Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 348 * 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 348 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2100942.5 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 2330 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 -2100942.5

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 2330 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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 348 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 000128,6450.782,-1031.459,32,3.0,51,-11.3 TGT_NAME NS

_CALLS 3 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.10 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 001335,6450.848,-1031.621,11,3.8,30,-11.3 MHEAD_RNG_PITCHd_Wd 161.3,83112,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027208 ALTIM_BOTTOM_PING 425.5,10.2

SM_CCo 13694,64.22,0.641,1,0,509,557.32 _24V_AH 23.5,56.095

SM_GC 1.27,0.00,0.00,64.22,0.000,0.000,0.641,75,2250,509,-10.37,0.57,557.32 _10V_AH 10.1,27.559

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31763,655

TT8_MAMPS 0.023777 CAP_FILE_SIZE 111099,0

HUMID 1981 CFSIZE 260165632,239300608

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

XPDR_PINGS 56 GPS 110808,040437,6450.094,-1031.248,39,1.4,39,-11.3

ALTIM_TOP_PING 18.7,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 99.08 SBE_CT 485 24 273.91

Roll_motor 132 82 257.69 SBE_O2 444 19 198.47

VBD_pump_during_apogee 512 994 11985.20 WL_BB2F 476 105 1176.49

VBD_pump_during_surface 64 641 967.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 103 167.91 nil 0 0 0.00

Iridium_during_connect 94 160 355.22 nil 0 0 0.00

Iridium_during_xfer 294 223 1544.99

Transponder_ping 17 420 172.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.74

TT8 1219 19 243.97

LPSleep 10298 2 227.78

TT8_Active 722 19 144.55

TT8_Sampling 1520 39 611.02

TT8_CF8 736 45 340.54

TT8_Kalman 0 81 0.00

Analog_circuits 1517 12 183.96

GPS_charging 0 0 0.00

Compass 1469 8 118.70

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 -120.95 0.000 2 0.000 0.000 66 2248 2839

152 -0.85 -146.6 3.4 -2.8 6 184 11.60 2.65 -13.85 0.000 4 0.168 0.069 2141 816 3379

318 -0.85 -146.6 21.9 -8.6 13 325 0.00 2.58 0.00 0.000 6 0.000 0.046 2141 2232 3379

636 -0.74 -146.6 50.3 -9.5 29 641 0.15 2.62 0.00 0.000 4 0.098 0.064 2173 3644 3380

677 -0.74 -146.6 54.0 -8.9 31 681 0.00 2.58 0.00 0.000 6 0.000 0.047 2173 2223 3380

1004 -0.74 -146.6 77.2 -6.7 47 1005 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2223 3380

1313 -0.74 -146.6 97.6 -6.4 62 1314 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2223 3380

1623 -0.74 -146.6 118.7 -7.1 77 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2223 3380

1931 -0.74 -146.6 142.0 -7.7 92 1936 0.00 2.65 0.00 0.000 4 0.000 0.065 2173 3640 3380

1953 -0.74 -146.6 143.8 -7.7 93 1958 0.00 2.55 0.00 0.000 6 0.000 0.045 2173 2226 3381

2276 -0.74 -146.6 164.6 -5.2 109 2280 0.00 2.58 0.00 0.000 4 0.000 0.057 2173 817 3381

2309 -0.78 -146.6 166.4 -5.7 110 2315 0.00 2.55 0.00 0.000 6 0.000 0.046 2173 2231 3381

2625 -0.78 -146.6 185.6 -6.8 126 2630 0.00 2.62 0.00 0.000 4 0.000 0.068 2173 3640 3381

2643 -0.78 -146.6 186.9 -7.2 127 2648 0.00 2.55 0.00 0.000 6 0.000 0.048 2173 2233 3381

2970 -0.78 -146.6 206.9 -5.3 143 2975 0.00 2.62 0.00 0.000 4 0.000 0.059 2173 811 3381

3004 -0.84 -146.6 208.8 -5.1 144 3011 0.12 2.60 0.00 0.000 6 0.050 0.049 2133 2235 3381

3321 -0.73 -146.6 229.4 -6.2 160 3326 0.15 2.62 0.00 0.000 4 0.091 0.071 2166 3638 3381

3361 -0.73 -146.6 231.6 -5.1 162 3365 0.00 2.58 0.00 0.000 6 0.000 0.052 2166 2228 3381

3688 -0.73 -146.6 246.6 -4.5 178 3690 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3381

3997 -0.73 -146.6 263.2 -5.7 193 4001 0.00 2.67 0.00 0.000 4 0.000 0.076 2166 3637 3380

4024 -0.73 -146.6 264.9 -6.4 194 4028 0.00 2.58 0.00 0.000 6 0.000 0.054 2166 2230 3380

4341 -0.73 -146.6 280.5 -4.9 209 4345 0.00 2.65 0.00 0.000 4 0.000 0.066 2166 812 3379

4368 -0.73 -146.6 281.9 -4.7 210 4372 0.00 2.62 0.00 0.000 6 0.000 0.054 2166 2235 3379

4684 -0.73 -146.6 297.3 -5.1 225 4688 0.00 2.67 0.00 0.000 4 0.000 0.077 2166 3640 3378

4724 -0.73 -146.6 299.4 -5.7 227 4729 0.00 2.62 0.00 0.000 6 0.000 0.056 2166 2224 3378

5052 -0.73 -146.6 315.0 -5.0 243 5053 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2224 3377

5360 -0.73 -146.6 333.0 -6.2 258 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2225 3376

5671 -0.73 -146.6 348.9 -4.5 273 5672 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2225 3375

5979 -0.73 -146.6 364.1 -5.3 288 5980 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2224 3374

6288 -0.73 -146.6 383.8 -6.9 303 6289 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2225 3373

6598 -0.73 -146.6 406.5 -7.6 318 6602 0.00 2.72 0.00 0.000 4 0.000 0.083 2166 3637 3372

6625 -0.73 -146.6 408.6 -7.7 319 6629 0.00 2.60 0.00 0.000 6 0.000 0.058 2166 2231 3372

6876 end dive: BOTTOM_OBSTACLE_DETECTED

state 6877 begin apogee

6883 -0.31 0.0 426.7 6.9 331 7013 0.47 0.00 126.85 0.995 6 0.097 0.000 2261 2231 2781

7014 end apogee: CONTROL_FINISHED_OK

state 7014 begin climb

7017 0.85 146.6 432.4 0.0 337 7153 1.17 2.83 126.97 0.974 4 0.077 0.081 2508 3639 2183

7411 0.80 167.9 423.1 5.4 355 7436 0.00 2.62 19.88 0.917 6 0.000 0.061 2508 2237 2096

7758 0.81 183.1 405.0 5.6 372 7780 0.00 2.78 14.65 0.896 4 0.000 0.081 2508 3647 2034

7815 0.81 184.1 401.9 6.0 374 7819 0.00 2.65 0.00 0.000 6 0.000 0.061 2508 2243 2034

8130 0.83 195.8 384.7 5.7 389 8149 0.00 0.00 12.65 0.887 6 0.000 0.000 2508 2243 1982

8459 0.83 195.8 365.1 6.2 405 8463 0.00 2.70 0.00 0.000 4 0.000 0.075 2508 827 1981

8492 0.83 195.8 362.9 6.6 406 8498 0.00 2.65 0.00 0.000 6 0.000 0.058 2508 2246 1980

8807 0.83 195.8 341.0 7.3 422 8812 0.00 2.70 0.00 0.000 4 0.000 0.083 2508 3647 1980

8847 0.83 195.8 338.0 7.7 424 8851 0.00 2.65 0.00 0.000 6 0.000 0.061 2508 2239 1980

9174 0.84 207.1 317.9 5.7 440 9190 0.00 2.75 10.95 0.855 4 0.000 0.074 2508 821 1936

9224 0.85 216.3 314.9 5.7 441 9238 0.00 2.67 9.32 0.831 6 0.000 0.058 2508 2247 1899

9560 0.90 263.5 297.6 4.7 458 9604 0.00 0.00 41.95 0.920 6 0.000 0.000 2508 2247 1706

9911 1.03 324.4 280.9 4.3 475 9973 0.17 2.83 52.20 0.907 4 0.071 0.072 2551 827 1458

10001 1.03 324.4 275.5 6.6 479 10006 0.00 2.65 0.00 0.000 6 0.000 0.057 2550 2239 1457

10324 1.04 334.7 256.4 5.7 495 10336 0.00 0.00 10.25 0.808 6 0.000 0.000 2551 2240 1416

10632 1.08 368.1 239.5 5.1 510 10667 0.00 2.75 29.17 0.867 4 0.000 0.071 2551 827 1280

10707 1.08 368.1 235.3 6.1 513 10712 0.00 2.65 0.00 0.000 6 0.000 0.056 2551 2241 1279

11023 1.08 368.1 210.6 9.2 528 11028 0.00 2.70 0.00 0.000 4 0.000 0.071 2551 827 1279

11073 1.08 368.1 206.0 8.9 530 11078 0.00 2.62 0.00 0.000 6 0.000 0.055 2551 2242 1279

11389 1.08 368.1 182.7 7.3 545 11393 0.00 2.67 0.00 0.000 4 0.000 0.077 2551 3649 1279

11411 1.08 368.1 181.0 7.4 546 11416 0.00 2.62 0.00 0.000 6 0.000 0.060 2551 2238 1279

11732 1.09 376.2 159.4 5.8 562 11746 0.00 2.72 8.35 0.732 4 0.000 0.069 2551 830 1247

11826 1.09 376.2 154.1 6.2 566 11830 0.00 2.62 0.00 0.000 6 0.000 0.054 2551 2249 1246

12147 1.09 376.2 132.6 6.3 582 12151 0.00 2.67 0.00 0.000 4 0.000 0.067 2551 828 1246

12214 1.19 434.4 129.3 4.4 585 12272 0.17 2.60 49.47 0.792 6 0.072 0.051 2587 2246 1009

12582 1.13 434.4 101.9 8.9 603 12586 0.00 2.67 0.00 0.000 4 0.000 0.065 2588 827 1009

12645 1.09 434.4 95.8 9.3 606 12649 0.00 2.60 0.00 0.000 6 0.000 0.050 2588 2247 1009

12974 1.04 434.4 62.3 10.1 622 12979 0.15 2.67 0.00 0.000 4 0.102 0.064 2556 823 1009

13046 1.04 434.4 54.9 9.9 625 13051 0.00 2.58 0.00 0.000 6 0.000 0.048 2556 2241 1010

13362 1.04 434.4 26.1 8.6 640 13367 0.00 2.65 0.00 0.000 4 0.000 0.063 2555 824 1010

13418 1.10 434.4 21.0 9.4 642 13425 0.00 2.58 0.00 0.000 6 0.000 0.048 2556 2248 1010

13649 end climb: SURFACE_DEPTH_REACHED

state 13649 begin surface coast

13671 end surface coast: CONTROL_FINISHED_OK

state 13671 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	348	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2100942.5	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	2330	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	000128,6450.782,-1031.459,32,3.0,51,-11.3	TGT_NAME	NS
_CALLS	3	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.10	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	001335,6450.848,-1031.621,11,3.8,30,-11.3	MHEAD_RNG_PITCHd_Wd	161.3,83112,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027208	ALTIM_BOTTOM_PING	425.5,10.2
SM_CCo	13694,64.22,0.641,1,0,509,557.32	_24V_AH	23.5,56.095
SM_GC	1.27,0.00,0.00,64.22,0.000,0.000,0.641,75,2250,509,-10.37,0.57,557.32	_10V_AH	10.1,27.559
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31763,655
TT8_MAMPS	0.023777	CAP_FILE_SIZE	111099,0
HUMID	1981	CFSIZE	260165632,239300608
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
XPDR_PINGS	56	GPS	110808,040437,6450.094,-1031.248,39,1.4,39,-11.3
ALTIM_TOP_PING	18.7,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	99.08	SBE_CT	485	24	273.91
Roll_motor	132	82	257.69	SBE_O2	444	19	198.47
VBD_pump_during_apogee	512	994	11985.20	WL_BB2F	476	105	1176.49
VBD_pump_during_surface	64	641	967.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	103	167.91	nil	0	0	0.00
Iridium_during_connect	94	160	355.22	nil	0	0	0.00
Iridium_during_xfer	294	223	1544.99
Transponder_ping	17	420	172.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.74
TT8	1219	19	243.97
LPSleep	10298	2	227.78
TT8_Active	722	19	144.55
TT8_Sampling	1520	39	611.02
TT8_CF8	736	45	340.54
TT8_Kalman	0	81	0.00
Analog_circuits	1517	12	183.96
GPS_charging	0	0	0.00
Compass	1469	8	118.70
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	-120.95	0.000	2	0.000	0.000	66	2248	2839
152	-0.85	-146.6	3.4	-2.8	6	184	11.60	2.65	-13.85	0.000	4	0.168	0.069	2141	816	3379
318	-0.85	-146.6	21.9	-8.6	13	325	0.00	2.58	0.00	0.000	6	0.000	0.046	2141	2232	3379
636	-0.74	-146.6	50.3	-9.5	29	641	0.15	2.62	0.00	0.000	4	0.098	0.064	2173	3644	3380
677	-0.74	-146.6	54.0	-8.9	31	681	0.00	2.58	0.00	0.000	6	0.000	0.047	2173	2223	3380
1004	-0.74	-146.6	77.2	-6.7	47	1005	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2223	3380
1313	-0.74	-146.6	97.6	-6.4	62	1314	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2223	3380
1623	-0.74	-146.6	118.7	-7.1	77	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2223	3380
1931	-0.74	-146.6	142.0	-7.7	92	1936	0.00	2.65	0.00	0.000	4	0.000	0.065	2173	3640	3380
1953	-0.74	-146.6	143.8	-7.7	93	1958	0.00	2.55	0.00	0.000	6	0.000	0.045	2173	2226	3381
2276	-0.74	-146.6	164.6	-5.2	109	2280	0.00	2.58	0.00	0.000	4	0.000	0.057	2173	817	3381
2309	-0.78	-146.6	166.4	-5.7	110	2315	0.00	2.55	0.00	0.000	6	0.000	0.046	2173	2231	3381
2625	-0.78	-146.6	185.6	-6.8	126	2630	0.00	2.62	0.00	0.000	4	0.000	0.068	2173	3640	3381
2643	-0.78	-146.6	186.9	-7.2	127	2648	0.00	2.55	0.00	0.000	6	0.000	0.048	2173	2233	3381
2970	-0.78	-146.6	206.9	-5.3	143	2975	0.00	2.62	0.00	0.000	4	0.000	0.059	2173	811	3381
3004	-0.84	-146.6	208.8	-5.1	144	3011	0.12	2.60	0.00	0.000	6	0.050	0.049	2133	2235	3381
3321	-0.73	-146.6	229.4	-6.2	160	3326	0.15	2.62	0.00	0.000	4	0.091	0.071	2166	3638	3381
3361	-0.73	-146.6	231.6	-5.1	162	3365	0.00	2.58	0.00	0.000	6	0.000	0.052	2166	2228	3381
3688	-0.73	-146.6	246.6	-4.5	178	3690	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3381
3997	-0.73	-146.6	263.2	-5.7	193	4001	0.00	2.67	0.00	0.000	4	0.000	0.076	2166	3637	3380
4024	-0.73	-146.6	264.9	-6.4	194	4028	0.00	2.58	0.00	0.000	6	0.000	0.054	2166	2230	3380
4341	-0.73	-146.6	280.5	-4.9	209	4345	0.00	2.65	0.00	0.000	4	0.000	0.066	2166	812	3379
4368	-0.73	-146.6	281.9	-4.7	210	4372	0.00	2.62	0.00	0.000	6	0.000	0.054	2166	2235	3379
4684	-0.73	-146.6	297.3	-5.1	225	4688	0.00	2.67	0.00	0.000	4	0.000	0.077	2166	3640	3378
4724	-0.73	-146.6	299.4	-5.7	227	4729	0.00	2.62	0.00	0.000	6	0.000	0.056	2166	2224	3378
5052	-0.73	-146.6	315.0	-5.0	243	5053	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2224	3377
5360	-0.73	-146.6	333.0	-6.2	258	5361	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2225	3376
5671	-0.73	-146.6	348.9	-4.5	273	5672	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2225	3375
5979	-0.73	-146.6	364.1	-5.3	288	5980	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2224	3374
6288	-0.73	-146.6	383.8	-6.9	303	6289	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2225	3373
6598	-0.73	-146.6	406.5	-7.6	318	6602	0.00	2.72	0.00	0.000	4	0.000	0.083	2166	3637	3372
6625	-0.73	-146.6	408.6	-7.7	319	6629	0.00	2.60	0.00	0.000	6	0.000	0.058	2166	2231	3372
6876	end dive: BOTTOM_OBSTACLE_DETECTED
state	6877	begin apogee
6883	-0.31	0.0	426.7	6.9	331	7013	0.47	0.00	126.85	0.995	6	0.097	0.000	2261	2231	2781
7014	end apogee: CONTROL_FINISHED_OK
state	7014	begin climb
7017	0.85	146.6	432.4	0.0	337	7153	1.17	2.83	126.97	0.974	4	0.077	0.081	2508	3639	2183
7411	0.80	167.9	423.1	5.4	355	7436	0.00	2.62	19.88	0.917	6	0.000	0.061	2508	2237	2096
7758	0.81	183.1	405.0	5.6	372	7780	0.00	2.78	14.65	0.896	4	0.000	0.081	2508	3647	2034
7815	0.81	184.1	401.9	6.0	374	7819	0.00	2.65	0.00	0.000	6	0.000	0.061	2508	2243	2034
8130	0.83	195.8	384.7	5.7	389	8149	0.00	0.00	12.65	0.887	6	0.000	0.000	2508	2243	1982
8459	0.83	195.8	365.1	6.2	405	8463	0.00	2.70	0.00	0.000	4	0.000	0.075	2508	827	1981
8492	0.83	195.8	362.9	6.6	406	8498	0.00	2.65	0.00	0.000	6	0.000	0.058	2508	2246	1980
8807	0.83	195.8	341.0	7.3	422	8812	0.00	2.70	0.00	0.000	4	0.000	0.083	2508	3647	1980
8847	0.83	195.8	338.0	7.7	424	8851	0.00	2.65	0.00	0.000	6	0.000	0.061	2508	2239	1980
9174	0.84	207.1	317.9	5.7	440	9190	0.00	2.75	10.95	0.855	4	0.000	0.074	2508	821	1936
9224	0.85	216.3	314.9	5.7	441	9238	0.00	2.67	9.32	0.831	6	0.000	0.058	2508	2247	1899
9560	0.90	263.5	297.6	4.7	458	9604	0.00	0.00	41.95	0.920	6	0.000	0.000	2508	2247	1706
9911	1.03	324.4	280.9	4.3	475	9973	0.17	2.83	52.20	0.907	4	0.071	0.072	2551	827	1458
10001	1.03	324.4	275.5	6.6	479	10006	0.00	2.65	0.00	0.000	6	0.000	0.057	2550	2239	1457
10324	1.04	334.7	256.4	5.7	495	10336	0.00	0.00	10.25	0.808	6	0.000	0.000	2551	2240	1416
10632	1.08	368.1	239.5	5.1	510	10667	0.00	2.75	29.17	0.867	4	0.000	0.071	2551	827	1280
10707	1.08	368.1	235.3	6.1	513	10712	0.00	2.65	0.00	0.000	6	0.000	0.056	2551	2241	1279
11023	1.08	368.1	210.6	9.2	528	11028	0.00	2.70	0.00	0.000	4	0.000	0.071	2551	827	1279
11073	1.08	368.1	206.0	8.9	530	11078	0.00	2.62	0.00	0.000	6	0.000	0.055	2551	2242	1279
11389	1.08	368.1	182.7	7.3	545	11393	0.00	2.67	0.00	0.000	4	0.000	0.077	2551	3649	1279
11411	1.08	368.1	181.0	7.4	546	11416	0.00	2.62	0.00	0.000	6	0.000	0.060	2551	2238	1279
11732	1.09	376.2	159.4	5.8	562	11746	0.00	2.72	8.35	0.732	4	0.000	0.069	2551	830	1247
11826	1.09	376.2	154.1	6.2	566	11830	0.00	2.62	0.00	0.000	6	0.000	0.054	2551	2249	1246
12147	1.09	376.2	132.6	6.3	582	12151	0.00	2.67	0.00	0.000	4	0.000	0.067	2551	828	1246
12214	1.19	434.4	129.3	4.4	585	12272	0.17	2.60	49.47	0.792	6	0.072	0.051	2587	2246	1009
12582	1.13	434.4	101.9	8.9	603	12586	0.00	2.67	0.00	0.000	4	0.000	0.065	2588	827	1009
12645	1.09	434.4	95.8	9.3	606	12649	0.00	2.60	0.00	0.000	6	0.000	0.050	2588	2247	1009
12974	1.04	434.4	62.3	10.1	622	12979	0.15	2.67	0.00	0.000	4	0.102	0.064	2556	823	1009
13046	1.04	434.4	54.9	9.9	625	13051	0.00	2.58	0.00	0.000	6	0.000	0.048	2556	2241	1010
13362	1.04	434.4	26.1	8.6	640	13367	0.00	2.65	0.00	0.000	4	0.000	0.063	2555	824	1010
13418	1.10	434.4	21.0	9.4	642	13425	0.00	2.58	0.00	0.000	6	0.000	0.048	2556	2248	1010
13649	end climb: SURFACE_DEPTH_REACHED
state	13649	begin surface coast
13671	end surface coast: CONTROL_FINISHED_OK
state	13671	begin surface