Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 101 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 101 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2109435.2 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2109435.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 101 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 040736,6306.737,-1308.788,42,1.9,42,-12.1 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.54 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.6 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 041258,6306.776,-1308.895,11,2.9,30,-12.1 MHEAD_RNG_PITCHd_Wd 353.6,16058,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013972 ALTIM_BOTTOM_PING 701.8,24.4

SM_CCo 16267,0.00,0.000,0,0,1626,292.15 _24V_AH 23.6,20.026

SM_GC 1.78,12.10,0.00,0.00,0.091,0.000,0.000,74,2609,1626,-10.47,0.25,292.15 _10V_AH 10.1,9.702

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38014,780

TT8_MAMPS 0.02301 CAP_FILE_SIZE 106887,0

HUMID 1738 CFSIZE 260165632,252620800

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 240609,084537,6309.451,-1310.312,40,0.8,40,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 116.47 SBE_CT 571 24 323.76

Roll_motor 90 69 149.03 SBE_O2 532 19 238.75

VBD_pump_during_apogee 395 1023 9550.05 WL_BB2F 472 105 1169.80

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 17 103 43.62 nil 0 0 0.00

Iridium_during_connect 28 160 105.91 nil 0 0 0.00

Iridium_during_xfer 145 223 765.73

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.92

TT8 1389 19 277.92

LPSleep 12636 2 279.52

TT8_Active 474 19 94.81

TT8_Sampling 1660 39 667.62

TT8_CF8 425 45 196.84

TT8_Kalman 0 81 0.00

Analog_circuits 1293 12 156.79

GPS_charging 0 0 0.00

Compass 1600 8 129.34

RAFOS 0 0 0.00

Transponder 44 30 13.43

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -54.97 0.000 6 0.000 0.000 76 2603 3417

82 -1.03 -146.6 7.7 -14.4 3 104 11.85 2.55 0.00 0.000 4 0.182 0.041 2131 1192 3418

340 -1.03 -146.6 45.8 -11.0 14 344 0.00 2.47 0.00 0.000 6 0.000 0.037 2131 2596 3419

657 -1.03 -146.6 79.6 -10.9 29 661 0.00 2.35 0.00 0.000 4 0.000 0.066 2131 3866 3419

712 -1.03 -146.6 86.1 -11.2 31 719 0.00 2.20 0.00 0.000 6 0.000 0.028 2132 2583 3419

1028 -1.03 -146.6 118.3 -10.4 47 1029 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2583 3420

1337 -1.03 -146.6 146.9 -9.0 62 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2583 3420

1647 -1.03 -146.6 175.3 -9.6 77 1649 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2583 3420

1956 -1.03 -146.6 204.3 -9.5 92 1957 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2583 3420

2265 -1.03 -146.6 233.5 -9.5 107 2266 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2583 3418

2574 -1.03 -146.6 261.3 -8.9 122 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2583 3419

2883 -1.03 -146.6 289.9 -9.6 137 2884 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2583 3419

3193 -1.03 -146.6 319.4 -9.5 152 3194 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2583 3419

3503 -1.03 -146.6 352.0 -10.9 167 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2582 3419

3811 -1.03 -146.6 383.6 -10.0 182 3815 0.00 2.42 0.00 0.000 4 0.000 0.042 2131 1206 3419

3844 -1.08 -146.6 386.9 -9.9 183 3850 0.00 2.45 0.00 0.000 6 0.000 0.038 2132 2603 3420

4160 -1.08 -146.6 415.3 -8.8 199 4161 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3419

4469 -1.08 -146.6 442.5 -8.7 214 4470 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2603 3419

4778 -1.08 -146.6 469.6 -8.7 229 4782 0.00 2.45 0.00 0.000 4 0.000 0.041 2131 1212 3418

4818 -1.13 -146.6 472.9 -8.4 231 4823 0.00 2.42 0.00 0.000 6 0.000 0.038 2131 2600 3418

5146 -1.13 -146.6 500.1 -8.4 247 5150 0.00 2.45 0.00 0.000 4 0.000 0.040 2131 1209 3418

5179 -1.18 -146.6 503.2 -8.7 248 5186 0.15 2.45 0.00 0.000 6 0.044 0.038 2086 2608 3418

5495 -1.07 -146.6 540.1 -11.9 264 5497 0.20 0.00 0.00 0.000 6 0.095 0.000 2125 2608 3418

5804 -1.07 -146.6 567.9 -8.6 279 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2608 3418

6113 -1.07 -146.6 595.2 -8.3 294 6114 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2608 3418

6422 -1.07 -146.6 623.2 -10.1 309 6426 0.00 2.47 0.00 0.000 4 0.000 0.042 2125 1208 3418

6468 -1.12 -146.6 627.8 -10.1 311 6473 0.00 2.45 0.00 0.000 6 0.000 0.039 2125 2600 3418

6790 -1.12 -146.6 655.6 -8.0 327 6791 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3418

7099 -1.12 -146.6 682.1 -8.2 342 7103 0.00 2.47 0.00 0.000 4 0.000 0.042 2125 1204 3417

7138 -1.17 -146.6 685.3 -8.8 344 7143 0.00 2.47 0.00 0.000 6 0.000 0.040 2125 2605 3417

7463 end dive: BOTTOM_OBSTACLE_DETECTED

state 7463 begin apogee

7470 -0.31 0.0 716.5 10.8 360 7605 0.82 0.00 129.25 1.024 6 0.107 0.000 2289 2305 2816

7606 end apogee: CONTROL_FINISHED_OK

state 7606 begin climb

7609 1.03 146.6 723.4 0.0 367 7745 1.38 0.00 130.88 1.014 6 0.076 0.000 2580 2305 2219

8043 0.94 146.6 703.9 8.1 388 8048 0.00 2.65 0.00 0.000 4 0.000 0.070 2580 3702 2212

8099 0.81 146.6 699.5 7.8 390 8106 0.22 2.45 0.00 0.000 6 0.097 0.032 2537 2311 2211

8415 0.87 205.8 680.7 5.5 406 8477 0.00 2.67 53.00 0.988 4 0.000 0.054 2537 905 1976

8623 0.95 224.0 667.9 6.9 415 8649 0.12 2.50 17.67 0.924 6 0.052 0.038 2573 2308 1903

8965 0.95 224.0 640.8 7.6 432 8966 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2307 1898

9274 0.95 224.0 614.3 9.2 447 9278 0.00 2.62 0.00 0.000 4 0.000 0.067 2573 3706 1897

9340 0.88 224.0 608.0 10.0 450 9345 0.00 2.47 0.00 0.000 6 0.000 0.031 2574 2299 1897

9662 0.88 224.0 582.4 7.8 466 9663 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2299 1896

9971 0.88 224.0 557.5 7.7 481 9972 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2299 1895

10280 0.88 224.0 530.0 9.3 496 10282 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2299 1895

10590 0.88 224.0 499.2 10.4 511 10591 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2298 1895

10899 0.88 224.0 469.2 9.2 526 10903 0.00 2.53 0.00 0.000 4 0.000 0.049 2573 891 1894

10944 0.88 224.0 464.8 9.8 528 10949 0.12 2.47 0.00 0.000 6 0.095 0.035 2550 2306 1893

11272 0.95 248.1 441.3 6.7 544 11301 0.00 2.70 21.80 0.812 4 0.000 0.061 2550 3705 1805

11337 0.96 253.5 436.8 7.3 547 11348 0.00 2.47 6.32 0.660 6 0.000 0.029 2550 2293 1783

11665 1.05 269.9 414.0 6.9 563 11684 0.17 0.00 16.20 0.774 6 0.043 0.000 2594 2293 1716

11993 1.05 269.9 382.3 9.9 579 11997 0.00 2.50 0.00 0.000 4 0.000 0.048 2595 898 1714

12039 1.05 269.9 377.6 10.1 581 12043 0.00 2.47 0.00 0.000 6 0.000 0.035 2594 2309 1712

12365 1.05 269.9 346.4 9.1 597 12366 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2309 1711

12674 1.01 269.9 318.5 8.9 612 12679 0.00 2.53 0.00 0.000 4 0.000 0.044 2594 897 1711

12730 1.01 269.9 313.0 10.1 614 12736 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2301 1711

13046 1.01 269.9 283.3 9.2 630 13047 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2301 1711

13355 1.01 269.9 255.4 8.6 645 13356 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2301 1711

13664 1.01 269.9 227.9 9.6 660 13668 0.00 2.50 0.00 0.000 4 0.000 0.044 2595 897 1711

13703 1.01 269.9 224.1 10.0 662 13708 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2301 1711

14030 1.01 269.9 190.4 10.7 678 14031 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2303 1711

14339 1.01 269.9 159.3 9.9 693 14344 0.00 2.50 0.00 0.000 4 0.000 0.044 2595 896 1711

14389 1.01 269.9 153.9 10.1 695 14394 0.00 2.45 0.00 0.000 6 0.000 0.035 2595 2303 1711

14705 1.01 269.9 125.3 9.1 710 14707 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2304 1711

15015 1.01 269.9 96.3 9.9 725 15016 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2304 1711

15326 1.01 269.9 67.9 8.3 740 15330 0.00 2.50 0.00 0.000 4 0.000 0.044 2594 897 1711

15376 1.02 280.8 63.9 7.1 742 15391 0.00 2.45 10.25 0.543 6 0.000 0.034 2594 2305 1671

15720 1.04 290.3 40.6 7.2 759 15735 0.00 2.55 9.82 0.525 4 0.000 0.043 2594 891 1632

15897 1.04 290.3 26.0 9.0 766 15901 0.00 2.45 0.00 0.000 6 0.000 0.034 2594 2301 1629

16160 end climb: SURFACE_DEPTH_REACHED

state 16160 begin surface coast

16183 end surface coast: CONTROL_FINISHED_OK

state 16183 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	101	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2109435.2	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	040736,6306.737,-1308.788,42,1.9,42,-12.1	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.54	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.6	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	041258,6306.776,-1308.895,11,2.9,30,-12.1	MHEAD_RNG_PITCHd_Wd	353.6,16058,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.013972	ALTIM_BOTTOM_PING	701.8,24.4
SM_CCo	16267,0.00,0.000,0,0,1626,292.15	_24V_AH	23.6,20.026
SM_GC	1.78,12.10,0.00,0.00,0.091,0.000,0.000,74,2609,1626,-10.47,0.25,292.15	_10V_AH	10.1,9.702
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38014,780
TT8_MAMPS	0.02301	CAP_FILE_SIZE	106887,0
HUMID	1738	CFSIZE	260165632,252620800
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	240609,084537,6309.451,-1310.312,40,0.8,40,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	116.47	SBE_CT	571	24	323.76
Roll_motor	90	69	149.03	SBE_O2	532	19	238.75
VBD_pump_during_apogee	395	1023	9550.05	WL_BB2F	472	105	1169.80
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	17	103	43.62	nil	0	0	0.00
Iridium_during_connect	28	160	105.91	nil	0	0	0.00
Iridium_during_xfer	145	223	765.73
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.92
TT8	1389	19	277.92
LPSleep	12636	2	279.52
TT8_Active	474	19	94.81
TT8_Sampling	1660	39	667.62
TT8_CF8	425	45	196.84
TT8_Kalman	0	81	0.00
Analog_circuits	1293	12	156.79
GPS_charging	0	0	0.00
Compass	1600	8	129.34
RAFOS	0	0	0.00
Transponder	44	30	13.43

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-54.97	0.000	6	0.000	0.000	76	2603	3417
82	-1.03	-146.6	7.7	-14.4	3	104	11.85	2.55	0.00	0.000	4	0.182	0.041	2131	1192	3418
340	-1.03	-146.6	45.8	-11.0	14	344	0.00	2.47	0.00	0.000	6	0.000	0.037	2131	2596	3419
657	-1.03	-146.6	79.6	-10.9	29	661	0.00	2.35	0.00	0.000	4	0.000	0.066	2131	3866	3419
712	-1.03	-146.6	86.1	-11.2	31	719	0.00	2.20	0.00	0.000	6	0.000	0.028	2132	2583	3419
1028	-1.03	-146.6	118.3	-10.4	47	1029	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2583	3420
1337	-1.03	-146.6	146.9	-9.0	62	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2583	3420
1647	-1.03	-146.6	175.3	-9.6	77	1649	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2583	3420
1956	-1.03	-146.6	204.3	-9.5	92	1957	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2583	3420
2265	-1.03	-146.6	233.5	-9.5	107	2266	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2583	3418
2574	-1.03	-146.6	261.3	-8.9	122	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2583	3419
2883	-1.03	-146.6	289.9	-9.6	137	2884	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2583	3419
3193	-1.03	-146.6	319.4	-9.5	152	3194	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2583	3419
3503	-1.03	-146.6	352.0	-10.9	167	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2582	3419
3811	-1.03	-146.6	383.6	-10.0	182	3815	0.00	2.42	0.00	0.000	4	0.000	0.042	2131	1206	3419
3844	-1.08	-146.6	386.9	-9.9	183	3850	0.00	2.45	0.00	0.000	6	0.000	0.038	2132	2603	3420
4160	-1.08	-146.6	415.3	-8.8	199	4161	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3419
4469	-1.08	-146.6	442.5	-8.7	214	4470	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2603	3419
4778	-1.08	-146.6	469.6	-8.7	229	4782	0.00	2.45	0.00	0.000	4	0.000	0.041	2131	1212	3418
4818	-1.13	-146.6	472.9	-8.4	231	4823	0.00	2.42	0.00	0.000	6	0.000	0.038	2131	2600	3418
5146	-1.13	-146.6	500.1	-8.4	247	5150	0.00	2.45	0.00	0.000	4	0.000	0.040	2131	1209	3418
5179	-1.18	-146.6	503.2	-8.7	248	5186	0.15	2.45	0.00	0.000	6	0.044	0.038	2086	2608	3418
5495	-1.07	-146.6	540.1	-11.9	264	5497	0.20	0.00	0.00	0.000	6	0.095	0.000	2125	2608	3418
5804	-1.07	-146.6	567.9	-8.6	279	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2608	3418
6113	-1.07	-146.6	595.2	-8.3	294	6114	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2608	3418
6422	-1.07	-146.6	623.2	-10.1	309	6426	0.00	2.47	0.00	0.000	4	0.000	0.042	2125	1208	3418
6468	-1.12	-146.6	627.8	-10.1	311	6473	0.00	2.45	0.00	0.000	6	0.000	0.039	2125	2600	3418
6790	-1.12	-146.6	655.6	-8.0	327	6791	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3418
7099	-1.12	-146.6	682.1	-8.2	342	7103	0.00	2.47	0.00	0.000	4	0.000	0.042	2125	1204	3417
7138	-1.17	-146.6	685.3	-8.8	344	7143	0.00	2.47	0.00	0.000	6	0.000	0.040	2125	2605	3417
7463	end dive: BOTTOM_OBSTACLE_DETECTED
state	7463	begin apogee
7470	-0.31	0.0	716.5	10.8	360	7605	0.82	0.00	129.25	1.024	6	0.107	0.000	2289	2305	2816
7606	end apogee: CONTROL_FINISHED_OK
state	7606	begin climb
7609	1.03	146.6	723.4	0.0	367	7745	1.38	0.00	130.88	1.014	6	0.076	0.000	2580	2305	2219
8043	0.94	146.6	703.9	8.1	388	8048	0.00	2.65	0.00	0.000	4	0.000	0.070	2580	3702	2212
8099	0.81	146.6	699.5	7.8	390	8106	0.22	2.45	0.00	0.000	6	0.097	0.032	2537	2311	2211
8415	0.87	205.8	680.7	5.5	406	8477	0.00	2.67	53.00	0.988	4	0.000	0.054	2537	905	1976
8623	0.95	224.0	667.9	6.9	415	8649	0.12	2.50	17.67	0.924	6	0.052	0.038	2573	2308	1903
8965	0.95	224.0	640.8	7.6	432	8966	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2307	1898
9274	0.95	224.0	614.3	9.2	447	9278	0.00	2.62	0.00	0.000	4	0.000	0.067	2573	3706	1897
9340	0.88	224.0	608.0	10.0	450	9345	0.00	2.47	0.00	0.000	6	0.000	0.031	2574	2299	1897
9662	0.88	224.0	582.4	7.8	466	9663	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2299	1896
9971	0.88	224.0	557.5	7.7	481	9972	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2299	1895
10280	0.88	224.0	530.0	9.3	496	10282	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2299	1895
10590	0.88	224.0	499.2	10.4	511	10591	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2298	1895
10899	0.88	224.0	469.2	9.2	526	10903	0.00	2.53	0.00	0.000	4	0.000	0.049	2573	891	1894
10944	0.88	224.0	464.8	9.8	528	10949	0.12	2.47	0.00	0.000	6	0.095	0.035	2550	2306	1893
11272	0.95	248.1	441.3	6.7	544	11301	0.00	2.70	21.80	0.812	4	0.000	0.061	2550	3705	1805
11337	0.96	253.5	436.8	7.3	547	11348	0.00	2.47	6.32	0.660	6	0.000	0.029	2550	2293	1783
11665	1.05	269.9	414.0	6.9	563	11684	0.17	0.00	16.20	0.774	6	0.043	0.000	2594	2293	1716
11993	1.05	269.9	382.3	9.9	579	11997	0.00	2.50	0.00	0.000	4	0.000	0.048	2595	898	1714
12039	1.05	269.9	377.6	10.1	581	12043	0.00	2.47	0.00	0.000	6	0.000	0.035	2594	2309	1712
12365	1.05	269.9	346.4	9.1	597	12366	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2309	1711
12674	1.01	269.9	318.5	8.9	612	12679	0.00	2.53	0.00	0.000	4	0.000	0.044	2594	897	1711
12730	1.01	269.9	313.0	10.1	614	12736	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2301	1711
13046	1.01	269.9	283.3	9.2	630	13047	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2301	1711
13355	1.01	269.9	255.4	8.6	645	13356	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2301	1711
13664	1.01	269.9	227.9	9.6	660	13668	0.00	2.50	0.00	0.000	4	0.000	0.044	2595	897	1711
13703	1.01	269.9	224.1	10.0	662	13708	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2301	1711
14030	1.01	269.9	190.4	10.7	678	14031	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2303	1711
14339	1.01	269.9	159.3	9.9	693	14344	0.00	2.50	0.00	0.000	4	0.000	0.044	2595	896	1711
14389	1.01	269.9	153.9	10.1	695	14394	0.00	2.45	0.00	0.000	6	0.000	0.035	2595	2303	1711
14705	1.01	269.9	125.3	9.1	710	14707	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2304	1711
15015	1.01	269.9	96.3	9.9	725	15016	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2304	1711
15326	1.01	269.9	67.9	8.3	740	15330	0.00	2.50	0.00	0.000	4	0.000	0.044	2594	897	1711
15376	1.02	280.8	63.9	7.1	742	15391	0.00	2.45	10.25	0.543	6	0.000	0.034	2594	2305	1671
15720	1.04	290.3	40.6	7.2	759	15735	0.00	2.55	9.82	0.525	4	0.000	0.043	2594	891	1632
15897	1.04	290.3	26.0	9.0	766	15901	0.00	2.45	0.00	0.000	6	0.000	0.034	2594	2301	1629
16160	end climb: SURFACE_DEPTH_REACHED
state	16160	begin surface coast
16183	end surface coast: CONTROL_FINISHED_OK
state	16183	begin surface