Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 353 * 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 353 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2101060 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 -2101060

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 353 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 191638,6446.630,-1032.002,32,1.7,32,-11.3 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.12 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 192144,6446.678,-1032.081,16,1.8,33,-11.3 MHEAD_RNG_PITCHd_Wd 158.1,76727,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027022 ALTIM_BOTTOM_PING 400.4,38.4

SM_CCo 12847,115.97,0.657,1,0,508,557.32 _24V_AH 23.4,56.848

SM_GC 1.24,0.00,0.00,115.97,0.000,0.000,0.657,72,2242,508,-10.39,0.34,557.32 _10V_AH 10.1,27.894

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31592,614

TT8_MAMPS 0.023777 CAP_FILE_SIZE 96349,0

HUMID 1937 CFSIZE 260165632,239058944

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 58 GPS 110808,225931,6445.006,-1031.438,41,2.0,41,-11.3

ALTIM_TOP_PING 19.3,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.41 SBE_CT 462 24 259.51

Roll_motor 122 84 241.01 SBE_O2 416 19 185.14

VBD_pump_during_apogee 430 1003 10101.02 WL_BB2F 478 105 1176.83

VBD_pump_during_surface 115 657 1783.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.44 nil 0 0 0.00

Iridium_during_connect 34 160 127.68 nil 0 0 0.00

Iridium_during_xfer 116 223 608.23

Transponder_ping 18 420 176.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.10

TT8 1132 19 226.44

LPSleep 9661 2 213.69

TT8_Active 695 19 139.14

TT8_Sampling 1369 39 550.40

TT8_CF8 419 45 194.24

TT8_Kalman 0 81 0.00

Analog_circuits 1421 12 172.24

GPS_charging 0 0 0.00

Compass 1320 8 106.71

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.85 0.000 2 0.000 0.000 71 2246 2766

151 -0.85 -146.6 3.4 -2.7 6 186 11.70 2.67 -17.35 0.000 4 0.172 0.068 2141 800 3381

296 -0.80 -146.6 19.8 -9.8 12 301 0.00 2.60 0.00 0.000 6 0.000 0.047 2141 2233 3381

613 -0.66 -146.6 54.4 -10.8 27 614 0.22 0.00 0.00 0.000 6 0.094 0.000 2185 2234 3382

922 -0.66 -146.6 75.4 -6.0 42 926 0.00 2.62 0.00 0.000 4 0.000 0.067 2185 3640 3382

955 -0.66 -146.6 77.4 -6.0 43 962 0.00 2.55 0.00 0.000 6 0.000 0.046 2185 2227 3382

1273 -0.66 -146.6 94.2 -5.5 59 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2185 2227 3383

1581 -0.66 -146.6 113.1 -6.5 74 1585 0.00 2.65 0.00 0.000 4 0.000 0.068 2185 3638 3383

1608 -0.66 -146.6 115.0 -7.0 75 1613 0.00 2.55 0.00 0.000 6 0.000 0.046 2185 2230 3383

1924 -0.66 -146.6 136.0 -6.8 90 1925 0.00 0.00 0.00 0.000 6 0.000 0.000 2185 2230 3383

2234 -0.71 -146.6 156.3 -6.2 105 2238 0.00 2.65 0.00 0.000 4 0.000 0.071 2185 3634 3383

2267 -0.76 -146.6 158.6 -7.2 106 2273 0.00 2.55 0.00 0.000 6 0.000 0.048 2185 2231 3383

2583 -0.81 -146.6 179.3 -6.6 122 2588 0.15 2.60 0.00 0.000 4 0.046 0.060 2136 819 3383

2617 -0.75 -146.6 181.9 -8.5 123 2623 0.15 2.58 0.00 0.000 6 0.089 0.050 2165 2229 3383

2933 -0.75 -146.6 201.7 -5.7 139 2938 0.00 2.65 0.00 0.000 4 0.000 0.074 2165 3637 3383

2978 -0.75 -146.6 204.6 -6.4 141 2982 0.00 2.58 0.00 0.000 6 0.000 0.051 2165 2228 3383

3298 -0.75 -146.6 222.7 -6.1 157 3299 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2228 3383

3608 -0.75 -146.6 244.6 -7.7 172 3613 0.00 2.70 0.00 0.000 4 0.000 0.077 2165 3638 3383

3648 -0.75 -146.6 248.1 -8.7 174 3653 0.00 2.60 0.00 0.000 6 0.000 0.054 2165 2230 3383

3975 -0.75 -146.6 272.5 -7.2 190 3976 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3382

4285 -0.75 -146.6 294.1 -7.1 205 4286 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3382

4593 -0.75 -146.6 316.0 -7.0 220 4598 0.00 2.70 0.00 0.000 4 0.000 0.081 2165 3635 3382

4626 -0.75 -146.6 318.6 -8.1 221 4632 0.00 2.60 0.00 0.000 6 0.000 0.057 2165 2232 3382

4942 -0.75 -146.6 342.2 -7.6 237 4944 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2232 3380

5251 -0.75 -146.6 362.9 -6.6 252 5255 0.00 2.72 0.00 0.000 4 0.000 0.082 2165 3641 3379

5284 -0.75 -146.6 365.4 -7.4 253 5290 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2230 3379

5600 -0.75 -146.6 387.3 -7.2 269 5601 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3378

5908 -0.75 -146.6 408.8 -7.0 284 5913 0.00 2.72 0.00 0.000 4 0.000 0.084 2165 3636 3377

5936 -0.75 -146.6 410.8 -6.7 285 5940 0.00 2.62 0.00 0.000 6 0.000 0.059 2165 2228 3377

6187 end dive: BOTTOM_OBSTACLE_DETECTED

state 6187 begin apogee

6194 -0.31 0.0 429.1 7.3 297 6330 0.47 0.00 128.38 1.003 6 0.096 0.000 2260 2228 2781

6330 end apogee: CONTROL_FINISHED_OK

state 6331 begin climb

6333 0.85 146.6 435.1 0.0 304 6470 1.20 2.78 127.35 0.980 4 0.082 0.071 2509 829 2183

6540 0.82 185.1 432.8 4.9 313 6581 0.00 2.65 34.67 0.946 6 0.000 0.057 2510 2239 2027

6894 0.83 194.5 415.6 5.7 330 6908 0.00 2.78 9.68 0.852 4 0.000 0.082 2509 3648 1988

6926 0.84 207.3 413.7 5.6 330 6946 0.00 2.65 13.00 0.882 6 0.000 0.060 2509 2240 1934

7263 0.87 228.5 394.8 5.4 347 7288 0.00 2.78 19.35 0.923 4 0.000 0.074 2509 827 1849

7311 0.88 238.8 392.2 5.7 349 7328 0.00 2.67 10.80 0.863 6 0.000 0.058 2509 2243 1807

7639 0.91 267.2 374.8 5.2 365 7669 0.00 0.00 25.52 0.936 6 0.000 0.000 2509 2243 1691

7987 0.97 270.1 354.0 5.9 382 7997 0.15 2.72 4.20 0.659 4 0.082 0.073 2543 829 1679

8021 0.93 270.1 351.6 7.0 383 8027 0.00 2.65 0.00 0.000 6 0.000 0.059 2543 2240 1678

8336 0.93 270.1 328.5 7.3 399 8341 0.00 2.70 0.00 0.000 4 0.000 0.074 2543 824 1678

8357 0.93 270.1 326.9 7.0 400 8362 0.00 2.65 0.00 0.000 6 0.000 0.058 2543 2241 1677

8680 0.93 270.1 305.3 6.4 416 8681 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2241 1677

8989 0.94 280.5 287.1 5.7 431 9004 0.00 2.75 10.30 0.844 4 0.000 0.074 2543 826 1636

9038 0.94 280.5 284.0 6.2 432 9042 0.00 2.67 0.00 0.000 6 0.000 0.060 2542 2246 1635

9354 0.94 281.6 265.3 6.0 447 9355 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2247 1635

9662 0.94 281.6 246.1 6.7 462 9667 0.00 2.70 0.00 0.000 4 0.000 0.073 2543 827 1635

9702 0.94 281.6 243.2 7.7 464 9707 0.00 2.62 0.00 0.000 6 0.000 0.059 2543 2240 1635

10029 0.94 281.6 219.5 7.4 480 10034 0.00 2.70 0.00 0.000 4 0.000 0.081 2542 3648 1635

10068 0.94 281.6 216.1 8.5 482 10073 0.00 2.62 0.00 0.000 6 0.000 0.061 2543 2239 1635

10395 0.94 281.6 188.5 9.1 498 10400 0.00 2.67 0.00 0.000 4 0.000 0.070 2543 820 1635

10452 0.94 281.6 183.1 9.7 500 10458 0.00 2.62 0.00 0.000 6 0.000 0.055 2542 2241 1634

10768 0.94 281.6 155.1 8.5 516 10769 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2241 1634

11077 0.94 281.6 131.5 7.7 531 11081 0.00 2.67 0.00 0.000 4 0.000 0.067 2543 823 1634

11149 0.94 281.6 125.6 8.1 534 11154 0.00 2.62 0.00 0.000 6 0.000 0.053 2544 2249 1634

11465 0.94 281.6 97.7 8.9 549 11470 0.00 2.65 0.00 0.000 4 0.000 0.073 2544 3651 1635

11521 0.94 281.6 92.4 9.5 551 11528 0.00 2.60 0.00 0.000 6 0.000 0.054 2542 2238 1635

11839 0.94 281.6 67.1 7.7 567 11840 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2238 1635

12147 0.97 312.8 49.6 5.1 582 12181 0.00 2.75 27.48 0.722 4 0.000 0.062 2542 824 1504

12205 1.05 334.9 46.5 5.4 584 12232 0.00 2.60 19.55 0.701 6 0.000 0.049 2543 2240 1414

12544 1.11 334.9 24.0 7.1 601 12549 0.15 2.65 0.00 0.000 4 0.066 0.062 2580 827 1414

12572 1.11 334.9 21.4 9.3 602 12576 0.00 2.58 0.00 0.000 6 0.000 0.049 2580 2241 1414

12802 end climb: SURFACE_DEPTH_REACHED

state 12802 begin surface coast

12824 end surface coast: CONTROL_FINISHED_OK

state 12824 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	353	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2101060	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	191638,6446.630,-1032.002,32,1.7,32,-11.3	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.12	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	192144,6446.678,-1032.081,16,1.8,33,-11.3	MHEAD_RNG_PITCHd_Wd	158.1,76727,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027022	ALTIM_BOTTOM_PING	400.4,38.4
SM_CCo	12847,115.97,0.657,1,0,508,557.32	_24V_AH	23.4,56.848
SM_GC	1.24,0.00,0.00,115.97,0.000,0.000,0.657,72,2242,508,-10.39,0.34,557.32	_10V_AH	10.1,27.894
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31592,614
TT8_MAMPS	0.023777	CAP_FILE_SIZE	96349,0
HUMID	1937	CFSIZE	260165632,239058944
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	58	GPS	110808,225931,6445.006,-1031.438,41,2.0,41,-11.3
ALTIM_TOP_PING	19.3,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.41	SBE_CT	462	24	259.51
Roll_motor	122	84	241.01	SBE_O2	416	19	185.14
VBD_pump_during_apogee	430	1003	10101.02	WL_BB2F	478	105	1176.83
VBD_pump_during_surface	115	657	1783.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.44	nil	0	0	0.00
Iridium_during_connect	34	160	127.68	nil	0	0	0.00
Iridium_during_xfer	116	223	608.23
Transponder_ping	18	420	176.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.10
TT8	1132	19	226.44
LPSleep	9661	2	213.69
TT8_Active	695	19	139.14
TT8_Sampling	1369	39	550.40
TT8_CF8	419	45	194.24
TT8_Kalman	0	81	0.00
Analog_circuits	1421	12	172.24
GPS_charging	0	0	0.00
Compass	1320	8	106.71
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.85	0.000	2	0.000	0.000	71	2246	2766
151	-0.85	-146.6	3.4	-2.7	6	186	11.70	2.67	-17.35	0.000	4	0.172	0.068	2141	800	3381
296	-0.80	-146.6	19.8	-9.8	12	301	0.00	2.60	0.00	0.000	6	0.000	0.047	2141	2233	3381
613	-0.66	-146.6	54.4	-10.8	27	614	0.22	0.00	0.00	0.000	6	0.094	0.000	2185	2234	3382
922	-0.66	-146.6	75.4	-6.0	42	926	0.00	2.62	0.00	0.000	4	0.000	0.067	2185	3640	3382
955	-0.66	-146.6	77.4	-6.0	43	962	0.00	2.55	0.00	0.000	6	0.000	0.046	2185	2227	3382
1273	-0.66	-146.6	94.2	-5.5	59	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2185	2227	3383
1581	-0.66	-146.6	113.1	-6.5	74	1585	0.00	2.65	0.00	0.000	4	0.000	0.068	2185	3638	3383
1608	-0.66	-146.6	115.0	-7.0	75	1613	0.00	2.55	0.00	0.000	6	0.000	0.046	2185	2230	3383
1924	-0.66	-146.6	136.0	-6.8	90	1925	0.00	0.00	0.00	0.000	6	0.000	0.000	2185	2230	3383
2234	-0.71	-146.6	156.3	-6.2	105	2238	0.00	2.65	0.00	0.000	4	0.000	0.071	2185	3634	3383
2267	-0.76	-146.6	158.6	-7.2	106	2273	0.00	2.55	0.00	0.000	6	0.000	0.048	2185	2231	3383
2583	-0.81	-146.6	179.3	-6.6	122	2588	0.15	2.60	0.00	0.000	4	0.046	0.060	2136	819	3383
2617	-0.75	-146.6	181.9	-8.5	123	2623	0.15	2.58	0.00	0.000	6	0.089	0.050	2165	2229	3383
2933	-0.75	-146.6	201.7	-5.7	139	2938	0.00	2.65	0.00	0.000	4	0.000	0.074	2165	3637	3383
2978	-0.75	-146.6	204.6	-6.4	141	2982	0.00	2.58	0.00	0.000	6	0.000	0.051	2165	2228	3383
3298	-0.75	-146.6	222.7	-6.1	157	3299	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2228	3383
3608	-0.75	-146.6	244.6	-7.7	172	3613	0.00	2.70	0.00	0.000	4	0.000	0.077	2165	3638	3383
3648	-0.75	-146.6	248.1	-8.7	174	3653	0.00	2.60	0.00	0.000	6	0.000	0.054	2165	2230	3383
3975	-0.75	-146.6	272.5	-7.2	190	3976	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3382
4285	-0.75	-146.6	294.1	-7.1	205	4286	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3382
4593	-0.75	-146.6	316.0	-7.0	220	4598	0.00	2.70	0.00	0.000	4	0.000	0.081	2165	3635	3382
4626	-0.75	-146.6	318.6	-8.1	221	4632	0.00	2.60	0.00	0.000	6	0.000	0.057	2165	2232	3382
4942	-0.75	-146.6	342.2	-7.6	237	4944	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2232	3380
5251	-0.75	-146.6	362.9	-6.6	252	5255	0.00	2.72	0.00	0.000	4	0.000	0.082	2165	3641	3379
5284	-0.75	-146.6	365.4	-7.4	253	5290	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2230	3379
5600	-0.75	-146.6	387.3	-7.2	269	5601	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3378
5908	-0.75	-146.6	408.8	-7.0	284	5913	0.00	2.72	0.00	0.000	4	0.000	0.084	2165	3636	3377
5936	-0.75	-146.6	410.8	-6.7	285	5940	0.00	2.62	0.00	0.000	6	0.000	0.059	2165	2228	3377
6187	end dive: BOTTOM_OBSTACLE_DETECTED
state	6187	begin apogee
6194	-0.31	0.0	429.1	7.3	297	6330	0.47	0.00	128.38	1.003	6	0.096	0.000	2260	2228	2781
6330	end apogee: CONTROL_FINISHED_OK
state	6331	begin climb
6333	0.85	146.6	435.1	0.0	304	6470	1.20	2.78	127.35	0.980	4	0.082	0.071	2509	829	2183
6540	0.82	185.1	432.8	4.9	313	6581	0.00	2.65	34.67	0.946	6	0.000	0.057	2510	2239	2027
6894	0.83	194.5	415.6	5.7	330	6908	0.00	2.78	9.68	0.852	4	0.000	0.082	2509	3648	1988
6926	0.84	207.3	413.7	5.6	330	6946	0.00	2.65	13.00	0.882	6	0.000	0.060	2509	2240	1934
7263	0.87	228.5	394.8	5.4	347	7288	0.00	2.78	19.35	0.923	4	0.000	0.074	2509	827	1849
7311	0.88	238.8	392.2	5.7	349	7328	0.00	2.67	10.80	0.863	6	0.000	0.058	2509	2243	1807
7639	0.91	267.2	374.8	5.2	365	7669	0.00	0.00	25.52	0.936	6	0.000	0.000	2509	2243	1691
7987	0.97	270.1	354.0	5.9	382	7997	0.15	2.72	4.20	0.659	4	0.082	0.073	2543	829	1679
8021	0.93	270.1	351.6	7.0	383	8027	0.00	2.65	0.00	0.000	6	0.000	0.059	2543	2240	1678
8336	0.93	270.1	328.5	7.3	399	8341	0.00	2.70	0.00	0.000	4	0.000	0.074	2543	824	1678
8357	0.93	270.1	326.9	7.0	400	8362	0.00	2.65	0.00	0.000	6	0.000	0.058	2543	2241	1677
8680	0.93	270.1	305.3	6.4	416	8681	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2241	1677
8989	0.94	280.5	287.1	5.7	431	9004	0.00	2.75	10.30	0.844	4	0.000	0.074	2543	826	1636
9038	0.94	280.5	284.0	6.2	432	9042	0.00	2.67	0.00	0.000	6	0.000	0.060	2542	2246	1635
9354	0.94	281.6	265.3	6.0	447	9355	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2247	1635
9662	0.94	281.6	246.1	6.7	462	9667	0.00	2.70	0.00	0.000	4	0.000	0.073	2543	827	1635
9702	0.94	281.6	243.2	7.7	464	9707	0.00	2.62	0.00	0.000	6	0.000	0.059	2543	2240	1635
10029	0.94	281.6	219.5	7.4	480	10034	0.00	2.70	0.00	0.000	4	0.000	0.081	2542	3648	1635
10068	0.94	281.6	216.1	8.5	482	10073	0.00	2.62	0.00	0.000	6	0.000	0.061	2543	2239	1635
10395	0.94	281.6	188.5	9.1	498	10400	0.00	2.67	0.00	0.000	4	0.000	0.070	2543	820	1635
10452	0.94	281.6	183.1	9.7	500	10458	0.00	2.62	0.00	0.000	6	0.000	0.055	2542	2241	1634
10768	0.94	281.6	155.1	8.5	516	10769	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2241	1634
11077	0.94	281.6	131.5	7.7	531	11081	0.00	2.67	0.00	0.000	4	0.000	0.067	2543	823	1634
11149	0.94	281.6	125.6	8.1	534	11154	0.00	2.62	0.00	0.000	6	0.000	0.053	2544	2249	1634
11465	0.94	281.6	97.7	8.9	549	11470	0.00	2.65	0.00	0.000	4	0.000	0.073	2544	3651	1635
11521	0.94	281.6	92.4	9.5	551	11528	0.00	2.60	0.00	0.000	6	0.000	0.054	2542	2238	1635
11839	0.94	281.6	67.1	7.7	567	11840	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2238	1635
12147	0.97	312.8	49.6	5.1	582	12181	0.00	2.75	27.48	0.722	4	0.000	0.062	2542	824	1504
12205	1.05	334.9	46.5	5.4	584	12232	0.00	2.60	19.55	0.701	6	0.000	0.049	2543	2240	1414
12544	1.11	334.9	24.0	7.1	601	12549	0.15	2.65	0.00	0.000	4	0.066	0.062	2580	827	1414
12572	1.11	334.9	21.4	9.3	602	12576	0.00	2.58	0.00	0.000	6	0.000	0.049	2580	2241	1414
12802	end climb: SURFACE_DEPTH_REACHED
state	12802	begin surface coast
12824	end surface coast: CONTROL_FINISHED_OK
state	12824	begin surface