Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 35 * 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 35 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 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 15 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 -2093217.5 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 2 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 1 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 300

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 -2093217.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 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 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 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 35 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 235201,6033.519,-601.261,37,1.7,43,-7.3 TGT_NAME WTB_1

_CALLS 1 TGT_LATLONG 6010.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.060,-0.213

_SM_DEPTHo 1.42 KALMAN_X -8158.3,-493.4,-298.5,-31122.2,-1827.1

_SM_ANGLEo -59.9 KALMAN_Y -24124.6,-507.3,12.8,-1628.4,9053.4

GPS2 235805,6033.474,-601.304,11,2.7,30,-7.3 MHEAD_RNG_PITCHd_Wd 191.8,43606,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013770 ALTIM_BOTTOM_PING 375.2,86.2

SM_CCo 12722,3.53,0.394,0,0,1557,300.00 _24V_AH 23.6,8.419

SM_GC 2.30,0.00,0.00,3.53,0.000,0.000,0.394,68,2304,1557,-10.27,0.11,300.00 _10V_AH 10.1,3.654

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31711,608

TT8_MAMPS 0.023777 CAP_FILE_SIZE 98924,0

HUMID 1865 CFSIZE 260165632,256585728

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 30 GPS 120608,033228,6031.380,-558.660,27,3.5,46,-7.3

ALTIM_TOP_PING 19.5,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 94.08 SBE_CT 444 24 251.82

Roll_motor 132 89 281.51 SBE_O2 411 19 184.54

VBD_pump_during_apogee 388 944 8649.54 WL_BB2F 460 105 1140.83

VBD_pump_during_surface 3 394 32.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.74 nil 0 0 0.00

Iridium_during_connect 25 160 95.77 nil 0 0 0.00

Iridium_during_xfer 193 223 1018.86

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.69

TT8 1151 19 230.27

LPSleep 9509 2 210.35

TT8_Active 509 19 101.93

TT8_Sampling 1464 39 588.62

TT8_CF8 458 45 212.20

TT8_Kalman 33 81 27.56

Analog_circuits 1256 12 152.25

GPS_charging 0 0 0.00

Compass 1414 8 114.32

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 0 106 0.00 0.00 -81.03 0.000 2 0.000 0.000 65 2302 3136

110 -0.85 -146.6 4.8 -5.3 4 132 11.32 2.65 -4.97 0.000 4 0.165 0.084 2107 3706 3380

386 -0.67 -146.6 45.7 -13.2 16 391 0.22 2.60 0.00 0.000 6 0.091 0.055 2151 2292 3380

707 -0.67 -146.6 74.6 -8.0 32 711 0.00 2.62 0.00 0.000 4 0.000 0.068 2152 880 3381

769 -0.67 -146.6 79.3 -7.4 35 774 0.00 2.60 0.00 0.000 6 0.000 0.057 2151 2297 3382

1096 -0.67 -146.6 102.6 -7.3 51 1100 0.00 2.65 0.00 0.000 4 0.000 0.066 2151 875 3381

1140 -0.67 -146.6 105.9 -7.5 53 1144 0.00 2.60 0.00 0.000 6 0.000 0.056 2151 2299 3382

1461 -0.67 -146.6 131.3 -8.2 69 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2300 3381

1769 -0.67 -146.6 153.3 -6.2 84 1774 0.00 2.65 0.00 0.000 4 0.000 0.067 2151 878 3381

1810 -0.67 -146.6 155.7 -5.9 86 1815 0.00 2.62 0.00 0.000 6 0.000 0.058 2151 2302 3382

2136 -0.67 -146.6 178.5 -8.5 102 2141 0.00 2.67 0.00 0.000 4 0.000 0.079 2151 3713 3382

2164 -0.67 -146.6 181.2 -9.9 103 2168 0.00 2.60 0.00 0.000 6 0.000 0.058 2151 2299 3382

2479 -0.67 -146.6 210.0 -8.8 118 2484 0.00 2.65 0.00 0.000 4 0.000 0.070 2151 875 3382

2556 -0.67 -146.6 217.0 -9.0 121 2562 0.00 2.62 0.00 0.000 6 0.000 0.060 2151 2299 3383

2872 -0.67 -146.6 242.7 -8.0 137 2873 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2299 3381

3181 -0.67 -146.6 267.9 -8.8 152 3186 0.00 2.65 0.00 0.000 4 0.000 0.069 2151 880 3382

3221 -0.67 -146.6 271.3 -8.6 154 3226 0.00 2.62 0.00 0.000 6 0.000 0.061 2151 2298 3382

3547 -0.67 -146.6 296.6 -7.4 170 3552 0.00 2.65 0.00 0.000 4 0.000 0.070 2151 878 3381

3575 -0.67 -146.6 298.7 -7.6 171 3579 0.00 2.62 0.00 0.000 6 0.000 0.061 2151 2301 3381

3891 -0.67 -146.6 321.8 -7.6 186 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2302 3382

4200 -0.67 -146.6 349.5 -9.1 201 4208 0.00 2.67 0.00 0.000 4 0.000 0.070 2151 872 3381

4241 -0.67 -146.6 353.5 -9.1 202 4247 0.00 2.65 0.00 0.000 6 0.000 0.061 2151 2304 3381

4557 -0.67 -146.6 380.0 -7.8 218 4561 0.00 2.70 0.00 0.000 4 0.000 0.085 2151 3709 3381

4589 -0.67 -146.6 382.7 -8.5 219 4595 0.00 2.60 0.00 0.000 6 0.000 0.060 2151 2300 3381

4905 -0.67 -146.6 405.0 -6.6 235 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2301 3381

5214 -0.67 -146.6 426.8 -7.2 250 5218 0.00 2.72 0.00 0.000 4 0.000 0.089 2151 3708 3381

5241 -0.67 -146.6 429.1 -8.3 251 5245 0.00 2.60 0.00 0.000 6 0.000 0.061 2151 2299 3381

5554 end dive: BOTTOM_OBSTACLE_DETECTED

state 5555 begin apogee

5561 -0.31 0.0 452.3 7.4 266 5697 0.40 0.00 128.85 0.944 6 0.095 0.000 2232 2300 2780

5697 end apogee: CONTROL_FINISHED_OK

state 5697 begin climb

5700 0.85 146.6 456.5 0.0 273 5836 1.15 2.88 127.20 0.918 4 0.068 0.090 2482 3709 2183

6095 0.92 215.3 447.7 4.1 291 6160 0.00 2.65 59.88 0.911 6 0.000 0.066 2482 2299 1902

6482 1.00 219.0 429.9 5.9 310 6493 0.15 2.72 4.85 0.657 4 0.051 0.077 2529 883 1887

6578 0.94 219.0 422.8 8.5 314 6583 0.12 2.67 0.00 0.000 6 0.091 0.063 2504 2300 1886

6893 0.94 219.0 402.8 7.2 329 6898 0.00 2.72 0.00 0.000 4 0.000 0.090 2504 3711 1886

6914 0.94 219.0 401.1 7.5 330 6919 0.00 2.67 0.00 0.000 6 0.000 0.067 2504 2296 1886

7236 0.94 219.0 376.9 6.8 346 7237 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2296 1885

7545 0.94 219.0 356.8 6.3 361 7550 0.00 2.78 0.00 0.000 4 0.000 0.089 2504 3711 1885

7600 0.94 219.0 352.4 8.3 363 7606 0.00 2.65 0.00 0.000 6 0.000 0.067 2504 2298 1885

7916 0.94 219.0 328.6 7.7 379 7920 0.00 2.67 0.00 0.000 4 0.000 0.072 2504 877 1884

7942 0.94 219.0 326.4 8.0 380 7947 0.00 2.67 0.00 0.000 6 0.000 0.059 2503 2307 1884

8258 0.94 219.0 302.3 7.6 395 8263 0.00 2.70 0.00 0.000 4 0.000 0.070 2504 876 1884

8297 0.94 219.0 299.3 8.0 397 8302 0.00 2.65 0.00 0.000 6 0.000 0.059 2504 2307 1884

8624 0.94 219.0 273.2 7.9 413 8628 0.00 2.70 0.00 0.000 4 0.000 0.071 2504 875 1883

8651 0.94 219.0 271.1 7.0 414 8656 0.00 2.65 0.00 0.000 6 0.000 0.058 2503 2308 1883

8967 0.94 222.2 250.4 5.9 429 8968 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2308 1883

9276 0.94 222.2 231.1 6.4 444 9280 0.00 2.67 0.00 0.000 4 0.000 0.070 2503 883 1884

9331 0.94 222.2 227.1 7.1 446 9337 0.00 2.62 0.00 0.000 6 0.000 0.058 2504 2302 1884

9646 0.94 222.2 205.1 6.7 462 9655 0.00 2.67 3.90 0.523 4 0.000 0.069 2503 883 1874

9691 0.94 222.2 202.2 6.4 464 9695 0.00 2.65 0.00 0.000 6 0.000 0.057 2504 2308 1874

10017 0.96 242.7 183.1 5.4 480 10043 0.00 2.75 18.48 0.746 4 0.000 0.069 2504 887 1791

10078 0.98 258.6 179.5 5.6 482 10097 0.00 2.62 14.80 0.723 6 0.000 0.055 2504 2300 1726

10409 1.06 293.8 161.6 5.0 498 10442 0.12 0.00 30.23 0.747 6 0.051 0.000 2542 2300 1583

10737 1.06 293.8 141.5 6.1 514 10739 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2299 1583

11048 1.06 293.8 121.9 6.9 529 11052 0.00 2.67 0.00 0.000 4 0.000 0.068 2542 881 1583

11088 1.06 293.8 118.4 9.0 531 11092 0.00 2.62 0.00 0.000 6 0.000 0.055 2542 2304 1583

11414 1.06 293.8 93.1 8.4 547 11415 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2304 1583

11724 1.06 293.8 68.7 8.0 562 11728 0.00 2.67 0.00 0.000 4 0.000 0.068 2542 879 1583

11796 1.06 293.8 62.9 7.6 565 11800 0.00 2.60 0.00 0.000 6 0.000 0.054 2542 2301 1583

12113 1.06 293.8 42.2 6.7 580 12117 0.00 2.65 0.00 0.000 4 0.000 0.067 2542 881 1583

12179 1.06 293.8 37.6 6.7 583 12184 0.00 2.60 0.00 0.000 6 0.000 0.054 2542 2303 1583

12502 1.06 293.8 15.5 6.4 599 12507 0.00 2.65 0.00 0.000 4 0.000 0.064 2542 878 1584

12530 1.06 293.8 12.9 8.7 600 12535 0.00 2.60 0.00 0.000 6 0.000 0.053 2542 2304 1584

12678 end climb: SURFACE_DEPTH_REACHED

state 12678 begin surface coast

12701 end surface coast: CONTROL_FINISHED_OK

state 12701 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	35	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	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	15	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	-2093217.5	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	2	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	1	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	235201,6033.519,-601.261,37,1.7,43,-7.3	TGT_NAME	WTB_1
_CALLS	1	TGT_LATLONG	6010.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.060,-0.213
_SM_DEPTHo	1.42	KALMAN_X	-8158.3,-493.4,-298.5,-31122.2,-1827.1
_SM_ANGLEo	-59.9	KALMAN_Y	-24124.6,-507.3,12.8,-1628.4,9053.4
GPS2	235805,6033.474,-601.304,11,2.7,30,-7.3	MHEAD_RNG_PITCHd_Wd	191.8,43606,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013770	ALTIM_BOTTOM_PING	375.2,86.2
SM_CCo	12722,3.53,0.394,0,0,1557,300.00	_24V_AH	23.6,8.419
SM_GC	2.30,0.00,0.00,3.53,0.000,0.000,0.394,68,2304,1557,-10.27,0.11,300.00	_10V_AH	10.1,3.654
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31711,608
TT8_MAMPS	0.023777	CAP_FILE_SIZE	98924,0
HUMID	1865	CFSIZE	260165632,256585728
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	30	GPS	120608,033228,6031.380,-558.660,27,3.5,46,-7.3
ALTIM_TOP_PING	19.5,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	94.08	SBE_CT	444	24	251.82
Roll_motor	132	89	281.51	SBE_O2	411	19	184.54
VBD_pump_during_apogee	388	944	8649.54	WL_BB2F	460	105	1140.83
VBD_pump_during_surface	3	394	32.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.74	nil	0	0	0.00
Iridium_during_connect	25	160	95.77	nil	0	0	0.00
Iridium_during_xfer	193	223	1018.86
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.69
TT8	1151	19	230.27
LPSleep	9509	2	210.35
TT8_Active	509	19	101.93
TT8_Sampling	1464	39	588.62
TT8_CF8	458	45	212.20
TT8_Kalman	33	81	27.56
Analog_circuits	1256	12	152.25
GPS_charging	0	0	0.00
Compass	1414	8	114.32
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	106	0.00	0.00	-81.03	0.000	2	0.000	0.000	65	2302	3136
110	-0.85	-146.6	4.8	-5.3	4	132	11.32	2.65	-4.97	0.000	4	0.165	0.084	2107	3706	3380
386	-0.67	-146.6	45.7	-13.2	16	391	0.22	2.60	0.00	0.000	6	0.091	0.055	2151	2292	3380
707	-0.67	-146.6	74.6	-8.0	32	711	0.00	2.62	0.00	0.000	4	0.000	0.068	2152	880	3381
769	-0.67	-146.6	79.3	-7.4	35	774	0.00	2.60	0.00	0.000	6	0.000	0.057	2151	2297	3382
1096	-0.67	-146.6	102.6	-7.3	51	1100	0.00	2.65	0.00	0.000	4	0.000	0.066	2151	875	3381
1140	-0.67	-146.6	105.9	-7.5	53	1144	0.00	2.60	0.00	0.000	6	0.000	0.056	2151	2299	3382
1461	-0.67	-146.6	131.3	-8.2	69	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2300	3381
1769	-0.67	-146.6	153.3	-6.2	84	1774	0.00	2.65	0.00	0.000	4	0.000	0.067	2151	878	3381
1810	-0.67	-146.6	155.7	-5.9	86	1815	0.00	2.62	0.00	0.000	6	0.000	0.058	2151	2302	3382
2136	-0.67	-146.6	178.5	-8.5	102	2141	0.00	2.67	0.00	0.000	4	0.000	0.079	2151	3713	3382
2164	-0.67	-146.6	181.2	-9.9	103	2168	0.00	2.60	0.00	0.000	6	0.000	0.058	2151	2299	3382
2479	-0.67	-146.6	210.0	-8.8	118	2484	0.00	2.65	0.00	0.000	4	0.000	0.070	2151	875	3382
2556	-0.67	-146.6	217.0	-9.0	121	2562	0.00	2.62	0.00	0.000	6	0.000	0.060	2151	2299	3383
2872	-0.67	-146.6	242.7	-8.0	137	2873	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2299	3381
3181	-0.67	-146.6	267.9	-8.8	152	3186	0.00	2.65	0.00	0.000	4	0.000	0.069	2151	880	3382
3221	-0.67	-146.6	271.3	-8.6	154	3226	0.00	2.62	0.00	0.000	6	0.000	0.061	2151	2298	3382
3547	-0.67	-146.6	296.6	-7.4	170	3552	0.00	2.65	0.00	0.000	4	0.000	0.070	2151	878	3381
3575	-0.67	-146.6	298.7	-7.6	171	3579	0.00	2.62	0.00	0.000	6	0.000	0.061	2151	2301	3381
3891	-0.67	-146.6	321.8	-7.6	186	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2302	3382
4200	-0.67	-146.6	349.5	-9.1	201	4208	0.00	2.67	0.00	0.000	4	0.000	0.070	2151	872	3381
4241	-0.67	-146.6	353.5	-9.1	202	4247	0.00	2.65	0.00	0.000	6	0.000	0.061	2151	2304	3381
4557	-0.67	-146.6	380.0	-7.8	218	4561	0.00	2.70	0.00	0.000	4	0.000	0.085	2151	3709	3381
4589	-0.67	-146.6	382.7	-8.5	219	4595	0.00	2.60	0.00	0.000	6	0.000	0.060	2151	2300	3381
4905	-0.67	-146.6	405.0	-6.6	235	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2301	3381
5214	-0.67	-146.6	426.8	-7.2	250	5218	0.00	2.72	0.00	0.000	4	0.000	0.089	2151	3708	3381
5241	-0.67	-146.6	429.1	-8.3	251	5245	0.00	2.60	0.00	0.000	6	0.000	0.061	2151	2299	3381
5554	end dive: BOTTOM_OBSTACLE_DETECTED
state	5555	begin apogee
5561	-0.31	0.0	452.3	7.4	266	5697	0.40	0.00	128.85	0.944	6	0.095	0.000	2232	2300	2780
5697	end apogee: CONTROL_FINISHED_OK
state	5697	begin climb
5700	0.85	146.6	456.5	0.0	273	5836	1.15	2.88	127.20	0.918	4	0.068	0.090	2482	3709	2183
6095	0.92	215.3	447.7	4.1	291	6160	0.00	2.65	59.88	0.911	6	0.000	0.066	2482	2299	1902
6482	1.00	219.0	429.9	5.9	310	6493	0.15	2.72	4.85	0.657	4	0.051	0.077	2529	883	1887
6578	0.94	219.0	422.8	8.5	314	6583	0.12	2.67	0.00	0.000	6	0.091	0.063	2504	2300	1886
6893	0.94	219.0	402.8	7.2	329	6898	0.00	2.72	0.00	0.000	4	0.000	0.090	2504	3711	1886
6914	0.94	219.0	401.1	7.5	330	6919	0.00	2.67	0.00	0.000	6	0.000	0.067	2504	2296	1886
7236	0.94	219.0	376.9	6.8	346	7237	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2296	1885
7545	0.94	219.0	356.8	6.3	361	7550	0.00	2.78	0.00	0.000	4	0.000	0.089	2504	3711	1885
7600	0.94	219.0	352.4	8.3	363	7606	0.00	2.65	0.00	0.000	6	0.000	0.067	2504	2298	1885
7916	0.94	219.0	328.6	7.7	379	7920	0.00	2.67	0.00	0.000	4	0.000	0.072	2504	877	1884
7942	0.94	219.0	326.4	8.0	380	7947	0.00	2.67	0.00	0.000	6	0.000	0.059	2503	2307	1884
8258	0.94	219.0	302.3	7.6	395	8263	0.00	2.70	0.00	0.000	4	0.000	0.070	2504	876	1884
8297	0.94	219.0	299.3	8.0	397	8302	0.00	2.65	0.00	0.000	6	0.000	0.059	2504	2307	1884
8624	0.94	219.0	273.2	7.9	413	8628	0.00	2.70	0.00	0.000	4	0.000	0.071	2504	875	1883
8651	0.94	219.0	271.1	7.0	414	8656	0.00	2.65	0.00	0.000	6	0.000	0.058	2503	2308	1883
8967	0.94	222.2	250.4	5.9	429	8968	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2308	1883
9276	0.94	222.2	231.1	6.4	444	9280	0.00	2.67	0.00	0.000	4	0.000	0.070	2503	883	1884
9331	0.94	222.2	227.1	7.1	446	9337	0.00	2.62	0.00	0.000	6	0.000	0.058	2504	2302	1884
9646	0.94	222.2	205.1	6.7	462	9655	0.00	2.67	3.90	0.523	4	0.000	0.069	2503	883	1874
9691	0.94	222.2	202.2	6.4	464	9695	0.00	2.65	0.00	0.000	6	0.000	0.057	2504	2308	1874
10017	0.96	242.7	183.1	5.4	480	10043	0.00	2.75	18.48	0.746	4	0.000	0.069	2504	887	1791
10078	0.98	258.6	179.5	5.6	482	10097	0.00	2.62	14.80	0.723	6	0.000	0.055	2504	2300	1726
10409	1.06	293.8	161.6	5.0	498	10442	0.12	0.00	30.23	0.747	6	0.051	0.000	2542	2300	1583
10737	1.06	293.8	141.5	6.1	514	10739	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2299	1583
11048	1.06	293.8	121.9	6.9	529	11052	0.00	2.67	0.00	0.000	4	0.000	0.068	2542	881	1583
11088	1.06	293.8	118.4	9.0	531	11092	0.00	2.62	0.00	0.000	6	0.000	0.055	2542	2304	1583
11414	1.06	293.8	93.1	8.4	547	11415	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2304	1583
11724	1.06	293.8	68.7	8.0	562	11728	0.00	2.67	0.00	0.000	4	0.000	0.068	2542	879	1583
11796	1.06	293.8	62.9	7.6	565	11800	0.00	2.60	0.00	0.000	6	0.000	0.054	2542	2301	1583
12113	1.06	293.8	42.2	6.7	580	12117	0.00	2.65	0.00	0.000	4	0.000	0.067	2542	881	1583
12179	1.06	293.8	37.6	6.7	583	12184	0.00	2.60	0.00	0.000	6	0.000	0.054	2542	2303	1583
12502	1.06	293.8	15.5	6.4	599	12507	0.00	2.65	0.00	0.000	4	0.000	0.064	2542	878	1584
12530	1.06	293.8	12.9	8.7	600	12535	0.00	2.60	0.00	0.000	6	0.000	0.053	2542	2304	1584
12678	end climb: SURFACE_DEPTH_REACHED
state	12678	begin surface coast
12701	end surface coast: CONTROL_FINISHED_OK
state	12701	begin surface