Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 36 * 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 36 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 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 17 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 -2093250.6 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 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 300

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 -2093250.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 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 36 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 033228,6031.380,-558.660,27,3.5,46,-7.3 TGT_NAME WTB_1

_CALLS 1 TGT_LATLONG 6010.000,-605.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.106,-0.194

_SM_DEPTHo 1.37 KALMAN_X -8159.9,-200.6,242.6,-29457.7,-2515.7

_SM_ANGLEo -59.1 KALMAN_Y -21615.3,-385.9,-323.7,-7848.3,13000.1

GPS2 033729,6031.354,-558.516,12,3.4,31,-7.3 MHEAD_RNG_PITCHd_Wd 195.9,39996,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027107 ALTIM_BOTTOM_PING 475.5,39.0

SM_CCo 14339,0.00,0.000,0,0,1480,319.14 _24V_AH 23.6,8.540

SM_GC 1.37,10.62,0.00,0.00,0.032,0.000,0.000,66,2298,1480,-10.19,-0.06,319.14 _10V_AH 10.1,3.723

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34884,687

TT8_MAMPS 0.02301 CAP_FILE_SIZE 107121,0

HUMID 1874 CFSIZE 260165632,256524288

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 31 GPS 120608,073837,6028.692,-554.087,36,1.1,42,-7.2

ALTIM_TOP_PING 18.4,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 163 95.43 SBE_CT 504 24 285.88

Roll_motor 138 88 291.71 SBE_O2 464 19 208.47

VBD_pump_during_apogee 412 984 9575.19 WL_BB2F 473 105 1172.10

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.79 nil 0 0 0.00

Iridium_during_connect 27 160 105.28 nil 0 0 0.00

Iridium_during_xfer 132 223 694.97

Transponder_ping 12 420 118.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.40

TT8 1273 19 254.74

LPSleep 10882 2 240.70

TT8_Active 516 19 103.30

TT8_Sampling 1562 39 628.23

TT8_CF8 407 45 188.58

TT8_Kalman 33 81 27.56

Analog_circuits 1325 12 160.61

GPS_charging 0 0 0.00

Compass 1508 8 121.89

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

23 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -60.92 0.000 2 0.000 0.000 68 2304 2778

90 -0.85 -146.6 3.3 -4.6 3 125 11.25 2.70 -17.65 0.000 4 0.163 0.086 2107 3701 3379

339 -0.67 -146.6 34.3 -12.8 14 344 0.22 2.58 0.00 0.000 6 0.091 0.055 2152 2299 3379

661 -0.62 -146.6 62.8 -9.0 30 665 0.00 2.65 0.00 0.000 4 0.000 0.068 2150 878 3379

716 -0.62 -146.6 67.8 -8.6 32 722 0.00 2.60 0.00 0.000 6 0.000 0.057 2152 2292 3379

1032 -0.62 -146.6 93.3 -7.8 48 1036 0.00 2.65 0.00 0.000 4 0.000 0.066 2152 873 3379

1109 -0.62 -146.6 99.0 -7.0 51 1116 0.00 2.62 0.00 0.000 6 0.000 0.058 2152 2303 3379

1425 -0.62 -146.6 120.1 -6.5 67 1426 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2303 3380

1735 -0.62 -146.6 138.9 -5.8 82 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2304 3380

2044 -0.58 -146.6 157.7 -5.9 97 2046 0.10 0.00 0.00 0.000 6 0.101 0.000 2171 2303 3380

2353 -0.58 -146.6 174.2 -5.0 112 2357 0.00 2.65 0.00 0.000 4 0.000 0.067 2171 881 3381

2398 -0.65 -146.6 176.4 -5.2 114 2402 0.00 2.62 0.00 0.000 6 0.000 0.058 2171 2303 3380

2718 -0.65 -146.6 192.3 -4.9 130 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2303 3380

3028 -0.65 -146.6 212.4 -7.7 145 3029 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2303 3380

3337 -0.65 -146.6 239.2 -8.9 160 3341 0.00 2.65 0.00 0.000 4 0.000 0.068 2171 881 3381

3392 -0.73 -146.6 244.3 -8.9 162 3399 0.15 2.62 0.00 0.000 6 0.044 0.059 2123 2304 3380

3709 -0.62 -146.6 276.0 -9.0 178 3714 0.17 2.67 0.00 0.000 4 0.085 0.069 2162 876 3380

3742 -0.66 -146.6 278.7 -7.2 179 3748 0.00 2.62 0.00 0.000 6 0.000 0.060 2162 2302 3380

4058 -0.66 -146.6 299.9 -7.2 195 4059 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2302 3380

4368 -0.66 -146.6 326.3 -8.9 210 4372 0.00 2.67 0.00 0.000 4 0.000 0.070 2162 874 3380

4412 -0.72 -146.6 330.2 -8.7 212 4416 0.00 2.62 0.00 0.000 6 0.000 0.060 2162 2300 3380

4733 -0.72 -146.6 352.8 -5.9 228 4734 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3380

5042 -0.72 -146.6 372.2 -6.9 243 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3379

5351 -0.72 -146.6 393.7 -6.6 258 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2300 3380

5660 -0.72 -146.6 414.9 -7.8 273 5665 0.00 2.67 0.00 0.000 4 0.000 0.082 2162 3707 3379

5716 -0.72 -146.6 419.7 -8.7 275 5722 0.00 2.58 0.00 0.000 6 0.000 0.060 2162 2300 3379

6032 -0.72 -146.6 444.5 -8.0 291 6033 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3380

6342 -0.72 -146.6 460.0 -5.9 306 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2300 3379

6650 -0.72 -146.6 480.8 -6.5 321 6655 0.00 2.65 0.00 0.000 4 0.000 0.072 2162 875 3379

6697 -0.80 -146.6 483.4 -5.4 323 6702 0.17 2.65 0.00 0.000 6 0.044 0.062 2111 2303 3379

7016 end dive: BOTTOM_OBSTACLE_DETECTED

state 7016 begin apogee

7022 -0.31 0.0 506.0 7.6 339 7158 0.57 0.00 128.15 0.984 6 0.091 0.000 2228 2303 2781

7159 end apogee: CONTROL_FINISHED_OK

state 7159 begin climb

7161 0.85 146.6 511.7 0.0 346 7298 1.17 2.83 128.45 0.962 4 0.078 0.087 2477 3714 2183

7368 0.85 146.6 505.0 6.1 355 7373 0.00 2.67 0.00 0.000 6 0.000 0.062 2477 2302 2183

7696 0.94 236.4 489.5 3.5 371 7781 0.12 2.78 78.82 0.954 4 0.059 0.076 2507 880 1815

7829 0.94 236.4 482.6 6.7 377 7834 0.00 2.70 0.00 0.000 6 0.000 0.063 2507 2301 1815

8150 0.94 236.4 458.5 8.4 393 8155 0.00 2.75 0.00 0.000 4 0.000 0.076 2507 875 1814

8200 0.94 236.4 454.0 8.3 395 8204 0.00 2.70 0.00 0.000 6 0.000 0.063 2507 2304 1814

8515 0.94 236.4 432.4 6.3 410 8520 0.00 2.75 0.00 0.000 4 0.000 0.089 2507 3714 1814

8560 0.94 236.4 429.4 6.9 412 8564 0.00 2.67 0.00 0.000 6 0.000 0.065 2507 2298 1814

8881 0.95 238.9 412.1 5.9 428 8885 0.00 2.78 0.00 0.000 4 0.000 0.087 2507 3713 1814

8908 0.95 238.9 410.1 7.2 429 8912 0.00 2.67 0.00 0.000 6 0.000 0.066 2507 2295 1814

9223 0.95 238.9 387.5 7.5 444 9228 0.00 2.78 0.00 0.000 4 0.000 0.087 2507 3716 1813

9244 0.95 238.9 385.9 7.3 445 9249 0.00 2.67 0.00 0.000 6 0.000 0.064 2507 2297 1813

9566 0.95 238.9 365.5 6.2 461 9570 0.00 2.67 0.00 0.000 4 0.000 0.074 2507 873 1813

9598 0.95 238.9 363.4 6.5 462 9604 0.00 2.65 0.00 0.000 6 0.000 0.060 2507 2305 1812

9914 0.95 238.9 343.2 6.3 478 9918 0.00 2.67 0.00 0.000 4 0.000 0.071 2507 879 1812

9935 0.96 247.9 341.9 5.8 479 9952 0.00 2.65 10.50 0.801 6 0.000 0.058 2507 2302 1770

10261 0.96 247.9 320.1 6.9 495 10265 0.00 2.70 0.00 0.000 4 0.000 0.071 2507 871 1770

10288 0.96 247.9 318.3 6.3 496 10292 0.00 2.65 0.00 0.000 6 0.000 0.058 2507 2305 1769

10604 0.98 272.6 300.3 5.3 511 10633 0.00 2.78 22.58 0.831 4 0.000 0.069 2507 881 1669

10652 1.00 288.0 297.6 5.6 513 10671 0.00 2.65 14.55 0.793 6 0.000 0.057 2507 2301 1605

10996 1.05 293.8 277.0 5.8 530 11009 0.00 2.75 6.53 0.680 4 0.000 0.069 2507 880 1582

11050 1.12 319.2 273.7 5.3 532 11082 0.17 2.62 22.73 0.808 6 0.064 0.058 2544 2300 1478

11391 1.12 319.2 246.7 8.0 549 11395 0.00 2.70 0.00 0.000 4 0.000 0.071 2544 877 1479

11435 1.12 319.2 243.1 8.2 551 11439 0.00 2.65 0.00 0.000 6 0.000 0.057 2544 2304 1478

11755 1.12 319.2 219.6 7.3 567 11760 0.00 2.70 0.00 0.000 4 0.000 0.069 2544 873 1478

11783 1.12 319.2 217.6 6.8 568 11787 0.00 2.65 0.00 0.000 6 0.000 0.058 2544 2301 1478

12098 1.12 319.2 194.6 7.7 583 12100 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2301 1479

12408 1.12 319.2 167.4 9.0 598 12412 0.00 2.67 0.00 0.000 4 0.000 0.068 2544 874 1479

12474 1.12 319.2 160.7 9.8 601 12478 0.00 2.65 0.00 0.000 6 0.000 0.056 2544 2306 1480

12795 1.12 319.2 132.3 9.0 617 12796 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2306 1479

13104 1.12 319.2 110.1 7.5 632 13108 0.00 2.67 0.00 0.000 4 0.000 0.067 2544 877 1479

13176 1.12 319.2 103.9 8.0 635 13180 0.00 2.62 0.00 0.000 6 0.000 0.055 2544 2304 1479

13494 1.07 319.2 74.1 8.1 650 13498 0.00 2.67 0.00 0.000 4 0.000 0.067 2544 872 1479

13549 1.07 319.2 69.2 8.1 652 13555 0.00 2.60 0.00 0.000 6 0.000 0.055 2544 2303 1479

13865 1.07 319.2 34.0 10.9 668 13869 0.00 2.67 0.00 0.000 4 0.000 0.067 2544 870 1479

13920 1.07 319.2 28.6 9.1 670 13926 0.00 2.60 0.00 0.000 6 0.000 0.055 2545 2298 1479

14233 end climb: SURFACE_DEPTH_REACHED

state 14233 begin surface coast

14257 end surface coast: CONTROL_FINISHED_OK

state 14257 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	36	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	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	17	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	-2093250.6	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	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	033228,6031.380,-558.660,27,3.5,46,-7.3	TGT_NAME	WTB_1
_CALLS	1	TGT_LATLONG	6010.000,-605.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.106,-0.194
_SM_DEPTHo	1.37	KALMAN_X	-8159.9,-200.6,242.6,-29457.7,-2515.7
_SM_ANGLEo	-59.1	KALMAN_Y	-21615.3,-385.9,-323.7,-7848.3,13000.1
GPS2	033729,6031.354,-558.516,12,3.4,31,-7.3	MHEAD_RNG_PITCHd_Wd	195.9,39996,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027107	ALTIM_BOTTOM_PING	475.5,39.0
SM_CCo	14339,0.00,0.000,0,0,1480,319.14	_24V_AH	23.6,8.540
SM_GC	1.37,10.62,0.00,0.00,0.032,0.000,0.000,66,2298,1480,-10.19,-0.06,319.14	_10V_AH	10.1,3.723
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34884,687
TT8_MAMPS	0.02301	CAP_FILE_SIZE	107121,0
HUMID	1874	CFSIZE	260165632,256524288
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	31	GPS	120608,073837,6028.692,-554.087,36,1.1,42,-7.2
ALTIM_TOP_PING	18.4,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	163	95.43	SBE_CT	504	24	285.88
Roll_motor	138	88	291.71	SBE_O2	464	19	208.47
VBD_pump_during_apogee	412	984	9575.19	WL_BB2F	473	105	1172.10
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.79	nil	0	0	0.00
Iridium_during_connect	27	160	105.28	nil	0	0	0.00
Iridium_during_xfer	132	223	694.97
Transponder_ping	12	420	118.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.40
TT8	1273	19	254.74
LPSleep	10882	2	240.70
TT8_Active	516	19	103.30
TT8_Sampling	1562	39	628.23
TT8_CF8	407	45	188.58
TT8_Kalman	33	81	27.56
Analog_circuits	1325	12	160.61
GPS_charging	0	0	0.00
Compass	1508	8	121.89
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
23	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-60.92	0.000	2	0.000	0.000	68	2304	2778
90	-0.85	-146.6	3.3	-4.6	3	125	11.25	2.70	-17.65	0.000	4	0.163	0.086	2107	3701	3379
339	-0.67	-146.6	34.3	-12.8	14	344	0.22	2.58	0.00	0.000	6	0.091	0.055	2152	2299	3379
661	-0.62	-146.6	62.8	-9.0	30	665	0.00	2.65	0.00	0.000	4	0.000	0.068	2150	878	3379
716	-0.62	-146.6	67.8	-8.6	32	722	0.00	2.60	0.00	0.000	6	0.000	0.057	2152	2292	3379
1032	-0.62	-146.6	93.3	-7.8	48	1036	0.00	2.65	0.00	0.000	4	0.000	0.066	2152	873	3379
1109	-0.62	-146.6	99.0	-7.0	51	1116	0.00	2.62	0.00	0.000	6	0.000	0.058	2152	2303	3379
1425	-0.62	-146.6	120.1	-6.5	67	1426	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2303	3380
1735	-0.62	-146.6	138.9	-5.8	82	1736	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2304	3380
2044	-0.58	-146.6	157.7	-5.9	97	2046	0.10	0.00	0.00	0.000	6	0.101	0.000	2171	2303	3380
2353	-0.58	-146.6	174.2	-5.0	112	2357	0.00	2.65	0.00	0.000	4	0.000	0.067	2171	881	3381
2398	-0.65	-146.6	176.4	-5.2	114	2402	0.00	2.62	0.00	0.000	6	0.000	0.058	2171	2303	3380
2718	-0.65	-146.6	192.3	-4.9	130	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2303	3380
3028	-0.65	-146.6	212.4	-7.7	145	3029	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2303	3380
3337	-0.65	-146.6	239.2	-8.9	160	3341	0.00	2.65	0.00	0.000	4	0.000	0.068	2171	881	3381
3392	-0.73	-146.6	244.3	-8.9	162	3399	0.15	2.62	0.00	0.000	6	0.044	0.059	2123	2304	3380
3709	-0.62	-146.6	276.0	-9.0	178	3714	0.17	2.67	0.00	0.000	4	0.085	0.069	2162	876	3380
3742	-0.66	-146.6	278.7	-7.2	179	3748	0.00	2.62	0.00	0.000	6	0.000	0.060	2162	2302	3380
4058	-0.66	-146.6	299.9	-7.2	195	4059	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2302	3380
4368	-0.66	-146.6	326.3	-8.9	210	4372	0.00	2.67	0.00	0.000	4	0.000	0.070	2162	874	3380
4412	-0.72	-146.6	330.2	-8.7	212	4416	0.00	2.62	0.00	0.000	6	0.000	0.060	2162	2300	3380
4733	-0.72	-146.6	352.8	-5.9	228	4734	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3380
5042	-0.72	-146.6	372.2	-6.9	243	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3379
5351	-0.72	-146.6	393.7	-6.6	258	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2300	3380
5660	-0.72	-146.6	414.9	-7.8	273	5665	0.00	2.67	0.00	0.000	4	0.000	0.082	2162	3707	3379
5716	-0.72	-146.6	419.7	-8.7	275	5722	0.00	2.58	0.00	0.000	6	0.000	0.060	2162	2300	3379
6032	-0.72	-146.6	444.5	-8.0	291	6033	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3380
6342	-0.72	-146.6	460.0	-5.9	306	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2300	3379
6650	-0.72	-146.6	480.8	-6.5	321	6655	0.00	2.65	0.00	0.000	4	0.000	0.072	2162	875	3379
6697	-0.80	-146.6	483.4	-5.4	323	6702	0.17	2.65	0.00	0.000	6	0.044	0.062	2111	2303	3379
7016	end dive: BOTTOM_OBSTACLE_DETECTED
state	7016	begin apogee
7022	-0.31	0.0	506.0	7.6	339	7158	0.57	0.00	128.15	0.984	6	0.091	0.000	2228	2303	2781
7159	end apogee: CONTROL_FINISHED_OK
state	7159	begin climb
7161	0.85	146.6	511.7	0.0	346	7298	1.17	2.83	128.45	0.962	4	0.078	0.087	2477	3714	2183
7368	0.85	146.6	505.0	6.1	355	7373	0.00	2.67	0.00	0.000	6	0.000	0.062	2477	2302	2183
7696	0.94	236.4	489.5	3.5	371	7781	0.12	2.78	78.82	0.954	4	0.059	0.076	2507	880	1815
7829	0.94	236.4	482.6	6.7	377	7834	0.00	2.70	0.00	0.000	6	0.000	0.063	2507	2301	1815
8150	0.94	236.4	458.5	8.4	393	8155	0.00	2.75	0.00	0.000	4	0.000	0.076	2507	875	1814
8200	0.94	236.4	454.0	8.3	395	8204	0.00	2.70	0.00	0.000	6	0.000	0.063	2507	2304	1814
8515	0.94	236.4	432.4	6.3	410	8520	0.00	2.75	0.00	0.000	4	0.000	0.089	2507	3714	1814
8560	0.94	236.4	429.4	6.9	412	8564	0.00	2.67	0.00	0.000	6	0.000	0.065	2507	2298	1814
8881	0.95	238.9	412.1	5.9	428	8885	0.00	2.78	0.00	0.000	4	0.000	0.087	2507	3713	1814
8908	0.95	238.9	410.1	7.2	429	8912	0.00	2.67	0.00	0.000	6	0.000	0.066	2507	2295	1814
9223	0.95	238.9	387.5	7.5	444	9228	0.00	2.78	0.00	0.000	4	0.000	0.087	2507	3716	1813
9244	0.95	238.9	385.9	7.3	445	9249	0.00	2.67	0.00	0.000	6	0.000	0.064	2507	2297	1813
9566	0.95	238.9	365.5	6.2	461	9570	0.00	2.67	0.00	0.000	4	0.000	0.074	2507	873	1813
9598	0.95	238.9	363.4	6.5	462	9604	0.00	2.65	0.00	0.000	6	0.000	0.060	2507	2305	1812
9914	0.95	238.9	343.2	6.3	478	9918	0.00	2.67	0.00	0.000	4	0.000	0.071	2507	879	1812
9935	0.96	247.9	341.9	5.8	479	9952	0.00	2.65	10.50	0.801	6	0.000	0.058	2507	2302	1770
10261	0.96	247.9	320.1	6.9	495	10265	0.00	2.70	0.00	0.000	4	0.000	0.071	2507	871	1770
10288	0.96	247.9	318.3	6.3	496	10292	0.00	2.65	0.00	0.000	6	0.000	0.058	2507	2305	1769
10604	0.98	272.6	300.3	5.3	511	10633	0.00	2.78	22.58	0.831	4	0.000	0.069	2507	881	1669
10652	1.00	288.0	297.6	5.6	513	10671	0.00	2.65	14.55	0.793	6	0.000	0.057	2507	2301	1605
10996	1.05	293.8	277.0	5.8	530	11009	0.00	2.75	6.53	0.680	4	0.000	0.069	2507	880	1582
11050	1.12	319.2	273.7	5.3	532	11082	0.17	2.62	22.73	0.808	6	0.064	0.058	2544	2300	1478
11391	1.12	319.2	246.7	8.0	549	11395	0.00	2.70	0.00	0.000	4	0.000	0.071	2544	877	1479
11435	1.12	319.2	243.1	8.2	551	11439	0.00	2.65	0.00	0.000	6	0.000	0.057	2544	2304	1478
11755	1.12	319.2	219.6	7.3	567	11760	0.00	2.70	0.00	0.000	4	0.000	0.069	2544	873	1478
11783	1.12	319.2	217.6	6.8	568	11787	0.00	2.65	0.00	0.000	6	0.000	0.058	2544	2301	1478
12098	1.12	319.2	194.6	7.7	583	12100	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2301	1479
12408	1.12	319.2	167.4	9.0	598	12412	0.00	2.67	0.00	0.000	4	0.000	0.068	2544	874	1479
12474	1.12	319.2	160.7	9.8	601	12478	0.00	2.65	0.00	0.000	6	0.000	0.056	2544	2306	1480
12795	1.12	319.2	132.3	9.0	617	12796	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2306	1479
13104	1.12	319.2	110.1	7.5	632	13108	0.00	2.67	0.00	0.000	4	0.000	0.067	2544	877	1479
13176	1.12	319.2	103.9	8.0	635	13180	0.00	2.62	0.00	0.000	6	0.000	0.055	2544	2304	1479
13494	1.07	319.2	74.1	8.1	650	13498	0.00	2.67	0.00	0.000	4	0.000	0.067	2544	872	1479
13549	1.07	319.2	69.2	8.1	652	13555	0.00	2.60	0.00	0.000	6	0.000	0.055	2544	2303	1479
13865	1.07	319.2	34.0	10.9	668	13869	0.00	2.67	0.00	0.000	4	0.000	0.067	2544	870	1479
13920	1.07	319.2	28.6	9.1	670	13926	0.00	2.60	0.00	0.000	6	0.000	0.055	2545	2298	1479
14233	end climb: SURFACE_DEPTH_REACHED
state	14233	begin surface coast
14257	end surface coast: CONTROL_FINISHED_OK
state	14257	begin surface