Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 306 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 306 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 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 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -82468.961 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 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 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

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 -82468.961

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2730 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 306 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-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 180938,6308.144,-901.584,36,1.1,36,-9.8 TGT_NAME IFRVAL

_CALLS 1 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056,0.215

_SM_DEPTHo 0.38 KALMAN_X -130518.6,-980.0,-275.7,228661.3,6896.2

_SM_ANGLEo -48.1 KALMAN_Y -61365.1,1428.6,467.7,168429.9,-13983.6

GPS2 181502,6308.117,-901.604,15,1.1,32,-9.8 MHEAD_RNG_PITCHd_Wd 355.2,7316,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026885 ALTIM_BOTTOM_PING 500.4,6.4

SM_CCo 12718,197.75,0.770,0,0,390,547.02 _24V_AH 23.8,56.456

SM_GC 0.34,0.00,0.00,197.75,0.000,0.000,0.770,419,2178,390,-10.63,0.82,547.02 _10V_AH 10.1,27.037

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31728,603

TT8_MAMPS 0.029146 CAP_FILE_SIZE 109930,0

HUMID 1722 CFSIZE 254472192,232521728

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 341 GPS 090808,215231,6308.512,-903.455,39,1.6,44,-9.8

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 139 85.55 SBE_CT 413 24 235.97

Roll_motor 135 76 246.98 SBE_O2 446 19 201.68

VBD_pump_during_apogee 279 1176 7819.71 WL_BB2F 440 105 1101.83

VBD_pump_during_surface 197 770 3624.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 29 160 112.88 nil 0 0 0.00

Iridium_during_xfer 122 223 651.21

Transponder_ping 89 420 897.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.45

TT8 1214 19 242.97

LPSleep 9286 2 205.41

TT8_Active 658 19 131.66

TT8_Sampling 1631 39 655.69

TT8_CF8 451 45 208.89

TT8_Kalman 33 81 27.56

Analog_circuits 1463 12 177.36

GPS_charging 0 0 0.00

Compass 1574 8 127.18

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 22 begin dive

25 -1.30 -117.3 0.0 0.0 0 146 0.00 0.00 -114.38 0.000 6 0.000 0.000 421 2176 3099

150 -1.30 -117.3 3.4 -3.6 6 166 10.50 2.50 0.00 0.000 4 0.140 0.054 2436 3563 3098

419 -1.03 -117.3 39.4 -11.0 17 424 0.32 2.53 0.00 0.000 6 0.093 0.042 2504 2136 3098

742 -0.97 -117.3 70.3 -10.1 33 747 0.00 2.47 0.00 0.000 4 0.000 0.053 2504 740 3099

889 -0.91 -117.3 86.1 -10.4 39 896 0.12 2.47 0.00 0.000 6 0.097 0.048 2529 2129 3099

1206 -0.91 -117.3 111.1 -7.2 55 1210 0.00 2.55 0.00 0.000 4 0.000 0.058 2529 3557 3099

1341 -0.91 -117.3 121.4 -7.4 61 1345 0.00 2.53 0.00 0.000 6 0.000 0.043 2529 2129 3099

1664 -0.91 -117.3 140.6 -5.6 77 1668 0.00 2.45 0.00 0.000 4 0.000 0.057 2529 752 3099

1872 -0.91 -117.3 152.9 -5.9 86 1876 0.00 2.47 0.00 0.000 6 0.000 0.049 2529 2134 3099

2188 -0.91 -117.3 171.5 -6.3 101 2192 0.00 2.53 0.00 0.000 4 0.000 0.061 2529 3556 3098

2307 -0.91 -117.3 180.3 -7.6 106 2311 0.00 2.55 0.00 0.000 6 0.000 0.046 2529 2121 3099

2625 -0.96 -117.3 203.0 -7.4 121 2629 0.00 2.45 0.00 0.000 4 0.000 0.059 2529 749 3098

2736 -0.96 -117.3 212.2 -8.1 126 2741 0.00 2.47 0.00 0.000 6 0.000 0.051 2529 2124 3099

3059 -1.00 -117.3 238.6 -8.4 142 3063 0.00 2.58 0.00 0.000 4 0.000 0.063 2529 3555 3098

3204 -1.00 -117.3 252.0 -9.0 148 3210 0.00 2.58 0.00 0.000 6 0.000 0.048 2529 2113 3098

3521 -1.04 -117.3 276.6 -7.4 164 3526 0.12 2.45 0.00 0.000 4 0.053 0.058 2492 740 3098

3622 -0.96 -117.3 284.9 -8.2 168 3628 0.12 2.47 0.00 0.000 6 0.099 0.052 2517 2121 3098

3940 -0.96 -117.3 303.7 -5.3 184 3944 0.00 2.60 0.00 0.000 4 0.000 0.064 2517 3557 3097

4093 -0.96 -117.3 312.8 -6.2 191 4097 0.00 2.58 0.00 0.000 6 0.000 0.049 2517 2111 3097

4420 -0.96 -117.3 334.0 -7.2 207 4424 0.00 2.45 0.00 0.000 4 0.000 0.060 2517 738 3097

4499 -0.96 -117.3 340.4 -7.9 210 4505 0.00 2.50 0.00 0.000 6 0.000 0.053 2517 2134 3097

4815 -0.96 -117.3 366.4 -8.2 226 4816 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2133 3096

5125 -0.96 -117.3 386.5 -5.8 241 5126 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2134 3096

5434 -0.96 -117.3 406.8 -7.5 256 5438 0.00 2.55 0.00 0.000 4 0.000 0.063 2517 739 3096

5558 -0.96 -117.3 417.3 -7.6 261 5564 0.00 2.50 0.00 0.000 6 0.000 0.058 2518 2120 3096

5874 -0.96 -117.3 441.6 -7.6 277 5878 0.00 2.62 0.00 0.000 4 0.000 0.071 2517 3555 3095

6093 -0.96 -117.3 458.8 -7.5 287 6097 0.00 2.58 0.00 0.000 6 0.000 0.055 2517 2124 3094

6420 -0.96 -117.3 477.2 -4.9 303 6424 0.00 2.53 0.00 0.000 4 0.000 0.071 2517 741 3094

6516 -0.96 -117.3 483.0 -6.0 307 6520 0.00 2.55 0.00 0.000 6 0.000 0.062 2517 2132 3094

6813 end dive: BOTTOM_OBSTACLE_DETECTED

state 6813 begin apogee

6819 -0.33 0.0 500.4 5.4 321 6921 0.65 0.00 98.53 1.177 6 0.084 0.000 2652 2132 2620

6922 end apogee: CONTROL_FINISHED_OK

state 6922 begin climb

6925 1.30 117.3 502.5 0.0 326 7031 1.65 2.78 98.12 1.140 4 0.073 0.074 3007 687 2141

7076 1.23 117.3 490.9 10.9 333 7080 0.00 2.65 0.00 0.000 6 0.000 0.064 3007 2108 2140

7392 1.18 117.3 458.7 10.6 348 7396 0.00 2.62 0.00 0.000 4 0.000 0.077 3007 3508 2139

7455 1.10 117.3 452.4 9.7 351 7461 0.20 2.58 0.00 0.000 6 0.093 0.064 2970 2118 2139

7783 1.18 129.4 426.9 7.5 367 7796 0.00 0.00 11.15 1.037 6 0.000 0.000 2970 2103 2092

8093 1.25 135.5 403.0 7.7 382 8107 0.15 2.70 6.65 0.939 4 0.057 0.074 3011 3507 2067

8159 1.16 135.5 396.2 10.7 385 8164 0.15 2.55 0.00 0.000 6 0.099 0.062 2983 2121 2067

8487 1.17 140.9 369.8 7.8 401 8498 0.00 2.65 5.93 0.904 4 0.000 0.072 2983 3509 2045

8588 1.17 140.9 361.6 8.0 405 8595 0.00 2.53 0.00 0.000 6 0.000 0.059 2983 2134 2044

8905 1.19 154.0 337.6 7.4 421 8926 0.00 2.65 12.32 1.031 4 0.000 0.070 2983 3507 1992

8990 1.20 157.6 330.9 7.8 424 9000 0.00 2.50 4.90 0.808 6 0.000 0.058 2982 2146 1977

9323 1.25 163.8 306.1 7.7 441 9336 0.00 2.62 6.53 0.883 4 0.000 0.068 2983 3510 1952

9406 1.30 163.8 299.0 8.8 444 9413 0.15 2.47 0.00 0.000 6 0.054 0.055 3022 2161 1953

9722 1.24 163.8 268.8 9.5 460 9727 0.00 2.50 0.00 0.000 4 0.000 0.066 3021 3509 1952

9780 1.16 163.8 262.8 10.3 462 9786 0.20 2.42 0.00 0.000 6 0.091 0.052 2983 2171 1952

10097 1.22 163.8 237.1 8.3 478 10101 0.00 2.47 0.00 0.000 4 0.000 0.064 2983 3512 1952

10124 1.27 163.8 234.6 8.9 479 10129 0.10 2.42 0.00 0.000 6 0.059 0.052 3012 2173 1952

10441 1.27 163.8 202.7 10.6 494 10445 0.00 2.45 0.00 0.000 4 0.000 0.063 3012 3510 1952

10481 1.27 163.8 198.1 11.9 496 10485 0.00 2.38 0.00 0.000 6 0.000 0.051 3012 2187 1953

10807 1.27 163.8 163.3 10.7 512 10811 0.00 2.42 0.00 0.000 4 0.000 0.061 3012 3511 1953

10848 1.27 163.8 158.8 11.2 514 10852 0.00 2.38 0.00 0.000 6 0.000 0.048 3012 2185 1953

11175 1.27 163.8 125.4 9.7 530 11179 0.00 2.42 0.00 0.000 4 0.000 0.061 3012 3511 1954

11185 1.27 163.8 124.3 9.5 530 11192 0.00 2.38 0.00 0.000 6 0.000 0.048 3012 2186 1954

11502 1.27 163.8 95.6 8.6 546 11506 0.00 2.42 0.00 0.000 4 0.000 0.060 3012 3514 1954

11529 1.27 163.8 93.0 9.5 547 11533 0.00 2.35 0.00 0.000 6 0.000 0.047 3012 2202 1954

11845 1.27 163.8 65.4 9.0 562 11849 0.00 2.40 0.00 0.000 4 0.000 0.059 3012 3516 1954

11867 1.27 163.8 63.4 8.7 563 11871 0.00 2.33 0.00 0.000 6 0.000 0.047 3012 2213 1954

12190 1.33 205.7 41.9 6.1 579 12228 0.00 0.00 35.12 0.821 6 0.000 0.000 3012 2209 1781

12538 1.33 205.7 13.9 9.0 596 12542 0.00 2.40 0.00 0.000 4 0.000 0.060 3012 3512 1780

12565 1.33 205.7 11.2 9.9 597 12569 0.00 2.35 0.00 0.000 6 0.000 0.045 3012 2199 1780

12672 end climb: SURFACE_DEPTH_REACHED

state 12672 begin surface coast

12694 end surface coast: CONTROL_FINISHED_OK

state 12694 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	306	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	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	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-82468.961	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	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	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	180938,6308.144,-901.584,36,1.1,36,-9.8	TGT_NAME	IFRVAL
_CALLS	1	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056,0.215
_SM_DEPTHo	0.38	KALMAN_X	-130518.6,-980.0,-275.7,228661.3,6896.2
_SM_ANGLEo	-48.1	KALMAN_Y	-61365.1,1428.6,467.7,168429.9,-13983.6
GPS2	181502,6308.117,-901.604,15,1.1,32,-9.8	MHEAD_RNG_PITCHd_Wd	355.2,7316,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026885	ALTIM_BOTTOM_PING	500.4,6.4
SM_CCo	12718,197.75,0.770,0,0,390,547.02	_24V_AH	23.8,56.456
SM_GC	0.34,0.00,0.00,197.75,0.000,0.000,0.770,419,2178,390,-10.63,0.82,547.02	_10V_AH	10.1,27.037
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31728,603
TT8_MAMPS	0.029146	CAP_FILE_SIZE	109930,0
HUMID	1722	CFSIZE	254472192,232521728
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	341	GPS	090808,215231,6308.512,-903.455,39,1.6,44,-9.8
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	139	85.55	SBE_CT	413	24	235.97
Roll_motor	135	76	246.98	SBE_O2	446	19	201.68
VBD_pump_during_apogee	279	1176	7819.71	WL_BB2F	440	105	1101.83
VBD_pump_during_surface	197	770	3624.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	29	160	112.88	nil	0	0	0.00
Iridium_during_xfer	122	223	651.21
Transponder_ping	89	420	897.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.45
TT8	1214	19	242.97
LPSleep	9286	2	205.41
TT8_Active	658	19	131.66
TT8_Sampling	1631	39	655.69
TT8_CF8	451	45	208.89
TT8_Kalman	33	81	27.56
Analog_circuits	1463	12	177.36
GPS_charging	0	0	0.00
Compass	1574	8	127.18
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	22	begin dive
25	-1.30	-117.3	0.0	0.0	0	146	0.00	0.00	-114.38	0.000	6	0.000	0.000	421	2176	3099
150	-1.30	-117.3	3.4	-3.6	6	166	10.50	2.50	0.00	0.000	4	0.140	0.054	2436	3563	3098
419	-1.03	-117.3	39.4	-11.0	17	424	0.32	2.53	0.00	0.000	6	0.093	0.042	2504	2136	3098
742	-0.97	-117.3	70.3	-10.1	33	747	0.00	2.47	0.00	0.000	4	0.000	0.053	2504	740	3099
889	-0.91	-117.3	86.1	-10.4	39	896	0.12	2.47	0.00	0.000	6	0.097	0.048	2529	2129	3099
1206	-0.91	-117.3	111.1	-7.2	55	1210	0.00	2.55	0.00	0.000	4	0.000	0.058	2529	3557	3099
1341	-0.91	-117.3	121.4	-7.4	61	1345	0.00	2.53	0.00	0.000	6	0.000	0.043	2529	2129	3099
1664	-0.91	-117.3	140.6	-5.6	77	1668	0.00	2.45	0.00	0.000	4	0.000	0.057	2529	752	3099
1872	-0.91	-117.3	152.9	-5.9	86	1876	0.00	2.47	0.00	0.000	6	0.000	0.049	2529	2134	3099
2188	-0.91	-117.3	171.5	-6.3	101	2192	0.00	2.53	0.00	0.000	4	0.000	0.061	2529	3556	3098
2307	-0.91	-117.3	180.3	-7.6	106	2311	0.00	2.55	0.00	0.000	6	0.000	0.046	2529	2121	3099
2625	-0.96	-117.3	203.0	-7.4	121	2629	0.00	2.45	0.00	0.000	4	0.000	0.059	2529	749	3098
2736	-0.96	-117.3	212.2	-8.1	126	2741	0.00	2.47	0.00	0.000	6	0.000	0.051	2529	2124	3099
3059	-1.00	-117.3	238.6	-8.4	142	3063	0.00	2.58	0.00	0.000	4	0.000	0.063	2529	3555	3098
3204	-1.00	-117.3	252.0	-9.0	148	3210	0.00	2.58	0.00	0.000	6	0.000	0.048	2529	2113	3098
3521	-1.04	-117.3	276.6	-7.4	164	3526	0.12	2.45	0.00	0.000	4	0.053	0.058	2492	740	3098
3622	-0.96	-117.3	284.9	-8.2	168	3628	0.12	2.47	0.00	0.000	6	0.099	0.052	2517	2121	3098
3940	-0.96	-117.3	303.7	-5.3	184	3944	0.00	2.60	0.00	0.000	4	0.000	0.064	2517	3557	3097
4093	-0.96	-117.3	312.8	-6.2	191	4097	0.00	2.58	0.00	0.000	6	0.000	0.049	2517	2111	3097
4420	-0.96	-117.3	334.0	-7.2	207	4424	0.00	2.45	0.00	0.000	4	0.000	0.060	2517	738	3097
4499	-0.96	-117.3	340.4	-7.9	210	4505	0.00	2.50	0.00	0.000	6	0.000	0.053	2517	2134	3097
4815	-0.96	-117.3	366.4	-8.2	226	4816	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2133	3096
5125	-0.96	-117.3	386.5	-5.8	241	5126	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2134	3096
5434	-0.96	-117.3	406.8	-7.5	256	5438	0.00	2.55	0.00	0.000	4	0.000	0.063	2517	739	3096
5558	-0.96	-117.3	417.3	-7.6	261	5564	0.00	2.50	0.00	0.000	6	0.000	0.058	2518	2120	3096
5874	-0.96	-117.3	441.6	-7.6	277	5878	0.00	2.62	0.00	0.000	4	0.000	0.071	2517	3555	3095
6093	-0.96	-117.3	458.8	-7.5	287	6097	0.00	2.58	0.00	0.000	6	0.000	0.055	2517	2124	3094
6420	-0.96	-117.3	477.2	-4.9	303	6424	0.00	2.53	0.00	0.000	4	0.000	0.071	2517	741	3094
6516	-0.96	-117.3	483.0	-6.0	307	6520	0.00	2.55	0.00	0.000	6	0.000	0.062	2517	2132	3094
6813	end dive: BOTTOM_OBSTACLE_DETECTED
state	6813	begin apogee
6819	-0.33	0.0	500.4	5.4	321	6921	0.65	0.00	98.53	1.177	6	0.084	0.000	2652	2132	2620
6922	end apogee: CONTROL_FINISHED_OK
state	6922	begin climb
6925	1.30	117.3	502.5	0.0	326	7031	1.65	2.78	98.12	1.140	4	0.073	0.074	3007	687	2141
7076	1.23	117.3	490.9	10.9	333	7080	0.00	2.65	0.00	0.000	6	0.000	0.064	3007	2108	2140
7392	1.18	117.3	458.7	10.6	348	7396	0.00	2.62	0.00	0.000	4	0.000	0.077	3007	3508	2139
7455	1.10	117.3	452.4	9.7	351	7461	0.20	2.58	0.00	0.000	6	0.093	0.064	2970	2118	2139
7783	1.18	129.4	426.9	7.5	367	7796	0.00	0.00	11.15	1.037	6	0.000	0.000	2970	2103	2092
8093	1.25	135.5	403.0	7.7	382	8107	0.15	2.70	6.65	0.939	4	0.057	0.074	3011	3507	2067
8159	1.16	135.5	396.2	10.7	385	8164	0.15	2.55	0.00	0.000	6	0.099	0.062	2983	2121	2067
8487	1.17	140.9	369.8	7.8	401	8498	0.00	2.65	5.93	0.904	4	0.000	0.072	2983	3509	2045
8588	1.17	140.9	361.6	8.0	405	8595	0.00	2.53	0.00	0.000	6	0.000	0.059	2983	2134	2044
8905	1.19	154.0	337.6	7.4	421	8926	0.00	2.65	12.32	1.031	4	0.000	0.070	2983	3507	1992
8990	1.20	157.6	330.9	7.8	424	9000	0.00	2.50	4.90	0.808	6	0.000	0.058	2982	2146	1977
9323	1.25	163.8	306.1	7.7	441	9336	0.00	2.62	6.53	0.883	4	0.000	0.068	2983	3510	1952
9406	1.30	163.8	299.0	8.8	444	9413	0.15	2.47	0.00	0.000	6	0.054	0.055	3022	2161	1953
9722	1.24	163.8	268.8	9.5	460	9727	0.00	2.50	0.00	0.000	4	0.000	0.066	3021	3509	1952
9780	1.16	163.8	262.8	10.3	462	9786	0.20	2.42	0.00	0.000	6	0.091	0.052	2983	2171	1952
10097	1.22	163.8	237.1	8.3	478	10101	0.00	2.47	0.00	0.000	4	0.000	0.064	2983	3512	1952
10124	1.27	163.8	234.6	8.9	479	10129	0.10	2.42	0.00	0.000	6	0.059	0.052	3012	2173	1952
10441	1.27	163.8	202.7	10.6	494	10445	0.00	2.45	0.00	0.000	4	0.000	0.063	3012	3510	1952
10481	1.27	163.8	198.1	11.9	496	10485	0.00	2.38	0.00	0.000	6	0.000	0.051	3012	2187	1953
10807	1.27	163.8	163.3	10.7	512	10811	0.00	2.42	0.00	0.000	4	0.000	0.061	3012	3511	1953
10848	1.27	163.8	158.8	11.2	514	10852	0.00	2.38	0.00	0.000	6	0.000	0.048	3012	2185	1953
11175	1.27	163.8	125.4	9.7	530	11179	0.00	2.42	0.00	0.000	4	0.000	0.061	3012	3511	1954
11185	1.27	163.8	124.3	9.5	530	11192	0.00	2.38	0.00	0.000	6	0.000	0.048	3012	2186	1954
11502	1.27	163.8	95.6	8.6	546	11506	0.00	2.42	0.00	0.000	4	0.000	0.060	3012	3514	1954
11529	1.27	163.8	93.0	9.5	547	11533	0.00	2.35	0.00	0.000	6	0.000	0.047	3012	2202	1954
11845	1.27	163.8	65.4	9.0	562	11849	0.00	2.40	0.00	0.000	4	0.000	0.059	3012	3516	1954
11867	1.27	163.8	63.4	8.7	563	11871	0.00	2.33	0.00	0.000	6	0.000	0.047	3012	2213	1954
12190	1.33	205.7	41.9	6.1	579	12228	0.00	0.00	35.12	0.821	6	0.000	0.000	3012	2209	1781
12538	1.33	205.7	13.9	9.0	596	12542	0.00	2.40	0.00	0.000	4	0.000	0.060	3012	3512	1780
12565	1.33	205.7	11.2	9.9	597	12569	0.00	2.35	0.00	0.000	6	0.000	0.045	3012	2199	1780
12672	end climb: SURFACE_DEPTH_REACHED
state	12672	begin surface coast
12694	end surface coast: CONTROL_FINISHED_OK
state	12694	begin surface