Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 155 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 155 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 -2096211.5 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 -2096211.5

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 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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 155 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 062138,6211.817,-1022.133,39,1.2,39,-10.2 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.18 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -50.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 063021,6211.831,-1022.341,13,1.8,13,-10.2 MHEAD_RNG_PITCHd_Wd 308.5,12394,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027081 ALTIM_BOTTOM_PING 751.9,62.5

SM_CCo 16002,134.38,0.618,0,0,509,557.32 _24V_AH 23.6,27.666

SM_GC 1.34,0.00,0.00,134.38,0.000,0.000,0.618,73,2308,509,-10.24,0.23,557.32 _10V_AH 10.2,13.607

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38005,768

TT8_MAMPS 0.023777 CAP_FILE_SIZE 113480,0

HUMID 1852 CFSIZE 260165632,249200640

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

XPDR_PINGS 15 GPS 070708,110058,6212.585,-1029.716,26,2.9,45,-10.3

ALTIM_TOP_PING 19.3,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 99.46 SBE_CT 561 24 318.00

Roll_motor 111 79 209.43 SBE_O2 523 19 234.93

VBD_pump_during_apogee 381 1161 10460.57 WL_BB2F 438 105 1087.84

VBD_pump_during_surface 134 618 1960.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.52 nil 0 0 0.00

Iridium_during_connect 59 160 223.68 nil 0 0 0.00

Iridium_during_xfer 241 223 1269.96

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.70

TT8 1397 19 282.28

LPSleep 12334 2 275.54

TT8_Active 709 19 143.33

TT8_Sampling 1614 39 655.56

TT8_CF8 601 45 280.95

TT8_Kalman 0 81 0.00

Analog_circuits 1502 12 183.89

GPS_charging 0 0 0.00

Compass 1580 8 129.00

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.08 -146.6 0.0 0.0 0 141 0.00 0.00 -111.55 0.000 2 0.000 0.000 71 2306 2786

144 -1.08 -146.6 3.7 -2.8 6 180 11.05 2.70 -16.02 0.000 4 0.164 0.080 2057 3707 3381

414 -0.92 -146.6 41.7 -13.0 18 419 0.20 2.58 0.00 0.000 6 0.100 0.054 2096 2299 3381

742 -0.84 -146.6 80.0 -11.9 34 747 0.00 2.65 0.00 0.000 4 0.000 0.066 2096 872 3381

865 -0.84 -146.6 95.1 -12.5 39 872 0.00 2.62 0.00 0.000 6 0.000 0.051 2096 2303 3381

1184 -0.78 -146.6 137.1 -13.4 55 1185 0.15 0.00 0.00 0.000 6 0.100 0.000 2124 2303 3381

1490 -0.78 -146.6 171.1 -9.9 70 1495 0.00 2.67 0.00 0.000 4 0.000 0.064 2124 874 3381

1540 -0.86 -146.6 176.0 -9.3 72 1545 0.00 2.60 0.00 0.000 6 0.000 0.051 2124 2298 3380

1856 -0.86 -146.6 204.9 -9.0 87 1857 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2298 3381

2165 -0.86 -146.6 230.6 -8.3 102 2170 0.00 2.65 0.00 0.000 4 0.000 0.065 2124 880 3381

2234 -0.93 -146.6 236.3 -8.3 105 2240 0.12 2.60 0.00 0.000 6 0.047 0.053 2085 2298 3381

2556 -0.85 -146.6 270.9 -11.3 121 2561 0.15 2.67 0.00 0.000 4 0.092 0.066 2118 874 3381

2599 -0.92 -146.6 275.1 -9.6 123 2603 0.00 2.62 0.00 0.000 6 0.000 0.053 2118 2301 3382

2925 -0.92 -146.6 308.1 -10.2 139 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2302 3381

3234 -0.92 -146.6 339.6 -10.4 154 3238 0.00 2.67 0.00 0.000 4 0.000 0.066 2118 875 3382

3314 -0.98 -146.6 348.0 -11.1 157 3320 0.15 2.62 0.00 0.000 6 0.045 0.054 2074 2303 3381

3630 -0.87 -146.6 390.1 -13.7 173 3631 0.17 0.00 0.00 0.000 6 0.093 0.000 2108 2303 3381

3939 -0.87 -146.6 426.8 -11.4 188 3944 0.00 2.67 0.00 0.000 4 0.000 0.065 2108 876 3381

4018 -0.87 -146.6 435.6 -10.5 191 4024 0.00 2.62 0.00 0.000 6 0.000 0.054 2108 2307 3381

4333 -0.87 -146.6 469.4 -10.8 207 4334 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2307 3381

4644 -0.87 -146.6 501.7 -10.1 222 4648 0.00 2.67 0.00 0.000 4 0.000 0.066 2108 881 3381

4705 -0.87 -146.6 507.8 -9.5 225 4710 0.00 2.60 0.00 0.000 6 0.000 0.054 2108 2301 3380

5033 -0.87 -146.6 540.5 -10.0 241 5037 0.00 2.65 0.00 0.000 4 0.000 0.065 2108 881 3381

5073 -0.92 -146.6 544.5 -10.0 243 5077 0.00 2.60 0.00 0.000 6 0.000 0.054 2108 2302 3379

5399 -0.92 -146.6 574.9 -9.2 259 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2302 3380

5708 -0.92 -146.6 604.9 -10.1 274 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2302 3380

6018 -0.92 -146.6 636.8 -10.3 289 6022 0.00 2.67 0.00 0.000 4 0.000 0.064 2108 874 3380

6097 -0.92 -146.6 643.4 -7.7 292 6103 0.00 2.60 0.00 0.000 6 0.000 0.053 2109 2302 3380

6413 -0.92 -146.6 669.2 -8.6 308 6417 0.00 2.65 0.00 0.000 4 0.000 0.064 2109 881 3380

6498 -0.97 -146.6 677.0 -9.6 312 6502 0.00 2.60 0.00 0.000 6 0.000 0.054 2108 2304 3380

6824 -0.97 -146.6 708.0 -9.6 328 6825 0.00 0.00 0.00 0.000 6 0.000 0.000 2108 2304 3379

7133 -0.97 -146.6 739.2 -9.3 343 7138 0.00 2.67 0.00 0.000 4 0.000 0.065 2108 877 3379

7206 -1.03 -146.6 745.3 -8.8 346 7211 0.15 2.60 0.00 0.000 6 0.047 0.054 2064 2302 3379

7523 -0.92 -146.6 779.9 -11.4 361 7528 0.15 2.67 0.00 0.000 4 0.097 0.067 2097 876 3379

7601 -0.97 -146.6 789.5 -12.5 364 7607 0.00 2.62 0.00 0.000 6 0.000 0.056 2097 2304 3379

7708 end dive: BOTTOM_OBSTACLE_DETECTED

state 7708 begin apogee

7715 -0.31 0.0 805.4 15.1 370 7851 0.65 0.00 132.98 1.161 6 0.097 0.000 2228 2192 2782

7852 end apogee: CONTROL_FINISHED_OK

state 7852 begin climb

7855 1.08 146.6 816.0 0.0 377 7995 1.45 2.75 132.15 1.146 4 0.072 0.067 2534 783 2183

8023 1.08 146.6 812.4 8.4 385 8027 0.00 2.65 0.00 0.000 6 0.000 0.053 2534 2201 2184

8338 1.15 211.7 788.2 5.6 400 8399 0.00 0.00 58.92 1.122 6 0.000 0.000 2534 2201 1918

8708 1.21 211.7 757.1 10.1 418 8713 0.12 2.70 0.00 0.000 4 0.052 0.071 2571 785 1916

8781 1.14 211.7 749.7 9.4 421 8786 0.12 2.62 0.00 0.000 6 0.101 0.054 2548 2204 1916

9097 1.21 275.5 732.9 5.7 436 9157 0.00 0.00 57.65 1.118 6 0.000 0.000 2548 2203 1657

9466 1.27 275.5 699.7 8.6 454 9468 0.12 0.00 0.00 0.000 6 0.055 0.000 2583 2204 1656

9775 1.27 275.5 668.0 11.8 469 9779 0.00 2.67 0.00 0.000 4 0.000 0.068 2583 789 1655

9819 1.27 275.5 662.1 13.1 471 9824 0.00 2.58 0.00 0.000 6 0.000 0.049 2583 2203 1654

10140 1.27 275.5 626.6 9.7 487 10145 0.00 2.65 0.00 0.000 4 0.000 0.071 2583 3607 1654

10213 1.27 275.5 619.2 10.6 490 10217 0.00 2.60 0.00 0.000 6 0.000 0.058 2583 2205 1654

10529 1.27 275.5 587.5 10.7 505 10530 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2205 1654

10837 1.27 275.5 555.3 10.7 520 10839 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2205 1654

11147 1.27 275.5 521.3 10.8 535 11148 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2205 1654

11456 1.27 275.5 488.3 10.6 550 11458 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2205 1654

11765 1.27 275.5 453.4 11.4 565 11766 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2205 1655

12075 1.27 275.5 417.5 12.0 580 12079 0.00 2.65 0.00 0.000 4 0.000 0.071 2583 3613 1655

12130 1.27 275.5 410.4 12.9 582 12136 0.00 2.62 0.00 0.000 6 0.000 0.061 2583 2193 1655

12445 1.27 275.5 376.1 10.7 598 12447 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2194 1655

12755 1.27 275.5 344.4 10.3 613 12756 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2193 1655

13064 1.27 275.5 312.7 10.7 628 13065 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2194 1655

13373 1.27 275.5 279.6 10.2 643 13378 0.00 2.65 0.00 0.000 4 0.000 0.069 2583 3614 1656

13423 1.27 275.5 273.9 11.5 645 13428 0.00 2.62 0.00 0.000 6 0.000 0.061 2583 2196 1656

13739 1.27 275.5 244.4 9.1 660 13740 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2196 1656

14048 1.27 275.5 213.6 11.4 675 14053 0.00 2.65 0.00 0.000 4 0.000 0.068 2583 3611 1656

14098 1.27 275.5 207.3 12.5 677 14103 0.00 2.60 0.00 0.000 6 0.000 0.060 2583 2199 1656

14414 1.27 275.5 172.3 11.5 692 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2199 1656

14724 1.27 275.5 136.8 12.3 707 14725 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2199 1656

15033 1.27 275.5 99.9 11.7 722 15034 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2199 1657

15342 1.27 275.5 66.8 10.9 737 15343 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2199 1657

15651 1.27 275.5 33.4 9.4 752 15655 0.00 2.62 0.00 0.000 4 0.000 0.067 2583 3610 1657

15706 1.27 275.5 27.8 9.9 754 15712 0.00 2.60 0.00 0.000 6 0.000 0.060 2583 2192 1657

15958 end climb: SURFACE_DEPTH_REACHED

state 15958 begin surface coast

15979 end surface coast: CONTROL_FINISHED_OK

state 15980 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	155	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	-2096211.5	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	062138,6211.817,-1022.133,39,1.2,39,-10.2	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.18	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-50.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	063021,6211.831,-1022.341,13,1.8,13,-10.2	MHEAD_RNG_PITCHd_Wd	308.5,12394,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027081	ALTIM_BOTTOM_PING	751.9,62.5
SM_CCo	16002,134.38,0.618,0,0,509,557.32	_24V_AH	23.6,27.666
SM_GC	1.34,0.00,0.00,134.38,0.000,0.000,0.618,73,2308,509,-10.24,0.23,557.32	_10V_AH	10.2,13.607
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38005,768
TT8_MAMPS	0.023777	CAP_FILE_SIZE	113480,0
HUMID	1852	CFSIZE	260165632,249200640
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	15	GPS	070708,110058,6212.585,-1029.716,26,2.9,45,-10.3
ALTIM_TOP_PING	19.3,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	99.46	SBE_CT	561	24	318.00
Roll_motor	111	79	209.43	SBE_O2	523	19	234.93
VBD_pump_during_apogee	381	1161	10460.57	WL_BB2F	438	105	1087.84
VBD_pump_during_surface	134	618	1960.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.52	nil	0	0	0.00
Iridium_during_connect	59	160	223.68	nil	0	0	0.00
Iridium_during_xfer	241	223	1269.96
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.70
TT8	1397	19	282.28
LPSleep	12334	2	275.54
TT8_Active	709	19	143.33
TT8_Sampling	1614	39	655.56
TT8_CF8	601	45	280.95
TT8_Kalman	0	81	0.00
Analog_circuits	1502	12	183.89
GPS_charging	0	0	0.00
Compass	1580	8	129.00
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.08	-146.6	0.0	0.0	0	141	0.00	0.00	-111.55	0.000	2	0.000	0.000	71	2306	2786
144	-1.08	-146.6	3.7	-2.8	6	180	11.05	2.70	-16.02	0.000	4	0.164	0.080	2057	3707	3381
414	-0.92	-146.6	41.7	-13.0	18	419	0.20	2.58	0.00	0.000	6	0.100	0.054	2096	2299	3381
742	-0.84	-146.6	80.0	-11.9	34	747	0.00	2.65	0.00	0.000	4	0.000	0.066	2096	872	3381
865	-0.84	-146.6	95.1	-12.5	39	872	0.00	2.62	0.00	0.000	6	0.000	0.051	2096	2303	3381
1184	-0.78	-146.6	137.1	-13.4	55	1185	0.15	0.00	0.00	0.000	6	0.100	0.000	2124	2303	3381
1490	-0.78	-146.6	171.1	-9.9	70	1495	0.00	2.67	0.00	0.000	4	0.000	0.064	2124	874	3381
1540	-0.86	-146.6	176.0	-9.3	72	1545	0.00	2.60	0.00	0.000	6	0.000	0.051	2124	2298	3380
1856	-0.86	-146.6	204.9	-9.0	87	1857	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2298	3381
2165	-0.86	-146.6	230.6	-8.3	102	2170	0.00	2.65	0.00	0.000	4	0.000	0.065	2124	880	3381
2234	-0.93	-146.6	236.3	-8.3	105	2240	0.12	2.60	0.00	0.000	6	0.047	0.053	2085	2298	3381
2556	-0.85	-146.6	270.9	-11.3	121	2561	0.15	2.67	0.00	0.000	4	0.092	0.066	2118	874	3381
2599	-0.92	-146.6	275.1	-9.6	123	2603	0.00	2.62	0.00	0.000	6	0.000	0.053	2118	2301	3382
2925	-0.92	-146.6	308.1	-10.2	139	2926	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2302	3381
3234	-0.92	-146.6	339.6	-10.4	154	3238	0.00	2.67	0.00	0.000	4	0.000	0.066	2118	875	3382
3314	-0.98	-146.6	348.0	-11.1	157	3320	0.15	2.62	0.00	0.000	6	0.045	0.054	2074	2303	3381
3630	-0.87	-146.6	390.1	-13.7	173	3631	0.17	0.00	0.00	0.000	6	0.093	0.000	2108	2303	3381
3939	-0.87	-146.6	426.8	-11.4	188	3944	0.00	2.67	0.00	0.000	4	0.000	0.065	2108	876	3381
4018	-0.87	-146.6	435.6	-10.5	191	4024	0.00	2.62	0.00	0.000	6	0.000	0.054	2108	2307	3381
4333	-0.87	-146.6	469.4	-10.8	207	4334	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2307	3381
4644	-0.87	-146.6	501.7	-10.1	222	4648	0.00	2.67	0.00	0.000	4	0.000	0.066	2108	881	3381
4705	-0.87	-146.6	507.8	-9.5	225	4710	0.00	2.60	0.00	0.000	6	0.000	0.054	2108	2301	3380
5033	-0.87	-146.6	540.5	-10.0	241	5037	0.00	2.65	0.00	0.000	4	0.000	0.065	2108	881	3381
5073	-0.92	-146.6	544.5	-10.0	243	5077	0.00	2.60	0.00	0.000	6	0.000	0.054	2108	2302	3379
5399	-0.92	-146.6	574.9	-9.2	259	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2302	3380
5708	-0.92	-146.6	604.9	-10.1	274	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2302	3380
6018	-0.92	-146.6	636.8	-10.3	289	6022	0.00	2.67	0.00	0.000	4	0.000	0.064	2108	874	3380
6097	-0.92	-146.6	643.4	-7.7	292	6103	0.00	2.60	0.00	0.000	6	0.000	0.053	2109	2302	3380
6413	-0.92	-146.6	669.2	-8.6	308	6417	0.00	2.65	0.00	0.000	4	0.000	0.064	2109	881	3380
6498	-0.97	-146.6	677.0	-9.6	312	6502	0.00	2.60	0.00	0.000	6	0.000	0.054	2108	2304	3380
6824	-0.97	-146.6	708.0	-9.6	328	6825	0.00	0.00	0.00	0.000	6	0.000	0.000	2108	2304	3379
7133	-0.97	-146.6	739.2	-9.3	343	7138	0.00	2.67	0.00	0.000	4	0.000	0.065	2108	877	3379
7206	-1.03	-146.6	745.3	-8.8	346	7211	0.15	2.60	0.00	0.000	6	0.047	0.054	2064	2302	3379
7523	-0.92	-146.6	779.9	-11.4	361	7528	0.15	2.67	0.00	0.000	4	0.097	0.067	2097	876	3379
7601	-0.97	-146.6	789.5	-12.5	364	7607	0.00	2.62	0.00	0.000	6	0.000	0.056	2097	2304	3379
7708	end dive: BOTTOM_OBSTACLE_DETECTED
state	7708	begin apogee
7715	-0.31	0.0	805.4	15.1	370	7851	0.65	0.00	132.98	1.161	6	0.097	0.000	2228	2192	2782
7852	end apogee: CONTROL_FINISHED_OK
state	7852	begin climb
7855	1.08	146.6	816.0	0.0	377	7995	1.45	2.75	132.15	1.146	4	0.072	0.067	2534	783	2183
8023	1.08	146.6	812.4	8.4	385	8027	0.00	2.65	0.00	0.000	6	0.000	0.053	2534	2201	2184
8338	1.15	211.7	788.2	5.6	400	8399	0.00	0.00	58.92	1.122	6	0.000	0.000	2534	2201	1918
8708	1.21	211.7	757.1	10.1	418	8713	0.12	2.70	0.00	0.000	4	0.052	0.071	2571	785	1916
8781	1.14	211.7	749.7	9.4	421	8786	0.12	2.62	0.00	0.000	6	0.101	0.054	2548	2204	1916
9097	1.21	275.5	732.9	5.7	436	9157	0.00	0.00	57.65	1.118	6	0.000	0.000	2548	2203	1657
9466	1.27	275.5	699.7	8.6	454	9468	0.12	0.00	0.00	0.000	6	0.055	0.000	2583	2204	1656
9775	1.27	275.5	668.0	11.8	469	9779	0.00	2.67	0.00	0.000	4	0.000	0.068	2583	789	1655
9819	1.27	275.5	662.1	13.1	471	9824	0.00	2.58	0.00	0.000	6	0.000	0.049	2583	2203	1654
10140	1.27	275.5	626.6	9.7	487	10145	0.00	2.65	0.00	0.000	4	0.000	0.071	2583	3607	1654
10213	1.27	275.5	619.2	10.6	490	10217	0.00	2.60	0.00	0.000	6	0.000	0.058	2583	2205	1654
10529	1.27	275.5	587.5	10.7	505	10530	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2205	1654
10837	1.27	275.5	555.3	10.7	520	10839	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2205	1654
11147	1.27	275.5	521.3	10.8	535	11148	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2205	1654
11456	1.27	275.5	488.3	10.6	550	11458	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2205	1654
11765	1.27	275.5	453.4	11.4	565	11766	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2205	1655
12075	1.27	275.5	417.5	12.0	580	12079	0.00	2.65	0.00	0.000	4	0.000	0.071	2583	3613	1655
12130	1.27	275.5	410.4	12.9	582	12136	0.00	2.62	0.00	0.000	6	0.000	0.061	2583	2193	1655
12445	1.27	275.5	376.1	10.7	598	12447	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2194	1655
12755	1.27	275.5	344.4	10.3	613	12756	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2193	1655
13064	1.27	275.5	312.7	10.7	628	13065	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2194	1655
13373	1.27	275.5	279.6	10.2	643	13378	0.00	2.65	0.00	0.000	4	0.000	0.069	2583	3614	1656
13423	1.27	275.5	273.9	11.5	645	13428	0.00	2.62	0.00	0.000	6	0.000	0.061	2583	2196	1656
13739	1.27	275.5	244.4	9.1	660	13740	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2196	1656
14048	1.27	275.5	213.6	11.4	675	14053	0.00	2.65	0.00	0.000	4	0.000	0.068	2583	3611	1656
14098	1.27	275.5	207.3	12.5	677	14103	0.00	2.60	0.00	0.000	6	0.000	0.060	2583	2199	1656
14414	1.27	275.5	172.3	11.5	692	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2199	1656
14724	1.27	275.5	136.8	12.3	707	14725	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2199	1656
15033	1.27	275.5	99.9	11.7	722	15034	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2199	1657
15342	1.27	275.5	66.8	10.9	737	15343	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2199	1657
15651	1.27	275.5	33.4	9.4	752	15655	0.00	2.62	0.00	0.000	4	0.000	0.067	2583	3610	1657
15706	1.27	275.5	27.8	9.9	754	15712	0.00	2.60	0.00	0.000	6	0.000	0.060	2583	2192	1657
15958	end climb: SURFACE_DEPTH_REACHED
state	15958	begin surface coast
15979	end surface coast: CONTROL_FINISHED_OK
state	15980	begin surface