Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 158 * 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 158 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 566.1524 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 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 2817 DEVICE6 -1

T_NO_W 300 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 -2078736.8 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 566.1524

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 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 -2078736.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 158 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 103326,6249.736,-926.814,43,1.9,43,-9.9 TGT_NAME IFRVAL

_CALLS 1 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,0.019

_SM_DEPTHo 1.44 KALMAN_X -131805.0,579.0,830.5,111787.4,-11276.5

_SM_ANGLEo -58.7 KALMAN_Y 110069.4,-120.4,692.5,21797.0,-7621.5

GPS2 103814,6249.725,-926.713,12,1.9,12,-9.9 MHEAD_RNG_PITCHd_Wd 95.0,46898,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.012832 ALTIM_BOTTOM_PING 425.1,56.2

SM_CCo 12695,188.52,0.674,1,0,508,566.15 _24V_AH 23.6,27.830

SM_GC 1.43,0.00,0.00,188.52,0.000,0.000,0.674,69,2398,508,-10.77,-0.08,566.15 _10V_AH 10.2,13.399

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31676,615

TT8_MAMPS 0.02301 CFSIZE 260165632,250343424

HUMID 2076 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,1,0

TCM_TEMP 16.90 GPS 101207,141508,6248.935,-921.552,39,1.9,39,-9.9

XPDR_PINGS 23

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.01 SBE_CT 443 24 251.43

Roll_motor 137 87 284.51 SBE_O2 423 19 189.88

VBD_pump_during_apogee 318 1017 7652.26 WL_BB2F 446 105 1107.52

VBD_pump_during_surface 188 674 2999.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.28 nil 0 0 0.00

Iridium_during_connect 35 160 134.30 nil 0 0 0.00

Iridium_during_xfer 129 223 681.36

Transponder_ping 9 420 91.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.59

TT8 1148 19 231.93

LPSleep 9632 2 215.18

TT8_Active 705 19 142.53

TT8_Sampling 1370 39 556.52

TT8_CF8 327 45 153.07

TT8_Kalman 33 81 27.84

Analog_circuits 1400 12 171.44

GPS_charging 0 0 0.00

Compass 1342 8 109.51

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.50 0.000 2 0.000 0.000 71 2407 3188

126 -0.85 -146.6 4.1 -3.2 5 149 12.07 2.78 -5.05 0.000 4 0.170 0.086 2223 983 3416

266 -0.85 -146.6 20.4 -7.7 11 271 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2398 3418

593 -0.85 -146.6 47.1 -7.9 27 598 0.00 2.67 0.00 0.000 4 0.000 0.071 2223 985 3418

625 -0.85 -146.6 50.1 -9.1 28 632 0.00 2.65 0.00 0.000 6 0.000 0.060 2223 2400 3418

943 -0.85 -146.6 76.2 -8.0 44 947 0.00 2.67 0.00 0.000 4 0.000 0.072 2223 985 3418

981 -0.85 -146.6 79.6 -7.8 46 986 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2401 3418

1307 -0.85 -146.6 106.8 -8.5 62 1309 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2402 3418

1617 -0.85 -146.6 130.6 -7.4 77 1621 0.00 2.67 0.00 0.000 4 0.000 0.073 2223 985 3418

1665 -0.85 -146.6 134.5 -7.7 79 1670 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2404 3418

1980 -0.85 -146.6 157.6 -7.2 94 1982 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3418

2290 -0.85 -146.6 179.6 -7.1 109 2294 0.00 2.67 0.00 0.000 4 0.000 0.072 2223 985 3418

2329 -0.85 -146.6 182.5 -7.8 111 2333 0.00 2.62 0.00 0.000 6 0.000 0.062 2223 2402 3418

2654 -0.85 -146.6 205.1 -6.8 127 2658 0.00 2.67 0.00 0.000 4 0.000 0.073 2223 985 3419

2680 -0.85 -146.6 207.1 -7.5 128 2684 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2401 3418

3001 -0.85 -146.6 229.9 -6.9 144 3005 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 985 3418

3027 -0.85 -146.6 231.9 -7.4 145 3031 0.00 2.62 0.00 0.000 6 0.000 0.061 2223 2395 3417

3348 -0.85 -146.6 253.6 -6.4 161 3353 0.00 2.67 0.00 0.000 4 0.000 0.073 2223 977 3418

3382 -0.85 -146.6 256.0 -6.1 162 3388 0.00 2.65 0.00 0.000 6 0.000 0.061 2223 2405 3417

3697 -0.85 -146.6 274.9 -6.3 178 3698 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2405 3418

4006 -0.85 -146.6 293.5 -5.8 193 4011 0.00 2.67 0.00 0.000 4 0.000 0.074 2223 985 3418

4068 -0.85 -146.6 297.1 -6.2 196 4073 0.00 2.62 0.00 0.000 6 0.000 0.062 2223 2406 3418

4394 -0.85 -146.6 320.0 -7.4 212 4398 0.00 2.67 0.00 0.000 4 0.000 0.073 2223 984 3418

4459 -0.85 -146.6 324.4 -6.5 215 4464 0.00 2.62 0.00 0.000 6 0.000 0.062 2223 2404 3418

4787 -0.85 -146.6 345.2 -6.0 231 4791 0.00 2.70 0.00 0.000 4 0.000 0.074 2223 977 3418

4841 -0.85 -146.6 348.8 -6.7 233 4848 0.00 2.65 0.00 0.000 6 0.000 0.063 2223 2409 3417

5156 -0.85 -146.6 373.3 -8.9 249 5161 0.00 2.70 0.00 0.000 4 0.000 0.077 2223 985 3418

5228 -0.85 -146.6 380.1 -9.1 252 5232 0.00 2.60 0.00 0.000 6 0.000 0.064 2223 2400 3417

5549 -0.85 -146.6 406.8 -8.6 268 5553 0.00 2.62 0.00 0.000 4 0.000 0.087 2223 3768 3418

5580 -0.85 -146.6 409.3 -7.9 269 5587 0.00 2.55 0.00 0.000 6 0.000 0.061 2224 2403 3418

5896 -0.85 -146.6 431.4 -7.5 285 5900 0.00 2.70 0.00 0.000 4 0.000 0.081 2223 983 3418

5922 -0.85 -146.6 433.6 -8.1 286 5926 0.00 2.65 0.00 0.000 6 0.000 0.065 2223 2393 3418

6243 -0.85 -146.6 457.1 -7.0 302 6247 0.00 2.70 0.00 0.000 4 0.000 0.080 2223 982 3418

6342 -0.85 -146.6 464.4 -7.6 306 6349 0.00 2.62 0.00 0.000 6 0.000 0.064 2223 2399 3418

6450 end dive: BOTTOM_OBSTACLE_DETECTED

state 6450 begin apogee

6454 -0.31 0.0 472.5 7.4 312 6576 0.57 0.00 118.68 1.018 6 0.110 0.000 2338 2188 2817

6577 end apogee: CONTROL_FINISHED_OK

state 6577 begin climb

6579 0.85 146.6 476.1 0.0 318 6699 1.23 0.00 116.68 1.013 6 0.076 0.000 2592 2189 2218

7001 0.92 211.5 460.7 4.2 339 7062 0.00 2.80 51.50 0.976 4 0.000 0.077 2592 789 1953

7140 0.93 221.0 453.0 5.7 345 7155 0.00 2.65 9.15 0.834 6 0.000 0.060 2592 2199 1916

7482 0.93 221.0 427.0 8.4 362 7483 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2200 1913

7791 0.93 221.0 400.4 8.7 377 7795 0.00 2.72 0.00 0.000 4 0.000 0.079 2592 788 1913

7834 0.93 221.0 396.5 8.8 379 7838 0.00 2.67 0.00 0.000 6 0.000 0.060 2592 2212 1912

8161 0.93 223.1 373.7 5.9 395 8162 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2212 1912

8470 0.96 249.2 356.7 5.3 410 8500 0.12 2.80 22.58 0.936 4 0.065 0.076 2625 795 1800

8539 0.96 249.2 351.8 7.6 413 8543 0.00 2.62 0.00 0.000 6 0.000 0.056 2625 2208 1800

8865 0.96 249.2 325.9 8.1 429 8869 0.00 2.70 0.00 0.000 4 0.000 0.074 2625 791 1799

8919 0.96 249.2 321.4 7.9 431 8926 0.00 2.62 0.00 0.000 6 0.000 0.056 2625 2203 1799

9235 0.96 249.2 296.8 7.6 447 9236 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2203 1799

9544 0.96 249.2 273.0 7.6 462 9548 0.00 2.67 0.00 0.000 4 0.000 0.072 2625 785 1798

9575 0.96 249.2 270.3 8.6 463 9582 0.00 2.62 0.00 0.000 6 0.000 0.054 2625 2198 1799

9891 0.96 249.2 243.4 8.4 479 9892 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2198 1799

10200 0.96 249.2 217.5 8.8 494 10204 0.00 2.65 0.00 0.000 4 0.000 0.072 2625 788 1799

10248 0.96 249.2 213.0 9.4 496 10253 0.00 2.62 0.00 0.000 6 0.000 0.053 2624 2200 1799

10569 0.96 249.2 185.1 9.1 512 10573 0.00 2.67 0.00 0.000 4 0.000 0.072 2625 782 1799

10607 0.96 249.2 181.5 9.8 514 10611 0.00 2.62 0.00 0.000 6 0.000 0.054 2625 2208 1799

10932 0.96 249.2 156.0 7.9 530 10933 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2208 1799

11242 0.96 249.2 127.6 8.8 545 11246 0.00 2.67 0.00 0.000 4 0.000 0.070 2624 788 1800

11281 0.96 249.2 124.2 8.4 547 11285 0.00 2.58 0.00 0.000 6 0.000 0.052 2625 2202 1800

11606 0.96 249.2 93.7 9.8 563 11610 0.00 2.65 0.00 0.000 4 0.000 0.070 2625 788 1800

11637 0.96 249.2 90.4 9.6 564 11644 0.00 2.60 0.00 0.000 6 0.000 0.053 2625 2193 1800

11955 0.96 249.2 63.7 8.6 580 11960 0.00 2.62 0.00 0.000 4 0.000 0.068 2624 789 1800

11994 0.96 249.2 60.1 8.9 582 11999 0.00 2.58 0.00 0.000 6 0.000 0.053 2625 2201 1801

12321 0.96 249.2 29.7 10.2 598 12322 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2201 1801

12630 0.96 249.2 2.1 9.4 613 12634 0.00 2.12 0.00 0.000 3 0.000 0.067 2625 1050 1802

12635 end climb: SURFACE_DEPTH_REACHED

state 12635 begin surface coast

12673 end surface coast: CONTROL_FINISHED_OK

state 12673 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	158	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	566.1524	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	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	2817	DEVICE6	-1
T_NO_W	300	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	-2078736.8	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	103326,6249.736,-926.814,43,1.9,43,-9.9	TGT_NAME	IFRVAL
_CALLS	1	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,0.019
_SM_DEPTHo	1.44	KALMAN_X	-131805.0,579.0,830.5,111787.4,-11276.5
_SM_ANGLEo	-58.7	KALMAN_Y	110069.4,-120.4,692.5,21797.0,-7621.5
GPS2	103814,6249.725,-926.713,12,1.9,12,-9.9	MHEAD_RNG_PITCHd_Wd	95.0,46898,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.012832	ALTIM_BOTTOM_PING	425.1,56.2
SM_CCo	12695,188.52,0.674,1,0,508,566.15	_24V_AH	23.6,27.830
SM_GC	1.43,0.00,0.00,188.52,0.000,0.000,0.674,69,2398,508,-10.77,-0.08,566.15	_10V_AH	10.2,13.399
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31676,615
TT8_MAMPS	0.02301	CFSIZE	260165632,250343424
HUMID	2076	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
TCM_TEMP	16.90	GPS	101207,141508,6248.935,-921.552,39,1.9,39,-9.9
XPDR_PINGS	23

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.01	SBE_CT	443	24	251.43
Roll_motor	137	87	284.51	SBE_O2	423	19	189.88
VBD_pump_during_apogee	318	1017	7652.26	WL_BB2F	446	105	1107.52
VBD_pump_during_surface	188	674	2999.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.28	nil	0	0	0.00
Iridium_during_connect	35	160	134.30	nil	0	0	0.00
Iridium_during_xfer	129	223	681.36
Transponder_ping	9	420	91.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.59
TT8	1148	19	231.93
LPSleep	9632	2	215.18
TT8_Active	705	19	142.53
TT8_Sampling	1370	39	556.52
TT8_CF8	327	45	153.07
TT8_Kalman	33	81	27.84
Analog_circuits	1400	12	171.44
GPS_charging	0	0	0.00
Compass	1342	8	109.51
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.50	0.000	2	0.000	0.000	71	2407	3188
126	-0.85	-146.6	4.1	-3.2	5	149	12.07	2.78	-5.05	0.000	4	0.170	0.086	2223	983	3416
266	-0.85	-146.6	20.4	-7.7	11	271	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2398	3418
593	-0.85	-146.6	47.1	-7.9	27	598	0.00	2.67	0.00	0.000	4	0.000	0.071	2223	985	3418
625	-0.85	-146.6	50.1	-9.1	28	632	0.00	2.65	0.00	0.000	6	0.000	0.060	2223	2400	3418
943	-0.85	-146.6	76.2	-8.0	44	947	0.00	2.67	0.00	0.000	4	0.000	0.072	2223	985	3418
981	-0.85	-146.6	79.6	-7.8	46	986	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2401	3418
1307	-0.85	-146.6	106.8	-8.5	62	1309	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2402	3418
1617	-0.85	-146.6	130.6	-7.4	77	1621	0.00	2.67	0.00	0.000	4	0.000	0.073	2223	985	3418
1665	-0.85	-146.6	134.5	-7.7	79	1670	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2404	3418
1980	-0.85	-146.6	157.6	-7.2	94	1982	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3418
2290	-0.85	-146.6	179.6	-7.1	109	2294	0.00	2.67	0.00	0.000	4	0.000	0.072	2223	985	3418
2329	-0.85	-146.6	182.5	-7.8	111	2333	0.00	2.62	0.00	0.000	6	0.000	0.062	2223	2402	3418
2654	-0.85	-146.6	205.1	-6.8	127	2658	0.00	2.67	0.00	0.000	4	0.000	0.073	2223	985	3419
2680	-0.85	-146.6	207.1	-7.5	128	2684	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2401	3418
3001	-0.85	-146.6	229.9	-6.9	144	3005	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	985	3418
3027	-0.85	-146.6	231.9	-7.4	145	3031	0.00	2.62	0.00	0.000	6	0.000	0.061	2223	2395	3417
3348	-0.85	-146.6	253.6	-6.4	161	3353	0.00	2.67	0.00	0.000	4	0.000	0.073	2223	977	3418
3382	-0.85	-146.6	256.0	-6.1	162	3388	0.00	2.65	0.00	0.000	6	0.000	0.061	2223	2405	3417
3697	-0.85	-146.6	274.9	-6.3	178	3698	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2405	3418
4006	-0.85	-146.6	293.5	-5.8	193	4011	0.00	2.67	0.00	0.000	4	0.000	0.074	2223	985	3418
4068	-0.85	-146.6	297.1	-6.2	196	4073	0.00	2.62	0.00	0.000	6	0.000	0.062	2223	2406	3418
4394	-0.85	-146.6	320.0	-7.4	212	4398	0.00	2.67	0.00	0.000	4	0.000	0.073	2223	984	3418
4459	-0.85	-146.6	324.4	-6.5	215	4464	0.00	2.62	0.00	0.000	6	0.000	0.062	2223	2404	3418
4787	-0.85	-146.6	345.2	-6.0	231	4791	0.00	2.70	0.00	0.000	4	0.000	0.074	2223	977	3418
4841	-0.85	-146.6	348.8	-6.7	233	4848	0.00	2.65	0.00	0.000	6	0.000	0.063	2223	2409	3417
5156	-0.85	-146.6	373.3	-8.9	249	5161	0.00	2.70	0.00	0.000	4	0.000	0.077	2223	985	3418
5228	-0.85	-146.6	380.1	-9.1	252	5232	0.00	2.60	0.00	0.000	6	0.000	0.064	2223	2400	3417
5549	-0.85	-146.6	406.8	-8.6	268	5553	0.00	2.62	0.00	0.000	4	0.000	0.087	2223	3768	3418
5580	-0.85	-146.6	409.3	-7.9	269	5587	0.00	2.55	0.00	0.000	6	0.000	0.061	2224	2403	3418
5896	-0.85	-146.6	431.4	-7.5	285	5900	0.00	2.70	0.00	0.000	4	0.000	0.081	2223	983	3418
5922	-0.85	-146.6	433.6	-8.1	286	5926	0.00	2.65	0.00	0.000	6	0.000	0.065	2223	2393	3418
6243	-0.85	-146.6	457.1	-7.0	302	6247	0.00	2.70	0.00	0.000	4	0.000	0.080	2223	982	3418
6342	-0.85	-146.6	464.4	-7.6	306	6349	0.00	2.62	0.00	0.000	6	0.000	0.064	2223	2399	3418
6450	end dive: BOTTOM_OBSTACLE_DETECTED
state	6450	begin apogee
6454	-0.31	0.0	472.5	7.4	312	6576	0.57	0.00	118.68	1.018	6	0.110	0.000	2338	2188	2817
6577	end apogee: CONTROL_FINISHED_OK
state	6577	begin climb
6579	0.85	146.6	476.1	0.0	318	6699	1.23	0.00	116.68	1.013	6	0.076	0.000	2592	2189	2218
7001	0.92	211.5	460.7	4.2	339	7062	0.00	2.80	51.50	0.976	4	0.000	0.077	2592	789	1953
7140	0.93	221.0	453.0	5.7	345	7155	0.00	2.65	9.15	0.834	6	0.000	0.060	2592	2199	1916
7482	0.93	221.0	427.0	8.4	362	7483	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2200	1913
7791	0.93	221.0	400.4	8.7	377	7795	0.00	2.72	0.00	0.000	4	0.000	0.079	2592	788	1913
7834	0.93	221.0	396.5	8.8	379	7838	0.00	2.67	0.00	0.000	6	0.000	0.060	2592	2212	1912
8161	0.93	223.1	373.7	5.9	395	8162	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2212	1912
8470	0.96	249.2	356.7	5.3	410	8500	0.12	2.80	22.58	0.936	4	0.065	0.076	2625	795	1800
8539	0.96	249.2	351.8	7.6	413	8543	0.00	2.62	0.00	0.000	6	0.000	0.056	2625	2208	1800
8865	0.96	249.2	325.9	8.1	429	8869	0.00	2.70	0.00	0.000	4	0.000	0.074	2625	791	1799
8919	0.96	249.2	321.4	7.9	431	8926	0.00	2.62	0.00	0.000	6	0.000	0.056	2625	2203	1799
9235	0.96	249.2	296.8	7.6	447	9236	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2203	1799
9544	0.96	249.2	273.0	7.6	462	9548	0.00	2.67	0.00	0.000	4	0.000	0.072	2625	785	1798
9575	0.96	249.2	270.3	8.6	463	9582	0.00	2.62	0.00	0.000	6	0.000	0.054	2625	2198	1799
9891	0.96	249.2	243.4	8.4	479	9892	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2198	1799
10200	0.96	249.2	217.5	8.8	494	10204	0.00	2.65	0.00	0.000	4	0.000	0.072	2625	788	1799
10248	0.96	249.2	213.0	9.4	496	10253	0.00	2.62	0.00	0.000	6	0.000	0.053	2624	2200	1799
10569	0.96	249.2	185.1	9.1	512	10573	0.00	2.67	0.00	0.000	4	0.000	0.072	2625	782	1799
10607	0.96	249.2	181.5	9.8	514	10611	0.00	2.62	0.00	0.000	6	0.000	0.054	2625	2208	1799
10932	0.96	249.2	156.0	7.9	530	10933	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2208	1799
11242	0.96	249.2	127.6	8.8	545	11246	0.00	2.67	0.00	0.000	4	0.000	0.070	2624	788	1800
11281	0.96	249.2	124.2	8.4	547	11285	0.00	2.58	0.00	0.000	6	0.000	0.052	2625	2202	1800
11606	0.96	249.2	93.7	9.8	563	11610	0.00	2.65	0.00	0.000	4	0.000	0.070	2625	788	1800
11637	0.96	249.2	90.4	9.6	564	11644	0.00	2.60	0.00	0.000	6	0.000	0.053	2625	2193	1800
11955	0.96	249.2	63.7	8.6	580	11960	0.00	2.62	0.00	0.000	4	0.000	0.068	2624	789	1800
11994	0.96	249.2	60.1	8.9	582	11999	0.00	2.58	0.00	0.000	6	0.000	0.053	2625	2201	1801
12321	0.96	249.2	29.7	10.2	598	12322	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2201	1801
12630	0.96	249.2	2.1	9.4	613	12634	0.00	2.12	0.00	0.000	3	0.000	0.067	2625	1050	1802
12635	end climb: SURFACE_DEPTH_REACHED
state	12635	begin surface coast
12673	end surface coast: CONTROL_FINISHED_OK
state	12673	begin surface