Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 161 * 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 161 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -2096320.5 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 -2096320.5

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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 161 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 111827,6222.223,-1058.201,40,2.4,59,-10.6 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.30 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -50.5 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 112402,6222.300,-1058.253,14,1.5,14,-10.6 MHEAD_RNG_PITCHd_Wd 353.9,5220,-17.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013498 ALTIM_BOTTOM_PING 777.7,16.9

SM_CCo 15188,172.02,0.616,0,0,509,557.32 _24V_AH 23.6,28.639

SM_GC 1.29,0.00,0.00,172.02,0.000,0.000,0.616,69,2309,509,-10.26,0.25,557.32 _10V_AH 10.2,14.078

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37935,723

TT8_MAMPS 0.023777 CAP_FILE_SIZE 120071,0

HUMID 1850 CFSIZE 260165632,248827904

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 10 GPS 080708,154157,6226.295,-1101.051,39,3.2,58,-10.7

ALTIM_TOP_PING 19.7,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 167 104.65 SBE_CT 528 24 299.63

Roll_motor 137 81 264.16 SBE_O2 498 19 223.63

VBD_pump_during_apogee 316 1152 8612.09 WL_BB2F 430 105 1066.88

VBD_pump_during_surface 172 615 2500.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.03 nil 0 0 0.00

Iridium_during_connect 30 160 115.16 nil 0 0 0.00

Iridium_during_xfer 164 223 864.26

Transponder_ping 10 420 99.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1385 19 279.88

LPSleep 11409 2 254.87

TT8_Active 678 19 136.93

TT8_Sampling 1743 39 707.68

TT8_CF8 478 45 223.32

TT8_Kalman 0 81 0.00

Analog_circuits 1550 12 189.72

GPS_charging 0 0 0.00

Compass 1694 8 138.28

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 -1.23 -105.0 0.0 0.0 0 150 0.00 0.00 -121.43 0.000 2 0.000 0.000 72 2312 3028

154 -1.27 -146.6 4.1 -3.3 6 179 10.85 2.65 -7.97 0.000 4 0.168 0.081 2014 3703 3380

300 -1.04 -146.6 34.6 -19.4 12 305 0.30 2.58 0.00 0.000 6 0.110 0.051 2070 2290 3380

616 -1.00 -146.6 82.4 -14.4 27 617 0.00 0.00 0.00 0.000 6 0.000 0.000 2070 2290 3381

925 -1.00 -146.6 124.0 -13.3 42 930 0.00 2.60 0.00 0.000 4 0.000 0.064 2070 882 3382

1020 -1.00 -146.6 136.4 -12.6 46 1025 0.00 2.60 0.00 0.000 6 0.000 0.054 2070 2296 3382

1337 -0.96 -146.6 177.0 -12.4 61 1342 0.00 2.65 0.00 0.000 4 0.000 0.064 2070 878 3382

1387 -0.96 -146.6 183.5 -12.0 63 1392 0.00 2.62 0.00 0.000 6 0.000 0.054 2070 2305 3382

1703 -0.92 -146.6 223.0 -12.7 78 1708 0.15 2.65 0.00 0.000 4 0.111 0.064 2102 886 3382

1754 -1.04 -146.6 228.8 -10.7 80 1759 0.15 2.60 0.00 0.000 6 0.045 0.054 2058 2300 3382

2070 -0.97 -146.6 271.6 -13.9 95 2071 0.15 0.00 0.00 0.000 6 0.098 0.000 2086 2300 3382

2378 -0.97 -146.6 309.0 -12.2 110 2383 0.00 2.65 0.00 0.000 4 0.000 0.064 2086 881 3382

2464 -1.05 -146.6 319.4 -12.0 114 2468 0.00 2.62 0.00 0.000 6 0.000 0.056 2086 2305 3382

2790 -1.05 -146.6 359.4 -12.4 130 2795 0.00 2.65 0.00 0.000 4 0.000 0.064 2086 882 3382

2847 -1.13 -146.6 366.2 -11.6 132 2853 0.15 2.60 0.00 0.000 6 0.046 0.055 2043 2300 3382

3163 -1.02 -146.6 412.0 -14.4 148 3164 0.17 0.00 0.00 0.000 6 0.099 0.000 2075 2300 3382

3474 -1.02 -146.6 451.1 -12.5 163 3478 0.00 2.62 0.00 0.000 4 0.000 0.064 2075 886 3382

3552 -1.08 -146.6 460.9 -12.4 166 3558 0.00 2.60 0.00 0.000 6 0.000 0.055 2075 2303 3382

3867 -1.08 -146.6 499.0 -12.3 182 3872 0.00 2.65 0.00 0.000 4 0.000 0.064 2075 878 3381

3912 -1.13 -146.6 504.4 -11.4 184 3916 0.00 2.60 0.00 0.000 6 0.000 0.054 2075 2301 3381

4232 -1.13 -146.6 544.0 -12.0 200 4237 0.00 2.62 0.00 0.000 4 0.000 0.064 2075 886 3381

4283 -1.20 -146.6 550.0 -11.2 202 4291 0.12 2.60 0.00 0.000 6 0.038 0.055 2031 2308 3381

4608 -1.07 -146.6 598.7 -16.4 218 4613 0.17 2.65 0.00 0.000 4 0.101 0.064 2066 886 3381

4670 -1.07 -146.6 608.0 -14.0 221 4674 0.00 2.60 0.00 0.000 6 0.000 0.055 2067 2303 3381

4997 -1.07 -146.6 654.3 -13.3 237 4998 0.00 0.00 0.00 0.000 6 0.000 0.000 2066 2303 3380

5305 -1.07 -146.6 692.0 -12.6 252 5310 0.00 2.65 0.00 0.000 4 0.000 0.065 2066 880 3380

5383 -1.12 -146.6 702.5 -13.4 255 5390 0.00 2.60 0.00 0.000 6 0.000 0.057 2066 2304 3381

5700 -1.12 -146.6 744.5 -12.6 271 5704 0.00 2.65 0.00 0.000 4 0.000 0.065 2066 880 3380

5817 -1.12 -146.6 759.5 -13.1 276 5821 0.00 2.60 0.00 0.000 6 0.000 0.058 2066 2301 3380

6006 end dive: BOTTOM_OBSTACLE_DETECTED

state 6006 begin apogee

6014 -0.31 0.0 786.4 14.2 285 6150 0.80 0.00 132.70 1.153 6 0.100 0.000 2227 2194 2781

6150 end apogee: CONTROL_FINISHED_OK

state 6150 begin climb

6153 1.27 146.6 794.7 0.0 292 6297 1.62 2.83 130.77 1.134 4 0.070 0.080 2574 3606 2183

6468 1.22 146.6 777.2 8.9 306 6472 0.00 2.62 0.00 0.000 6 0.000 0.062 2574 2208 2183

6784 1.23 154.5 751.9 7.6 321 6798 0.00 2.78 8.45 0.937 4 0.000 0.072 2574 788 2151

7034 1.23 154.5 728.7 10.8 332 7039 0.00 2.60 0.00 0.000 6 0.000 0.056 2574 2198 2150

7355 1.23 154.5 695.7 9.4 348 7360 0.00 2.70 0.00 0.000 4 0.000 0.081 2574 3610 2150

7478 1.18 154.5 682.2 11.6 353 7484 0.00 2.62 0.00 0.000 6 0.000 0.059 2574 2194 2149

7794 1.18 154.5 651.2 9.0 369 7795 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2194 2148

8103 1.20 166.4 626.6 7.4 384 8124 0.00 2.75 11.30 0.954 4 0.000 0.077 2574 3612 2101

8203 1.20 166.4 617.9 9.2 388 8207 0.00 2.62 0.00 0.000 6 0.000 0.058 2574 2196 2101

8518 1.20 166.4 590.6 9.2 403 8523 0.00 2.65 0.00 0.000 4 0.000 0.070 2574 784 2101

8563 1.20 166.4 586.0 10.3 405 8567 0.00 2.60 0.00 0.000 6 0.000 0.052 2574 2206 2101

8884 1.20 166.4 552.5 10.4 421 8885 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2206 2101

9193 1.20 166.4 524.4 8.3 436 9197 0.00 2.65 0.00 0.000 4 0.000 0.077 2574 3611 2101

9282 1.20 166.4 516.9 8.2 440 9287 0.00 2.60 0.00 0.000 6 0.000 0.056 2574 2199 2101

9604 1.20 173.4 493.1 7.6 456 9614 0.00 0.00 7.55 0.806 6 0.000 0.000 2574 2199 2074

9913 1.22 184.8 470.2 7.4 471 9934 0.00 2.78 11.48 0.862 4 0.000 0.076 2574 3618 2026

10003 1.22 184.8 462.5 9.2 475 10007 0.00 2.62 0.00 0.000 6 0.000 0.055 2574 2193 2027

10330 1.27 190.3 437.2 7.7 491 10338 0.00 0.00 6.35 0.739 6 0.000 0.000 2575 2193 2005

10640 1.31 191.4 413.3 7.9 506 10644 0.00 2.67 0.00 0.000 4 0.000 0.077 2574 3610 2005

10734 1.31 191.4 404.3 9.0 510 10738 0.00 2.60 0.00 0.000 6 0.000 0.056 2574 2192 2005

11050 1.36 191.4 377.2 8.9 525 11051 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2192 2005

11360 1.40 191.4 350.5 8.3 540 11365 0.15 2.70 0.00 0.000 4 0.044 0.076 2618 3619 2006

11460 1.28 191.4 339.8 11.1 544 11467 0.20 2.60 0.00 0.000 6 0.091 0.056 2579 2200 2006

11776 1.28 191.4 310.7 9.0 560 11781 0.00 2.67 0.00 0.000 4 0.000 0.076 2579 3612 2006

11839 1.21 191.4 304.7 9.4 563 11843 0.00 2.60 0.00 0.000 6 0.000 0.056 2579 2193 2006

12165 1.21 191.4 274.9 9.2 579 12166 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2193 2006

12475 1.21 191.4 244.1 10.5 594 12479 0.00 2.67 0.00 0.000 4 0.000 0.076 2579 3612 2006

12581 1.15 191.4 231.9 12.7 599 12586 0.15 2.58 0.00 0.000 6 0.103 0.054 2551 2200 2006

12909 1.22 191.4 200.3 9.3 615 12910 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2200 2006

13217 1.27 191.4 172.8 8.6 630 13222 0.12 2.67 0.00 0.000 4 0.049 0.075 2589 3618 2007

13273 1.18 191.4 166.7 11.7 632 13280 0.17 2.60 0.00 0.000 6 0.101 0.054 2558 2192 2006

13590 1.18 191.4 138.6 8.9 648 13594 0.00 2.70 0.00 0.000 4 0.000 0.076 2557 3619 2006

13661 1.18 191.4 131.5 10.0 651 13666 0.00 2.60 0.00 0.000 6 0.000 0.054 2557 2192 2007

13979 1.23 191.4 104.2 8.9 666 13980 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2192 2007

14287 1.23 191.4 77.7 8.5 681 14291 0.00 2.70 0.00 0.000 4 0.000 0.076 2557 3618 2007

14336 1.23 191.4 73.1 8.7 683 14341 0.00 2.58 0.00 0.000 6 0.000 0.054 2557 2200 2007

14653 1.30 197.4 48.5 7.7 698 14663 0.10 0.00 7.95 0.586 6 0.053 0.000 2590 2200 1976

14965 1.30 197.4 19.7 9.8 713 14966 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2200 1976

15144 end climb: SURFACE_DEPTH_REACHED

state 15144 begin surface coast

15166 end surface coast: CONTROL_FINISHED_OK

state 15166 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	161	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-2096320.5	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	111827,6222.223,-1058.201,40,2.4,59,-10.6	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.30	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-50.5	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	112402,6222.300,-1058.253,14,1.5,14,-10.6	MHEAD_RNG_PITCHd_Wd	353.9,5220,-17.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.013498	ALTIM_BOTTOM_PING	777.7,16.9
SM_CCo	15188,172.02,0.616,0,0,509,557.32	_24V_AH	23.6,28.639
SM_GC	1.29,0.00,0.00,172.02,0.000,0.000,0.616,69,2309,509,-10.26,0.25,557.32	_10V_AH	10.2,14.078
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37935,723
TT8_MAMPS	0.023777	CAP_FILE_SIZE	120071,0
HUMID	1850	CFSIZE	260165632,248827904
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	10	GPS	080708,154157,6226.295,-1101.051,39,3.2,58,-10.7
ALTIM_TOP_PING	19.7,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	167	104.65	SBE_CT	528	24	299.63
Roll_motor	137	81	264.16	SBE_O2	498	19	223.63
VBD_pump_during_apogee	316	1152	8612.09	WL_BB2F	430	105	1066.88
VBD_pump_during_surface	172	615	2500.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.03	nil	0	0	0.00
Iridium_during_connect	30	160	115.16	nil	0	0	0.00
Iridium_during_xfer	164	223	864.26
Transponder_ping	10	420	99.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1385	19	279.88
LPSleep	11409	2	254.87
TT8_Active	678	19	136.93
TT8_Sampling	1743	39	707.68
TT8_CF8	478	45	223.32
TT8_Kalman	0	81	0.00
Analog_circuits	1550	12	189.72
GPS_charging	0	0	0.00
Compass	1694	8	138.28
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	-1.23	-105.0	0.0	0.0	0	150	0.00	0.00	-121.43	0.000	2	0.000	0.000	72	2312	3028
154	-1.27	-146.6	4.1	-3.3	6	179	10.85	2.65	-7.97	0.000	4	0.168	0.081	2014	3703	3380
300	-1.04	-146.6	34.6	-19.4	12	305	0.30	2.58	0.00	0.000	6	0.110	0.051	2070	2290	3380
616	-1.00	-146.6	82.4	-14.4	27	617	0.00	0.00	0.00	0.000	6	0.000	0.000	2070	2290	3381
925	-1.00	-146.6	124.0	-13.3	42	930	0.00	2.60	0.00	0.000	4	0.000	0.064	2070	882	3382
1020	-1.00	-146.6	136.4	-12.6	46	1025	0.00	2.60	0.00	0.000	6	0.000	0.054	2070	2296	3382
1337	-0.96	-146.6	177.0	-12.4	61	1342	0.00	2.65	0.00	0.000	4	0.000	0.064	2070	878	3382
1387	-0.96	-146.6	183.5	-12.0	63	1392	0.00	2.62	0.00	0.000	6	0.000	0.054	2070	2305	3382
1703	-0.92	-146.6	223.0	-12.7	78	1708	0.15	2.65	0.00	0.000	4	0.111	0.064	2102	886	3382
1754	-1.04	-146.6	228.8	-10.7	80	1759	0.15	2.60	0.00	0.000	6	0.045	0.054	2058	2300	3382
2070	-0.97	-146.6	271.6	-13.9	95	2071	0.15	0.00	0.00	0.000	6	0.098	0.000	2086	2300	3382
2378	-0.97	-146.6	309.0	-12.2	110	2383	0.00	2.65	0.00	0.000	4	0.000	0.064	2086	881	3382
2464	-1.05	-146.6	319.4	-12.0	114	2468	0.00	2.62	0.00	0.000	6	0.000	0.056	2086	2305	3382
2790	-1.05	-146.6	359.4	-12.4	130	2795	0.00	2.65	0.00	0.000	4	0.000	0.064	2086	882	3382
2847	-1.13	-146.6	366.2	-11.6	132	2853	0.15	2.60	0.00	0.000	6	0.046	0.055	2043	2300	3382
3163	-1.02	-146.6	412.0	-14.4	148	3164	0.17	0.00	0.00	0.000	6	0.099	0.000	2075	2300	3382
3474	-1.02	-146.6	451.1	-12.5	163	3478	0.00	2.62	0.00	0.000	4	0.000	0.064	2075	886	3382
3552	-1.08	-146.6	460.9	-12.4	166	3558	0.00	2.60	0.00	0.000	6	0.000	0.055	2075	2303	3382
3867	-1.08	-146.6	499.0	-12.3	182	3872	0.00	2.65	0.00	0.000	4	0.000	0.064	2075	878	3381
3912	-1.13	-146.6	504.4	-11.4	184	3916	0.00	2.60	0.00	0.000	6	0.000	0.054	2075	2301	3381
4232	-1.13	-146.6	544.0	-12.0	200	4237	0.00	2.62	0.00	0.000	4	0.000	0.064	2075	886	3381
4283	-1.20	-146.6	550.0	-11.2	202	4291	0.12	2.60	0.00	0.000	6	0.038	0.055	2031	2308	3381
4608	-1.07	-146.6	598.7	-16.4	218	4613	0.17	2.65	0.00	0.000	4	0.101	0.064	2066	886	3381
4670	-1.07	-146.6	608.0	-14.0	221	4674	0.00	2.60	0.00	0.000	6	0.000	0.055	2067	2303	3381
4997	-1.07	-146.6	654.3	-13.3	237	4998	0.00	0.00	0.00	0.000	6	0.000	0.000	2066	2303	3380
5305	-1.07	-146.6	692.0	-12.6	252	5310	0.00	2.65	0.00	0.000	4	0.000	0.065	2066	880	3380
5383	-1.12	-146.6	702.5	-13.4	255	5390	0.00	2.60	0.00	0.000	6	0.000	0.057	2066	2304	3381
5700	-1.12	-146.6	744.5	-12.6	271	5704	0.00	2.65	0.00	0.000	4	0.000	0.065	2066	880	3380
5817	-1.12	-146.6	759.5	-13.1	276	5821	0.00	2.60	0.00	0.000	6	0.000	0.058	2066	2301	3380
6006	end dive: BOTTOM_OBSTACLE_DETECTED
state	6006	begin apogee
6014	-0.31	0.0	786.4	14.2	285	6150	0.80	0.00	132.70	1.153	6	0.100	0.000	2227	2194	2781
6150	end apogee: CONTROL_FINISHED_OK
state	6150	begin climb
6153	1.27	146.6	794.7	0.0	292	6297	1.62	2.83	130.77	1.134	4	0.070	0.080	2574	3606	2183
6468	1.22	146.6	777.2	8.9	306	6472	0.00	2.62	0.00	0.000	6	0.000	0.062	2574	2208	2183
6784	1.23	154.5	751.9	7.6	321	6798	0.00	2.78	8.45	0.937	4	0.000	0.072	2574	788	2151
7034	1.23	154.5	728.7	10.8	332	7039	0.00	2.60	0.00	0.000	6	0.000	0.056	2574	2198	2150
7355	1.23	154.5	695.7	9.4	348	7360	0.00	2.70	0.00	0.000	4	0.000	0.081	2574	3610	2150
7478	1.18	154.5	682.2	11.6	353	7484	0.00	2.62	0.00	0.000	6	0.000	0.059	2574	2194	2149
7794	1.18	154.5	651.2	9.0	369	7795	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2194	2148
8103	1.20	166.4	626.6	7.4	384	8124	0.00	2.75	11.30	0.954	4	0.000	0.077	2574	3612	2101
8203	1.20	166.4	617.9	9.2	388	8207	0.00	2.62	0.00	0.000	6	0.000	0.058	2574	2196	2101
8518	1.20	166.4	590.6	9.2	403	8523	0.00	2.65	0.00	0.000	4	0.000	0.070	2574	784	2101
8563	1.20	166.4	586.0	10.3	405	8567	0.00	2.60	0.00	0.000	6	0.000	0.052	2574	2206	2101
8884	1.20	166.4	552.5	10.4	421	8885	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2206	2101
9193	1.20	166.4	524.4	8.3	436	9197	0.00	2.65	0.00	0.000	4	0.000	0.077	2574	3611	2101
9282	1.20	166.4	516.9	8.2	440	9287	0.00	2.60	0.00	0.000	6	0.000	0.056	2574	2199	2101
9604	1.20	173.4	493.1	7.6	456	9614	0.00	0.00	7.55	0.806	6	0.000	0.000	2574	2199	2074
9913	1.22	184.8	470.2	7.4	471	9934	0.00	2.78	11.48	0.862	4	0.000	0.076	2574	3618	2026
10003	1.22	184.8	462.5	9.2	475	10007	0.00	2.62	0.00	0.000	6	0.000	0.055	2574	2193	2027
10330	1.27	190.3	437.2	7.7	491	10338	0.00	0.00	6.35	0.739	6	0.000	0.000	2575	2193	2005
10640	1.31	191.4	413.3	7.9	506	10644	0.00	2.67	0.00	0.000	4	0.000	0.077	2574	3610	2005
10734	1.31	191.4	404.3	9.0	510	10738	0.00	2.60	0.00	0.000	6	0.000	0.056	2574	2192	2005
11050	1.36	191.4	377.2	8.9	525	11051	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2192	2005
11360	1.40	191.4	350.5	8.3	540	11365	0.15	2.70	0.00	0.000	4	0.044	0.076	2618	3619	2006
11460	1.28	191.4	339.8	11.1	544	11467	0.20	2.60	0.00	0.000	6	0.091	0.056	2579	2200	2006
11776	1.28	191.4	310.7	9.0	560	11781	0.00	2.67	0.00	0.000	4	0.000	0.076	2579	3612	2006
11839	1.21	191.4	304.7	9.4	563	11843	0.00	2.60	0.00	0.000	6	0.000	0.056	2579	2193	2006
12165	1.21	191.4	274.9	9.2	579	12166	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2193	2006
12475	1.21	191.4	244.1	10.5	594	12479	0.00	2.67	0.00	0.000	4	0.000	0.076	2579	3612	2006
12581	1.15	191.4	231.9	12.7	599	12586	0.15	2.58	0.00	0.000	6	0.103	0.054	2551	2200	2006
12909	1.22	191.4	200.3	9.3	615	12910	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2200	2006
13217	1.27	191.4	172.8	8.6	630	13222	0.12	2.67	0.00	0.000	4	0.049	0.075	2589	3618	2007
13273	1.18	191.4	166.7	11.7	632	13280	0.17	2.60	0.00	0.000	6	0.101	0.054	2558	2192	2006
13590	1.18	191.4	138.6	8.9	648	13594	0.00	2.70	0.00	0.000	4	0.000	0.076	2557	3619	2006
13661	1.18	191.4	131.5	10.0	651	13666	0.00	2.60	0.00	0.000	6	0.000	0.054	2557	2192	2007
13979	1.23	191.4	104.2	8.9	666	13980	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2192	2007
14287	1.23	191.4	77.7	8.5	681	14291	0.00	2.70	0.00	0.000	4	0.000	0.076	2557	3618	2007
14336	1.23	191.4	73.1	8.7	683	14341	0.00	2.58	0.00	0.000	6	0.000	0.054	2557	2200	2007
14653	1.30	197.4	48.5	7.7	698	14663	0.10	0.00	7.95	0.586	6	0.053	0.000	2590	2200	1976
14965	1.30	197.4	19.7	9.8	713	14966	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2200	1976
15144	end climb: SURFACE_DEPTH_REACHED
state	15144	begin surface coast
15166	end surface coast: CONTROL_FINISHED_OK
state	15166	begin surface