Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 307 * 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 307 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 19 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 -82486.422 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 -82486.422

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 19 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 307 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 215231,6308.512,-903.455,39,1.6,44,-9.8 TGT_NAME IFRVAL

_CALLS 1 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.021,0.221

_SM_DEPTHo 0.43 KALMAN_X -131827.4,-382.8,-801.6,228225.8,5168.7

_SM_ANGLEo -47.9 KALMAN_Y -64996.3,1417.4,691.8,172511.6,-16132.3

GPS2 215814,6308.471,-903.554,11,1.6,16,-9.8 MHEAD_RNG_PITCHd_Wd 4.5,7178,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026888 ALTIM_BOTTOM_PING 425.1,88.2

SM_CCo 12703,196.95,0.776,0,0,390,547.02 _24V_AH 23.8,56.611

SM_GC 0.07,0.00,0.00,196.95,0.000,0.000,0.776,420,2132,390,-10.63,-0.54,547.02 _10V_AH 10.1,27.105

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31681,605

TT8_MAMPS 0.029146 CAP_FILE_SIZE 107518,0

HUMID 1710 CFSIZE 254472192,232472576

TCM_TEMP 17.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 340 GPS 100808,013541,6310.274,-903.421,49,1.9,53,-9.9

ALTIM_TOP_PING 19.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 86.48 SBE_CT 414 24 236.85

Roll_motor 124 76 227.41 SBE_O2 446 19 202.12

VBD_pump_during_apogee 275 1178 7722.08 WL_BB2F 446 105 1114.59

VBD_pump_during_surface 196 776 3638.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 28 160 108.19 nil 0 0 0.00

Iridium_during_xfer 153 223 812.51

Transponder_ping 88 420 884.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.50

TT8 1193 19 238.70

LPSleep 9362 2 207.08

TT8_Active 658 19 131.73

TT8_Sampling 1543 39 620.52

TT8_CF8 491 45 227.35

TT8_Kalman 33 81 27.56

Analog_circuits 1419 12 172.02

GPS_charging 0 0 0.00

Compass 1505 8 121.64

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 -1.30 -117.3 0.0 0.0 0 146 0.00 0.00 -114.82 0.000 6 0.000 0.000 420 2175 3099

150 -1.30 -117.3 3.3 -3.4 6 166 10.52 2.53 0.00 0.000 4 0.139 0.058 2439 3565 3098

290 -1.00 -117.3 25.4 -12.2 11 295 0.32 2.50 0.00 0.000 6 0.090 0.042 2507 2142 3098

607 -0.95 -117.3 57.7 -9.4 26 611 0.00 2.47 0.00 0.000 4 0.000 0.053 2507 746 3098

812 -0.90 -117.3 71.0 -5.4 35 817 0.12 2.50 0.00 0.000 6 0.095 0.047 2532 2148 3098

1134 -0.90 -117.3 84.5 -3.8 51 1135 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2147 3099

1443 -0.90 -117.3 100.6 -5.6 66 1448 0.00 2.55 0.00 0.000 4 0.000 0.057 2532 745 3099

1516 -0.90 -117.3 104.9 -6.1 69 1520 0.00 2.47 0.00 0.000 6 0.000 0.048 2532 2129 3099

1835 -0.94 -117.3 124.0 -6.6 84 1836 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2129 3099

2143 -0.98 -117.3 146.5 -7.3 99 2147 0.00 2.53 0.00 0.000 4 0.000 0.058 2532 742 3099

2221 -0.98 -117.3 152.6 -7.1 102 2227 0.00 2.45 0.00 0.000 6 0.000 0.050 2532 2108 3099

2538 -1.03 -117.3 177.9 -8.4 118 2543 0.12 2.60 0.00 0.000 4 0.053 0.060 2494 3555 3099

2703 -0.95 -117.3 195.0 -10.1 125 2708 0.12 2.58 0.00 0.000 6 0.097 0.046 2519 2100 3098

3019 -0.95 -117.3 223.4 -8.5 140 3023 0.00 2.42 0.00 0.000 4 0.000 0.060 2520 746 3098

3097 -0.95 -117.3 230.4 -8.6 143 3103 0.00 2.45 0.00 0.000 6 0.000 0.051 2520 2108 3098

3412 -0.95 -117.3 256.2 -8.0 159 3414 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2108 3098

3723 -0.95 -117.3 278.1 -6.5 174 3724 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2108 3098

4031 -0.95 -117.3 295.8 -5.2 189 4035 0.00 2.47 0.00 0.000 4 0.000 0.060 2520 749 3097

4162 -0.95 -117.3 302.9 -5.3 195 4166 0.00 2.45 0.00 0.000 6 0.000 0.052 2520 2114 3097

4490 -0.95 -117.3 319.6 -5.4 211 4494 0.00 2.60 0.00 0.000 4 0.000 0.063 2520 3564 3097

4747 -0.95 -117.3 337.9 -8.1 222 4753 0.00 2.58 0.00 0.000 6 0.000 0.050 2520 2123 3097

5063 -0.95 -117.3 364.9 -8.8 238 5067 0.00 2.47 0.00 0.000 4 0.000 0.063 2520 744 3096

5175 -0.95 -117.3 375.7 -9.4 243 5179 0.00 2.47 0.00 0.000 6 0.000 0.054 2520 2116 3096

5497 -0.95 -117.3 401.2 -7.1 259 5498 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2116 3096

5805 -0.95 -117.3 418.6 -4.8 274 5806 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2116 3096

6115 -0.95 -117.3 432.5 -4.6 289 6119 0.00 2.53 0.00 0.000 4 0.000 0.064 2520 741 3095

6250 -0.95 -117.3 439.3 -5.1 295 6254 0.00 2.47 0.00 0.000 6 0.000 0.058 2520 2100 3095

6573 -0.95 -117.3 454.7 -4.9 311 6577 0.00 2.50 0.00 0.000 4 0.000 0.068 2520 751 3095

6658 -0.95 -117.3 459.8 -5.8 315 6662 0.00 2.45 0.00 0.000 6 0.000 0.059 2520 2096 3095

6986 -0.99 -117.3 477.3 -6.1 331 6990 0.00 2.70 0.00 0.000 4 0.000 0.074 2520 3560 3094

7242 -0.99 -117.3 496.0 -8.2 342 7249 0.00 2.65 0.00 0.000 6 0.000 0.061 2520 2107 3092

7349 end dive: BOTTOM_OBSTACLE_DETECTED

state 7349 begin apogee

7356 -0.33 0.0 503.9 7.3 348 7458 0.65 0.00 99.15 1.179 6 0.083 0.000 2656 2089 2620

7459 end apogee: CONTROL_FINISHED_OK

state 7459 begin climb

7463 1.30 117.3 505.1 0.0 353 7566 1.67 0.00 98.70 1.147 6 0.068 0.000 3013 2088 2141

7862 1.23 117.3 468.3 9.8 373 7866 0.00 2.67 0.00 0.000 4 0.000 0.077 3013 3505 2139

7963 1.14 117.3 458.5 9.4 377 7970 0.20 2.58 0.00 0.000 6 0.095 0.064 2976 2124 2139

8280 1.23 145.4 436.5 6.7 393 8309 0.00 2.67 23.98 1.113 4 0.000 0.077 2976 3502 2027

8409 1.34 178.7 428.1 6.5 398 8444 0.20 2.58 29.20 1.125 6 0.053 0.064 3023 2124 1890

8769 1.28 178.7 396.5 9.5 416 8773 0.00 2.62 0.00 0.000 4 0.000 0.075 3023 3504 1888

8842 1.20 178.7 389.0 9.9 419 8847 0.17 2.53 0.00 0.000 6 0.099 0.062 2992 2144 1888

9158 1.22 193.0 365.1 7.4 434 9180 0.00 2.62 12.73 1.045 4 0.000 0.072 2991 3495 1832

9204 1.22 193.0 361.6 8.5 436 9208 0.00 2.47 0.00 0.000 6 0.000 0.058 2991 2156 1832

9532 1.29 205.0 337.8 7.5 452 9553 0.00 2.62 11.48 1.012 4 0.000 0.067 2991 3511 1784

9599 1.35 205.0 332.3 8.0 455 9604 0.15 2.47 0.00 0.000 6 0.054 0.055 3028 2164 1783

9927 1.30 205.0 298.5 11.5 471 9931 0.00 2.50 0.00 0.000 4 0.000 0.067 3028 3508 1783

9961 1.23 205.0 294.0 12.5 472 9969 0.12 2.40 0.00 0.000 6 0.086 0.053 3000 2182 1783

10277 1.23 205.0 261.0 10.7 488 10281 0.00 2.45 0.00 0.000 4 0.000 0.064 3001 3505 1783

10305 1.23 205.0 257.8 11.7 489 10309 0.00 2.40 0.00 0.000 6 0.000 0.051 3001 2181 1782

10621 1.27 205.0 222.6 11.3 504 10625 0.00 2.45 0.00 0.000 4 0.000 0.063 3001 3512 1783

10643 1.31 205.0 219.7 12.1 505 10647 0.00 2.40 0.00 0.000 6 0.000 0.051 3001 2185 1783

10966 1.36 205.0 183.0 11.4 521 10970 0.12 2.42 0.00 0.000 4 0.054 0.061 3034 3507 1783

10987 1.36 205.0 180.1 12.5 522 10991 0.00 2.35 0.00 0.000 6 0.000 0.048 3034 2197 1784

11309 1.32 205.0 138.7 12.5 538 11313 0.00 2.40 0.00 0.000 4 0.000 0.061 3034 3507 1784

11320 1.27 205.0 137.1 12.4 538 11327 0.15 2.35 0.00 0.000 6 0.092 0.049 3006 2197 1784

11637 1.27 205.0 103.7 10.2 554 11641 0.00 2.40 0.00 0.000 4 0.000 0.061 3005 3508 1785

11654 1.27 205.0 101.7 10.5 555 11659 0.00 2.33 0.00 0.000 6 0.000 0.048 3005 2205 1785

11983 1.27 205.0 68.4 10.4 571 11987 0.00 2.38 0.00 0.000 4 0.000 0.060 3006 3505 1785

12000 1.27 205.0 66.4 10.7 572 12004 0.00 2.33 0.00 0.000 6 0.000 0.047 3005 2201 1785

12333 1.33 205.0 34.0 8.3 588 12337 0.00 2.38 0.00 0.000 4 0.000 0.058 3005 3507 1786

12378 1.38 205.0 30.1 8.6 590 12383 0.12 2.30 0.00 0.000 6 0.053 0.047 3039 2214 1786

12655 end climb: SURFACE_DEPTH_REACHED

state 12655 begin surface coast

12680 end surface coast: CONTROL_FINISHED_OK

state 12680 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	307	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	19	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	-82486.422	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	215231,6308.512,-903.455,39,1.6,44,-9.8	TGT_NAME	IFRVAL
_CALLS	1	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.021,0.221
_SM_DEPTHo	0.43	KALMAN_X	-131827.4,-382.8,-801.6,228225.8,5168.7
_SM_ANGLEo	-47.9	KALMAN_Y	-64996.3,1417.4,691.8,172511.6,-16132.3
GPS2	215814,6308.471,-903.554,11,1.6,16,-9.8	MHEAD_RNG_PITCHd_Wd	4.5,7178,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026888	ALTIM_BOTTOM_PING	425.1,88.2
SM_CCo	12703,196.95,0.776,0,0,390,547.02	_24V_AH	23.8,56.611
SM_GC	0.07,0.00,0.00,196.95,0.000,0.000,0.776,420,2132,390,-10.63,-0.54,547.02	_10V_AH	10.1,27.105
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31681,605
TT8_MAMPS	0.029146	CAP_FILE_SIZE	107518,0
HUMID	1710	CFSIZE	254472192,232472576
TCM_TEMP	17.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	340	GPS	100808,013541,6310.274,-903.421,49,1.9,53,-9.9
ALTIM_TOP_PING	19.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	86.48	SBE_CT	414	24	236.85
Roll_motor	124	76	227.41	SBE_O2	446	19	202.12
VBD_pump_during_apogee	275	1178	7722.08	WL_BB2F	446	105	1114.59
VBD_pump_during_surface	196	776	3638.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	28	160	108.19	nil	0	0	0.00
Iridium_during_xfer	153	223	812.51
Transponder_ping	88	420	884.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.50
TT8	1193	19	238.70
LPSleep	9362	2	207.08
TT8_Active	658	19	131.73
TT8_Sampling	1543	39	620.52
TT8_CF8	491	45	227.35
TT8_Kalman	33	81	27.56
Analog_circuits	1419	12	172.02
GPS_charging	0	0	0.00
Compass	1505	8	121.64
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	-1.30	-117.3	0.0	0.0	0	146	0.00	0.00	-114.82	0.000	6	0.000	0.000	420	2175	3099
150	-1.30	-117.3	3.3	-3.4	6	166	10.52	2.53	0.00	0.000	4	0.139	0.058	2439	3565	3098
290	-1.00	-117.3	25.4	-12.2	11	295	0.32	2.50	0.00	0.000	6	0.090	0.042	2507	2142	3098
607	-0.95	-117.3	57.7	-9.4	26	611	0.00	2.47	0.00	0.000	4	0.000	0.053	2507	746	3098
812	-0.90	-117.3	71.0	-5.4	35	817	0.12	2.50	0.00	0.000	6	0.095	0.047	2532	2148	3098
1134	-0.90	-117.3	84.5	-3.8	51	1135	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2147	3099
1443	-0.90	-117.3	100.6	-5.6	66	1448	0.00	2.55	0.00	0.000	4	0.000	0.057	2532	745	3099
1516	-0.90	-117.3	104.9	-6.1	69	1520	0.00	2.47	0.00	0.000	6	0.000	0.048	2532	2129	3099
1835	-0.94	-117.3	124.0	-6.6	84	1836	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2129	3099
2143	-0.98	-117.3	146.5	-7.3	99	2147	0.00	2.53	0.00	0.000	4	0.000	0.058	2532	742	3099
2221	-0.98	-117.3	152.6	-7.1	102	2227	0.00	2.45	0.00	0.000	6	0.000	0.050	2532	2108	3099
2538	-1.03	-117.3	177.9	-8.4	118	2543	0.12	2.60	0.00	0.000	4	0.053	0.060	2494	3555	3099
2703	-0.95	-117.3	195.0	-10.1	125	2708	0.12	2.58	0.00	0.000	6	0.097	0.046	2519	2100	3098
3019	-0.95	-117.3	223.4	-8.5	140	3023	0.00	2.42	0.00	0.000	4	0.000	0.060	2520	746	3098
3097	-0.95	-117.3	230.4	-8.6	143	3103	0.00	2.45	0.00	0.000	6	0.000	0.051	2520	2108	3098
3412	-0.95	-117.3	256.2	-8.0	159	3414	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2108	3098
3723	-0.95	-117.3	278.1	-6.5	174	3724	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2108	3098
4031	-0.95	-117.3	295.8	-5.2	189	4035	0.00	2.47	0.00	0.000	4	0.000	0.060	2520	749	3097
4162	-0.95	-117.3	302.9	-5.3	195	4166	0.00	2.45	0.00	0.000	6	0.000	0.052	2520	2114	3097
4490	-0.95	-117.3	319.6	-5.4	211	4494	0.00	2.60	0.00	0.000	4	0.000	0.063	2520	3564	3097
4747	-0.95	-117.3	337.9	-8.1	222	4753	0.00	2.58	0.00	0.000	6	0.000	0.050	2520	2123	3097
5063	-0.95	-117.3	364.9	-8.8	238	5067	0.00	2.47	0.00	0.000	4	0.000	0.063	2520	744	3096
5175	-0.95	-117.3	375.7	-9.4	243	5179	0.00	2.47	0.00	0.000	6	0.000	0.054	2520	2116	3096
5497	-0.95	-117.3	401.2	-7.1	259	5498	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2116	3096
5805	-0.95	-117.3	418.6	-4.8	274	5806	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2116	3096
6115	-0.95	-117.3	432.5	-4.6	289	6119	0.00	2.53	0.00	0.000	4	0.000	0.064	2520	741	3095
6250	-0.95	-117.3	439.3	-5.1	295	6254	0.00	2.47	0.00	0.000	6	0.000	0.058	2520	2100	3095
6573	-0.95	-117.3	454.7	-4.9	311	6577	0.00	2.50	0.00	0.000	4	0.000	0.068	2520	751	3095
6658	-0.95	-117.3	459.8	-5.8	315	6662	0.00	2.45	0.00	0.000	6	0.000	0.059	2520	2096	3095
6986	-0.99	-117.3	477.3	-6.1	331	6990	0.00	2.70	0.00	0.000	4	0.000	0.074	2520	3560	3094
7242	-0.99	-117.3	496.0	-8.2	342	7249	0.00	2.65	0.00	0.000	6	0.000	0.061	2520	2107	3092
7349	end dive: BOTTOM_OBSTACLE_DETECTED
state	7349	begin apogee
7356	-0.33	0.0	503.9	7.3	348	7458	0.65	0.00	99.15	1.179	6	0.083	0.000	2656	2089	2620
7459	end apogee: CONTROL_FINISHED_OK
state	7459	begin climb
7463	1.30	117.3	505.1	0.0	353	7566	1.67	0.00	98.70	1.147	6	0.068	0.000	3013	2088	2141
7862	1.23	117.3	468.3	9.8	373	7866	0.00	2.67	0.00	0.000	4	0.000	0.077	3013	3505	2139
7963	1.14	117.3	458.5	9.4	377	7970	0.20	2.58	0.00	0.000	6	0.095	0.064	2976	2124	2139
8280	1.23	145.4	436.5	6.7	393	8309	0.00	2.67	23.98	1.113	4	0.000	0.077	2976	3502	2027
8409	1.34	178.7	428.1	6.5	398	8444	0.20	2.58	29.20	1.125	6	0.053	0.064	3023	2124	1890
8769	1.28	178.7	396.5	9.5	416	8773	0.00	2.62	0.00	0.000	4	0.000	0.075	3023	3504	1888
8842	1.20	178.7	389.0	9.9	419	8847	0.17	2.53	0.00	0.000	6	0.099	0.062	2992	2144	1888
9158	1.22	193.0	365.1	7.4	434	9180	0.00	2.62	12.73	1.045	4	0.000	0.072	2991	3495	1832
9204	1.22	193.0	361.6	8.5	436	9208	0.00	2.47	0.00	0.000	6	0.000	0.058	2991	2156	1832
9532	1.29	205.0	337.8	7.5	452	9553	0.00	2.62	11.48	1.012	4	0.000	0.067	2991	3511	1784
9599	1.35	205.0	332.3	8.0	455	9604	0.15	2.47	0.00	0.000	6	0.054	0.055	3028	2164	1783
9927	1.30	205.0	298.5	11.5	471	9931	0.00	2.50	0.00	0.000	4	0.000	0.067	3028	3508	1783
9961	1.23	205.0	294.0	12.5	472	9969	0.12	2.40	0.00	0.000	6	0.086	0.053	3000	2182	1783
10277	1.23	205.0	261.0	10.7	488	10281	0.00	2.45	0.00	0.000	4	0.000	0.064	3001	3505	1783
10305	1.23	205.0	257.8	11.7	489	10309	0.00	2.40	0.00	0.000	6	0.000	0.051	3001	2181	1782
10621	1.27	205.0	222.6	11.3	504	10625	0.00	2.45	0.00	0.000	4	0.000	0.063	3001	3512	1783
10643	1.31	205.0	219.7	12.1	505	10647	0.00	2.40	0.00	0.000	6	0.000	0.051	3001	2185	1783
10966	1.36	205.0	183.0	11.4	521	10970	0.12	2.42	0.00	0.000	4	0.054	0.061	3034	3507	1783
10987	1.36	205.0	180.1	12.5	522	10991	0.00	2.35	0.00	0.000	6	0.000	0.048	3034	2197	1784
11309	1.32	205.0	138.7	12.5	538	11313	0.00	2.40	0.00	0.000	4	0.000	0.061	3034	3507	1784
11320	1.27	205.0	137.1	12.4	538	11327	0.15	2.35	0.00	0.000	6	0.092	0.049	3006	2197	1784
11637	1.27	205.0	103.7	10.2	554	11641	0.00	2.40	0.00	0.000	4	0.000	0.061	3005	3508	1785
11654	1.27	205.0	101.7	10.5	555	11659	0.00	2.33	0.00	0.000	6	0.000	0.048	3005	2205	1785
11983	1.27	205.0	68.4	10.4	571	11987	0.00	2.38	0.00	0.000	4	0.000	0.060	3006	3505	1785
12000	1.27	205.0	66.4	10.7	572	12004	0.00	2.33	0.00	0.000	6	0.000	0.047	3005	2201	1785
12333	1.33	205.0	34.0	8.3	588	12337	0.00	2.38	0.00	0.000	4	0.000	0.058	3005	3507	1786
12378	1.38	205.0	30.1	8.6	590	12383	0.12	2.30	0.00	0.000	6	0.053	0.047	3039	2214	1786
12655	end climb: SURFACE_DEPTH_REACHED
state	12655	begin surface coast
12680	end surface coast: CONTROL_FINISHED_OK
state	12680	begin surface