Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 109 * 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 109 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 17 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 -2095186 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 -2095186

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 17 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 109 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 025907,6212.576,-908.671,27,2.0,27,-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 0.174,-0.137

_SM_DEPTHo 1.05 KALMAN_X -166963.4,493.8,504.1,-43376.9,-10239.4

_SM_ANGLEo -55.5 KALMAN_Y -6888.3,-4338.9,-1398.3,170154.2,57147.6

GPS2 030418,6212.656,-908.555,14,1.4,17,-9.6 MHEAD_RNG_PITCHd_Wd 184.9,48604,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027166 ALTIM_BOTTOM_PING 450.8,43.9

SM_CCo 13429,120.20,0.628,0,0,508,557.32 _24V_AH 23.7,20.998

SM_GC 1.05,0.00,0.00,120.20,0.000,0.000,0.628,70,2309,508,-10.26,0.23,557.32 _10V_AH 10.1,10.598

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31694,644

TT8_MAMPS 0.023777 CAP_FILE_SIZE 102814,0

HUMID 1857 CFSIZE 260165632,251461632

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 14 GPS 300608,065208,6214.914,-904.709,29,1.4,29,-9.5

ALTIM_TOP_PING 19.2,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 101.45 SBE_CT 474 24 269.85

Roll_motor 117 85 237.39 SBE_O2 436 19 196.53

VBD_pump_during_apogee 400 973 9236.91 WL_BB2F 456 105 1136.13

VBD_pump_during_surface 120 628 1789.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.80 nil 0 0 0.00

Iridium_during_connect 40 160 152.54 nil 0 0 0.00

Iridium_during_xfer 120 223 636.79

Transponder_ping 7 420 72.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.64

TT8 1194 19 238.90

LPSleep 10133 2 224.14

TT8_Active 690 19 138.05

TT8_Sampling 1417 39 569.77

TT8_CF8 431 45 199.50

TT8_Kalman 33 81 27.56

Analog_circuits 1429 12 173.20

GPS_charging 0 0 0.00

Compass 1387 8 112.15

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

24 -0.85 -146.6 0.0 0.0 0 166 0.00 0.00 -140.02 0.000 6 0.000 0.000 71 2307 3381

169 -0.85 -146.6 6.4 -5.8 7 191 11.38 2.65 0.00 0.000 4 0.167 0.071 2109 3713 3381

334 -0.67 -146.6 36.8 -10.9 14 339 0.22 2.60 0.00 0.000 6 0.127 0.054 2149 2298 3382

657 -0.60 -146.6 64.8 -8.2 30 662 0.00 2.65 0.00 0.000 4 0.000 0.067 2149 883 3381

685 -0.60 -146.6 67.4 -8.8 31 690 0.00 2.62 0.00 0.000 6 0.000 0.057 2149 2298 3381

1002 -0.54 -146.6 91.5 -7.6 46 1007 0.15 2.65 0.00 0.000 4 0.140 0.064 2177 884 3381

1052 -0.60 -146.6 95.1 -6.7 48 1057 0.00 2.62 0.00 0.000 6 0.000 0.056 2176 2302 3381

1368 -0.60 -146.6 119.1 -8.3 63 1373 0.00 2.65 0.00 0.000 4 0.000 0.064 2177 883 3381

1412 -0.67 -146.6 123.0 -8.4 65 1417 0.00 2.62 0.00 0.000 6 0.000 0.058 2177 2302 3381

1734 -0.67 -146.6 147.7 -7.4 81 1736 0.12 0.00 0.00 0.000 6 0.055 0.000 2134 2302 3381

2044 -0.57 -146.6 177.8 -9.9 96 2049 0.17 2.67 0.00 0.000 4 0.082 0.066 2173 880 3381

2100 -0.63 -146.6 182.8 -8.3 98 2106 0.00 2.62 0.00 0.000 6 0.000 0.058 2173 2299 3381

2415 -0.63 -146.6 209.1 -8.3 114 2416 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2300 3381

2725 -0.63 -146.6 231.1 -6.7 129 2729 0.00 2.67 0.00 0.000 4 0.000 0.066 2173 874 3381

2780 -0.69 -146.6 234.8 -6.6 131 2787 0.12 2.65 0.00 0.000 6 0.047 0.058 2130 2304 3381

3096 -0.59 -146.6 259.5 -7.5 147 3102 0.17 2.67 0.00 0.000 4 0.086 0.067 2168 884 3381

3137 -0.65 -146.6 262.0 -5.6 149 3141 0.00 2.62 0.00 0.000 6 0.000 0.058 2168 2302 3381

3463 -0.65 -146.6 277.9 -4.4 165 3468 0.00 2.67 0.00 0.000 4 0.000 0.067 2168 880 3381

3498 -0.71 -146.6 279.4 -4.0 166 3504 0.10 2.62 0.00 0.000 6 0.051 0.058 2133 2298 3381

3814 -0.62 -146.6 295.0 -4.8 182 3816 0.15 0.00 0.00 0.000 6 0.085 0.000 2162 2298 3381

4123 -0.62 -146.6 308.0 -5.4 197 4127 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 882 3381

4190 -0.66 -146.6 312.4 -7.1 200 4194 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2302 3381

4511 -0.66 -146.6 338.6 -9.2 216 4515 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 884 3381

4561 -0.70 -146.6 343.7 -10.1 218 4565 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2299 3381

4876 -0.70 -146.6 374.1 -8.5 233 4881 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 881 3381

4921 -0.75 -146.6 377.5 -6.7 235 4926 0.12 2.62 0.00 0.000 6 0.046 0.058 2120 2302 3381

5243 -0.64 -146.6 405.8 -9.0 251 5248 0.17 2.70 0.00 0.000 4 0.085 0.081 2158 3710 3381

5293 -0.64 -146.6 410.1 -7.5 253 5297 0.00 2.60 0.00 0.000 6 0.000 0.058 2158 2300 3381

5609 -0.64 -146.6 424.7 -4.6 268 5614 0.00 2.65 0.00 0.000 4 0.000 0.071 2158 879 3381

5665 -0.71 -146.6 427.6 -4.6 270 5670 0.00 2.65 0.00 0.000 6 0.000 0.060 2158 2305 3382

5981 -0.71 -146.6 442.0 -4.5 285 5985 0.00 2.67 0.00 0.000 4 0.000 0.071 2158 885 3381

6014 -0.75 -146.6 444.8 -8.5 286 6020 0.00 2.65 0.00 0.000 6 0.000 0.062 2158 2305 3381

6330 -0.75 -146.6 459.5 -5.9 302 6331 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2305 3381

6639 -0.75 -146.6 481.0 -3.4 317 6641 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2305 3379

6720 end dive: BOTTOM_OBSTACLE_DETECTED

state 6720 begin apogee

6727 -0.31 0.0 485.3 5.0 321 6862 0.38 0.00 128.05 0.973 6 0.120 0.000 2228 2196 2781

6862 end apogee: CONTROL_FINISHED_OK

state 6863 begin climb

6865 0.85 146.6 489.9 0.0 328 7004 1.23 2.80 126.72 0.950 4 0.081 0.072 2483 786 2182

7021 0.85 146.6 486.2 7.4 335 7027 0.00 2.67 0.00 0.000 6 0.000 0.058 2483 2201 2182

7337 0.88 173.3 468.1 5.3 351 7366 0.00 2.83 23.85 0.906 4 0.000 0.085 2483 3612 2074

7531 0.96 248.4 459.2 3.9 359 7603 0.12 2.65 65.25 0.937 6 0.052 0.063 2521 2198 1768

7930 0.96 248.4 433.9 7.9 379 7931 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2199 1767

8240 0.98 265.4 412.1 5.5 394 8261 0.00 2.83 16.12 0.869 4 0.000 0.084 2521 3618 1698

8323 0.98 265.4 406.5 6.9 397 8329 0.00 2.67 0.00 0.000 6 0.000 0.065 2521 2203 1698

8639 1.00 285.7 387.4 5.4 413 8663 0.00 2.83 18.35 0.870 4 0.000 0.084 2521 3609 1616

8716 1.00 285.7 382.9 6.5 416 8721 0.00 2.67 0.00 0.000 6 0.000 0.064 2521 2197 1616

9033 1.00 291.7 364.6 5.8 431 9041 0.00 0.00 6.80 0.739 6 0.000 0.000 2521 2197 1591

9342 1.02 307.9 347.3 5.6 446 9361 0.00 0.00 15.27 0.838 6 0.000 0.000 2521 2197 1525

9671 1.02 307.9 327.8 6.2 462 9672 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2197 1524

9980 1.02 307.9 305.1 7.6 477 9981 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2197 1524

10289 1.02 307.9 280.1 8.3 492 10290 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2197 1524

10599 1.06 307.9 252.9 9.0 507 10603 0.00 2.72 0.00 0.000 4 0.000 0.079 2521 3619 1524

10632 1.12 307.9 249.6 9.7 508 10639 0.10 2.65 0.00 0.000 6 0.055 0.060 2553 2194 1525

10948 1.08 307.9 215.4 11.1 524 10952 0.00 2.65 0.00 0.000 4 0.000 0.071 2554 783 1524

10981 1.04 307.9 211.6 11.3 525 10988 0.15 2.60 0.00 0.000 6 0.084 0.054 2523 2202 1525

11297 1.04 307.9 180.9 9.6 541 11298 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2201 1526

11606 1.04 307.9 151.6 9.4 556 11607 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2201 1526

11916 1.04 307.9 123.5 8.9 571 11917 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2201 1526

12225 1.04 307.9 97.0 8.6 586 12226 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2201 1527

12534 1.04 307.9 72.1 7.9 601 12538 0.00 2.67 0.00 0.000 4 0.000 0.067 2523 781 1527

12556 1.08 307.9 70.4 7.7 602 12560 0.00 2.60 0.00 0.000 6 0.000 0.053 2523 2201 1527

12878 1.13 307.9 45.5 7.3 618 12883 0.10 2.67 0.00 0.000 4 0.051 0.066 2555 779 1527

12895 1.13 307.9 44.0 7.4 619 12899 0.00 2.60 0.00 0.000 6 0.000 0.053 2555 2201 1527

13222 1.13 307.9 15.6 9.0 635 13223 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2201 1528

13384 end climb: SURFACE_DEPTH_REACHED

state 13384 begin surface coast

13407 end surface coast: CONTROL_FINISHED_OK

state 13407 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	109	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	17	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	-2095186	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	025907,6212.576,-908.671,27,2.0,27,-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	0.174,-0.137
_SM_DEPTHo	1.05	KALMAN_X	-166963.4,493.8,504.1,-43376.9,-10239.4
_SM_ANGLEo	-55.5	KALMAN_Y	-6888.3,-4338.9,-1398.3,170154.2,57147.6
GPS2	030418,6212.656,-908.555,14,1.4,17,-9.6	MHEAD_RNG_PITCHd_Wd	184.9,48604,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027166	ALTIM_BOTTOM_PING	450.8,43.9
SM_CCo	13429,120.20,0.628,0,0,508,557.32	_24V_AH	23.7,20.998
SM_GC	1.05,0.00,0.00,120.20,0.000,0.000,0.628,70,2309,508,-10.26,0.23,557.32	_10V_AH	10.1,10.598
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31694,644
TT8_MAMPS	0.023777	CAP_FILE_SIZE	102814,0
HUMID	1857	CFSIZE	260165632,251461632
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	14	GPS	300608,065208,6214.914,-904.709,29,1.4,29,-9.5
ALTIM_TOP_PING	19.2,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	101.45	SBE_CT	474	24	269.85
Roll_motor	117	85	237.39	SBE_O2	436	19	196.53
VBD_pump_during_apogee	400	973	9236.91	WL_BB2F	456	105	1136.13
VBD_pump_during_surface	120	628	1789.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.80	nil	0	0	0.00
Iridium_during_connect	40	160	152.54	nil	0	0	0.00
Iridium_during_xfer	120	223	636.79
Transponder_ping	7	420	72.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.64
TT8	1194	19	238.90
LPSleep	10133	2	224.14
TT8_Active	690	19	138.05
TT8_Sampling	1417	39	569.77
TT8_CF8	431	45	199.50
TT8_Kalman	33	81	27.56
Analog_circuits	1429	12	173.20
GPS_charging	0	0	0.00
Compass	1387	8	112.15
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
24	-0.85	-146.6	0.0	0.0	0	166	0.00	0.00	-140.02	0.000	6	0.000	0.000	71	2307	3381
169	-0.85	-146.6	6.4	-5.8	7	191	11.38	2.65	0.00	0.000	4	0.167	0.071	2109	3713	3381
334	-0.67	-146.6	36.8	-10.9	14	339	0.22	2.60	0.00	0.000	6	0.127	0.054	2149	2298	3382
657	-0.60	-146.6	64.8	-8.2	30	662	0.00	2.65	0.00	0.000	4	0.000	0.067	2149	883	3381
685	-0.60	-146.6	67.4	-8.8	31	690	0.00	2.62	0.00	0.000	6	0.000	0.057	2149	2298	3381
1002	-0.54	-146.6	91.5	-7.6	46	1007	0.15	2.65	0.00	0.000	4	0.140	0.064	2177	884	3381
1052	-0.60	-146.6	95.1	-6.7	48	1057	0.00	2.62	0.00	0.000	6	0.000	0.056	2176	2302	3381
1368	-0.60	-146.6	119.1	-8.3	63	1373	0.00	2.65	0.00	0.000	4	0.000	0.064	2177	883	3381
1412	-0.67	-146.6	123.0	-8.4	65	1417	0.00	2.62	0.00	0.000	6	0.000	0.058	2177	2302	3381
1734	-0.67	-146.6	147.7	-7.4	81	1736	0.12	0.00	0.00	0.000	6	0.055	0.000	2134	2302	3381
2044	-0.57	-146.6	177.8	-9.9	96	2049	0.17	2.67	0.00	0.000	4	0.082	0.066	2173	880	3381
2100	-0.63	-146.6	182.8	-8.3	98	2106	0.00	2.62	0.00	0.000	6	0.000	0.058	2173	2299	3381
2415	-0.63	-146.6	209.1	-8.3	114	2416	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2300	3381
2725	-0.63	-146.6	231.1	-6.7	129	2729	0.00	2.67	0.00	0.000	4	0.000	0.066	2173	874	3381
2780	-0.69	-146.6	234.8	-6.6	131	2787	0.12	2.65	0.00	0.000	6	0.047	0.058	2130	2304	3381
3096	-0.59	-146.6	259.5	-7.5	147	3102	0.17	2.67	0.00	0.000	4	0.086	0.067	2168	884	3381
3137	-0.65	-146.6	262.0	-5.6	149	3141	0.00	2.62	0.00	0.000	6	0.000	0.058	2168	2302	3381
3463	-0.65	-146.6	277.9	-4.4	165	3468	0.00	2.67	0.00	0.000	4	0.000	0.067	2168	880	3381
3498	-0.71	-146.6	279.4	-4.0	166	3504	0.10	2.62	0.00	0.000	6	0.051	0.058	2133	2298	3381
3814	-0.62	-146.6	295.0	-4.8	182	3816	0.15	0.00	0.00	0.000	6	0.085	0.000	2162	2298	3381
4123	-0.62	-146.6	308.0	-5.4	197	4127	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	882	3381
4190	-0.66	-146.6	312.4	-7.1	200	4194	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2302	3381
4511	-0.66	-146.6	338.6	-9.2	216	4515	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	884	3381
4561	-0.70	-146.6	343.7	-10.1	218	4565	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2299	3381
4876	-0.70	-146.6	374.1	-8.5	233	4881	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	881	3381
4921	-0.75	-146.6	377.5	-6.7	235	4926	0.12	2.62	0.00	0.000	6	0.046	0.058	2120	2302	3381
5243	-0.64	-146.6	405.8	-9.0	251	5248	0.17	2.70	0.00	0.000	4	0.085	0.081	2158	3710	3381
5293	-0.64	-146.6	410.1	-7.5	253	5297	0.00	2.60	0.00	0.000	6	0.000	0.058	2158	2300	3381
5609	-0.64	-146.6	424.7	-4.6	268	5614	0.00	2.65	0.00	0.000	4	0.000	0.071	2158	879	3381
5665	-0.71	-146.6	427.6	-4.6	270	5670	0.00	2.65	0.00	0.000	6	0.000	0.060	2158	2305	3382
5981	-0.71	-146.6	442.0	-4.5	285	5985	0.00	2.67	0.00	0.000	4	0.000	0.071	2158	885	3381
6014	-0.75	-146.6	444.8	-8.5	286	6020	0.00	2.65	0.00	0.000	6	0.000	0.062	2158	2305	3381
6330	-0.75	-146.6	459.5	-5.9	302	6331	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2305	3381
6639	-0.75	-146.6	481.0	-3.4	317	6641	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2305	3379
6720	end dive: BOTTOM_OBSTACLE_DETECTED
state	6720	begin apogee
6727	-0.31	0.0	485.3	5.0	321	6862	0.38	0.00	128.05	0.973	6	0.120	0.000	2228	2196	2781
6862	end apogee: CONTROL_FINISHED_OK
state	6863	begin climb
6865	0.85	146.6	489.9	0.0	328	7004	1.23	2.80	126.72	0.950	4	0.081	0.072	2483	786	2182
7021	0.85	146.6	486.2	7.4	335	7027	0.00	2.67	0.00	0.000	6	0.000	0.058	2483	2201	2182
7337	0.88	173.3	468.1	5.3	351	7366	0.00	2.83	23.85	0.906	4	0.000	0.085	2483	3612	2074
7531	0.96	248.4	459.2	3.9	359	7603	0.12	2.65	65.25	0.937	6	0.052	0.063	2521	2198	1768
7930	0.96	248.4	433.9	7.9	379	7931	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2199	1767
8240	0.98	265.4	412.1	5.5	394	8261	0.00	2.83	16.12	0.869	4	0.000	0.084	2521	3618	1698
8323	0.98	265.4	406.5	6.9	397	8329	0.00	2.67	0.00	0.000	6	0.000	0.065	2521	2203	1698
8639	1.00	285.7	387.4	5.4	413	8663	0.00	2.83	18.35	0.870	4	0.000	0.084	2521	3609	1616
8716	1.00	285.7	382.9	6.5	416	8721	0.00	2.67	0.00	0.000	6	0.000	0.064	2521	2197	1616
9033	1.00	291.7	364.6	5.8	431	9041	0.00	0.00	6.80	0.739	6	0.000	0.000	2521	2197	1591
9342	1.02	307.9	347.3	5.6	446	9361	0.00	0.00	15.27	0.838	6	0.000	0.000	2521	2197	1525
9671	1.02	307.9	327.8	6.2	462	9672	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2197	1524
9980	1.02	307.9	305.1	7.6	477	9981	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2197	1524
10289	1.02	307.9	280.1	8.3	492	10290	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2197	1524
10599	1.06	307.9	252.9	9.0	507	10603	0.00	2.72	0.00	0.000	4	0.000	0.079	2521	3619	1524
10632	1.12	307.9	249.6	9.7	508	10639	0.10	2.65	0.00	0.000	6	0.055	0.060	2553	2194	1525
10948	1.08	307.9	215.4	11.1	524	10952	0.00	2.65	0.00	0.000	4	0.000	0.071	2554	783	1524
10981	1.04	307.9	211.6	11.3	525	10988	0.15	2.60	0.00	0.000	6	0.084	0.054	2523	2202	1525
11297	1.04	307.9	180.9	9.6	541	11298	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2201	1526
11606	1.04	307.9	151.6	9.4	556	11607	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2201	1526
11916	1.04	307.9	123.5	8.9	571	11917	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2201	1526
12225	1.04	307.9	97.0	8.6	586	12226	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2201	1527
12534	1.04	307.9	72.1	7.9	601	12538	0.00	2.67	0.00	0.000	4	0.000	0.067	2523	781	1527
12556	1.08	307.9	70.4	7.7	602	12560	0.00	2.60	0.00	0.000	6	0.000	0.053	2523	2201	1527
12878	1.13	307.9	45.5	7.3	618	12883	0.10	2.67	0.00	0.000	4	0.051	0.066	2555	779	1527
12895	1.13	307.9	44.0	7.4	619	12899	0.00	2.60	0.00	0.000	6	0.000	0.053	2555	2201	1527
13222	1.13	307.9	15.6	9.0	635	13223	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2201	1528
13384	end climb: SURFACE_DEPTH_REACHED
state	13384	begin surface coast
13407	end surface coast: CONTROL_FINISHED_OK
state	13407	begin surface