Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 15 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 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 2817 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 -2075136.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 300

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 330

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 -2075136.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

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 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 15 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 140138,6131.120,-830.254,35,1.8,35,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.120,-0.235

_SM_DEPTHo 1.68 KALMAN_X 467.8,-603.7,-46.4,31357.6,-730.1

_SM_ANGLEo -60.9 KALMAN_Y 29111.8,-553.3,-507.8,-41245.7,8411.6

GPS2 140637,6131.062,-830.198,35,1.7,45,-9.0 MHEAD_RNG_PITCHd_Wd 162.0,4997,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027141 ALTIM_BOTTOM_PING 750.7,105.4

SM_CCo 14580,52.88,0.641,2,0,1594,300.00 _24V_AH 23.4,9.195

SM_GC 1.71,0.00,0.00,52.88,0.000,0.000,0.641,70,2405,1594,-10.76,0.14,300.00 _10V_AH 10.1,3.691

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34767,702

TT8_MAMPS 0.023777 CFSIZE 260165632,257531904

HUMID 2094 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,5,2,0

TCM_TEMP 16.20 GPS 151107,181238,6130.184,-829.486,35,1.9,35,-8.9

XPDR_PINGS 35

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 103.84 SBE_CT 501 24 281.59

Roll_motor 114 92 249.36 SBE_O2 494 19 219.69

VBD_pump_during_apogee 299 1322 9269.45 WL_BB2F 400 105 984.83

VBD_pump_during_surface 52 641 793.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.70 nil 0 0 0.00

Iridium_during_connect 38 160 145.89 nil 0 0 0.00

Iridium_during_xfer 122 223 638.81

Transponder_ping 15 420 149.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 45 50 23.15

TT8 1300 19 260.06

LPSleep 11233 2 248.47

TT8_Active 505 19 101.07

TT8_Sampling 1643 39 660.66

TT8_CF8 268 45 124.35

TT8_Kalman 33 81 27.56

Analog_circuits 1301 12 157.79

GPS_charging 0 0 0.00

Compass 1573 8 127.12

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -1.29 -146.6 0.0 0.0 0 80 0.00 0.00 -62.17 0.000 2 0.000 0.000 73 2411 3240

82 -1.29 -146.6 4.5 -7.0 3 105 11.57 2.53 -3.70 0.000 4 0.173 0.078 2125 3763 3417

329 -1.29 -146.6 45.7 -14.6 14 333 0.00 2.45 0.00 0.000 6 0.000 0.044 2125 2396 3417

654 -1.29 -146.6 89.0 -13.7 30 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2395 3417

964 -1.29 -146.6 130.6 -13.2 45 965 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2395 3417

1272 -1.29 -146.6 170.5 -12.8 60 1276 0.00 2.55 0.00 0.000 4 0.000 0.067 2125 3763 3417

1327 -1.29 -146.6 177.7 -12.6 62 1334 0.00 2.47 0.00 0.000 6 0.000 0.045 2125 2401 3417

1642 -1.29 -146.6 218.4 -13.0 78 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2401 3417

1951 -1.29 -146.6 258.1 -12.7 93 1953 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2401 3417

2261 -1.29 -146.6 298.4 -13.0 108 2265 0.00 2.53 0.00 0.000 4 0.000 0.068 2125 3758 3417

2376 -1.29 -146.6 314.3 -13.3 113 2381 0.00 2.45 0.00 0.000 6 0.000 0.047 2125 2408 3417

2697 -1.29 -146.6 356.3 -12.9 129 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2408 3417

3007 -1.29 -146.6 395.2 -12.4 144 3011 0.00 2.53 0.00 0.000 4 0.000 0.069 2125 3760 3417

3055 -1.29 -146.6 401.6 -12.8 146 3060 0.00 2.47 0.00 0.000 6 0.000 0.047 2125 2397 3417

3376 -1.29 -146.6 440.8 -12.0 162 3377 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2396 3417

3686 -1.29 -146.6 476.8 -11.8 177 3690 0.00 2.55 0.00 0.000 4 0.000 0.069 2125 3764 3417

3802 -1.29 -146.6 491.2 -12.1 182 3806 0.00 2.47 0.00 0.000 6 0.000 0.046 2125 2397 3417

4122 -1.29 -146.6 529.4 -11.1 198 4124 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2397 3417

4432 -1.29 -146.6 568.7 -13.9 213 4436 0.00 2.53 0.00 0.000 4 0.000 0.069 2125 3759 3417

4547 -1.29 -146.6 584.3 -13.3 218 4552 0.00 2.45 0.00 0.000 6 0.000 0.046 2125 2404 3417

4874 -1.29 -146.6 624.7 -13.1 234 4879 0.00 2.60 0.00 0.000 4 0.000 0.063 2125 988 3417

4934 -1.29 -146.6 632.1 -13.2 236 4941 0.00 2.55 0.00 0.000 6 0.000 0.049 2125 2393 3417

5249 -1.29 -146.6 667.7 -9.4 252 5251 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2393 3418

5559 -1.29 -146.6 698.4 -9.0 267 5563 0.00 2.60 0.00 0.000 4 0.000 0.065 2125 988 3418

5814 -1.29 -146.6 728.4 -11.6 278 5821 0.00 2.60 0.00 0.000 6 0.000 0.055 2125 2397 3418

6130 -1.29 -146.6 762.6 -12.1 294 6134 0.00 2.62 0.00 0.000 4 0.000 0.070 2125 990 3419

6168 -1.29 -146.6 767.8 -14.5 296 6172 0.00 2.62 0.00 0.000 6 0.000 0.063 2125 2404 3419

6493 -1.29 -146.6 812.0 -13.3 312 6497 0.00 2.65 0.00 0.000 4 0.000 0.093 2125 3767 3418

6525 -1.29 -146.6 814.9 -7.4 313 6530 0.00 2.55 0.00 0.000 6 0.000 0.064 2125 2413 3418

6846 -1.29 -146.6 830.1 -1.9 329 6850 0.00 2.62 0.00 0.000 4 0.000 0.091 2125 3765 3415

6966 end dive: BOTTOM_OBSTACLE_DETECTED

state 6966 begin apogee

6973 -0.31 0.0 846.6 16.5 334 7100 1.08 0.00 122.22 1.322 6 0.121 0.000 2336 2196 2817

7100 end apogee: CONTROL_FINISHED_OK

state 7100 begin climb

7102 1.29 146.6 851.7 0.0 341 7233 1.67 2.80 120.82 1.276 4 0.083 0.081 2687 789 2219

7484 1.29 146.6 813.5 15.4 358 7491 0.00 2.67 0.00 0.000 6 0.000 0.059 2687 2200 2217

7800 1.29 146.6 766.7 12.8 374 7801 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2201 2216

8109 1.29 146.6 735.6 10.9 389 8113 0.00 2.70 0.00 0.000 4 0.000 0.079 2687 787 2215

8146 1.29 146.6 731.3 10.6 390 8154 0.00 2.65 0.00 0.000 6 0.000 0.058 2687 2193 2215

8463 1.34 191.6 703.7 8.0 406 8503 0.00 0.00 36.78 1.213 6 0.000 0.000 2687 2193 2035

8811 1.34 191.6 666.8 11.2 423 8815 0.00 2.67 0.00 0.000 4 0.000 0.075 2687 786 2033

8849 1.34 191.6 662.5 11.0 424 8856 0.00 2.65 0.00 0.000 6 0.000 0.056 2687 2196 2032

9164 1.34 191.6 624.3 13.4 440 9169 0.00 2.67 0.00 0.000 4 0.000 0.071 2687 784 2030

9236 1.34 191.6 614.3 15.2 443 9241 0.00 2.62 0.00 0.000 6 0.000 0.052 2687 2197 2030

9557 1.34 191.6 576.6 11.8 459 9558 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2196 2029

9866 1.36 206.4 542.5 9.3 474 9888 0.00 2.72 12.40 1.009 4 0.000 0.064 2687 782 1974

9925 1.36 206.4 535.8 12.5 476 9932 0.00 2.62 0.00 0.000 6 0.000 0.046 2687 2201 1974

10241 1.36 206.4 501.4 10.6 492 10242 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2201 1974

10550 1.36 206.4 467.7 10.7 507 10551 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2201 1975

10859 1.36 206.4 434.4 11.0 522 10860 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2201 1976

11169 1.36 206.4 400.8 11.2 537 11173 0.00 2.62 0.00 0.000 4 0.000 0.067 2688 3614 1977

11200 1.36 206.4 396.6 12.8 538 11206 0.00 2.62 0.00 0.000 6 0.000 0.053 2687 2197 1977

11522 1.36 206.4 356.4 12.7 554 11523 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2197 1978

11831 1.36 206.4 317.9 12.1 569 11832 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2197 1980

12140 1.36 206.4 282.1 11.0 584 12144 0.00 2.62 0.00 0.000 4 0.000 0.065 2687 3612 1980

12172 1.36 206.4 278.3 12.0 585 12180 0.00 2.58 0.00 0.000 6 0.000 0.051 2687 2206 1980

12488 1.36 206.4 244.3 11.0 601 12492 0.00 2.62 0.00 0.000 4 0.000 0.066 2687 3618 1981

12530 1.36 206.4 239.1 12.8 603 12535 0.00 2.60 0.00 0.000 6 0.000 0.051 2687 2204 1982

12857 1.36 206.4 200.1 12.5 619 12858 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2204 1983

13166 1.36 206.4 161.3 12.4 634 13171 0.00 2.62 0.00 0.000 4 0.000 0.066 2687 3620 1983

13205 1.36 206.4 156.5 12.7 636 13210 0.00 2.58 0.00 0.000 6 0.000 0.052 2687 2199 1983

13531 1.36 206.4 117.5 11.9 652 13532 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2199 1983

13840 1.36 206.4 81.8 11.3 667 13849 0.00 2.65 3.78 0.478 4 0.000 0.064 2687 788 1975

13884 1.36 206.4 76.4 12.8 669 13888 0.00 2.55 0.00 0.000 6 0.000 0.044 2687 2210 1975

14209 1.36 208.7 40.5 9.9 685 14218 0.00 2.62 3.58 0.451 4 0.000 0.065 2688 3608 1966

14235 1.36 208.7 37.2 13.4 686 14240 0.00 2.60 0.00 0.000 6 0.000 0.053 2687 2197 1966

14540 end climb: SURFACE_DEPTH_REACHED

state 14540 begin surface coast

14562 end surface coast: CONTROL_FINISHED_OK

state 14562 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	15	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	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	2817	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	-2075136.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	140138,6131.120,-830.254,35,1.8,35,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.120,-0.235
_SM_DEPTHo	1.68	KALMAN_X	467.8,-603.7,-46.4,31357.6,-730.1
_SM_ANGLEo	-60.9	KALMAN_Y	29111.8,-553.3,-507.8,-41245.7,8411.6
GPS2	140637,6131.062,-830.198,35,1.7,45,-9.0	MHEAD_RNG_PITCHd_Wd	162.0,4997,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.027141	ALTIM_BOTTOM_PING	750.7,105.4
SM_CCo	14580,52.88,0.641,2,0,1594,300.00	_24V_AH	23.4,9.195
SM_GC	1.71,0.00,0.00,52.88,0.000,0.000,0.641,70,2405,1594,-10.76,0.14,300.00	_10V_AH	10.1,3.691
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34767,702
TT8_MAMPS	0.023777	CFSIZE	260165632,257531904
HUMID	2094	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,5,2,0
TCM_TEMP	16.20	GPS	151107,181238,6130.184,-829.486,35,1.9,35,-8.9
XPDR_PINGS	35

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	103.84	SBE_CT	501	24	281.59
Roll_motor	114	92	249.36	SBE_O2	494	19	219.69
VBD_pump_during_apogee	299	1322	9269.45	WL_BB2F	400	105	984.83
VBD_pump_during_surface	52	641	793.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.70	nil	0	0	0.00
Iridium_during_connect	38	160	145.89	nil	0	0	0.00
Iridium_during_xfer	122	223	638.81
Transponder_ping	15	420	149.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	45	50	23.15
TT8	1300	19	260.06
LPSleep	11233	2	248.47
TT8_Active	505	19	101.07
TT8_Sampling	1643	39	660.66
TT8_CF8	268	45	124.35
TT8_Kalman	33	81	27.56
Analog_circuits	1301	12	157.79
GPS_charging	0	0	0.00
Compass	1573	8	127.12
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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-1.29	-146.6	0.0	0.0	0	80	0.00	0.00	-62.17	0.000	2	0.000	0.000	73	2411	3240
82	-1.29	-146.6	4.5	-7.0	3	105	11.57	2.53	-3.70	0.000	4	0.173	0.078	2125	3763	3417
329	-1.29	-146.6	45.7	-14.6	14	333	0.00	2.45	0.00	0.000	6	0.000	0.044	2125	2396	3417
654	-1.29	-146.6	89.0	-13.7	30	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2395	3417
964	-1.29	-146.6	130.6	-13.2	45	965	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2395	3417
1272	-1.29	-146.6	170.5	-12.8	60	1276	0.00	2.55	0.00	0.000	4	0.000	0.067	2125	3763	3417
1327	-1.29	-146.6	177.7	-12.6	62	1334	0.00	2.47	0.00	0.000	6	0.000	0.045	2125	2401	3417
1642	-1.29	-146.6	218.4	-13.0	78	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2401	3417
1951	-1.29	-146.6	258.1	-12.7	93	1953	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2401	3417
2261	-1.29	-146.6	298.4	-13.0	108	2265	0.00	2.53	0.00	0.000	4	0.000	0.068	2125	3758	3417
2376	-1.29	-146.6	314.3	-13.3	113	2381	0.00	2.45	0.00	0.000	6	0.000	0.047	2125	2408	3417
2697	-1.29	-146.6	356.3	-12.9	129	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2408	3417
3007	-1.29	-146.6	395.2	-12.4	144	3011	0.00	2.53	0.00	0.000	4	0.000	0.069	2125	3760	3417
3055	-1.29	-146.6	401.6	-12.8	146	3060	0.00	2.47	0.00	0.000	6	0.000	0.047	2125	2397	3417
3376	-1.29	-146.6	440.8	-12.0	162	3377	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2396	3417
3686	-1.29	-146.6	476.8	-11.8	177	3690	0.00	2.55	0.00	0.000	4	0.000	0.069	2125	3764	3417
3802	-1.29	-146.6	491.2	-12.1	182	3806	0.00	2.47	0.00	0.000	6	0.000	0.046	2125	2397	3417
4122	-1.29	-146.6	529.4	-11.1	198	4124	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2397	3417
4432	-1.29	-146.6	568.7	-13.9	213	4436	0.00	2.53	0.00	0.000	4	0.000	0.069	2125	3759	3417
4547	-1.29	-146.6	584.3	-13.3	218	4552	0.00	2.45	0.00	0.000	6	0.000	0.046	2125	2404	3417
4874	-1.29	-146.6	624.7	-13.1	234	4879	0.00	2.60	0.00	0.000	4	0.000	0.063	2125	988	3417
4934	-1.29	-146.6	632.1	-13.2	236	4941	0.00	2.55	0.00	0.000	6	0.000	0.049	2125	2393	3417
5249	-1.29	-146.6	667.7	-9.4	252	5251	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2393	3418
5559	-1.29	-146.6	698.4	-9.0	267	5563	0.00	2.60	0.00	0.000	4	0.000	0.065	2125	988	3418
5814	-1.29	-146.6	728.4	-11.6	278	5821	0.00	2.60	0.00	0.000	6	0.000	0.055	2125	2397	3418
6130	-1.29	-146.6	762.6	-12.1	294	6134	0.00	2.62	0.00	0.000	4	0.000	0.070	2125	990	3419
6168	-1.29	-146.6	767.8	-14.5	296	6172	0.00	2.62	0.00	0.000	6	0.000	0.063	2125	2404	3419
6493	-1.29	-146.6	812.0	-13.3	312	6497	0.00	2.65	0.00	0.000	4	0.000	0.093	2125	3767	3418
6525	-1.29	-146.6	814.9	-7.4	313	6530	0.00	2.55	0.00	0.000	6	0.000	0.064	2125	2413	3418
6846	-1.29	-146.6	830.1	-1.9	329	6850	0.00	2.62	0.00	0.000	4	0.000	0.091	2125	3765	3415
6966	end dive: BOTTOM_OBSTACLE_DETECTED
state	6966	begin apogee
6973	-0.31	0.0	846.6	16.5	334	7100	1.08	0.00	122.22	1.322	6	0.121	0.000	2336	2196	2817
7100	end apogee: CONTROL_FINISHED_OK
state	7100	begin climb
7102	1.29	146.6	851.7	0.0	341	7233	1.67	2.80	120.82	1.276	4	0.083	0.081	2687	789	2219
7484	1.29	146.6	813.5	15.4	358	7491	0.00	2.67	0.00	0.000	6	0.000	0.059	2687	2200	2217
7800	1.29	146.6	766.7	12.8	374	7801	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2201	2216
8109	1.29	146.6	735.6	10.9	389	8113	0.00	2.70	0.00	0.000	4	0.000	0.079	2687	787	2215
8146	1.29	146.6	731.3	10.6	390	8154	0.00	2.65	0.00	0.000	6	0.000	0.058	2687	2193	2215
8463	1.34	191.6	703.7	8.0	406	8503	0.00	0.00	36.78	1.213	6	0.000	0.000	2687	2193	2035
8811	1.34	191.6	666.8	11.2	423	8815	0.00	2.67	0.00	0.000	4	0.000	0.075	2687	786	2033
8849	1.34	191.6	662.5	11.0	424	8856	0.00	2.65	0.00	0.000	6	0.000	0.056	2687	2196	2032
9164	1.34	191.6	624.3	13.4	440	9169	0.00	2.67	0.00	0.000	4	0.000	0.071	2687	784	2030
9236	1.34	191.6	614.3	15.2	443	9241	0.00	2.62	0.00	0.000	6	0.000	0.052	2687	2197	2030
9557	1.34	191.6	576.6	11.8	459	9558	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2196	2029
9866	1.36	206.4	542.5	9.3	474	9888	0.00	2.72	12.40	1.009	4	0.000	0.064	2687	782	1974
9925	1.36	206.4	535.8	12.5	476	9932	0.00	2.62	0.00	0.000	6	0.000	0.046	2687	2201	1974
10241	1.36	206.4	501.4	10.6	492	10242	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2201	1974
10550	1.36	206.4	467.7	10.7	507	10551	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2201	1975
10859	1.36	206.4	434.4	11.0	522	10860	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2201	1976
11169	1.36	206.4	400.8	11.2	537	11173	0.00	2.62	0.00	0.000	4	0.000	0.067	2688	3614	1977
11200	1.36	206.4	396.6	12.8	538	11206	0.00	2.62	0.00	0.000	6	0.000	0.053	2687	2197	1977
11522	1.36	206.4	356.4	12.7	554	11523	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2197	1978
11831	1.36	206.4	317.9	12.1	569	11832	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2197	1980
12140	1.36	206.4	282.1	11.0	584	12144	0.00	2.62	0.00	0.000	4	0.000	0.065	2687	3612	1980
12172	1.36	206.4	278.3	12.0	585	12180	0.00	2.58	0.00	0.000	6	0.000	0.051	2687	2206	1980
12488	1.36	206.4	244.3	11.0	601	12492	0.00	2.62	0.00	0.000	4	0.000	0.066	2687	3618	1981
12530	1.36	206.4	239.1	12.8	603	12535	0.00	2.60	0.00	0.000	6	0.000	0.051	2687	2204	1982
12857	1.36	206.4	200.1	12.5	619	12858	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2204	1983
13166	1.36	206.4	161.3	12.4	634	13171	0.00	2.62	0.00	0.000	4	0.000	0.066	2687	3620	1983
13205	1.36	206.4	156.5	12.7	636	13210	0.00	2.58	0.00	0.000	6	0.000	0.052	2687	2199	1983
13531	1.36	206.4	117.5	11.9	652	13532	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2199	1983
13840	1.36	206.4	81.8	11.3	667	13849	0.00	2.65	3.78	0.478	4	0.000	0.064	2687	788	1975
13884	1.36	206.4	76.4	12.8	669	13888	0.00	2.55	0.00	0.000	6	0.000	0.044	2687	2210	1975
14209	1.36	208.7	40.5	9.9	685	14218	0.00	2.62	3.58	0.451	4	0.000	0.065	2688	3608	1966
14235	1.36	208.7	37.2	13.4	686	14240	0.00	2.60	0.00	0.000	6	0.000	0.053	2687	2197	1966
14540	end climb: SURFACE_DEPTH_REACHED
state	14540	begin surface coast
14562	end surface coast: CONTROL_FINISHED_OK
state	14562	begin surface