Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 214 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 214 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 558.0575 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -80178.953 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 558.0575

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -80178.953

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 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 214 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 051801,6302.233,-1248.750,40,1.1,40,-11.9 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.113,0.175

_SM_DEPTHo 3.58 KALMAN_X 257995.9,381.2,2006.1,-488727.4,5378.5

_SM_ANGLEo -53.5 KALMAN_Y -9900.5,1517.7,-712.7,174104.4,-7470.8

GPS2 052715,6302.274,-1248.868,10,1.9,10,-11.9 MHEAD_RNG_PITCHd_Wd 339.0,32093,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16193,64.75,0.770,0,0,603,558.06 ALTIM_BOTTOM_PING 525.5,37.3

SM_GC 3.49,12.00,0.00,0.00,0.032,0.000,0.000,35,1883,602,-11.27,-0.48,558.06 _24V_AH 23.3,47.670

IRIDIUM_FIX 6235.17,-1249.73,301207,090948 _10V_AH 10.1,23.055

TT8_MAMPS 0.026845 DATA_FILE_SIZE 38087,782

HUMID 2063 CFSIZE 260165632,245108736

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 14.80 GPS 301207,100708,6304.906,-1252.907,24,1.3,24,-12.0

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 63.42 SBE_CT 581 24 325.07

Roll_motor 72 73 123.83 SBE_O2 527 19 233.33

VBD_pump_during_apogee 423 1180 11646.41 WL_BB2F 543 105 1329.95

VBD_pump_during_surface 64 770 1161.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 180.78 nil 0 0 0.00

Iridium_during_connect 68 160 257.22 nil 0 0 0.00

Iridium_during_xfer 247 223 1288.58

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.84

TT8 1382 19 276.53

LPSleep 13006 2 287.70

TT8_Active 628 19 125.78

TT8_Sampling 1643 39 660.76

TT8_CF8 577 45 267.20

TT8_Kalman 33 81 27.56

Analog_circuits 1458 12 176.80

GPS_charging 0 0 0.00

Compass 1626 8 131.40

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -0.95 -146.6 0.0 0.0 0 30 0.00 0.00 -6.38 0.000 2 0.000 0.000 27 1894 757

33 -0.95 -146.6 3.6 -0.0 1 214 11.23 2.62 -162.05 0.000 4 0.107 0.074 2287 486 3476

468 -0.95 -146.6 25.5 -9.8 20 472 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1905 3475

788 -0.95 -146.6 54.4 -10.4 36 789 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3475

1097 -0.95 -146.6 88.1 -8.6 51 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

1406 -0.95 -146.6 108.8 -6.2 66 1407 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

1716 -0.95 -146.6 129.7 -7.2 81 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

2026 -0.95 -146.6 149.7 -6.8 96 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

2334 -0.95 -146.6 172.4 -7.3 111 2336 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

2643 -0.95 -146.6 194.2 -7.1 126 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

2953 -0.95 -146.6 217.2 -7.4 141 2954 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3475

3262 -0.95 -146.6 238.4 -6.5 156 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

3571 -0.95 -146.6 260.2 -7.4 171 3572 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

3880 -0.95 -146.6 284.0 -7.9 186 3882 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3475

4190 -0.95 -146.6 306.9 -7.4 201 4192 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

4499 -0.95 -146.6 331.0 -7.9 216 4503 0.00 2.53 0.00 0.000 4 0.000 0.052 2287 3300 3475

4553 -0.95 -146.6 335.4 -7.7 218 4560 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1897 3475

4869 -0.95 -146.6 356.2 -6.2 234 4870 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

5178 -0.95 -146.6 378.0 -8.0 249 5179 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

5487 -0.95 -146.6 402.6 -7.2 264 5491 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3301 3475

5543 -0.95 -146.6 406.3 -6.8 266 5549 0.00 2.53 0.00 0.000 6 0.000 0.046 2287 1896 3475

5858 -0.95 -146.6 423.1 -6.8 282 5859 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3475

6167 -0.95 -146.6 447.2 -7.2 297 6168 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3475

6477 -0.95 -146.6 465.2 -5.3 312 6482 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3302 3475

6584 -0.95 -146.6 471.2 -6.2 317 6588 0.00 2.55 0.00 0.000 6 0.000 0.049 2287 1894 3475

6909 -0.95 -146.6 491.8 -6.8 333 6911 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3474

7218 -0.95 -146.6 510.0 -6.0 348 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3474

7532 -0.95 -146.6 525.5 -5.5 363 7534 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3473

7837 -0.95 -146.6 545.5 -7.3 378 7838 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3474

7938 end dive: BOTTOM_OBSTACLE_DETECTED

state 7938 begin apogee

7944 -0.36 0.0 553.1 7.5 383 8068 0.60 0.00 121.38 1.180 6 0.076 0.000 2416 2095 2878

8069 end apogee: CONTROL_FINISHED_OK

state 8069 begin climb

8071 0.95 146.6 557.0 0.0 389 8196 1.30 0.00 121.00 1.131 6 0.055 0.000 2701 2094 2280

8491 0.95 146.6 540.2 6.3 410 8495 0.00 2.60 0.00 0.000 4 0.000 0.062 2702 3496 2279

8619 0.95 146.6 531.6 6.5 416 8624 0.00 2.55 0.00 0.000 6 0.000 0.050 2702 2097 2279

8946 0.96 157.6 513.7 5.7 432 8961 0.00 2.70 9.98 1.156 4 0.000 0.072 2701 689 2235

9028 0.96 157.6 508.6 6.4 435 9033 0.00 2.55 0.00 0.000 6 0.000 0.049 2702 2103 2235

9355 0.96 157.6 489.7 6.2 451 9359 0.00 2.55 0.00 0.000 4 0.000 0.061 2702 3499 2234

9438 0.96 157.6 484.5 6.5 455 9443 0.00 2.55 0.00 0.000 6 0.000 0.050 2702 2095 2234

9765 0.99 182.4 466.3 5.3 471 9788 0.00 0.00 21.20 1.157 6 0.000 0.000 2702 2095 2134

10094 1.05 229.4 449.9 4.6 487 10138 0.00 2.65 39.20 1.127 4 0.000 0.058 2702 3499 1942

10190 1.05 229.4 444.3 6.5 491 10194 0.00 2.55 0.00 0.000 6 0.000 0.048 2702 2097 1941

10505 1.06 234.9 425.2 5.8 506 10513 0.10 0.00 5.62 1.106 6 0.058 0.000 2738 2097 1920

10815 1.06 234.9 404.8 6.8 521 10819 0.00 2.60 0.00 0.000 4 0.000 0.068 2739 693 1920

10869 1.06 234.9 400.4 8.6 523 10876 0.00 2.50 0.00 0.000 6 0.000 0.044 2739 2104 1920

11184 1.06 234.9 379.5 6.9 539 11186 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2107 1920

11494 1.06 234.9 356.9 7.3 554 11498 0.00 2.55 0.00 0.000 4 0.000 0.054 2738 3505 1920

11565 1.06 234.9 350.4 9.1 557 11570 0.00 2.53 0.00 0.000 6 0.000 0.044 2739 2091 1920

11886 1.06 234.9 326.6 7.1 573 11888 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2091 1920

12195 1.06 234.9 302.7 7.8 588 12197 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2091 1920

12505 1.06 234.9 277.7 8.7 603 12506 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2091 1920

12814 1.06 234.9 250.5 9.2 618 12818 0.00 2.55 0.00 0.000 4 0.000 0.052 2738 3501 1921

12891 1.06 234.9 243.2 10.5 621 12897 0.00 2.50 0.00 0.000 6 0.000 0.043 2739 2098 1921

13206 1.06 234.9 214.7 7.4 637 13207 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1921

13516 1.06 234.9 190.7 6.6 652 13517 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1922

13825 1.06 234.9 165.9 8.9 667 13829 0.00 2.55 0.00 0.000 4 0.000 0.051 2738 3504 1921

13908 1.06 234.9 158.5 8.1 671 13913 0.00 2.50 0.00 0.000 6 0.000 0.041 2738 2098 1922

14235 1.06 234.9 135.2 9.3 687 14236 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1922

14544 1.06 234.9 109.6 8.3 702 14545 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1922

14853 1.06 234.9 84.1 8.6 717 14857 0.00 2.55 0.00 0.000 4 0.000 0.049 2738 3502 1923

14919 1.06 234.9 79.3 7.6 720 14923 0.00 2.47 0.00 0.000 6 0.000 0.040 2738 2099 1923

15246 1.06 234.9 51.2 9.3 736 15247 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1922

15555 1.06 234.9 24.3 7.4 751 15556 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1923

15865 1.06 234.9 3.0 7.3 766 15869 0.00 2.58 0.00 0.000 4 0.000 0.064 2738 694 1923

15896 1.30 432.8 3.0 0.1 767 16010 0.12 2.50 105.07 0.788 6 0.039 0.041 2793 2113 1112

16190 end climb: NO_VERTICAL_VELOCITY

state 16190 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	214	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	558.0575	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-80178.953	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	051801,6302.233,-1248.750,40,1.1,40,-11.9	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.113,0.175
_SM_DEPTHo	3.58	KALMAN_X	257995.9,381.2,2006.1,-488727.4,5378.5
_SM_ANGLEo	-53.5	KALMAN_Y	-9900.5,1517.7,-712.7,174104.4,-7470.8
GPS2	052715,6302.274,-1248.868,10,1.9,10,-11.9	MHEAD_RNG_PITCHd_Wd	339.0,32093,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16193,64.75,0.770,0,0,603,558.06	ALTIM_BOTTOM_PING	525.5,37.3
SM_GC	3.49,12.00,0.00,0.00,0.032,0.000,0.000,35,1883,602,-11.27,-0.48,558.06	_24V_AH	23.3,47.670
IRIDIUM_FIX	6235.17,-1249.73,301207,090948	_10V_AH	10.1,23.055
TT8_MAMPS	0.026845	DATA_FILE_SIZE	38087,782
HUMID	2063	CFSIZE	260165632,245108736
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	14.80	GPS	301207,100708,6304.906,-1252.907,24,1.3,24,-12.0
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	63.42	SBE_CT	581	24	325.07
Roll_motor	72	73	123.83	SBE_O2	527	19	233.33
VBD_pump_during_apogee	423	1180	11646.41	WL_BB2F	543	105	1329.95
VBD_pump_during_surface	64	770	1161.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	180.78	nil	0	0	0.00
Iridium_during_connect	68	160	257.22	nil	0	0	0.00
Iridium_during_xfer	247	223	1288.58
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.84
TT8	1382	19	276.53
LPSleep	13006	2	287.70
TT8_Active	628	19	125.78
TT8_Sampling	1643	39	660.76
TT8_CF8	577	45	267.20
TT8_Kalman	33	81	27.56
Analog_circuits	1458	12	176.80
GPS_charging	0	0	0.00
Compass	1626	8	131.40
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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-0.95	-146.6	0.0	0.0	0	30	0.00	0.00	-6.38	0.000	2	0.000	0.000	27	1894	757
33	-0.95	-146.6	3.6	-0.0	1	214	11.23	2.62	-162.05	0.000	4	0.107	0.074	2287	486	3476
468	-0.95	-146.6	25.5	-9.8	20	472	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1905	3475
788	-0.95	-146.6	54.4	-10.4	36	789	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3475
1097	-0.95	-146.6	88.1	-8.6	51	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
1406	-0.95	-146.6	108.8	-6.2	66	1407	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
1716	-0.95	-146.6	129.7	-7.2	81	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
2026	-0.95	-146.6	149.7	-6.8	96	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
2334	-0.95	-146.6	172.4	-7.3	111	2336	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
2643	-0.95	-146.6	194.2	-7.1	126	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
2953	-0.95	-146.6	217.2	-7.4	141	2954	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3475
3262	-0.95	-146.6	238.4	-6.5	156	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
3571	-0.95	-146.6	260.2	-7.4	171	3572	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
3880	-0.95	-146.6	284.0	-7.9	186	3882	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3475
4190	-0.95	-146.6	306.9	-7.4	201	4192	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
4499	-0.95	-146.6	331.0	-7.9	216	4503	0.00	2.53	0.00	0.000	4	0.000	0.052	2287	3300	3475
4553	-0.95	-146.6	335.4	-7.7	218	4560	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1897	3475
4869	-0.95	-146.6	356.2	-6.2	234	4870	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
5178	-0.95	-146.6	378.0	-8.0	249	5179	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
5487	-0.95	-146.6	402.6	-7.2	264	5491	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3301	3475
5543	-0.95	-146.6	406.3	-6.8	266	5549	0.00	2.53	0.00	0.000	6	0.000	0.046	2287	1896	3475
5858	-0.95	-146.6	423.1	-6.8	282	5859	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3475
6167	-0.95	-146.6	447.2	-7.2	297	6168	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3475
6477	-0.95	-146.6	465.2	-5.3	312	6482	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3302	3475
6584	-0.95	-146.6	471.2	-6.2	317	6588	0.00	2.55	0.00	0.000	6	0.000	0.049	2287	1894	3475
6909	-0.95	-146.6	491.8	-6.8	333	6911	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3474
7218	-0.95	-146.6	510.0	-6.0	348	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3474
7532	-0.95	-146.6	525.5	-5.5	363	7534	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3473
7837	-0.95	-146.6	545.5	-7.3	378	7838	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3474
7938	end dive: BOTTOM_OBSTACLE_DETECTED
state	7938	begin apogee
7944	-0.36	0.0	553.1	7.5	383	8068	0.60	0.00	121.38	1.180	6	0.076	0.000	2416	2095	2878
8069	end apogee: CONTROL_FINISHED_OK
state	8069	begin climb
8071	0.95	146.6	557.0	0.0	389	8196	1.30	0.00	121.00	1.131	6	0.055	0.000	2701	2094	2280
8491	0.95	146.6	540.2	6.3	410	8495	0.00	2.60	0.00	0.000	4	0.000	0.062	2702	3496	2279
8619	0.95	146.6	531.6	6.5	416	8624	0.00	2.55	0.00	0.000	6	0.000	0.050	2702	2097	2279
8946	0.96	157.6	513.7	5.7	432	8961	0.00	2.70	9.98	1.156	4	0.000	0.072	2701	689	2235
9028	0.96	157.6	508.6	6.4	435	9033	0.00	2.55	0.00	0.000	6	0.000	0.049	2702	2103	2235
9355	0.96	157.6	489.7	6.2	451	9359	0.00	2.55	0.00	0.000	4	0.000	0.061	2702	3499	2234
9438	0.96	157.6	484.5	6.5	455	9443	0.00	2.55	0.00	0.000	6	0.000	0.050	2702	2095	2234
9765	0.99	182.4	466.3	5.3	471	9788	0.00	0.00	21.20	1.157	6	0.000	0.000	2702	2095	2134
10094	1.05	229.4	449.9	4.6	487	10138	0.00	2.65	39.20	1.127	4	0.000	0.058	2702	3499	1942
10190	1.05	229.4	444.3	6.5	491	10194	0.00	2.55	0.00	0.000	6	0.000	0.048	2702	2097	1941
10505	1.06	234.9	425.2	5.8	506	10513	0.10	0.00	5.62	1.106	6	0.058	0.000	2738	2097	1920
10815	1.06	234.9	404.8	6.8	521	10819	0.00	2.60	0.00	0.000	4	0.000	0.068	2739	693	1920
10869	1.06	234.9	400.4	8.6	523	10876	0.00	2.50	0.00	0.000	6	0.000	0.044	2739	2104	1920
11184	1.06	234.9	379.5	6.9	539	11186	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2107	1920
11494	1.06	234.9	356.9	7.3	554	11498	0.00	2.55	0.00	0.000	4	0.000	0.054	2738	3505	1920
11565	1.06	234.9	350.4	9.1	557	11570	0.00	2.53	0.00	0.000	6	0.000	0.044	2739	2091	1920
11886	1.06	234.9	326.6	7.1	573	11888	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2091	1920
12195	1.06	234.9	302.7	7.8	588	12197	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2091	1920
12505	1.06	234.9	277.7	8.7	603	12506	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2091	1920
12814	1.06	234.9	250.5	9.2	618	12818	0.00	2.55	0.00	0.000	4	0.000	0.052	2738	3501	1921
12891	1.06	234.9	243.2	10.5	621	12897	0.00	2.50	0.00	0.000	6	0.000	0.043	2739	2098	1921
13206	1.06	234.9	214.7	7.4	637	13207	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1921
13516	1.06	234.9	190.7	6.6	652	13517	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1922
13825	1.06	234.9	165.9	8.9	667	13829	0.00	2.55	0.00	0.000	4	0.000	0.051	2738	3504	1921
13908	1.06	234.9	158.5	8.1	671	13913	0.00	2.50	0.00	0.000	6	0.000	0.041	2738	2098	1922
14235	1.06	234.9	135.2	9.3	687	14236	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1922
14544	1.06	234.9	109.6	8.3	702	14545	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1922
14853	1.06	234.9	84.1	8.6	717	14857	0.00	2.55	0.00	0.000	4	0.000	0.049	2738	3502	1923
14919	1.06	234.9	79.3	7.6	720	14923	0.00	2.47	0.00	0.000	6	0.000	0.040	2738	2099	1923
15246	1.06	234.9	51.2	9.3	736	15247	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1922
15555	1.06	234.9	24.3	7.4	751	15556	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1923
15865	1.06	234.9	3.0	7.3	766	15869	0.00	2.58	0.00	0.000	4	0.000	0.064	2738	694	1923
15896	1.30	432.8	3.0	0.1	767	16010	0.12	2.50	105.07	0.788	6	0.039	0.041	2793	2113	1112
16190	end climb: NO_VERTICAL_VELOCITY
state	16190	begin surface