Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 358 * 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 358 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 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 -2101187 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 -2101187

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 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 358 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 135508,6439.140,-1032.178,39,1.6,39,-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 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 140009,6439.154,-1032.256,12,1.6,12,-11.3 MHEAD_RNG_PITCHd_Wd 151.4,65600,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026849 ALTIM_BOTTOM_PING 401.0,48.9

SM_CCo 13128,115.65,0.677,0,0,509,557.32 _24V_AH 23.4,57.576

SM_GC 1.30,0.00,0.00,115.65,0.000,0.000,0.677,68,2243,509,-10.41,0.37,557.32 _10V_AH 10.1,28.221

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31611,633

TT8_MAMPS 0.02301 CAP_FILE_SIZE 102108,0

HUMID 1948 CFSIZE 260165632,238800896

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 64 GPS 120808,174252,6438.479,-1030.948,40,2.5,59,-11.2

ALTIM_TOP_PING 19.0,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.81 SBE_CT 475 24 266.81

Roll_motor 143 83 281.46 SBE_O2 430 19 191.24

VBD_pump_during_apogee 426 1014 10119.50 WL_BB2F 482 105 1185.63

VBD_pump_during_surface 115 677 1832.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.54 nil 0 0 0.00

Iridium_during_connect 33 160 127.23 nil 0 0 0.00

Iridium_during_xfer 128 223 670.68

Transponder_ping 19 420 189.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.52

TT8 1177 19 235.51

LPSleep 9825 2 217.33

TT8_Active 712 19 142.48

TT8_Sampling 1387 39 557.73

TT8_CF8 446 45 206.75

TT8_Kalman 0 81 0.00

Analog_circuits 1454 12 176.33

GPS_charging 0 0 0.00

Compass 1359 8 109.84

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 -120.55 0.000 2 0.000 0.000 71 2249 2776

150 -0.85 -146.6 3.7 -2.9 6 185 11.73 2.70 -15.75 0.000 4 0.172 0.070 2142 819 3382

238 -0.78 -146.6 16.0 -10.5 10 243 0.00 2.58 0.00 0.000 6 0.000 0.048 2142 2229 3381

566 -0.67 -146.6 46.7 -8.5 26 571 0.17 2.62 0.00 0.000 4 0.097 0.066 2180 3637 3382

616 -0.67 -146.6 50.8 -7.9 28 620 0.00 2.55 0.00 0.000 6 0.000 0.046 2180 2221 3382

932 -0.67 -146.6 74.9 -7.3 43 937 0.00 2.65 0.00 0.000 4 0.000 0.067 2180 3643 3383

960 -0.67 -146.6 77.0 -7.4 44 964 0.00 2.58 0.00 0.000 6 0.000 0.046 2180 2223 3383

1276 -0.67 -146.6 96.6 -7.0 59 1280 0.00 2.60 0.00 0.000 4 0.000 0.058 2180 815 3383

1304 -0.72 -146.6 98.6 -7.8 60 1309 0.00 2.58 0.00 0.000 6 0.000 0.048 2180 2228 3383

1622 -0.72 -146.6 120.8 -6.0 75 1626 0.00 2.65 0.00 0.000 4 0.000 0.070 2180 3641 3383

1662 -0.72 -146.6 123.2 -5.8 77 1666 0.00 2.58 0.00 0.000 6 0.000 0.048 2180 2229 3383

1990 -0.72 -146.6 139.9 -5.3 93 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2228 3383

2297 -0.72 -146.6 162.0 -7.8 108 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2228 3384

2607 -0.72 -146.6 186.8 -7.8 123 2608 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2228 3384

2917 -0.77 -146.6 209.7 -6.9 138 2921 0.00 2.67 0.00 0.000 4 0.000 0.075 2180 3637 3384

2957 -0.81 -146.6 212.3 -7.0 140 2962 0.12 2.58 0.00 0.000 6 0.052 0.051 2148 2230 3384

3284 -0.81 -146.6 234.9 -6.5 156 3288 0.00 2.65 0.00 0.000 4 0.000 0.064 2148 813 3383

3340 -0.81 -146.6 238.6 -6.5 158 3346 0.00 2.60 0.00 0.000 6 0.000 0.053 2148 2228 3383

3656 -0.76 -146.6 259.2 -7.0 174 3660 0.00 2.70 0.00 0.000 4 0.000 0.077 2148 3644 3383

3706 -0.70 -146.6 263.5 -9.5 176 3711 0.15 2.62 0.00 0.000 6 0.097 0.055 2176 2225 3383

4023 -0.76 -146.6 285.5 -6.7 191 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2225 3383

4332 -0.80 -146.6 303.9 -5.8 206 4336 0.00 2.72 0.00 0.000 4 0.000 0.081 2176 3638 3383

4365 -0.80 -146.6 306.2 -6.6 207 4371 0.00 2.60 0.00 0.000 6 0.000 0.056 2176 2230 3383

4683 -0.86 -146.6 325.4 -6.2 223 4685 0.15 0.00 0.00 0.000 6 0.054 0.000 2141 2230 3382

4991 -0.80 -146.6 350.4 -8.2 238 4992 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2230 3381

5301 -0.74 -146.6 375.5 -8.1 253 5303 0.15 0.00 0.00 0.000 6 0.100 0.000 2169 2230 3380

5608 -0.74 -146.6 396.7 -6.1 268 5613 0.00 2.72 0.00 0.000 4 0.000 0.084 2169 3644 3379

5636 -0.74 -146.6 398.9 -8.4 269 5640 0.00 2.62 0.00 0.000 6 0.000 0.058 2169 2231 3379

5952 -0.74 -146.6 420.3 -7.3 284 5953 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3377

6258 end dive: BOTTOM_OBSTACLE_DETECTED

state 6258 begin apogee

6265 -0.31 0.0 440.7 6.6 299 6401 0.45 0.00 128.57 1.015 6 0.095 0.000 2259 2231 2781

6402 end apogee: CONTROL_FINISHED_OK

state 6402 begin climb

6405 0.85 146.6 446.5 0.0 306 6542 1.23 2.83 127.72 0.992 4 0.077 0.081 2512 3650 2184

6621 0.78 183.4 444.2 5.0 316 6661 0.00 2.67 33.60 0.956 6 0.000 0.061 2512 2234 2033

6987 0.81 210.8 426.7 5.2 334 7017 0.00 2.78 24.73 0.947 4 0.000 0.074 2512 825 1921

7024 0.81 212.7 424.6 5.9 336 7028 0.00 2.70 0.00 0.000 6 0.000 0.057 2512 2246 1921

7350 0.81 212.7 403.8 6.1 352 7355 0.00 2.72 0.00 0.000 4 0.000 0.071 2512 828 1920

7378 0.83 233.8 402.2 5.4 353 7409 0.00 2.65 21.52 0.941 6 0.000 0.058 2512 2243 1827

7718 0.83 233.8 381.2 6.4 370 7723 0.00 2.72 0.00 0.000 4 0.000 0.072 2512 823 1825

7757 0.83 233.8 378.7 6.9 372 7762 0.00 2.67 0.00 0.000 6 0.000 0.059 2511 2246 1825

8084 0.83 233.8 358.7 6.1 388 8089 0.00 2.72 0.00 0.000 4 0.000 0.073 2512 827 1824

8117 0.83 233.8 356.5 6.2 389 8123 0.00 2.65 0.00 0.000 6 0.000 0.058 2512 2244 1824

8433 0.83 237.5 337.6 5.9 405 8442 0.00 2.72 4.50 0.690 4 0.000 0.072 2512 828 1812

8477 0.83 237.5 334.9 6.4 407 8481 0.00 2.65 0.00 0.000 6 0.000 0.059 2512 2241 1812

8798 0.86 263.3 317.4 5.3 423 8827 0.00 2.80 23.35 0.926 4 0.000 0.072 2512 826 1707

8840 0.94 288.0 315.1 5.3 425 8870 0.10 2.67 22.35 0.912 6 0.093 0.058 2530 2239 1605

9195 0.95 291.7 294.1 5.9 442 9205 0.00 2.75 4.93 0.705 4 0.000 0.074 2531 828 1591

9234 0.95 291.7 291.5 6.7 444 9239 0.00 2.67 0.00 0.000 6 0.000 0.059 2531 2247 1590

9562 0.95 291.7 270.7 7.0 460 9566 0.00 2.72 0.00 0.000 4 0.000 0.073 2531 828 1590

9601 0.95 291.7 267.9 7.5 462 9605 0.00 2.65 0.00 0.000 6 0.000 0.060 2531 2244 1590

9930 0.95 291.7 244.4 7.2 478 9934 0.00 2.72 0.00 0.000 4 0.000 0.073 2531 827 1590

9964 0.95 291.7 241.7 7.7 479 9970 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2247 1589

10280 0.95 291.7 219.0 7.5 495 10284 0.00 2.72 0.00 0.000 4 0.000 0.071 2531 824 1589

10302 0.95 291.7 217.1 8.4 496 10306 0.00 2.65 0.00 0.000 6 0.000 0.057 2531 2247 1589

10622 0.95 291.7 191.7 7.9 512 10627 0.00 2.70 0.00 0.000 4 0.000 0.071 2531 826 1589

10669 0.95 291.7 188.0 8.4 514 10673 0.00 2.62 0.00 0.000 6 0.000 0.056 2531 2240 1589

10990 0.95 291.7 163.5 6.9 530 10994 0.00 2.70 0.00 0.000 4 0.000 0.079 2531 3653 1588

11011 0.95 291.7 161.9 7.2 531 11015 0.00 2.62 0.00 0.000 6 0.000 0.060 2531 2239 1589

11333 0.99 333.0 144.2 4.9 547 11375 0.00 2.72 34.90 0.820 4 0.000 0.068 2531 828 1422

11415 1.05 333.0 138.9 6.9 550 11422 0.12 2.60 0.00 0.000 6 0.082 0.053 2555 2240 1422

11732 1.05 333.0 110.9 9.6 566 11733 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2239 1422

12040 1.05 333.0 84.8 8.4 581 12045 0.00 2.67 0.00 0.000 4 0.000 0.065 2555 824 1422

12102 1.05 333.0 79.2 9.5 584 12107 0.00 2.60 0.00 0.000 6 0.000 0.051 2555 2241 1422

12430 1.05 333.0 51.2 8.3 600 12435 0.00 2.67 0.00 0.000 4 0.000 0.063 2555 820 1423

12463 1.05 333.0 48.1 8.3 601 12470 0.00 2.60 0.00 0.000 6 0.000 0.051 2555 2243 1423

12781 1.05 333.0 24.7 6.5 617 12785 0.00 2.67 0.00 0.000 4 0.000 0.064 2555 823 1423

12798 1.05 333.0 23.3 6.8 618 12803 0.00 2.58 0.00 0.000 6 0.000 0.049 2555 2241 1423

13082 end climb: SURFACE_DEPTH_REACHED

state 13082 begin surface coast

13103 end surface coast: CONTROL_FINISHED_OK

state 13106 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	358	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	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	-2101187	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	135508,6439.140,-1032.178,39,1.6,39,-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	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	140009,6439.154,-1032.256,12,1.6,12,-11.3	MHEAD_RNG_PITCHd_Wd	151.4,65600,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.026849	ALTIM_BOTTOM_PING	401.0,48.9
SM_CCo	13128,115.65,0.677,0,0,509,557.32	_24V_AH	23.4,57.576
SM_GC	1.30,0.00,0.00,115.65,0.000,0.000,0.677,68,2243,509,-10.41,0.37,557.32	_10V_AH	10.1,28.221
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31611,633
TT8_MAMPS	0.02301	CAP_FILE_SIZE	102108,0
HUMID	1948	CFSIZE	260165632,238800896
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	64	GPS	120808,174252,6438.479,-1030.948,40,2.5,59,-11.2
ALTIM_TOP_PING	19.0,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.81	SBE_CT	475	24	266.81
Roll_motor	143	83	281.46	SBE_O2	430	19	191.24
VBD_pump_during_apogee	426	1014	10119.50	WL_BB2F	482	105	1185.63
VBD_pump_during_surface	115	677	1832.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.54	nil	0	0	0.00
Iridium_during_connect	33	160	127.23	nil	0	0	0.00
Iridium_during_xfer	128	223	670.68
Transponder_ping	19	420	189.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.52
TT8	1177	19	235.51
LPSleep	9825	2	217.33
TT8_Active	712	19	142.48
TT8_Sampling	1387	39	557.73
TT8_CF8	446	45	206.75
TT8_Kalman	0	81	0.00
Analog_circuits	1454	12	176.33
GPS_charging	0	0	0.00
Compass	1359	8	109.84
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	-120.55	0.000	2	0.000	0.000	71	2249	2776
150	-0.85	-146.6	3.7	-2.9	6	185	11.73	2.70	-15.75	0.000	4	0.172	0.070	2142	819	3382
238	-0.78	-146.6	16.0	-10.5	10	243	0.00	2.58	0.00	0.000	6	0.000	0.048	2142	2229	3381
566	-0.67	-146.6	46.7	-8.5	26	571	0.17	2.62	0.00	0.000	4	0.097	0.066	2180	3637	3382
616	-0.67	-146.6	50.8	-7.9	28	620	0.00	2.55	0.00	0.000	6	0.000	0.046	2180	2221	3382
932	-0.67	-146.6	74.9	-7.3	43	937	0.00	2.65	0.00	0.000	4	0.000	0.067	2180	3643	3383
960	-0.67	-146.6	77.0	-7.4	44	964	0.00	2.58	0.00	0.000	6	0.000	0.046	2180	2223	3383
1276	-0.67	-146.6	96.6	-7.0	59	1280	0.00	2.60	0.00	0.000	4	0.000	0.058	2180	815	3383
1304	-0.72	-146.6	98.6	-7.8	60	1309	0.00	2.58	0.00	0.000	6	0.000	0.048	2180	2228	3383
1622	-0.72	-146.6	120.8	-6.0	75	1626	0.00	2.65	0.00	0.000	4	0.000	0.070	2180	3641	3383
1662	-0.72	-146.6	123.2	-5.8	77	1666	0.00	2.58	0.00	0.000	6	0.000	0.048	2180	2229	3383
1990	-0.72	-146.6	139.9	-5.3	93	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2228	3383
2297	-0.72	-146.6	162.0	-7.8	108	2299	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2228	3384
2607	-0.72	-146.6	186.8	-7.8	123	2608	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2228	3384
2917	-0.77	-146.6	209.7	-6.9	138	2921	0.00	2.67	0.00	0.000	4	0.000	0.075	2180	3637	3384
2957	-0.81	-146.6	212.3	-7.0	140	2962	0.12	2.58	0.00	0.000	6	0.052	0.051	2148	2230	3384
3284	-0.81	-146.6	234.9	-6.5	156	3288	0.00	2.65	0.00	0.000	4	0.000	0.064	2148	813	3383
3340	-0.81	-146.6	238.6	-6.5	158	3346	0.00	2.60	0.00	0.000	6	0.000	0.053	2148	2228	3383
3656	-0.76	-146.6	259.2	-7.0	174	3660	0.00	2.70	0.00	0.000	4	0.000	0.077	2148	3644	3383
3706	-0.70	-146.6	263.5	-9.5	176	3711	0.15	2.62	0.00	0.000	6	0.097	0.055	2176	2225	3383
4023	-0.76	-146.6	285.5	-6.7	191	4024	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2225	3383
4332	-0.80	-146.6	303.9	-5.8	206	4336	0.00	2.72	0.00	0.000	4	0.000	0.081	2176	3638	3383
4365	-0.80	-146.6	306.2	-6.6	207	4371	0.00	2.60	0.00	0.000	6	0.000	0.056	2176	2230	3383
4683	-0.86	-146.6	325.4	-6.2	223	4685	0.15	0.00	0.00	0.000	6	0.054	0.000	2141	2230	3382
4991	-0.80	-146.6	350.4	-8.2	238	4992	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2230	3381
5301	-0.74	-146.6	375.5	-8.1	253	5303	0.15	0.00	0.00	0.000	6	0.100	0.000	2169	2230	3380
5608	-0.74	-146.6	396.7	-6.1	268	5613	0.00	2.72	0.00	0.000	4	0.000	0.084	2169	3644	3379
5636	-0.74	-146.6	398.9	-8.4	269	5640	0.00	2.62	0.00	0.000	6	0.000	0.058	2169	2231	3379
5952	-0.74	-146.6	420.3	-7.3	284	5953	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3377
6258	end dive: BOTTOM_OBSTACLE_DETECTED
state	6258	begin apogee
6265	-0.31	0.0	440.7	6.6	299	6401	0.45	0.00	128.57	1.015	6	0.095	0.000	2259	2231	2781
6402	end apogee: CONTROL_FINISHED_OK
state	6402	begin climb
6405	0.85	146.6	446.5	0.0	306	6542	1.23	2.83	127.72	0.992	4	0.077	0.081	2512	3650	2184
6621	0.78	183.4	444.2	5.0	316	6661	0.00	2.67	33.60	0.956	6	0.000	0.061	2512	2234	2033
6987	0.81	210.8	426.7	5.2	334	7017	0.00	2.78	24.73	0.947	4	0.000	0.074	2512	825	1921
7024	0.81	212.7	424.6	5.9	336	7028	0.00	2.70	0.00	0.000	6	0.000	0.057	2512	2246	1921
7350	0.81	212.7	403.8	6.1	352	7355	0.00	2.72	0.00	0.000	4	0.000	0.071	2512	828	1920
7378	0.83	233.8	402.2	5.4	353	7409	0.00	2.65	21.52	0.941	6	0.000	0.058	2512	2243	1827
7718	0.83	233.8	381.2	6.4	370	7723	0.00	2.72	0.00	0.000	4	0.000	0.072	2512	823	1825
7757	0.83	233.8	378.7	6.9	372	7762	0.00	2.67	0.00	0.000	6	0.000	0.059	2511	2246	1825
8084	0.83	233.8	358.7	6.1	388	8089	0.00	2.72	0.00	0.000	4	0.000	0.073	2512	827	1824
8117	0.83	233.8	356.5	6.2	389	8123	0.00	2.65	0.00	0.000	6	0.000	0.058	2512	2244	1824
8433	0.83	237.5	337.6	5.9	405	8442	0.00	2.72	4.50	0.690	4	0.000	0.072	2512	828	1812
8477	0.83	237.5	334.9	6.4	407	8481	0.00	2.65	0.00	0.000	6	0.000	0.059	2512	2241	1812
8798	0.86	263.3	317.4	5.3	423	8827	0.00	2.80	23.35	0.926	4	0.000	0.072	2512	826	1707
8840	0.94	288.0	315.1	5.3	425	8870	0.10	2.67	22.35	0.912	6	0.093	0.058	2530	2239	1605
9195	0.95	291.7	294.1	5.9	442	9205	0.00	2.75	4.93	0.705	4	0.000	0.074	2531	828	1591
9234	0.95	291.7	291.5	6.7	444	9239	0.00	2.67	0.00	0.000	6	0.000	0.059	2531	2247	1590
9562	0.95	291.7	270.7	7.0	460	9566	0.00	2.72	0.00	0.000	4	0.000	0.073	2531	828	1590
9601	0.95	291.7	267.9	7.5	462	9605	0.00	2.65	0.00	0.000	6	0.000	0.060	2531	2244	1590
9930	0.95	291.7	244.4	7.2	478	9934	0.00	2.72	0.00	0.000	4	0.000	0.073	2531	827	1590
9964	0.95	291.7	241.7	7.7	479	9970	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2247	1589
10280	0.95	291.7	219.0	7.5	495	10284	0.00	2.72	0.00	0.000	4	0.000	0.071	2531	824	1589
10302	0.95	291.7	217.1	8.4	496	10306	0.00	2.65	0.00	0.000	6	0.000	0.057	2531	2247	1589
10622	0.95	291.7	191.7	7.9	512	10627	0.00	2.70	0.00	0.000	4	0.000	0.071	2531	826	1589
10669	0.95	291.7	188.0	8.4	514	10673	0.00	2.62	0.00	0.000	6	0.000	0.056	2531	2240	1589
10990	0.95	291.7	163.5	6.9	530	10994	0.00	2.70	0.00	0.000	4	0.000	0.079	2531	3653	1588
11011	0.95	291.7	161.9	7.2	531	11015	0.00	2.62	0.00	0.000	6	0.000	0.060	2531	2239	1589
11333	0.99	333.0	144.2	4.9	547	11375	0.00	2.72	34.90	0.820	4	0.000	0.068	2531	828	1422
11415	1.05	333.0	138.9	6.9	550	11422	0.12	2.60	0.00	0.000	6	0.082	0.053	2555	2240	1422
11732	1.05	333.0	110.9	9.6	566	11733	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2239	1422
12040	1.05	333.0	84.8	8.4	581	12045	0.00	2.67	0.00	0.000	4	0.000	0.065	2555	824	1422
12102	1.05	333.0	79.2	9.5	584	12107	0.00	2.60	0.00	0.000	6	0.000	0.051	2555	2241	1422
12430	1.05	333.0	51.2	8.3	600	12435	0.00	2.67	0.00	0.000	4	0.000	0.063	2555	820	1423
12463	1.05	333.0	48.1	8.3	601	12470	0.00	2.60	0.00	0.000	6	0.000	0.051	2555	2243	1423
12781	1.05	333.0	24.7	6.5	617	12785	0.00	2.67	0.00	0.000	4	0.000	0.064	2555	823	1423
12798	1.05	333.0	23.3	6.8	618	12803	0.00	2.58	0.00	0.000	6	0.000	0.049	2555	2241	1423
13082	end climb: SURFACE_DEPTH_REACHED
state	13082	begin surface coast
13103	end surface coast: CONTROL_FINISHED_OK
state	13106	begin surface