Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 158 * 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 158 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 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 -2096276.2 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 -2096276.2

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 17 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 158 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 201132,6214.377,-1040.746,43,1.1,43,-10.4 TGT_NAME EW

_CALLS 3 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.12 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -48.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 202439,6214.374,-1040.897,12,1.6,12,-10.4 MHEAD_RNG_PITCHd_Wd 330.6,25606,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013763 ALTIM_BOTTOM_PING 775.2,54.4

SM_CCo 17336,139.90,0.618,0,0,508,557.32 _24V_AH 23.6,28.178

SM_GC 1.26,0.00,0.00,139.90,0.000,0.000,0.618,73,2308,508,-10.24,0.23,557.32 _10V_AH 10.2,13.847

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41155,835

TT8_MAMPS 0.023777 CAP_FILE_SIZE 125147,0

HUMID 1866 CFSIZE 260165632,249004032

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 31 GPS 080708,011732,6217.910,-1044.869,40,1.6,40,-10.5

ALTIM_TOP_PING 19.3,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 102.03 SBE_CT 611 24 346.12

Roll_motor 104 79 195.67 SBE_O2 572 19 256.55

VBD_pump_during_apogee 375 1170 10385.34 WL_BB2F 483 105 1199.06

VBD_pump_during_surface 139 618 2041.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 103 169.16 nil 0 0 0.00

Iridium_during_connect 101 160 383.92 nil 0 0 0.00

Iridium_during_xfer 363 223 1912.30

Transponder_ping 15 420 148.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.46

TT8 1506 19 304.32

LPSleep 13511 2 301.82

TT8_Active 664 19 134.24

TT8_Sampling 1766 39 716.97

TT8_CF8 813 45 380.25

TT8_Kalman 0 81 0.00

Analog_circuits 1545 12 189.23

GPS_charging 0 0 0.00

Compass 1724 8 140.72

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 -121.10 0.000 2 0.000 0.000 64 2302 3008

151 -1.08 -146.6 4.0 -3.5 6 176 11.12 2.65 -8.55 0.000 4 0.166 0.079 2057 3709 3381

390 -0.91 -146.6 43.7 -15.0 16 397 0.22 2.55 0.00 0.000 6 0.095 0.054 2100 2295 3381

707 -0.83 -146.6 82.0 -11.0 32 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2295 3382

1017 -0.77 -146.6 113.5 -10.0 47 1019 0.15 0.00 0.00 0.000 6 0.103 0.000 2128 2295 3382

1325 -0.77 -146.6 139.6 -8.7 62 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2295 3382

1633 -0.77 -146.6 170.2 -9.6 77 1635 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2294 3382

1944 -0.77 -146.6 201.1 -9.7 92 1948 0.00 2.58 0.00 0.000 4 0.000 0.065 2129 886 3382

1988 -0.83 -146.6 205.3 -8.7 94 1993 0.00 2.55 0.00 0.000 6 0.000 0.051 2128 2302 3382

2309 -0.83 -146.6 233.9 -9.1 110 2310 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2301 3382

2619 -0.83 -146.6 259.9 -8.0 125 2623 0.00 2.62 0.00 0.000 4 0.000 0.061 2128 884 3382

2669 -0.91 -146.6 264.1 -8.4 127 2674 0.12 2.58 0.00 0.000 6 0.048 0.050 2089 2307 3382

2985 -0.81 -146.6 296.5 -10.2 142 2987 0.17 0.00 0.00 0.000 6 0.091 0.000 2122 2307 3382

3295 -0.81 -146.6 326.2 -10.1 157 3299 0.00 2.65 0.00 0.000 4 0.000 0.062 2122 882 3382

3350 -0.87 -146.6 332.0 -9.9 159 3356 0.00 2.58 0.00 0.000 6 0.000 0.050 2122 2301 3382

3666 -0.87 -146.6 363.4 -9.6 175 3667 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2302 3382

3975 -0.87 -146.6 391.1 -8.4 190 3976 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2302 3381

4284 -0.87 -146.6 418.7 -9.4 205 4285 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2302 3381

4593 -0.87 -146.6 449.2 -10.1 220 4598 0.00 2.62 0.00 0.000 4 0.000 0.070 2122 3709 3381

4656 -0.87 -146.6 455.9 -10.8 223 4660 0.00 2.58 0.00 0.000 6 0.000 0.050 2122 2290 3381

4982 -0.87 -146.6 487.2 -9.3 239 4987 0.00 2.62 0.00 0.000 4 0.000 0.069 2122 3709 3381

5022 -0.87 -146.6 491.1 -9.8 241 5027 0.00 2.55 0.00 0.000 6 0.000 0.049 2122 2297 3381

5349 -0.87 -146.6 520.2 -8.8 257 5350 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2296 3381

5658 -0.87 -146.6 546.2 -7.9 272 5659 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2296 3381

5967 -0.87 -146.6 571.5 -8.2 287 5971 0.00 2.60 0.00 0.000 4 0.000 0.064 2122 890 3379

6034 -0.94 -146.6 577.2 -8.8 290 6039 0.15 2.55 0.00 0.000 6 0.044 0.049 2078 2306 3380

6356 -0.84 -146.6 612.1 -10.5 306 6361 0.15 2.62 0.00 0.000 4 0.094 0.062 2111 890 3380

6406 -0.91 -146.6 616.6 -8.2 308 6411 0.00 2.55 0.00 0.000 6 0.000 0.049 2111 2307 3380

6722 -0.91 -146.6 644.8 -9.7 323 6726 0.00 2.60 0.00 0.000 4 0.000 0.062 2110 890 3380

6784 -0.96 -146.6 651.1 -10.3 326 6789 0.00 2.55 0.00 0.000 6 0.000 0.050 2111 2303 3380

7111 -0.96 -146.6 685.4 -8.2 342 7115 0.00 2.62 0.00 0.000 4 0.000 0.061 2110 884 3380

7151 -1.05 -146.6 687.4 -4.5 344 7156 0.20 2.58 0.00 0.000 6 0.042 0.051 2054 2305 3379

7478 -0.89 -146.6 720.0 -12.5 360 7480 0.25 0.00 0.00 0.000 6 0.093 0.000 2103 2305 3379

7787 -0.89 -146.6 756.9 -10.0 375 7788 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2305 3379

8096 -0.89 -146.6 781.6 -10.2 390 8100 0.00 2.65 0.00 0.000 4 0.000 0.067 2103 887 3379

8186 -0.93 -146.6 792.0 -12.4 394 8190 0.00 2.58 0.00 0.000 6 0.000 0.054 2103 2304 3379

8462 end dive: BOTTOM_OBSTACLE_DETECTED

state 8462 begin apogee

8470 -0.31 0.0 819.8 6.3 408 8606 0.65 0.00 133.20 1.170 6 0.123 0.000 2227 2202 2781

8607 end apogee: CONTROL_FINISHED_OK

state 8607 begin climb

8610 1.08 146.6 824.8 0.0 415 8754 1.45 2.78 131.23 1.152 4 0.084 0.075 2530 3603 2183

8863 1.11 166.5 810.1 7.3 426 8889 0.00 2.62 19.00 1.061 6 0.000 0.062 2530 2205 2102

9199 1.17 225.3 792.3 5.9 443 9262 0.12 2.78 53.35 1.124 4 0.052 0.074 2566 791 1861

9337 1.13 225.3 777.7 12.5 449 9342 0.00 2.60 0.00 0.000 6 0.000 0.055 2566 2193 1860

9658 1.13 225.3 743.0 8.9 465 9663 0.10 2.70 0.00 0.000 4 0.104 0.071 2548 778 1860

9765 1.13 225.3 733.0 9.8 470 9770 0.00 2.62 0.00 0.000 6 0.000 0.053 2548 2209 1860

10092 1.13 225.3 699.2 10.5 486 10097 0.00 2.65 0.00 0.000 4 0.000 0.073 2548 3614 1859

10193 1.13 225.3 687.8 10.5 490 10199 0.00 2.60 0.00 0.000 6 0.000 0.057 2548 2199 1859

10509 1.14 237.4 661.1 7.6 506 10522 0.00 0.00 11.52 0.965 6 0.000 0.000 2548 2199 1813

10818 1.14 237.4 630.7 11.2 521 10819 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2199 1813

11127 1.14 237.4 600.0 9.4 536 11131 0.00 2.65 0.00 0.000 4 0.000 0.071 2548 3613 1813

11172 1.14 237.4 595.4 10.9 538 11177 0.00 2.60 0.00 0.000 6 0.000 0.054 2548 2192 1813

11494 1.14 237.4 564.7 9.4 554 11495 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2192 1813

11803 1.14 240.7 539.3 7.9 569 11810 0.00 0.00 4.80 0.696 6 0.000 0.000 2548 2192 1799

12113 1.17 265.4 517.1 7.1 584 12142 0.00 2.75 22.88 0.942 4 0.000 0.070 2548 3609 1698

12204 1.17 265.4 509.0 10.5 588 12209 0.00 2.58 0.00 0.000 6 0.000 0.053 2548 2203 1698

12525 1.23 265.4 480.5 9.0 604 12526 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2203 1698

12835 1.29 265.4 452.7 9.1 619 12836 0.15 0.00 0.00 0.000 6 0.047 0.000 2593 2203 1698

13143 1.23 265.4 416.8 11.8 634 13145 0.12 0.00 0.00 0.000 6 0.092 0.000 2569 2203 1698

13452 1.23 265.4 382.9 11.0 649 13453 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2203 1698

13762 1.23 265.4 350.0 10.5 664 13763 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2203 1698

14071 1.23 265.4 317.6 10.4 679 14075 0.00 2.62 0.00 0.000 4 0.000 0.071 2569 3612 1698

14137 1.23 265.4 309.9 11.5 682 14141 0.00 2.58 0.00 0.000 6 0.000 0.054 2569 2200 1698

14458 1.23 265.4 279.2 9.3 698 14459 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1699

14767 1.23 265.4 251.6 9.2 713 14768 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1699

15076 1.23 265.4 217.9 11.3 728 15077 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1699

15386 1.23 265.4 185.4 10.1 743 15390 0.00 2.65 0.00 0.000 4 0.000 0.070 2569 3616 1700

15435 1.23 265.4 180.2 11.2 745 15440 0.00 2.58 0.00 0.000 6 0.000 0.053 2569 2199 1700

15751 1.23 265.4 151.1 8.9 760 15752 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1699

16062 1.23 265.4 122.7 9.4 775 16063 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2198 1700

16370 1.23 265.4 92.3 10.1 790 16371 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1699

16679 1.23 265.4 61.1 9.8 805 16683 0.00 2.65 0.00 0.000 4 0.000 0.069 2569 3616 1700

16751 1.23 265.4 53.0 12.7 808 16755 0.00 2.58 0.00 0.000 6 0.000 0.054 2569 2199 1700

17069 1.23 265.4 22.7 9.0 823 17070 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2199 1700

17291 end climb: SURFACE_DEPTH_REACHED

state 17291 begin surface coast

17313 end surface coast: CONTROL_FINISHED_OK

state 17313 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	158	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	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	-2096276.2	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	201132,6214.377,-1040.746,43,1.1,43,-10.4	TGT_NAME	EW
_CALLS	3	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.12	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-48.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	202439,6214.374,-1040.897,12,1.6,12,-10.4	MHEAD_RNG_PITCHd_Wd	330.6,25606,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.013763	ALTIM_BOTTOM_PING	775.2,54.4
SM_CCo	17336,139.90,0.618,0,0,508,557.32	_24V_AH	23.6,28.178
SM_GC	1.26,0.00,0.00,139.90,0.000,0.000,0.618,73,2308,508,-10.24,0.23,557.32	_10V_AH	10.2,13.847
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41155,835
TT8_MAMPS	0.023777	CAP_FILE_SIZE	125147,0
HUMID	1866	CFSIZE	260165632,249004032
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	31	GPS	080708,011732,6217.910,-1044.869,40,1.6,40,-10.5
ALTIM_TOP_PING	19.3,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	102.03	SBE_CT	611	24	346.12
Roll_motor	104	79	195.67	SBE_O2	572	19	256.55
VBD_pump_during_apogee	375	1170	10385.34	WL_BB2F	483	105	1199.06
VBD_pump_during_surface	139	618	2041.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	103	169.16	nil	0	0	0.00
Iridium_during_connect	101	160	383.92	nil	0	0	0.00
Iridium_during_xfer	363	223	1912.30
Transponder_ping	15	420	148.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.46
TT8	1506	19	304.32
LPSleep	13511	2	301.82
TT8_Active	664	19	134.24
TT8_Sampling	1766	39	716.97
TT8_CF8	813	45	380.25
TT8_Kalman	0	81	0.00
Analog_circuits	1545	12	189.23
GPS_charging	0	0	0.00
Compass	1724	8	140.72
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	-121.10	0.000	2	0.000	0.000	64	2302	3008
151	-1.08	-146.6	4.0	-3.5	6	176	11.12	2.65	-8.55	0.000	4	0.166	0.079	2057	3709	3381
390	-0.91	-146.6	43.7	-15.0	16	397	0.22	2.55	0.00	0.000	6	0.095	0.054	2100	2295	3381
707	-0.83	-146.6	82.0	-11.0	32	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2295	3382
1017	-0.77	-146.6	113.5	-10.0	47	1019	0.15	0.00	0.00	0.000	6	0.103	0.000	2128	2295	3382
1325	-0.77	-146.6	139.6	-8.7	62	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2295	3382
1633	-0.77	-146.6	170.2	-9.6	77	1635	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2294	3382
1944	-0.77	-146.6	201.1	-9.7	92	1948	0.00	2.58	0.00	0.000	4	0.000	0.065	2129	886	3382
1988	-0.83	-146.6	205.3	-8.7	94	1993	0.00	2.55	0.00	0.000	6	0.000	0.051	2128	2302	3382
2309	-0.83	-146.6	233.9	-9.1	110	2310	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2301	3382
2619	-0.83	-146.6	259.9	-8.0	125	2623	0.00	2.62	0.00	0.000	4	0.000	0.061	2128	884	3382
2669	-0.91	-146.6	264.1	-8.4	127	2674	0.12	2.58	0.00	0.000	6	0.048	0.050	2089	2307	3382
2985	-0.81	-146.6	296.5	-10.2	142	2987	0.17	0.00	0.00	0.000	6	0.091	0.000	2122	2307	3382
3295	-0.81	-146.6	326.2	-10.1	157	3299	0.00	2.65	0.00	0.000	4	0.000	0.062	2122	882	3382
3350	-0.87	-146.6	332.0	-9.9	159	3356	0.00	2.58	0.00	0.000	6	0.000	0.050	2122	2301	3382
3666	-0.87	-146.6	363.4	-9.6	175	3667	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2302	3382
3975	-0.87	-146.6	391.1	-8.4	190	3976	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2302	3381
4284	-0.87	-146.6	418.7	-9.4	205	4285	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2302	3381
4593	-0.87	-146.6	449.2	-10.1	220	4598	0.00	2.62	0.00	0.000	4	0.000	0.070	2122	3709	3381
4656	-0.87	-146.6	455.9	-10.8	223	4660	0.00	2.58	0.00	0.000	6	0.000	0.050	2122	2290	3381
4982	-0.87	-146.6	487.2	-9.3	239	4987	0.00	2.62	0.00	0.000	4	0.000	0.069	2122	3709	3381
5022	-0.87	-146.6	491.1	-9.8	241	5027	0.00	2.55	0.00	0.000	6	0.000	0.049	2122	2297	3381
5349	-0.87	-146.6	520.2	-8.8	257	5350	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2296	3381
5658	-0.87	-146.6	546.2	-7.9	272	5659	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2296	3381
5967	-0.87	-146.6	571.5	-8.2	287	5971	0.00	2.60	0.00	0.000	4	0.000	0.064	2122	890	3379
6034	-0.94	-146.6	577.2	-8.8	290	6039	0.15	2.55	0.00	0.000	6	0.044	0.049	2078	2306	3380
6356	-0.84	-146.6	612.1	-10.5	306	6361	0.15	2.62	0.00	0.000	4	0.094	0.062	2111	890	3380
6406	-0.91	-146.6	616.6	-8.2	308	6411	0.00	2.55	0.00	0.000	6	0.000	0.049	2111	2307	3380
6722	-0.91	-146.6	644.8	-9.7	323	6726	0.00	2.60	0.00	0.000	4	0.000	0.062	2110	890	3380
6784	-0.96	-146.6	651.1	-10.3	326	6789	0.00	2.55	0.00	0.000	6	0.000	0.050	2111	2303	3380
7111	-0.96	-146.6	685.4	-8.2	342	7115	0.00	2.62	0.00	0.000	4	0.000	0.061	2110	884	3380
7151	-1.05	-146.6	687.4	-4.5	344	7156	0.20	2.58	0.00	0.000	6	0.042	0.051	2054	2305	3379
7478	-0.89	-146.6	720.0	-12.5	360	7480	0.25	0.00	0.00	0.000	6	0.093	0.000	2103	2305	3379
7787	-0.89	-146.6	756.9	-10.0	375	7788	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2305	3379
8096	-0.89	-146.6	781.6	-10.2	390	8100	0.00	2.65	0.00	0.000	4	0.000	0.067	2103	887	3379
8186	-0.93	-146.6	792.0	-12.4	394	8190	0.00	2.58	0.00	0.000	6	0.000	0.054	2103	2304	3379
8462	end dive: BOTTOM_OBSTACLE_DETECTED
state	8462	begin apogee
8470	-0.31	0.0	819.8	6.3	408	8606	0.65	0.00	133.20	1.170	6	0.123	0.000	2227	2202	2781
8607	end apogee: CONTROL_FINISHED_OK
state	8607	begin climb
8610	1.08	146.6	824.8	0.0	415	8754	1.45	2.78	131.23	1.152	4	0.084	0.075	2530	3603	2183
8863	1.11	166.5	810.1	7.3	426	8889	0.00	2.62	19.00	1.061	6	0.000	0.062	2530	2205	2102
9199	1.17	225.3	792.3	5.9	443	9262	0.12	2.78	53.35	1.124	4	0.052	0.074	2566	791	1861
9337	1.13	225.3	777.7	12.5	449	9342	0.00	2.60	0.00	0.000	6	0.000	0.055	2566	2193	1860
9658	1.13	225.3	743.0	8.9	465	9663	0.10	2.70	0.00	0.000	4	0.104	0.071	2548	778	1860
9765	1.13	225.3	733.0	9.8	470	9770	0.00	2.62	0.00	0.000	6	0.000	0.053	2548	2209	1860
10092	1.13	225.3	699.2	10.5	486	10097	0.00	2.65	0.00	0.000	4	0.000	0.073	2548	3614	1859
10193	1.13	225.3	687.8	10.5	490	10199	0.00	2.60	0.00	0.000	6	0.000	0.057	2548	2199	1859
10509	1.14	237.4	661.1	7.6	506	10522	0.00	0.00	11.52	0.965	6	0.000	0.000	2548	2199	1813
10818	1.14	237.4	630.7	11.2	521	10819	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2199	1813
11127	1.14	237.4	600.0	9.4	536	11131	0.00	2.65	0.00	0.000	4	0.000	0.071	2548	3613	1813
11172	1.14	237.4	595.4	10.9	538	11177	0.00	2.60	0.00	0.000	6	0.000	0.054	2548	2192	1813
11494	1.14	237.4	564.7	9.4	554	11495	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2192	1813
11803	1.14	240.7	539.3	7.9	569	11810	0.00	0.00	4.80	0.696	6	0.000	0.000	2548	2192	1799
12113	1.17	265.4	517.1	7.1	584	12142	0.00	2.75	22.88	0.942	4	0.000	0.070	2548	3609	1698
12204	1.17	265.4	509.0	10.5	588	12209	0.00	2.58	0.00	0.000	6	0.000	0.053	2548	2203	1698
12525	1.23	265.4	480.5	9.0	604	12526	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2203	1698
12835	1.29	265.4	452.7	9.1	619	12836	0.15	0.00	0.00	0.000	6	0.047	0.000	2593	2203	1698
13143	1.23	265.4	416.8	11.8	634	13145	0.12	0.00	0.00	0.000	6	0.092	0.000	2569	2203	1698
13452	1.23	265.4	382.9	11.0	649	13453	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2203	1698
13762	1.23	265.4	350.0	10.5	664	13763	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2203	1698
14071	1.23	265.4	317.6	10.4	679	14075	0.00	2.62	0.00	0.000	4	0.000	0.071	2569	3612	1698
14137	1.23	265.4	309.9	11.5	682	14141	0.00	2.58	0.00	0.000	6	0.000	0.054	2569	2200	1698
14458	1.23	265.4	279.2	9.3	698	14459	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1699
14767	1.23	265.4	251.6	9.2	713	14768	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1699
15076	1.23	265.4	217.9	11.3	728	15077	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1699
15386	1.23	265.4	185.4	10.1	743	15390	0.00	2.65	0.00	0.000	4	0.000	0.070	2569	3616	1700
15435	1.23	265.4	180.2	11.2	745	15440	0.00	2.58	0.00	0.000	6	0.000	0.053	2569	2199	1700
15751	1.23	265.4	151.1	8.9	760	15752	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1699
16062	1.23	265.4	122.7	9.4	775	16063	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2198	1700
16370	1.23	265.4	92.3	10.1	790	16371	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1699
16679	1.23	265.4	61.1	9.8	805	16683	0.00	2.65	0.00	0.000	4	0.000	0.069	2569	3616	1700
16751	1.23	265.4	53.0	12.7	808	16755	0.00	2.58	0.00	0.000	6	0.000	0.054	2569	2199	1700
17069	1.23	265.4	22.7	9.0	823	17070	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2199	1700
17291	end climb: SURFACE_DEPTH_REACHED
state	17291	begin surface coast
17313	end surface coast: CONTROL_FINISHED_OK
state	17313	begin surface