Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 146 * 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 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 146 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2096026.9 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 2 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 412.5

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 -2096026.9

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

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 2 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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 146 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 144602,6218.347,-943.606,44,1.9,44,-9.9 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6218.183,-948.722

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.36 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 145451,6218.183,-943.702,12,1.7,12,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.001990 ALTIM_BOTTOM_PING 551.5,87.7

SM_CCo 12889,102.72,0.617,0,0,508,557.32 _24V_AH 23.6,26.228

SM_GC 1.35,0.00,0.00,102.72,0.000,0.000,0.617,68,2308,508,-10.26,0.23,557.32 _10V_AH 10.1,12.939

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31736,617

TT8_MAMPS 0.02301 CAP_FILE_SIZE 104574,0

HUMID 1868 CFSIZE 260165632,249720832

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

XPDR_PINGS 12 GPS 050708,183302,6215.753,-948.304,43,1.4,43,-9.9

ALTIM_TOP_PING 20.0,19.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 100.33 SBE_CT 454 24 257.24

Roll_motor 122 82 237.70 SBE_O2 418 19 187.84

VBD_pump_during_apogee 432 1053 10759.46 WL_BB2F 408 105 1012.05

VBD_pump_during_surface 102 617 1496.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.83 nil 0 0 0.00

Iridium_during_connect 54 160 205.49 nil 0 0 0.00

Iridium_during_xfer 267 223 1405.70

Transponder_ping 7 420 76.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.51

TT8 1176 19 235.37

LPSleep 9619 2 212.78

TT8_Active 660 19 132.07

TT8_Sampling 1478 39 594.48

TT8_CF8 589 45 272.91

TT8_Kalman 0 81 0.00

Analog_circuits 1439 12 174.52

GPS_charging 0 0 0.00

Compass 1444 8 116.68

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

31 -1.08 -146.6 0.0 0.0 0 151 0.00 0.00 -118.45 0.000 2 0.000 0.000 70 2306 2993

155 -1.08 -146.6 4.4 -3.8 6 180 11.10 2.65 -8.62 0.000 4 0.167 0.082 2056 3710 3379

434 -0.91 -146.6 50.3 -15.8 18 441 0.22 2.60 0.00 0.000 6 0.095 0.054 2101 2294 3380

751 -0.91 -146.6 89.8 -12.4 34 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2294 3380

1059 -0.91 -146.6 125.4 -11.3 49 1063 0.00 2.62 0.00 0.000 4 0.000 0.067 2100 877 3380

1109 -0.91 -146.6 131.1 -11.2 51 1113 0.00 2.62 0.00 0.000 6 0.000 0.054 2100 2302 3380

1425 -0.91 -146.6 165.5 -10.8 66 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2302 3380

1734 -0.91 -146.6 199.5 -11.0 81 1739 0.00 2.67 0.00 0.000 4 0.000 0.066 2100 874 3380

1789 -0.91 -146.6 205.7 -11.0 83 1794 0.00 2.62 0.00 0.000 6 0.000 0.054 2100 2301 3380

2105 -0.91 -146.6 241.7 -11.7 98 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2301 3381

2415 -0.91 -146.6 277.3 -11.3 113 2419 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 880 3380

2482 -0.91 -146.6 284.8 -11.1 116 2486 0.00 2.62 0.00 0.000 6 0.000 0.054 2100 2304 3381

2802 -0.91 -146.6 320.1 -10.8 132 2807 0.00 2.65 0.00 0.000 4 0.000 0.067 2100 881 3380

2835 -0.91 -146.6 323.8 -11.1 133 2841 0.00 2.62 0.00 0.000 6 0.000 0.054 2100 2305 3380

3150 -0.91 -146.6 358.2 -11.2 149 3155 0.00 2.67 0.00 0.000 4 0.000 0.066 2099 880 3380

3200 -0.91 -146.6 363.8 -11.5 151 3204 0.00 2.60 0.00 0.000 6 0.000 0.054 2100 2302 3380

3517 -0.91 -146.6 401.1 -12.4 166 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2302 3380

3825 -0.91 -146.6 436.3 -10.6 181 3827 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2301 3379

4134 -0.91 -146.6 464.1 -8.6 196 4139 0.00 2.65 0.00 0.000 4 0.000 0.067 2100 877 3380

4197 -0.91 -146.6 469.5 -8.4 199 4201 0.00 2.60 0.00 0.000 6 0.000 0.055 2100 2302 3380

4523 -0.91 -146.6 503.1 -11.5 215 4527 0.00 2.67 0.00 0.000 4 0.000 0.067 2100 876 3379

4618 -0.95 -146.6 513.8 -10.9 219 4622 0.00 2.62 0.00 0.000 6 0.000 0.054 2100 2303 3379

4934 -0.95 -146.6 547.0 -10.9 234 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2303 3379

5243 -0.95 -146.6 580.7 -10.3 249 5247 0.00 2.67 0.00 0.000 4 0.000 0.077 2100 3710 3379

5304 -0.95 -146.6 587.5 -11.0 252 5309 0.00 2.60 0.00 0.000 6 0.000 0.055 2100 2292 3379

5631 -0.95 -146.6 620.8 -10.2 268 5636 0.00 2.72 0.00 0.000 4 0.000 0.080 2100 3709 3378

5694 -0.95 -146.6 627.0 -9.7 271 5698 0.00 2.60 0.00 0.000 6 0.000 0.058 2100 2297 3379

5729 end dive: BOTTOM_OBSTACLE_DETECTED

state 5729 begin apogee

5736 -0.31 0.0 630.6 9.2 273 5872 0.65 0.00 131.02 1.053 6 0.099 0.000 2231 2202 2781

5873 end apogee: CONTROL_FINISHED_OK

state 5873 begin climb

5876 1.08 146.6 637.5 0.0 280 6013 1.40 2.78 128.70 1.037 4 0.066 0.077 2534 3609 2183

6039 1.12 231.9 631.6 4.9 287 6122 0.00 2.67 75.45 1.022 6 0.000 0.059 2533 2197 1835

6432 1.19 231.9 601.5 9.3 306 6437 0.12 2.75 0.00 0.000 4 0.053 0.079 2570 3613 1834

6544 1.19 231.9 587.7 12.4 311 6548 0.00 2.67 0.00 0.000 6 0.000 0.061 2570 2193 1834

6865 1.15 231.9 550.4 11.8 327 6870 0.00 2.75 0.00 0.000 4 0.000 0.079 2570 3610 1832

6960 1.15 231.9 538.3 11.9 331 6965 0.00 2.65 0.00 0.000 6 0.000 0.061 2570 2200 1832

7277 1.15 231.9 506.6 9.6 346 7281 0.00 2.72 0.00 0.000 4 0.000 0.077 2570 3610 1831

7343 1.09 231.9 499.7 10.4 349 7349 0.17 2.65 0.00 0.000 6 0.098 0.061 2537 2198 1831

7665 1.17 231.9 474.5 8.1 365 7669 0.00 2.70 0.00 0.000 4 0.000 0.071 2537 778 1830

7722 1.26 243.3 470.1 7.6 367 7739 0.17 2.62 10.32 0.858 6 0.051 0.053 2578 2199 1789

8054 1.26 243.3 438.6 9.5 384 8059 0.00 2.72 0.00 0.000 4 0.000 0.076 2578 3619 1789

8156 1.21 243.3 428.3 10.1 388 8162 0.00 2.67 0.00 0.000 6 0.000 0.062 2578 2199 1789

8471 1.21 243.3 398.8 9.7 404 8476 0.00 2.70 0.00 0.000 4 0.000 0.075 2579 3612 1789

8556 1.16 243.3 389.6 11.2 408 8561 0.15 2.65 0.00 0.000 6 0.114 0.062 2552 2198 1789

8883 1.21 243.3 358.4 9.6 424 8884 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2199 1789

9192 1.26 243.3 328.8 9.5 439 9197 0.10 2.70 0.00 0.000 4 0.056 0.073 2582 3612 1789

9250 1.20 243.3 322.2 12.3 441 9256 0.12 2.62 0.00 0.000 6 0.106 0.062 2560 2200 1789

9565 1.20 243.3 291.7 9.0 457 9566 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2200 1789

9874 1.20 243.3 263.8 8.6 472 9879 0.00 2.67 0.00 0.000 4 0.000 0.074 2560 3612 1789

9919 1.20 243.3 259.3 10.1 474 9923 0.00 2.62 0.00 0.000 6 0.000 0.061 2560 2200 1790

10240 1.20 243.3 231.1 8.5 490 10241 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2200 1790

10549 1.20 243.3 205.2 8.3 505 10553 0.00 2.67 0.00 0.000 4 0.000 0.073 2560 3613 1790

10599 1.20 243.3 200.6 9.9 507 10603 0.00 2.62 0.00 0.000 6 0.000 0.061 2560 2197 1790

10914 1.20 243.3 173.1 9.0 522 10915 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2197 1790

11224 1.20 243.3 144.5 9.8 537 11228 0.00 2.67 0.00 0.000 4 0.000 0.071 2560 3616 1790

11309 1.20 243.3 135.5 10.7 541 11313 0.00 2.62 0.00 0.000 6 0.000 0.061 2560 2200 1791

11636 1.20 249.9 107.0 7.8 557 11645 0.00 0.00 7.57 0.615 6 0.000 0.000 2560 2200 1761

11947 1.25 291.0 85.1 6.5 572 11988 0.00 0.00 34.42 0.690 6 0.000 0.000 2560 2200 1594

12300 1.39 346.5 63.8 6.0 589 12352 0.15 2.72 45.42 0.679 4 0.049 0.067 2610 781 1368

12385 1.39 346.5 56.0 9.3 593 12390 0.00 2.62 0.00 0.000 6 0.000 0.050 2610 2208 1367

12708 1.34 346.5 17.3 13.1 609 12712 0.00 2.67 0.00 0.000 4 0.000 0.066 2610 779 1367

12748 1.29 346.5 11.8 13.8 611 12753 0.15 2.60 0.00 0.000 6 0.087 0.050 2581 2205 1367

12845 end climb: SURFACE_DEPTH_REACHED

state 12845 begin surface coast

12867 end surface coast: CONTROL_FINISHED_OK

state 12867 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	146	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2096026.9	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	2	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	144602,6218.347,-943.606,44,1.9,44,-9.9	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6218.183,-948.722
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.36	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	145451,6218.183,-943.702,12,1.7,12,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.001990	ALTIM_BOTTOM_PING	551.5,87.7
SM_CCo	12889,102.72,0.617,0,0,508,557.32	_24V_AH	23.6,26.228
SM_GC	1.35,0.00,0.00,102.72,0.000,0.000,0.617,68,2308,508,-10.26,0.23,557.32	_10V_AH	10.1,12.939
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31736,617
TT8_MAMPS	0.02301	CAP_FILE_SIZE	104574,0
HUMID	1868	CFSIZE	260165632,249720832
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	12	GPS	050708,183302,6215.753,-948.304,43,1.4,43,-9.9
ALTIM_TOP_PING	20.0,19.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	100.33	SBE_CT	454	24	257.24
Roll_motor	122	82	237.70	SBE_O2	418	19	187.84
VBD_pump_during_apogee	432	1053	10759.46	WL_BB2F	408	105	1012.05
VBD_pump_during_surface	102	617	1496.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.83	nil	0	0	0.00
Iridium_during_connect	54	160	205.49	nil	0	0	0.00
Iridium_during_xfer	267	223	1405.70
Transponder_ping	7	420	76.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.51
TT8	1176	19	235.37
LPSleep	9619	2	212.78
TT8_Active	660	19	132.07
TT8_Sampling	1478	39	594.48
TT8_CF8	589	45	272.91
TT8_Kalman	0	81	0.00
Analog_circuits	1439	12	174.52
GPS_charging	0	0	0.00
Compass	1444	8	116.68
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
31	-1.08	-146.6	0.0	0.0	0	151	0.00	0.00	-118.45	0.000	2	0.000	0.000	70	2306	2993
155	-1.08	-146.6	4.4	-3.8	6	180	11.10	2.65	-8.62	0.000	4	0.167	0.082	2056	3710	3379
434	-0.91	-146.6	50.3	-15.8	18	441	0.22	2.60	0.00	0.000	6	0.095	0.054	2101	2294	3380
751	-0.91	-146.6	89.8	-12.4	34	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2294	3380
1059	-0.91	-146.6	125.4	-11.3	49	1063	0.00	2.62	0.00	0.000	4	0.000	0.067	2100	877	3380
1109	-0.91	-146.6	131.1	-11.2	51	1113	0.00	2.62	0.00	0.000	6	0.000	0.054	2100	2302	3380
1425	-0.91	-146.6	165.5	-10.8	66	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2302	3380
1734	-0.91	-146.6	199.5	-11.0	81	1739	0.00	2.67	0.00	0.000	4	0.000	0.066	2100	874	3380
1789	-0.91	-146.6	205.7	-11.0	83	1794	0.00	2.62	0.00	0.000	6	0.000	0.054	2100	2301	3380
2105	-0.91	-146.6	241.7	-11.7	98	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2301	3381
2415	-0.91	-146.6	277.3	-11.3	113	2419	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	880	3380
2482	-0.91	-146.6	284.8	-11.1	116	2486	0.00	2.62	0.00	0.000	6	0.000	0.054	2100	2304	3381
2802	-0.91	-146.6	320.1	-10.8	132	2807	0.00	2.65	0.00	0.000	4	0.000	0.067	2100	881	3380
2835	-0.91	-146.6	323.8	-11.1	133	2841	0.00	2.62	0.00	0.000	6	0.000	0.054	2100	2305	3380
3150	-0.91	-146.6	358.2	-11.2	149	3155	0.00	2.67	0.00	0.000	4	0.000	0.066	2099	880	3380
3200	-0.91	-146.6	363.8	-11.5	151	3204	0.00	2.60	0.00	0.000	6	0.000	0.054	2100	2302	3380
3517	-0.91	-146.6	401.1	-12.4	166	3518	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2302	3380
3825	-0.91	-146.6	436.3	-10.6	181	3827	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2301	3379
4134	-0.91	-146.6	464.1	-8.6	196	4139	0.00	2.65	0.00	0.000	4	0.000	0.067	2100	877	3380
4197	-0.91	-146.6	469.5	-8.4	199	4201	0.00	2.60	0.00	0.000	6	0.000	0.055	2100	2302	3380
4523	-0.91	-146.6	503.1	-11.5	215	4527	0.00	2.67	0.00	0.000	4	0.000	0.067	2100	876	3379
4618	-0.95	-146.6	513.8	-10.9	219	4622	0.00	2.62	0.00	0.000	6	0.000	0.054	2100	2303	3379
4934	-0.95	-146.6	547.0	-10.9	234	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2303	3379
5243	-0.95	-146.6	580.7	-10.3	249	5247	0.00	2.67	0.00	0.000	4	0.000	0.077	2100	3710	3379
5304	-0.95	-146.6	587.5	-11.0	252	5309	0.00	2.60	0.00	0.000	6	0.000	0.055	2100	2292	3379
5631	-0.95	-146.6	620.8	-10.2	268	5636	0.00	2.72	0.00	0.000	4	0.000	0.080	2100	3709	3378
5694	-0.95	-146.6	627.0	-9.7	271	5698	0.00	2.60	0.00	0.000	6	0.000	0.058	2100	2297	3379
5729	end dive: BOTTOM_OBSTACLE_DETECTED
state	5729	begin apogee
5736	-0.31	0.0	630.6	9.2	273	5872	0.65	0.00	131.02	1.053	6	0.099	0.000	2231	2202	2781
5873	end apogee: CONTROL_FINISHED_OK
state	5873	begin climb
5876	1.08	146.6	637.5	0.0	280	6013	1.40	2.78	128.70	1.037	4	0.066	0.077	2534	3609	2183
6039	1.12	231.9	631.6	4.9	287	6122	0.00	2.67	75.45	1.022	6	0.000	0.059	2533	2197	1835
6432	1.19	231.9	601.5	9.3	306	6437	0.12	2.75	0.00	0.000	4	0.053	0.079	2570	3613	1834
6544	1.19	231.9	587.7	12.4	311	6548	0.00	2.67	0.00	0.000	6	0.000	0.061	2570	2193	1834
6865	1.15	231.9	550.4	11.8	327	6870	0.00	2.75	0.00	0.000	4	0.000	0.079	2570	3610	1832
6960	1.15	231.9	538.3	11.9	331	6965	0.00	2.65	0.00	0.000	6	0.000	0.061	2570	2200	1832
7277	1.15	231.9	506.6	9.6	346	7281	0.00	2.72	0.00	0.000	4	0.000	0.077	2570	3610	1831
7343	1.09	231.9	499.7	10.4	349	7349	0.17	2.65	0.00	0.000	6	0.098	0.061	2537	2198	1831
7665	1.17	231.9	474.5	8.1	365	7669	0.00	2.70	0.00	0.000	4	0.000	0.071	2537	778	1830
7722	1.26	243.3	470.1	7.6	367	7739	0.17	2.62	10.32	0.858	6	0.051	0.053	2578	2199	1789
8054	1.26	243.3	438.6	9.5	384	8059	0.00	2.72	0.00	0.000	4	0.000	0.076	2578	3619	1789
8156	1.21	243.3	428.3	10.1	388	8162	0.00	2.67	0.00	0.000	6	0.000	0.062	2578	2199	1789
8471	1.21	243.3	398.8	9.7	404	8476	0.00	2.70	0.00	0.000	4	0.000	0.075	2579	3612	1789
8556	1.16	243.3	389.6	11.2	408	8561	0.15	2.65	0.00	0.000	6	0.114	0.062	2552	2198	1789
8883	1.21	243.3	358.4	9.6	424	8884	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2199	1789
9192	1.26	243.3	328.8	9.5	439	9197	0.10	2.70	0.00	0.000	4	0.056	0.073	2582	3612	1789
9250	1.20	243.3	322.2	12.3	441	9256	0.12	2.62	0.00	0.000	6	0.106	0.062	2560	2200	1789
9565	1.20	243.3	291.7	9.0	457	9566	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2200	1789
9874	1.20	243.3	263.8	8.6	472	9879	0.00	2.67	0.00	0.000	4	0.000	0.074	2560	3612	1789
9919	1.20	243.3	259.3	10.1	474	9923	0.00	2.62	0.00	0.000	6	0.000	0.061	2560	2200	1790
10240	1.20	243.3	231.1	8.5	490	10241	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2200	1790
10549	1.20	243.3	205.2	8.3	505	10553	0.00	2.67	0.00	0.000	4	0.000	0.073	2560	3613	1790
10599	1.20	243.3	200.6	9.9	507	10603	0.00	2.62	0.00	0.000	6	0.000	0.061	2560	2197	1790
10914	1.20	243.3	173.1	9.0	522	10915	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2197	1790
11224	1.20	243.3	144.5	9.8	537	11228	0.00	2.67	0.00	0.000	4	0.000	0.071	2560	3616	1790
11309	1.20	243.3	135.5	10.7	541	11313	0.00	2.62	0.00	0.000	6	0.000	0.061	2560	2200	1791
11636	1.20	249.9	107.0	7.8	557	11645	0.00	0.00	7.57	0.615	6	0.000	0.000	2560	2200	1761
11947	1.25	291.0	85.1	6.5	572	11988	0.00	0.00	34.42	0.690	6	0.000	0.000	2560	2200	1594
12300	1.39	346.5	63.8	6.0	589	12352	0.15	2.72	45.42	0.679	4	0.049	0.067	2610	781	1368
12385	1.39	346.5	56.0	9.3	593	12390	0.00	2.62	0.00	0.000	6	0.000	0.050	2610	2208	1367
12708	1.34	346.5	17.3	13.1	609	12712	0.00	2.67	0.00	0.000	4	0.000	0.066	2610	779	1367
12748	1.29	346.5	11.8	13.8	611	12753	0.15	2.60	0.00	0.000	6	0.087	0.050	2581	2205	1367
12845	end climb: SURFACE_DEPTH_REACHED
state	12845	begin surface coast
12867	end surface coast: CONTROL_FINISHED_OK
state	12867	begin surface