Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 351 * 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 -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 351 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 20 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 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 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 -2101007.5 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 0 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 2330 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 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 -2101007.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 20 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 351 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 114625,6447.565,-1033.309,23,1.8,41,-11.3 TGT_NAME NS

_CALLS 3 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.09 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 115651,6447.634,-1033.542,15,1.9,15,-11.3 MHEAD_RNG_PITCHd_Wd 158.1,78853,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.018606 ALTIM_BOTTOM_PING 350.4,85.5

SM_CCo 12547,125.80,0.661,0,0,509,557.32 _24V_AH 23.4,56.549

SM_GC 1.22,0.00,0.00,125.80,0.000,0.000,0.661,71,2250,509,-10.39,0.57,557.32 _10V_AH 10.1,27.761

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31697,599

TT8_MAMPS 0.02301 CAP_FILE_SIZE 99939,0

HUMID 1926 CFSIZE 260165632,239161344

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 52 GPS 110808,152938,6447.206,-1033.362,34,2.0,34,-11.3

ALTIM_TOP_PING 19.2,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.34 SBE_CT 446 24 250.61

Roll_motor 127 82 246.75 SBE_O2 406 19 180.63

VBD_pump_during_apogee 401 996 9350.74 WL_BB2F 472 105 1159.95

VBD_pump_during_surface 125 661 1946.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 130.23 nil 0 0 0.00

Iridium_during_connect 81 160 303.28 nil 0 0 0.00

Iridium_during_xfer 233 223 1220.34

Transponder_ping 15 420 154.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.76

TT8 1116 19 223.24

LPSleep 9521 2 210.61

TT8_Active 679 19 135.83

TT8_Sampling 1344 39 540.61

TT8_CF8 644 45 297.95

TT8_Kalman 0 81 0.00

Analog_circuits 1400 12 169.72

GPS_charging 0 0 0.00

Compass 1317 8 106.42

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.82 0.000 2 0.000 0.000 71 2245 2782

150 -0.85 -146.6 3.4 -2.7 6 185 11.65 2.70 -16.23 0.000 4 0.170 0.067 2143 812 3380

289 -0.78 -146.6 18.9 -9.8 12 294 0.00 2.58 0.00 0.000 6 0.000 0.046 2142 2230 3380

611 -0.66 -146.6 49.6 -8.3 28 616 0.17 2.62 0.00 0.000 4 0.095 0.064 2181 3644 3381

667 -0.66 -146.6 53.6 -6.8 30 673 0.00 2.55 0.00 0.000 6 0.000 0.044 2181 2221 3381

983 -0.66 -146.6 78.6 -9.2 46 988 0.00 2.58 0.00 0.000 4 0.000 0.056 2181 819 3382

1017 -0.73 -146.6 82.0 -10.0 47 1023 0.00 2.58 0.00 0.000 6 0.000 0.047 2181 2238 3382

1335 -0.73 -146.6 108.6 -7.0 63 1336 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2237 3382

1643 -0.73 -146.6 128.9 -6.7 78 1647 0.00 2.62 0.00 0.000 4 0.000 0.070 2181 3638 3382

1683 -0.73 -146.6 131.9 -7.4 80 1687 0.00 2.58 0.00 0.000 6 0.000 0.048 2181 2224 3382

2010 -0.73 -146.6 152.0 -5.9 96 2014 0.00 2.60 0.00 0.000 4 0.000 0.060 2181 818 3382

2037 -0.81 -146.6 153.8 -6.1 97 2042 0.12 2.58 0.00 0.000 6 0.048 0.049 2141 2229 3383

2354 -0.72 -146.6 179.2 -8.8 112 2359 0.15 2.65 0.00 0.000 4 0.088 0.072 2174 3644 3382

2394 -0.77 -146.6 182.7 -8.3 114 2398 0.00 2.55 0.00 0.000 6 0.000 0.050 2174 2230 3382

2721 -0.77 -146.6 207.5 -7.3 130 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3382

3029 -0.77 -146.6 228.8 -6.6 145 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3382

3339 -0.77 -146.6 248.4 -6.3 160 3343 0.00 2.67 0.00 0.000 4 0.000 0.078 2174 3637 3381

3369 -0.77 -146.6 250.2 -7.1 161 3373 0.00 2.58 0.00 0.000 6 0.000 0.054 2174 2231 3382

3685 -0.77 -146.6 269.2 -6.0 176 3686 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2231 3381

3994 -0.77 -146.6 289.0 -6.8 191 3998 0.00 2.70 0.00 0.000 4 0.000 0.080 2174 3636 3380

4027 -0.77 -146.6 291.6 -7.7 192 4033 0.00 2.60 0.00 0.000 6 0.000 0.056 2174 2231 3380

4343 -0.77 -146.6 313.2 -7.1 208 4347 0.00 2.70 0.00 0.000 4 0.000 0.081 2174 3635 3379

4371 -0.77 -146.6 315.3 -7.6 209 4376 0.00 2.60 0.00 0.000 6 0.000 0.058 2173 2233 3379

4688 -0.77 -146.6 337.8 -7.2 224 4689 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2233 3378

4996 -0.77 -146.6 358.7 -7.0 239 5001 0.00 2.72 0.00 0.000 4 0.000 0.083 2174 3640 3377

5029 -0.77 -146.6 361.2 -7.3 240 5036 0.00 2.62 0.00 0.000 6 0.000 0.058 2173 2225 3377

5346 -0.82 -146.6 381.8 -6.2 256 5350 0.00 2.65 0.00 0.000 4 0.000 0.073 2174 819 3375

5373 -0.90 -146.6 383.8 -7.3 257 5379 0.20 2.62 0.00 0.000 6 0.051 0.058 2123 2230 3375

5689 -0.79 -146.6 413.0 -8.8 272 5694 0.17 2.70 0.00 0.000 4 0.095 0.083 2156 3640 3374

5723 -0.79 -146.6 416.0 -7.8 273 5729 0.00 2.62 0.00 0.000 6 0.000 0.059 2156 2230 3374

5850 end dive: BOTTOM_OBSTACLE_DETECTED

state 5851 begin apogee

5857 -0.31 0.0 426.2 7.8 280 5988 0.52 0.00 127.68 0.996 6 0.100 0.000 2261 2230 2781

5988 end apogee: CONTROL_FINISHED_OK

state 5989 begin climb

5992 0.85 146.6 431.2 0.0 286 6128 1.20 2.85 127.32 0.974 4 0.082 0.081 2510 3649 2183

6300 0.76 146.6 423.6 6.2 300 6304 0.00 2.65 0.00 0.000 6 0.000 0.059 2510 2236 2184

6622 0.71 146.6 406.5 6.1 316 6624 0.12 0.00 0.00 0.000 6 0.102 0.000 2486 2236 2183

6930 0.78 205.0 392.4 4.4 331 6991 0.00 2.83 51.38 0.956 4 0.000 0.073 2486 822 1944

7015 0.84 215.5 388.0 5.7 335 7032 0.12 2.67 10.73 0.850 6 0.060 0.058 2515 2249 1901

7344 0.84 216.2 368.6 6.0 350 7348 0.00 2.72 0.00 0.000 4 0.000 0.072 2516 821 1901

7377 0.84 216.2 366.3 6.2 351 7383 0.00 2.65 0.00 0.000 6 0.000 0.058 2516 2240 1901

7692 0.84 216.2 346.8 6.3 367 7693 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2240 1901

8002 0.84 216.2 327.9 6.2 382 8003 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2240 1900

8311 0.84 216.2 308.9 6.1 397 8312 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2240 1899

8620 0.88 248.9 292.3 5.1 412 8655 0.00 2.80 29.52 0.910 4 0.000 0.082 2516 3652 1766

8673 0.90 267.3 289.6 5.5 413 8699 0.00 2.67 17.02 0.870 6 0.000 0.061 2516 2237 1691

9009 0.99 309.9 272.5 4.8 430 9054 0.15 2.80 37.42 0.897 4 0.070 0.073 2550 822 1517

9100 0.99 309.9 266.3 7.7 434 9105 0.00 2.67 0.00 0.000 6 0.000 0.058 2550 2245 1516

9421 0.95 309.9 242.4 8.0 450 9426 0.00 2.72 0.00 0.000 4 0.000 0.073 2550 823 1516

9460 0.95 309.9 239.1 8.4 452 9465 0.00 2.65 0.00 0.000 6 0.000 0.058 2550 2240 1516

9788 0.95 309.9 214.0 7.2 468 9789 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2241 1516

10096 0.95 309.9 189.5 8.6 483 10101 0.00 2.67 0.00 0.000 4 0.000 0.071 2550 828 1515

10146 0.95 309.9 184.7 9.4 485 10151 0.00 2.62 0.00 0.000 6 0.000 0.057 2550 2241 1515

10463 0.91 309.9 154.8 9.1 500 10468 0.12 2.70 0.00 0.000 4 0.098 0.077 2526 3654 1515

10491 0.91 309.9 152.1 9.6 501 10496 0.00 2.62 0.00 0.000 6 0.000 0.059 2526 2239 1515

10807 0.91 309.9 125.8 8.1 516 10811 0.00 2.65 0.00 0.000 4 0.000 0.068 2526 827 1515

10840 0.91 309.9 122.9 8.0 517 10847 0.00 2.60 0.00 0.000 6 0.000 0.053 2526 2241 1515

11156 0.91 309.9 98.5 7.5 533 11161 0.00 2.67 0.00 0.000 4 0.000 0.066 2526 819 1515

11190 0.91 309.9 95.7 7.6 534 11196 0.00 2.60 0.00 0.000 6 0.000 0.051 2526 2243 1515

11508 0.91 309.9 72.6 6.8 550 11509 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2243 1515

11815 0.91 309.9 50.4 7.5 565 11819 0.00 2.65 0.00 0.000 4 0.000 0.064 2526 826 1516

11864 0.91 309.9 46.9 7.1 567 11869 0.00 2.58 0.00 0.000 6 0.000 0.049 2526 2240 1516

12181 0.91 309.9 24.6 7.1 582 12185 0.00 2.65 0.00 0.000 4 0.000 0.063 2526 821 1516

12202 0.91 309.9 22.9 7.4 583 12207 0.00 2.60 0.00 0.000 6 0.000 0.049 2526 2248 1516

12501 end climb: SURFACE_DEPTH_REACHED

state 12501 begin surface coast

12523 end surface coast: CONTROL_FINISHED_OK

state 12525 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	351	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	20	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	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	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	-2101007.5	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	0	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	2330	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	114625,6447.565,-1033.309,23,1.8,41,-11.3	TGT_NAME	NS
_CALLS	3	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.09	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	115651,6447.634,-1033.542,15,1.9,15,-11.3	MHEAD_RNG_PITCHd_Wd	158.1,78853,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.018606	ALTIM_BOTTOM_PING	350.4,85.5
SM_CCo	12547,125.80,0.661,0,0,509,557.32	_24V_AH	23.4,56.549
SM_GC	1.22,0.00,0.00,125.80,0.000,0.000,0.661,71,2250,509,-10.39,0.57,557.32	_10V_AH	10.1,27.761
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31697,599
TT8_MAMPS	0.02301	CAP_FILE_SIZE	99939,0
HUMID	1926	CFSIZE	260165632,239161344
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	52	GPS	110808,152938,6447.206,-1033.362,34,2.0,34,-11.3
ALTIM_TOP_PING	19.2,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.34	SBE_CT	446	24	250.61
Roll_motor	127	82	246.75	SBE_O2	406	19	180.63
VBD_pump_during_apogee	401	996	9350.74	WL_BB2F	472	105	1159.95
VBD_pump_during_surface	125	661	1946.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	130.23	nil	0	0	0.00
Iridium_during_connect	81	160	303.28	nil	0	0	0.00
Iridium_during_xfer	233	223	1220.34
Transponder_ping	15	420	154.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.76
TT8	1116	19	223.24
LPSleep	9521	2	210.61
TT8_Active	679	19	135.83
TT8_Sampling	1344	39	540.61
TT8_CF8	644	45	297.95
TT8_Kalman	0	81	0.00
Analog_circuits	1400	12	169.72
GPS_charging	0	0	0.00
Compass	1317	8	106.42
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.82	0.000	2	0.000	0.000	71	2245	2782
150	-0.85	-146.6	3.4	-2.7	6	185	11.65	2.70	-16.23	0.000	4	0.170	0.067	2143	812	3380
289	-0.78	-146.6	18.9	-9.8	12	294	0.00	2.58	0.00	0.000	6	0.000	0.046	2142	2230	3380
611	-0.66	-146.6	49.6	-8.3	28	616	0.17	2.62	0.00	0.000	4	0.095	0.064	2181	3644	3381
667	-0.66	-146.6	53.6	-6.8	30	673	0.00	2.55	0.00	0.000	6	0.000	0.044	2181	2221	3381
983	-0.66	-146.6	78.6	-9.2	46	988	0.00	2.58	0.00	0.000	4	0.000	0.056	2181	819	3382
1017	-0.73	-146.6	82.0	-10.0	47	1023	0.00	2.58	0.00	0.000	6	0.000	0.047	2181	2238	3382
1335	-0.73	-146.6	108.6	-7.0	63	1336	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2237	3382
1643	-0.73	-146.6	128.9	-6.7	78	1647	0.00	2.62	0.00	0.000	4	0.000	0.070	2181	3638	3382
1683	-0.73	-146.6	131.9	-7.4	80	1687	0.00	2.58	0.00	0.000	6	0.000	0.048	2181	2224	3382
2010	-0.73	-146.6	152.0	-5.9	96	2014	0.00	2.60	0.00	0.000	4	0.000	0.060	2181	818	3382
2037	-0.81	-146.6	153.8	-6.1	97	2042	0.12	2.58	0.00	0.000	6	0.048	0.049	2141	2229	3383
2354	-0.72	-146.6	179.2	-8.8	112	2359	0.15	2.65	0.00	0.000	4	0.088	0.072	2174	3644	3382
2394	-0.77	-146.6	182.7	-8.3	114	2398	0.00	2.55	0.00	0.000	6	0.000	0.050	2174	2230	3382
2721	-0.77	-146.6	207.5	-7.3	130	2722	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3382
3029	-0.77	-146.6	228.8	-6.6	145	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3382
3339	-0.77	-146.6	248.4	-6.3	160	3343	0.00	2.67	0.00	0.000	4	0.000	0.078	2174	3637	3381
3369	-0.77	-146.6	250.2	-7.1	161	3373	0.00	2.58	0.00	0.000	6	0.000	0.054	2174	2231	3382
3685	-0.77	-146.6	269.2	-6.0	176	3686	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2231	3381
3994	-0.77	-146.6	289.0	-6.8	191	3998	0.00	2.70	0.00	0.000	4	0.000	0.080	2174	3636	3380
4027	-0.77	-146.6	291.6	-7.7	192	4033	0.00	2.60	0.00	0.000	6	0.000	0.056	2174	2231	3380
4343	-0.77	-146.6	313.2	-7.1	208	4347	0.00	2.70	0.00	0.000	4	0.000	0.081	2174	3635	3379
4371	-0.77	-146.6	315.3	-7.6	209	4376	0.00	2.60	0.00	0.000	6	0.000	0.058	2173	2233	3379
4688	-0.77	-146.6	337.8	-7.2	224	4689	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2233	3378
4996	-0.77	-146.6	358.7	-7.0	239	5001	0.00	2.72	0.00	0.000	4	0.000	0.083	2174	3640	3377
5029	-0.77	-146.6	361.2	-7.3	240	5036	0.00	2.62	0.00	0.000	6	0.000	0.058	2173	2225	3377
5346	-0.82	-146.6	381.8	-6.2	256	5350	0.00	2.65	0.00	0.000	4	0.000	0.073	2174	819	3375
5373	-0.90	-146.6	383.8	-7.3	257	5379	0.20	2.62	0.00	0.000	6	0.051	0.058	2123	2230	3375
5689	-0.79	-146.6	413.0	-8.8	272	5694	0.17	2.70	0.00	0.000	4	0.095	0.083	2156	3640	3374
5723	-0.79	-146.6	416.0	-7.8	273	5729	0.00	2.62	0.00	0.000	6	0.000	0.059	2156	2230	3374
5850	end dive: BOTTOM_OBSTACLE_DETECTED
state	5851	begin apogee
5857	-0.31	0.0	426.2	7.8	280	5988	0.52	0.00	127.68	0.996	6	0.100	0.000	2261	2230	2781
5988	end apogee: CONTROL_FINISHED_OK
state	5989	begin climb
5992	0.85	146.6	431.2	0.0	286	6128	1.20	2.85	127.32	0.974	4	0.082	0.081	2510	3649	2183
6300	0.76	146.6	423.6	6.2	300	6304	0.00	2.65	0.00	0.000	6	0.000	0.059	2510	2236	2184
6622	0.71	146.6	406.5	6.1	316	6624	0.12	0.00	0.00	0.000	6	0.102	0.000	2486	2236	2183
6930	0.78	205.0	392.4	4.4	331	6991	0.00	2.83	51.38	0.956	4	0.000	0.073	2486	822	1944
7015	0.84	215.5	388.0	5.7	335	7032	0.12	2.67	10.73	0.850	6	0.060	0.058	2515	2249	1901
7344	0.84	216.2	368.6	6.0	350	7348	0.00	2.72	0.00	0.000	4	0.000	0.072	2516	821	1901
7377	0.84	216.2	366.3	6.2	351	7383	0.00	2.65	0.00	0.000	6	0.000	0.058	2516	2240	1901
7692	0.84	216.2	346.8	6.3	367	7693	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2240	1901
8002	0.84	216.2	327.9	6.2	382	8003	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2240	1900
8311	0.84	216.2	308.9	6.1	397	8312	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2240	1899
8620	0.88	248.9	292.3	5.1	412	8655	0.00	2.80	29.52	0.910	4	0.000	0.082	2516	3652	1766
8673	0.90	267.3	289.6	5.5	413	8699	0.00	2.67	17.02	0.870	6	0.000	0.061	2516	2237	1691
9009	0.99	309.9	272.5	4.8	430	9054	0.15	2.80	37.42	0.897	4	0.070	0.073	2550	822	1517
9100	0.99	309.9	266.3	7.7	434	9105	0.00	2.67	0.00	0.000	6	0.000	0.058	2550	2245	1516
9421	0.95	309.9	242.4	8.0	450	9426	0.00	2.72	0.00	0.000	4	0.000	0.073	2550	823	1516
9460	0.95	309.9	239.1	8.4	452	9465	0.00	2.65	0.00	0.000	6	0.000	0.058	2550	2240	1516
9788	0.95	309.9	214.0	7.2	468	9789	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2241	1516
10096	0.95	309.9	189.5	8.6	483	10101	0.00	2.67	0.00	0.000	4	0.000	0.071	2550	828	1515
10146	0.95	309.9	184.7	9.4	485	10151	0.00	2.62	0.00	0.000	6	0.000	0.057	2550	2241	1515
10463	0.91	309.9	154.8	9.1	500	10468	0.12	2.70	0.00	0.000	4	0.098	0.077	2526	3654	1515
10491	0.91	309.9	152.1	9.6	501	10496	0.00	2.62	0.00	0.000	6	0.000	0.059	2526	2239	1515
10807	0.91	309.9	125.8	8.1	516	10811	0.00	2.65	0.00	0.000	4	0.000	0.068	2526	827	1515
10840	0.91	309.9	122.9	8.0	517	10847	0.00	2.60	0.00	0.000	6	0.000	0.053	2526	2241	1515
11156	0.91	309.9	98.5	7.5	533	11161	0.00	2.67	0.00	0.000	4	0.000	0.066	2526	819	1515
11190	0.91	309.9	95.7	7.6	534	11196	0.00	2.60	0.00	0.000	6	0.000	0.051	2526	2243	1515
11508	0.91	309.9	72.6	6.8	550	11509	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2243	1515
11815	0.91	309.9	50.4	7.5	565	11819	0.00	2.65	0.00	0.000	4	0.000	0.064	2526	826	1516
11864	0.91	309.9	46.9	7.1	567	11869	0.00	2.58	0.00	0.000	6	0.000	0.049	2526	2240	1516
12181	0.91	309.9	24.6	7.1	582	12185	0.00	2.65	0.00	0.000	4	0.000	0.063	2526	821	1516
12202	0.91	309.9	22.9	7.4	583	12207	0.00	2.60	0.00	0.000	6	0.000	0.049	2526	2248	1516
12501	end climb: SURFACE_DEPTH_REACHED
state	12501	begin surface coast
12523	end surface coast: CONTROL_FINISHED_OK
state	12525	begin surface