Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 356 * 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 356 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 21 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 -2101142.2 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 2330 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 -2101142.2

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 2330 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 21 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 356 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 063025,6442.731,-1029.888,41,1.1,41,-11.3 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 063550,6442.760,-1030.050,16,1.1,33,-11.3 MHEAD_RNG_PITCHd_Wd 156.0,69806,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.020027 ALTIM_BOTTOM_PING 351.0,106.9

SM_CCo 12594,123.93,0.666,0,0,508,557.32 _24V_AH 23.4,57.280

SM_GC 1.33,0.00,0.00,123.93,0.000,0.000,0.666,72,2247,508,-10.38,0.48,557.32 _10V_AH 10.1,28.087

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31714,601

TT8_MAMPS 0.023777 CAP_FILE_SIZE 96130,0

HUMID 1940 CFSIZE 260165632,238907392

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 57 GPS 120808,100937,6440.824,-1030.142,41,1.0,52,-11.2

ALTIM_TOP_PING 18.5,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 106.29 SBE_CT 446 24 250.60

Roll_motor 122 85 243.35 SBE_O2 408 19 181.57

VBD_pump_during_apogee 404 1015 9618.62 WL_BB2F 460 105 1130.69

VBD_pump_during_surface 123 665 1930.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.45 nil 0 0 0.00

Iridium_during_connect 34 160 127.71 nil 0 0 0.00

Iridium_during_xfer 131 223 688.56

Transponder_ping 17 420 167.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.73

TT8 1121 19 224.28

LPSleep 9476 2 209.61

TT8_Active 689 19 137.79

TT8_Sampling 1318 39 530.04

TT8_CF8 440 45 203.78

TT8_Kalman 0 81 0.00

Analog_circuits 1375 12 166.73

GPS_charging 0 0 0.00

Compass 1272 8 102.81

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 -120.85 0.000 2 0.000 0.000 73 2247 2787

151 -0.85 -146.6 3.7 -2.9 6 186 11.77 2.70 -15.57 0.000 4 0.175 0.069 2140 816 3380

296 -0.76 -146.6 20.6 -9.8 12 301 0.10 2.58 0.00 0.000 6 0.107 0.049 2158 2232 3381

612 -0.69 -146.6 49.6 -9.3 27 617 0.00 2.65 0.00 0.000 4 0.000 0.058 2158 810 3381

639 -0.69 -146.6 52.3 -9.8 28 644 0.00 2.60 0.00 0.000 6 0.000 0.049 2158 2233 3381

957 -0.63 -146.6 81.2 -9.3 43 958 0.17 0.00 0.00 0.000 6 0.097 0.000 2193 2233 3382

1266 -0.68 -146.6 101.6 -5.9 58 1270 0.00 2.62 0.00 0.000 4 0.000 0.070 2192 3635 3382

1299 -0.73 -146.6 103.6 -5.9 59 1306 0.00 2.55 0.00 0.000 6 0.000 0.048 2192 2228 3382

1617 -0.79 -146.6 121.9 -6.1 75 1618 0.17 0.00 0.00 0.000 6 0.044 0.000 2142 2229 3382

1926 -0.71 -146.6 151.1 -9.7 90 1931 0.17 2.67 0.00 0.000 4 0.088 0.071 2180 3640 3382

1954 -0.71 -146.6 153.7 -8.7 91 1959 0.00 2.58 0.00 0.000 6 0.000 0.048 2180 2226 3383

2270 -0.71 -146.6 176.6 -6.9 106 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2225 3383

2580 -0.71 -146.6 195.9 -6.0 121 2581 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2226 3383

2890 -0.75 -146.6 214.8 -6.4 136 2894 0.00 2.70 0.00 0.000 4 0.000 0.075 2179 3640 3383

2917 -0.75 -146.6 216.9 -6.7 137 2921 0.00 2.60 0.00 0.000 6 0.000 0.051 2180 2222 3382

3233 -0.80 -146.6 235.7 -5.9 152 3235 0.12 0.00 0.00 0.000 6 0.052 0.000 2142 2222 3382

3543 -0.73 -146.6 260.1 -8.3 167 3548 0.15 2.72 0.00 0.000 4 0.092 0.078 2175 3638 3382

3570 -0.73 -146.6 262.4 -8.1 168 3575 0.00 2.60 0.00 0.000 6 0.000 0.054 2175 2227 3382

3886 -0.73 -146.6 285.4 -7.1 183 3890 0.00 2.65 0.00 0.000 4 0.000 0.067 2175 817 3382

3914 -0.80 -146.6 287.3 -7.2 184 3919 0.00 2.62 0.00 0.000 6 0.000 0.056 2175 2232 3382

4230 -0.80 -146.6 310.0 -7.1 199 4231 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2233 3381

4539 -0.80 -146.6 331.8 -7.2 214 4540 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2233 3380

4849 -0.85 -146.6 356.0 -8.1 229 4854 0.15 2.72 0.00 0.000 4 0.054 0.083 2135 3646 3380

4877 -0.78 -146.6 358.9 -10.9 230 4882 0.12 2.62 0.00 0.000 6 0.104 0.058 2158 2230 3380

5193 -0.78 -146.6 386.7 -8.6 245 5195 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2230 3378

5502 -0.78 -146.6 410.6 -6.9 260 5506 0.00 2.72 0.00 0.000 4 0.000 0.085 2158 3641 3378

5529 -0.78 -146.6 412.7 -7.0 261 5533 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2224 3377

5845 -0.78 -146.6 434.6 -7.1 276 5846 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2225 3377

6028 end dive: BOTTOM_OBSTACLE_DETECTED

state 6028 begin apogee

6035 -0.31 0.0 448.4 7.9 285 6170 0.50 0.00 128.77 1.016 6 0.097 0.000 2257 2225 2781

6171 end apogee: CONTROL_FINISHED_OK

state 6171 begin climb

6174 0.85 146.6 453.7 0.0 292 6312 1.25 2.75 127.80 0.992 4 0.088 0.071 2510 827 2182

6368 0.89 243.7 456.1 3.3 301 6460 0.00 2.67 84.55 0.978 6 0.000 0.058 2510 2243 1787

6771 0.93 274.9 432.2 5.1 321 6802 0.10 0.00 28.58 0.945 6 0.084 0.000 2530 2243 1660

7099 0.93 274.9 408.9 7.7 337 7103 0.00 2.70 0.00 0.000 4 0.000 0.072 2531 828 1658

7126 0.93 274.9 406.6 7.8 338 7130 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2242 1658

7441 0.93 274.9 383.6 7.4 353 7446 0.00 2.70 0.00 0.000 4 0.000 0.073 2531 828 1657

7463 0.93 274.9 382.0 7.1 354 7468 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2244 1657

7784 0.93 274.9 357.6 7.8 370 7785 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2244 1656

8093 0.93 274.9 334.6 7.2 385 8097 0.00 2.72 0.00 0.000 4 0.000 0.073 2531 828 1655

8133 0.93 274.9 331.7 7.5 387 8137 0.00 2.65 0.00 0.000 6 0.000 0.059 2531 2240 1655

8459 0.93 274.9 309.2 6.8 403 8464 0.00 2.72 0.00 0.000 4 0.000 0.074 2531 822 1655

8488 0.93 274.9 307.3 7.2 404 8493 0.00 2.65 0.00 0.000 6 0.000 0.059 2531 2239 1655

8805 0.95 295.1 288.3 5.4 419 8829 0.00 2.78 17.90 0.893 4 0.000 0.073 2531 832 1577

8870 0.97 313.5 284.6 5.5 422 8894 0.00 2.65 17.17 0.881 6 0.000 0.061 2531 2242 1502

9223 0.97 313.5 263.5 6.2 439 9227 0.00 2.72 0.00 0.000 4 0.000 0.073 2531 820 1501

9251 1.01 313.5 261.6 6.9 440 9255 0.00 2.65 0.00 0.000 6 0.000 0.059 2531 2240 1500

9567 1.05 313.5 239.6 7.4 455 9569 0.15 0.00 0.00 0.000 6 0.077 0.000 2562 2239 1500

9876 1.00 313.5 211.9 9.1 470 9881 0.00 2.70 0.00 0.000 4 0.000 0.071 2563 826 1500

9917 0.95 313.5 208.1 9.5 472 9922 0.15 2.62 0.00 0.000 6 0.103 0.058 2535 2244 1500

10243 0.95 313.5 183.9 7.3 488 10248 0.00 2.70 0.00 0.000 4 0.000 0.070 2535 826 1500

10306 0.95 313.5 179.3 7.8 491 10311 0.00 2.62 0.00 0.000 6 0.000 0.055 2535 2248 1500

10633 0.95 313.5 150.6 9.4 507 10637 0.00 2.67 0.00 0.000 4 0.000 0.077 2535 3654 1500

10650 0.95 313.5 148.8 10.0 508 10655 0.00 2.62 0.00 0.000 6 0.000 0.058 2535 2234 1500

10978 0.95 313.5 120.7 8.1 524 10983 0.00 2.65 0.00 0.000 4 0.000 0.066 2536 820 1500

11011 0.95 313.5 117.8 7.6 525 11018 0.00 2.62 0.00 0.000 6 0.000 0.053 2535 2248 1500

11329 0.95 313.5 95.3 7.0 541 11333 0.00 2.65 0.00 0.000 4 0.000 0.073 2535 3653 1500

11352 0.95 313.5 93.4 8.0 542 11356 0.00 2.60 0.00 0.000 6 0.000 0.054 2534 2238 1500

11674 0.95 313.5 68.8 8.2 558 11678 0.00 2.62 0.00 0.000 4 0.000 0.064 2535 826 1501

11723 0.95 313.5 64.5 8.7 560 11728 0.00 2.58 0.00 0.000 6 0.000 0.050 2535 2241 1501

12039 0.95 313.5 39.4 7.5 575 12040 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2241 1501

12349 0.95 313.5 15.2 8.6 590 12354 0.00 2.65 0.00 0.000 4 0.000 0.061 2535 822 1502

12412 0.99 313.5 10.7 7.4 593 12416 0.00 2.60 0.00 0.000 6 0.000 0.048 2535 2245 1502

12550 end climb: SURFACE_DEPTH_REACHED

state 12550 begin surface coast

12572 end surface coast: CONTROL_FINISHED_OK

state 12572 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	356	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	21	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	-2101142.2	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	2330	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	063025,6442.731,-1029.888,41,1.1,41,-11.3	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	063550,6442.760,-1030.050,16,1.1,33,-11.3	MHEAD_RNG_PITCHd_Wd	156.0,69806,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.020027	ALTIM_BOTTOM_PING	351.0,106.9
SM_CCo	12594,123.93,0.666,0,0,508,557.32	_24V_AH	23.4,57.280
SM_GC	1.33,0.00,0.00,123.93,0.000,0.000,0.666,72,2247,508,-10.38,0.48,557.32	_10V_AH	10.1,28.087
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31714,601
TT8_MAMPS	0.023777	CAP_FILE_SIZE	96130,0
HUMID	1940	CFSIZE	260165632,238907392
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	57	GPS	120808,100937,6440.824,-1030.142,41,1.0,52,-11.2
ALTIM_TOP_PING	18.5,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	106.29	SBE_CT	446	24	250.60
Roll_motor	122	85	243.35	SBE_O2	408	19	181.57
VBD_pump_during_apogee	404	1015	9618.62	WL_BB2F	460	105	1130.69
VBD_pump_during_surface	123	665	1930.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.45	nil	0	0	0.00
Iridium_during_connect	34	160	127.71	nil	0	0	0.00
Iridium_during_xfer	131	223	688.56
Transponder_ping	17	420	167.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.73
TT8	1121	19	224.28
LPSleep	9476	2	209.61
TT8_Active	689	19	137.79
TT8_Sampling	1318	39	530.04
TT8_CF8	440	45	203.78
TT8_Kalman	0	81	0.00
Analog_circuits	1375	12	166.73
GPS_charging	0	0	0.00
Compass	1272	8	102.81
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	-120.85	0.000	2	0.000	0.000	73	2247	2787
151	-0.85	-146.6	3.7	-2.9	6	186	11.77	2.70	-15.57	0.000	4	0.175	0.069	2140	816	3380
296	-0.76	-146.6	20.6	-9.8	12	301	0.10	2.58	0.00	0.000	6	0.107	0.049	2158	2232	3381
612	-0.69	-146.6	49.6	-9.3	27	617	0.00	2.65	0.00	0.000	4	0.000	0.058	2158	810	3381
639	-0.69	-146.6	52.3	-9.8	28	644	0.00	2.60	0.00	0.000	6	0.000	0.049	2158	2233	3381
957	-0.63	-146.6	81.2	-9.3	43	958	0.17	0.00	0.00	0.000	6	0.097	0.000	2193	2233	3382
1266	-0.68	-146.6	101.6	-5.9	58	1270	0.00	2.62	0.00	0.000	4	0.000	0.070	2192	3635	3382
1299	-0.73	-146.6	103.6	-5.9	59	1306	0.00	2.55	0.00	0.000	6	0.000	0.048	2192	2228	3382
1617	-0.79	-146.6	121.9	-6.1	75	1618	0.17	0.00	0.00	0.000	6	0.044	0.000	2142	2229	3382
1926	-0.71	-146.6	151.1	-9.7	90	1931	0.17	2.67	0.00	0.000	4	0.088	0.071	2180	3640	3382
1954	-0.71	-146.6	153.7	-8.7	91	1959	0.00	2.58	0.00	0.000	6	0.000	0.048	2180	2226	3383
2270	-0.71	-146.6	176.6	-6.9	106	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2225	3383
2580	-0.71	-146.6	195.9	-6.0	121	2581	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2226	3383
2890	-0.75	-146.6	214.8	-6.4	136	2894	0.00	2.70	0.00	0.000	4	0.000	0.075	2179	3640	3383
2917	-0.75	-146.6	216.9	-6.7	137	2921	0.00	2.60	0.00	0.000	6	0.000	0.051	2180	2222	3382
3233	-0.80	-146.6	235.7	-5.9	152	3235	0.12	0.00	0.00	0.000	6	0.052	0.000	2142	2222	3382
3543	-0.73	-146.6	260.1	-8.3	167	3548	0.15	2.72	0.00	0.000	4	0.092	0.078	2175	3638	3382
3570	-0.73	-146.6	262.4	-8.1	168	3575	0.00	2.60	0.00	0.000	6	0.000	0.054	2175	2227	3382
3886	-0.73	-146.6	285.4	-7.1	183	3890	0.00	2.65	0.00	0.000	4	0.000	0.067	2175	817	3382
3914	-0.80	-146.6	287.3	-7.2	184	3919	0.00	2.62	0.00	0.000	6	0.000	0.056	2175	2232	3382
4230	-0.80	-146.6	310.0	-7.1	199	4231	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2233	3381
4539	-0.80	-146.6	331.8	-7.2	214	4540	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2233	3380
4849	-0.85	-146.6	356.0	-8.1	229	4854	0.15	2.72	0.00	0.000	4	0.054	0.083	2135	3646	3380
4877	-0.78	-146.6	358.9	-10.9	230	4882	0.12	2.62	0.00	0.000	6	0.104	0.058	2158	2230	3380
5193	-0.78	-146.6	386.7	-8.6	245	5195	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2230	3378
5502	-0.78	-146.6	410.6	-6.9	260	5506	0.00	2.72	0.00	0.000	4	0.000	0.085	2158	3641	3378
5529	-0.78	-146.6	412.7	-7.0	261	5533	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2224	3377
5845	-0.78	-146.6	434.6	-7.1	276	5846	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2225	3377
6028	end dive: BOTTOM_OBSTACLE_DETECTED
state	6028	begin apogee
6035	-0.31	0.0	448.4	7.9	285	6170	0.50	0.00	128.77	1.016	6	0.097	0.000	2257	2225	2781
6171	end apogee: CONTROL_FINISHED_OK
state	6171	begin climb
6174	0.85	146.6	453.7	0.0	292	6312	1.25	2.75	127.80	0.992	4	0.088	0.071	2510	827	2182
6368	0.89	243.7	456.1	3.3	301	6460	0.00	2.67	84.55	0.978	6	0.000	0.058	2510	2243	1787
6771	0.93	274.9	432.2	5.1	321	6802	0.10	0.00	28.58	0.945	6	0.084	0.000	2530	2243	1660
7099	0.93	274.9	408.9	7.7	337	7103	0.00	2.70	0.00	0.000	4	0.000	0.072	2531	828	1658
7126	0.93	274.9	406.6	7.8	338	7130	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2242	1658
7441	0.93	274.9	383.6	7.4	353	7446	0.00	2.70	0.00	0.000	4	0.000	0.073	2531	828	1657
7463	0.93	274.9	382.0	7.1	354	7468	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2244	1657
7784	0.93	274.9	357.6	7.8	370	7785	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2244	1656
8093	0.93	274.9	334.6	7.2	385	8097	0.00	2.72	0.00	0.000	4	0.000	0.073	2531	828	1655
8133	0.93	274.9	331.7	7.5	387	8137	0.00	2.65	0.00	0.000	6	0.000	0.059	2531	2240	1655
8459	0.93	274.9	309.2	6.8	403	8464	0.00	2.72	0.00	0.000	4	0.000	0.074	2531	822	1655
8488	0.93	274.9	307.3	7.2	404	8493	0.00	2.65	0.00	0.000	6	0.000	0.059	2531	2239	1655
8805	0.95	295.1	288.3	5.4	419	8829	0.00	2.78	17.90	0.893	4	0.000	0.073	2531	832	1577
8870	0.97	313.5	284.6	5.5	422	8894	0.00	2.65	17.17	0.881	6	0.000	0.061	2531	2242	1502
9223	0.97	313.5	263.5	6.2	439	9227	0.00	2.72	0.00	0.000	4	0.000	0.073	2531	820	1501
9251	1.01	313.5	261.6	6.9	440	9255	0.00	2.65	0.00	0.000	6	0.000	0.059	2531	2240	1500
9567	1.05	313.5	239.6	7.4	455	9569	0.15	0.00	0.00	0.000	6	0.077	0.000	2562	2239	1500
9876	1.00	313.5	211.9	9.1	470	9881	0.00	2.70	0.00	0.000	4	0.000	0.071	2563	826	1500
9917	0.95	313.5	208.1	9.5	472	9922	0.15	2.62	0.00	0.000	6	0.103	0.058	2535	2244	1500
10243	0.95	313.5	183.9	7.3	488	10248	0.00	2.70	0.00	0.000	4	0.000	0.070	2535	826	1500
10306	0.95	313.5	179.3	7.8	491	10311	0.00	2.62	0.00	0.000	6	0.000	0.055	2535	2248	1500
10633	0.95	313.5	150.6	9.4	507	10637	0.00	2.67	0.00	0.000	4	0.000	0.077	2535	3654	1500
10650	0.95	313.5	148.8	10.0	508	10655	0.00	2.62	0.00	0.000	6	0.000	0.058	2535	2234	1500
10978	0.95	313.5	120.7	8.1	524	10983	0.00	2.65	0.00	0.000	4	0.000	0.066	2536	820	1500
11011	0.95	313.5	117.8	7.6	525	11018	0.00	2.62	0.00	0.000	6	0.000	0.053	2535	2248	1500
11329	0.95	313.5	95.3	7.0	541	11333	0.00	2.65	0.00	0.000	4	0.000	0.073	2535	3653	1500
11352	0.95	313.5	93.4	8.0	542	11356	0.00	2.60	0.00	0.000	6	0.000	0.054	2534	2238	1500
11674	0.95	313.5	68.8	8.2	558	11678	0.00	2.62	0.00	0.000	4	0.000	0.064	2535	826	1501
11723	0.95	313.5	64.5	8.7	560	11728	0.00	2.58	0.00	0.000	6	0.000	0.050	2535	2241	1501
12039	0.95	313.5	39.4	7.5	575	12040	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2241	1501
12349	0.95	313.5	15.2	8.6	590	12354	0.00	2.65	0.00	0.000	4	0.000	0.061	2535	822	1502
12412	0.99	313.5	10.7	7.4	593	12416	0.00	2.60	0.00	0.000	6	0.000	0.048	2535	2245	1502
12550	end climb: SURFACE_DEPTH_REACHED
state	12550	begin surface coast
12572	end surface coast: CONTROL_FINISHED_OK
state	12572	begin surface