Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 156 * 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 156 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 25 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 -2096248.2 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 -2096248.2

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 156 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 110058,6212.585,-1029.716,26,2.9,45,-10.3 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.16 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -48.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 110911,6212.587,-1029.705,16,2.1,35,-10.3 MHEAD_RNG_PITCHd_Wd 324.7,6388,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014009 ALTIM_BOTTOM_PING 725.1,49.3

SM_CCo 15649,107.88,0.621,0,0,509,557.32 _24V_AH 23.6,27.834

SM_GC 1.28,0.00,0.00,107.88,0.000,0.000,0.621,72,2303,509,-10.24,0.08,557.32 _10V_AH 10.2,13.681

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38007,755

TT8_MAMPS 0.023777 CAP_FILE_SIZE 114000,0

HUMID 1854 CFSIZE 260165632,249143296

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 6 GPS 070708,153337,6214.624,-1034.331,42,1.5,53,-10.3

ALTIM_TOP_PING 19.1,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 166 103.21 SBE_CT 554 24 314.15

Roll_motor 115 79 218.23 SBE_O2 514 19 230.83

VBD_pump_during_apogee 429 1132 11473.11 WL_BB2F 444 105 1100.74

VBD_pump_during_surface 107 620 1579.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.44 nil 0 0 0.00

Iridium_during_connect 116 160 440.15 nil 0 0 0.00

Iridium_during_xfer 140 223 741.47

Transponder_ping 8 420 84.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.44

TT8 1380 19 278.88

LPSleep 11974 2 267.48

TT8_Active 729 19 147.41

TT8_Sampling 1616 39 656.29

TT8_CF8 550 45 257.22

TT8_Kalman 0 81 0.00

Analog_circuits 1516 12 185.66

GPS_charging 0 0 0.00

Compass 1556 8 127.01

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.08 -146.6 0.0 0.0 0 147 0.00 0.00 -120.85 0.000 2 0.000 0.000 72 2311 3009

151 -1.08 -146.6 4.2 -3.5 6 176 11.07 2.65 -8.43 0.000 4 0.166 0.080 2056 3710 3380

339 -0.88 -146.6 35.2 -15.0 14 345 0.25 2.58 0.00 0.000 6 0.100 0.052 2104 2292 3381

656 -0.83 -146.6 71.0 -10.5 29 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2292 3381

965 -0.79 -146.6 108.7 -12.2 44 970 0.12 2.62 0.00 0.000 4 0.105 0.064 2127 877 3381

1060 -0.86 -146.6 118.2 -9.0 48 1065 0.00 2.60 0.00 0.000 6 0.000 0.051 2127 2295 3381

1377 -0.86 -146.6 143.9 -7.8 63 1381 0.00 2.65 0.00 0.000 4 0.000 0.063 2127 880 3381

1418 -0.93 -146.6 147.1 -7.8 65 1423 0.15 2.60 0.00 0.000 6 0.043 0.052 2080 2305 3381

1747 -0.83 -146.6 185.3 -12.5 81 1749 0.20 0.00 0.00 0.000 6 0.091 0.000 2120 2305 3381

2054 -0.83 -146.6 215.8 -9.1 96 2059 0.00 2.67 0.00 0.000 4 0.000 0.064 2120 878 3381

2116 -0.89 -146.6 221.2 -8.8 99 2121 0.00 2.60 0.00 0.000 6 0.000 0.054 2120 2302 3381

2443 -0.89 -146.6 249.0 -8.6 115 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2302 3381

2755 -0.89 -146.6 276.4 -9.2 130 2759 0.00 2.65 0.00 0.000 4 0.000 0.064 2120 886 3381

2833 -0.95 -146.6 283.9 -9.3 133 2839 0.12 2.60 0.00 0.000 6 0.048 0.052 2081 2306 3381

3149 -0.85 -146.6 320.2 -11.6 149 3151 0.17 0.00 0.00 0.000 6 0.093 0.000 2114 2306 3381

3458 -0.85 -146.6 350.4 -10.0 164 3462 0.00 2.65 0.00 0.000 4 0.000 0.065 2114 879 3381

3525 -0.90 -146.6 357.0 -9.5 167 3530 0.00 2.60 0.00 0.000 6 0.000 0.051 2114 2303 3380

3846 -0.90 -146.6 387.9 -9.8 183 3847 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2303 3380

4155 -0.90 -146.6 418.4 -9.9 198 4159 0.00 2.65 0.00 0.000 4 0.000 0.064 2114 886 3380

4211 -0.96 -146.6 424.0 -9.8 200 4217 0.00 2.60 0.00 0.000 6 0.000 0.053 2114 2308 3381

4527 -0.96 -146.6 453.9 -9.5 216 4528 0.12 0.00 0.00 0.000 6 0.047 0.000 2076 2308 3380

4837 -0.85 -146.6 490.7 -11.8 231 4842 0.15 2.67 0.00 0.000 4 0.094 0.064 2109 881 3380

4900 -0.90 -146.6 496.7 -9.1 234 4904 0.00 2.60 0.00 0.000 6 0.000 0.052 2109 2302 3380

5226 -0.90 -146.6 523.7 -7.8 250 5230 0.00 2.65 0.00 0.000 4 0.000 0.064 2109 883 3380

5276 -0.95 -146.6 527.5 -6.4 252 5280 0.00 2.58 0.00 0.000 6 0.000 0.051 2110 2305 3380

5592 -0.95 -146.6 549.5 -7.1 267 5593 0.00 0.00 0.00 0.000 6 0.000 0.000 2109 2305 3380

5901 -0.95 -146.6 577.5 -9.2 282 5905 0.00 2.62 0.00 0.000 4 0.000 0.061 2109 886 3380

5968 -0.99 -146.6 583.2 -8.5 285 5973 0.12 2.58 0.00 0.000 6 0.049 0.052 2071 2299 3380

6290 -0.88 -146.6 621.4 -12.9 301 6292 0.17 0.00 0.00 0.000 6 0.094 0.000 2104 2300 3379

6600 -0.88 -146.6 643.6 -5.8 316 6604 0.00 2.60 0.00 0.000 4 0.000 0.060 2104 886 3380

6662 -0.94 -146.6 647.5 -6.0 319 6667 0.00 2.60 0.00 0.000 6 0.000 0.053 2104 2306 3379

6989 -0.94 -146.6 683.0 -13.0 335 6990 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2304 3379

7299 -0.94 -146.6 713.1 -7.3 350 7303 0.00 2.62 0.00 0.000 4 0.000 0.061 2104 883 3379

7361 -0.94 -146.6 717.3 -6.5 353 7366 0.00 2.60 0.00 0.000 6 0.000 0.054 2104 2303 3379

7689 -0.94 -146.6 739.8 -7.1 369 7693 0.00 2.65 0.00 0.000 4 0.000 0.063 2104 883 3379

7818 -0.99 -146.6 757.6 -15.9 375 7823 0.00 2.60 0.00 0.000 6 0.000 0.054 2104 2300 3379

7874 end dive: BOTTOM_OBSTACLE_DETECTED

state 7875 begin apogee

7882 -0.31 0.0 764.7 12.0 378 8018 0.62 0.00 132.55 1.132 6 0.100 0.000 2229 2192 2781

8018 end apogee: CONTROL_FINISHED_OK

state 8018 begin climb

8022 1.08 146.6 780.8 0.0 385 8161 1.45 2.72 131.57 1.119 4 0.074 0.065 2534 789 2183

8184 1.08 146.6 774.3 11.1 393 8188 0.00 2.65 0.00 0.000 6 0.000 0.053 2533 2203 2183

8505 0.99 146.6 747.9 9.0 409 8510 0.00 2.67 0.00 0.000 4 0.000 0.066 2534 791 2183

8561 0.99 146.6 742.1 11.0 411 8567 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2205 2182

8877 1.07 216.0 721.4 5.5 427 8941 0.00 0.00 62.00 1.095 6 0.000 0.000 2534 2205 1900

9246 1.07 216.0 695.0 8.6 445 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2205 1899

9555 1.12 216.0 651.9 11.6 460 9557 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2205 1899

9865 1.20 231.6 631.9 7.4 475 9888 0.12 2.72 14.77 0.978 4 0.053 0.073 2571 3610 1837

9952 1.13 231.6 623.9 9.9 478 9958 0.12 2.60 0.00 0.000 6 0.097 0.056 2548 2205 1837

10267 1.24 332.0 608.3 4.4 494 10358 0.00 0.00 88.53 1.041 6 0.000 0.000 2548 2205 1427

10657 1.35 332.0 570.9 9.4 513 10659 0.22 0.00 0.00 0.000 6 0.042 0.000 2608 2205 1426

10966 1.31 332.0 531.6 13.4 528 10968 0.12 0.00 0.00 0.000 6 0.089 0.000 2584 2205 1426

11275 1.31 332.0 492.4 12.6 543 11280 0.00 2.65 0.00 0.000 4 0.000 0.072 2585 3611 1426

11316 1.31 332.0 486.9 13.4 545 11320 0.00 2.62 0.00 0.000 6 0.000 0.058 2584 2197 1426

11642 1.31 332.0 447.6 11.3 561 11647 0.00 2.67 0.00 0.000 4 0.000 0.070 2584 3617 1426

11705 1.31 332.0 440.3 10.8 564 11709 0.00 2.62 0.00 0.000 6 0.000 0.058 2584 2195 1426

12031 1.31 332.0 404.9 10.7 580 12036 0.00 2.67 0.00 0.000 4 0.000 0.071 2584 3614 1426

12115 1.31 332.0 394.9 12.2 584 12120 0.00 2.62 0.00 0.000 6 0.000 0.059 2584 2198 1427

12442 1.31 332.0 357.9 11.5 600 12444 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2198 1428

12751 1.31 332.0 323.0 11.1 615 12753 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2199 1427

13061 1.31 332.0 289.5 11.1 630 13065 0.00 2.65 0.00 0.000 4 0.000 0.070 2584 3612 1427

13100 1.31 332.0 284.8 12.5 632 13104 0.00 2.60 0.00 0.000 6 0.000 0.059 2584 2200 1428

13426 1.31 332.0 245.8 12.3 648 13428 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2200 1428

13736 1.31 332.0 208.6 11.8 663 13737 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2200 1427

14045 1.31 332.0 173.1 11.1 678 14046 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2200 1428

14355 1.31 332.0 137.3 12.2 693 14359 0.00 2.62 0.00 0.000 4 0.000 0.067 2584 782 1428

14388 1.31 332.0 133.0 12.3 694 14394 0.00 2.55 0.00 0.000 6 0.000 0.047 2585 2204 1428

14703 1.31 332.0 94.4 11.5 710 14708 0.00 2.60 0.00 0.000 4 0.000 0.068 2584 3609 1428

14744 1.31 332.0 89.5 12.1 712 14748 0.00 2.58 0.00 0.000 6 0.000 0.056 2584 2198 1428

15071 1.31 332.0 54.6 10.8 728 15072 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2198 1428

15380 1.31 332.0 23.4 9.3 743 15381 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2198 1428

15604 end climb: SURFACE_DEPTH_REACHED

state 15604 begin surface coast

15626 end surface coast: CONTROL_FINISHED_OK

state 15626 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	156	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	25	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	-2096248.2	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	110058,6212.585,-1029.716,26,2.9,45,-10.3	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.16	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-48.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	110911,6212.587,-1029.705,16,2.1,35,-10.3	MHEAD_RNG_PITCHd_Wd	324.7,6388,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.014009	ALTIM_BOTTOM_PING	725.1,49.3
SM_CCo	15649,107.88,0.621,0,0,509,557.32	_24V_AH	23.6,27.834
SM_GC	1.28,0.00,0.00,107.88,0.000,0.000,0.621,72,2303,509,-10.24,0.08,557.32	_10V_AH	10.2,13.681
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38007,755
TT8_MAMPS	0.023777	CAP_FILE_SIZE	114000,0
HUMID	1854	CFSIZE	260165632,249143296
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	6	GPS	070708,153337,6214.624,-1034.331,42,1.5,53,-10.3
ALTIM_TOP_PING	19.1,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	166	103.21	SBE_CT	554	24	314.15
Roll_motor	115	79	218.23	SBE_O2	514	19	230.83
VBD_pump_during_apogee	429	1132	11473.11	WL_BB2F	444	105	1100.74
VBD_pump_during_surface	107	620	1579.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.44	nil	0	0	0.00
Iridium_during_connect	116	160	440.15	nil	0	0	0.00
Iridium_during_xfer	140	223	741.47
Transponder_ping	8	420	84.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.44
TT8	1380	19	278.88
LPSleep	11974	2	267.48
TT8_Active	729	19	147.41
TT8_Sampling	1616	39	656.29
TT8_CF8	550	45	257.22
TT8_Kalman	0	81	0.00
Analog_circuits	1516	12	185.66
GPS_charging	0	0	0.00
Compass	1556	8	127.01
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.08	-146.6	0.0	0.0	0	147	0.00	0.00	-120.85	0.000	2	0.000	0.000	72	2311	3009
151	-1.08	-146.6	4.2	-3.5	6	176	11.07	2.65	-8.43	0.000	4	0.166	0.080	2056	3710	3380
339	-0.88	-146.6	35.2	-15.0	14	345	0.25	2.58	0.00	0.000	6	0.100	0.052	2104	2292	3381
656	-0.83	-146.6	71.0	-10.5	29	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2292	3381
965	-0.79	-146.6	108.7	-12.2	44	970	0.12	2.62	0.00	0.000	4	0.105	0.064	2127	877	3381
1060	-0.86	-146.6	118.2	-9.0	48	1065	0.00	2.60	0.00	0.000	6	0.000	0.051	2127	2295	3381
1377	-0.86	-146.6	143.9	-7.8	63	1381	0.00	2.65	0.00	0.000	4	0.000	0.063	2127	880	3381
1418	-0.93	-146.6	147.1	-7.8	65	1423	0.15	2.60	0.00	0.000	6	0.043	0.052	2080	2305	3381
1747	-0.83	-146.6	185.3	-12.5	81	1749	0.20	0.00	0.00	0.000	6	0.091	0.000	2120	2305	3381
2054	-0.83	-146.6	215.8	-9.1	96	2059	0.00	2.67	0.00	0.000	4	0.000	0.064	2120	878	3381
2116	-0.89	-146.6	221.2	-8.8	99	2121	0.00	2.60	0.00	0.000	6	0.000	0.054	2120	2302	3381
2443	-0.89	-146.6	249.0	-8.6	115	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2302	3381
2755	-0.89	-146.6	276.4	-9.2	130	2759	0.00	2.65	0.00	0.000	4	0.000	0.064	2120	886	3381
2833	-0.95	-146.6	283.9	-9.3	133	2839	0.12	2.60	0.00	0.000	6	0.048	0.052	2081	2306	3381
3149	-0.85	-146.6	320.2	-11.6	149	3151	0.17	0.00	0.00	0.000	6	0.093	0.000	2114	2306	3381
3458	-0.85	-146.6	350.4	-10.0	164	3462	0.00	2.65	0.00	0.000	4	0.000	0.065	2114	879	3381
3525	-0.90	-146.6	357.0	-9.5	167	3530	0.00	2.60	0.00	0.000	6	0.000	0.051	2114	2303	3380
3846	-0.90	-146.6	387.9	-9.8	183	3847	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2303	3380
4155	-0.90	-146.6	418.4	-9.9	198	4159	0.00	2.65	0.00	0.000	4	0.000	0.064	2114	886	3380
4211	-0.96	-146.6	424.0	-9.8	200	4217	0.00	2.60	0.00	0.000	6	0.000	0.053	2114	2308	3381
4527	-0.96	-146.6	453.9	-9.5	216	4528	0.12	0.00	0.00	0.000	6	0.047	0.000	2076	2308	3380
4837	-0.85	-146.6	490.7	-11.8	231	4842	0.15	2.67	0.00	0.000	4	0.094	0.064	2109	881	3380
4900	-0.90	-146.6	496.7	-9.1	234	4904	0.00	2.60	0.00	0.000	6	0.000	0.052	2109	2302	3380
5226	-0.90	-146.6	523.7	-7.8	250	5230	0.00	2.65	0.00	0.000	4	0.000	0.064	2109	883	3380
5276	-0.95	-146.6	527.5	-6.4	252	5280	0.00	2.58	0.00	0.000	6	0.000	0.051	2110	2305	3380
5592	-0.95	-146.6	549.5	-7.1	267	5593	0.00	0.00	0.00	0.000	6	0.000	0.000	2109	2305	3380
5901	-0.95	-146.6	577.5	-9.2	282	5905	0.00	2.62	0.00	0.000	4	0.000	0.061	2109	886	3380
5968	-0.99	-146.6	583.2	-8.5	285	5973	0.12	2.58	0.00	0.000	6	0.049	0.052	2071	2299	3380
6290	-0.88	-146.6	621.4	-12.9	301	6292	0.17	0.00	0.00	0.000	6	0.094	0.000	2104	2300	3379
6600	-0.88	-146.6	643.6	-5.8	316	6604	0.00	2.60	0.00	0.000	4	0.000	0.060	2104	886	3380
6662	-0.94	-146.6	647.5	-6.0	319	6667	0.00	2.60	0.00	0.000	6	0.000	0.053	2104	2306	3379
6989	-0.94	-146.6	683.0	-13.0	335	6990	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2304	3379
7299	-0.94	-146.6	713.1	-7.3	350	7303	0.00	2.62	0.00	0.000	4	0.000	0.061	2104	883	3379
7361	-0.94	-146.6	717.3	-6.5	353	7366	0.00	2.60	0.00	0.000	6	0.000	0.054	2104	2303	3379
7689	-0.94	-146.6	739.8	-7.1	369	7693	0.00	2.65	0.00	0.000	4	0.000	0.063	2104	883	3379
7818	-0.99	-146.6	757.6	-15.9	375	7823	0.00	2.60	0.00	0.000	6	0.000	0.054	2104	2300	3379
7874	end dive: BOTTOM_OBSTACLE_DETECTED
state	7875	begin apogee
7882	-0.31	0.0	764.7	12.0	378	8018	0.62	0.00	132.55	1.132	6	0.100	0.000	2229	2192	2781
8018	end apogee: CONTROL_FINISHED_OK
state	8018	begin climb
8022	1.08	146.6	780.8	0.0	385	8161	1.45	2.72	131.57	1.119	4	0.074	0.065	2534	789	2183
8184	1.08	146.6	774.3	11.1	393	8188	0.00	2.65	0.00	0.000	6	0.000	0.053	2533	2203	2183
8505	0.99	146.6	747.9	9.0	409	8510	0.00	2.67	0.00	0.000	4	0.000	0.066	2534	791	2183
8561	0.99	146.6	742.1	11.0	411	8567	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2205	2182
8877	1.07	216.0	721.4	5.5	427	8941	0.00	0.00	62.00	1.095	6	0.000	0.000	2534	2205	1900
9246	1.07	216.0	695.0	8.6	445	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2205	1899
9555	1.12	216.0	651.9	11.6	460	9557	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2205	1899
9865	1.20	231.6	631.9	7.4	475	9888	0.12	2.72	14.77	0.978	4	0.053	0.073	2571	3610	1837
9952	1.13	231.6	623.9	9.9	478	9958	0.12	2.60	0.00	0.000	6	0.097	0.056	2548	2205	1837
10267	1.24	332.0	608.3	4.4	494	10358	0.00	0.00	88.53	1.041	6	0.000	0.000	2548	2205	1427
10657	1.35	332.0	570.9	9.4	513	10659	0.22	0.00	0.00	0.000	6	0.042	0.000	2608	2205	1426
10966	1.31	332.0	531.6	13.4	528	10968	0.12	0.00	0.00	0.000	6	0.089	0.000	2584	2205	1426
11275	1.31	332.0	492.4	12.6	543	11280	0.00	2.65	0.00	0.000	4	0.000	0.072	2585	3611	1426
11316	1.31	332.0	486.9	13.4	545	11320	0.00	2.62	0.00	0.000	6	0.000	0.058	2584	2197	1426
11642	1.31	332.0	447.6	11.3	561	11647	0.00	2.67	0.00	0.000	4	0.000	0.070	2584	3617	1426
11705	1.31	332.0	440.3	10.8	564	11709	0.00	2.62	0.00	0.000	6	0.000	0.058	2584	2195	1426
12031	1.31	332.0	404.9	10.7	580	12036	0.00	2.67	0.00	0.000	4	0.000	0.071	2584	3614	1426
12115	1.31	332.0	394.9	12.2	584	12120	0.00	2.62	0.00	0.000	6	0.000	0.059	2584	2198	1427
12442	1.31	332.0	357.9	11.5	600	12444	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2198	1428
12751	1.31	332.0	323.0	11.1	615	12753	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2199	1427
13061	1.31	332.0	289.5	11.1	630	13065	0.00	2.65	0.00	0.000	4	0.000	0.070	2584	3612	1427
13100	1.31	332.0	284.8	12.5	632	13104	0.00	2.60	0.00	0.000	6	0.000	0.059	2584	2200	1428
13426	1.31	332.0	245.8	12.3	648	13428	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2200	1428
13736	1.31	332.0	208.6	11.8	663	13737	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2200	1427
14045	1.31	332.0	173.1	11.1	678	14046	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2200	1428
14355	1.31	332.0	137.3	12.2	693	14359	0.00	2.62	0.00	0.000	4	0.000	0.067	2584	782	1428
14388	1.31	332.0	133.0	12.3	694	14394	0.00	2.55	0.00	0.000	6	0.000	0.047	2585	2204	1428
14703	1.31	332.0	94.4	11.5	710	14708	0.00	2.60	0.00	0.000	4	0.000	0.068	2584	3609	1428
14744	1.31	332.0	89.5	12.1	712	14748	0.00	2.58	0.00	0.000	6	0.000	0.056	2584	2198	1428
15071	1.31	332.0	54.6	10.8	728	15072	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2198	1428
15380	1.31	332.0	23.4	9.3	743	15381	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2198	1428
15604	end climb: SURFACE_DEPTH_REACHED
state	15604	begin surface coast
15626	end surface coast: CONTROL_FINISHED_OK
state	15626	begin surface