Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 355 * 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 355 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 20 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 -2101108.5 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 -2101108.5

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 20 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 355 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 023532,6443.752,-1031.108,38,1.3,38,-11.3 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 024009,6443.757,-1031.149,11,1.8,11,-11.3 MHEAD_RNG_PITCHd_Wd 156.3,71825,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027268 ALTIM_BOTTOM_PING 401.0,50.1

SM_CCo 13556,158.38,0.664,0,0,509,557.32 _24V_AH 23.4,57.131

SM_GC 1.23,0.00,0.00,158.38,0.000,0.000,0.664,74,2246,509,-10.38,0.45,557.32 _10V_AH 10.1,28.023

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31683,649

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98852,0

HUMID 1911 CFSIZE 260165632,238956544

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 57 GPS 120808,063025,6442.731,-1029.888,41,1.1,41,-11.3

ALTIM_TOP_PING 19.2,18.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 101.46 SBE_CT 483 24 271.62

Roll_motor 121 83 238.23 SBE_O2 441 19 196.37

VBD_pump_during_apogee 349 1010 8262.40 WL_BB2F 494 105 1215.24

VBD_pump_during_surface 158 664 2461.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.49 nil 0 0 0.00

Iridium_during_connect 28 160 107.60 nil 0 0 0.00

Iridium_during_xfer 116 223 608.27

Transponder_ping 17 420 171.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.73

TT8 1201 19 240.38

LPSleep 10328 2 228.47

TT8_Active 684 19 136.89

TT8_Sampling 1358 39 546.16

TT8_CF8 425 45 196.90

TT8_Kalman 0 81 0.00

Analog_circuits 1396 12 169.30

GPS_charging 0 0 0.00

Compass 1336 8 108.00

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 0 146 0.00 0.00 -120.65 0.000 2 0.000 0.000 72 2244 2738

150 -0.85 -146.6 3.1 -2.3 6 186 11.73 2.65 -18.17 0.000 4 0.173 0.068 2139 810 3381

296 -0.79 -146.6 20.5 -10.8 11 302 0.00 2.58 0.00 0.000 6 0.000 0.048 2139 2230 3381

614 -0.67 -146.6 54.0 -10.5 27 619 0.17 2.65 0.00 0.000 4 0.098 0.055 2177 810 3381

637 -0.67 -146.6 56.3 -9.1 28 642 0.00 2.60 0.00 0.000 6 0.000 0.048 2177 2237 3382

960 -0.67 -146.6 78.2 -6.6 44 964 0.00 2.62 0.00 0.000 4 0.000 0.067 2177 3640 3382

999 -0.67 -146.6 81.3 -7.8 46 1004 0.00 2.58 0.00 0.000 6 0.000 0.048 2177 2225 3382

1326 -0.67 -146.6 107.5 -8.1 62 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2225 3382

1636 -0.67 -146.6 129.2 -6.8 77 1641 0.00 2.67 0.00 0.000 4 0.000 0.068 2177 3645 3383

1658 -0.67 -146.6 131.0 -7.4 78 1663 0.00 2.58 0.00 0.000 6 0.000 0.047 2177 2225 3383

1979 -0.67 -146.6 155.1 -7.6 94 1981 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2225 3383

2292 -0.67 -146.6 175.8 -6.1 109 2296 0.00 2.67 0.00 0.000 4 0.000 0.071 2177 3640 3383

2341 -0.67 -146.6 179.3 -6.7 111 2346 0.00 2.58 0.00 0.000 6 0.000 0.049 2177 2227 3383

2658 -0.67 -146.6 197.1 -5.3 126 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2227 3383

2968 -0.67 -146.6 212.2 -4.6 141 2972 0.00 2.67 0.00 0.000 4 0.000 0.074 2177 3637 3383

2997 -0.67 -146.6 213.8 -5.7 142 3001 0.00 2.58 0.00 0.000 6 0.000 0.051 2177 2231 3383

3313 -0.67 -146.6 231.0 -6.0 157 3314 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2231 3383

3622 -0.67 -146.6 251.7 -7.1 172 3627 0.00 2.70 0.00 0.000 4 0.000 0.077 2177 3640 3383

3650 -0.67 -146.6 253.9 -8.3 173 3654 0.00 2.60 0.00 0.000 6 0.000 0.054 2176 2228 3383

3968 -0.71 -146.6 275.7 -6.8 188 3969 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3383

4276 -0.76 -146.6 294.2 -5.6 203 4281 0.00 2.72 0.00 0.000 4 0.000 0.081 2177 3641 3382

4304 -0.80 -146.6 296.1 -6.4 204 4309 0.00 2.60 0.00 0.000 6 0.000 0.055 2177 2231 3382

4620 -0.85 -146.6 315.9 -6.3 219 4622 0.15 0.00 0.00 0.000 6 0.052 0.000 2140 2231 3382

4930 -0.78 -146.6 340.5 -8.2 234 4935 0.00 2.65 0.00 0.000 4 0.000 0.070 2139 819 3381

4963 -0.78 -146.6 343.4 -8.2 235 4970 0.00 2.60 0.00 0.000 6 0.000 0.058 2139 2228 3381

5280 -0.71 -146.6 369.3 -8.2 251 5285 0.15 2.72 0.00 0.000 4 0.099 0.083 2171 3643 3380

5314 -0.71 -146.6 372.0 -7.8 252 5320 0.00 2.62 0.00 0.000 6 0.000 0.058 2171 2230 3379

5629 -0.71 -146.6 392.0 -6.2 268 5630 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3379

5939 -0.75 -146.6 411.5 -6.3 283 5943 0.00 2.72 0.00 0.000 4 0.000 0.084 2171 3639 3378

5967 -0.75 -146.6 413.5 -7.1 284 5971 0.00 2.62 0.00 0.000 6 0.000 0.058 2170 2227 3378

6283 -0.80 -146.6 433.4 -6.2 299 6284 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2227 3377

6403 end dive: BOTTOM_OBSTACLE_DETECTED

state 6403 begin apogee

6410 -0.31 0.0 441.3 6.5 305 6545 0.45 0.00 128.30 1.010 6 0.096 0.000 2261 2227 2781

6546 end apogee: CONTROL_FINISHED_OK

state 6546 begin climb

6550 0.85 146.6 447.0 0.0 312 6682 1.17 0.00 127.60 0.991 6 0.080 0.000 2506 2228 2182

6982 0.90 195.2 434.0 4.7 333 7031 0.00 2.75 43.00 0.966 4 0.000 0.072 2506 830 1985

7055 0.90 195.2 429.9 6.2 336 7059 0.00 2.67 0.00 0.000 6 0.000 0.058 2506 2247 1984

7371 0.91 207.3 413.0 5.7 351 7390 0.10 0.00 12.27 0.889 6 0.083 0.000 2527 2247 1935

7702 0.86 207.3 390.8 6.7 367 7703 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2248 1934

8009 0.82 207.3 370.7 6.4 382 8013 0.00 2.70 0.00 0.000 4 0.000 0.083 2528 3649 1934

8064 0.78 207.3 366.7 7.5 384 8071 0.15 2.65 0.00 0.000 6 0.104 0.061 2500 2234 1934

8381 0.81 236.7 349.5 5.2 400 8415 0.00 2.75 26.58 0.937 4 0.000 0.073 2499 826 1814

8450 0.87 236.8 345.4 6.0 403 8455 0.00 2.67 0.00 0.000 6 0.000 0.058 2500 2245 1813

8772 0.93 236.8 326.3 6.2 419 8774 0.15 0.00 0.00 0.000 6 0.062 0.000 2533 2244 1813

9081 0.93 236.8 302.5 7.8 434 9086 0.00 2.72 0.00 0.000 4 0.000 0.073 2533 826 1812

9125 0.93 236.8 298.9 8.1 436 9130 0.00 2.65 0.00 0.000 6 0.000 0.058 2533 2243 1812

9446 0.93 236.8 274.8 7.3 452 9448 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1812

9756 0.93 236.8 254.0 6.4 467 9761 0.00 2.72 0.00 0.000 4 0.000 0.072 2534 824 1811

9801 0.93 236.8 250.8 7.5 469 9805 0.00 2.65 0.00 0.000 6 0.000 0.058 2533 2246 1811

10121 0.93 236.8 229.7 6.9 485 10123 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2246 1811

10431 0.93 236.8 206.7 7.9 500 10433 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2245 1811

10740 0.93 236.8 184.8 6.5 515 10741 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2246 1811

11049 0.93 236.8 165.6 6.1 530 11054 0.00 2.67 0.00 0.000 4 0.000 0.066 2533 827 1811

11071 0.93 236.8 164.3 6.1 531 11076 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2249 1811

11392 0.93 236.8 143.3 6.9 547 11396 0.00 2.70 0.00 0.000 4 0.000 0.065 2533 819 1811

11419 0.93 236.8 141.3 6.8 548 11423 0.00 2.62 0.00 0.000 6 0.000 0.053 2533 2245 1811

11737 0.93 236.8 120.8 6.3 563 11742 0.00 2.65 0.00 0.000 4 0.000 0.074 2534 3649 1811

11765 0.93 236.8 118.7 7.2 564 11769 0.00 2.60 0.00 0.000 6 0.000 0.056 2533 2238 1811

12081 0.93 236.8 98.1 6.6 579 12085 0.00 2.62 0.00 0.000 4 0.000 0.064 2533 829 1811

12108 0.93 236.8 96.0 7.2 580 12112 0.00 2.58 0.00 0.000 6 0.000 0.051 2534 2240 1811

12426 0.93 236.8 71.6 7.9 595 12430 0.00 2.65 0.00 0.000 4 0.000 0.071 2533 3652 1811

12459 0.93 236.8 68.8 7.8 596 12465 0.00 2.58 0.00 0.000 6 0.000 0.052 2533 2240 1812

12775 0.93 236.8 47.3 7.0 612 12779 0.00 2.62 0.00 0.000 4 0.000 0.061 2534 824 1812

12815 0.93 236.8 44.5 6.9 614 12820 0.00 2.58 0.00 0.000 6 0.000 0.048 2534 2243 1812

13142 0.93 236.8 24.1 6.4 630 13143 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1813

13454 0.94 249.6 5.9 5.6 645 13475 0.00 2.72 11.80 0.641 4 0.000 0.061 2534 826 1761

13503 0.94 249.6 2.4 7.0 647 13508 0.00 2.60 0.00 0.000 6 0.000 0.048 2534 2244 1761

13513 end climb: SURFACE_DEPTH_REACHED

state 13513 begin surface coast

13535 end surface coast: CONTROL_FINISHED_OK

state 13535 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	355	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	20	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	-2101108.5	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	023532,6443.752,-1031.108,38,1.3,38,-11.3	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	024009,6443.757,-1031.149,11,1.8,11,-11.3	MHEAD_RNG_PITCHd_Wd	156.3,71825,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027268	ALTIM_BOTTOM_PING	401.0,50.1
SM_CCo	13556,158.38,0.664,0,0,509,557.32	_24V_AH	23.4,57.131
SM_GC	1.23,0.00,0.00,158.38,0.000,0.000,0.664,74,2246,509,-10.38,0.45,557.32	_10V_AH	10.1,28.023
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31683,649
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98852,0
HUMID	1911	CFSIZE	260165632,238956544
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	57	GPS	120808,063025,6442.731,-1029.888,41,1.1,41,-11.3
ALTIM_TOP_PING	19.2,18.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	101.46	SBE_CT	483	24	271.62
Roll_motor	121	83	238.23	SBE_O2	441	19	196.37
VBD_pump_during_apogee	349	1010	8262.40	WL_BB2F	494	105	1215.24
VBD_pump_during_surface	158	664	2461.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.49	nil	0	0	0.00
Iridium_during_connect	28	160	107.60	nil	0	0	0.00
Iridium_during_xfer	116	223	608.27
Transponder_ping	17	420	171.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.73
TT8	1201	19	240.38
LPSleep	10328	2	228.47
TT8_Active	684	19	136.89
TT8_Sampling	1358	39	546.16
TT8_CF8	425	45	196.90
TT8_Kalman	0	81	0.00
Analog_circuits	1396	12	169.30
GPS_charging	0	0	0.00
Compass	1336	8	108.00
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	146	0.00	0.00	-120.65	0.000	2	0.000	0.000	72	2244	2738
150	-0.85	-146.6	3.1	-2.3	6	186	11.73	2.65	-18.17	0.000	4	0.173	0.068	2139	810	3381
296	-0.79	-146.6	20.5	-10.8	11	302	0.00	2.58	0.00	0.000	6	0.000	0.048	2139	2230	3381
614	-0.67	-146.6	54.0	-10.5	27	619	0.17	2.65	0.00	0.000	4	0.098	0.055	2177	810	3381
637	-0.67	-146.6	56.3	-9.1	28	642	0.00	2.60	0.00	0.000	6	0.000	0.048	2177	2237	3382
960	-0.67	-146.6	78.2	-6.6	44	964	0.00	2.62	0.00	0.000	4	0.000	0.067	2177	3640	3382
999	-0.67	-146.6	81.3	-7.8	46	1004	0.00	2.58	0.00	0.000	6	0.000	0.048	2177	2225	3382
1326	-0.67	-146.6	107.5	-8.1	62	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2225	3382
1636	-0.67	-146.6	129.2	-6.8	77	1641	0.00	2.67	0.00	0.000	4	0.000	0.068	2177	3645	3383
1658	-0.67	-146.6	131.0	-7.4	78	1663	0.00	2.58	0.00	0.000	6	0.000	0.047	2177	2225	3383
1979	-0.67	-146.6	155.1	-7.6	94	1981	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2225	3383
2292	-0.67	-146.6	175.8	-6.1	109	2296	0.00	2.67	0.00	0.000	4	0.000	0.071	2177	3640	3383
2341	-0.67	-146.6	179.3	-6.7	111	2346	0.00	2.58	0.00	0.000	6	0.000	0.049	2177	2227	3383
2658	-0.67	-146.6	197.1	-5.3	126	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2227	3383
2968	-0.67	-146.6	212.2	-4.6	141	2972	0.00	2.67	0.00	0.000	4	0.000	0.074	2177	3637	3383
2997	-0.67	-146.6	213.8	-5.7	142	3001	0.00	2.58	0.00	0.000	6	0.000	0.051	2177	2231	3383
3313	-0.67	-146.6	231.0	-6.0	157	3314	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2231	3383
3622	-0.67	-146.6	251.7	-7.1	172	3627	0.00	2.70	0.00	0.000	4	0.000	0.077	2177	3640	3383
3650	-0.67	-146.6	253.9	-8.3	173	3654	0.00	2.60	0.00	0.000	6	0.000	0.054	2176	2228	3383
3968	-0.71	-146.6	275.7	-6.8	188	3969	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3383
4276	-0.76	-146.6	294.2	-5.6	203	4281	0.00	2.72	0.00	0.000	4	0.000	0.081	2177	3641	3382
4304	-0.80	-146.6	296.1	-6.4	204	4309	0.00	2.60	0.00	0.000	6	0.000	0.055	2177	2231	3382
4620	-0.85	-146.6	315.9	-6.3	219	4622	0.15	0.00	0.00	0.000	6	0.052	0.000	2140	2231	3382
4930	-0.78	-146.6	340.5	-8.2	234	4935	0.00	2.65	0.00	0.000	4	0.000	0.070	2139	819	3381
4963	-0.78	-146.6	343.4	-8.2	235	4970	0.00	2.60	0.00	0.000	6	0.000	0.058	2139	2228	3381
5280	-0.71	-146.6	369.3	-8.2	251	5285	0.15	2.72	0.00	0.000	4	0.099	0.083	2171	3643	3380
5314	-0.71	-146.6	372.0	-7.8	252	5320	0.00	2.62	0.00	0.000	6	0.000	0.058	2171	2230	3379
5629	-0.71	-146.6	392.0	-6.2	268	5630	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3379
5939	-0.75	-146.6	411.5	-6.3	283	5943	0.00	2.72	0.00	0.000	4	0.000	0.084	2171	3639	3378
5967	-0.75	-146.6	413.5	-7.1	284	5971	0.00	2.62	0.00	0.000	6	0.000	0.058	2170	2227	3378
6283	-0.80	-146.6	433.4	-6.2	299	6284	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2227	3377
6403	end dive: BOTTOM_OBSTACLE_DETECTED
state	6403	begin apogee
6410	-0.31	0.0	441.3	6.5	305	6545	0.45	0.00	128.30	1.010	6	0.096	0.000	2261	2227	2781
6546	end apogee: CONTROL_FINISHED_OK
state	6546	begin climb
6550	0.85	146.6	447.0	0.0	312	6682	1.17	0.00	127.60	0.991	6	0.080	0.000	2506	2228	2182
6982	0.90	195.2	434.0	4.7	333	7031	0.00	2.75	43.00	0.966	4	0.000	0.072	2506	830	1985
7055	0.90	195.2	429.9	6.2	336	7059	0.00	2.67	0.00	0.000	6	0.000	0.058	2506	2247	1984
7371	0.91	207.3	413.0	5.7	351	7390	0.10	0.00	12.27	0.889	6	0.083	0.000	2527	2247	1935
7702	0.86	207.3	390.8	6.7	367	7703	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2248	1934
8009	0.82	207.3	370.7	6.4	382	8013	0.00	2.70	0.00	0.000	4	0.000	0.083	2528	3649	1934
8064	0.78	207.3	366.7	7.5	384	8071	0.15	2.65	0.00	0.000	6	0.104	0.061	2500	2234	1934
8381	0.81	236.7	349.5	5.2	400	8415	0.00	2.75	26.58	0.937	4	0.000	0.073	2499	826	1814
8450	0.87	236.8	345.4	6.0	403	8455	0.00	2.67	0.00	0.000	6	0.000	0.058	2500	2245	1813
8772	0.93	236.8	326.3	6.2	419	8774	0.15	0.00	0.00	0.000	6	0.062	0.000	2533	2244	1813
9081	0.93	236.8	302.5	7.8	434	9086	0.00	2.72	0.00	0.000	4	0.000	0.073	2533	826	1812
9125	0.93	236.8	298.9	8.1	436	9130	0.00	2.65	0.00	0.000	6	0.000	0.058	2533	2243	1812
9446	0.93	236.8	274.8	7.3	452	9448	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1812
9756	0.93	236.8	254.0	6.4	467	9761	0.00	2.72	0.00	0.000	4	0.000	0.072	2534	824	1811
9801	0.93	236.8	250.8	7.5	469	9805	0.00	2.65	0.00	0.000	6	0.000	0.058	2533	2246	1811
10121	0.93	236.8	229.7	6.9	485	10123	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2246	1811
10431	0.93	236.8	206.7	7.9	500	10433	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2245	1811
10740	0.93	236.8	184.8	6.5	515	10741	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2246	1811
11049	0.93	236.8	165.6	6.1	530	11054	0.00	2.67	0.00	0.000	4	0.000	0.066	2533	827	1811
11071	0.93	236.8	164.3	6.1	531	11076	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2249	1811
11392	0.93	236.8	143.3	6.9	547	11396	0.00	2.70	0.00	0.000	4	0.000	0.065	2533	819	1811
11419	0.93	236.8	141.3	6.8	548	11423	0.00	2.62	0.00	0.000	6	0.000	0.053	2533	2245	1811
11737	0.93	236.8	120.8	6.3	563	11742	0.00	2.65	0.00	0.000	4	0.000	0.074	2534	3649	1811
11765	0.93	236.8	118.7	7.2	564	11769	0.00	2.60	0.00	0.000	6	0.000	0.056	2533	2238	1811
12081	0.93	236.8	98.1	6.6	579	12085	0.00	2.62	0.00	0.000	4	0.000	0.064	2533	829	1811
12108	0.93	236.8	96.0	7.2	580	12112	0.00	2.58	0.00	0.000	6	0.000	0.051	2534	2240	1811
12426	0.93	236.8	71.6	7.9	595	12430	0.00	2.65	0.00	0.000	4	0.000	0.071	2533	3652	1811
12459	0.93	236.8	68.8	7.8	596	12465	0.00	2.58	0.00	0.000	6	0.000	0.052	2533	2240	1812
12775	0.93	236.8	47.3	7.0	612	12779	0.00	2.62	0.00	0.000	4	0.000	0.061	2534	824	1812
12815	0.93	236.8	44.5	6.9	614	12820	0.00	2.58	0.00	0.000	6	0.000	0.048	2534	2243	1812
13142	0.93	236.8	24.1	6.4	630	13143	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1813
13454	0.94	249.6	5.9	5.6	645	13475	0.00	2.72	11.80	0.641	4	0.000	0.061	2534	826	1761
13503	0.94	249.6	2.4	7.0	647	13508	0.00	2.60	0.00	0.000	6	0.000	0.048	2534	2244	1761
13513	end climb: SURFACE_DEPTH_REACHED
state	13513	begin surface coast
13535	end surface coast: CONTROL_FINISHED_OK
state	13535	begin surface