Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 147 * 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 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 147 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 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 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 -2096041.8 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 2 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 2300 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 412.5

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 -2096041.8

CAPUPLOAD 0 HEADING 270 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 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 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 147 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 183302,6215.753,-948.304,43,1.4,43,-9.9 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6215.761,-953.401

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 184527,6215.761,-948.375,14,1.8,14,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.018266 ALTIM_BOTTOM_PING 650.5,18.1

SM_CCo 14353,143.43,0.628,0,0,508,557.32 _24V_AH 23.6,26.388

SM_GC 1.41,0.00,0.00,143.43,0.000,0.000,0.628,71,2314,508,-10.25,0.40,557.32 _10V_AH 10.2,13.013

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34818,687

TT8_MAMPS 0.02301 CAP_FILE_SIZE 118878,0

HUMID 1872 CFSIZE 260165632,249651200

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 35 GPS 050708,224838,6216.184,-949.318,38,1.2,38,-9.9

ALTIM_TOP_PING 19.0,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 166 102.81 SBE_CT 497 24 281.70

Roll_motor 143 82 278.81 SBE_O2 469 19 210.58

VBD_pump_during_apogee 363 1079 9270.07 WL_BB2F 442 105 1097.15

VBD_pump_during_surface 143 628 2126.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 180.62 nil 0 0 0.00

Iridium_during_connect 106 160 402.23 nil 0 0 0.00

Iridium_during_xfer 321 223 1689.81

Transponder_ping 14 420 146.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.27

TT8 1317 19 266.12

LPSleep 10878 2 243.00

TT8_Active 678 19 136.93

TT8_Sampling 1612 39 654.56

TT8_CF8 758 45 354.51

TT8_Kalman 0 81 0.00

Analog_circuits 1501 12 183.74

GPS_charging 0 0 0.00

Compass 1566 8 127.80

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

31 -1.08 -146.6 0.0 0.0 0 152 0.00 0.00 -119.40 0.000 2 0.000 0.000 66 2309 3028

156 -1.08 -146.6 4.3 -3.7 6 181 11.10 2.70 -7.68 0.000 4 0.166 0.082 2055 3709 3380

434 -0.90 -146.6 45.0 -12.2 18 440 0.22 2.60 0.00 0.000 6 0.096 0.055 2098 2298 3381

751 -0.84 -146.6 73.8 -8.9 33 755 0.00 2.67 0.00 0.000 4 0.000 0.073 2098 3707 3381

791 -0.80 -146.6 77.7 -10.3 35 796 0.15 2.58 0.00 0.000 6 0.098 0.055 2127 2299 3381

1118 -0.80 -146.6 103.5 -8.1 51 1122 0.00 2.62 0.00 0.000 4 0.000 0.066 2127 881 3381

1151 -0.88 -146.6 106.5 -8.9 52 1157 0.00 2.60 0.00 0.000 6 0.000 0.054 2127 2303 3381

1469 -0.88 -146.6 137.7 -10.3 68 1470 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2303 3382

1776 -0.88 -146.6 167.6 -9.5 83 1780 0.00 2.67 0.00 0.000 4 0.000 0.065 2127 877 3381

1820 -0.96 -146.6 172.0 -9.6 85 1825 0.17 2.62 0.00 0.000 6 0.041 0.054 2074 2301 3381

2142 -0.85 -146.6 212.2 -12.8 101 2144 0.20 0.00 0.00 0.000 6 0.089 0.000 2114 2301 3382

2450 -0.85 -146.6 244.2 -9.9 116 2455 0.00 2.65 0.00 0.000 4 0.000 0.067 2115 881 3381

2501 -0.90 -146.6 249.4 -9.7 118 2506 0.00 2.60 0.00 0.000 6 0.000 0.054 2114 2299 3381

2817 -0.90 -146.6 279.3 -9.2 133 2821 0.00 2.65 0.00 0.000 4 0.000 0.067 2114 881 3380

2857 -0.95 -146.6 282.9 -9.2 135 2861 0.00 2.62 0.00 0.000 6 0.000 0.055 2114 2301 3380

3183 -0.95 -146.6 313.8 -9.6 151 3188 0.00 2.67 0.00 0.000 4 0.000 0.067 2114 880 3380

3224 -1.01 -146.6 317.7 -9.3 153 3229 0.17 2.62 0.00 0.000 6 0.043 0.055 2063 2300 3380

3553 -0.87 -146.6 357.6 -12.2 169 3555 0.22 0.00 0.00 0.000 6 0.091 0.000 2107 2300 3380

3859 -0.87 -146.6 387.4 -9.5 184 3864 0.00 2.67 0.00 0.000 4 0.000 0.067 2107 880 3380

3904 -0.92 -146.6 391.5 -8.8 186 3908 0.00 2.62 0.00 0.000 6 0.000 0.055 2107 2302 3380

4225 -0.92 -146.6 419.4 -8.6 202 4226 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2301 3379

4534 -0.92 -146.6 446.5 -9.1 217 4538 0.00 2.67 0.00 0.000 4 0.000 0.067 2107 874 3379

4578 -0.98 -146.6 450.6 -9.2 219 4582 0.00 2.62 0.00 0.000 6 0.000 0.055 2107 2302 3379

4899 -0.98 -146.6 481.2 -9.3 235 4900 0.00 0.00 0.00 0.000 6 0.000 0.000 2107 2302 3379

5208 -0.98 -146.6 509.4 -9.1 250 5212 0.00 2.67 0.00 0.000 4 0.000 0.067 2107 874 3379

5258 -1.02 -146.6 514.0 -9.0 252 5263 0.15 2.62 0.00 0.000 6 0.047 0.055 2063 2310 3379

5574 -0.90 -146.6 547.4 -9.7 267 5579 0.17 2.70 0.00 0.000 4 0.095 0.067 2101 876 3379

5624 -0.95 -146.6 551.8 -8.2 269 5629 0.00 2.60 0.00 0.000 6 0.000 0.055 2101 2298 3379

5940 -0.95 -146.6 580.7 -9.9 284 5944 0.00 2.67 0.00 0.000 4 0.000 0.076 2101 3709 3378

5980 -0.95 -146.6 584.9 -11.2 286 5984 0.00 2.60 0.00 0.000 6 0.000 0.054 2101 2293 3378

6306 -0.95 -146.6 619.6 -10.2 302 6307 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2293 3378

6615 -0.95 -146.6 646.1 -8.5 317 6620 0.00 2.65 0.00 0.000 4 0.000 0.071 2101 883 3378

6734 -1.00 -146.6 657.5 -9.2 322 6738 0.00 2.62 0.00 0.000 6 0.000 0.058 2101 2300 3378

6759 end dive: BOTTOM_OBSTACLE_DETECTED

state 6760 begin apogee

6767 -0.31 0.0 659.0 6.5 323 6901 0.65 0.00 131.07 1.080 6 0.103 0.000 2231 2196 2781

6902 end apogee: CONTROL_FINISHED_OK

state 6902 begin climb

6905 1.08 146.6 664.0 0.0 330 7039 1.40 0.00 129.40 1.059 6 0.071 0.000 2530 2196 2183

7338 1.11 169.3 639.8 7.2 351 7366 0.00 2.72 21.20 0.996 4 0.000 0.069 2530 787 2089

7434 1.13 193.2 632.3 7.1 355 7465 0.00 2.65 21.80 0.995 6 0.000 0.054 2530 2203 1993

7775 1.18 193.2 606.4 8.6 372 7780 0.12 2.72 0.00 0.000 4 0.054 0.077 2566 3619 1993

7826 1.09 193.2 601.3 11.5 374 7831 0.15 2.65 0.00 0.000 6 0.100 0.061 2538 2208 1993

8141 1.09 193.2 570.4 9.3 389 8146 0.00 2.72 0.00 0.000 4 0.000 0.079 2538 3614 1992

8197 1.04 193.2 565.1 9.6 391 8203 0.00 2.65 0.00 0.000 6 0.000 0.062 2538 2202 1992

8512 1.04 193.2 536.2 9.1 407 8517 0.00 2.72 0.00 0.000 4 0.000 0.077 2538 3613 1990

8636 0.98 193.2 524.6 9.2 412 8642 0.12 2.65 0.00 0.000 6 0.101 0.062 2515 2190 1990

8952 1.06 202.8 501.0 7.6 428 8966 0.00 2.70 9.30 0.870 4 0.000 0.071 2514 779 1953

9042 1.11 202.8 493.3 8.8 432 9047 0.12 2.65 0.00 0.000 6 0.054 0.053 2550 2204 1953

9369 1.11 202.8 459.8 10.4 448 9373 0.00 2.70 0.00 0.000 4 0.000 0.076 2550 3619 1953

9431 1.04 202.8 452.6 11.6 451 9437 0.12 2.67 0.00 0.000 6 0.101 0.062 2527 2201 1953

9758 1.04 202.8 420.5 9.4 467 9762 0.00 2.72 0.00 0.000 4 0.000 0.076 2527 3619 1953

9798 1.04 202.8 416.5 10.9 469 9802 0.00 2.65 0.00 0.000 6 0.000 0.061 2528 2199 1953

10124 1.04 202.8 387.5 8.6 485 10125 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2199 1953

10433 1.04 202.8 360.8 8.2 500 10437 0.00 2.67 0.00 0.000 4 0.000 0.074 2528 3613 1953

10490 1.04 202.8 355.8 9.0 502 10496 0.00 2.62 0.00 0.000 6 0.000 0.062 2528 2198 1953

10805 1.07 237.3 333.5 6.7 518 10841 0.00 2.75 30.52 0.856 4 0.000 0.074 2527 3613 1812

10869 1.07 237.3 328.7 8.4 520 10874 0.00 2.67 0.00 0.000 6 0.000 0.062 2527 2195 1812

11192 1.16 260.1 305.2 7.2 536 11215 0.12 0.00 20.42 0.818 6 0.050 0.000 2563 2196 1720

11520 1.16 260.1 274.0 9.6 552 11524 0.00 2.70 0.00 0.000 4 0.000 0.074 2563 3614 1720

11592 1.16 260.1 266.3 9.8 555 11597 0.00 2.65 0.00 0.000 6 0.000 0.061 2563 2196 1720

11907 1.16 260.1 236.9 9.2 570 11909 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2196 1720

12217 1.16 260.1 207.3 9.7 585 12221 0.00 2.70 0.00 0.000 4 0.000 0.074 2563 3621 1721

12261 1.16 260.1 202.6 10.6 587 12265 0.00 2.65 0.00 0.000 6 0.000 0.061 2563 2192 1720

12581 1.16 260.1 170.6 10.0 603 12582 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2192 1720

12891 1.16 260.1 139.0 10.2 618 12896 0.00 2.70 0.00 0.000 4 0.000 0.073 2563 3623 1721

12964 1.16 260.1 130.4 12.4 621 12968 0.00 2.62 0.00 0.000 6 0.000 0.061 2563 2201 1721

13280 1.16 260.1 98.2 9.9 636 13284 0.00 2.67 0.00 0.000 4 0.000 0.073 2563 3617 1721

13320 1.16 260.1 93.9 10.6 638 13324 0.00 2.62 0.00 0.000 6 0.000 0.061 2563 2197 1722

13647 1.16 260.1 64.7 8.3 654 13648 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2197 1721

13956 1.16 260.1 38.3 10.0 669 13960 0.00 2.67 0.00 0.000 4 0.000 0.072 2563 3620 1722

14078 1.16 260.1 23.8 10.8 674 14085 0.00 2.60 0.00 0.000 6 0.000 0.062 2563 2202 1722

14309 end climb: SURFACE_DEPTH_REACHED

state 14309 begin surface coast

14331 end surface coast: CONTROL_FINISHED_OK

state 14331 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	147	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	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	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	-2096041.8	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	2	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	2300	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	183302,6215.753,-948.304,43,1.4,43,-9.9	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6215.761,-953.401
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	184527,6215.761,-948.375,14,1.8,14,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.018266	ALTIM_BOTTOM_PING	650.5,18.1
SM_CCo	14353,143.43,0.628,0,0,508,557.32	_24V_AH	23.6,26.388
SM_GC	1.41,0.00,0.00,143.43,0.000,0.000,0.628,71,2314,508,-10.25,0.40,557.32	_10V_AH	10.2,13.013
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34818,687
TT8_MAMPS	0.02301	CAP_FILE_SIZE	118878,0
HUMID	1872	CFSIZE	260165632,249651200
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	35	GPS	050708,224838,6216.184,-949.318,38,1.2,38,-9.9
ALTIM_TOP_PING	19.0,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	166	102.81	SBE_CT	497	24	281.70
Roll_motor	143	82	278.81	SBE_O2	469	19	210.58
VBD_pump_during_apogee	363	1079	9270.07	WL_BB2F	442	105	1097.15
VBD_pump_during_surface	143	628	2126.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	180.62	nil	0	0	0.00
Iridium_during_connect	106	160	402.23	nil	0	0	0.00
Iridium_during_xfer	321	223	1689.81
Transponder_ping	14	420	146.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.27
TT8	1317	19	266.12
LPSleep	10878	2	243.00
TT8_Active	678	19	136.93
TT8_Sampling	1612	39	654.56
TT8_CF8	758	45	354.51
TT8_Kalman	0	81	0.00
Analog_circuits	1501	12	183.74
GPS_charging	0	0	0.00
Compass	1566	8	127.80
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
31	-1.08	-146.6	0.0	0.0	0	152	0.00	0.00	-119.40	0.000	2	0.000	0.000	66	2309	3028
156	-1.08	-146.6	4.3	-3.7	6	181	11.10	2.70	-7.68	0.000	4	0.166	0.082	2055	3709	3380
434	-0.90	-146.6	45.0	-12.2	18	440	0.22	2.60	0.00	0.000	6	0.096	0.055	2098	2298	3381
751	-0.84	-146.6	73.8	-8.9	33	755	0.00	2.67	0.00	0.000	4	0.000	0.073	2098	3707	3381
791	-0.80	-146.6	77.7	-10.3	35	796	0.15	2.58	0.00	0.000	6	0.098	0.055	2127	2299	3381
1118	-0.80	-146.6	103.5	-8.1	51	1122	0.00	2.62	0.00	0.000	4	0.000	0.066	2127	881	3381
1151	-0.88	-146.6	106.5	-8.9	52	1157	0.00	2.60	0.00	0.000	6	0.000	0.054	2127	2303	3381
1469	-0.88	-146.6	137.7	-10.3	68	1470	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2303	3382
1776	-0.88	-146.6	167.6	-9.5	83	1780	0.00	2.67	0.00	0.000	4	0.000	0.065	2127	877	3381
1820	-0.96	-146.6	172.0	-9.6	85	1825	0.17	2.62	0.00	0.000	6	0.041	0.054	2074	2301	3381
2142	-0.85	-146.6	212.2	-12.8	101	2144	0.20	0.00	0.00	0.000	6	0.089	0.000	2114	2301	3382
2450	-0.85	-146.6	244.2	-9.9	116	2455	0.00	2.65	0.00	0.000	4	0.000	0.067	2115	881	3381
2501	-0.90	-146.6	249.4	-9.7	118	2506	0.00	2.60	0.00	0.000	6	0.000	0.054	2114	2299	3381
2817	-0.90	-146.6	279.3	-9.2	133	2821	0.00	2.65	0.00	0.000	4	0.000	0.067	2114	881	3380
2857	-0.95	-146.6	282.9	-9.2	135	2861	0.00	2.62	0.00	0.000	6	0.000	0.055	2114	2301	3380
3183	-0.95	-146.6	313.8	-9.6	151	3188	0.00	2.67	0.00	0.000	4	0.000	0.067	2114	880	3380
3224	-1.01	-146.6	317.7	-9.3	153	3229	0.17	2.62	0.00	0.000	6	0.043	0.055	2063	2300	3380
3553	-0.87	-146.6	357.6	-12.2	169	3555	0.22	0.00	0.00	0.000	6	0.091	0.000	2107	2300	3380
3859	-0.87	-146.6	387.4	-9.5	184	3864	0.00	2.67	0.00	0.000	4	0.000	0.067	2107	880	3380
3904	-0.92	-146.6	391.5	-8.8	186	3908	0.00	2.62	0.00	0.000	6	0.000	0.055	2107	2302	3380
4225	-0.92	-146.6	419.4	-8.6	202	4226	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2301	3379
4534	-0.92	-146.6	446.5	-9.1	217	4538	0.00	2.67	0.00	0.000	4	0.000	0.067	2107	874	3379
4578	-0.98	-146.6	450.6	-9.2	219	4582	0.00	2.62	0.00	0.000	6	0.000	0.055	2107	2302	3379
4899	-0.98	-146.6	481.2	-9.3	235	4900	0.00	0.00	0.00	0.000	6	0.000	0.000	2107	2302	3379
5208	-0.98	-146.6	509.4	-9.1	250	5212	0.00	2.67	0.00	0.000	4	0.000	0.067	2107	874	3379
5258	-1.02	-146.6	514.0	-9.0	252	5263	0.15	2.62	0.00	0.000	6	0.047	0.055	2063	2310	3379
5574	-0.90	-146.6	547.4	-9.7	267	5579	0.17	2.70	0.00	0.000	4	0.095	0.067	2101	876	3379
5624	-0.95	-146.6	551.8	-8.2	269	5629	0.00	2.60	0.00	0.000	6	0.000	0.055	2101	2298	3379
5940	-0.95	-146.6	580.7	-9.9	284	5944	0.00	2.67	0.00	0.000	4	0.000	0.076	2101	3709	3378
5980	-0.95	-146.6	584.9	-11.2	286	5984	0.00	2.60	0.00	0.000	6	0.000	0.054	2101	2293	3378
6306	-0.95	-146.6	619.6	-10.2	302	6307	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2293	3378
6615	-0.95	-146.6	646.1	-8.5	317	6620	0.00	2.65	0.00	0.000	4	0.000	0.071	2101	883	3378
6734	-1.00	-146.6	657.5	-9.2	322	6738	0.00	2.62	0.00	0.000	6	0.000	0.058	2101	2300	3378
6759	end dive: BOTTOM_OBSTACLE_DETECTED
state	6760	begin apogee
6767	-0.31	0.0	659.0	6.5	323	6901	0.65	0.00	131.07	1.080	6	0.103	0.000	2231	2196	2781
6902	end apogee: CONTROL_FINISHED_OK
state	6902	begin climb
6905	1.08	146.6	664.0	0.0	330	7039	1.40	0.00	129.40	1.059	6	0.071	0.000	2530	2196	2183
7338	1.11	169.3	639.8	7.2	351	7366	0.00	2.72	21.20	0.996	4	0.000	0.069	2530	787	2089
7434	1.13	193.2	632.3	7.1	355	7465	0.00	2.65	21.80	0.995	6	0.000	0.054	2530	2203	1993
7775	1.18	193.2	606.4	8.6	372	7780	0.12	2.72	0.00	0.000	4	0.054	0.077	2566	3619	1993
7826	1.09	193.2	601.3	11.5	374	7831	0.15	2.65	0.00	0.000	6	0.100	0.061	2538	2208	1993
8141	1.09	193.2	570.4	9.3	389	8146	0.00	2.72	0.00	0.000	4	0.000	0.079	2538	3614	1992
8197	1.04	193.2	565.1	9.6	391	8203	0.00	2.65	0.00	0.000	6	0.000	0.062	2538	2202	1992
8512	1.04	193.2	536.2	9.1	407	8517	0.00	2.72	0.00	0.000	4	0.000	0.077	2538	3613	1990
8636	0.98	193.2	524.6	9.2	412	8642	0.12	2.65	0.00	0.000	6	0.101	0.062	2515	2190	1990
8952	1.06	202.8	501.0	7.6	428	8966	0.00	2.70	9.30	0.870	4	0.000	0.071	2514	779	1953
9042	1.11	202.8	493.3	8.8	432	9047	0.12	2.65	0.00	0.000	6	0.054	0.053	2550	2204	1953
9369	1.11	202.8	459.8	10.4	448	9373	0.00	2.70	0.00	0.000	4	0.000	0.076	2550	3619	1953
9431	1.04	202.8	452.6	11.6	451	9437	0.12	2.67	0.00	0.000	6	0.101	0.062	2527	2201	1953
9758	1.04	202.8	420.5	9.4	467	9762	0.00	2.72	0.00	0.000	4	0.000	0.076	2527	3619	1953
9798	1.04	202.8	416.5	10.9	469	9802	0.00	2.65	0.00	0.000	6	0.000	0.061	2528	2199	1953
10124	1.04	202.8	387.5	8.6	485	10125	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2199	1953
10433	1.04	202.8	360.8	8.2	500	10437	0.00	2.67	0.00	0.000	4	0.000	0.074	2528	3613	1953
10490	1.04	202.8	355.8	9.0	502	10496	0.00	2.62	0.00	0.000	6	0.000	0.062	2528	2198	1953
10805	1.07	237.3	333.5	6.7	518	10841	0.00	2.75	30.52	0.856	4	0.000	0.074	2527	3613	1812
10869	1.07	237.3	328.7	8.4	520	10874	0.00	2.67	0.00	0.000	6	0.000	0.062	2527	2195	1812
11192	1.16	260.1	305.2	7.2	536	11215	0.12	0.00	20.42	0.818	6	0.050	0.000	2563	2196	1720
11520	1.16	260.1	274.0	9.6	552	11524	0.00	2.70	0.00	0.000	4	0.000	0.074	2563	3614	1720
11592	1.16	260.1	266.3	9.8	555	11597	0.00	2.65	0.00	0.000	6	0.000	0.061	2563	2196	1720
11907	1.16	260.1	236.9	9.2	570	11909	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2196	1720
12217	1.16	260.1	207.3	9.7	585	12221	0.00	2.70	0.00	0.000	4	0.000	0.074	2563	3621	1721
12261	1.16	260.1	202.6	10.6	587	12265	0.00	2.65	0.00	0.000	6	0.000	0.061	2563	2192	1720
12581	1.16	260.1	170.6	10.0	603	12582	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2192	1720
12891	1.16	260.1	139.0	10.2	618	12896	0.00	2.70	0.00	0.000	4	0.000	0.073	2563	3623	1721
12964	1.16	260.1	130.4	12.4	621	12968	0.00	2.62	0.00	0.000	6	0.000	0.061	2563	2201	1721
13280	1.16	260.1	98.2	9.9	636	13284	0.00	2.67	0.00	0.000	4	0.000	0.073	2563	3617	1721
13320	1.16	260.1	93.9	10.6	638	13324	0.00	2.62	0.00	0.000	6	0.000	0.061	2563	2197	1722
13647	1.16	260.1	64.7	8.3	654	13648	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2197	1721
13956	1.16	260.1	38.3	10.0	669	13960	0.00	2.67	0.00	0.000	4	0.000	0.072	2563	3620	1722
14078	1.16	260.1	23.8	10.8	674	14085	0.00	2.60	0.00	0.000	6	0.000	0.062	2563	2202	1722
14309	end climb: SURFACE_DEPTH_REACHED
state	14309	begin surface coast
14331	end surface coast: CONTROL_FINISHED_OK
state	14331	begin surface