Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 98 * 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 98 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 2200 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 16 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 -2094957.5 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 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 -2094957.5

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 2200 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 16 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 98 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 110907,6155.433,-902.867,43,2.0,54,-9.4 TGT_NAME B1

_CALLS 2 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.045,-0.217

_SM_DEPTHo 1.24 KALMAN_X -157524.1,1420.8,918.6,-49101.0,-14724.4

_SM_ANGLEo -56.4 KALMAN_Y -41412.7,-3569.3,-1547.2,172450.8,48889.7

GPS2 111723,6155.590,-903.008,15,2.5,34,-9.4 MHEAD_RNG_PITCHd_Wd 192.4,16858,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.002613 ALTIM_BOTTOM_PING 451.1,72.2

SM_CCo 13431,138.77,0.621,0,0,509,557.32 _24V_AH 23.7,19.383

SM_GC 1.23,0.00,0.00,138.77,0.000,0.000,0.621,67,2302,509,-10.27,0.06,557.32 _10V_AH 10.1,9.881

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31697,643

TT8_MAMPS 0.023777 CAP_FILE_SIZE 104955,0

HUMID 1824 CFSIZE 260165632,252006400

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 16 GPS 280608,150558,6158.315,-906.042,34,2.3,53,-9.4

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 96.96 SBE_CT 474 24 270.17

Roll_motor 128 88 269.51 SBE_O2 437 19 196.90

VBD_pump_during_apogee 366 981 8517.15 WL_BB2F 465 105 1158.75

VBD_pump_during_surface 138 621 2043.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.89 nil 0 0 0.00

Iridium_during_connect 60 160 228.38 nil 0 0 0.00

Iridium_during_xfer 196 223 1040.51

Transponder_ping 8 420 79.63

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.99

TT8 1213 19 242.61

LPSleep 10146 2 224.44

TT8_Active 658 19 131.79

TT8_Sampling 1522 39 611.94

TT8_CF8 529 45 244.85

TT8_Kalman 33 81 27.56

Analog_circuits 1430 12 173.32

GPS_charging 0 0 0.00

Compass 1466 8 118.46

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 0 146 0.00 0.00 -121.20 0.000 2 0.000 0.000 64 2308 2953

150 -0.85 -146.6 4.0 -3.5 6 180 11.35 2.70 -10.15 0.000 4 0.164 0.075 2107 881 3379

305 -0.72 -146.6 24.1 -10.8 13 310 0.17 2.62 0.00 0.000 6 0.094 0.056 2141 2297 3379

633 -0.64 -146.6 52.9 -9.2 29 637 0.00 2.65 0.00 0.000 4 0.000 0.063 2141 880 3379

677 -0.64 -146.6 56.6 -7.8 31 681 0.00 2.65 0.00 0.000 6 0.000 0.055 2141 2305 3379

998 -0.55 -146.6 82.0 -7.9 47 1003 0.15 2.70 0.00 0.000 4 0.093 0.077 2175 3716 3379

1026 -0.55 -146.6 84.2 -7.6 48 1030 0.00 2.60 0.00 0.000 6 0.000 0.054 2175 2295 3379

1342 -0.55 -146.6 107.2 -7.9 63 1346 0.00 2.62 0.00 0.000 4 0.000 0.065 2175 885 3379

1414 -0.62 -146.6 113.4 -8.7 66 1418 0.00 2.62 0.00 0.000 6 0.000 0.057 2175 2299 3379

1732 -0.62 -146.6 139.3 -8.4 81 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2299 3379

2039 -0.62 -146.6 164.3 -7.6 96 2044 0.00 2.65 0.00 0.000 4 0.000 0.064 2175 885 3379

2107 -0.68 -146.6 169.6 -8.2 99 2112 0.12 2.62 0.00 0.000 6 0.045 0.056 2132 2302 3379

2430 -0.58 -146.6 200.6 -9.9 115 2432 0.20 0.00 0.00 0.000 6 0.080 0.000 2172 2302 3380

2740 -0.58 -146.6 225.4 -8.1 130 2744 0.00 2.65 0.00 0.000 4 0.000 0.065 2173 886 3379

2795 -0.64 -146.6 230.3 -8.4 132 2801 0.00 2.62 0.00 0.000 6 0.000 0.058 2172 2300 3379

3111 -0.64 -146.6 256.7 -8.2 148 3112 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2300 3379

3420 -0.64 -146.6 281.5 -8.0 163 3424 0.00 2.67 0.00 0.000 4 0.000 0.067 2172 879 3379

3464 -0.71 -146.6 285.1 -8.5 165 3469 0.12 2.62 0.00 0.000 6 0.045 0.058 2131 2299 3379

3786 -0.62 -146.6 315.7 -9.2 181 3788 0.15 0.00 0.00 0.000 6 0.083 0.000 2161 2300 3379

4095 -0.62 -146.6 339.6 -7.6 196 4096 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2300 3379

4405 -0.62 -146.6 362.4 -7.5 211 4409 0.00 2.67 0.00 0.000 4 0.000 0.068 2161 880 3379

4466 -0.62 -146.6 367.2 -7.5 214 4471 0.00 2.62 0.00 0.000 6 0.000 0.058 2161 2299 3379

4793 -0.62 -146.6 391.4 -7.5 230 4798 0.00 2.67 0.00 0.000 4 0.000 0.067 2161 879 3379

4827 -0.67 -146.6 394.1 -8.1 231 4833 0.00 2.65 0.00 0.000 6 0.000 0.058 2161 2305 3379

5142 -0.67 -146.6 418.9 -8.1 247 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2304 3379

5452 -0.67 -146.6 446.0 -9.0 262 5456 0.00 2.72 0.00 0.000 4 0.000 0.086 2161 3710 3379

5479 -0.67 -146.6 449.0 -11.2 263 5483 0.00 2.60 0.00 0.000 6 0.000 0.057 2161 2300 3379

5794 -0.67 -146.6 476.9 -9.3 278 5799 0.00 2.65 0.00 0.000 4 0.000 0.071 2161 883 3379

5858 -0.77 -146.6 483.0 -9.8 281 5863 0.12 2.62 0.00 0.000 6 0.048 0.061 2121 2298 3379

6182 end dive: BOTTOM_OBSTACLE_DETECTED

state 6182 begin apogee

6189 -0.31 0.0 514.1 9.1 297 6325 0.52 0.00 129.18 0.982 6 0.086 0.000 2228 2200 2780

6325 end apogee: CONTROL_FINISHED_OK

state 6325 begin climb

6328 0.85 146.6 521.1 0.0 304 6464 1.15 2.85 127.40 0.966 4 0.064 0.084 2481 3606 2184

6698 0.85 146.6 502.7 6.6 321 6703 0.00 2.65 0.00 0.000 6 0.000 0.061 2481 2204 2183

7024 0.85 146.6 484.2 6.3 337 7029 0.00 2.80 0.00 0.000 4 0.000 0.087 2481 3618 2182

7074 0.85 146.6 480.4 7.2 339 7078 0.00 2.67 0.00 0.000 6 0.000 0.061 2480 2200 2182

7390 0.90 199.2 466.9 4.6 354 7442 0.00 2.78 46.33 0.946 4 0.000 0.073 2482 785 1967

7481 0.96 199.2 462.8 6.4 358 7486 0.12 2.67 0.00 0.000 6 0.066 0.058 2507 2200 1967

7797 0.96 199.2 439.0 7.8 373 7801 0.00 2.78 0.00 0.000 4 0.000 0.088 2507 3613 1965

7931 0.90 199.2 428.4 7.6 379 7935 0.00 2.67 0.00 0.000 6 0.000 0.064 2508 2199 1965

8252 0.90 199.2 403.2 7.9 395 8256 0.00 2.80 0.00 0.000 4 0.000 0.087 2508 3619 1964

8307 0.90 199.2 398.4 8.9 397 8313 0.00 2.67 0.00 0.000 6 0.000 0.064 2508 2194 1964

8622 0.90 199.2 374.2 6.9 413 8627 0.00 2.67 0.00 0.000 4 0.000 0.072 2508 785 1963

8662 0.90 199.2 371.5 7.4 415 8666 0.00 2.65 0.00 0.000 6 0.000 0.058 2508 2203 1963

8989 0.90 199.2 349.0 6.5 431 8993 0.00 2.75 0.00 0.000 4 0.000 0.085 2508 3619 1963

9061 0.90 199.2 344.1 6.7 434 9065 0.00 2.67 0.00 0.000 6 0.000 0.064 2508 2200 1963

9376 0.95 247.6 327.7 4.7 449 9423 0.00 2.80 41.33 0.871 4 0.000 0.084 2508 3613 1771

9463 0.96 259.9 323.3 5.7 453 9482 0.00 2.67 12.43 0.795 6 0.000 0.062 2508 2195 1721

9812 1.01 269.1 305.2 5.7 470 9823 0.00 0.00 9.40 0.755 6 0.000 0.000 2508 2194 1683

10119 1.06 269.1 281.8 8.4 485 10121 0.10 0.00 0.00 0.000 6 0.071 0.000 2533 2194 1682

10428 1.06 269.1 250.4 10.2 500 10429 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2194 1682

10737 1.06 269.1 218.2 9.9 515 10742 0.00 2.72 0.00 0.000 4 0.000 0.081 2533 3615 1683

10804 1.06 269.1 211.3 10.2 518 10808 0.00 2.62 0.00 0.000 6 0.000 0.060 2533 2199 1683

11124 1.06 269.1 182.8 7.9 534 11128 0.00 2.67 0.00 0.000 4 0.000 0.068 2533 773 1683

11141 1.06 269.1 181.5 8.1 535 11145 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2201 1683

11468 1.06 269.1 155.6 7.9 551 11472 0.00 2.72 0.00 0.000 4 0.000 0.081 2533 3621 1683

11517 1.06 269.1 151.1 9.2 553 11521 0.00 2.65 0.00 0.000 6 0.000 0.060 2533 2197 1684

11833 1.06 269.1 126.2 7.7 568 11834 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2197 1683

12144 1.06 269.1 100.4 8.4 583 12148 0.00 2.72 0.00 0.000 4 0.000 0.080 2533 3614 1684

12193 1.06 269.1 95.9 8.4 585 12198 0.00 2.62 0.00 0.000 6 0.000 0.058 2533 2193 1684

12511 1.06 269.1 71.0 8.0 600 12512 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2193 1684

12819 1.06 269.1 45.6 7.9 615 12820 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2193 1684

13128 1.06 269.1 21.4 7.9 630 13132 0.00 2.72 0.00 0.000 4 0.000 0.079 2533 3614 1684

13177 1.06 269.1 17.1 9.1 632 13182 0.00 2.62 0.00 0.000 6 0.000 0.058 2533 2197 1685

13389 end climb: SURFACE_DEPTH_REACHED

state 13389 begin surface coast

13409 end surface coast: CONTROL_FINISHED_OK

state 13409 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	98	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	2200	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	16	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	-2094957.5	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	110907,6155.433,-902.867,43,2.0,54,-9.4	TGT_NAME	B1
_CALLS	2	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.045,-0.217
_SM_DEPTHo	1.24	KALMAN_X	-157524.1,1420.8,918.6,-49101.0,-14724.4
_SM_ANGLEo	-56.4	KALMAN_Y	-41412.7,-3569.3,-1547.2,172450.8,48889.7
GPS2	111723,6155.590,-903.008,15,2.5,34,-9.4	MHEAD_RNG_PITCHd_Wd	192.4,16858,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.002613	ALTIM_BOTTOM_PING	451.1,72.2
SM_CCo	13431,138.77,0.621,0,0,509,557.32	_24V_AH	23.7,19.383
SM_GC	1.23,0.00,0.00,138.77,0.000,0.000,0.621,67,2302,509,-10.27,0.06,557.32	_10V_AH	10.1,9.881
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31697,643
TT8_MAMPS	0.023777	CAP_FILE_SIZE	104955,0
HUMID	1824	CFSIZE	260165632,252006400
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	16	GPS	280608,150558,6158.315,-906.042,34,2.3,53,-9.4
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	96.96	SBE_CT	474	24	270.17
Roll_motor	128	88	269.51	SBE_O2	437	19	196.90
VBD_pump_during_apogee	366	981	8517.15	WL_BB2F	465	105	1158.75
VBD_pump_during_surface	138	621	2043.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.89	nil	0	0	0.00
Iridium_during_connect	60	160	228.38	nil	0	0	0.00
Iridium_during_xfer	196	223	1040.51
Transponder_ping	8	420	79.63
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.99
TT8	1213	19	242.61
LPSleep	10146	2	224.44
TT8_Active	658	19	131.79
TT8_Sampling	1522	39	611.94
TT8_CF8	529	45	244.85
TT8_Kalman	33	81	27.56
Analog_circuits	1430	12	173.32
GPS_charging	0	0	0.00
Compass	1466	8	118.46
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	146	0.00	0.00	-121.20	0.000	2	0.000	0.000	64	2308	2953
150	-0.85	-146.6	4.0	-3.5	6	180	11.35	2.70	-10.15	0.000	4	0.164	0.075	2107	881	3379
305	-0.72	-146.6	24.1	-10.8	13	310	0.17	2.62	0.00	0.000	6	0.094	0.056	2141	2297	3379
633	-0.64	-146.6	52.9	-9.2	29	637	0.00	2.65	0.00	0.000	4	0.000	0.063	2141	880	3379
677	-0.64	-146.6	56.6	-7.8	31	681	0.00	2.65	0.00	0.000	6	0.000	0.055	2141	2305	3379
998	-0.55	-146.6	82.0	-7.9	47	1003	0.15	2.70	0.00	0.000	4	0.093	0.077	2175	3716	3379
1026	-0.55	-146.6	84.2	-7.6	48	1030	0.00	2.60	0.00	0.000	6	0.000	0.054	2175	2295	3379
1342	-0.55	-146.6	107.2	-7.9	63	1346	0.00	2.62	0.00	0.000	4	0.000	0.065	2175	885	3379
1414	-0.62	-146.6	113.4	-8.7	66	1418	0.00	2.62	0.00	0.000	6	0.000	0.057	2175	2299	3379
1732	-0.62	-146.6	139.3	-8.4	81	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2299	3379
2039	-0.62	-146.6	164.3	-7.6	96	2044	0.00	2.65	0.00	0.000	4	0.000	0.064	2175	885	3379
2107	-0.68	-146.6	169.6	-8.2	99	2112	0.12	2.62	0.00	0.000	6	0.045	0.056	2132	2302	3379
2430	-0.58	-146.6	200.6	-9.9	115	2432	0.20	0.00	0.00	0.000	6	0.080	0.000	2172	2302	3380
2740	-0.58	-146.6	225.4	-8.1	130	2744	0.00	2.65	0.00	0.000	4	0.000	0.065	2173	886	3379
2795	-0.64	-146.6	230.3	-8.4	132	2801	0.00	2.62	0.00	0.000	6	0.000	0.058	2172	2300	3379
3111	-0.64	-146.6	256.7	-8.2	148	3112	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2300	3379
3420	-0.64	-146.6	281.5	-8.0	163	3424	0.00	2.67	0.00	0.000	4	0.000	0.067	2172	879	3379
3464	-0.71	-146.6	285.1	-8.5	165	3469	0.12	2.62	0.00	0.000	6	0.045	0.058	2131	2299	3379
3786	-0.62	-146.6	315.7	-9.2	181	3788	0.15	0.00	0.00	0.000	6	0.083	0.000	2161	2300	3379
4095	-0.62	-146.6	339.6	-7.6	196	4096	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2300	3379
4405	-0.62	-146.6	362.4	-7.5	211	4409	0.00	2.67	0.00	0.000	4	0.000	0.068	2161	880	3379
4466	-0.62	-146.6	367.2	-7.5	214	4471	0.00	2.62	0.00	0.000	6	0.000	0.058	2161	2299	3379
4793	-0.62	-146.6	391.4	-7.5	230	4798	0.00	2.67	0.00	0.000	4	0.000	0.067	2161	879	3379
4827	-0.67	-146.6	394.1	-8.1	231	4833	0.00	2.65	0.00	0.000	6	0.000	0.058	2161	2305	3379
5142	-0.67	-146.6	418.9	-8.1	247	5143	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2304	3379
5452	-0.67	-146.6	446.0	-9.0	262	5456	0.00	2.72	0.00	0.000	4	0.000	0.086	2161	3710	3379
5479	-0.67	-146.6	449.0	-11.2	263	5483	0.00	2.60	0.00	0.000	6	0.000	0.057	2161	2300	3379
5794	-0.67	-146.6	476.9	-9.3	278	5799	0.00	2.65	0.00	0.000	4	0.000	0.071	2161	883	3379
5858	-0.77	-146.6	483.0	-9.8	281	5863	0.12	2.62	0.00	0.000	6	0.048	0.061	2121	2298	3379
6182	end dive: BOTTOM_OBSTACLE_DETECTED
state	6182	begin apogee
6189	-0.31	0.0	514.1	9.1	297	6325	0.52	0.00	129.18	0.982	6	0.086	0.000	2228	2200	2780
6325	end apogee: CONTROL_FINISHED_OK
state	6325	begin climb
6328	0.85	146.6	521.1	0.0	304	6464	1.15	2.85	127.40	0.966	4	0.064	0.084	2481	3606	2184
6698	0.85	146.6	502.7	6.6	321	6703	0.00	2.65	0.00	0.000	6	0.000	0.061	2481	2204	2183
7024	0.85	146.6	484.2	6.3	337	7029	0.00	2.80	0.00	0.000	4	0.000	0.087	2481	3618	2182
7074	0.85	146.6	480.4	7.2	339	7078	0.00	2.67	0.00	0.000	6	0.000	0.061	2480	2200	2182
7390	0.90	199.2	466.9	4.6	354	7442	0.00	2.78	46.33	0.946	4	0.000	0.073	2482	785	1967
7481	0.96	199.2	462.8	6.4	358	7486	0.12	2.67	0.00	0.000	6	0.066	0.058	2507	2200	1967
7797	0.96	199.2	439.0	7.8	373	7801	0.00	2.78	0.00	0.000	4	0.000	0.088	2507	3613	1965
7931	0.90	199.2	428.4	7.6	379	7935	0.00	2.67	0.00	0.000	6	0.000	0.064	2508	2199	1965
8252	0.90	199.2	403.2	7.9	395	8256	0.00	2.80	0.00	0.000	4	0.000	0.087	2508	3619	1964
8307	0.90	199.2	398.4	8.9	397	8313	0.00	2.67	0.00	0.000	6	0.000	0.064	2508	2194	1964
8622	0.90	199.2	374.2	6.9	413	8627	0.00	2.67	0.00	0.000	4	0.000	0.072	2508	785	1963
8662	0.90	199.2	371.5	7.4	415	8666	0.00	2.65	0.00	0.000	6	0.000	0.058	2508	2203	1963
8989	0.90	199.2	349.0	6.5	431	8993	0.00	2.75	0.00	0.000	4	0.000	0.085	2508	3619	1963
9061	0.90	199.2	344.1	6.7	434	9065	0.00	2.67	0.00	0.000	6	0.000	0.064	2508	2200	1963
9376	0.95	247.6	327.7	4.7	449	9423	0.00	2.80	41.33	0.871	4	0.000	0.084	2508	3613	1771
9463	0.96	259.9	323.3	5.7	453	9482	0.00	2.67	12.43	0.795	6	0.000	0.062	2508	2195	1721
9812	1.01	269.1	305.2	5.7	470	9823	0.00	0.00	9.40	0.755	6	0.000	0.000	2508	2194	1683
10119	1.06	269.1	281.8	8.4	485	10121	0.10	0.00	0.00	0.000	6	0.071	0.000	2533	2194	1682
10428	1.06	269.1	250.4	10.2	500	10429	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2194	1682
10737	1.06	269.1	218.2	9.9	515	10742	0.00	2.72	0.00	0.000	4	0.000	0.081	2533	3615	1683
10804	1.06	269.1	211.3	10.2	518	10808	0.00	2.62	0.00	0.000	6	0.000	0.060	2533	2199	1683
11124	1.06	269.1	182.8	7.9	534	11128	0.00	2.67	0.00	0.000	4	0.000	0.068	2533	773	1683
11141	1.06	269.1	181.5	8.1	535	11145	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2201	1683
11468	1.06	269.1	155.6	7.9	551	11472	0.00	2.72	0.00	0.000	4	0.000	0.081	2533	3621	1683
11517	1.06	269.1	151.1	9.2	553	11521	0.00	2.65	0.00	0.000	6	0.000	0.060	2533	2197	1684
11833	1.06	269.1	126.2	7.7	568	11834	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2197	1683
12144	1.06	269.1	100.4	8.4	583	12148	0.00	2.72	0.00	0.000	4	0.000	0.080	2533	3614	1684
12193	1.06	269.1	95.9	8.4	585	12198	0.00	2.62	0.00	0.000	6	0.000	0.058	2533	2193	1684
12511	1.06	269.1	71.0	8.0	600	12512	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2193	1684
12819	1.06	269.1	45.6	7.9	615	12820	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2193	1684
13128	1.06	269.1	21.4	7.9	630	13132	0.00	2.72	0.00	0.000	4	0.000	0.079	2533	3614	1684
13177	1.06	269.1	17.1	9.1	632	13182	0.00	2.62	0.00	0.000	6	0.000	0.058	2533	2197	1685
13389	end climb: SURFACE_DEPTH_REACHED
state	13389	begin surface coast
13409	end surface coast: CONTROL_FINISHED_OK
state	13409	begin surface