Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 103 * 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 103 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 14 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 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 -2095071.4 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 -2095071.4

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 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 103 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 055207,6205.971,-909.867,40,1.5,40,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.062,-0.213

_SM_DEPTHo 1.04 KALMAN_X -168040.4,2256.8,551.1,-45331.2,-23413.7

_SM_ANGLEo -49.4 KALMAN_Y -19592.7,-2969.6,-1823.9,169716.7,63099.8

GPS2 055657,6206.057,-909.872,14,1.5,14,-9.5 MHEAD_RNG_PITCHd_Wd 181.4,36583,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.018602 ALTIM_BOTTOM_PING 375.2,82.2

SM_CCo 12565,120.72,0.616,0,0,509,557.32 _24V_AH 23.7,20.091

SM_GC 1.06,0.00,0.00,120.72,0.000,0.000,0.616,74,2314,509,-10.24,0.40,557.32 _10V_AH 10.1,10.212

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31803,603

TT8_MAMPS 0.023777 CAP_FILE_SIZE 100770,0

HUMID 1841 CFSIZE 260165632,251760640

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 28 GPS 290608,093037,6206.656,-909.242,42,1.1,42,-9.5

ALTIM_TOP_PING 19.7,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 101.55 SBE_CT 442 24 251.58

Roll_motor 140 93 311.70 SBE_O2 408 19 183.82

VBD_pump_during_apogee 395 956 8969.10 WL_BB2F 477 105 1189.10

VBD_pump_during_surface 120 615 1762.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.07 nil 0 0 0.00

Iridium_during_connect 28 160 109.48 nil 0 0 0.00

Iridium_during_xfer 137 223 724.24

Transponder_ping 10 420 99.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1136 19 227.21

LPSleep 9350 2 206.81

TT8_Active 695 19 139.03

TT8_Sampling 1389 39 558.66

TT8_CF8 412 45 190.92

TT8_Kalman 33 81 27.55

Analog_circuits 1429 12 173.31

GPS_charging 0 0 0.00

Compass 1361 8 110.00

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 -120.90 0.000 2 0.000 0.000 70 2306 2874

150 -0.85 -146.6 3.3 -2.7 6 181 11.38 2.67 -13.45 0.000 4 0.167 0.075 2110 874 3380

405 -0.69 -146.6 33.0 -8.8 17 412 0.20 2.65 0.00 0.000 6 0.094 0.058 2149 2299 3380

721 -0.62 -146.6 63.6 -8.8 33 722 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2300 3381

1031 -0.56 -146.6 90.0 -9.5 48 1036 0.15 2.67 0.00 0.000 4 0.094 0.064 2182 872 3380

1109 -0.66 -146.6 96.4 -7.8 51 1116 0.12 2.65 0.00 0.000 6 0.044 0.056 2139 2301 3381

1426 -0.57 -146.6 123.8 -8.5 67 1428 0.17 0.00 0.00 0.000 6 0.081 0.000 2174 2301 3381

1734 -0.57 -146.6 144.1 -6.0 82 1739 0.00 2.67 0.00 0.000 4 0.000 0.065 2174 871 3381

1756 -0.57 -146.6 145.5 -6.1 83 1760 0.00 2.62 0.00 0.000 6 0.000 0.057 2174 2300 3381

2077 -0.57 -146.6 165.1 -6.8 99 2081 0.00 2.67 0.00 0.000 4 0.000 0.066 2174 874 3381

2110 -0.63 -146.6 167.6 -7.6 100 2116 0.00 2.65 0.00 0.000 6 0.000 0.057 2174 2303 3381

2426 -0.63 -146.6 191.8 -8.1 116 2430 0.00 2.67 0.00 0.000 4 0.000 0.066 2174 876 3381

2466 -0.70 -146.6 195.2 -9.3 118 2471 0.12 2.65 0.00 0.000 6 0.046 0.058 2132 2305 3381

2795 -0.61 -146.6 228.9 -10.3 134 2800 0.15 2.70 0.00 0.000 4 0.083 0.068 2167 873 3381

2828 -0.66 -146.6 232.2 -8.3 135 2835 0.00 2.65 0.00 0.000 6 0.000 0.058 2167 2303 3381

3144 -0.66 -146.6 256.1 -7.5 151 3149 0.00 2.67 0.00 0.000 4 0.000 0.068 2167 876 3381

3200 -0.71 -146.6 260.7 -7.6 153 3206 0.00 2.65 0.00 0.000 6 0.000 0.059 2166 2302 3381

3516 -0.71 -146.6 283.1 -7.3 169 3520 0.00 2.67 0.00 0.000 4 0.000 0.069 2167 878 3381

3549 -0.76 -146.6 285.7 -7.9 170 3556 0.15 2.62 0.00 0.000 6 0.043 0.059 2120 2299 3381

3866 -0.65 -146.6 315.2 -9.4 186 3868 0.20 0.00 0.00 0.000 6 0.081 0.000 2161 2299 3381

4175 -0.65 -146.6 337.6 -7.5 201 4179 0.00 2.70 0.00 0.000 4 0.000 0.071 2161 874 3381

4214 -0.71 -146.6 340.5 -7.3 203 4219 0.00 2.65 0.00 0.000 6 0.000 0.061 2161 2301 3381

4541 -0.71 -146.6 360.7 -5.7 219 4546 0.00 2.72 0.00 0.000 4 0.000 0.087 2161 3712 3382

4592 -0.71 -146.6 364.1 -6.8 221 4596 0.00 2.65 0.00 0.000 6 0.000 0.062 2161 2291 3381

4908 -0.71 -146.6 385.7 -7.4 236 4912 0.00 2.67 0.00 0.000 4 0.000 0.075 2161 881 3381

4963 -0.79 -146.6 389.9 -7.2 238 4970 0.15 2.67 0.00 0.000 6 0.046 0.064 2115 2305 3381

5279 -0.65 -146.6 420.4 -10.1 254 5284 0.17 2.78 0.00 0.000 4 0.089 0.093 2153 3718 3381

5335 -0.65 -146.6 425.5 -8.1 256 5341 0.00 2.65 0.00 0.000 6 0.000 0.064 2153 2294 3380

5627 end dive: BOTTOM_OBSTACLE_DETECTED

state 5628 begin apogee

5635 -0.31 0.0 447.8 7.5 271 5770 0.38 0.00 127.93 0.956 6 0.087 0.000 2230 2202 2781

5770 end apogee: CONTROL_FINISHED_OK

state 5770 begin climb

5773 0.85 146.6 455.5 0.0 278 5911 1.20 2.83 126.40 0.941 4 0.070 0.077 2485 791 2183

6007 0.90 197.5 449.1 4.6 289 6057 0.00 2.67 44.70 0.915 6 0.000 0.064 2486 2201 1976

6373 0.99 231.6 433.1 5.1 306 6410 0.12 2.85 30.75 0.915 4 0.058 0.092 2520 3615 1836

6438 0.93 231.6 428.0 7.4 308 6443 0.00 2.72 0.00 0.000 6 0.000 0.071 2520 2202 1836

6759 0.89 231.6 405.3 7.6 324 6764 0.12 2.83 0.00 0.000 4 0.095 0.093 2495 3615 1835

6787 0.89 231.6 402.9 8.7 325 6791 0.00 2.72 0.00 0.000 6 0.000 0.071 2495 2192 1834

7103 0.89 231.6 377.8 7.8 340 7107 0.00 2.83 0.00 0.000 4 0.000 0.094 2495 3613 1833

7124 0.89 231.6 375.9 8.2 341 7128 0.00 2.72 0.00 0.000 6 0.000 0.071 2495 2192 1833

7445 0.89 231.6 354.1 6.6 357 7446 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2193 1831

7754 0.89 231.6 334.5 6.1 372 7759 0.00 2.83 0.00 0.000 4 0.000 0.092 2495 3616 1830

7816 0.89 231.6 330.4 6.9 375 7820 0.00 2.70 0.00 0.000 6 0.000 0.071 2495 2200 1831

8143 0.91 246.4 312.7 5.6 391 8161 0.00 0.00 12.90 0.839 6 0.000 0.000 2495 2200 1776

8471 0.91 246.4 291.2 6.4 407 8473 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2200 1776

8780 0.91 246.4 269.7 7.1 422 8781 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2200 1776

9090 0.91 246.4 245.7 7.7 437 9094 0.00 2.75 0.00 0.000 4 0.000 0.084 2495 3616 1776

9122 0.91 246.4 243.0 8.3 438 9128 0.00 2.65 0.00 0.000 6 0.000 0.063 2495 2197 1776

9438 0.91 246.4 218.1 8.1 454 9442 0.00 2.72 0.00 0.000 4 0.000 0.083 2495 3616 1776

9487 0.91 246.4 213.7 8.8 456 9492 0.00 2.65 0.00 0.000 6 0.000 0.061 2495 2194 1776

9803 0.91 246.4 188.7 7.7 471 9805 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2194 1776

10112 0.91 246.4 164.0 8.3 486 10117 0.00 2.75 0.00 0.000 4 0.000 0.081 2495 3623 1776

10145 0.91 246.4 161.1 8.8 487 10151 0.00 2.65 0.00 0.000 6 0.000 0.061 2495 2194 1777

10462 0.91 246.4 136.3 7.7 503 10467 0.00 2.75 0.00 0.000 4 0.000 0.081 2495 3622 1777

10484 0.91 246.4 134.4 8.1 504 10489 0.00 2.62 0.00 0.000 6 0.000 0.061 2495 2201 1777

10806 0.91 246.4 113.7 6.2 520 10810 0.00 2.72 0.00 0.000 4 0.000 0.080 2495 3619 1777

10823 0.91 246.4 112.7 6.1 521 10828 0.00 2.62 0.00 0.000 6 0.000 0.060 2495 2202 1778

11150 0.91 246.4 92.6 6.3 537 11155 0.00 2.72 0.00 0.000 4 0.000 0.080 2495 3622 1778

11200 0.91 246.4 89.2 6.7 539 11205 0.00 2.65 0.00 0.000 6 0.000 0.060 2495 2192 1778

11518 0.91 246.4 69.5 7.9 554 11522 0.00 2.75 0.00 0.000 4 0.000 0.080 2495 3623 1778

11567 0.91 246.4 65.3 8.7 556 11572 0.00 2.62 0.00 0.000 6 0.000 0.060 2495 2200 1779

11885 0.96 246.4 45.9 6.3 571 11889 0.00 2.72 0.00 0.000 4 0.000 0.080 2495 3621 1779

11925 0.96 246.4 43.0 7.8 573 11929 0.00 2.62 0.00 0.000 6 0.000 0.060 2495 2200 1780

12252 1.03 310.3 24.1 4.2 589 12315 0.12 2.75 53.00 0.658 4 0.048 0.067 2536 787 1514

12332 1.03 310.3 16.7 10.8 592 12338 0.00 2.65 0.00 0.000 6 0.000 0.056 2536 2207 1513

12523 end climb: SURFACE_DEPTH_REACHED

state 12523 begin surface coast

12543 end surface coast: CONTROL_FINISHED_OK

state 12543 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	103	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	14	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	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	-2095071.4	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	055207,6205.971,-909.867,40,1.5,40,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.062,-0.213
_SM_DEPTHo	1.04	KALMAN_X	-168040.4,2256.8,551.1,-45331.2,-23413.7
_SM_ANGLEo	-49.4	KALMAN_Y	-19592.7,-2969.6,-1823.9,169716.7,63099.8
GPS2	055657,6206.057,-909.872,14,1.5,14,-9.5	MHEAD_RNG_PITCHd_Wd	181.4,36583,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.018602	ALTIM_BOTTOM_PING	375.2,82.2
SM_CCo	12565,120.72,0.616,0,0,509,557.32	_24V_AH	23.7,20.091
SM_GC	1.06,0.00,0.00,120.72,0.000,0.000,0.616,74,2314,509,-10.24,0.40,557.32	_10V_AH	10.1,10.212
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31803,603
TT8_MAMPS	0.023777	CAP_FILE_SIZE	100770,0
HUMID	1841	CFSIZE	260165632,251760640
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	28	GPS	290608,093037,6206.656,-909.242,42,1.1,42,-9.5
ALTIM_TOP_PING	19.7,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	101.55	SBE_CT	442	24	251.58
Roll_motor	140	93	311.70	SBE_O2	408	19	183.82
VBD_pump_during_apogee	395	956	8969.10	WL_BB2F	477	105	1189.10
VBD_pump_during_surface	120	615	1762.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.07	nil	0	0	0.00
Iridium_during_connect	28	160	109.48	nil	0	0	0.00
Iridium_during_xfer	137	223	724.24
Transponder_ping	10	420	99.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1136	19	227.21
LPSleep	9350	2	206.81
TT8_Active	695	19	139.03
TT8_Sampling	1389	39	558.66
TT8_CF8	412	45	190.92
TT8_Kalman	33	81	27.55
Analog_circuits	1429	12	173.31
GPS_charging	0	0	0.00
Compass	1361	8	110.00
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	-120.90	0.000	2	0.000	0.000	70	2306	2874
150	-0.85	-146.6	3.3	-2.7	6	181	11.38	2.67	-13.45	0.000	4	0.167	0.075	2110	874	3380
405	-0.69	-146.6	33.0	-8.8	17	412	0.20	2.65	0.00	0.000	6	0.094	0.058	2149	2299	3380
721	-0.62	-146.6	63.6	-8.8	33	722	0.00	0.00	0.00	0.000	6	0.000	0.000	2149	2300	3381
1031	-0.56	-146.6	90.0	-9.5	48	1036	0.15	2.67	0.00	0.000	4	0.094	0.064	2182	872	3380
1109	-0.66	-146.6	96.4	-7.8	51	1116	0.12	2.65	0.00	0.000	6	0.044	0.056	2139	2301	3381
1426	-0.57	-146.6	123.8	-8.5	67	1428	0.17	0.00	0.00	0.000	6	0.081	0.000	2174	2301	3381
1734	-0.57	-146.6	144.1	-6.0	82	1739	0.00	2.67	0.00	0.000	4	0.000	0.065	2174	871	3381
1756	-0.57	-146.6	145.5	-6.1	83	1760	0.00	2.62	0.00	0.000	6	0.000	0.057	2174	2300	3381
2077	-0.57	-146.6	165.1	-6.8	99	2081	0.00	2.67	0.00	0.000	4	0.000	0.066	2174	874	3381
2110	-0.63	-146.6	167.6	-7.6	100	2116	0.00	2.65	0.00	0.000	6	0.000	0.057	2174	2303	3381
2426	-0.63	-146.6	191.8	-8.1	116	2430	0.00	2.67	0.00	0.000	4	0.000	0.066	2174	876	3381
2466	-0.70	-146.6	195.2	-9.3	118	2471	0.12	2.65	0.00	0.000	6	0.046	0.058	2132	2305	3381
2795	-0.61	-146.6	228.9	-10.3	134	2800	0.15	2.70	0.00	0.000	4	0.083	0.068	2167	873	3381
2828	-0.66	-146.6	232.2	-8.3	135	2835	0.00	2.65	0.00	0.000	6	0.000	0.058	2167	2303	3381
3144	-0.66	-146.6	256.1	-7.5	151	3149	0.00	2.67	0.00	0.000	4	0.000	0.068	2167	876	3381
3200	-0.71	-146.6	260.7	-7.6	153	3206	0.00	2.65	0.00	0.000	6	0.000	0.059	2166	2302	3381
3516	-0.71	-146.6	283.1	-7.3	169	3520	0.00	2.67	0.00	0.000	4	0.000	0.069	2167	878	3381
3549	-0.76	-146.6	285.7	-7.9	170	3556	0.15	2.62	0.00	0.000	6	0.043	0.059	2120	2299	3381
3866	-0.65	-146.6	315.2	-9.4	186	3868	0.20	0.00	0.00	0.000	6	0.081	0.000	2161	2299	3381
4175	-0.65	-146.6	337.6	-7.5	201	4179	0.00	2.70	0.00	0.000	4	0.000	0.071	2161	874	3381
4214	-0.71	-146.6	340.5	-7.3	203	4219	0.00	2.65	0.00	0.000	6	0.000	0.061	2161	2301	3381
4541	-0.71	-146.6	360.7	-5.7	219	4546	0.00	2.72	0.00	0.000	4	0.000	0.087	2161	3712	3382
4592	-0.71	-146.6	364.1	-6.8	221	4596	0.00	2.65	0.00	0.000	6	0.000	0.062	2161	2291	3381
4908	-0.71	-146.6	385.7	-7.4	236	4912	0.00	2.67	0.00	0.000	4	0.000	0.075	2161	881	3381
4963	-0.79	-146.6	389.9	-7.2	238	4970	0.15	2.67	0.00	0.000	6	0.046	0.064	2115	2305	3381
5279	-0.65	-146.6	420.4	-10.1	254	5284	0.17	2.78	0.00	0.000	4	0.089	0.093	2153	3718	3381
5335	-0.65	-146.6	425.5	-8.1	256	5341	0.00	2.65	0.00	0.000	6	0.000	0.064	2153	2294	3380
5627	end dive: BOTTOM_OBSTACLE_DETECTED
state	5628	begin apogee
5635	-0.31	0.0	447.8	7.5	271	5770	0.38	0.00	127.93	0.956	6	0.087	0.000	2230	2202	2781
5770	end apogee: CONTROL_FINISHED_OK
state	5770	begin climb
5773	0.85	146.6	455.5	0.0	278	5911	1.20	2.83	126.40	0.941	4	0.070	0.077	2485	791	2183
6007	0.90	197.5	449.1	4.6	289	6057	0.00	2.67	44.70	0.915	6	0.000	0.064	2486	2201	1976
6373	0.99	231.6	433.1	5.1	306	6410	0.12	2.85	30.75	0.915	4	0.058	0.092	2520	3615	1836
6438	0.93	231.6	428.0	7.4	308	6443	0.00	2.72	0.00	0.000	6	0.000	0.071	2520	2202	1836
6759	0.89	231.6	405.3	7.6	324	6764	0.12	2.83	0.00	0.000	4	0.095	0.093	2495	3615	1835
6787	0.89	231.6	402.9	8.7	325	6791	0.00	2.72	0.00	0.000	6	0.000	0.071	2495	2192	1834
7103	0.89	231.6	377.8	7.8	340	7107	0.00	2.83	0.00	0.000	4	0.000	0.094	2495	3613	1833
7124	0.89	231.6	375.9	8.2	341	7128	0.00	2.72	0.00	0.000	6	0.000	0.071	2495	2192	1833
7445	0.89	231.6	354.1	6.6	357	7446	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2193	1831
7754	0.89	231.6	334.5	6.1	372	7759	0.00	2.83	0.00	0.000	4	0.000	0.092	2495	3616	1830
7816	0.89	231.6	330.4	6.9	375	7820	0.00	2.70	0.00	0.000	6	0.000	0.071	2495	2200	1831
8143	0.91	246.4	312.7	5.6	391	8161	0.00	0.00	12.90	0.839	6	0.000	0.000	2495	2200	1776
8471	0.91	246.4	291.2	6.4	407	8473	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2200	1776
8780	0.91	246.4	269.7	7.1	422	8781	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2200	1776
9090	0.91	246.4	245.7	7.7	437	9094	0.00	2.75	0.00	0.000	4	0.000	0.084	2495	3616	1776
9122	0.91	246.4	243.0	8.3	438	9128	0.00	2.65	0.00	0.000	6	0.000	0.063	2495	2197	1776
9438	0.91	246.4	218.1	8.1	454	9442	0.00	2.72	0.00	0.000	4	0.000	0.083	2495	3616	1776
9487	0.91	246.4	213.7	8.8	456	9492	0.00	2.65	0.00	0.000	6	0.000	0.061	2495	2194	1776
9803	0.91	246.4	188.7	7.7	471	9805	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2194	1776
10112	0.91	246.4	164.0	8.3	486	10117	0.00	2.75	0.00	0.000	4	0.000	0.081	2495	3623	1776
10145	0.91	246.4	161.1	8.8	487	10151	0.00	2.65	0.00	0.000	6	0.000	0.061	2495	2194	1777
10462	0.91	246.4	136.3	7.7	503	10467	0.00	2.75	0.00	0.000	4	0.000	0.081	2495	3622	1777
10484	0.91	246.4	134.4	8.1	504	10489	0.00	2.62	0.00	0.000	6	0.000	0.061	2495	2201	1777
10806	0.91	246.4	113.7	6.2	520	10810	0.00	2.72	0.00	0.000	4	0.000	0.080	2495	3619	1777
10823	0.91	246.4	112.7	6.1	521	10828	0.00	2.62	0.00	0.000	6	0.000	0.060	2495	2202	1778
11150	0.91	246.4	92.6	6.3	537	11155	0.00	2.72	0.00	0.000	4	0.000	0.080	2495	3622	1778
11200	0.91	246.4	89.2	6.7	539	11205	0.00	2.65	0.00	0.000	6	0.000	0.060	2495	2192	1778
11518	0.91	246.4	69.5	7.9	554	11522	0.00	2.75	0.00	0.000	4	0.000	0.080	2495	3623	1778
11567	0.91	246.4	65.3	8.7	556	11572	0.00	2.62	0.00	0.000	6	0.000	0.060	2495	2200	1779
11885	0.96	246.4	45.9	6.3	571	11889	0.00	2.72	0.00	0.000	4	0.000	0.080	2495	3621	1779
11925	0.96	246.4	43.0	7.8	573	11929	0.00	2.62	0.00	0.000	6	0.000	0.060	2495	2200	1780
12252	1.03	310.3	24.1	4.2	589	12315	0.12	2.75	53.00	0.658	4	0.048	0.067	2536	787	1514
12332	1.03	310.3	16.7	10.8	592	12338	0.00	2.65	0.00	0.000	6	0.000	0.056	2536	2207	1513
12523	end climb: SURFACE_DEPTH_REACHED
state	12523	begin surface coast
12543	end surface coast: CONTROL_FINISHED_OK
state	12543	begin surface