Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 171 * 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 171 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 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 -2096580.6 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 550

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 -2096580.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 171 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 002827,6237.124,-1221.580,27,2.3,46,-11.5 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.31 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 003446,6237.129,-1221.530,13,2.3,32,-11.5 MHEAD_RNG_PITCHd_Wd 25.3,5474,-16.3,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.001898 ALTIM_BOTTOM_PING 752.2,65.7

SM_CCo 19068,180.70,0.619,0,0,509,557.32 _24V_AH 23.6,30.251

SM_GC 1.35,0.00,0.00,180.70,0.000,0.000,0.619,73,2235,509,-10.24,0.14,557.32 _10V_AH 10.2,15.026

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47384,921

TT8_MAMPS 0.02301 CAP_FILE_SIZE 115001,0

HUMID 1834 CFSIZE 260165632,248152064

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

XPDR_PINGS 23 GPS 110708,055707,6239.458,-1219.491,34,1.0,34,-11.5

ALTIM_TOP_PING 19.5,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 170 106.29 SBE_CT 679 24 384.84

Roll_motor 63 82 124.63 SBE_O2 633 19 284.00

VBD_pump_during_apogee 284 1163 7825.28 WL_BB2F 497 105 1233.15

VBD_pump_during_surface 180 618 2639.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.18 nil 0 0 0.00

Iridium_during_connect 32 160 122.83 nil 0 0 0.00

Iridium_during_xfer 172 223 907.51

Transponder_ping 12 420 126.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.22

TT8 1596 19 322.47

LPSleep 15180 2 339.09

TT8_Active 644 19 130.24

TT8_Sampling 1698 39 689.65

TT8_CF8 502 45 234.69

TT8_Kalman 0 81 0.00

Analog_circuits 1441 12 176.49

GPS_charging 0 0 0.00

Compass 1648 8 134.51

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.10 -75.8 0.0 0.0 0 147 0.00 0.00 -120.45 0.000 2 0.000 0.000 71 2197 2992

151 -1.15 -123.3 4.2 -3.5 6 173 11.10 0.00 -6.78 0.000 6 0.170 0.000 2041 2197 3286

484 -0.96 -123.3 57.5 -14.3 22 486 0.25 0.00 0.00 0.000 6 0.106 0.000 2089 2195 3286

792 -0.92 -123.3 94.0 -11.4 37 796 0.00 2.78 0.00 0.000 4 0.000 0.076 2089 3650 3286

842 -0.88 -123.3 100.2 -12.3 39 846 0.00 2.60 0.00 0.000 6 0.000 0.056 2089 2234 3287

1158 -0.88 -123.3 140.1 -13.0 54 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2234 3287

1467 -0.88 -123.3 180.0 -12.6 69 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2234 3287

1776 -0.88 -123.3 217.6 -11.6 84 1781 0.00 2.70 0.00 0.000 4 0.000 0.079 2089 3642 3287

1826 -0.88 -123.3 223.7 -11.8 86 1831 0.00 2.60 0.00 0.000 6 0.000 0.056 2089 2221 3287

2142 -0.88 -123.3 257.6 -10.4 101 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2221 3287

2452 -0.88 -123.3 289.1 -10.1 116 2453 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2221 3287

2761 -0.88 -123.3 319.0 -9.7 131 2762 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2221 3287

3070 -0.88 -123.3 349.0 -9.8 146 3071 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2221 3287

3380 -0.88 -123.3 379.0 -9.7 161 3384 0.00 2.72 0.00 0.000 4 0.000 0.081 2089 3641 3287

3425 -0.84 -123.3 383.8 -10.4 163 3430 0.15 2.60 0.00 0.000 6 0.108 0.057 2117 2226 3287

3746 -0.90 -123.3 411.7 -8.5 179 3748 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2225 3287

4056 -0.96 -123.3 436.9 -8.0 194 4058 0.12 0.00 0.00 0.000 6 0.048 0.000 2079 2225 3287

4365 -0.90 -123.3 467.8 -10.0 209 4367 0.12 0.00 0.00 0.000 6 0.100 0.000 2102 2225 3287

4674 -0.90 -123.3 495.9 -9.1 224 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2225 3286

4983 -0.90 -123.3 523.5 -8.7 239 4988 0.00 2.72 0.00 0.000 4 0.000 0.081 2102 3647 3286

5026 -0.90 -123.3 527.7 -9.2 241 5031 0.00 2.60 0.00 0.000 6 0.000 0.055 2102 2226 3286

5347 -0.90 -123.3 554.4 -8.4 257 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3287

5656 -0.90 -123.3 580.1 -8.3 272 5657 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3286

5966 -0.90 -123.3 605.0 -8.0 287 5967 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3286

6275 -0.90 -123.3 630.8 -8.2 302 6276 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3286

6584 -0.90 -123.3 655.7 -8.0 317 6585 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3285

6893 -0.90 -123.3 679.8 -8.0 332 6894 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2226 3286

7203 -0.90 -123.3 708.2 -10.0 347 7207 0.00 2.60 0.00 0.000 4 0.000 0.065 2102 813 3286

7247 -1.01 -123.3 712.9 -11.5 349 7252 0.00 2.60 0.00 0.000 6 0.000 0.055 2102 2230 3286

7569 -1.05 -123.3 749.6 -11.1 365 7571 0.15 0.00 0.00 0.000 6 0.048 0.000 2059 2231 3286

7878 -0.97 -123.3 788.8 -12.3 380 7880 0.15 0.00 0.00 0.000 6 0.098 0.000 2087 2231 3285

8061 end dive: BOTTOM_OBSTACLE_DETECTED

state 8061 begin apogee

8067 -0.31 0.0 808.2 10.1 389 8184 0.70 0.00 112.55 1.164 6 0.102 0.000 2227 2231 2781

8184 end apogee: CONTROL_FINISHED_OK

state 8185 begin climb

8187 1.15 123.3 813.1 0.0 395 8304 1.55 0.00 112.22 1.148 6 0.075 0.000 2552 2231 2279

8614 1.16 125.7 793.8 5.9 416 8620 0.00 0.00 4.00 0.692 6 0.000 0.000 2552 2231 2268

8923 1.16 125.7 775.3 6.0 431 8924 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 2231 2267

9232 1.16 125.7 753.5 7.8 446 9237 0.00 2.72 0.00 0.000 4 0.000 0.083 2552 3654 2266

9288 1.09 125.7 748.4 9.1 448 9294 0.00 2.62 0.00 0.000 6 0.000 0.060 2552 2240 2266

9604 1.04 125.7 723.0 7.4 464 9606 0.15 0.00 0.00 0.000 6 0.107 0.000 2524 2240 2265

9914 1.10 131.4 704.9 5.7 479 9922 0.00 0.00 6.47 0.879 6 0.000 0.000 2524 2241 2244

10223 1.19 154.1 689.4 4.8 494 10252 0.15 2.78 21.48 1.059 4 0.054 0.067 2564 825 2152

10335 1.13 154.1 682.8 6.1 499 10339 0.00 2.65 0.00 0.000 6 0.000 0.056 2563 2246 2152

10661 1.14 163.4 665.0 5.5 515 10673 0.00 0.00 9.62 0.950 6 0.000 0.000 2563 2246 2115

10970 1.14 163.4 644.6 7.1 530 10971 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2245 2114

11280 1.14 163.4 621.9 7.3 545 11281 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2245 2114

11589 1.14 163.4 600.6 6.8 560 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2245 2114

11898 1.14 163.4 578.1 7.6 575 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2245 2114

12208 1.14 163.4 553.5 8.1 590 12212 0.00 2.65 0.00 0.000 4 0.000 0.080 2564 3650 2114

12319 1.08 163.4 543.6 9.6 595 12324 0.15 2.60 0.00 0.000 6 0.100 0.058 2536 2241 2114

12642 1.15 163.4 521.1 6.8 611 12643 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2240 2114

12950 1.23 163.4 500.6 6.3 626 12952 0.15 0.00 0.00 0.000 6 0.049 0.000 2577 2240 2114

13259 1.18 163.4 478.5 6.9 641 13264 0.00 2.70 0.00 0.000 4 0.000 0.079 2577 3650 2114

13322 1.08 163.4 473.7 8.1 644 13327 0.22 2.60 0.00 0.000 6 0.104 0.058 2534 2240 2114

13649 1.18 183.2 456.2 5.0 660 13670 0.10 0.00 18.62 0.891 6 0.055 0.000 2568 2241 2034

13979 1.18 183.2 434.8 6.6 676 13980 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2241 2034

14288 1.18 183.2 414.2 6.8 691 14289 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2241 2034

14597 1.18 183.2 393.4 6.8 706 14601 0.00 2.70 0.00 0.000 4 0.000 0.081 2568 3650 2034

14652 1.14 183.2 388.9 8.3 708 14658 0.00 2.60 0.00 0.000 6 0.000 0.058 2568 2241 2034

14968 1.14 183.2 365.9 7.3 724 14969 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2241 2034

15277 1.14 183.2 341.9 8.0 739 15278 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2241 2035

15586 1.14 183.2 316.8 8.1 754 15591 0.00 2.70 0.00 0.000 4 0.000 0.080 2568 3651 2035

15637 1.10 183.2 312.3 9.5 756 15642 0.15 2.60 0.00 0.000 6 0.103 0.059 2540 2241 2035

15953 1.18 183.2 289.0 7.4 771 15955 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2241 2035

16263 1.26 183.2 265.3 7.6 786 16265 0.15 0.00 0.00 0.000 6 0.048 0.000 2582 2241 2035

16572 1.26 183.2 237.5 8.9 801 16573 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

16881 1.26 183.2 210.4 8.8 816 16882 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

17190 1.26 183.2 183.8 8.8 831 17192 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

17499 1.26 183.2 153.9 10.1 846 17501 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

17809 1.26 183.2 120.7 11.6 861 17810 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

18118 1.26 183.2 87.5 10.8 876 18119 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2241 2036

18429 1.26 183.2 56.8 9.7 891 18430 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2241 2036

18736 1.26 183.2 27.6 9.5 906 18741 0.00 2.70 0.00 0.000 4 0.000 0.077 2583 3656 2037

18822 1.19 183.2 19.0 9.0 910 18827 0.12 2.60 0.00 0.000 6 0.103 0.058 2560 2237 2037

19023 end climb: SURFACE_DEPTH_REACHED

state 19023 begin surface coast

19046 end surface coast: CONTROL_FINISHED_OK

state 19046 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	171	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	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	-2096580.6	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	002827,6237.124,-1221.580,27,2.3,46,-11.5	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.31	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	003446,6237.129,-1221.530,13,2.3,32,-11.5	MHEAD_RNG_PITCHd_Wd	25.3,5474,-16.3,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.001898	ALTIM_BOTTOM_PING	752.2,65.7
SM_CCo	19068,180.70,0.619,0,0,509,557.32	_24V_AH	23.6,30.251
SM_GC	1.35,0.00,0.00,180.70,0.000,0.000,0.619,73,2235,509,-10.24,0.14,557.32	_10V_AH	10.2,15.026
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47384,921
TT8_MAMPS	0.02301	CAP_FILE_SIZE	115001,0
HUMID	1834	CFSIZE	260165632,248152064
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	23	GPS	110708,055707,6239.458,-1219.491,34,1.0,34,-11.5
ALTIM_TOP_PING	19.5,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	170	106.29	SBE_CT	679	24	384.84
Roll_motor	63	82	124.63	SBE_O2	633	19	284.00
VBD_pump_during_apogee	284	1163	7825.28	WL_BB2F	497	105	1233.15
VBD_pump_during_surface	180	618	2639.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.18	nil	0	0	0.00
Iridium_during_connect	32	160	122.83	nil	0	0	0.00
Iridium_during_xfer	172	223	907.51
Transponder_ping	12	420	126.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.22
TT8	1596	19	322.47
LPSleep	15180	2	339.09
TT8_Active	644	19	130.24
TT8_Sampling	1698	39	689.65
TT8_CF8	502	45	234.69
TT8_Kalman	0	81	0.00
Analog_circuits	1441	12	176.49
GPS_charging	0	0	0.00
Compass	1648	8	134.51
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.10	-75.8	0.0	0.0	0	147	0.00	0.00	-120.45	0.000	2	0.000	0.000	71	2197	2992
151	-1.15	-123.3	4.2	-3.5	6	173	11.10	0.00	-6.78	0.000	6	0.170	0.000	2041	2197	3286
484	-0.96	-123.3	57.5	-14.3	22	486	0.25	0.00	0.00	0.000	6	0.106	0.000	2089	2195	3286
792	-0.92	-123.3	94.0	-11.4	37	796	0.00	2.78	0.00	0.000	4	0.000	0.076	2089	3650	3286
842	-0.88	-123.3	100.2	-12.3	39	846	0.00	2.60	0.00	0.000	6	0.000	0.056	2089	2234	3287
1158	-0.88	-123.3	140.1	-13.0	54	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2234	3287
1467	-0.88	-123.3	180.0	-12.6	69	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2234	3287
1776	-0.88	-123.3	217.6	-11.6	84	1781	0.00	2.70	0.00	0.000	4	0.000	0.079	2089	3642	3287
1826	-0.88	-123.3	223.7	-11.8	86	1831	0.00	2.60	0.00	0.000	6	0.000	0.056	2089	2221	3287
2142	-0.88	-123.3	257.6	-10.4	101	2143	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2221	3287
2452	-0.88	-123.3	289.1	-10.1	116	2453	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2221	3287
2761	-0.88	-123.3	319.0	-9.7	131	2762	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2221	3287
3070	-0.88	-123.3	349.0	-9.8	146	3071	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2221	3287
3380	-0.88	-123.3	379.0	-9.7	161	3384	0.00	2.72	0.00	0.000	4	0.000	0.081	2089	3641	3287
3425	-0.84	-123.3	383.8	-10.4	163	3430	0.15	2.60	0.00	0.000	6	0.108	0.057	2117	2226	3287
3746	-0.90	-123.3	411.7	-8.5	179	3748	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	2225	3287
4056	-0.96	-123.3	436.9	-8.0	194	4058	0.12	0.00	0.00	0.000	6	0.048	0.000	2079	2225	3287
4365	-0.90	-123.3	467.8	-10.0	209	4367	0.12	0.00	0.00	0.000	6	0.100	0.000	2102	2225	3287
4674	-0.90	-123.3	495.9	-9.1	224	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2225	3286
4983	-0.90	-123.3	523.5	-8.7	239	4988	0.00	2.72	0.00	0.000	4	0.000	0.081	2102	3647	3286
5026	-0.90	-123.3	527.7	-9.2	241	5031	0.00	2.60	0.00	0.000	6	0.000	0.055	2102	2226	3286
5347	-0.90	-123.3	554.4	-8.4	257	5349	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3287
5656	-0.90	-123.3	580.1	-8.3	272	5657	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3286
5966	-0.90	-123.3	605.0	-8.0	287	5967	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3286
6275	-0.90	-123.3	630.8	-8.2	302	6276	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3286
6584	-0.90	-123.3	655.7	-8.0	317	6585	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3285
6893	-0.90	-123.3	679.8	-8.0	332	6894	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2226	3286
7203	-0.90	-123.3	708.2	-10.0	347	7207	0.00	2.60	0.00	0.000	4	0.000	0.065	2102	813	3286
7247	-1.01	-123.3	712.9	-11.5	349	7252	0.00	2.60	0.00	0.000	6	0.000	0.055	2102	2230	3286
7569	-1.05	-123.3	749.6	-11.1	365	7571	0.15	0.00	0.00	0.000	6	0.048	0.000	2059	2231	3286
7878	-0.97	-123.3	788.8	-12.3	380	7880	0.15	0.00	0.00	0.000	6	0.098	0.000	2087	2231	3285
8061	end dive: BOTTOM_OBSTACLE_DETECTED
state	8061	begin apogee
8067	-0.31	0.0	808.2	10.1	389	8184	0.70	0.00	112.55	1.164	6	0.102	0.000	2227	2231	2781
8184	end apogee: CONTROL_FINISHED_OK
state	8185	begin climb
8187	1.15	123.3	813.1	0.0	395	8304	1.55	0.00	112.22	1.148	6	0.075	0.000	2552	2231	2279
8614	1.16	125.7	793.8	5.9	416	8620	0.00	0.00	4.00	0.692	6	0.000	0.000	2552	2231	2268
8923	1.16	125.7	775.3	6.0	431	8924	0.00	0.00	0.00	0.000	6	0.000	0.000	2551	2231	2267
9232	1.16	125.7	753.5	7.8	446	9237	0.00	2.72	0.00	0.000	4	0.000	0.083	2552	3654	2266
9288	1.09	125.7	748.4	9.1	448	9294	0.00	2.62	0.00	0.000	6	0.000	0.060	2552	2240	2266
9604	1.04	125.7	723.0	7.4	464	9606	0.15	0.00	0.00	0.000	6	0.107	0.000	2524	2240	2265
9914	1.10	131.4	704.9	5.7	479	9922	0.00	0.00	6.47	0.879	6	0.000	0.000	2524	2241	2244
10223	1.19	154.1	689.4	4.8	494	10252	0.15	2.78	21.48	1.059	4	0.054	0.067	2564	825	2152
10335	1.13	154.1	682.8	6.1	499	10339	0.00	2.65	0.00	0.000	6	0.000	0.056	2563	2246	2152
10661	1.14	163.4	665.0	5.5	515	10673	0.00	0.00	9.62	0.950	6	0.000	0.000	2563	2246	2115
10970	1.14	163.4	644.6	7.1	530	10971	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2245	2114
11280	1.14	163.4	621.9	7.3	545	11281	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2245	2114
11589	1.14	163.4	600.6	6.8	560	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2245	2114
11898	1.14	163.4	578.1	7.6	575	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2245	2114
12208	1.14	163.4	553.5	8.1	590	12212	0.00	2.65	0.00	0.000	4	0.000	0.080	2564	3650	2114
12319	1.08	163.4	543.6	9.6	595	12324	0.15	2.60	0.00	0.000	6	0.100	0.058	2536	2241	2114
12642	1.15	163.4	521.1	6.8	611	12643	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2240	2114
12950	1.23	163.4	500.6	6.3	626	12952	0.15	0.00	0.00	0.000	6	0.049	0.000	2577	2240	2114
13259	1.18	163.4	478.5	6.9	641	13264	0.00	2.70	0.00	0.000	4	0.000	0.079	2577	3650	2114
13322	1.08	163.4	473.7	8.1	644	13327	0.22	2.60	0.00	0.000	6	0.104	0.058	2534	2240	2114
13649	1.18	183.2	456.2	5.0	660	13670	0.10	0.00	18.62	0.891	6	0.055	0.000	2568	2241	2034
13979	1.18	183.2	434.8	6.6	676	13980	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2241	2034
14288	1.18	183.2	414.2	6.8	691	14289	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2241	2034
14597	1.18	183.2	393.4	6.8	706	14601	0.00	2.70	0.00	0.000	4	0.000	0.081	2568	3650	2034
14652	1.14	183.2	388.9	8.3	708	14658	0.00	2.60	0.00	0.000	6	0.000	0.058	2568	2241	2034
14968	1.14	183.2	365.9	7.3	724	14969	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2241	2034
15277	1.14	183.2	341.9	8.0	739	15278	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2241	2035
15586	1.14	183.2	316.8	8.1	754	15591	0.00	2.70	0.00	0.000	4	0.000	0.080	2568	3651	2035
15637	1.10	183.2	312.3	9.5	756	15642	0.15	2.60	0.00	0.000	6	0.103	0.059	2540	2241	2035
15953	1.18	183.2	289.0	7.4	771	15955	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2241	2035
16263	1.26	183.2	265.3	7.6	786	16265	0.15	0.00	0.00	0.000	6	0.048	0.000	2582	2241	2035
16572	1.26	183.2	237.5	8.9	801	16573	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
16881	1.26	183.2	210.4	8.8	816	16882	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
17190	1.26	183.2	183.8	8.8	831	17192	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
17499	1.26	183.2	153.9	10.1	846	17501	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
17809	1.26	183.2	120.7	11.6	861	17810	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
18118	1.26	183.2	87.5	10.8	876	18119	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2241	2036
18429	1.26	183.2	56.8	9.7	891	18430	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2241	2036
18736	1.26	183.2	27.6	9.5	906	18741	0.00	2.70	0.00	0.000	4	0.000	0.077	2583	3656	2037
18822	1.19	183.2	19.0	9.0	910	18827	0.12	2.60	0.00	0.000	6	0.103	0.058	2560	2237	2037
19023	end climb: SURFACE_DEPTH_REACHED
state	19023	begin surface coast
19046	end surface coast: CONTROL_FINISHED_OK
state	19046	begin surface