Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 234 * 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 234 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 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 -2098118.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 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 -2098118.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 22 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 234 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 060745,6341.420,-1256.133,41,2.3,60,-12.3 TGT_NAME WV

_CALLS 5 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 13 TGT_RADIUS 5000.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.26 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.5 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 063117,6341.160,-1255.576,13,2.4,32,-12.3 MHEAD_RNG_PITCHd_Wd 44.0,99754,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.023239 ALTIM_BOTTOM_PING 576.0,46.4

SM_CCo 18220,114.38,0.597,0,0,509,557.32 _24V_AH 23.6,40.837

SM_GC 1.37,0.00,0.00,114.38,0.000,0.000,0.597,72,2245,509,-10.24,0.42,557.32 _10V_AH 10.2,20.770

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44182,881

TT8_MAMPS 0.02301 CAP_FILE_SIZE 118497,2

HUMID 1884 CFSIZE 260165632,243912704

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 117 GPS 260708,113831,6340.573,-1249.767,42,1.2,42,-12.2

ALTIM_TOP_PING 19.9,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 97.17 SBE_CT 644 24 365.01

Roll_motor 78 106 196.82 SBE_O2 604 19 270.87

VBD_pump_during_apogee 417 1014 9997.05 WL_BB2F 568 105 1408.55

VBD_pump_during_surface 114 596 1610.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 91 103 221.39 nil 0 0 0.00

Iridium_during_connect 247 160 933.38 nil 0 0 0.00

Iridium_during_xfer 657 223 3459.24

Transponder_ping 34 420 341.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.42

TT8 1523 19 307.75

LPSleep 14516 2 324.28

TT8_Active 702 19 141.84

TT8_Sampling 1703 39 691.54

TT8_CF8 1300 45 607.74

TT8_Kalman 0 81 0.00

Analog_circuits 1516 12 185.59

GPS_charging 0 0 0.00

Compass 1653 8 134.91

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.20 0.000 2 0.000 0.000 66 2245 3006

151 -0.85 -146.6 4.2 -3.4 6 177 11.45 2.62 -8.40 0.000 4 0.167 0.107 2108 3638 3381

305 -0.65 -146.6 27.4 -12.3 13 310 0.25 2.58 0.00 0.000 6 0.091 0.081 2157 2228 3382

632 -0.58 -146.6 54.8 -6.8 29 637 0.00 2.60 0.00 0.000 4 0.000 0.060 2157 811 3382

711 -0.58 -146.6 59.8 -5.7 32 718 0.00 2.55 0.00 0.000 6 0.000 0.048 2157 2227 3382

1029 -0.54 -146.6 84.3 -7.8 48 1031 0.12 0.00 0.00 0.000 6 0.096 0.000 2181 2227 3382

1336 -0.54 -146.6 107.0 -8.1 63 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2228 3382

1646 -0.54 -146.6 132.5 -8.2 78 1651 0.00 2.62 0.00 0.000 4 0.000 0.070 2182 3642 3382

1691 -0.59 -146.6 136.4 -7.9 80 1695 0.00 2.53 0.00 0.000 6 0.000 0.048 2181 2230 3382

2013 -0.63 -146.6 161.1 -7.6 96 2014 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2230 3382

2322 -0.63 -146.6 182.0 -6.1 111 2323 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2229 3382

2632 -0.68 -146.6 198.2 -4.8 126 2634 0.12 0.00 0.00 0.000 6 0.044 0.000 2138 2230 3382

2941 -0.59 -146.6 223.9 -9.3 141 2946 0.15 2.65 0.00 0.000 4 0.086 0.070 2168 3644 3382

2981 -0.59 -146.6 227.9 -9.4 143 2985 0.00 2.55 0.00 0.000 6 0.000 0.049 2168 2228 3381

3307 -0.59 -146.6 253.7 -7.4 159 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3381

3618 -0.59 -146.6 276.5 -7.2 174 3622 0.00 2.65 0.00 0.000 4 0.000 0.071 2168 3644 3381

3650 -0.59 -146.6 279.2 -8.1 175 3657 0.00 2.55 0.00 0.000 6 0.000 0.050 2168 2222 3381

3969 -0.59 -146.6 300.9 -6.7 191 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3381

4277 -0.59 -146.6 320.2 -6.4 206 4278 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2222 3381

4585 -0.59 -146.6 340.4 -6.7 221 4589 0.00 2.65 0.00 0.000 4 0.000 0.071 2168 3641 3380

4618 -0.59 -146.6 342.9 -7.7 222 4623 0.00 2.55 0.00 0.000 6 0.000 0.050 2168 2224 3380

4934 -0.59 -146.6 366.9 -8.0 238 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2224 3380

5242 -0.59 -146.6 390.5 -7.4 253 5243 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2224 3379

5552 -0.59 -146.6 411.9 -6.5 268 5553 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2224 3379

5862 -0.59 -146.6 430.1 -5.6 283 5866 0.00 2.65 0.00 0.000 4 0.000 0.071 2168 3641 3379

5917 -0.59 -146.6 433.6 -6.2 285 5923 0.00 2.53 0.00 0.000 6 0.000 0.049 2169 2228 3379

6233 -0.59 -146.6 452.3 -6.0 301 6234 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2228 3379

6542 -0.59 -146.6 470.9 -6.1 316 6544 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3379

6851 -0.59 -146.6 490.7 -6.5 331 6853 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3379

7160 -0.59 -146.6 513.4 -7.7 346 7162 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3379

7470 -0.59 -146.6 534.2 -6.4 361 7471 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3378

7779 -0.59 -146.6 555.2 -7.1 376 7780 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3379

8088 -0.59 -146.6 577.5 -7.0 391 8089 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3378

8398 -0.59 -146.6 598.1 -6.3 406 8399 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3378

8642 end dive: BOTTOM_OBSTACLE_DETECTED

state 8642 begin apogee

8649 -0.31 0.0 612.7 5.8 418 8785 0.30 0.00 130.30 1.015 6 0.086 0.000 2229 2228 2782

8785 end apogee: CONTROL_FINISHED_OK

state 8785 begin climb

8788 0.85 146.6 618.1 0.0 425 8925 1.20 0.00 130.12 0.999 6 0.072 0.000 2482 2228 2183

9235 0.89 185.7 601.5 4.9 447 9277 0.00 2.78 35.10 0.965 4 0.000 0.072 2482 3656 2024

9329 0.89 185.7 595.9 6.5 451 9333 0.00 2.60 0.00 0.000 6 0.000 0.053 2482 2239 2024

9651 0.96 200.6 576.6 5.6 467 9669 0.12 0.00 14.50 0.906 6 0.063 0.000 2511 2239 1963

9979 0.97 202.9 556.8 5.9 483 9988 0.00 2.67 3.88 0.607 4 0.000 0.072 2511 3650 1953

10039 0.97 202.9 552.9 6.2 485 10045 0.00 2.58 0.00 0.000 6 0.000 0.054 2511 2240 1953

10356 1.00 233.5 536.1 5.2 501 10386 0.00 0.00 28.02 0.947 6 0.000 0.000 2511 2240 1829

10684 1.00 233.5 516.7 6.1 517 10685 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1828

10993 1.00 233.5 496.2 7.2 532 10994 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1828

11303 1.00 233.5 472.5 8.0 547 11304 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2240 1828

11612 1.00 233.5 447.9 7.6 562 11613 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1827

11921 1.00 233.5 424.5 7.6 577 11922 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1828

12231 1.00 233.5 401.9 6.8 592 12235 0.00 2.65 0.00 0.000 4 0.000 0.070 2511 3656 1827

12276 1.00 233.5 398.9 6.5 594 12280 0.00 2.58 0.00 0.000 6 0.000 0.051 2511 2232 1827

12597 1.00 233.5 376.8 6.9 610 12598 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2232 1828

12906 1.00 233.5 355.3 6.8 625 12907 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2232 1827

13215 1.00 233.5 334.2 6.7 640 13216 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2232 1827

13524 1.00 233.5 314.5 6.4 655 13529 0.00 2.62 0.00 0.000 4 0.000 0.069 2511 3650 1827

13569 1.00 233.5 311.3 6.9 657 13573 0.00 2.55 0.00 0.000 6 0.000 0.051 2511 2238 1827

13890 1.00 233.5 290.2 6.7 673 13891 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2238 1827

14199 1.00 233.5 268.0 7.2 688 14200 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2238 1827

14509 1.00 233.5 246.7 6.7 703 14513 0.00 2.62 0.00 0.000 4 0.000 0.069 2512 3652 1828

14571 1.00 233.5 242.0 7.5 706 14575 0.00 2.55 0.00 0.000 6 0.000 0.051 2512 2237 1828

14897 1.00 233.5 222.1 6.0 722 14898 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2237 1828

15207 1.00 233.5 202.3 6.6 737 15208 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2237 1828

15516 1.00 233.5 182.4 6.1 752 15517 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2237 1828

15825 1.03 259.0 164.6 5.3 767 15854 0.00 2.72 21.98 0.706 4 0.000 0.067 2511 3650 1725

15901 1.07 259.0 159.5 7.7 770 15906 0.00 2.58 0.00 0.000 6 0.000 0.051 2512 2237 1725

16219 1.07 259.0 139.4 6.7 785 16220 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2237 1725

16526 1.07 259.0 117.1 7.5 800 16528 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2236 1725

16837 1.10 282.6 99.3 5.4 815 16860 0.12 0.00 20.75 0.660 6 0.066 0.000 2542 2236 1628

17167 1.14 321.9 83.2 4.9 831 17209 0.00 2.72 32.80 0.660 4 0.000 0.067 2542 3653 1468

17256 1.14 321.9 77.6 6.8 835 17260 0.00 2.58 0.00 0.000 6 0.000 0.051 2542 2240 1468

17585 1.14 321.9 51.2 8.9 851 17586 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2240 1468

17892 1.14 321.9 24.0 8.2 866 17896 0.00 2.60 0.00 0.000 4 0.000 0.063 2542 827 1467

17955 1.14 321.9 18.9 7.0 869 17959 0.00 2.55 0.00 0.000 6 0.000 0.046 2542 2245 1467

18175 end climb: SURFACE_DEPTH_REACHED

state 18175 begin surface coast

18199 end surface coast: CONTROL_FINISHED_OK

state 18199 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	234	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	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	-2098118.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	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	060745,6341.420,-1256.133,41,2.3,60,-12.3	TGT_NAME	WV
_CALLS	5	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	13	TGT_RADIUS	5000.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.26	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.5	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	063117,6341.160,-1255.576,13,2.4,32,-12.3	MHEAD_RNG_PITCHd_Wd	44.0,99754,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.023239	ALTIM_BOTTOM_PING	576.0,46.4
SM_CCo	18220,114.38,0.597,0,0,509,557.32	_24V_AH	23.6,40.837
SM_GC	1.37,0.00,0.00,114.38,0.000,0.000,0.597,72,2245,509,-10.24,0.42,557.32	_10V_AH	10.2,20.770
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44182,881
TT8_MAMPS	0.02301	CAP_FILE_SIZE	118497,2
HUMID	1884	CFSIZE	260165632,243912704
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	117	GPS	260708,113831,6340.573,-1249.767,42,1.2,42,-12.2
ALTIM_TOP_PING	19.9,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	97.17	SBE_CT	644	24	365.01
Roll_motor	78	106	196.82	SBE_O2	604	19	270.87
VBD_pump_during_apogee	417	1014	9997.05	WL_BB2F	568	105	1408.55
VBD_pump_during_surface	114	596	1610.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	91	103	221.39	nil	0	0	0.00
Iridium_during_connect	247	160	933.38	nil	0	0	0.00
Iridium_during_xfer	657	223	3459.24
Transponder_ping	34	420	341.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.42
TT8	1523	19	307.75
LPSleep	14516	2	324.28
TT8_Active	702	19	141.84
TT8_Sampling	1703	39	691.54
TT8_CF8	1300	45	607.74
TT8_Kalman	0	81	0.00
Analog_circuits	1516	12	185.59
GPS_charging	0	0	0.00
Compass	1653	8	134.91
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.20	0.000	2	0.000	0.000	66	2245	3006
151	-0.85	-146.6	4.2	-3.4	6	177	11.45	2.62	-8.40	0.000	4	0.167	0.107	2108	3638	3381
305	-0.65	-146.6	27.4	-12.3	13	310	0.25	2.58	0.00	0.000	6	0.091	0.081	2157	2228	3382
632	-0.58	-146.6	54.8	-6.8	29	637	0.00	2.60	0.00	0.000	4	0.000	0.060	2157	811	3382
711	-0.58	-146.6	59.8	-5.7	32	718	0.00	2.55	0.00	0.000	6	0.000	0.048	2157	2227	3382
1029	-0.54	-146.6	84.3	-7.8	48	1031	0.12	0.00	0.00	0.000	6	0.096	0.000	2181	2227	3382
1336	-0.54	-146.6	107.0	-8.1	63	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2228	3382
1646	-0.54	-146.6	132.5	-8.2	78	1651	0.00	2.62	0.00	0.000	4	0.000	0.070	2182	3642	3382
1691	-0.59	-146.6	136.4	-7.9	80	1695	0.00	2.53	0.00	0.000	6	0.000	0.048	2181	2230	3382
2013	-0.63	-146.6	161.1	-7.6	96	2014	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2230	3382
2322	-0.63	-146.6	182.0	-6.1	111	2323	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2229	3382
2632	-0.68	-146.6	198.2	-4.8	126	2634	0.12	0.00	0.00	0.000	6	0.044	0.000	2138	2230	3382
2941	-0.59	-146.6	223.9	-9.3	141	2946	0.15	2.65	0.00	0.000	4	0.086	0.070	2168	3644	3382
2981	-0.59	-146.6	227.9	-9.4	143	2985	0.00	2.55	0.00	0.000	6	0.000	0.049	2168	2228	3381
3307	-0.59	-146.6	253.7	-7.4	159	3308	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3381
3618	-0.59	-146.6	276.5	-7.2	174	3622	0.00	2.65	0.00	0.000	4	0.000	0.071	2168	3644	3381
3650	-0.59	-146.6	279.2	-8.1	175	3657	0.00	2.55	0.00	0.000	6	0.000	0.050	2168	2222	3381
3969	-0.59	-146.6	300.9	-6.7	191	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3381
4277	-0.59	-146.6	320.2	-6.4	206	4278	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2222	3381
4585	-0.59	-146.6	340.4	-6.7	221	4589	0.00	2.65	0.00	0.000	4	0.000	0.071	2168	3641	3380
4618	-0.59	-146.6	342.9	-7.7	222	4623	0.00	2.55	0.00	0.000	6	0.000	0.050	2168	2224	3380
4934	-0.59	-146.6	366.9	-8.0	238	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2224	3380
5242	-0.59	-146.6	390.5	-7.4	253	5243	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2224	3379
5552	-0.59	-146.6	411.9	-6.5	268	5553	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2224	3379
5862	-0.59	-146.6	430.1	-5.6	283	5866	0.00	2.65	0.00	0.000	4	0.000	0.071	2168	3641	3379
5917	-0.59	-146.6	433.6	-6.2	285	5923	0.00	2.53	0.00	0.000	6	0.000	0.049	2169	2228	3379
6233	-0.59	-146.6	452.3	-6.0	301	6234	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2228	3379
6542	-0.59	-146.6	470.9	-6.1	316	6544	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3379
6851	-0.59	-146.6	490.7	-6.5	331	6853	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3379
7160	-0.59	-146.6	513.4	-7.7	346	7162	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3379
7470	-0.59	-146.6	534.2	-6.4	361	7471	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3378
7779	-0.59	-146.6	555.2	-7.1	376	7780	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3379
8088	-0.59	-146.6	577.5	-7.0	391	8089	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3378
8398	-0.59	-146.6	598.1	-6.3	406	8399	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3378
8642	end dive: BOTTOM_OBSTACLE_DETECTED
state	8642	begin apogee
8649	-0.31	0.0	612.7	5.8	418	8785	0.30	0.00	130.30	1.015	6	0.086	0.000	2229	2228	2782
8785	end apogee: CONTROL_FINISHED_OK
state	8785	begin climb
8788	0.85	146.6	618.1	0.0	425	8925	1.20	0.00	130.12	0.999	6	0.072	0.000	2482	2228	2183
9235	0.89	185.7	601.5	4.9	447	9277	0.00	2.78	35.10	0.965	4	0.000	0.072	2482	3656	2024
9329	0.89	185.7	595.9	6.5	451	9333	0.00	2.60	0.00	0.000	6	0.000	0.053	2482	2239	2024
9651	0.96	200.6	576.6	5.6	467	9669	0.12	0.00	14.50	0.906	6	0.063	0.000	2511	2239	1963
9979	0.97	202.9	556.8	5.9	483	9988	0.00	2.67	3.88	0.607	4	0.000	0.072	2511	3650	1953
10039	0.97	202.9	552.9	6.2	485	10045	0.00	2.58	0.00	0.000	6	0.000	0.054	2511	2240	1953
10356	1.00	233.5	536.1	5.2	501	10386	0.00	0.00	28.02	0.947	6	0.000	0.000	2511	2240	1829
10684	1.00	233.5	516.7	6.1	517	10685	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1828
10993	1.00	233.5	496.2	7.2	532	10994	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1828
11303	1.00	233.5	472.5	8.0	547	11304	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2240	1828
11612	1.00	233.5	447.9	7.6	562	11613	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1827
11921	1.00	233.5	424.5	7.6	577	11922	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1828
12231	1.00	233.5	401.9	6.8	592	12235	0.00	2.65	0.00	0.000	4	0.000	0.070	2511	3656	1827
12276	1.00	233.5	398.9	6.5	594	12280	0.00	2.58	0.00	0.000	6	0.000	0.051	2511	2232	1827
12597	1.00	233.5	376.8	6.9	610	12598	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2232	1828
12906	1.00	233.5	355.3	6.8	625	12907	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2232	1827
13215	1.00	233.5	334.2	6.7	640	13216	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2232	1827
13524	1.00	233.5	314.5	6.4	655	13529	0.00	2.62	0.00	0.000	4	0.000	0.069	2511	3650	1827
13569	1.00	233.5	311.3	6.9	657	13573	0.00	2.55	0.00	0.000	6	0.000	0.051	2511	2238	1827
13890	1.00	233.5	290.2	6.7	673	13891	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2238	1827
14199	1.00	233.5	268.0	7.2	688	14200	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2238	1827
14509	1.00	233.5	246.7	6.7	703	14513	0.00	2.62	0.00	0.000	4	0.000	0.069	2512	3652	1828
14571	1.00	233.5	242.0	7.5	706	14575	0.00	2.55	0.00	0.000	6	0.000	0.051	2512	2237	1828
14897	1.00	233.5	222.1	6.0	722	14898	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2237	1828
15207	1.00	233.5	202.3	6.6	737	15208	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2237	1828
15516	1.00	233.5	182.4	6.1	752	15517	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2237	1828
15825	1.03	259.0	164.6	5.3	767	15854	0.00	2.72	21.98	0.706	4	0.000	0.067	2511	3650	1725
15901	1.07	259.0	159.5	7.7	770	15906	0.00	2.58	0.00	0.000	6	0.000	0.051	2512	2237	1725
16219	1.07	259.0	139.4	6.7	785	16220	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2237	1725
16526	1.07	259.0	117.1	7.5	800	16528	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2236	1725
16837	1.10	282.6	99.3	5.4	815	16860	0.12	0.00	20.75	0.660	6	0.066	0.000	2542	2236	1628
17167	1.14	321.9	83.2	4.9	831	17209	0.00	2.72	32.80	0.660	4	0.000	0.067	2542	3653	1468
17256	1.14	321.9	77.6	6.8	835	17260	0.00	2.58	0.00	0.000	6	0.000	0.051	2542	2240	1468
17585	1.14	321.9	51.2	8.9	851	17586	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2240	1468
17892	1.14	321.9	24.0	8.2	866	17896	0.00	2.60	0.00	0.000	4	0.000	0.063	2542	827	1467
17955	1.14	321.9	18.9	7.0	869	17959	0.00	2.55	0.00	0.000	6	0.000	0.046	2542	2245	1467
18175	end climb: SURFACE_DEPTH_REACHED
state	18175	begin surface coast
18199	end surface coast: CONTROL_FINISHED_OK
state	18199	begin surface