Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 48 * 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 48 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 2250 ALTIM_PULSE 3

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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 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 0.0012300001 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 -77165.828 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 300

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 412.5

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 -77165.828

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 2250 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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 48 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 184656,6130.821,-827.357,38,1.0,38,-8.9 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.232,0.054

_SM_DEPTHo 0.23 KALMAN_X 17112.2,837.4,496.3,-16072.2,-5890.3

_SM_ANGLEo -64.2 KALMAN_Y 121424.3,-1571.5,-893.5,-123308.8,17911.4

GPS2 185150,6130.769,-827.349,10,1.2,10,-8.9 MHEAD_RNG_PITCHd_Wd 292.0,49391,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.7,1.006772 XPDR_PINGS 431

SM_CCo 15707,0.00,0.000,0,0,1583,317.66 ALTIM_BOTTOM_PING 750.0,98.1

SM_GC 0.24,11.98,0.00,0.00,0.031,0.000,0.000,30,1882,1583,-11.27,-0.48,317.66 _24V_AH 23.2,19.009

IRIDIUM_FIX 6108.28,-818.67,191107,181828 _10V_AH 10.1,7.805

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37983,753

HUMID 2069 CFSIZE 260165632,255746048

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 15.90 GPS 191107,231538,6133.379,-835.198,34,1.1,34,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 144 88.53 SBE_CT 555 24 309.13

Roll_motor 97 74 168.59 SBE_O2 508 19 223.98

VBD_pump_during_apogee 394 1423 13018.18 WL_BB2F 430 105 1048.29

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 39 103 94.99 nil 0 0 0.00

Iridium_during_connect 26 160 100.10 nil 0 0 0.00

Iridium_during_xfer 151 223 785.25

Transponder_ping 114 420 1113.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.08

TT8 1384 19 276.77

LPSleep 12050 2 266.53

TT8_Active 524 19 104.96

TT8_Sampling 1735 39 697.80

TT8_CF8 314 45 145.49

TT8_Kalman 33 81 27.57

Analog_circuits 1373 12 166.50

GPS_charging 0 0 0.00

Compass 1702 8 137.60

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.23 -146.6 0.0 0.0 0 102 0.00 0.00 -82.57 0.000 2 0.000 0.000 30 1926 3465

104 -1.23 -146.6 4.5 -6.0 4 126 11.68 2.53 -0.25 0.000 4 0.145 0.058 2221 3295 3478

378 -1.23 -146.6 43.5 -10.8 16 383 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1907 3479

705 -1.23 -146.6 76.8 -10.2 32 709 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3303 3479

766 -1.23 -146.6 83.1 -10.1 35 770 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1898 3479

1091 -1.23 -146.6 116.1 -9.6 51 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1897 3479

1400 -1.23 -146.6 146.0 -10.0 66 1405 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3302 3480

1454 -1.23 -146.6 151.6 -9.9 68 1461 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1900 3479

1769 -1.23 -146.6 183.8 -10.6 84 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3480

2079 -1.23 -146.6 215.9 -9.9 99 2080 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3480

2388 -1.23 -146.6 246.0 -9.3 114 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3479

2698 -1.23 -146.6 276.8 -9.8 129 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3480

3007 -1.23 -146.6 305.7 -9.4 144 3011 0.00 2.53 0.00 0.000 4 0.000 0.048 2220 3304 3480

3100 -1.23 -146.6 315.2 -10.0 148 3105 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1900 3480

3421 -1.23 -146.6 346.7 -10.5 164 3423 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3480

3731 -1.23 -146.6 377.4 -9.7 179 3732 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3480

4040 -1.23 -146.6 406.3 -9.3 194 4044 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3301 3480

4094 -1.23 -146.6 411.7 -9.7 196 4101 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1899 3480

4410 -1.23 -146.6 441.8 -10.1 212 4411 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3480

4719 -1.23 -146.6 473.1 -10.0 227 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3480

5028 -1.23 -146.6 504.5 -9.9 242 5030 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3480

5338 -1.23 -146.6 533.4 -9.1 257 5342 0.00 2.53 0.00 0.000 4 0.000 0.050 2221 3298 3480

5392 -1.23 -146.6 538.4 -9.1 259 5399 0.00 2.55 0.00 0.000 6 0.000 0.047 2221 1902 3480

5707 -1.23 -146.6 567.6 -9.1 275 5711 0.00 2.53 0.00 0.000 4 0.000 0.054 2221 3295 3480

5785 -1.23 -146.6 575.0 -9.4 278 5789 0.00 2.53 0.00 0.000 6 0.000 0.048 2221 1898 3480

6105 -1.23 -146.6 605.9 -9.8 294 6106 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3480

6414 -1.23 -146.6 637.6 -10.8 309 6419 0.00 2.55 0.00 0.000 4 0.000 0.054 2220 3295 3480

6620 -1.23 -146.6 659.4 -10.6 318 6625 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 1898 3480

6941 -1.23 -146.6 691.2 -10.7 334 6945 0.00 2.58 0.00 0.000 4 0.000 0.058 2221 3300 3480

7085 -1.23 -146.6 704.5 -9.5 340 7093 0.00 2.58 0.00 0.000 6 0.000 0.053 2221 1903 3480

7404 -1.23 -146.6 727.4 -8.7 356 7408 0.00 2.58 0.00 0.000 4 0.000 0.064 2221 3293 3480

7452 -1.23 -146.6 734.7 -14.6 358 7456 0.00 2.58 0.00 0.000 6 0.000 0.059 2221 1903 3480

7773 -1.23 -146.6 759.1 -9.1 374 7774 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1903 3479

8082 -1.23 -146.6 790.8 -12.1 389 8083 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1903 3477

8391 -1.23 -146.6 834.0 -17.5 404 8396 0.00 2.60 0.00 0.000 4 0.000 0.071 2221 3295 3475

8424 end dive: BOTTOM_OBSTACLE_DETECTED

state 8424 begin apogee

8429 -0.36 0.0 838.3 15.4 405 8558 0.93 0.00 125.50 1.424 6 0.100 0.000 2413 2243 2878

8559 end apogee: CONTROL_FINISHED_OK

state 8559 begin climb

8561 1.23 146.6 839.0 0.0 412 8692 1.55 2.72 123.57 1.371 4 0.046 0.074 2767 838 2280

8945 1.29 196.7 823.6 6.1 430 8995 0.00 2.60 42.67 1.381 6 0.000 0.060 2767 2240 2075

9316 1.29 196.7 787.6 11.5 448 9317 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2245 2074

9625 1.29 196.7 761.4 9.3 463 9626 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2246 2073

9934 1.44 319.4 736.0 3.3 478 10044 0.20 2.75 102.43 1.368 4 0.051 0.071 2818 3648 1575

10295 1.44 319.4 689.2 16.9 494 10303 0.00 2.65 0.00 0.000 6 0.000 0.062 2817 2247 1576

10611 1.44 319.4 648.1 13.7 510 10615 0.00 2.62 0.00 0.000 4 0.000 0.065 2817 3656 1573

10789 1.44 319.4 620.6 13.9 518 10794 0.00 2.60 0.00 0.000 6 0.000 0.054 2817 2254 1573

11116 1.44 319.4 578.2 13.2 534 11120 0.00 2.58 0.00 0.000 4 0.000 0.058 2817 3655 1573

11254 1.44 319.4 560.1 12.8 540 11259 0.00 2.58 0.00 0.000 6 0.000 0.048 2817 2249 1573

11575 1.44 319.4 520.0 13.3 556 11577 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2248 1574

11885 1.44 319.4 478.8 12.9 571 11886 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2249 1576

12194 1.44 319.4 438.7 12.8 586 12195 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2248 1576

12503 1.44 319.4 398.5 13.0 601 12504 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2248 1578

12813 1.44 319.4 359.2 12.8 616 12817 0.00 2.62 0.00 0.000 4 0.000 0.066 2818 832 1579

12878 1.44 319.4 350.0 14.2 619 12882 0.00 2.53 0.00 0.000 6 0.000 0.041 2818 2250 1579

13204 1.44 319.4 306.3 13.1 635 13205 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2257 1579

13513 1.44 319.4 267.5 12.4 650 13518 0.00 2.62 0.00 0.000 4 0.000 0.062 2817 837 1579

13552 1.44 319.4 262.5 12.2 652 13557 0.00 2.50 0.00 0.000 6 0.000 0.042 2818 2260 1579

13878 1.44 319.4 221.9 13.0 668 13879 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2264 1581

14187 1.44 319.4 182.4 12.8 683 14191 0.00 2.62 0.00 0.000 4 0.000 0.061 2818 838 1581

14241 1.44 319.4 175.0 13.1 685 14249 0.00 2.50 0.00 0.000 6 0.000 0.041 2817 2248 1581

14557 1.44 319.4 133.1 13.5 701 14559 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2251 1582

14867 1.44 319.4 94.1 12.5 716 14868 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2251 1582

15176 1.44 319.4 55.7 11.8 731 15180 0.00 2.60 0.00 0.000 4 0.000 0.060 2818 836 1583

15224 1.44 319.4 49.6 12.9 733 15229 0.00 2.50 0.00 0.000 6 0.000 0.040 2818 2248 1583

15545 1.44 319.4 8.5 12.3 749 15547 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2253 1583

15606 end climb: SURFACE_DEPTH_REACHED

state 15606 begin surface coast

15628 end surface coast: CONTROL_FINISHED_OK

state 15628 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	48	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	2250	ALTIM_PULSE	3
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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	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	0.0012300001	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	-77165.828	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	184656,6130.821,-827.357,38,1.0,38,-8.9	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.232,0.054
_SM_DEPTHo	0.23	KALMAN_X	17112.2,837.4,496.3,-16072.2,-5890.3
_SM_ANGLEo	-64.2	KALMAN_Y	121424.3,-1571.5,-893.5,-123308.8,17911.4
GPS2	185150,6130.769,-827.349,10,1.2,10,-8.9	MHEAD_RNG_PITCHd_Wd	292.0,49391,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.7,1.006772	XPDR_PINGS	431
SM_CCo	15707,0.00,0.000,0,0,1583,317.66	ALTIM_BOTTOM_PING	750.0,98.1
SM_GC	0.24,11.98,0.00,0.00,0.031,0.000,0.000,30,1882,1583,-11.27,-0.48,317.66	_24V_AH	23.2,19.009
IRIDIUM_FIX	6108.28,-818.67,191107,181828	_10V_AH	10.1,7.805
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37983,753
HUMID	2069	CFSIZE	260165632,255746048
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	15.90	GPS	191107,231538,6133.379,-835.198,34,1.1,34,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	144	88.53	SBE_CT	555	24	309.13
Roll_motor	97	74	168.59	SBE_O2	508	19	223.98
VBD_pump_during_apogee	394	1423	13018.18	WL_BB2F	430	105	1048.29
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	39	103	94.99	nil	0	0	0.00
Iridium_during_connect	26	160	100.10	nil	0	0	0.00
Iridium_during_xfer	151	223	785.25
Transponder_ping	114	420	1113.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.08
TT8	1384	19	276.77
LPSleep	12050	2	266.53
TT8_Active	524	19	104.96
TT8_Sampling	1735	39	697.80
TT8_CF8	314	45	145.49
TT8_Kalman	33	81	27.57
Analog_circuits	1373	12	166.50
GPS_charging	0	0	0.00
Compass	1702	8	137.60
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.23	-146.6	0.0	0.0	0	102	0.00	0.00	-82.57	0.000	2	0.000	0.000	30	1926	3465
104	-1.23	-146.6	4.5	-6.0	4	126	11.68	2.53	-0.25	0.000	4	0.145	0.058	2221	3295	3478
378	-1.23	-146.6	43.5	-10.8	16	383	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1907	3479
705	-1.23	-146.6	76.8	-10.2	32	709	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3303	3479
766	-1.23	-146.6	83.1	-10.1	35	770	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1898	3479
1091	-1.23	-146.6	116.1	-9.6	51	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1897	3479
1400	-1.23	-146.6	146.0	-10.0	66	1405	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3302	3480
1454	-1.23	-146.6	151.6	-9.9	68	1461	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1900	3479
1769	-1.23	-146.6	183.8	-10.6	84	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3480
2079	-1.23	-146.6	215.9	-9.9	99	2080	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3480
2388	-1.23	-146.6	246.0	-9.3	114	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3479
2698	-1.23	-146.6	276.8	-9.8	129	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3480
3007	-1.23	-146.6	305.7	-9.4	144	3011	0.00	2.53	0.00	0.000	4	0.000	0.048	2220	3304	3480
3100	-1.23	-146.6	315.2	-10.0	148	3105	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1900	3480
3421	-1.23	-146.6	346.7	-10.5	164	3423	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3480
3731	-1.23	-146.6	377.4	-9.7	179	3732	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3480
4040	-1.23	-146.6	406.3	-9.3	194	4044	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3301	3480
4094	-1.23	-146.6	411.7	-9.7	196	4101	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1899	3480
4410	-1.23	-146.6	441.8	-10.1	212	4411	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3480
4719	-1.23	-146.6	473.1	-10.0	227	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3480
5028	-1.23	-146.6	504.5	-9.9	242	5030	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3480
5338	-1.23	-146.6	533.4	-9.1	257	5342	0.00	2.53	0.00	0.000	4	0.000	0.050	2221	3298	3480
5392	-1.23	-146.6	538.4	-9.1	259	5399	0.00	2.55	0.00	0.000	6	0.000	0.047	2221	1902	3480
5707	-1.23	-146.6	567.6	-9.1	275	5711	0.00	2.53	0.00	0.000	4	0.000	0.054	2221	3295	3480
5785	-1.23	-146.6	575.0	-9.4	278	5789	0.00	2.53	0.00	0.000	6	0.000	0.048	2221	1898	3480
6105	-1.23	-146.6	605.9	-9.8	294	6106	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3480
6414	-1.23	-146.6	637.6	-10.8	309	6419	0.00	2.55	0.00	0.000	4	0.000	0.054	2220	3295	3480
6620	-1.23	-146.6	659.4	-10.6	318	6625	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	1898	3480
6941	-1.23	-146.6	691.2	-10.7	334	6945	0.00	2.58	0.00	0.000	4	0.000	0.058	2221	3300	3480
7085	-1.23	-146.6	704.5	-9.5	340	7093	0.00	2.58	0.00	0.000	6	0.000	0.053	2221	1903	3480
7404	-1.23	-146.6	727.4	-8.7	356	7408	0.00	2.58	0.00	0.000	4	0.000	0.064	2221	3293	3480
7452	-1.23	-146.6	734.7	-14.6	358	7456	0.00	2.58	0.00	0.000	6	0.000	0.059	2221	1903	3480
7773	-1.23	-146.6	759.1	-9.1	374	7774	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1903	3479
8082	-1.23	-146.6	790.8	-12.1	389	8083	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1903	3477
8391	-1.23	-146.6	834.0	-17.5	404	8396	0.00	2.60	0.00	0.000	4	0.000	0.071	2221	3295	3475
8424	end dive: BOTTOM_OBSTACLE_DETECTED
state	8424	begin apogee
8429	-0.36	0.0	838.3	15.4	405	8558	0.93	0.00	125.50	1.424	6	0.100	0.000	2413	2243	2878
8559	end apogee: CONTROL_FINISHED_OK
state	8559	begin climb
8561	1.23	146.6	839.0	0.0	412	8692	1.55	2.72	123.57	1.371	4	0.046	0.074	2767	838	2280
8945	1.29	196.7	823.6	6.1	430	8995	0.00	2.60	42.67	1.381	6	0.000	0.060	2767	2240	2075
9316	1.29	196.7	787.6	11.5	448	9317	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2245	2074
9625	1.29	196.7	761.4	9.3	463	9626	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2246	2073
9934	1.44	319.4	736.0	3.3	478	10044	0.20	2.75	102.43	1.368	4	0.051	0.071	2818	3648	1575
10295	1.44	319.4	689.2	16.9	494	10303	0.00	2.65	0.00	0.000	6	0.000	0.062	2817	2247	1576
10611	1.44	319.4	648.1	13.7	510	10615	0.00	2.62	0.00	0.000	4	0.000	0.065	2817	3656	1573
10789	1.44	319.4	620.6	13.9	518	10794	0.00	2.60	0.00	0.000	6	0.000	0.054	2817	2254	1573
11116	1.44	319.4	578.2	13.2	534	11120	0.00	2.58	0.00	0.000	4	0.000	0.058	2817	3655	1573
11254	1.44	319.4	560.1	12.8	540	11259	0.00	2.58	0.00	0.000	6	0.000	0.048	2817	2249	1573
11575	1.44	319.4	520.0	13.3	556	11577	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2248	1574
11885	1.44	319.4	478.8	12.9	571	11886	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2249	1576
12194	1.44	319.4	438.7	12.8	586	12195	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2248	1576
12503	1.44	319.4	398.5	13.0	601	12504	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2248	1578
12813	1.44	319.4	359.2	12.8	616	12817	0.00	2.62	0.00	0.000	4	0.000	0.066	2818	832	1579
12878	1.44	319.4	350.0	14.2	619	12882	0.00	2.53	0.00	0.000	6	0.000	0.041	2818	2250	1579
13204	1.44	319.4	306.3	13.1	635	13205	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2257	1579
13513	1.44	319.4	267.5	12.4	650	13518	0.00	2.62	0.00	0.000	4	0.000	0.062	2817	837	1579
13552	1.44	319.4	262.5	12.2	652	13557	0.00	2.50	0.00	0.000	6	0.000	0.042	2818	2260	1579
13878	1.44	319.4	221.9	13.0	668	13879	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2264	1581
14187	1.44	319.4	182.4	12.8	683	14191	0.00	2.62	0.00	0.000	4	0.000	0.061	2818	838	1581
14241	1.44	319.4	175.0	13.1	685	14249	0.00	2.50	0.00	0.000	6	0.000	0.041	2817	2248	1581
14557	1.44	319.4	133.1	13.5	701	14559	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2251	1582
14867	1.44	319.4	94.1	12.5	716	14868	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2251	1582
15176	1.44	319.4	55.7	11.8	731	15180	0.00	2.60	0.00	0.000	4	0.000	0.060	2818	836	1583
15224	1.44	319.4	49.6	12.9	733	15229	0.00	2.50	0.00	0.000	6	0.000	0.040	2818	2248	1583
15545	1.44	319.4	8.5	12.3	749	15547	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2253	1583
15606	end climb: SURFACE_DEPTH_REACHED
state	15606	begin surface coast
15628	end surface coast: CONTROL_FINISHED_OK
state	15628	begin surface