Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 359 * 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 359 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 19 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 -2101220.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 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 -2101220.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 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 19 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 359 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 174252,6438.479,-1030.948,40,2.5,59,-11.2 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 -55.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 174823,6438.479,-1030.981,12,3.4,31,-11.2 MHEAD_RNG_PITCHd_Wd 151.2,63981,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026931 ALTIM_BOTTOM_PING 400.5,71.8

SM_CCo 13352,153.62,0.676,0,0,509,557.32 _24V_AH 23.4,57.721

SM_GC 1.39,0.00,0.00,153.62,0.000,0.000,0.676,74,2233,509,-10.37,0.08,557.32 _10V_AH 10.1,28.288

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31567,639

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98291,0

HUMID 1930 CFSIZE 260165632,238751744

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 60 GPS 120808,213508,6437.172,-1028.135,42,1.3,42,-11.2

ALTIM_TOP_PING 19.4,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 101.81 SBE_CT 474 24 266.46

Roll_motor 127 83 249.23 SBE_O2 434 19 193.34

VBD_pump_during_apogee 361 1036 8775.77 WL_BB2F 482 105 1185.69

VBD_pump_during_surface 153 676 2431.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.51 nil 0 0 0.00

Iridium_during_connect 30 160 115.16 nil 0 0 0.00

Iridium_during_xfer 137 223 718.37

Transponder_ping 18 420 179.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.38

TT8 1173 19 234.74

LPSleep 10117 2 223.79

TT8_Active 691 19 138.19

TT8_Sampling 1403 39 564.14

TT8_CF8 453 45 209.89

TT8_Kalman 0 81 0.00

Analog_circuits 1413 12 171.31

GPS_charging 0 0 0.00

Compass 1357 8 109.67

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 -120.88 0.000 2 0.000 0.000 67 2244 2727

151 -0.85 -146.6 3.0 -2.3 6 188 11.77 2.67 -18.90 0.000 4 0.173 0.067 2139 814 3378

362 -0.79 -146.6 26.3 -8.4 14 368 0.00 2.58 0.00 0.000 6 0.000 0.048 2140 2233 3380

678 -0.68 -146.6 59.9 -11.5 30 680 0.20 0.00 0.00 0.000 6 0.101 0.000 2177 2234 3380

990 -0.68 -146.6 85.5 -7.7 45 994 0.00 2.65 0.00 0.000 4 0.000 0.058 2177 811 3381

1023 -0.73 -146.6 88.4 -8.3 46 1029 0.00 2.60 0.00 0.000 6 0.000 0.050 2177 2237 3381

1339 -0.73 -146.6 109.8 -5.7 62 1343 0.00 2.62 0.00 0.000 4 0.000 0.070 2177 3638 3381

1379 -0.73 -146.6 112.3 -6.6 64 1383 0.00 2.55 0.00 0.000 6 0.000 0.048 2178 2225 3381

1706 -0.73 -146.6 134.0 -6.9 80 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2223 3381

2015 -0.73 -146.6 154.0 -5.8 95 2019 0.00 2.67 0.00 0.000 4 0.000 0.072 2177 3637 3381

2048 -0.73 -146.6 156.1 -5.5 96 2054 0.00 2.58 0.00 0.000 6 0.000 0.049 2177 2223 3381

2365 -0.73 -146.6 169.4 -4.2 112 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2223 3381

2673 -0.73 -146.6 185.3 -6.1 127 2677 0.00 2.70 0.00 0.000 4 0.000 0.074 2178 3638 3381

2706 -0.73 -146.6 187.6 -7.1 128 2711 0.00 2.58 0.00 0.000 6 0.000 0.051 2177 2230 3381

3022 -0.73 -146.6 210.4 -7.2 144 3023 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2229 3382

3331 -0.77 -146.6 229.7 -6.0 159 3335 0.00 2.62 0.00 0.000 4 0.000 0.064 2178 818 3381

3358 -0.85 -146.6 231.5 -6.2 160 3363 0.17 2.60 0.00 0.000 6 0.048 0.054 2130 2229 3381

3675 -0.75 -146.6 257.0 -8.4 175 3677 0.17 0.00 0.00 0.000 6 0.093 0.000 2163 2229 3381

3983 -0.75 -146.6 278.0 -7.1 190 3987 0.00 2.70 0.00 0.000 4 0.000 0.082 2163 3637 3381

4011 -0.75 -146.6 280.3 -8.3 191 4015 0.00 2.60 0.00 0.000 6 0.000 0.057 2162 2231 3381

4327 -0.75 -146.6 304.5 -7.6 206 4331 0.00 2.65 0.00 0.000 4 0.000 0.069 2163 820 3381

4354 -0.75 -146.6 306.6 -7.1 207 4359 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2227 3380

4670 -0.75 -146.6 332.1 -8.5 222 4675 0.00 2.72 0.00 0.000 4 0.000 0.084 2163 3643 3379

4704 -0.75 -146.6 335.1 -9.1 223 4710 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2231 3379

5019 -0.75 -146.6 361.3 -8.1 239 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2231 3378

5329 -0.75 -146.6 385.2 -7.7 254 5333 0.00 2.72 0.00 0.000 4 0.000 0.084 2163 3640 3377

5356 -0.75 -146.6 387.5 -8.1 255 5360 0.00 2.62 0.00 0.000 6 0.000 0.059 2163 2229 3377

5672 -0.75 -146.6 411.6 -7.6 270 5673 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2229 3376

5982 -0.75 -146.6 435.5 -6.9 285 5983 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2229 3376

6290 -0.75 -146.6 457.4 -6.8 300 6291 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2229 3374

6370 end dive: BOTTOM_OBSTACLE_DETECTED

state 6370 begin apogee

6377 -0.31 0.0 463.4 7.2 304 6513 0.50 0.00 128.48 1.036 6 0.123 0.000 2256 2229 2781

6514 end apogee: CONTROL_FINISHED_OK

state 6514 begin climb

6517 0.85 146.6 469.4 0.0 311 6653 1.23 2.75 128.07 1.013 4 0.085 0.071 2509 827 2183

6769 0.80 184.7 465.9 5.0 322 6808 0.00 2.67 34.33 0.977 6 0.000 0.059 2509 2247 2028

7126 0.82 200.7 446.5 5.6 340 7148 0.00 2.78 15.73 0.933 4 0.000 0.082 2509 3652 1961

7165 0.82 200.7 444.0 6.2 341 7171 0.00 2.67 0.00 0.000 6 0.000 0.060 2509 2239 1962

7481 0.85 225.9 426.7 5.3 357 7506 0.00 0.00 23.20 0.963 6 0.000 0.000 2509 2239 1859

7811 0.86 238.8 408.2 5.6 373 7832 0.00 2.80 12.80 0.918 4 0.000 0.074 2509 826 1807

7856 0.89 260.0 405.6 5.4 375 7880 0.00 2.65 19.33 0.945 6 0.000 0.058 2509 2241 1722

8210 0.93 260.0 383.7 6.5 392 8212 0.12 0.00 0.00 0.000 6 0.066 0.000 2542 2241 1720

8518 0.93 260.0 359.0 8.1 407 8522 0.00 2.72 0.00 0.000 4 0.000 0.073 2541 825 1720

8539 0.93 260.0 357.1 8.6 408 8544 0.00 2.65 0.00 0.000 6 0.000 0.058 2541 2240 1720

8861 0.89 260.0 331.8 7.9 424 8862 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2240 1720

9170 0.89 260.0 307.2 7.8 439 9174 0.00 2.70 0.00 0.000 4 0.000 0.073 2541 825 1720

9210 0.89 260.0 304.0 8.4 441 9214 0.00 2.65 0.00 0.000 6 0.000 0.059 2541 2248 1720

9537 0.89 260.0 278.5 7.8 457 9541 0.00 2.72 0.00 0.000 4 0.000 0.072 2541 827 1719

9558 0.89 260.0 276.6 8.4 458 9562 0.00 2.65 0.00 0.000 6 0.000 0.059 2541 2246 1719

9878 0.89 260.0 251.4 7.9 474 9883 0.00 2.72 0.00 0.000 4 0.000 0.072 2541 822 1719

9918 0.89 260.0 248.0 8.8 476 9923 0.00 2.65 0.00 0.000 6 0.000 0.058 2541 2241 1719

10246 0.89 260.0 221.6 7.7 492 10250 0.00 2.70 0.00 0.000 4 0.000 0.071 2541 828 1719

10273 0.89 260.0 219.2 8.5 493 10277 0.00 2.62 0.00 0.000 6 0.000 0.058 2541 2240 1719

10588 0.89 260.0 195.6 7.1 508 10593 0.00 2.70 0.00 0.000 4 0.000 0.070 2541 820 1719

10622 0.89 260.0 193.3 6.8 509 10628 0.00 2.62 0.00 0.000 6 0.000 0.057 2541 2240 1718

10938 0.89 260.0 171.2 7.1 525 10939 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2240 1718

11247 0.89 260.0 149.2 7.1 540 11248 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2240 1718

11559 0.89 260.0 126.7 7.1 555 11563 0.00 2.67 0.00 0.000 4 0.000 0.065 2541 823 1718

11599 0.89 260.0 123.7 7.0 557 11603 0.00 2.62 0.00 0.000 6 0.000 0.054 2541 2249 1718

11925 0.89 260.0 99.0 7.6 573 11930 0.00 2.65 0.00 0.000 4 0.000 0.074 2541 3652 1719

11954 0.89 260.0 96.7 8.8 574 11958 0.00 2.60 0.00 0.000 6 0.000 0.056 2542 2237 1719

12271 0.89 260.0 75.5 7.4 589 12276 0.00 2.67 0.00 0.000 4 0.000 0.072 2541 3648 1719

12304 0.89 260.0 72.7 7.6 590 12310 0.00 2.58 0.00 0.000 6 0.000 0.054 2541 2240 1719

12620 0.89 260.0 47.2 7.5 606 12625 0.00 2.67 0.00 0.000 4 0.000 0.071 2541 3653 1720

12647 0.89 260.0 44.9 7.6 607 12652 0.00 2.60 0.00 0.000 6 0.000 0.052 2541 2235 1720

12965 0.89 260.0 23.3 6.8 622 12966 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2235 1720

13273 0.89 260.0 4.1 6.5 637 13278 0.00 2.60 0.00 0.000 4 0.000 0.061 2541 827 1720

13304 end climb: SURFACE_DEPTH_REACHED

state 13304 begin surface coast

13327 end surface coast: CONTROL_FINISHED_OK

state 13328 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	359	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	19	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	-2101220.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	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	174252,6438.479,-1030.948,40,2.5,59,-11.2	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	-55.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	174823,6438.479,-1030.981,12,3.4,31,-11.2	MHEAD_RNG_PITCHd_Wd	151.2,63981,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026931	ALTIM_BOTTOM_PING	400.5,71.8
SM_CCo	13352,153.62,0.676,0,0,509,557.32	_24V_AH	23.4,57.721
SM_GC	1.39,0.00,0.00,153.62,0.000,0.000,0.676,74,2233,509,-10.37,0.08,557.32	_10V_AH	10.1,28.288
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31567,639
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98291,0
HUMID	1930	CFSIZE	260165632,238751744
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	60	GPS	120808,213508,6437.172,-1028.135,42,1.3,42,-11.2
ALTIM_TOP_PING	19.4,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	101.81	SBE_CT	474	24	266.46
Roll_motor	127	83	249.23	SBE_O2	434	19	193.34
VBD_pump_during_apogee	361	1036	8775.77	WL_BB2F	482	105	1185.69
VBD_pump_during_surface	153	676	2431.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.51	nil	0	0	0.00
Iridium_during_connect	30	160	115.16	nil	0	0	0.00
Iridium_during_xfer	137	223	718.37
Transponder_ping	18	420	179.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.38
TT8	1173	19	234.74
LPSleep	10117	2	223.79
TT8_Active	691	19	138.19
TT8_Sampling	1403	39	564.14
TT8_CF8	453	45	209.89
TT8_Kalman	0	81	0.00
Analog_circuits	1413	12	171.31
GPS_charging	0	0	0.00
Compass	1357	8	109.67
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	-120.88	0.000	2	0.000	0.000	67	2244	2727
151	-0.85	-146.6	3.0	-2.3	6	188	11.77	2.67	-18.90	0.000	4	0.173	0.067	2139	814	3378
362	-0.79	-146.6	26.3	-8.4	14	368	0.00	2.58	0.00	0.000	6	0.000	0.048	2140	2233	3380
678	-0.68	-146.6	59.9	-11.5	30	680	0.20	0.00	0.00	0.000	6	0.101	0.000	2177	2234	3380
990	-0.68	-146.6	85.5	-7.7	45	994	0.00	2.65	0.00	0.000	4	0.000	0.058	2177	811	3381
1023	-0.73	-146.6	88.4	-8.3	46	1029	0.00	2.60	0.00	0.000	6	0.000	0.050	2177	2237	3381
1339	-0.73	-146.6	109.8	-5.7	62	1343	0.00	2.62	0.00	0.000	4	0.000	0.070	2177	3638	3381
1379	-0.73	-146.6	112.3	-6.6	64	1383	0.00	2.55	0.00	0.000	6	0.000	0.048	2178	2225	3381
1706	-0.73	-146.6	134.0	-6.9	80	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2223	3381
2015	-0.73	-146.6	154.0	-5.8	95	2019	0.00	2.67	0.00	0.000	4	0.000	0.072	2177	3637	3381
2048	-0.73	-146.6	156.1	-5.5	96	2054	0.00	2.58	0.00	0.000	6	0.000	0.049	2177	2223	3381
2365	-0.73	-146.6	169.4	-4.2	112	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2223	3381
2673	-0.73	-146.6	185.3	-6.1	127	2677	0.00	2.70	0.00	0.000	4	0.000	0.074	2178	3638	3381
2706	-0.73	-146.6	187.6	-7.1	128	2711	0.00	2.58	0.00	0.000	6	0.000	0.051	2177	2230	3381
3022	-0.73	-146.6	210.4	-7.2	144	3023	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2229	3382
3331	-0.77	-146.6	229.7	-6.0	159	3335	0.00	2.62	0.00	0.000	4	0.000	0.064	2178	818	3381
3358	-0.85	-146.6	231.5	-6.2	160	3363	0.17	2.60	0.00	0.000	6	0.048	0.054	2130	2229	3381
3675	-0.75	-146.6	257.0	-8.4	175	3677	0.17	0.00	0.00	0.000	6	0.093	0.000	2163	2229	3381
3983	-0.75	-146.6	278.0	-7.1	190	3987	0.00	2.70	0.00	0.000	4	0.000	0.082	2163	3637	3381
4011	-0.75	-146.6	280.3	-8.3	191	4015	0.00	2.60	0.00	0.000	6	0.000	0.057	2162	2231	3381
4327	-0.75	-146.6	304.5	-7.6	206	4331	0.00	2.65	0.00	0.000	4	0.000	0.069	2163	820	3381
4354	-0.75	-146.6	306.6	-7.1	207	4359	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2227	3380
4670	-0.75	-146.6	332.1	-8.5	222	4675	0.00	2.72	0.00	0.000	4	0.000	0.084	2163	3643	3379
4704	-0.75	-146.6	335.1	-9.1	223	4710	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2231	3379
5019	-0.75	-146.6	361.3	-8.1	239	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2231	3378
5329	-0.75	-146.6	385.2	-7.7	254	5333	0.00	2.72	0.00	0.000	4	0.000	0.084	2163	3640	3377
5356	-0.75	-146.6	387.5	-8.1	255	5360	0.00	2.62	0.00	0.000	6	0.000	0.059	2163	2229	3377
5672	-0.75	-146.6	411.6	-7.6	270	5673	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2229	3376
5982	-0.75	-146.6	435.5	-6.9	285	5983	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2229	3376
6290	-0.75	-146.6	457.4	-6.8	300	6291	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2229	3374
6370	end dive: BOTTOM_OBSTACLE_DETECTED
state	6370	begin apogee
6377	-0.31	0.0	463.4	7.2	304	6513	0.50	0.00	128.48	1.036	6	0.123	0.000	2256	2229	2781
6514	end apogee: CONTROL_FINISHED_OK
state	6514	begin climb
6517	0.85	146.6	469.4	0.0	311	6653	1.23	2.75	128.07	1.013	4	0.085	0.071	2509	827	2183
6769	0.80	184.7	465.9	5.0	322	6808	0.00	2.67	34.33	0.977	6	0.000	0.059	2509	2247	2028
7126	0.82	200.7	446.5	5.6	340	7148	0.00	2.78	15.73	0.933	4	0.000	0.082	2509	3652	1961
7165	0.82	200.7	444.0	6.2	341	7171	0.00	2.67	0.00	0.000	6	0.000	0.060	2509	2239	1962
7481	0.85	225.9	426.7	5.3	357	7506	0.00	0.00	23.20	0.963	6	0.000	0.000	2509	2239	1859
7811	0.86	238.8	408.2	5.6	373	7832	0.00	2.80	12.80	0.918	4	0.000	0.074	2509	826	1807
7856	0.89	260.0	405.6	5.4	375	7880	0.00	2.65	19.33	0.945	6	0.000	0.058	2509	2241	1722
8210	0.93	260.0	383.7	6.5	392	8212	0.12	0.00	0.00	0.000	6	0.066	0.000	2542	2241	1720
8518	0.93	260.0	359.0	8.1	407	8522	0.00	2.72	0.00	0.000	4	0.000	0.073	2541	825	1720
8539	0.93	260.0	357.1	8.6	408	8544	0.00	2.65	0.00	0.000	6	0.000	0.058	2541	2240	1720
8861	0.89	260.0	331.8	7.9	424	8862	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2240	1720
9170	0.89	260.0	307.2	7.8	439	9174	0.00	2.70	0.00	0.000	4	0.000	0.073	2541	825	1720
9210	0.89	260.0	304.0	8.4	441	9214	0.00	2.65	0.00	0.000	6	0.000	0.059	2541	2248	1720
9537	0.89	260.0	278.5	7.8	457	9541	0.00	2.72	0.00	0.000	4	0.000	0.072	2541	827	1719
9558	0.89	260.0	276.6	8.4	458	9562	0.00	2.65	0.00	0.000	6	0.000	0.059	2541	2246	1719
9878	0.89	260.0	251.4	7.9	474	9883	0.00	2.72	0.00	0.000	4	0.000	0.072	2541	822	1719
9918	0.89	260.0	248.0	8.8	476	9923	0.00	2.65	0.00	0.000	6	0.000	0.058	2541	2241	1719
10246	0.89	260.0	221.6	7.7	492	10250	0.00	2.70	0.00	0.000	4	0.000	0.071	2541	828	1719
10273	0.89	260.0	219.2	8.5	493	10277	0.00	2.62	0.00	0.000	6	0.000	0.058	2541	2240	1719
10588	0.89	260.0	195.6	7.1	508	10593	0.00	2.70	0.00	0.000	4	0.000	0.070	2541	820	1719
10622	0.89	260.0	193.3	6.8	509	10628	0.00	2.62	0.00	0.000	6	0.000	0.057	2541	2240	1718
10938	0.89	260.0	171.2	7.1	525	10939	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2240	1718
11247	0.89	260.0	149.2	7.1	540	11248	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2240	1718
11559	0.89	260.0	126.7	7.1	555	11563	0.00	2.67	0.00	0.000	4	0.000	0.065	2541	823	1718
11599	0.89	260.0	123.7	7.0	557	11603	0.00	2.62	0.00	0.000	6	0.000	0.054	2541	2249	1718
11925	0.89	260.0	99.0	7.6	573	11930	0.00	2.65	0.00	0.000	4	0.000	0.074	2541	3652	1719
11954	0.89	260.0	96.7	8.8	574	11958	0.00	2.60	0.00	0.000	6	0.000	0.056	2542	2237	1719
12271	0.89	260.0	75.5	7.4	589	12276	0.00	2.67	0.00	0.000	4	0.000	0.072	2541	3648	1719
12304	0.89	260.0	72.7	7.6	590	12310	0.00	2.58	0.00	0.000	6	0.000	0.054	2541	2240	1719
12620	0.89	260.0	47.2	7.5	606	12625	0.00	2.67	0.00	0.000	4	0.000	0.071	2541	3653	1720
12647	0.89	260.0	44.9	7.6	607	12652	0.00	2.60	0.00	0.000	6	0.000	0.052	2541	2235	1720
12965	0.89	260.0	23.3	6.8	622	12966	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2235	1720
13273	0.89	260.0	4.1	6.5	637	13278	0.00	2.60	0.00	0.000	4	0.000	0.061	2541	827	1720
13304	end climb: SURFACE_DEPTH_REACHED
state	13304	begin surface coast
13327	end surface coast: CONTROL_FINISHED_OK
state	13328	begin surface