Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 171 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 171 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2079173.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2079173.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 171 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 090007,6306.447,-844.170,41,2.0,41,-9.6 TGT_NAME IFRVAL

_CALLS 2 TGT_LATLONG 6312.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.024,0.220

_SM_DEPTHo 1.42 KALMAN_X -122372.6,-1239.0,282.7,142257.3,12900.1

_SM_ANGLEo -58.4 KALMAN_Y 95325.0,227.8,946.0,67030.1,-16085.8

GPS2 090847,6306.526,-844.122,15,2.9,34,-9.6 MHEAD_RNG_PITCHd_Wd 3.3,16690,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027392 ALTIM_BOTTOM_PING 425.4,95.7

SM_CCo 13948,209.50,0.663,1,0,509,566.15 _24V_AH 23.6,29.691

SM_GC 1.53,0.00,0.00,209.50,0.000,0.000,0.663,74,2403,509,-10.75,0.08,566.15 _10V_AH 10.2,14.243

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34831,676

TT8_MAMPS 0.023777 CFSIZE 260165632,249745408

HUMID 2059 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,1,0

TCM_TEMP 16.80 GPS 121207,130707,6309.375,-839.313,40,1.3,52,-9.6

XPDR_PINGS 44

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.68 SBE_CT 492 24 279.04

Roll_motor 128 89 272.99 SBE_O2 464 19 208.34

VBD_pump_during_apogee 292 1049 7241.78 WL_BB2F 486 105 1206.75

VBD_pump_during_surface 209 662 3276.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 158.55 nil 0 0 0.00

Iridium_during_connect 156 160 592.61 nil 0 0 0.00

Iridium_during_xfer 124 223 655.70

Transponder_ping 14 420 141.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.16

TT8 1233 19 249.08

LPSleep 10794 2 241.14

TT8_Active 698 19 141.10

TT8_Sampling 1472 39 597.75

TT8_CF8 490 45 229.24

TT8_Kalman 33 81 27.84

Analog_circuits 1424 12 174.39

GPS_charging 0 0 0.00

Compass 1425 8 116.32

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.62 0.000 2 0.000 0.000 67 2405 3124

126 -0.85 -146.6 3.8 -2.8 5 149 12.23 0.00 -6.75 0.000 6 0.174 0.000 2220 2405 3415

458 -0.85 -146.6 35.1 -8.0 21 462 0.00 2.70 0.00 0.000 4 0.000 0.067 2221 976 3417

534 -0.85 -146.6 41.4 -7.9 24 542 0.00 2.65 0.00 0.000 6 0.000 0.057 2221 2397 3417

850 -0.85 -146.6 64.9 -7.4 40 851 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2397 3417

1160 -0.85 -146.6 87.3 -7.3 55 1164 0.00 2.67 0.00 0.000 4 0.000 0.068 2221 975 3417

1203 -0.85 -146.6 90.7 -7.5 57 1207 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2402 3417

1530 -0.85 -146.6 114.8 -7.4 73 1534 0.00 2.67 0.00 0.000 4 0.000 0.069 2220 979 3417

1561 -0.85 -146.6 117.5 -8.2 74 1568 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2392 3417

1879 -0.85 -146.6 143.2 -8.5 90 1883 0.00 2.67 0.00 0.000 4 0.000 0.072 2221 975 3417

1910 -0.85 -146.6 146.4 -8.6 91 1917 0.00 2.65 0.00 0.000 6 0.000 0.058 2221 2401 3417

2226 -0.85 -146.6 173.3 -8.3 107 2227 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2402 3417

2535 -0.85 -146.6 198.8 -8.3 122 2540 0.00 2.70 0.00 0.000 4 0.000 0.073 2221 974 3417

2589 -0.85 -146.6 203.2 -8.2 124 2596 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2401 3417

2905 -0.85 -146.6 223.6 -5.9 140 2909 0.00 2.67 0.00 0.000 4 0.000 0.072 2221 981 3417

2948 -0.85 -146.6 226.2 -5.4 142 2953 0.00 2.60 0.00 0.000 6 0.000 0.058 2221 2401 3417

3268 -0.85 -146.6 246.3 -6.4 158 3273 0.00 2.67 0.00 0.000 4 0.000 0.072 2221 981 3417

3294 -0.85 -146.6 248.1 -6.2 159 3299 0.00 2.62 0.00 0.000 6 0.000 0.059 2221 2393 3417

3616 -0.85 -146.6 270.6 -7.3 175 3620 0.00 2.67 0.00 0.000 4 0.000 0.073 2221 977 3418

3647 -0.85 -146.6 273.2 -8.0 176 3654 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2406 3419

3963 -0.85 -146.6 296.5 -7.1 192 3964 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2406 3418

4272 -0.85 -146.6 320.4 -8.3 207 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2406 3418

4581 -0.85 -146.6 344.0 -7.9 222 4586 0.00 2.70 0.00 0.000 4 0.000 0.075 2221 982 3418

4670 -0.85 -146.6 351.6 -8.6 226 4674 0.00 2.62 0.00 0.000 6 0.000 0.061 2221 2400 3418

4997 -0.85 -146.6 379.9 -9.2 242 5001 0.00 2.67 0.00 0.000 4 0.000 0.074 2221 982 3418

5039 -0.85 -146.6 384.4 -10.5 244 5044 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2401 3418

5366 -0.85 -146.6 413.4 -8.9 260 5370 0.00 2.62 0.00 0.000 4 0.000 0.085 2221 3770 3418

5398 -0.85 -146.6 416.2 -8.4 261 5405 0.00 2.53 0.00 0.000 6 0.000 0.058 2221 2397 3418

5713 -0.85 -146.6 443.2 -8.6 277 5718 0.00 2.70 0.00 0.000 4 0.000 0.081 2221 979 3418

5767 -0.85 -146.6 448.2 -9.5 279 5774 0.00 2.62 0.00 0.000 6 0.000 0.063 2221 2399 3418

6083 -0.85 -146.6 471.4 -7.3 295 6087 0.00 2.67 0.00 0.000 4 0.000 0.076 2220 986 3418

6114 -0.85 -146.6 473.9 -7.5 296 6121 0.00 2.62 0.00 0.000 6 0.000 0.064 2220 2401 3418

6430 -0.85 -146.6 495.0 -6.5 312 6434 0.00 2.70 0.00 0.000 4 0.000 0.076 2221 983 3417

6529 -0.85 -146.6 502.0 -7.4 316 6536 0.00 2.65 0.00 0.000 6 0.000 0.065 2221 2404 3417

6678 end dive: BOTTOM_OBSTACLE_DETECTED

state 6678 begin apogee

6683 -0.31 0.0 511.9 6.5 324 6806 0.60 0.00 119.70 1.049 6 0.111 0.000 2339 2198 2817

6806 end apogee: CONTROL_FINISHED_OK

state 6806 begin climb

6808 0.85 146.6 516.0 0.0 330 6931 1.20 0.00 118.05 1.030 6 0.082 0.000 2589 2198 2218

7240 0.85 153.9 495.4 5.8 351 7254 0.00 2.80 6.97 0.825 4 0.000 0.077 2589 787 2189

7306 0.85 153.9 491.1 6.5 354 7310 0.00 2.65 0.00 0.000 6 0.000 0.060 2589 2202 2189

7631 0.85 153.9 471.0 6.5 370 7636 0.00 2.72 0.00 0.000 4 0.000 0.077 2589 786 2188

7680 0.85 153.9 467.4 7.2 372 7685 0.00 2.67 0.00 0.000 6 0.000 0.060 2589 2195 2187

8001 0.85 153.9 446.1 6.4 388 8006 0.00 2.75 0.00 0.000 4 0.000 0.090 2589 3614 2187

8045 0.85 153.9 443.0 6.8 390 8049 0.00 2.70 0.00 0.000 6 0.000 0.071 2588 2195 2186

8372 0.91 202.1 426.5 4.7 406 8415 0.00 2.80 38.50 1.006 4 0.000 0.081 2589 781 1992

8472 0.91 202.1 420.6 6.9 411 8477 0.00 2.65 0.00 0.000 6 0.000 0.059 2589 2201 1992

8798 0.91 202.1 398.8 6.4 427 8803 0.00 2.75 0.00 0.000 4 0.000 0.087 2588 3616 1990

8830 0.91 202.1 396.6 7.1 428 8837 0.00 2.70 0.00 0.000 6 0.000 0.069 2589 2200 1990

9146 0.92 212.3 377.6 5.7 444 9161 0.10 2.75 9.23 0.867 4 0.077 0.079 2614 785 1950

9207 0.92 212.3 373.1 8.1 446 9211 0.00 2.62 0.00 0.000 6 0.000 0.057 2614 2202 1949

9532 0.92 212.3 348.4 7.4 462 9536 0.00 2.72 0.00 0.000 4 0.000 0.084 2614 3617 1949

9581 0.92 212.3 344.5 7.9 464 9585 0.00 2.70 0.00 0.000 6 0.000 0.071 2614 2199 1949

9901 0.92 212.3 321.2 7.0 480 9903 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2199 1949

10211 0.92 212.3 299.4 7.3 495 10212 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2199 1949

10520 0.92 212.3 276.9 7.1 510 10521 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2199 1950

10829 0.92 212.3 254.6 7.6 525 10834 0.00 2.67 0.00 0.000 4 0.000 0.076 2614 782 1949

10867 0.92 212.3 251.4 8.8 527 10872 0.00 2.60 0.00 0.000 6 0.000 0.052 2614 2203 1949

11193 0.92 212.3 224.2 8.7 543 11198 0.00 2.67 0.00 0.000 4 0.000 0.077 2614 3616 1949

11265 0.92 212.3 217.4 9.4 546 11270 0.00 2.67 0.00 0.000 6 0.000 0.064 2614 2204 1949

11586 0.92 212.3 190.0 8.8 562 11587 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2204 1949

11896 0.92 212.3 163.0 8.4 577 11900 0.00 2.67 0.00 0.000 4 0.000 0.073 2614 781 1950

11934 0.92 212.3 159.7 8.6 579 11938 0.00 2.60 0.00 0.000 6 0.000 0.050 2615 2207 1950

12259 0.92 212.3 133.1 7.9 595 12261 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1951

12569 0.92 212.3 108.3 8.0 610 12570 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1951

12878 0.92 212.3 83.1 8.1 625 12879 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1952

13187 0.92 212.3 58.2 7.9 640 13188 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1953

13496 0.92 212.3 33.5 7.8 655 13497 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1953

13806 0.92 212.3 10.1 8.1 670 13807 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2207 1954

13907 end climb: SURFACE_DEPTH_REACHED

state 13907 begin surface coast

13929 end surface coast: CONTROL_FINISHED_OK

state 13929 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	171	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2079173.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	090007,6306.447,-844.170,41,2.0,41,-9.6	TGT_NAME	IFRVAL
_CALLS	2	TGT_LATLONG	6312.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.024,0.220
_SM_DEPTHo	1.42	KALMAN_X	-122372.6,-1239.0,282.7,142257.3,12900.1
_SM_ANGLEo	-58.4	KALMAN_Y	95325.0,227.8,946.0,67030.1,-16085.8
GPS2	090847,6306.526,-844.122,15,2.9,34,-9.6	MHEAD_RNG_PITCHd_Wd	3.3,16690,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.027392	ALTIM_BOTTOM_PING	425.4,95.7
SM_CCo	13948,209.50,0.663,1,0,509,566.15	_24V_AH	23.6,29.691
SM_GC	1.53,0.00,0.00,209.50,0.000,0.000,0.663,74,2403,509,-10.75,0.08,566.15	_10V_AH	10.2,14.243
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34831,676
TT8_MAMPS	0.023777	CFSIZE	260165632,249745408
HUMID	2059	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
TCM_TEMP	16.80	GPS	121207,130707,6309.375,-839.313,40,1.3,52,-9.6
XPDR_PINGS	44

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.68	SBE_CT	492	24	279.04
Roll_motor	128	89	272.99	SBE_O2	464	19	208.34
VBD_pump_during_apogee	292	1049	7241.78	WL_BB2F	486	105	1206.75
VBD_pump_during_surface	209	662	3276.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	158.55	nil	0	0	0.00
Iridium_during_connect	156	160	592.61	nil	0	0	0.00
Iridium_during_xfer	124	223	655.70
Transponder_ping	14	420	141.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.16
TT8	1233	19	249.08
LPSleep	10794	2	241.14
TT8_Active	698	19	141.10
TT8_Sampling	1472	39	597.75
TT8_CF8	490	45	229.24
TT8_Kalman	33	81	27.84
Analog_circuits	1424	12	174.39
GPS_charging	0	0	0.00
Compass	1425	8	116.32
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.62	0.000	2	0.000	0.000	67	2405	3124
126	-0.85	-146.6	3.8	-2.8	5	149	12.23	0.00	-6.75	0.000	6	0.174	0.000	2220	2405	3415
458	-0.85	-146.6	35.1	-8.0	21	462	0.00	2.70	0.00	0.000	4	0.000	0.067	2221	976	3417
534	-0.85	-146.6	41.4	-7.9	24	542	0.00	2.65	0.00	0.000	6	0.000	0.057	2221	2397	3417
850	-0.85	-146.6	64.9	-7.4	40	851	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2397	3417
1160	-0.85	-146.6	87.3	-7.3	55	1164	0.00	2.67	0.00	0.000	4	0.000	0.068	2221	975	3417
1203	-0.85	-146.6	90.7	-7.5	57	1207	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2402	3417
1530	-0.85	-146.6	114.8	-7.4	73	1534	0.00	2.67	0.00	0.000	4	0.000	0.069	2220	979	3417
1561	-0.85	-146.6	117.5	-8.2	74	1568	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2392	3417
1879	-0.85	-146.6	143.2	-8.5	90	1883	0.00	2.67	0.00	0.000	4	0.000	0.072	2221	975	3417
1910	-0.85	-146.6	146.4	-8.6	91	1917	0.00	2.65	0.00	0.000	6	0.000	0.058	2221	2401	3417
2226	-0.85	-146.6	173.3	-8.3	107	2227	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2402	3417
2535	-0.85	-146.6	198.8	-8.3	122	2540	0.00	2.70	0.00	0.000	4	0.000	0.073	2221	974	3417
2589	-0.85	-146.6	203.2	-8.2	124	2596	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2401	3417
2905	-0.85	-146.6	223.6	-5.9	140	2909	0.00	2.67	0.00	0.000	4	0.000	0.072	2221	981	3417
2948	-0.85	-146.6	226.2	-5.4	142	2953	0.00	2.60	0.00	0.000	6	0.000	0.058	2221	2401	3417
3268	-0.85	-146.6	246.3	-6.4	158	3273	0.00	2.67	0.00	0.000	4	0.000	0.072	2221	981	3417
3294	-0.85	-146.6	248.1	-6.2	159	3299	0.00	2.62	0.00	0.000	6	0.000	0.059	2221	2393	3417
3616	-0.85	-146.6	270.6	-7.3	175	3620	0.00	2.67	0.00	0.000	4	0.000	0.073	2221	977	3418
3647	-0.85	-146.6	273.2	-8.0	176	3654	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2406	3419
3963	-0.85	-146.6	296.5	-7.1	192	3964	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2406	3418
4272	-0.85	-146.6	320.4	-8.3	207	4274	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2406	3418
4581	-0.85	-146.6	344.0	-7.9	222	4586	0.00	2.70	0.00	0.000	4	0.000	0.075	2221	982	3418
4670	-0.85	-146.6	351.6	-8.6	226	4674	0.00	2.62	0.00	0.000	6	0.000	0.061	2221	2400	3418
4997	-0.85	-146.6	379.9	-9.2	242	5001	0.00	2.67	0.00	0.000	4	0.000	0.074	2221	982	3418
5039	-0.85	-146.6	384.4	-10.5	244	5044	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2401	3418
5366	-0.85	-146.6	413.4	-8.9	260	5370	0.00	2.62	0.00	0.000	4	0.000	0.085	2221	3770	3418
5398	-0.85	-146.6	416.2	-8.4	261	5405	0.00	2.53	0.00	0.000	6	0.000	0.058	2221	2397	3418
5713	-0.85	-146.6	443.2	-8.6	277	5718	0.00	2.70	0.00	0.000	4	0.000	0.081	2221	979	3418
5767	-0.85	-146.6	448.2	-9.5	279	5774	0.00	2.62	0.00	0.000	6	0.000	0.063	2221	2399	3418
6083	-0.85	-146.6	471.4	-7.3	295	6087	0.00	2.67	0.00	0.000	4	0.000	0.076	2220	986	3418
6114	-0.85	-146.6	473.9	-7.5	296	6121	0.00	2.62	0.00	0.000	6	0.000	0.064	2220	2401	3418
6430	-0.85	-146.6	495.0	-6.5	312	6434	0.00	2.70	0.00	0.000	4	0.000	0.076	2221	983	3417
6529	-0.85	-146.6	502.0	-7.4	316	6536	0.00	2.65	0.00	0.000	6	0.000	0.065	2221	2404	3417
6678	end dive: BOTTOM_OBSTACLE_DETECTED
state	6678	begin apogee
6683	-0.31	0.0	511.9	6.5	324	6806	0.60	0.00	119.70	1.049	6	0.111	0.000	2339	2198	2817
6806	end apogee: CONTROL_FINISHED_OK
state	6806	begin climb
6808	0.85	146.6	516.0	0.0	330	6931	1.20	0.00	118.05	1.030	6	0.082	0.000	2589	2198	2218
7240	0.85	153.9	495.4	5.8	351	7254	0.00	2.80	6.97	0.825	4	0.000	0.077	2589	787	2189
7306	0.85	153.9	491.1	6.5	354	7310	0.00	2.65	0.00	0.000	6	0.000	0.060	2589	2202	2189
7631	0.85	153.9	471.0	6.5	370	7636	0.00	2.72	0.00	0.000	4	0.000	0.077	2589	786	2188
7680	0.85	153.9	467.4	7.2	372	7685	0.00	2.67	0.00	0.000	6	0.000	0.060	2589	2195	2187
8001	0.85	153.9	446.1	6.4	388	8006	0.00	2.75	0.00	0.000	4	0.000	0.090	2589	3614	2187
8045	0.85	153.9	443.0	6.8	390	8049	0.00	2.70	0.00	0.000	6	0.000	0.071	2588	2195	2186
8372	0.91	202.1	426.5	4.7	406	8415	0.00	2.80	38.50	1.006	4	0.000	0.081	2589	781	1992
8472	0.91	202.1	420.6	6.9	411	8477	0.00	2.65	0.00	0.000	6	0.000	0.059	2589	2201	1992
8798	0.91	202.1	398.8	6.4	427	8803	0.00	2.75	0.00	0.000	4	0.000	0.087	2588	3616	1990
8830	0.91	202.1	396.6	7.1	428	8837	0.00	2.70	0.00	0.000	6	0.000	0.069	2589	2200	1990
9146	0.92	212.3	377.6	5.7	444	9161	0.10	2.75	9.23	0.867	4	0.077	0.079	2614	785	1950
9207	0.92	212.3	373.1	8.1	446	9211	0.00	2.62	0.00	0.000	6	0.000	0.057	2614	2202	1949
9532	0.92	212.3	348.4	7.4	462	9536	0.00	2.72	0.00	0.000	4	0.000	0.084	2614	3617	1949
9581	0.92	212.3	344.5	7.9	464	9585	0.00	2.70	0.00	0.000	6	0.000	0.071	2614	2199	1949
9901	0.92	212.3	321.2	7.0	480	9903	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2199	1949
10211	0.92	212.3	299.4	7.3	495	10212	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2199	1949
10520	0.92	212.3	276.9	7.1	510	10521	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2199	1950
10829	0.92	212.3	254.6	7.6	525	10834	0.00	2.67	0.00	0.000	4	0.000	0.076	2614	782	1949
10867	0.92	212.3	251.4	8.8	527	10872	0.00	2.60	0.00	0.000	6	0.000	0.052	2614	2203	1949
11193	0.92	212.3	224.2	8.7	543	11198	0.00	2.67	0.00	0.000	4	0.000	0.077	2614	3616	1949
11265	0.92	212.3	217.4	9.4	546	11270	0.00	2.67	0.00	0.000	6	0.000	0.064	2614	2204	1949
11586	0.92	212.3	190.0	8.8	562	11587	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2204	1949
11896	0.92	212.3	163.0	8.4	577	11900	0.00	2.67	0.00	0.000	4	0.000	0.073	2614	781	1950
11934	0.92	212.3	159.7	8.6	579	11938	0.00	2.60	0.00	0.000	6	0.000	0.050	2615	2207	1950
12259	0.92	212.3	133.1	7.9	595	12261	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1951
12569	0.92	212.3	108.3	8.0	610	12570	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1951
12878	0.92	212.3	83.1	8.1	625	12879	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1952
13187	0.92	212.3	58.2	7.9	640	13188	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1953
13496	0.92	212.3	33.5	7.8	655	13497	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1953
13806	0.92	212.3	10.1	8.1	670	13807	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2207	1954
13907	end climb: SURFACE_DEPTH_REACHED
state	13907	begin surface coast
13929	end surface coast: CONTROL_FINISHED_OK
state	13929	begin surface