Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 76 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 76 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77693.609 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77693.609

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 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 76 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 153327,6130.508,-855.171,26,2.2,45,-9.2 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.136

_SM_DEPTHo 1.36 KALMAN_X 67629.4,-2049.0,-1263.8,-86347.3,38067.4

_SM_ANGLEo -52.1 KALMAN_Y 131576.1,725.4,933.9,-138288.7,-20669.7

GPS2 153759,6130.425,-855.116,12,2.1,31,-9.2 MHEAD_RNG_PITCHd_Wd 319.8,32131,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026279 XPDR_PINGS 0

SM_CCo 14561,20.42,0.823,2,0,1655,300.00 ALTIM_BOTTOM_PING 425.1,107.0

SM_GC 1.55,0.00,0.00,20.42,0.000,0.000,0.823,28,1895,1655,-11.35,-0.17,300.00 _24V_AH 23.5,23.150

IRIDIUM_FIX 6108.28,-853.67,241107,151556 _10V_AH 10.2,9.721

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34788,704

HUMID 2059 CFSIZE 260165632,254345216

INTERNAL_PRESSURE 9.25817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,2,0

TCM_TEMP 16.90 GPS 241107,194308,6131.491,-850.647,29,1.3,29,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 85.70 SBE_CT 519 24 292.83

Roll_motor 108 75 190.82 SBE_O2 474 19 211.75

VBD_pump_during_apogee 347 1114 9091.72 WL_BB2F 469 105 1159.17

VBD_pump_during_surface 20 822 395.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 76.86 nil 0 0 0.00

Iridium_during_connect 40 160 153.37 nil 0 0 0.00

Iridium_during_xfer 102 223 535.25

Transponder_ping 3 420 32.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.00

TT8 1284 19 259.36

LPSleep 11205 2 250.30

TT8_Active 540 19 109.17

TT8_Sampling 1561 39 633.75

TT8_CF8 284 45 132.92

TT8_Kalman 33 81 27.84

Analog_circuits 1297 12 158.86

GPS_charging 0 0 0.00

Compass 1528 8 124.73

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 82 0.00 0.00 -61.70 0.000 2 0.000 0.000 29 1876 2670

84 -0.95 -146.6 3.5 -5.2 3 128 11.93 2.58 -25.40 0.000 4 0.142 0.075 2285 496 3477

143 -0.95 -146.6 10.3 -14.6 5 151 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1905 3477

460 -0.95 -146.6 47.0 -3.0 21 461 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3478

768 -0.95 -146.6 64.5 -10.3 36 769 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3478

1078 -0.95 -146.6 100.3 -7.3 51 1079 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3478

1387 -0.95 -146.6 113.8 -5.8 66 1391 0.00 2.47 0.00 0.000 4 0.000 0.048 2286 3292 3478

1431 -0.95 -146.6 116.3 -5.8 68 1435 0.00 2.47 0.00 0.000 6 0.000 0.042 2285 1901 3477

1757 -0.95 -146.6 152.1 -9.9 84 1758 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3478

2067 -0.95 -146.6 176.9 -2.9 99 2068 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3478

2376 -0.95 -146.6 197.1 -3.5 114 2377 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

2685 -0.95 -146.6 213.3 -5.6 129 2689 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3295 3478

2725 -0.95 -146.6 215.1 -3.9 131 2729 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1893 3478

3050 -0.95 -146.6 226.5 -3.5 147 3055 0.00 2.50 0.00 0.000 4 0.000 0.047 2285 3297 3478

3134 -0.95 -146.6 230.4 -4.9 151 3139 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1896 3478

3460 -0.95 -146.6 247.9 -4.9 167 3461 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1896 3478

3769 -0.95 -146.6 265.1 -4.7 182 3771 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1896 3478

4079 -0.95 -146.6 280.1 -5.4 197 4083 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3294 3478

4127 -0.95 -146.6 283.1 -6.1 199 4132 0.00 2.50 0.00 0.000 6 0.000 0.042 2285 1904 3478

4448 -0.95 -146.6 302.9 -6.0 215 4449 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3478

4758 -0.95 -146.6 318.5 -5.4 230 4759 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3477

5067 -0.95 -146.6 334.7 -5.5 245 5071 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3297 3478

5121 -0.95 -146.6 337.5 -6.0 247 5128 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1901 3478

5436 -0.95 -146.6 355.1 -6.3 263 5437 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3478

5745 -0.95 -146.6 375.0 -6.5 278 5750 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3293 3478

5805 -0.95 -146.6 378.9 -6.6 280 5813 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1903 3478

6122 -0.95 -146.6 401.3 -7.4 296 6123 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3478

6430 -0.95 -146.6 427.1 -9.4 311 6431 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3478

6740 -0.95 -146.6 457.0 -9.9 326 6741 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3478

7049 -0.95 -146.6 489.5 -10.7 341 7053 0.00 2.53 0.00 0.000 4 0.000 0.052 2285 3301 3478

7159 -0.95 -146.6 501.6 -10.8 346 7164 0.00 2.55 0.00 0.000 6 0.000 0.047 2285 1901 3478

7361 end dive: BOTTOM_OBSTACLE_DETECTED

state 7361 begin apogee

7366 -0.36 0.0 523.2 10.3 356 7490 0.62 0.00 120.65 1.114 6 0.085 0.000 2418 2340 2878

7491 end apogee: CONTROL_FINISHED_OK

state 7491 begin climb

7492 0.95 146.6 531.0 0.0 362 7616 1.30 0.00 119.43 1.081 6 0.054 0.000 2702 2340 2280

7912 1.05 230.5 524.3 3.5 383 7983 0.00 0.00 68.65 1.081 6 0.000 0.000 2702 2340 1938

8282 1.11 277.2 509.4 4.6 401 8327 0.15 2.70 38.42 1.078 4 0.047 0.061 2753 942 1748

8382 1.11 277.2 503.1 6.0 405 8389 0.00 2.55 0.00 0.000 6 0.000 0.043 2753 2344 1748

8698 1.11 277.2 478.7 8.8 421 8702 0.00 2.60 0.00 0.000 4 0.000 0.061 2753 942 1748

8751 1.11 277.2 473.7 9.6 423 8758 0.00 2.53 0.00 0.000 6 0.000 0.042 2753 2344 1748

9067 1.11 277.2 445.8 8.1 439 9071 0.00 2.58 0.00 0.000 4 0.000 0.060 2753 942 1747

9156 1.11 277.2 437.6 9.6 443 9161 0.00 2.50 0.00 0.000 6 0.000 0.041 2753 2352 1747

9482 1.11 277.2 409.7 8.5 459 9486 0.00 2.60 0.00 0.000 4 0.000 0.059 2753 941 1747

9580 1.11 277.2 401.3 7.5 463 9588 0.00 2.53 0.00 0.000 6 0.000 0.041 2753 2351 1747

9896 1.11 277.2 376.0 7.7 479 9901 0.00 2.60 0.00 0.000 4 0.000 0.059 2753 939 1748

9990 1.11 277.2 368.4 8.3 483 9995 0.00 2.53 0.00 0.000 6 0.000 0.041 2753 2352 1747

10311 1.11 277.2 342.6 7.4 499 10312 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2352 1747

10620 1.11 277.2 317.0 8.2 514 10625 0.00 2.58 0.00 0.000 4 0.000 0.058 2753 941 1747

10726 1.11 277.2 308.1 7.5 519 10730 0.00 2.47 0.00 0.000 6 0.000 0.040 2753 2353 1747

11052 1.11 277.2 283.6 7.6 535 11056 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 935 1747

11128 1.11 277.2 277.2 7.9 538 11135 0.00 2.53 0.00 0.000 6 0.000 0.041 2754 2350 1747

11444 1.11 277.2 251.8 8.1 554 11448 0.00 2.55 0.00 0.000 4 0.000 0.058 2753 941 1747

11521 1.11 277.2 245.0 9.1 557 11525 0.00 2.50 0.00 0.000 6 0.000 0.040 2753 2348 1747

11842 1.11 277.2 219.1 7.5 573 11846 0.00 2.58 0.00 0.000 4 0.000 0.058 2753 938 1747

11925 1.11 277.2 212.8 7.5 577 11929 0.00 2.50 0.00 0.000 6 0.000 0.041 2753 2359 1747

12250 1.11 277.2 189.6 7.1 593 12254 0.00 2.58 0.00 0.000 4 0.000 0.056 2753 939 1747

12337 1.11 277.2 183.0 7.8 597 12342 0.00 2.50 0.00 0.000 6 0.000 0.039 2753 2350 1747

12664 1.11 277.2 159.6 7.0 613 12668 0.00 2.58 0.00 0.000 4 0.000 0.056 2753 933 1747

12741 1.11 277.2 153.8 7.7 616 12748 0.00 2.53 0.00 0.000 6 0.000 0.040 2753 2350 1747

13057 1.11 277.2 128.5 7.7 632 13061 0.00 2.58 0.00 0.000 4 0.000 0.054 2753 941 1747

13118 1.11 277.2 124.0 8.1 635 13122 0.00 2.47 0.00 0.000 6 0.000 0.039 2753 2354 1747

13443 1.11 277.2 100.6 9.4 651 13444 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2354 1747

13752 1.11 277.2 74.9 7.8 666 13757 0.00 2.58 0.00 0.000 4 0.000 0.055 2753 937 1748

13885 1.11 277.2 65.4 8.5 672 13890 0.00 2.50 0.00 0.000 6 0.000 0.038 2753 2350 1747

14212 1.11 277.2 34.8 10.0 688 14213 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2350 1747

14520 end climb: SURFACE_DEPTH_REACHED

state 14520 begin surface coast

14542 end surface coast: CONTROL_FINISHED_OK

state 14542 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	76	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77693.609	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	153327,6130.508,-855.171,26,2.2,45,-9.2	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.136
_SM_DEPTHo	1.36	KALMAN_X	67629.4,-2049.0,-1263.8,-86347.3,38067.4
_SM_ANGLEo	-52.1	KALMAN_Y	131576.1,725.4,933.9,-138288.7,-20669.7
GPS2	153759,6130.425,-855.116,12,2.1,31,-9.2	MHEAD_RNG_PITCHd_Wd	319.8,32131,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	0.8,1.026279	XPDR_PINGS	0
SM_CCo	14561,20.42,0.823,2,0,1655,300.00	ALTIM_BOTTOM_PING	425.1,107.0
SM_GC	1.55,0.00,0.00,20.42,0.000,0.000,0.823,28,1895,1655,-11.35,-0.17,300.00	_24V_AH	23.5,23.150
IRIDIUM_FIX	6108.28,-853.67,241107,151556	_10V_AH	10.2,9.721
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34788,704
HUMID	2059	CFSIZE	260165632,254345216
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,2,0
TCM_TEMP	16.90	GPS	241107,194308,6131.491,-850.647,29,1.3,29,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	85.70	SBE_CT	519	24	292.83
Roll_motor	108	75	190.82	SBE_O2	474	19	211.75
VBD_pump_during_apogee	347	1114	9091.72	WL_BB2F	469	105	1159.17
VBD_pump_during_surface	20	822	395.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	76.86	nil	0	0	0.00
Iridium_during_connect	40	160	153.37	nil	0	0	0.00
Iridium_during_xfer	102	223	535.25
Transponder_ping	3	420	32.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.00
TT8	1284	19	259.36
LPSleep	11205	2	250.30
TT8_Active	540	19	109.17
TT8_Sampling	1561	39	633.75
TT8_CF8	284	45	132.92
TT8_Kalman	33	81	27.84
Analog_circuits	1297	12	158.86
GPS_charging	0	0	0.00
Compass	1528	8	124.73
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	82	0.00	0.00	-61.70	0.000	2	0.000	0.000	29	1876	2670
84	-0.95	-146.6	3.5	-5.2	3	128	11.93	2.58	-25.40	0.000	4	0.142	0.075	2285	496	3477
143	-0.95	-146.6	10.3	-14.6	5	151	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1905	3477
460	-0.95	-146.6	47.0	-3.0	21	461	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3478
768	-0.95	-146.6	64.5	-10.3	36	769	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3478
1078	-0.95	-146.6	100.3	-7.3	51	1079	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3478
1387	-0.95	-146.6	113.8	-5.8	66	1391	0.00	2.47	0.00	0.000	4	0.000	0.048	2286	3292	3478
1431	-0.95	-146.6	116.3	-5.8	68	1435	0.00	2.47	0.00	0.000	6	0.000	0.042	2285	1901	3477
1757	-0.95	-146.6	152.1	-9.9	84	1758	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3478
2067	-0.95	-146.6	176.9	-2.9	99	2068	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3478
2376	-0.95	-146.6	197.1	-3.5	114	2377	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
2685	-0.95	-146.6	213.3	-5.6	129	2689	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3295	3478
2725	-0.95	-146.6	215.1	-3.9	131	2729	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1893	3478
3050	-0.95	-146.6	226.5	-3.5	147	3055	0.00	2.50	0.00	0.000	4	0.000	0.047	2285	3297	3478
3134	-0.95	-146.6	230.4	-4.9	151	3139	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1896	3478
3460	-0.95	-146.6	247.9	-4.9	167	3461	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1896	3478
3769	-0.95	-146.6	265.1	-4.7	182	3771	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1896	3478
4079	-0.95	-146.6	280.1	-5.4	197	4083	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3294	3478
4127	-0.95	-146.6	283.1	-6.1	199	4132	0.00	2.50	0.00	0.000	6	0.000	0.042	2285	1904	3478
4448	-0.95	-146.6	302.9	-6.0	215	4449	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3478
4758	-0.95	-146.6	318.5	-5.4	230	4759	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3477
5067	-0.95	-146.6	334.7	-5.5	245	5071	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3297	3478
5121	-0.95	-146.6	337.5	-6.0	247	5128	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1901	3478
5436	-0.95	-146.6	355.1	-6.3	263	5437	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3478
5745	-0.95	-146.6	375.0	-6.5	278	5750	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3293	3478
5805	-0.95	-146.6	378.9	-6.6	280	5813	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1903	3478
6122	-0.95	-146.6	401.3	-7.4	296	6123	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3478
6430	-0.95	-146.6	427.1	-9.4	311	6431	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3478
6740	-0.95	-146.6	457.0	-9.9	326	6741	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3478
7049	-0.95	-146.6	489.5	-10.7	341	7053	0.00	2.53	0.00	0.000	4	0.000	0.052	2285	3301	3478
7159	-0.95	-146.6	501.6	-10.8	346	7164	0.00	2.55	0.00	0.000	6	0.000	0.047	2285	1901	3478
7361	end dive: BOTTOM_OBSTACLE_DETECTED
state	7361	begin apogee
7366	-0.36	0.0	523.2	10.3	356	7490	0.62	0.00	120.65	1.114	6	0.085	0.000	2418	2340	2878
7491	end apogee: CONTROL_FINISHED_OK
state	7491	begin climb
7492	0.95	146.6	531.0	0.0	362	7616	1.30	0.00	119.43	1.081	6	0.054	0.000	2702	2340	2280
7912	1.05	230.5	524.3	3.5	383	7983	0.00	0.00	68.65	1.081	6	0.000	0.000	2702	2340	1938
8282	1.11	277.2	509.4	4.6	401	8327	0.15	2.70	38.42	1.078	4	0.047	0.061	2753	942	1748
8382	1.11	277.2	503.1	6.0	405	8389	0.00	2.55	0.00	0.000	6	0.000	0.043	2753	2344	1748
8698	1.11	277.2	478.7	8.8	421	8702	0.00	2.60	0.00	0.000	4	0.000	0.061	2753	942	1748
8751	1.11	277.2	473.7	9.6	423	8758	0.00	2.53	0.00	0.000	6	0.000	0.042	2753	2344	1748
9067	1.11	277.2	445.8	8.1	439	9071	0.00	2.58	0.00	0.000	4	0.000	0.060	2753	942	1747
9156	1.11	277.2	437.6	9.6	443	9161	0.00	2.50	0.00	0.000	6	0.000	0.041	2753	2352	1747
9482	1.11	277.2	409.7	8.5	459	9486	0.00	2.60	0.00	0.000	4	0.000	0.059	2753	941	1747
9580	1.11	277.2	401.3	7.5	463	9588	0.00	2.53	0.00	0.000	6	0.000	0.041	2753	2351	1747
9896	1.11	277.2	376.0	7.7	479	9901	0.00	2.60	0.00	0.000	4	0.000	0.059	2753	939	1748
9990	1.11	277.2	368.4	8.3	483	9995	0.00	2.53	0.00	0.000	6	0.000	0.041	2753	2352	1747
10311	1.11	277.2	342.6	7.4	499	10312	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2352	1747
10620	1.11	277.2	317.0	8.2	514	10625	0.00	2.58	0.00	0.000	4	0.000	0.058	2753	941	1747
10726	1.11	277.2	308.1	7.5	519	10730	0.00	2.47	0.00	0.000	6	0.000	0.040	2753	2353	1747
11052	1.11	277.2	283.6	7.6	535	11056	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	935	1747
11128	1.11	277.2	277.2	7.9	538	11135	0.00	2.53	0.00	0.000	6	0.000	0.041	2754	2350	1747
11444	1.11	277.2	251.8	8.1	554	11448	0.00	2.55	0.00	0.000	4	0.000	0.058	2753	941	1747
11521	1.11	277.2	245.0	9.1	557	11525	0.00	2.50	0.00	0.000	6	0.000	0.040	2753	2348	1747
11842	1.11	277.2	219.1	7.5	573	11846	0.00	2.58	0.00	0.000	4	0.000	0.058	2753	938	1747
11925	1.11	277.2	212.8	7.5	577	11929	0.00	2.50	0.00	0.000	6	0.000	0.041	2753	2359	1747
12250	1.11	277.2	189.6	7.1	593	12254	0.00	2.58	0.00	0.000	4	0.000	0.056	2753	939	1747
12337	1.11	277.2	183.0	7.8	597	12342	0.00	2.50	0.00	0.000	6	0.000	0.039	2753	2350	1747
12664	1.11	277.2	159.6	7.0	613	12668	0.00	2.58	0.00	0.000	4	0.000	0.056	2753	933	1747
12741	1.11	277.2	153.8	7.7	616	12748	0.00	2.53	0.00	0.000	6	0.000	0.040	2753	2350	1747
13057	1.11	277.2	128.5	7.7	632	13061	0.00	2.58	0.00	0.000	4	0.000	0.054	2753	941	1747
13118	1.11	277.2	124.0	8.1	635	13122	0.00	2.47	0.00	0.000	6	0.000	0.039	2753	2354	1747
13443	1.11	277.2	100.6	9.4	651	13444	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2354	1747
13752	1.11	277.2	74.9	7.8	666	13757	0.00	2.58	0.00	0.000	4	0.000	0.055	2753	937	1748
13885	1.11	277.2	65.4	8.5	672	13890	0.00	2.50	0.00	0.000	6	0.000	0.038	2753	2350	1747
14212	1.11	277.2	34.8	10.0	688	14213	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2350	1747
14520	end climb: SURFACE_DEPTH_REACHED
state	14520	begin surface coast
14542	end surface coast: CONTROL_FINISHED_OK
state	14542	begin surface