Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 106 * 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 106 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 24 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 -2095117.6 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 -2095117.6

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 24 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 106 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 161538,6208.941,-912.025,40,1.4,40,-9.6 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.076,-0.208

_SM_DEPTHo 1.07 KALMAN_X -174281.3,843.0,1657.8,-40698.2,-28873.4

_SM_ANGLEo -58.5 KALMAN_Y -17169.5,-3524.5,-1286.2,172820.2,56887.2

GPS2 162057,6209.050,-912.012,14,1.4,14,-9.6 MHEAD_RNG_PITCHd_Wd 180.1,42347,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013594 ALTIM_BOTTOM_PING 400.5,84.7

SM_CCo 11984,72.55,0.629,0,0,509,557.32 _24V_AH 23.7,20.555

SM_GC 1.19,0.00,0.00,72.55,0.000,0.000,0.629,74,2309,509,-10.24,0.25,557.32 _10V_AH 10.1,10.399

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28513,575

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98693,0

HUMID 1879 CFSIZE 260165632,251625472

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 23 GPS 290608,194407,6210.979,-909.874,36,1.1,41,-9.6

ALTIM_TOP_PING 19.6,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 163 97.67 SBE_CT 426 24 242.69

Roll_motor 139 86 285.73 SBE_O2 388 19 175.07

VBD_pump_during_apogee 482 972 11122.00 WL_BB2F 401 105 999.65

VBD_pump_during_surface 72 628 1081.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 81.33 nil 0 0 0.00

Iridium_during_connect 43 160 166.07 nil 0 0 0.00

Iridium_during_xfer 129 223 685.42

Transponder_ping 9 420 92.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.46

TT8 1100 19 220.05

LPSleep 8787 2 194.37

TT8_Active 705 19 141.05

TT8_Sampling 1358 39 546.16

TT8_CF8 432 45 200.05

TT8_Kalman 33 81 27.56

Analog_circuits 1441 12 174.72

GPS_charging 0 0 0.00

Compass 1323 8 106.98

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 -120.97 0.000 2 0.000 0.000 69 2306 2868

150 -0.85 -146.6 3.3 -2.8 6 178 11.27 0.00 -13.80 0.000 6 0.163 0.000 2108 2306 3381

483 -0.67 -146.6 43.9 -11.7 22 488 0.20 2.70 0.00 0.000 4 0.095 0.065 2151 874 3381

550 -0.67 -146.6 50.1 -8.2 25 554 0.00 2.62 0.00 0.000 6 0.000 0.054 2151 2294 3382

873 -0.60 -146.6 81.8 -10.4 41 877 0.00 2.65 0.00 0.000 4 0.000 0.064 2151 878 3381

962 -0.60 -146.6 91.0 -9.6 45 966 0.00 2.62 0.00 0.000 6 0.000 0.054 2149 2302 3381

1283 -0.54 -146.6 119.3 -8.6 61 1288 0.15 2.67 0.00 0.000 4 0.095 0.064 2184 878 3381

1317 -0.63 -146.6 121.8 -6.9 62 1323 0.00 2.62 0.00 0.000 6 0.000 0.054 2184 2305 3381

1635 -0.67 -146.6 140.4 -5.4 78 1640 0.15 2.67 0.00 0.000 4 0.041 0.064 2129 878 3382

1663 -0.61 -146.6 142.4 -7.0 79 1668 0.17 2.62 0.00 0.000 6 0.082 0.054 2165 2301 3382

1979 -0.61 -146.6 159.4 -4.9 94 1983 0.00 2.67 0.00 0.000 4 0.000 0.065 2165 876 3382

2029 -0.61 -146.6 162.3 -5.9 96 2033 0.00 2.62 0.00 0.000 6 0.000 0.054 2165 2304 3382

2345 -0.61 -146.6 180.2 -5.5 111 2349 0.00 2.67 0.00 0.000 4 0.000 0.067 2165 879 3382

2400 -0.61 -146.6 183.4 -5.5 113 2406 0.00 2.62 0.00 0.000 6 0.000 0.054 2165 2303 3382

2716 -0.61 -146.6 202.0 -6.2 129 2720 0.00 2.67 0.00 0.000 4 0.000 0.067 2165 878 3382

2771 -0.66 -146.6 205.6 -6.3 131 2777 0.00 2.62 0.00 0.000 6 0.000 0.054 2165 2304 3382

3087 -0.66 -146.6 227.5 -7.4 147 3091 0.00 2.70 0.00 0.000 4 0.000 0.067 2165 873 3382

3115 -0.66 -146.6 229.7 -7.6 148 3120 0.00 2.62 0.00 0.000 6 0.000 0.054 2165 2300 3382

3431 -0.66 -146.6 256.7 -9.2 163 3435 0.00 2.67 0.00 0.000 4 0.000 0.068 2165 878 3382

3471 -0.71 -146.6 260.4 -9.7 165 3475 0.00 2.62 0.00 0.000 6 0.000 0.056 2165 2299 3382

3798 -0.71 -146.6 294.5 -11.1 181 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2299 3382

4107 -0.71 -146.6 328.0 -10.5 196 4111 0.00 2.67 0.00 0.000 4 0.000 0.068 2165 873 3383

4162 -0.76 -146.6 333.7 -10.0 198 4169 0.15 2.62 0.00 0.000 6 0.044 0.056 2117 2300 3382

4478 -0.63 -146.6 367.5 -10.1 214 4483 0.20 2.67 0.00 0.000 4 0.084 0.068 2161 878 3382

4535 -0.67 -146.6 372.2 -7.7 216 4541 0.00 2.62 0.00 0.000 6 0.000 0.056 2161 2301 3382

4852 -0.67 -146.6 392.9 -5.7 232 4856 0.00 2.70 0.00 0.000 4 0.000 0.079 2161 3716 3382

4896 -0.67 -146.6 395.7 -6.0 234 4900 0.00 2.65 0.00 0.000 6 0.000 0.060 2161 2289 3382

5217 -0.67 -146.6 408.4 -3.1 250 5221 0.00 2.72 0.00 0.000 4 0.000 0.080 2159 3710 3382

5238 -0.67 -146.6 409.2 -3.6 251 5243 0.00 2.62 0.00 0.000 6 0.000 0.059 2161 2295 3382

5559 -0.67 -146.6 420.0 -3.5 267 5564 0.00 2.67 0.00 0.000 4 0.000 0.074 2161 880 3382

5655 -0.74 -146.6 423.8 -4.4 271 5661 0.10 2.65 0.00 0.000 6 0.054 0.059 2126 2304 3382

5972 -0.65 -146.6 444.5 -7.4 286 5974 0.15 0.00 0.00 0.000 6 0.088 0.000 2156 2305 3381

6281 -0.65 -146.6 460.7 -5.0 301 6286 0.00 2.67 0.00 0.000 4 0.000 0.070 2155 878 3381

6322 -0.72 -146.6 462.7 -5.1 303 6326 0.00 2.65 0.00 0.000 6 0.000 0.064 2156 2305 3381

6522 end dive: BOTTOM_OBSTACLE_DETECTED

state 6522 begin apogee

6529 -0.31 0.0 476.8 6.8 313 6665 0.38 0.00 128.95 0.973 6 0.094 0.000 2231 2203 2781

6665 end apogee: CONTROL_FINISHED_OK

state 6666 begin climb

6669 0.85 146.6 483.3 0.0 320 6805 1.15 2.85 126.43 0.958 4 0.070 0.086 2479 3604 2183

6940 0.86 159.1 471.7 5.7 332 6959 0.00 2.67 12.20 0.854 6 0.000 0.067 2479 2199 2132

7276 0.86 159.1 452.1 7.2 349 7277 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2198 2131

7585 0.95 242.3 434.3 3.7 364 7668 0.12 2.85 71.57 0.950 4 0.074 0.087 2508 3615 1793

7791 1.05 333.6 426.2 3.5 373 7875 0.00 2.70 78.97 0.943 6 0.000 0.068 2508 2200 1420

8194 1.20 407.8 411.8 4.0 393 8261 0.25 0.00 64.40 0.934 6 0.064 0.000 2561 2200 1118

8562 1.20 407.8 381.9 8.9 411 8567 0.00 2.70 0.00 0.000 4 0.000 0.077 2562 784 1117

8584 1.20 407.8 379.7 9.6 412 8588 0.00 2.67 0.00 0.000 6 0.000 0.059 2562 2201 1117

8905 1.20 407.8 348.8 9.3 428 8906 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2201 1117

9214 1.20 407.8 319.3 9.9 443 9218 0.00 2.72 0.00 0.000 4 0.000 0.072 2562 782 1116

9269 1.20 407.8 313.6 10.1 445 9275 0.00 2.65 0.00 0.000 6 0.000 0.055 2562 2204 1117

9585 1.20 407.8 279.1 11.7 461 9589 0.00 2.70 0.00 0.000 4 0.000 0.071 2562 782 1117

9606 1.20 407.8 276.6 11.2 462 9611 0.00 2.65 0.00 0.000 6 0.000 0.054 2562 2206 1117

9927 1.20 407.8 240.3 11.6 478 9932 0.00 2.72 0.00 0.000 4 0.000 0.071 2562 776 1117

9972 1.20 407.8 235.0 12.2 480 9976 0.00 2.62 0.00 0.000 6 0.000 0.054 2562 2201 1117

10293 1.20 407.8 197.0 12.5 496 10297 0.00 2.70 0.00 0.000 4 0.000 0.070 2562 782 1117

10320 1.20 407.8 193.3 12.8 497 10324 0.00 2.62 0.00 0.000 6 0.000 0.053 2562 2203 1117

10635 1.20 407.8 152.0 13.0 512 10640 0.00 2.70 0.00 0.000 4 0.000 0.070 2562 779 1118

10663 1.20 407.8 148.3 13.4 513 10668 0.00 2.62 0.00 0.000 6 0.000 0.052 2562 2204 1117

10981 1.20 407.8 110.1 12.3 528 10985 0.00 2.67 0.00 0.000 4 0.000 0.069 2562 782 1118

11030 1.20 407.8 103.6 12.8 530 11034 0.00 2.60 0.00 0.000 6 0.000 0.052 2562 2201 1118

11348 1.20 407.8 64.9 12.0 545 11352 0.00 2.67 0.00 0.000 4 0.000 0.068 2562 781 1118

11391 1.20 407.8 59.5 11.6 547 11396 0.00 2.60 0.00 0.000 6 0.000 0.052 2562 2201 1118

11713 1.20 407.8 23.3 11.1 563 11717 0.00 2.70 0.00 0.000 4 0.000 0.067 2562 773 1119

11791 1.20 407.8 14.9 10.7 566 11797 0.00 2.60 0.00 0.000 6 0.000 0.052 2562 2201 1120

11939 end climb: SURFACE_DEPTH_REACHED

state 11939 begin surface coast

11962 end surface coast: CONTROL_FINISHED_OK

state 11963 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	106	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	24	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	-2095117.6	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	161538,6208.941,-912.025,40,1.4,40,-9.6	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.076,-0.208
_SM_DEPTHo	1.07	KALMAN_X	-174281.3,843.0,1657.8,-40698.2,-28873.4
_SM_ANGLEo	-58.5	KALMAN_Y	-17169.5,-3524.5,-1286.2,172820.2,56887.2
GPS2	162057,6209.050,-912.012,14,1.4,14,-9.6	MHEAD_RNG_PITCHd_Wd	180.1,42347,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.013594	ALTIM_BOTTOM_PING	400.5,84.7
SM_CCo	11984,72.55,0.629,0,0,509,557.32	_24V_AH	23.7,20.555
SM_GC	1.19,0.00,0.00,72.55,0.000,0.000,0.629,74,2309,509,-10.24,0.25,557.32	_10V_AH	10.1,10.399
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28513,575
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98693,0
HUMID	1879	CFSIZE	260165632,251625472
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	23	GPS	290608,194407,6210.979,-909.874,36,1.1,41,-9.6
ALTIM_TOP_PING	19.6,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	163	97.67	SBE_CT	426	24	242.69
Roll_motor	139	86	285.73	SBE_O2	388	19	175.07
VBD_pump_during_apogee	482	972	11122.00	WL_BB2F	401	105	999.65
VBD_pump_during_surface	72	628	1081.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	81.33	nil	0	0	0.00
Iridium_during_connect	43	160	166.07	nil	0	0	0.00
Iridium_during_xfer	129	223	685.42
Transponder_ping	9	420	92.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.46
TT8	1100	19	220.05
LPSleep	8787	2	194.37
TT8_Active	705	19	141.05
TT8_Sampling	1358	39	546.16
TT8_CF8	432	45	200.05
TT8_Kalman	33	81	27.56
Analog_circuits	1441	12	174.72
GPS_charging	0	0	0.00
Compass	1323	8	106.98
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	-120.97	0.000	2	0.000	0.000	69	2306	2868
150	-0.85	-146.6	3.3	-2.8	6	178	11.27	0.00	-13.80	0.000	6	0.163	0.000	2108	2306	3381
483	-0.67	-146.6	43.9	-11.7	22	488	0.20	2.70	0.00	0.000	4	0.095	0.065	2151	874	3381
550	-0.67	-146.6	50.1	-8.2	25	554	0.00	2.62	0.00	0.000	6	0.000	0.054	2151	2294	3382
873	-0.60	-146.6	81.8	-10.4	41	877	0.00	2.65	0.00	0.000	4	0.000	0.064	2151	878	3381
962	-0.60	-146.6	91.0	-9.6	45	966	0.00	2.62	0.00	0.000	6	0.000	0.054	2149	2302	3381
1283	-0.54	-146.6	119.3	-8.6	61	1288	0.15	2.67	0.00	0.000	4	0.095	0.064	2184	878	3381
1317	-0.63	-146.6	121.8	-6.9	62	1323	0.00	2.62	0.00	0.000	6	0.000	0.054	2184	2305	3381
1635	-0.67	-146.6	140.4	-5.4	78	1640	0.15	2.67	0.00	0.000	4	0.041	0.064	2129	878	3382
1663	-0.61	-146.6	142.4	-7.0	79	1668	0.17	2.62	0.00	0.000	6	0.082	0.054	2165	2301	3382
1979	-0.61	-146.6	159.4	-4.9	94	1983	0.00	2.67	0.00	0.000	4	0.000	0.065	2165	876	3382
2029	-0.61	-146.6	162.3	-5.9	96	2033	0.00	2.62	0.00	0.000	6	0.000	0.054	2165	2304	3382
2345	-0.61	-146.6	180.2	-5.5	111	2349	0.00	2.67	0.00	0.000	4	0.000	0.067	2165	879	3382
2400	-0.61	-146.6	183.4	-5.5	113	2406	0.00	2.62	0.00	0.000	6	0.000	0.054	2165	2303	3382
2716	-0.61	-146.6	202.0	-6.2	129	2720	0.00	2.67	0.00	0.000	4	0.000	0.067	2165	878	3382
2771	-0.66	-146.6	205.6	-6.3	131	2777	0.00	2.62	0.00	0.000	6	0.000	0.054	2165	2304	3382
3087	-0.66	-146.6	227.5	-7.4	147	3091	0.00	2.70	0.00	0.000	4	0.000	0.067	2165	873	3382
3115	-0.66	-146.6	229.7	-7.6	148	3120	0.00	2.62	0.00	0.000	6	0.000	0.054	2165	2300	3382
3431	-0.66	-146.6	256.7	-9.2	163	3435	0.00	2.67	0.00	0.000	4	0.000	0.068	2165	878	3382
3471	-0.71	-146.6	260.4	-9.7	165	3475	0.00	2.62	0.00	0.000	6	0.000	0.056	2165	2299	3382
3798	-0.71	-146.6	294.5	-11.1	181	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2299	3382
4107	-0.71	-146.6	328.0	-10.5	196	4111	0.00	2.67	0.00	0.000	4	0.000	0.068	2165	873	3383
4162	-0.76	-146.6	333.7	-10.0	198	4169	0.15	2.62	0.00	0.000	6	0.044	0.056	2117	2300	3382
4478	-0.63	-146.6	367.5	-10.1	214	4483	0.20	2.67	0.00	0.000	4	0.084	0.068	2161	878	3382
4535	-0.67	-146.6	372.2	-7.7	216	4541	0.00	2.62	0.00	0.000	6	0.000	0.056	2161	2301	3382
4852	-0.67	-146.6	392.9	-5.7	232	4856	0.00	2.70	0.00	0.000	4	0.000	0.079	2161	3716	3382
4896	-0.67	-146.6	395.7	-6.0	234	4900	0.00	2.65	0.00	0.000	6	0.000	0.060	2161	2289	3382
5217	-0.67	-146.6	408.4	-3.1	250	5221	0.00	2.72	0.00	0.000	4	0.000	0.080	2159	3710	3382
5238	-0.67	-146.6	409.2	-3.6	251	5243	0.00	2.62	0.00	0.000	6	0.000	0.059	2161	2295	3382
5559	-0.67	-146.6	420.0	-3.5	267	5564	0.00	2.67	0.00	0.000	4	0.000	0.074	2161	880	3382
5655	-0.74	-146.6	423.8	-4.4	271	5661	0.10	2.65	0.00	0.000	6	0.054	0.059	2126	2304	3382
5972	-0.65	-146.6	444.5	-7.4	286	5974	0.15	0.00	0.00	0.000	6	0.088	0.000	2156	2305	3381
6281	-0.65	-146.6	460.7	-5.0	301	6286	0.00	2.67	0.00	0.000	4	0.000	0.070	2155	878	3381
6322	-0.72	-146.6	462.7	-5.1	303	6326	0.00	2.65	0.00	0.000	6	0.000	0.064	2156	2305	3381
6522	end dive: BOTTOM_OBSTACLE_DETECTED
state	6522	begin apogee
6529	-0.31	0.0	476.8	6.8	313	6665	0.38	0.00	128.95	0.973	6	0.094	0.000	2231	2203	2781
6665	end apogee: CONTROL_FINISHED_OK
state	6666	begin climb
6669	0.85	146.6	483.3	0.0	320	6805	1.15	2.85	126.43	0.958	4	0.070	0.086	2479	3604	2183
6940	0.86	159.1	471.7	5.7	332	6959	0.00	2.67	12.20	0.854	6	0.000	0.067	2479	2199	2132
7276	0.86	159.1	452.1	7.2	349	7277	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2198	2131
7585	0.95	242.3	434.3	3.7	364	7668	0.12	2.85	71.57	0.950	4	0.074	0.087	2508	3615	1793
7791	1.05	333.6	426.2	3.5	373	7875	0.00	2.70	78.97	0.943	6	0.000	0.068	2508	2200	1420
8194	1.20	407.8	411.8	4.0	393	8261	0.25	0.00	64.40	0.934	6	0.064	0.000	2561	2200	1118
8562	1.20	407.8	381.9	8.9	411	8567	0.00	2.70	0.00	0.000	4	0.000	0.077	2562	784	1117
8584	1.20	407.8	379.7	9.6	412	8588	0.00	2.67	0.00	0.000	6	0.000	0.059	2562	2201	1117
8905	1.20	407.8	348.8	9.3	428	8906	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2201	1117
9214	1.20	407.8	319.3	9.9	443	9218	0.00	2.72	0.00	0.000	4	0.000	0.072	2562	782	1116
9269	1.20	407.8	313.6	10.1	445	9275	0.00	2.65	0.00	0.000	6	0.000	0.055	2562	2204	1117
9585	1.20	407.8	279.1	11.7	461	9589	0.00	2.70	0.00	0.000	4	0.000	0.071	2562	782	1117
9606	1.20	407.8	276.6	11.2	462	9611	0.00	2.65	0.00	0.000	6	0.000	0.054	2562	2206	1117
9927	1.20	407.8	240.3	11.6	478	9932	0.00	2.72	0.00	0.000	4	0.000	0.071	2562	776	1117
9972	1.20	407.8	235.0	12.2	480	9976	0.00	2.62	0.00	0.000	6	0.000	0.054	2562	2201	1117
10293	1.20	407.8	197.0	12.5	496	10297	0.00	2.70	0.00	0.000	4	0.000	0.070	2562	782	1117
10320	1.20	407.8	193.3	12.8	497	10324	0.00	2.62	0.00	0.000	6	0.000	0.053	2562	2203	1117
10635	1.20	407.8	152.0	13.0	512	10640	0.00	2.70	0.00	0.000	4	0.000	0.070	2562	779	1118
10663	1.20	407.8	148.3	13.4	513	10668	0.00	2.62	0.00	0.000	6	0.000	0.052	2562	2204	1117
10981	1.20	407.8	110.1	12.3	528	10985	0.00	2.67	0.00	0.000	4	0.000	0.069	2562	782	1118
11030	1.20	407.8	103.6	12.8	530	11034	0.00	2.60	0.00	0.000	6	0.000	0.052	2562	2201	1118
11348	1.20	407.8	64.9	12.0	545	11352	0.00	2.67	0.00	0.000	4	0.000	0.068	2562	781	1118
11391	1.20	407.8	59.5	11.6	547	11396	0.00	2.60	0.00	0.000	6	0.000	0.052	2562	2201	1118
11713	1.20	407.8	23.3	11.1	563	11717	0.00	2.70	0.00	0.000	4	0.000	0.067	2562	773	1119
11791	1.20	407.8	14.9	10.7	566	11797	0.00	2.60	0.00	0.000	6	0.000	0.052	2562	2201	1120
11939	end climb: SURFACE_DEPTH_REACHED
state	11939	begin surface coast
11962	end surface coast: CONTROL_FINISHED_OK
state	11963	begin surface