	7076	0.38	0.00	129.00	0.961	6	0.087	0.000	2230	2231	2781
7077	end apogee: CONTROL_FINISHED_OK
state	7077	begin climb
7080	0.85	146.6	522.8	0.0	342	7217	1.20	2.75	127.75	0.948	4	0.075	0.072	2482	3650	2182
7270	0.91	206.8	517.6	4.4	351	7329	0.00	2.60	52.92	0.926	6	0.000	0.052	2482	2234	1936
7661	1.13	242.4	497.9	5.0	370	7703	0.28	2.72	31.90	0.907	4	0.065	0.064	2548	829	1791
7802	1.03	242.4	488.1	7.8	376	7807	0.12	2.58	0.00	0.000	6	0.095	0.051	2523	2242	1791
8122	1.03	242.4	465.5	7.6	392	8127	0.00	2.65	0.00	0.000	4	0.000	0.074	2523	3647	1791
8189	1.03	242.4	459.9	8.2	395	8194	0.00	2.58	0.00	0.000	6	0.000	0.055	2523	2242	1790
8511	1.03	242.4	436.4	7.2	411	8515	0.00	2.67	0.00	0.000	4	0.000	0.074	2523	3648	1790
8550	1.03	242.4	433.3	8.1	413	8554	0.00	2.60	0.00	0.000	6	0.000	0.055	2523	2235	1790
8876	1.03	242.4	410.4	7.1	429	8880	0.00	2.62	0.00	0.000	4	0.000	0.067	2523	825	1789
8948	1.03	242.4	405.5	6.8	432	8953	0.00	2.58	0.00	0.000	6	0.000	0.051	2523	2240	1788
9264	1.03	242.4	385.8	6.5	447	9268	0.00	2.65	0.00	0.000	4	0.000	0.074	2523	3652	1788
9341	1.03	242.4	380.0	6.9	450	9348	0.00	2.58	0.00	0.000	6	0.000	0.056	2523	2241	1789
9658	1.03	242.4	359.6	6.3	466	9662	0.00	2.60	0.00	0.000	4	0.000	0.065	2523	828	1788
9702	1.03	242.4	356.7	6.2	468	9706	0.00	2.55	0.00	0.000	6	0.000	0.050	2523	2243	1788
10022	1.03	242.4	335.6	6.8	484	10023	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2242	1787
10332	1.03	242.4	312.6	7.4	499	10336	0.00	2.62	0.00	0.000	4	0.000	0.072	2523	3647	1788
10381	1.03	242.4	308.4	8.6	501	10386	0.00	2.55	0.00	0.000	6	0.000	0.054	2523	2240	1788
10697	1.03	242.4	285.1	7.2	516	10699	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2240	1787
11007	1.03	242.4	263.1	7.4	531	11008	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2240	1788
11316	1.03	242.4	240.5	7.2	546	11320	0.00	2.65	0.00	0.000	4	0.000	0.071	2523	3650	1788
11371	1.03	242.4	236.3	7.6	548	11377	0.00	2.58	0.00	0.000	6	0.000	0.054	2523	2234	1788
11687	1.03	242.4	215.4	6.3	564	11688	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2234	1788
11996	1.06	267.9	198.0	5.3	579	12025	0.00	2.75	21.85	0.726	4	0.000	0.070	2523	3648	1688
12060	1.06	267.9	194.1	6.5	582	12064	0.00	2.60	0.00	0.000	6	0.000	0.054	2523	2234	1688
12387	1.07	274.5	175.5	5.8	598	12396	0.00	0.00	7.40	0.624	6	0.000	0.000	2523	2234	1661
12695	1.07	274.5	156.2	6.2	613	12697	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2234	1661
13005	1.07	274.5	137.8	6.1	628	13010	0.00	2.65	0.00	0.000	4	0.000	0.070	2523	3647	1660
13056	1.07	274.5	134.3	6.5	630	13060	0.00	2.58	0.00	0.000	6	0.000	0.054	2523	2234	1660
13373	1.07	274.5	114.1	6.5	645	13378	0.00	2.65	0.00	0.000	4	0.000	0.070	2523	3648	1660
13414	1.07	274.5	111.2	7.5	647	13418	0.00	2.55	0.00	0.000	6	0.000	0.054	2523	2241	1660
13741	1.07	274.5	88.1	7.2	663	13742	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2241	1660
14050	1.08	282.5	67.8	5.8	678	14064	0.00	2.67	8.12	0.577	4	0.000	0.064	2523	824	1628
14094	1.12	282.5	64.8	6.4	680	14099	0.00	2.58	0.00	0.000	6	0.000	0.049	2523	2246	1627
14422	1.12	282.5	43.1	6.9	696	14423	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2246	1628
14731	1.12	282.5	20.8	6.8	711	14732	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2245	1628
15017	end climb: SURFACE_DEPTH_REACHED
state	15017	begin surface coast
15039	end surface coast: CONTROL_FINISHED_OK
state	15039	begin surface