Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 164 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 164 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2110542.8 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2110542.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 164 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 070625,6351.877,-1302.396,43,1.3,43,-12.4 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.48 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -54.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 071108,6351.887,-1302.363,15,1.1,15,-12.4 MHEAD_RNG_PITCHd_Wd 316.2,27003,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026638 ALTIM_BOTTOM_PING 675.4,49.5

SM_CCo 16506,0.00,0.000,0,0,1749,261.74 _24V_AH 23.6,28.860

SM_GC 1.53,11.77,0.00,0.00,0.080,0.000,0.000,67,2606,1749,-10.46,0.20,261.74 _10V_AH 10.1,14.394

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41142,794

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98230,0

HUMID 1768 CFSIZE 260165632,249020416

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 060709,114737,6354.081,-1302.327,30,1.3,30,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 111.13 SBE_CT 577 24 326.98

Roll_motor 54 61 79.39 SBE_O2 547 19 245.47

VBD_pump_during_apogee 361 1041 8892.95 WL_BB2F 479 105 1187.46

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.91 nil 0 0 0.00

Iridium_during_connect 28 160 106.39 nil 0 0 0.00

Iridium_during_xfer 126 223 667.99

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.73

TT8 1377 19 275.44

LPSleep 13031 2 288.24

TT8_Active 457 19 91.48

TT8_Sampling 1523 39 612.42

TT8_CF8 399 45 184.81

TT8_Kalman 0 81 0.00

Analog_circuits 1202 12 145.69

GPS_charging 0 0 0.00

Compass 1489 8 120.39

RAFOS 0 0 0.00

Transponder 42 30 12.97

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 98 0.00 0.00 -79.68 0.000 6 0.000 0.000 71 2605 3416

102 -1.03 -146.6 5.6 -6.6 4 123 11.77 2.35 0.00 0.000 4 0.179 0.057 2131 3864 3418

299 -1.03 -146.6 39.8 -12.1 12 305 0.00 2.15 0.00 0.000 6 0.000 0.025 2131 2576 3419

614 -1.03 -146.6 70.2 -9.7 28 616 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2576 3419

924 -1.03 -146.6 97.8 -9.7 43 925 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2576 3419

1235 -1.03 -146.6 133.7 -12.5 58 1239 0.00 2.38 0.00 0.000 4 0.000 0.038 2131 1215 3419

1274 -1.03 -146.6 138.9 -11.9 60 1279 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2600 3419

1603 -1.03 -146.6 175.4 -10.4 76 1604 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

1911 -1.03 -146.6 207.9 -10.7 91 1912 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

2220 -1.03 -146.6 241.2 -10.9 106 2221 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

2529 -1.03 -146.6 274.7 -10.5 121 2530 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

2838 -1.03 -146.6 304.5 -9.2 136 2840 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3419

3147 -1.03 -146.6 332.6 -9.1 151 3148 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

3457 -1.03 -146.6 361.7 -9.5 166 3460 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1215 3419

3496 -1.03 -146.6 365.5 -8.8 167 3502 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2603 3418

3811 -1.03 -146.6 394.7 -9.1 183 3812 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3418

4120 -1.03 -146.6 421.6 -8.5 198 4121 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2604 3418

4430 -1.03 -146.6 447.5 -8.4 213 4431 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3418

4739 -1.03 -146.6 472.8 -8.0 228 4740 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3418

5048 -1.03 -146.6 498.4 -8.8 243 5052 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1216 3418

5098 -1.03 -146.6 502.9 -9.0 245 5102 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2601 3418

5413 -1.03 -146.6 532.5 -9.2 260 5415 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3417

5723 -1.03 -146.6 560.4 -9.0 275 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3417

6032 -1.03 -146.6 589.4 -9.5 290 6036 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1215 3417

6100 -1.07 -146.6 595.8 -9.6 293 6104 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2601 3417

6425 -1.07 -146.6 625.2 -8.9 309 6426 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3417

6730 -1.07 -146.6 649.8 -8.2 324 6731 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3417

7043 -1.07 -146.6 675.4 -8.5 339 7045 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3416

7348 -1.07 -146.6 700.6 -8.3 354 7353 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1213 3416

7394 -1.14 -146.6 704.3 -8.6 356 7398 0.00 2.42 0.00 0.000 6 0.000 0.036 2131 2600 3416

7527 end dive: BOTTOM_OBSTACLE_DETECTED

state 7527 begin apogee

7534 -0.31 0.0 715.2 8.1 363 7670 0.80 0.00 129.02 1.042 6 0.107 0.000 2290 2305 2816

7670 end apogee: CONTROL_FINISHED_OK

state 7670 begin climb

7674 1.03 146.6 720.2 0.0 370 7812 1.33 2.60 129.82 1.028 4 0.065 0.045 2578 916 2218

7860 0.92 147.1 715.0 7.5 378 7866 0.00 2.47 0.00 0.000 6 0.000 0.035 2578 2311 2215

8176 0.88 149.4 693.7 7.4 394 8178 0.15 0.00 0.00 0.000 6 0.093 0.000 2550 2312 2213

8485 0.88 149.4 670.8 7.7 409 8486 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2312 2212

8794 0.89 154.4 648.5 7.3 424 8803 0.00 0.00 6.90 0.790 6 0.000 0.000 2551 2312 2187

9104 0.95 215.4 627.5 5.4 439 9167 0.00 2.65 56.50 0.976 4 0.000 0.061 2550 3703 1937

9206 0.96 221.9 621.5 7.3 443 9220 0.00 2.42 7.18 0.781 6 0.000 0.028 2550 2313 1911

9544 1.02 221.9 597.4 8.3 460 9549 0.15 2.55 0.00 0.000 4 0.048 0.048 2589 902 1906

9629 0.97 221.9 588.4 11.3 464 9633 0.00 2.47 0.00 0.000 6 0.000 0.035 2589 2311 1905

9955 0.97 221.9 553.5 10.6 480 9956 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2311 1905

10265 0.93 221.9 522.5 9.7 495 10267 0.15 0.00 0.00 0.000 6 0.094 0.000 2560 2311 1904

10573 0.93 221.9 497.3 8.1 510 10574 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2311 1904

10883 0.97 221.9 471.6 8.5 525 10887 0.00 2.55 0.00 0.000 4 0.000 0.060 2560 3699 1904

10927 0.97 221.9 467.5 10.1 527 10932 0.00 2.42 0.00 0.000 6 0.000 0.027 2560 2296 1904

11249 1.02 221.9 441.6 7.8 543 11251 0.10 0.00 0.00 0.000 6 0.053 0.000 2591 2295 1904

11558 1.02 221.9 415.4 8.3 558 11559 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

11867 1.02 221.9 390.4 7.9 573 11868 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

12176 1.02 221.9 366.1 8.0 588 12177 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

12486 1.02 221.9 340.8 8.2 603 12487 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

12795 1.02 221.9 315.9 8.1 618 12796 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

13104 1.02 221.9 291.1 8.0 633 13105 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

13413 1.02 221.9 266.5 8.0 648 13414 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

13723 1.02 221.9 239.3 9.2 663 13724 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

14032 1.02 221.9 212.8 8.6 678 14033 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

14341 1.02 221.9 184.7 9.4 693 14342 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

14651 1.02 221.9 155.3 9.6 708 14652 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

14960 1.02 221.9 125.3 10.0 723 14961 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

15269 1.02 221.9 95.4 9.5 738 15270 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

15580 1.02 221.9 66.4 9.2 753 15582 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1904

15888 1.02 221.9 38.4 8.8 768 15892 0.00 2.58 0.00 0.000 4 0.000 0.055 2592 3703 1904

15943 0.95 221.9 33.2 9.4 770 15950 0.12 2.40 0.00 0.000 6 0.096 0.026 2568 2291 1904

16260 1.05 259.7 10.7 6.2 786 16299 0.00 0.00 32.35 0.572 6 0.000 0.000 2568 2289 1757

16379 end climb: SURFACE_DEPTH_REACHED

state 16379 begin surface coast

16423 end surface coast: CONTROL_FINISHED_OK

state 16423 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	164	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2110542.8	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	070625,6351.877,-1302.396,43,1.3,43,-12.4	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.48	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-54.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	071108,6351.887,-1302.363,15,1.1,15,-12.4	MHEAD_RNG_PITCHd_Wd	316.2,27003,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026638	ALTIM_BOTTOM_PING	675.4,49.5
SM_CCo	16506,0.00,0.000,0,0,1749,261.74	_24V_AH	23.6,28.860
SM_GC	1.53,11.77,0.00,0.00,0.080,0.000,0.000,67,2606,1749,-10.46,0.20,261.74	_10V_AH	10.1,14.394
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41142,794
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98230,0
HUMID	1768	CFSIZE	260165632,249020416
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	060709,114737,6354.081,-1302.327,30,1.3,30,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	111.13	SBE_CT	577	24	326.98
Roll_motor	54	61	79.39	SBE_O2	547	19	245.47
VBD_pump_during_apogee	361	1041	8892.95	WL_BB2F	479	105	1187.46
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.91	nil	0	0	0.00
Iridium_during_connect	28	160	106.39	nil	0	0	0.00
Iridium_during_xfer	126	223	667.99
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.73
TT8	1377	19	275.44
LPSleep	13031	2	288.24
TT8_Active	457	19	91.48
TT8_Sampling	1523	39	612.42
TT8_CF8	399	45	184.81
TT8_Kalman	0	81	0.00
Analog_circuits	1202	12	145.69
GPS_charging	0	0	0.00
Compass	1489	8	120.39
RAFOS	0	0	0.00
Transponder	42	30	12.97

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	98	0.00	0.00	-79.68	0.000	6	0.000	0.000	71	2605	3416
102	-1.03	-146.6	5.6	-6.6	4	123	11.77	2.35	0.00	0.000	4	0.179	0.057	2131	3864	3418
299	-1.03	-146.6	39.8	-12.1	12	305	0.00	2.15	0.00	0.000	6	0.000	0.025	2131	2576	3419
614	-1.03	-146.6	70.2	-9.7	28	616	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2576	3419
924	-1.03	-146.6	97.8	-9.7	43	925	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2576	3419
1235	-1.03	-146.6	133.7	-12.5	58	1239	0.00	2.38	0.00	0.000	4	0.000	0.038	2131	1215	3419
1274	-1.03	-146.6	138.9	-11.9	60	1279	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2600	3419
1603	-1.03	-146.6	175.4	-10.4	76	1604	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
1911	-1.03	-146.6	207.9	-10.7	91	1912	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
2220	-1.03	-146.6	241.2	-10.9	106	2221	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
2529	-1.03	-146.6	274.7	-10.5	121	2530	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
2838	-1.03	-146.6	304.5	-9.2	136	2840	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3419
3147	-1.03	-146.6	332.6	-9.1	151	3148	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
3457	-1.03	-146.6	361.7	-9.5	166	3460	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1215	3419
3496	-1.03	-146.6	365.5	-8.8	167	3502	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2603	3418
3811	-1.03	-146.6	394.7	-9.1	183	3812	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3418
4120	-1.03	-146.6	421.6	-8.5	198	4121	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2604	3418
4430	-1.03	-146.6	447.5	-8.4	213	4431	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3418
4739	-1.03	-146.6	472.8	-8.0	228	4740	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3418
5048	-1.03	-146.6	498.4	-8.8	243	5052	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1216	3418
5098	-1.03	-146.6	502.9	-9.0	245	5102	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2601	3418
5413	-1.03	-146.6	532.5	-9.2	260	5415	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3417
5723	-1.03	-146.6	560.4	-9.0	275	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3417
6032	-1.03	-146.6	589.4	-9.5	290	6036	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1215	3417
6100	-1.07	-146.6	595.8	-9.6	293	6104	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2601	3417
6425	-1.07	-146.6	625.2	-8.9	309	6426	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3417
6730	-1.07	-146.6	649.8	-8.2	324	6731	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3417
7043	-1.07	-146.6	675.4	-8.5	339	7045	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3416
7348	-1.07	-146.6	700.6	-8.3	354	7353	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1213	3416
7394	-1.14	-146.6	704.3	-8.6	356	7398	0.00	2.42	0.00	0.000	6	0.000	0.036	2131	2600	3416
7527	end dive: BOTTOM_OBSTACLE_DETECTED
state	7527	begin apogee
7534	-0.31	0.0	715.2	8.1	363	7670	0.80	0.00	129.02	1.042	6	0.107	0.000	2290	2305	2816
7670	end apogee: CONTROL_FINISHED_OK
state	7670	begin climb
7674	1.03	146.6	720.2	0.0	370	7812	1.33	2.60	129.82	1.028	4	0.065	0.045	2578	916	2218
7860	0.92	147.1	715.0	7.5	378	7866	0.00	2.47	0.00	0.000	6	0.000	0.035	2578	2311	2215
8176	0.88	149.4	693.7	7.4	394	8178	0.15	0.00	0.00	0.000	6	0.093	0.000	2550	2312	2213
8485	0.88	149.4	670.8	7.7	409	8486	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2312	2212
8794	0.89	154.4	648.5	7.3	424	8803	0.00	0.00	6.90	0.790	6	0.000	0.000	2551	2312	2187
9104	0.95	215.4	627.5	5.4	439	9167	0.00	2.65	56.50	0.976	4	0.000	0.061	2550	3703	1937
9206	0.96	221.9	621.5	7.3	443	9220	0.00	2.42	7.18	0.781	6	0.000	0.028	2550	2313	1911
9544	1.02	221.9	597.4	8.3	460	9549	0.15	2.55	0.00	0.000	4	0.048	0.048	2589	902	1906
9629	0.97	221.9	588.4	11.3	464	9633	0.00	2.47	0.00	0.000	6	0.000	0.035	2589	2311	1905
9955	0.97	221.9	553.5	10.6	480	9956	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2311	1905
10265	0.93	221.9	522.5	9.7	495	10267	0.15	0.00	0.00	0.000	6	0.094	0.000	2560	2311	1904
10573	0.93	221.9	497.3	8.1	510	10574	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2311	1904
10883	0.97	221.9	471.6	8.5	525	10887	0.00	2.55	0.00	0.000	4	0.000	0.060	2560	3699	1904
10927	0.97	221.9	467.5	10.1	527	10932	0.00	2.42	0.00	0.000	6	0.000	0.027	2560	2296	1904
11249	1.02	221.9	441.6	7.8	543	11251	0.10	0.00	0.00	0.000	6	0.053	0.000	2591	2295	1904
11558	1.02	221.9	415.4	8.3	558	11559	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
11867	1.02	221.9	390.4	7.9	573	11868	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
12176	1.02	221.9	366.1	8.0	588	12177	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
12486	1.02	221.9	340.8	8.2	603	12487	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
12795	1.02	221.9	315.9	8.1	618	12796	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
13104	1.02	221.9	291.1	8.0	633	13105	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
13413	1.02	221.9	266.5	8.0	648	13414	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
13723	1.02	221.9	239.3	9.2	663	13724	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
14032	1.02	221.9	212.8	8.6	678	14033	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
14341	1.02	221.9	184.7	9.4	693	14342	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
14651	1.02	221.9	155.3	9.6	708	14652	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
14960	1.02	221.9	125.3	10.0	723	14961	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
15269	1.02	221.9	95.4	9.5	738	15270	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
15580	1.02	221.9	66.4	9.2	753	15582	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1904
15888	1.02	221.9	38.4	8.8	768	15892	0.00	2.58	0.00	0.000	4	0.000	0.055	2592	3703	1904
15943	0.95	221.9	33.2	9.4	770	15950	0.12	2.40	0.00	0.000	6	0.096	0.026	2568	2291	1904
16260	1.05	259.7	10.7	6.2	786	16299	0.00	0.00	32.35	0.572	6	0.000	0.000	2568	2289	1757
16379	end climb: SURFACE_DEPTH_REACHED
state	16379	begin surface coast
16423	end surface coast: CONTROL_FINISHED_OK
state	16423	begin surface