Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 235 * 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 235 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 -2098131.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 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 -2098131.5

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 235 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 113831,6340.573,-1249.767,42,1.2,42,-12.2 TGT_NAME WV

_CALLS 5 TGT_LATLONG 6427.000,-1150.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.35 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 120245,6340.590,-1249.864,12,1.9,12,-12.2 MHEAD_RNG_PITCHd_Wd 41.3,98356,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026220 ALTIM_BOTTOM_PING 475.1,112.0

SM_CCo 17307,118.43,0.596,0,0,508,557.32 _24V_AH 23.6,41.029

SM_GC 1.42,0.00,0.00,118.43,0.000,0.000,0.596,70,2249,508,-10.25,0.54,557.32 _10V_AH 10.2,20.858

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41158,835

TT8_MAMPS 0.023777 CAP_FILE_SIZE 116498,0

HUMID 1879 CFSIZE 260165632,243806208

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 130 GPS 260708,165438,6342.258,-1241.855,29,1.6,29,-12.1

ALTIM_TOP_PING 19.9,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 99.48 SBE_CT 616 24 349.20

Roll_motor 66 75 119.75 SBE_O2 570 19 255.67

VBD_pump_during_apogee 404 1001 9570.13 WL_BB2F 546 105 1353.54

VBD_pump_during_surface 118 595 1665.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 106 103 257.94 nil 0 0 0.00

Iridium_during_connect 162 160 613.33 nil 0 0 0.00

Iridium_during_xfer 754 223 3970.16

Transponder_ping 36 420 361.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.35

TT8 1451 19 293.22

LPSleep 13810 2 308.50

TT8_Active 690 19 139.50

TT8_Sampling 1569 39 637.06

TT8_CF8 1341 45 626.69

TT8_Kalman 0 81 0.00

Analog_circuits 1444 12 176.85

GPS_charging 0 0 0.00

Compass 1549 8 126.40

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -0.85 -146.6 0.0 0.0 0 145 0.00 0.00 -115.12 0.000 6 0.000 0.000 72 2248 2899

149 -0.85 -146.6 4.3 -3.6 6 179 11.38 2.65 -10.82 0.000 4 0.166 0.076 2108 3638 3382

354 -0.65 -146.6 30.8 -10.8 15 359 0.25 2.55 0.00 0.000 6 0.094 0.048 2157 2227 3382

676 -0.59 -146.6 56.2 -8.0 31 681 0.00 2.62 0.00 0.000 4 0.000 0.065 2157 3637 3381

732 -0.54 -146.6 61.0 -8.5 33 739 0.12 2.53 0.00 0.000 6 0.094 0.047 2181 2228 3382

1049 -0.54 -146.6 82.8 -6.8 49 1053 0.00 2.62 0.00 0.000 4 0.000 0.067 2181 3638 3382

1099 -0.58 -146.6 86.2 -6.8 51 1103 0.00 2.50 0.00 0.000 6 0.000 0.047 2181 2230 3382

1415 -0.58 -146.6 104.2 -5.5 66 1419 0.00 2.58 0.00 0.000 4 0.000 0.060 2181 819 3382

1455 -0.68 -146.6 106.5 -6.1 68 1461 0.15 2.55 0.00 0.000 6 0.041 0.047 2130 2235 3382

1783 -0.56 -146.6 135.3 -9.5 84 1785 0.22 0.00 0.00 0.000 6 0.081 0.000 2174 2235 3382

2091 -0.56 -146.6 158.8 -7.7 99 2095 0.00 2.60 0.00 0.000 4 0.000 0.069 2175 3637 3381

2132 -0.56 -146.6 162.0 -8.2 101 2136 0.00 2.53 0.00 0.000 6 0.000 0.049 2175 2231 3382

2458 -0.56 -146.6 184.7 -6.2 117 2459 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3382

2767 -0.56 -146.6 204.5 -6.7 132 2769 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2231 3381

3078 -0.56 -146.6 226.1 -7.1 147 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3381

3386 -0.56 -146.6 248.0 -7.2 162 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3381

3695 -0.56 -146.6 268.3 -6.7 177 3696 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3381

4005 -0.56 -146.6 289.1 -6.4 192 4009 0.00 2.62 0.00 0.000 4 0.000 0.072 2175 3637 3380

4044 -0.56 -146.6 291.7 -6.7 194 4049 0.00 2.53 0.00 0.000 6 0.000 0.050 2175 2229 3380

4371 -0.56 -146.6 311.6 -5.6 210 4373 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3380

4681 -0.56 -146.6 328.9 -5.5 225 4682 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3380

4990 -0.56 -146.6 348.1 -6.7 240 4991 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3380

5299 -0.56 -146.6 368.9 -7.1 255 5300 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3379

5609 -0.56 -146.6 389.3 -6.3 270 5610 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3379

5918 -0.56 -146.6 407.6 -5.7 285 5919 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3379

6227 -0.60 -146.6 424.5 -5.4 300 6229 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3378

6537 -0.60 -146.6 440.5 -5.1 315 6541 0.00 2.62 0.00 0.000 4 0.000 0.072 2175 3637 3379

6587 -0.67 -146.6 443.2 -5.0 317 6591 0.00 2.53 0.00 0.000 6 0.000 0.050 2176 2226 3379

6904 -0.71 -146.6 458.0 -4.6 332 6906 0.15 0.00 0.00 0.000 6 0.044 0.000 2126 2226 3378

7213 -0.61 -146.6 477.4 -5.9 347 7215 0.20 0.00 0.00 0.000 6 0.084 0.000 2166 2225 3379

7521 -0.61 -146.6 488.5 -2.9 362 7523 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2225 3378

7831 -0.61 -146.6 493.9 -1.1 377 7835 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 812 3378

7887 -0.68 -146.6 494.7 -1.7 379 7893 0.00 2.55 0.00 0.000 6 0.000 0.048 2167 2229 3378

8203 -0.68 -146.6 506.4 -5.8 395 8207 0.00 2.62 0.00 0.000 4 0.000 0.073 2167 3638 3378

8253 -0.73 -146.6 510.4 -8.2 397 8258 0.12 2.53 0.00 0.000 6 0.051 0.051 2134 2231 3378

8569 -0.67 -146.6 538.4 -8.4 412 8573 0.00 2.55 0.00 0.000 4 0.000 0.062 2133 820 3378

8619 -0.67 -146.6 542.7 -8.6 414 8623 0.00 2.55 0.00 0.000 6 0.000 0.051 2133 2232 3377

8935 -0.60 -146.6 568.4 -7.8 429 8940 0.15 2.62 0.00 0.000 4 0.093 0.075 2167 3638 3376

8980 -0.65 -146.6 571.8 -7.7 431 8984 0.00 2.53 0.00 0.000 6 0.000 0.054 2167 2233 3377

9071 end dive: BOTTOM_OBSTACLE_DETECTED

state 9072 begin apogee

9079 -0.31 0.0 578.3 7.1 436 9214 0.30 0.00 129.23 1.002 6 0.090 0.000 2227 2233 2781

9214 end apogee: CONTROL_FINISHED_OK

state 9214 begin climb

9217 0.85 146.6 581.3 0.0 443 9350 1.17 0.00 128.75 0.984 6 0.073 0.000 2479 2233 2183

9653 0.89 187.6 569.3 4.9 464 9691 0.00 0.00 36.83 0.950 6 0.000 0.000 2479 2232 2016

9999 0.99 221.4 551.7 5.1 481 10032 0.17 0.00 31.00 0.947 6 0.052 0.000 2526 2232 1878

10328 0.94 221.4 529.5 6.8 497 10329 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2232 1877

10637 0.94 221.4 508.9 6.7 512 10639 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2232 1877

10946 0.90 221.4 488.8 6.5 527 10948 0.15 0.00 0.00 0.000 6 0.088 0.000 2496 2232 1876

11256 1.03 296.1 475.4 4.0 542 11324 0.12 0.00 65.22 0.940 6 0.050 0.000 2533 2232 1575

11626 1.04 310.1 454.5 5.6 560 11645 0.00 0.00 13.80 0.850 6 0.000 0.000 2532 2232 1516

11954 1.04 310.1 434.1 6.2 576 11956 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1515

12264 1.04 310.1 413.9 6.9 591 12265 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1515

12573 1.04 310.1 390.2 8.0 606 12574 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1515

12882 1.04 310.1 363.9 8.7 621 12883 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2232 1515

13192 1.04 310.1 335.1 9.6 636 13193 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1515

13501 1.04 310.1 304.6 9.6 651 13502 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2232 1516

13810 1.04 310.1 277.5 8.2 666 13811 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2232 1515

14119 1.04 310.1 254.0 7.1 681 14120 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1516

14428 1.04 310.1 231.5 7.7 696 14430 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1516

14738 1.04 310.1 207.2 8.3 711 14739 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2232 1516

15047 1.04 310.1 180.3 9.1 726 15048 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2232 1516

15356 1.04 310.1 150.4 9.8 741 15357 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2233 1517

15666 1.04 310.1 119.8 9.7 756 15667 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2232 1517

15976 1.04 310.1 91.3 8.9 771 15981 0.00 2.58 0.00 0.000 4 0.000 0.062 2533 827 1517

16021 1.04 310.1 87.2 8.0 773 16026 0.00 2.55 0.00 0.000 6 0.000 0.048 2533 2243 1516

16343 1.04 310.1 63.1 6.4 789 16344 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1517

16652 1.04 310.1 42.4 6.8 804 16656 0.00 2.60 0.00 0.000 4 0.000 0.061 2533 827 1517

16697 1.10 310.1 39.3 7.5 806 16701 0.00 2.55 0.00 0.000 6 0.000 0.047 2534 2247 1517

17018 1.10 310.1 18.6 6.4 822 17019 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2247 1517

17262 end climb: SURFACE_DEPTH_REACHED

state 17263 begin surface coast

17285 end surface coast: CONTROL_FINISHED_OK

state 17285 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	235	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	-2098131.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	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	113831,6340.573,-1249.767,42,1.2,42,-12.2	TGT_NAME	WV
_CALLS	5	TGT_LATLONG	6427.000,-1150.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.35	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	120245,6340.590,-1249.864,12,1.9,12,-12.2	MHEAD_RNG_PITCHd_Wd	41.3,98356,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026220	ALTIM_BOTTOM_PING	475.1,112.0
SM_CCo	17307,118.43,0.596,0,0,508,557.32	_24V_AH	23.6,41.029
SM_GC	1.42,0.00,0.00,118.43,0.000,0.000,0.596,70,2249,508,-10.25,0.54,557.32	_10V_AH	10.2,20.858
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41158,835
TT8_MAMPS	0.023777	CAP_FILE_SIZE	116498,0
HUMID	1879	CFSIZE	260165632,243806208
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	130	GPS	260708,165438,6342.258,-1241.855,29,1.6,29,-12.1
ALTIM_TOP_PING	19.9,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	99.48	SBE_CT	616	24	349.20
Roll_motor	66	75	119.75	SBE_O2	570	19	255.67
VBD_pump_during_apogee	404	1001	9570.13	WL_BB2F	546	105	1353.54
VBD_pump_during_surface	118	595	1665.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	106	103	257.94	nil	0	0	0.00
Iridium_during_connect	162	160	613.33	nil	0	0	0.00
Iridium_during_xfer	754	223	3970.16
Transponder_ping	36	420	361.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.35
TT8	1451	19	293.22
LPSleep	13810	2	308.50
TT8_Active	690	19	139.50
TT8_Sampling	1569	39	637.06
TT8_CF8	1341	45	626.69
TT8_Kalman	0	81	0.00
Analog_circuits	1444	12	176.85
GPS_charging	0	0	0.00
Compass	1549	8	126.40
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-0.85	-146.6	0.0	0.0	0	145	0.00	0.00	-115.12	0.000	6	0.000	0.000	72	2248	2899
149	-0.85	-146.6	4.3	-3.6	6	179	11.38	2.65	-10.82	0.000	4	0.166	0.076	2108	3638	3382
354	-0.65	-146.6	30.8	-10.8	15	359	0.25	2.55	0.00	0.000	6	0.094	0.048	2157	2227	3382
676	-0.59	-146.6	56.2	-8.0	31	681	0.00	2.62	0.00	0.000	4	0.000	0.065	2157	3637	3381
732	-0.54	-146.6	61.0	-8.5	33	739	0.12	2.53	0.00	0.000	6	0.094	0.047	2181	2228	3382
1049	-0.54	-146.6	82.8	-6.8	49	1053	0.00	2.62	0.00	0.000	4	0.000	0.067	2181	3638	3382
1099	-0.58	-146.6	86.2	-6.8	51	1103	0.00	2.50	0.00	0.000	6	0.000	0.047	2181	2230	3382
1415	-0.58	-146.6	104.2	-5.5	66	1419	0.00	2.58	0.00	0.000	4	0.000	0.060	2181	819	3382
1455	-0.68	-146.6	106.5	-6.1	68	1461	0.15	2.55	0.00	0.000	6	0.041	0.047	2130	2235	3382
1783	-0.56	-146.6	135.3	-9.5	84	1785	0.22	0.00	0.00	0.000	6	0.081	0.000	2174	2235	3382
2091	-0.56	-146.6	158.8	-7.7	99	2095	0.00	2.60	0.00	0.000	4	0.000	0.069	2175	3637	3381
2132	-0.56	-146.6	162.0	-8.2	101	2136	0.00	2.53	0.00	0.000	6	0.000	0.049	2175	2231	3382
2458	-0.56	-146.6	184.7	-6.2	117	2459	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3382
2767	-0.56	-146.6	204.5	-6.7	132	2769	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2231	3381
3078	-0.56	-146.6	226.1	-7.1	147	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3381
3386	-0.56	-146.6	248.0	-7.2	162	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3381
3695	-0.56	-146.6	268.3	-6.7	177	3696	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3381
4005	-0.56	-146.6	289.1	-6.4	192	4009	0.00	2.62	0.00	0.000	4	0.000	0.072	2175	3637	3380
4044	-0.56	-146.6	291.7	-6.7	194	4049	0.00	2.53	0.00	0.000	6	0.000	0.050	2175	2229	3380
4371	-0.56	-146.6	311.6	-5.6	210	4373	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3380
4681	-0.56	-146.6	328.9	-5.5	225	4682	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3380
4990	-0.56	-146.6	348.1	-6.7	240	4991	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3380
5299	-0.56	-146.6	368.9	-7.1	255	5300	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3379
5609	-0.56	-146.6	389.3	-6.3	270	5610	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3379
5918	-0.56	-146.6	407.6	-5.7	285	5919	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3379
6227	-0.60	-146.6	424.5	-5.4	300	6229	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3378
6537	-0.60	-146.6	440.5	-5.1	315	6541	0.00	2.62	0.00	0.000	4	0.000	0.072	2175	3637	3379
6587	-0.67	-146.6	443.2	-5.0	317	6591	0.00	2.53	0.00	0.000	6	0.000	0.050	2176	2226	3379
6904	-0.71	-146.6	458.0	-4.6	332	6906	0.15	0.00	0.00	0.000	6	0.044	0.000	2126	2226	3378
7213	-0.61	-146.6	477.4	-5.9	347	7215	0.20	0.00	0.00	0.000	6	0.084	0.000	2166	2225	3379
7521	-0.61	-146.6	488.5	-2.9	362	7523	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2225	3378
7831	-0.61	-146.6	493.9	-1.1	377	7835	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	812	3378
7887	-0.68	-146.6	494.7	-1.7	379	7893	0.00	2.55	0.00	0.000	6	0.000	0.048	2167	2229	3378
8203	-0.68	-146.6	506.4	-5.8	395	8207	0.00	2.62	0.00	0.000	4	0.000	0.073	2167	3638	3378
8253	-0.73	-146.6	510.4	-8.2	397	8258	0.12	2.53	0.00	0.000	6	0.051	0.051	2134	2231	3378
8569	-0.67	-146.6	538.4	-8.4	412	8573	0.00	2.55	0.00	0.000	4	0.000	0.062	2133	820	3378
8619	-0.67	-146.6	542.7	-8.6	414	8623	0.00	2.55	0.00	0.000	6	0.000	0.051	2133	2232	3377
8935	-0.60	-146.6	568.4	-7.8	429	8940	0.15	2.62	0.00	0.000	4	0.093	0.075	2167	3638	3376
8980	-0.65	-146.6	571.8	-7.7	431	8984	0.00	2.53	0.00	0.000	6	0.000	0.054	2167	2233	3377
9071	end dive: BOTTOM_OBSTACLE_DETECTED
state	9072	begin apogee
9079	-0.31	0.0	578.3	7.1	436	9214	0.30	0.00	129.23	1.002	6	0.090	0.000	2227	2233	2781
9214	end apogee: CONTROL_FINISHED_OK
state	9214	begin climb
9217	0.85	146.6	581.3	0.0	443	9350	1.17	0.00	128.75	0.984	6	0.073	0.000	2479	2233	2183
9653	0.89	187.6	569.3	4.9	464	9691	0.00	0.00	36.83	0.950	6	0.000	0.000	2479	2232	2016
9999	0.99	221.4	551.7	5.1	481	10032	0.17	0.00	31.00	0.947	6	0.052	0.000	2526	2232	1878
10328	0.94	221.4	529.5	6.8	497	10329	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2232	1877
10637	0.94	221.4	508.9	6.7	512	10639	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2232	1877
10946	0.90	221.4	488.8	6.5	527	10948	0.15	0.00	0.00	0.000	6	0.088	0.000	2496	2232	1876
11256	1.03	296.1	475.4	4.0	542	11324	0.12	0.00	65.22	0.940	6	0.050	0.000	2533	2232	1575
11626	1.04	310.1	454.5	5.6	560	11645	0.00	0.00	13.80	0.850	6	0.000	0.000	2532	2232	1516
11954	1.04	310.1	434.1	6.2	576	11956	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1515
12264	1.04	310.1	413.9	6.9	591	12265	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1515
12573	1.04	310.1	390.2	8.0	606	12574	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1515
12882	1.04	310.1	363.9	8.7	621	12883	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2232	1515
13192	1.04	310.1	335.1	9.6	636	13193	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1515
13501	1.04	310.1	304.6	9.6	651	13502	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2232	1516
13810	1.04	310.1	277.5	8.2	666	13811	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2232	1515
14119	1.04	310.1	254.0	7.1	681	14120	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1516
14428	1.04	310.1	231.5	7.7	696	14430	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1516
14738	1.04	310.1	207.2	8.3	711	14739	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2232	1516
15047	1.04	310.1	180.3	9.1	726	15048	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2232	1516
15356	1.04	310.1	150.4	9.8	741	15357	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2233	1517
15666	1.04	310.1	119.8	9.7	756	15667	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2232	1517
15976	1.04	310.1	91.3	8.9	771	15981	0.00	2.58	0.00	0.000	4	0.000	0.062	2533	827	1517
16021	1.04	310.1	87.2	8.0	773	16026	0.00	2.55	0.00	0.000	6	0.000	0.048	2533	2243	1516
16343	1.04	310.1	63.1	6.4	789	16344	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1517
16652	1.04	310.1	42.4	6.8	804	16656	0.00	2.60	0.00	0.000	4	0.000	0.061	2533	827	1517
16697	1.10	310.1	39.3	7.5	806	16701	0.00	2.55	0.00	0.000	6	0.000	0.047	2534	2247	1517
17018	1.10	310.1	18.6	6.4	822	17019	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2247	1517
17262	end climb: SURFACE_DEPTH_REACHED
state	17263	begin surface coast
17285	end surface coast: CONTROL_FINISHED_OK
state	17285	begin surface