Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 216 * 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 216 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -80211.945 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 -80211.945

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 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 216 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 150740,6308.120,-1248.294,70,1.6,72,-12.0 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.196,0.071

_SM_DEPTHo 3.44 KALMAN_X 262155.0,-391.6,1314.2,-490917.9,7778.5

_SM_ANGLEo -48.4 KALMAN_Y -8127.3,68.5,-284.1,184459.2,-3036.2

GPS2 151650,6308.258,-1248.311,13,1.5,13,-12.0 MHEAD_RNG_PITCHd_Wd 301.9,25512,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16032,0.00,0.000,0,0,602,558.30 ALTIM_BOTTOM_PING 475.9,77.2

SM_GC 3.51,12.75,0.00,0.00,0.048,0.000,0.000,29,1884,602,-11.27,-0.45,558.30 _24V_AH 23.3,48.003

IRIDIUM_FIX 6244.56,-1251.84,301207,191930 _10V_AH 10.1,23.215

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37961,752

HUMID 2054 CFSIZE 260165632,245002240

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.30 GPS 301207,194608,6308.615,-1253.563,38,1.8,38,-12.0

XPDR_PINGS 13

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 98 60.75 SBE_CT 558 24 312.51

Roll_motor 92 72 156.53 SBE_O2 505 19 223.90

VBD_pump_during_apogee 534 1166 14534.18 WL_BB2F 554 105 1355.69

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 179.55 nil 0 0 0.00

Iridium_during_connect 77 160 289.30 nil 0 0 0.00

Iridium_during_xfer 229 223 1190.37

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.75

TT8 1357 19 271.51

LPSleep 12309 2 272.28

TT8_Active 660 19 132.19

TT8_Sampling 1694 39 681.13

TT8_CF8 563 45 260.71

TT8_Kalman 33 81 27.57

Analog_circuits 1539 12 186.56

GPS_charging 0 0 0.00

Compass 1667 8 134.75

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.52 0.000 2 0.000 0.000 28 1892 1097

47 -0.95 -146.6 3.5 -0.0 1 213 11.02 2.62 -148.18 0.000 4 0.099 0.073 2289 495 3476

466 -0.95 -146.6 48.4 -16.5 20 471 0.00 2.47 0.00 0.000 6 0.000 0.041 2289 1906 3476

794 -0.95 -146.6 73.3 -5.0 36 798 0.00 2.62 0.00 0.000 4 0.000 0.066 2289 498 3476

932 -0.95 -146.6 80.0 -7.4 42 937 0.00 2.45 0.00 0.000 6 0.000 0.041 2289 1907 3476

1256 -0.95 -146.6 91.2 -3.7 58 1260 0.00 2.62 0.00 0.000 4 0.000 0.067 2289 498 3476

1299 -0.95 -146.6 93.4 -4.8 60 1303 0.00 2.47 0.00 0.000 6 0.000 0.042 2289 1906 3476

1626 -0.95 -146.6 114.3 -8.4 76 1630 0.00 2.50 0.00 0.000 4 0.000 0.051 2289 3295 3476

1697 -0.95 -146.6 121.9 -10.5 79 1701 0.00 2.50 0.00 0.000 6 0.000 0.045 2289 1903 3476

2019 -0.95 -146.6 147.5 -3.5 95 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

2328 -0.95 -146.6 167.0 -6.0 110 2329 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

2637 -0.95 -146.6 179.4 -5.2 125 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

2946 -0.95 -146.6 199.5 -6.9 140 2947 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

3256 -0.95 -146.6 223.5 -6.3 155 3257 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

3564 -0.95 -146.6 242.9 -7.7 170 3569 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3300 3476

3653 -0.95 -146.6 249.9 -8.5 174 3658 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1898 3476

3980 -0.95 -146.6 269.5 -5.2 190 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

4288 -0.95 -146.6 291.9 -8.1 205 4293 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3297 3476

4372 -0.95 -146.6 298.2 -8.4 209 4377 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1902 3476

4701 -0.95 -146.6 326.3 -7.8 225 4702 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

5007 -0.95 -146.6 348.7 -6.7 240 5009 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

5317 -0.95 -146.6 367.8 -6.6 255 5318 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

5626 -0.95 -146.6 385.0 -6.0 270 5628 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

5935 -0.95 -146.6 414.3 -11.1 285 5940 0.00 2.50 0.00 0.000 4 0.000 0.051 2289 3297 3476

5985 -0.95 -146.6 420.3 -11.7 287 5989 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1901 3476

6306 -0.95 -146.6 450.6 -7.5 303 6308 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

6615 -0.95 -146.6 466.4 -4.6 318 6620 0.00 2.53 0.00 0.000 4 0.000 0.051 2288 3302 3475

6727 -0.95 -146.6 471.8 -4.3 323 6731 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1899 3475

7047 -0.95 -146.6 481.7 -2.0 339 7051 0.00 2.53 0.00 0.000 4 0.000 0.053 2289 3296 3475

7131 -0.95 -146.6 483.7 -3.6 343 7135 0.00 2.53 0.00 0.000 6 0.000 0.048 2289 1897 3475

7456 -0.95 -146.6 508.2 -7.9 359 7461 0.00 2.55 0.00 0.000 4 0.000 0.055 2289 3301 3475

7511 -0.95 -146.6 512.4 -7.8 361 7518 0.00 2.53 0.00 0.000 6 0.000 0.050 2289 1900 3475

7827 -0.95 -146.6 534.5 -7.2 377 7828 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

7969 end dive: BOTTOM_OBSTACLE_DETECTED

state 7969 begin apogee

7975 -0.36 0.0 543.6 6.0 384 8100 0.60 0.00 121.90 1.167 6 0.071 0.000 2419 2095 2878

8101 end apogee: CONTROL_FINISHED_OK

state 8101 begin climb

8103 0.95 146.6 548.5 0.0 390 8234 1.30 2.70 120.93 1.124 4 0.051 0.061 2708 3495 2280

8308 1.00 191.8 543.8 4.7 400 8352 0.00 2.55 37.95 1.118 6 0.000 0.049 2708 2102 2095

8676 1.05 233.5 524.4 4.8 418 8717 0.00 2.65 34.60 1.137 4 0.000 0.060 2708 3497 1925

8818 1.05 233.5 515.5 6.6 424 8822 0.00 2.55 0.00 0.000 6 0.000 0.051 2708 2101 1925

9133 1.05 233.5 491.3 7.8 439 9134 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2101 1924

9443 1.05 233.5 467.9 7.4 454 9444 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2101 1923

9751 1.05 233.5 448.0 6.2 469 9753 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2101 1923

10062 1.13 297.3 433.3 4.1 484 10123 0.15 2.67 51.65 1.126 4 0.048 0.054 2760 3500 1665

10162 1.13 297.3 426.5 7.7 488 10169 0.00 2.55 0.00 0.000 6 0.000 0.048 2759 2098 1665

10477 1.13 297.3 397.5 10.5 504 10478 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2098 1665

10786 1.13 297.3 363.2 10.4 519 10788 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2098 1665

11096 1.13 297.3 335.2 8.7 534 11097 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2098 1665

11405 1.13 297.3 307.6 9.0 549 11409 0.00 2.60 0.00 0.000 4 0.000 0.067 2760 691 1665

11470 1.13 297.3 301.6 8.9 552 11475 0.00 2.47 0.00 0.000 6 0.000 0.042 2760 2103 1665

11797 1.13 297.3 274.6 8.8 568 11802 0.00 2.53 0.00 0.000 4 0.000 0.051 2759 3499 1665

11859 1.13 297.3 269.2 8.7 571 11864 0.00 2.50 0.00 0.000 6 0.000 0.044 2760 2096 1665

12185 1.13 297.3 247.7 10.0 587 12186 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2096 1666

12495 1.13 297.3 215.0 8.5 602 12496 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2096 1666

12804 1.13 297.3 188.4 7.1 617 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2097 1666

13113 1.13 297.3 153.4 11.9 632 13114 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2096 1666

13425 1.13 297.3 121.7 8.5 647 13429 0.00 2.60 0.00 0.000 4 0.000 0.064 2760 689 1667

13488 1.15 311.9 117.4 5.6 650 13510 0.00 2.50 12.82 0.938 6 0.000 0.041 2760 2111 1605

13820 1.15 311.9 80.8 11.0 666 13824 0.00 2.50 0.00 0.000 4 0.000 0.051 2760 3494 1605

13869 1.15 311.9 76.0 9.0 668 13873 0.00 2.47 0.00 0.000 6 0.000 0.040 2759 2091 1605

14191 1.18 335.3 57.1 5.3 684 14211 0.00 0.00 18.73 0.890 6 0.000 0.000 2760 2091 1511

14521 1.25 392.9 35.9 4.3 700 14568 0.00 0.00 44.70 0.855 6 0.000 0.000 2759 2090 1276

14870 1.25 392.9 3.4 16.6 717 14871 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2086 1275

15179 1.51 602.1 3.1 -0.2 732 15277 0.25 2.62 91.43 0.792 4 0.039 0.048 2832 3498 602

15294 1.81 849.9 2.8 -1.4 736 15301 0.28 2.53 0.00 0.000 6 0.069 0.040 2891 2096 601

15609 end climb: NO_VERTICAL_VELOCITY

state 15609 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	216	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-80211.945	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	150740,6308.120,-1248.294,70,1.6,72,-12.0	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.196,0.071
_SM_DEPTHo	3.44	KALMAN_X	262155.0,-391.6,1314.2,-490917.9,7778.5
_SM_ANGLEo	-48.4	KALMAN_Y	-8127.3,68.5,-284.1,184459.2,-3036.2
GPS2	151650,6308.258,-1248.311,13,1.5,13,-12.0	MHEAD_RNG_PITCHd_Wd	301.9,25512,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16032,0.00,0.000,0,0,602,558.30	ALTIM_BOTTOM_PING	475.9,77.2
SM_GC	3.51,12.75,0.00,0.00,0.048,0.000,0.000,29,1884,602,-11.27,-0.45,558.30	_24V_AH	23.3,48.003
IRIDIUM_FIX	6244.56,-1251.84,301207,191930	_10V_AH	10.1,23.215
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37961,752
HUMID	2054	CFSIZE	260165632,245002240
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.30	GPS	301207,194608,6308.615,-1253.563,38,1.8,38,-12.0
XPDR_PINGS	13

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	98	60.75	SBE_CT	558	24	312.51
Roll_motor	92	72	156.53	SBE_O2	505	19	223.90
VBD_pump_during_apogee	534	1166	14534.18	WL_BB2F	554	105	1355.69
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	179.55	nil	0	0	0.00
Iridium_during_connect	77	160	289.30	nil	0	0	0.00
Iridium_during_xfer	229	223	1190.37
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.75
TT8	1357	19	271.51
LPSleep	12309	2	272.28
TT8_Active	660	19	132.19
TT8_Sampling	1694	39	681.13
TT8_CF8	563	45	260.71
TT8_Kalman	33	81	27.57
Analog_circuits	1539	12	186.56
GPS_charging	0	0	0.00
Compass	1667	8	134.75
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.52	0.000	2	0.000	0.000	28	1892	1097
47	-0.95	-146.6	3.5	-0.0	1	213	11.02	2.62	-148.18	0.000	4	0.099	0.073	2289	495	3476
466	-0.95	-146.6	48.4	-16.5	20	471	0.00	2.47	0.00	0.000	6	0.000	0.041	2289	1906	3476
794	-0.95	-146.6	73.3	-5.0	36	798	0.00	2.62	0.00	0.000	4	0.000	0.066	2289	498	3476
932	-0.95	-146.6	80.0	-7.4	42	937	0.00	2.45	0.00	0.000	6	0.000	0.041	2289	1907	3476
1256	-0.95	-146.6	91.2	-3.7	58	1260	0.00	2.62	0.00	0.000	4	0.000	0.067	2289	498	3476
1299	-0.95	-146.6	93.4	-4.8	60	1303	0.00	2.47	0.00	0.000	6	0.000	0.042	2289	1906	3476
1626	-0.95	-146.6	114.3	-8.4	76	1630	0.00	2.50	0.00	0.000	4	0.000	0.051	2289	3295	3476
1697	-0.95	-146.6	121.9	-10.5	79	1701	0.00	2.50	0.00	0.000	6	0.000	0.045	2289	1903	3476
2019	-0.95	-146.6	147.5	-3.5	95	2020	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
2328	-0.95	-146.6	167.0	-6.0	110	2329	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
2637	-0.95	-146.6	179.4	-5.2	125	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
2946	-0.95	-146.6	199.5	-6.9	140	2947	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
3256	-0.95	-146.6	223.5	-6.3	155	3257	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
3564	-0.95	-146.6	242.9	-7.7	170	3569	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3300	3476
3653	-0.95	-146.6	249.9	-8.5	174	3658	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1898	3476
3980	-0.95	-146.6	269.5	-5.2	190	3981	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
4288	-0.95	-146.6	291.9	-8.1	205	4293	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3297	3476
4372	-0.95	-146.6	298.2	-8.4	209	4377	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1902	3476
4701	-0.95	-146.6	326.3	-7.8	225	4702	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
5007	-0.95	-146.6	348.7	-6.7	240	5009	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
5317	-0.95	-146.6	367.8	-6.6	255	5318	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
5626	-0.95	-146.6	385.0	-6.0	270	5628	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
5935	-0.95	-146.6	414.3	-11.1	285	5940	0.00	2.50	0.00	0.000	4	0.000	0.051	2289	3297	3476
5985	-0.95	-146.6	420.3	-11.7	287	5989	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1901	3476
6306	-0.95	-146.6	450.6	-7.5	303	6308	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
6615	-0.95	-146.6	466.4	-4.6	318	6620	0.00	2.53	0.00	0.000	4	0.000	0.051	2288	3302	3475
6727	-0.95	-146.6	471.8	-4.3	323	6731	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1899	3475
7047	-0.95	-146.6	481.7	-2.0	339	7051	0.00	2.53	0.00	0.000	4	0.000	0.053	2289	3296	3475
7131	-0.95	-146.6	483.7	-3.6	343	7135	0.00	2.53	0.00	0.000	6	0.000	0.048	2289	1897	3475
7456	-0.95	-146.6	508.2	-7.9	359	7461	0.00	2.55	0.00	0.000	4	0.000	0.055	2289	3301	3475
7511	-0.95	-146.6	512.4	-7.8	361	7518	0.00	2.53	0.00	0.000	6	0.000	0.050	2289	1900	3475
7827	-0.95	-146.6	534.5	-7.2	377	7828	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
7969	end dive: BOTTOM_OBSTACLE_DETECTED
state	7969	begin apogee
7975	-0.36	0.0	543.6	6.0	384	8100	0.60	0.00	121.90	1.167	6	0.071	0.000	2419	2095	2878
8101	end apogee: CONTROL_FINISHED_OK
state	8101	begin climb
8103	0.95	146.6	548.5	0.0	390	8234	1.30	2.70	120.93	1.124	4	0.051	0.061	2708	3495	2280
8308	1.00	191.8	543.8	4.7	400	8352	0.00	2.55	37.95	1.118	6	0.000	0.049	2708	2102	2095
8676	1.05	233.5	524.4	4.8	418	8717	0.00	2.65	34.60	1.137	4	0.000	0.060	2708	3497	1925
8818	1.05	233.5	515.5	6.6	424	8822	0.00	2.55	0.00	0.000	6	0.000	0.051	2708	2101	1925
9133	1.05	233.5	491.3	7.8	439	9134	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2101	1924
9443	1.05	233.5	467.9	7.4	454	9444	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2101	1923
9751	1.05	233.5	448.0	6.2	469	9753	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2101	1923
10062	1.13	297.3	433.3	4.1	484	10123	0.15	2.67	51.65	1.126	4	0.048	0.054	2760	3500	1665
10162	1.13	297.3	426.5	7.7	488	10169	0.00	2.55	0.00	0.000	6	0.000	0.048	2759	2098	1665
10477	1.13	297.3	397.5	10.5	504	10478	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2098	1665
10786	1.13	297.3	363.2	10.4	519	10788	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2098	1665
11096	1.13	297.3	335.2	8.7	534	11097	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2098	1665
11405	1.13	297.3	307.6	9.0	549	11409	0.00	2.60	0.00	0.000	4	0.000	0.067	2760	691	1665
11470	1.13	297.3	301.6	8.9	552	11475	0.00	2.47	0.00	0.000	6	0.000	0.042	2760	2103	1665
11797	1.13	297.3	274.6	8.8	568	11802	0.00	2.53	0.00	0.000	4	0.000	0.051	2759	3499	1665
11859	1.13	297.3	269.2	8.7	571	11864	0.00	2.50	0.00	0.000	6	0.000	0.044	2760	2096	1665
12185	1.13	297.3	247.7	10.0	587	12186	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2096	1666
12495	1.13	297.3	215.0	8.5	602	12496	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2096	1666
12804	1.13	297.3	188.4	7.1	617	12805	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2097	1666
13113	1.13	297.3	153.4	11.9	632	13114	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2096	1666
13425	1.13	297.3	121.7	8.5	647	13429	0.00	2.60	0.00	0.000	4	0.000	0.064	2760	689	1667
13488	1.15	311.9	117.4	5.6	650	13510	0.00	2.50	12.82	0.938	6	0.000	0.041	2760	2111	1605
13820	1.15	311.9	80.8	11.0	666	13824	0.00	2.50	0.00	0.000	4	0.000	0.051	2760	3494	1605
13869	1.15	311.9	76.0	9.0	668	13873	0.00	2.47	0.00	0.000	6	0.000	0.040	2759	2091	1605
14191	1.18	335.3	57.1	5.3	684	14211	0.00	0.00	18.73	0.890	6	0.000	0.000	2760	2091	1511
14521	1.25	392.9	35.9	4.3	700	14568	0.00	0.00	44.70	0.855	6	0.000	0.000	2759	2090	1276
14870	1.25	392.9	3.4	16.6	717	14871	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2086	1275
15179	1.51	602.1	3.1	-0.2	732	15277	0.25	2.62	91.43	0.792	4	0.039	0.048	2832	3498	602
15294	1.81	849.9	2.8	-1.4	736	15301	0.28	2.53	0.00	0.000	6	0.069	0.040	2891	2096	601
15609	end climb: NO_VERTICAL_VELOCITY
state	15609	begin surface