Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 379 * 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 379 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 300 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2086169.6 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 0 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 300

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 -2086169.6

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 0 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 379 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 184258,6215.545,-328.186,36,2.3,55,-6.5 TGT_NAME FSCN_SE

_CALLS 2 TGT_LATLONG 6105.000,-150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.214,0.056

_SM_DEPTHo 1.42 KALMAN_X 10397.2,1819.1,265.3,284253.1,-16226.5

_SM_ANGLEo -54.9 KALMAN_Y -20011.4,-310.9,-974.0,90533.6,11998.5

GPS2 185350,6215.566,-328.308,12,1.6,17,-6.5 MHEAD_RNG_PITCHd_Wd 152.5,157575,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027641 ALTIM_BOTTOM_PING 451.2,74.1

SM_CCo 14076,27.70,0.627,2,0,1594,300.00 _24V_AH 23.4,58.948

SM_GC 1.62,0.00,0.00,27.70,0.000,0.000,0.627,66,2401,1594,-10.78,0.03,300.00 _10V_AH 10.1,31.292

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34868,677

TT8_MAMPS 0.023777 CFSIZE 260165632,238063616

HUMID 2129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,2,1

TCM_TEMP 16.00 GPS 240108,225127,6214.907,-326.691,32,2.8,51,-6.5

XPDR_PINGS 80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.96 SBE_CT 506 24 284.27

Roll_motor 124 97 283.04 SBE_O2 463 19 206.02

VBD_pump_during_apogee 337 1085 8580.72 WL_BB2F 467 105 1149.14

VBD_pump_during_surface 27 626 406.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.21 nil 0 0 0.00

Iridium_during_connect 78 160 295.75 nil 0 0 0.00

Iridium_during_xfer 320 223 1670.73

Transponder_ping 23 420 230.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.93

TT8 1254 19 250.95

LPSleep 10827 2 239.50

TT8_Active 514 19 102.91

TT8_Sampling 1465 39 589.04

TT8_CF8 708 45 327.95

TT8_Kalman 33 81 27.57

Analog_circuits 1241 12 150.41

GPS_charging 0 0 0.00

Compass 1433 8 115.79

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

23 -0.85 -146.6 0.0 0.0 0 85 0.00 0.00 -59.90 0.000 2 0.000 0.000 72 2406 3015

89 -0.85 -146.6 3.1 -3.3 3 119 12.25 2.70 -11.38 0.000 4 0.175 0.097 2220 3763 3417

334 -0.85 -146.6 29.7 -11.2 14 339 0.00 2.55 0.00 0.000 6 0.000 0.059 2220 2398 3417

661 -0.85 -146.6 54.3 -7.3 30 665 0.00 2.70 0.00 0.000 4 0.000 0.076 2220 984 3417

705 -0.85 -146.6 57.9 -8.3 32 709 0.00 2.62 0.00 0.000 6 0.000 0.063 2220 2398 3418

1026 -0.85 -146.6 88.7 -10.5 48 1031 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 978 3418

1071 -0.85 -146.6 92.6 -8.0 50 1075 0.00 2.65 0.00 0.000 6 0.000 0.062 2220 2406 3418

1391 -0.85 -146.6 120.5 -8.5 66 1396 0.00 2.70 0.00 0.000 4 0.000 0.072 2220 980 3418

1442 -0.85 -146.6 125.1 -9.6 68 1446 0.00 2.65 0.00 0.000 6 0.000 0.062 2220 2400 3418

1757 -0.85 -146.6 159.4 -11.2 83 1758 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3418

2067 -0.85 -146.6 180.8 -5.4 98 2068 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

2376 -0.85 -146.6 203.6 -7.1 113 2381 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 979 3418

2449 -0.85 -146.6 209.1 -8.2 116 2453 0.00 2.65 0.00 0.000 6 0.000 0.063 2220 2404 3418

2765 -0.85 -146.6 231.6 -7.0 131 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3418

3075 -0.85 -146.6 252.3 -6.6 146 3079 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 982 3419

3159 -0.85 -146.6 258.5 -7.6 150 3163 0.00 2.62 0.00 0.000 6 0.000 0.064 2220 2401 3419

3485 -0.85 -146.6 279.3 -6.1 166 3490 0.00 2.70 0.00 0.000 4 0.000 0.076 2220 983 3419

3571 -0.85 -146.6 284.9 -6.9 170 3575 0.00 2.65 0.00 0.000 6 0.000 0.065 2220 2401 3420

3897 -0.85 -146.6 306.0 -6.4 186 3901 0.00 2.70 0.00 0.000 4 0.000 0.091 2220 3776 3421

3958 -0.85 -146.6 310.6 -7.7 189 3963 0.00 2.60 0.00 0.000 6 0.000 0.066 2220 2401 3421

4285 -0.85 -146.6 333.6 -7.3 205 4290 0.00 2.75 0.00 0.000 4 0.000 0.083 2220 978 3421

4374 -0.85 -146.6 340.6 -7.8 209 4378 0.00 2.67 0.00 0.000 6 0.000 0.069 2220 2402 3421

4695 -0.85 -146.6 364.7 -7.5 225 4696 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2402 3421

5003 -0.85 -146.6 389.6 -7.5 240 5008 0.00 2.75 0.00 0.000 4 0.000 0.082 2220 976 3420

5053 -0.85 -146.6 393.2 -7.2 242 5057 0.00 2.67 0.00 0.000 6 0.000 0.071 2220 2403 3420

5369 -0.85 -146.6 413.3 -6.5 257 5373 0.00 2.75 0.00 0.000 4 0.000 0.082 2220 980 3419

5418 -0.85 -146.6 417.0 -7.2 259 5423 0.00 2.70 0.00 0.000 6 0.000 0.071 2220 2406 3419

5734 -0.85 -146.6 439.2 -6.9 274 5735 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2407 3418

6044 -0.85 -146.6 462.3 -7.6 289 6048 0.00 2.75 0.00 0.000 4 0.000 0.084 2220 983 3417

6115 -0.85 -146.6 468.2 -8.1 292 6120 0.00 2.67 0.00 0.000 6 0.000 0.073 2220 2400 3417

6431 -0.85 -146.6 491.6 -7.8 307 6432 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3416

6741 -0.85 -146.6 513.6 -7.0 322 6745 0.00 2.75 0.00 0.000 4 0.000 0.084 2220 976 3415

6765 end dive: BOTTOM_OBSTACLE_DETECTED

state 6765 begin apogee

6774 -0.31 0.0 515.6 7.5 323 6899 0.57 0.00 122.22 1.085 6 0.119 0.000 2335 2200 2817

6900 end apogee: CONTROL_FINISHED_OK

state 6900 begin climb

6902 0.85 146.6 519.5 0.0 329 7028 1.23 0.00 121.38 1.061 6 0.086 0.000 2587 2199 2219

7334 0.85 146.6 498.5 6.6 350 7338 0.00 2.83 0.00 0.000 4 0.000 0.097 2587 3616 2217

7360 0.85 146.6 496.5 6.7 351 7365 0.00 2.72 0.00 0.000 6 0.000 0.074 2587 2198 2217

7677 0.85 146.6 476.2 6.3 366 7678 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2197 2215

7986 0.85 146.6 456.0 6.4 381 7987 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2197 2214

8295 0.87 165.4 437.7 5.5 396 8317 0.00 2.95 16.38 0.992 4 0.000 0.097 2587 3616 2140

8364 0.87 165.4 433.7 6.0 399 8368 0.00 2.78 0.00 0.000 6 0.000 0.076 2587 2192 2139

8690 0.87 165.4 415.1 6.2 415 8691 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2193 2138

8999 0.95 241.3 399.9 3.9 430 9064 0.15 0.00 61.92 1.025 6 0.069 0.000 2623 2192 1833

9369 0.95 241.3 372.6 7.3 448 9374 0.00 2.72 0.00 0.000 4 0.000 0.086 2623 788 1830

9408 0.95 241.3 369.7 7.8 450 9413 0.00 2.67 0.00 0.000 6 0.000 0.066 2623 2200 1829

9735 0.95 241.3 346.0 7.8 466 9736 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2200 1829

10045 0.95 241.3 321.1 7.9 481 10046 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2200 1829

10353 0.95 241.3 298.3 7.1 496 10357 0.00 2.72 0.00 0.000 4 0.000 0.081 2623 785 1828

10398 0.95 241.3 294.8 7.8 498 10403 0.00 2.67 0.00 0.000 6 0.000 0.064 2624 2206 1828

10719 0.95 241.3 270.4 8.0 514 10724 0.00 2.75 0.00 0.000 4 0.000 0.080 2623 781 1828

10752 0.95 241.3 267.5 9.0 515 10759 0.00 2.67 0.00 0.000 6 0.000 0.063 2623 2204 1828

11068 0.95 241.3 242.5 7.7 531 11073 0.00 2.72 0.00 0.000 4 0.000 0.078 2623 784 1827

11101 0.95 241.3 239.7 8.1 532 11107 0.00 2.65 0.00 0.000 6 0.000 0.061 2623 2202 1827

11416 0.95 241.3 214.3 7.9 548 11421 0.00 2.78 0.00 0.000 4 0.000 0.091 2623 3619 1827

11478 0.95 241.3 208.7 8.9 551 11483 0.00 2.72 0.00 0.000 6 0.000 0.072 2623 2196 1827

11805 0.95 241.3 182.0 8.6 567 11809 0.00 2.70 0.00 0.000 4 0.000 0.076 2623 781 1827

11849 0.95 241.3 177.9 9.2 569 11853 0.00 2.65 0.00 0.000 6 0.000 0.058 2623 2205 1826

12169 0.95 241.3 150.5 9.2 585 12170 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2204 1827

12480 0.95 241.3 124.5 8.0 600 12481 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2205 1828

12788 0.95 241.3 104.6 7.0 615 12789 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2205 1829

13098 0.97 260.2 84.2 5.5 630 13117 0.00 0.00 15.98 0.733 6 0.000 0.000 2623 2205 1756

13429 0.97 260.2 54.7 9.3 646 13433 0.00 2.70 0.00 0.000 4 0.000 0.072 2624 782 1756

13468 0.97 260.2 50.2 11.1 648 13473 0.00 2.62 0.00 0.000 6 0.000 0.055 2624 2203 1756

13795 0.97 260.2 20.3 9.1 664 13799 0.00 2.70 0.00 0.000 4 0.000 0.071 2623 778 1755

13817 0.97 260.2 18.5 7.6 665 13821 0.00 2.62 0.00 0.000 6 0.000 0.054 2623 2203 1757

14032 end climb: SURFACE_DEPTH_REACHED

state 14032 begin surface coast

14054 end surface coast: CONTROL_FINISHED_OK

state 14054 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	379	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	300	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2086169.6	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	0	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	184258,6215.545,-328.186,36,2.3,55,-6.5	TGT_NAME	FSCN_SE
_CALLS	2	TGT_LATLONG	6105.000,-150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.214,0.056
_SM_DEPTHo	1.42	KALMAN_X	10397.2,1819.1,265.3,284253.1,-16226.5
_SM_ANGLEo	-54.9	KALMAN_Y	-20011.4,-310.9,-974.0,90533.6,11998.5
GPS2	185350,6215.566,-328.308,12,1.6,17,-6.5	MHEAD_RNG_PITCHd_Wd	152.5,157575,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027641	ALTIM_BOTTOM_PING	451.2,74.1
SM_CCo	14076,27.70,0.627,2,0,1594,300.00	_24V_AH	23.4,58.948
SM_GC	1.62,0.00,0.00,27.70,0.000,0.000,0.627,66,2401,1594,-10.78,0.03,300.00	_10V_AH	10.1,31.292
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34868,677
TT8_MAMPS	0.023777	CFSIZE	260165632,238063616
HUMID	2129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,2,1
TCM_TEMP	16.00	GPS	240108,225127,6214.907,-326.691,32,2.8,51,-6.5
XPDR_PINGS	80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.96	SBE_CT	506	24	284.27
Roll_motor	124	97	283.04	SBE_O2	463	19	206.02
VBD_pump_during_apogee	337	1085	8580.72	WL_BB2F	467	105	1149.14
VBD_pump_during_surface	27	626	406.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.21	nil	0	0	0.00
Iridium_during_connect	78	160	295.75	nil	0	0	0.00
Iridium_during_xfer	320	223	1670.73
Transponder_ping	23	420	230.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.93
TT8	1254	19	250.95
LPSleep	10827	2	239.50
TT8_Active	514	19	102.91
TT8_Sampling	1465	39	589.04
TT8_CF8	708	45	327.95
TT8_Kalman	33	81	27.57
Analog_circuits	1241	12	150.41
GPS_charging	0	0	0.00
Compass	1433	8	115.79
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
23	-0.85	-146.6	0.0	0.0	0	85	0.00	0.00	-59.90	0.000	2	0.000	0.000	72	2406	3015
89	-0.85	-146.6	3.1	-3.3	3	119	12.25	2.70	-11.38	0.000	4	0.175	0.097	2220	3763	3417
334	-0.85	-146.6	29.7	-11.2	14	339	0.00	2.55	0.00	0.000	6	0.000	0.059	2220	2398	3417
661	-0.85	-146.6	54.3	-7.3	30	665	0.00	2.70	0.00	0.000	4	0.000	0.076	2220	984	3417
705	-0.85	-146.6	57.9	-8.3	32	709	0.00	2.62	0.00	0.000	6	0.000	0.063	2220	2398	3418
1026	-0.85	-146.6	88.7	-10.5	48	1031	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	978	3418
1071	-0.85	-146.6	92.6	-8.0	50	1075	0.00	2.65	0.00	0.000	6	0.000	0.062	2220	2406	3418
1391	-0.85	-146.6	120.5	-8.5	66	1396	0.00	2.70	0.00	0.000	4	0.000	0.072	2220	980	3418
1442	-0.85	-146.6	125.1	-9.6	68	1446	0.00	2.65	0.00	0.000	6	0.000	0.062	2220	2400	3418
1757	-0.85	-146.6	159.4	-11.2	83	1758	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3418
2067	-0.85	-146.6	180.8	-5.4	98	2068	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
2376	-0.85	-146.6	203.6	-7.1	113	2381	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	979	3418
2449	-0.85	-146.6	209.1	-8.2	116	2453	0.00	2.65	0.00	0.000	6	0.000	0.063	2220	2404	3418
2765	-0.85	-146.6	231.6	-7.0	131	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3418
3075	-0.85	-146.6	252.3	-6.6	146	3079	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	982	3419
3159	-0.85	-146.6	258.5	-7.6	150	3163	0.00	2.62	0.00	0.000	6	0.000	0.064	2220	2401	3419
3485	-0.85	-146.6	279.3	-6.1	166	3490	0.00	2.70	0.00	0.000	4	0.000	0.076	2220	983	3419
3571	-0.85	-146.6	284.9	-6.9	170	3575	0.00	2.65	0.00	0.000	6	0.000	0.065	2220	2401	3420
3897	-0.85	-146.6	306.0	-6.4	186	3901	0.00	2.70	0.00	0.000	4	0.000	0.091	2220	3776	3421
3958	-0.85	-146.6	310.6	-7.7	189	3963	0.00	2.60	0.00	0.000	6	0.000	0.066	2220	2401	3421
4285	-0.85	-146.6	333.6	-7.3	205	4290	0.00	2.75	0.00	0.000	4	0.000	0.083	2220	978	3421
4374	-0.85	-146.6	340.6	-7.8	209	4378	0.00	2.67	0.00	0.000	6	0.000	0.069	2220	2402	3421
4695	-0.85	-146.6	364.7	-7.5	225	4696	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2402	3421
5003	-0.85	-146.6	389.6	-7.5	240	5008	0.00	2.75	0.00	0.000	4	0.000	0.082	2220	976	3420
5053	-0.85	-146.6	393.2	-7.2	242	5057	0.00	2.67	0.00	0.000	6	0.000	0.071	2220	2403	3420
5369	-0.85	-146.6	413.3	-6.5	257	5373	0.00	2.75	0.00	0.000	4	0.000	0.082	2220	980	3419
5418	-0.85	-146.6	417.0	-7.2	259	5423	0.00	2.70	0.00	0.000	6	0.000	0.071	2220	2406	3419
5734	-0.85	-146.6	439.2	-6.9	274	5735	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2407	3418
6044	-0.85	-146.6	462.3	-7.6	289	6048	0.00	2.75	0.00	0.000	4	0.000	0.084	2220	983	3417
6115	-0.85	-146.6	468.2	-8.1	292	6120	0.00	2.67	0.00	0.000	6	0.000	0.073	2220	2400	3417
6431	-0.85	-146.6	491.6	-7.8	307	6432	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3416
6741	-0.85	-146.6	513.6	-7.0	322	6745	0.00	2.75	0.00	0.000	4	0.000	0.084	2220	976	3415
6765	end dive: BOTTOM_OBSTACLE_DETECTED
state	6765	begin apogee
6774	-0.31	0.0	515.6	7.5	323	6899	0.57	0.00	122.22	1.085	6	0.119	0.000	2335	2200	2817
6900	end apogee: CONTROL_FINISHED_OK
state	6900	begin climb
6902	0.85	146.6	519.5	0.0	329	7028	1.23	0.00	121.38	1.061	6	0.086	0.000	2587	2199	2219
7334	0.85	146.6	498.5	6.6	350	7338	0.00	2.83	0.00	0.000	4	0.000	0.097	2587	3616	2217
7360	0.85	146.6	496.5	6.7	351	7365	0.00	2.72	0.00	0.000	6	0.000	0.074	2587	2198	2217
7677	0.85	146.6	476.2	6.3	366	7678	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2197	2215
7986	0.85	146.6	456.0	6.4	381	7987	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2197	2214
8295	0.87	165.4	437.7	5.5	396	8317	0.00	2.95	16.38	0.992	4	0.000	0.097	2587	3616	2140
8364	0.87	165.4	433.7	6.0	399	8368	0.00	2.78	0.00	0.000	6	0.000	0.076	2587	2192	2139
8690	0.87	165.4	415.1	6.2	415	8691	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2193	2138
8999	0.95	241.3	399.9	3.9	430	9064	0.15	0.00	61.92	1.025	6	0.069	0.000	2623	2192	1833
9369	0.95	241.3	372.6	7.3	448	9374	0.00	2.72	0.00	0.000	4	0.000	0.086	2623	788	1830
9408	0.95	241.3	369.7	7.8	450	9413	0.00	2.67	0.00	0.000	6	0.000	0.066	2623	2200	1829
9735	0.95	241.3	346.0	7.8	466	9736	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2200	1829
10045	0.95	241.3	321.1	7.9	481	10046	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2200	1829
10353	0.95	241.3	298.3	7.1	496	10357	0.00	2.72	0.00	0.000	4	0.000	0.081	2623	785	1828
10398	0.95	241.3	294.8	7.8	498	10403	0.00	2.67	0.00	0.000	6	0.000	0.064	2624	2206	1828
10719	0.95	241.3	270.4	8.0	514	10724	0.00	2.75	0.00	0.000	4	0.000	0.080	2623	781	1828
10752	0.95	241.3	267.5	9.0	515	10759	0.00	2.67	0.00	0.000	6	0.000	0.063	2623	2204	1828
11068	0.95	241.3	242.5	7.7	531	11073	0.00	2.72	0.00	0.000	4	0.000	0.078	2623	784	1827
11101	0.95	241.3	239.7	8.1	532	11107	0.00	2.65	0.00	0.000	6	0.000	0.061	2623	2202	1827
11416	0.95	241.3	214.3	7.9	548	11421	0.00	2.78	0.00	0.000	4	0.000	0.091	2623	3619	1827
11478	0.95	241.3	208.7	8.9	551	11483	0.00	2.72	0.00	0.000	6	0.000	0.072	2623	2196	1827
11805	0.95	241.3	182.0	8.6	567	11809	0.00	2.70	0.00	0.000	4	0.000	0.076	2623	781	1827
11849	0.95	241.3	177.9	9.2	569	11853	0.00	2.65	0.00	0.000	6	0.000	0.058	2623	2205	1826
12169	0.95	241.3	150.5	9.2	585	12170	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2204	1827
12480	0.95	241.3	124.5	8.0	600	12481	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2205	1828
12788	0.95	241.3	104.6	7.0	615	12789	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2205	1829
13098	0.97	260.2	84.2	5.5	630	13117	0.00	0.00	15.98	0.733	6	0.000	0.000	2623	2205	1756
13429	0.97	260.2	54.7	9.3	646	13433	0.00	2.70	0.00	0.000	4	0.000	0.072	2624	782	1756
13468	0.97	260.2	50.2	11.1	648	13473	0.00	2.62	0.00	0.000	6	0.000	0.055	2624	2203	1756
13795	0.97	260.2	20.3	9.1	664	13799	0.00	2.70	0.00	0.000	4	0.000	0.071	2623	778	1755
13817	0.97	260.2	18.5	7.6	665	13821	0.00	2.62	0.00	0.000	6	0.000	0.054	2623	2203	1757
14032	end climb: SURFACE_DEPTH_REACHED
state	14032	begin surface coast
14054	end surface coast: CONTROL_FINISHED_OK
state	14054	begin surface