Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 360 * 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 360 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 21 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 -2101255 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 -2101255

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 21 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 360 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 213508,6437.172,-1028.135,42,1.3,42,-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 1.25 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 214102,6437.193,-1028.179,17,1.4,34,-11.2 MHEAD_RNG_PITCHd_Wd 151.4,60705,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013113 ALTIM_BOTTOM_PING 450.7,31.3

SM_CCo 14012,129.80,0.671,1,0,508,557.32 _24V_AH 23.4,57.875

SM_GC 1.28,0.00,0.00,129.80,0.000,0.000,0.671,74,2236,508,-10.38,0.14,557.32 _10V_AH 10.1,28.358

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34840,675

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105876,0

HUMID 1934 CFSIZE 260165632,238686208

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 57 GPS 130808,013846,6434.599,-1026.906,40,3.1,59,-11.2

ALTIM_TOP_PING 19.8,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 104.95 SBE_CT 507 24 285.16

Roll_motor 131 83 258.09 SBE_O2 458 19 204.07

VBD_pump_during_apogee 410 1044 10030.97 WL_BB2F 498 105 1223.72

VBD_pump_during_surface 129 671 2038.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.33 nil 0 0 0.00

Iridium_during_connect 45 160 169.27 nil 0 0 0.00

Iridium_during_xfer 132 223 692.90

Transponder_ping 18 420 176.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.19

TT8 1244 19 248.97

LPSleep 10602 2 234.51

TT8_Active 712 19 142.57

TT8_Sampling 1462 39 588.07

TT8_CF8 480 45 222.49

TT8_Kalman 0 81 0.00

Analog_circuits 1475 12 178.85

GPS_charging 0 0 0.00

Compass 1414 8 114.28

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 0 152 0.00 0.00 -125.80 0.000 2 0.000 0.000 74 2235 2874

156 -0.85 -146.6 4.1 -3.3 7 186 11.73 2.62 -12.30 0.000 4 0.173 0.068 2140 814 3381

268 -0.76 -146.6 19.7 -10.5 12 273 0.12 2.58 0.00 0.000 6 0.101 0.047 2163 2230 3381

597 -0.71 -146.6 48.9 -8.8 28 601 0.00 2.62 0.00 0.000 4 0.000 0.067 2163 3638 3382

637 -0.66 -146.6 52.8 -9.0 30 642 0.12 2.55 0.00 0.000 6 0.099 0.046 2187 2228 3383

965 -0.66 -146.6 78.4 -8.1 46 969 0.00 2.65 0.00 0.000 4 0.000 0.067 2187 3638 3383

997 -0.66 -146.6 81.3 -8.6 47 1003 0.00 2.55 0.00 0.000 6 0.000 0.047 2187 2228 3383

1315 -0.70 -146.6 101.8 -6.2 63 1316 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2228 3383

1623 -0.75 -146.6 120.7 -6.1 78 1628 0.00 2.67 0.00 0.000 4 0.000 0.070 2187 3644 3384

1651 -0.79 -146.6 122.6 -6.9 79 1656 0.15 2.58 0.00 0.000 6 0.045 0.048 2148 2225 3384

1967 -0.73 -146.6 148.6 -9.3 94 1972 0.12 2.60 0.00 0.000 4 0.093 0.060 2172 819 3384

2001 -0.77 -146.6 151.6 -8.5 95 2008 0.00 2.58 0.00 0.000 6 0.000 0.050 2171 2229 3384

2317 -0.77 -146.6 177.1 -7.7 111 2322 0.00 2.65 0.00 0.000 4 0.000 0.074 2172 3638 3384

2374 -0.77 -146.6 181.7 -8.1 113 2380 0.00 2.58 0.00 0.000 6 0.000 0.050 2172 2227 3384

2691 -0.77 -146.6 200.2 -5.3 129 2695 0.00 2.62 0.00 0.000 4 0.000 0.062 2171 815 3383

2724 -0.84 -146.6 202.0 -5.5 130 2731 0.12 2.60 0.00 0.000 6 0.050 0.051 2134 2235 3384

3042 -0.74 -146.6 224.7 -7.9 146 3047 0.17 2.65 0.00 0.000 4 0.091 0.075 2171 3638 3384

3092 -0.74 -146.6 228.6 -7.3 148 3096 0.00 2.58 0.00 0.000 6 0.000 0.053 2171 2231 3384

3413 -0.74 -146.6 250.3 -7.4 164 3418 0.00 2.62 0.00 0.000 4 0.000 0.066 2171 821 3383

3448 -0.81 -146.6 252.9 -7.8 165 3454 0.00 2.58 0.00 0.000 6 0.000 0.054 2171 2229 3383

3764 -0.81 -146.6 273.9 -6.2 181 3768 0.00 2.70 0.00 0.000 4 0.000 0.080 2171 3643 3383

3808 -0.81 -146.6 276.8 -6.7 183 3812 0.00 2.60 0.00 0.000 6 0.000 0.055 2171 2232 3383

4129 -0.81 -146.6 295.1 -5.7 199 4134 0.00 2.65 0.00 0.000 4 0.000 0.068 2171 820 3382

4159 -0.88 -146.6 296.8 -6.0 200 4164 0.17 2.62 0.00 0.000 6 0.050 0.056 2125 2235 3382

4476 -0.76 -146.6 323.2 -9.0 215 4481 0.15 2.70 0.00 0.000 4 0.098 0.081 2157 3641 3382

4509 -0.76 -146.6 326.3 -8.3 216 4515 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2226 3381

4827 -0.76 -146.6 351.1 -8.0 232 4831 0.00 2.67 0.00 0.000 4 0.000 0.072 2157 811 3381

4860 -0.76 -146.6 354.1 -8.0 233 4866 0.00 2.65 0.00 0.000 6 0.000 0.058 2157 2235 3381

5176 -0.76 -146.6 379.6 -8.1 249 5177 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2235 3379

5485 -0.76 -146.6 402.2 -7.0 264 5486 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2235 3378

5794 -0.76 -146.6 422.5 -6.3 279 5798 0.00 2.67 0.00 0.000 4 0.000 0.071 2157 819 3377

5827 -0.76 -146.6 424.7 -6.5 280 5835 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2235 3377

6143 -0.76 -146.6 445.0 -6.6 296 6144 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2236 3377

6452 -0.76 -146.6 467.7 -7.6 311 6454 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2236 3376

6511 end dive: BOTTOM_OBSTACLE_DETECTED

state 6511 begin apogee

6519 -0.31 0.0 472.4 7.5 314 6654 0.52 0.00 128.98 1.045 6 0.104 0.000 2260 2235 2781

6655 end apogee: CONTROL_FINISHED_OK

state 6655 begin climb

6658 0.85 146.6 478.6 0.0 321 6794 1.17 2.75 128.30 1.022 4 0.084 0.068 2505 826 2183

6910 0.83 192.1 474.2 4.8 332 6957 0.00 2.65 41.12 0.989 6 0.000 0.058 2505 2240 1997

7267 0.84 196.2 454.5 5.9 350 7273 0.00 0.00 5.07 0.742 6 0.000 0.000 2505 2240 1980

7578 0.84 201.4 436.7 5.9 365 7586 0.00 0.00 6.30 0.811 6 0.000 0.000 2505 2240 1960

7911 0.84 202.6 416.8 6.0 381 7915 0.00 2.70 0.00 0.000 4 0.000 0.071 2504 827 1959

7954 0.84 202.6 414.0 6.2 383 7959 0.00 2.65 0.00 0.000 6 0.000 0.059 2505 2241 1958

8277 0.86 215.7 395.4 5.6 399 8295 0.00 0.00 14.02 0.933 6 0.000 0.000 2505 2241 1900

8605 0.88 237.2 377.3 5.4 415 8627 0.00 0.00 20.08 0.950 6 0.000 0.000 2505 2241 1813

8936 0.95 257.1 358.4 5.5 431 8961 0.15 2.78 18.55 0.934 4 0.071 0.072 2540 833 1732

8995 0.91 257.1 354.1 7.1 433 9001 0.00 2.65 0.00 0.000 6 0.000 0.059 2540 2239 1730

9311 0.86 257.1 331.4 7.3 449 9313 0.12 0.00 0.00 0.000 6 0.105 0.000 2517 2239 1731

9621 0.86 257.1 311.5 6.3 464 9625 0.00 2.70 0.00 0.000 4 0.000 0.073 2517 827 1730

9661 0.86 257.1 308.7 7.2 466 9665 0.00 2.65 0.00 0.000 6 0.000 0.059 2517 2240 1730

9987 0.86 257.1 287.1 6.9 482 9988 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2240 1730

10297 0.86 257.1 266.4 6.7 497 10301 0.00 2.70 0.00 0.000 4 0.000 0.084 2518 3650 1730

10324 0.86 257.1 264.3 6.7 498 10328 0.00 2.62 0.00 0.000 6 0.000 0.061 2517 2238 1729

10640 0.88 276.6 245.4 5.5 513 10659 0.00 0.00 17.45 0.877 6 0.000 0.000 2517 2238 1653

10970 0.97 311.0 228.8 5.1 529 11007 0.12 2.75 30.48 0.884 4 0.061 0.071 2547 823 1512

11030 0.97 311.0 224.7 7.0 531 11035 0.00 2.67 0.00 0.000 6 0.000 0.057 2548 2245 1511

11358 0.97 311.0 201.7 7.6 547 11359 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2246 1511

11666 0.97 311.0 177.2 8.0 562 11671 0.00 2.67 0.00 0.000 4 0.000 0.067 2547 828 1511

11683 0.97 311.0 175.8 8.1 563 11688 0.00 2.60 0.00 0.000 6 0.000 0.054 2547 2241 1510

12011 0.97 311.0 147.4 8.7 579 12016 0.00 2.67 0.00 0.000 4 0.000 0.076 2547 3648 1510

12039 0.97 311.0 144.8 9.1 580 12043 0.00 2.60 0.00 0.000 6 0.000 0.056 2546 2239 1511

12356 0.97 311.0 120.2 7.8 595 12357 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2239 1510

12664 0.97 311.0 95.7 7.8 610 12665 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2239 1511

12974 0.97 311.0 72.2 7.4 625 12978 0.00 2.67 0.00 0.000 4 0.000 0.072 2547 3649 1512

12991 0.97 311.0 70.8 7.8 626 12996 0.00 2.60 0.00 0.000 6 0.000 0.053 2547 2234 1512

13319 0.97 311.0 48.3 7.0 642 13323 0.00 2.62 0.00 0.000 4 0.000 0.064 2547 826 1512

13383 0.97 311.0 43.4 8.2 645 13388 0.00 2.60 0.00 0.000 6 0.000 0.050 2548 2249 1512

13710 0.97 311.0 18.2 7.7 661 13714 0.00 2.62 0.00 0.000 4 0.000 0.069 2547 3649 1513

13732 1.02 311.0 16.4 7.0 662 13737 0.00 2.58 0.00 0.000 6 0.000 0.051 2547 2238 1513

13968 end climb: SURFACE_DEPTH_REACHED

state 13968 begin surface coast

13990 end surface coast: CONTROL_FINISHED_OK

state 13990 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	360	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	21	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	-2101255	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	213508,6437.172,-1028.135,42,1.3,42,-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	1.25	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	214102,6437.193,-1028.179,17,1.4,34,-11.2	MHEAD_RNG_PITCHd_Wd	151.4,60705,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013113	ALTIM_BOTTOM_PING	450.7,31.3
SM_CCo	14012,129.80,0.671,1,0,508,557.32	_24V_AH	23.4,57.875
SM_GC	1.28,0.00,0.00,129.80,0.000,0.000,0.671,74,2236,508,-10.38,0.14,557.32	_10V_AH	10.1,28.358
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34840,675
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105876,0
HUMID	1934	CFSIZE	260165632,238686208
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	57	GPS	130808,013846,6434.599,-1026.906,40,3.1,59,-11.2
ALTIM_TOP_PING	19.8,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	104.95	SBE_CT	507	24	285.16
Roll_motor	131	83	258.09	SBE_O2	458	19	204.07
VBD_pump_during_apogee	410	1044	10030.97	WL_BB2F	498	105	1223.72
VBD_pump_during_surface	129	671	2038.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.33	nil	0	0	0.00
Iridium_during_connect	45	160	169.27	nil	0	0	0.00
Iridium_during_xfer	132	223	692.90
Transponder_ping	18	420	176.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.19
TT8	1244	19	248.97
LPSleep	10602	2	234.51
TT8_Active	712	19	142.57
TT8_Sampling	1462	39	588.07
TT8_CF8	480	45	222.49
TT8_Kalman	0	81	0.00
Analog_circuits	1475	12	178.85
GPS_charging	0	0	0.00
Compass	1414	8	114.28
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	152	0.00	0.00	-125.80	0.000	2	0.000	0.000	74	2235	2874
156	-0.85	-146.6	4.1	-3.3	7	186	11.73	2.62	-12.30	0.000	4	0.173	0.068	2140	814	3381
268	-0.76	-146.6	19.7	-10.5	12	273	0.12	2.58	0.00	0.000	6	0.101	0.047	2163	2230	3381
597	-0.71	-146.6	48.9	-8.8	28	601	0.00	2.62	0.00	0.000	4	0.000	0.067	2163	3638	3382
637	-0.66	-146.6	52.8	-9.0	30	642	0.12	2.55	0.00	0.000	6	0.099	0.046	2187	2228	3383
965	-0.66	-146.6	78.4	-8.1	46	969	0.00	2.65	0.00	0.000	4	0.000	0.067	2187	3638	3383
997	-0.66	-146.6	81.3	-8.6	47	1003	0.00	2.55	0.00	0.000	6	0.000	0.047	2187	2228	3383
1315	-0.70	-146.6	101.8	-6.2	63	1316	0.00	0.00	0.00	0.000	6	0.000	0.000	2187	2228	3383
1623	-0.75	-146.6	120.7	-6.1	78	1628	0.00	2.67	0.00	0.000	4	0.000	0.070	2187	3644	3384
1651	-0.79	-146.6	122.6	-6.9	79	1656	0.15	2.58	0.00	0.000	6	0.045	0.048	2148	2225	3384
1967	-0.73	-146.6	148.6	-9.3	94	1972	0.12	2.60	0.00	0.000	4	0.093	0.060	2172	819	3384
2001	-0.77	-146.6	151.6	-8.5	95	2008	0.00	2.58	0.00	0.000	6	0.000	0.050	2171	2229	3384
2317	-0.77	-146.6	177.1	-7.7	111	2322	0.00	2.65	0.00	0.000	4	0.000	0.074	2172	3638	3384
2374	-0.77	-146.6	181.7	-8.1	113	2380	0.00	2.58	0.00	0.000	6	0.000	0.050	2172	2227	3384
2691	-0.77	-146.6	200.2	-5.3	129	2695	0.00	2.62	0.00	0.000	4	0.000	0.062	2171	815	3383
2724	-0.84	-146.6	202.0	-5.5	130	2731	0.12	2.60	0.00	0.000	6	0.050	0.051	2134	2235	3384
3042	-0.74	-146.6	224.7	-7.9	146	3047	0.17	2.65	0.00	0.000	4	0.091	0.075	2171	3638	3384
3092	-0.74	-146.6	228.6	-7.3	148	3096	0.00	2.58	0.00	0.000	6	0.000	0.053	2171	2231	3384
3413	-0.74	-146.6	250.3	-7.4	164	3418	0.00	2.62	0.00	0.000	4	0.000	0.066	2171	821	3383
3448	-0.81	-146.6	252.9	-7.8	165	3454	0.00	2.58	0.00	0.000	6	0.000	0.054	2171	2229	3383
3764	-0.81	-146.6	273.9	-6.2	181	3768	0.00	2.70	0.00	0.000	4	0.000	0.080	2171	3643	3383
3808	-0.81	-146.6	276.8	-6.7	183	3812	0.00	2.60	0.00	0.000	6	0.000	0.055	2171	2232	3383
4129	-0.81	-146.6	295.1	-5.7	199	4134	0.00	2.65	0.00	0.000	4	0.000	0.068	2171	820	3382
4159	-0.88	-146.6	296.8	-6.0	200	4164	0.17	2.62	0.00	0.000	6	0.050	0.056	2125	2235	3382
4476	-0.76	-146.6	323.2	-9.0	215	4481	0.15	2.70	0.00	0.000	4	0.098	0.081	2157	3641	3382
4509	-0.76	-146.6	326.3	-8.3	216	4515	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2226	3381
4827	-0.76	-146.6	351.1	-8.0	232	4831	0.00	2.67	0.00	0.000	4	0.000	0.072	2157	811	3381
4860	-0.76	-146.6	354.1	-8.0	233	4866	0.00	2.65	0.00	0.000	6	0.000	0.058	2157	2235	3381
5176	-0.76	-146.6	379.6	-8.1	249	5177	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2235	3379
5485	-0.76	-146.6	402.2	-7.0	264	5486	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2235	3378
5794	-0.76	-146.6	422.5	-6.3	279	5798	0.00	2.67	0.00	0.000	4	0.000	0.071	2157	819	3377
5827	-0.76	-146.6	424.7	-6.5	280	5835	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2235	3377
6143	-0.76	-146.6	445.0	-6.6	296	6144	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2236	3377
6452	-0.76	-146.6	467.7	-7.6	311	6454	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2236	3376
6511	end dive: BOTTOM_OBSTACLE_DETECTED
state	6511	begin apogee
6519	-0.31	0.0	472.4	7.5	314	6654	0.52	0.00	128.98	1.045	6	0.104	0.000	2260	2235	2781
6655	end apogee: CONTROL_FINISHED_OK
state	6655	begin climb
6658	0.85	146.6	478.6	0.0	321	6794	1.17	2.75	128.30	1.022	4	0.084	0.068	2505	826	2183
6910	0.83	192.1	474.2	4.8	332	6957	0.00	2.65	41.12	0.989	6	0.000	0.058	2505	2240	1997
7267	0.84	196.2	454.5	5.9	350	7273	0.00	0.00	5.07	0.742	6	0.000	0.000	2505	2240	1980
7578	0.84	201.4	436.7	5.9	365	7586	0.00	0.00	6.30	0.811	6	0.000	0.000	2505	2240	1960
7911	0.84	202.6	416.8	6.0	381	7915	0.00	2.70	0.00	0.000	4	0.000	0.071	2504	827	1959
7954	0.84	202.6	414.0	6.2	383	7959	0.00	2.65	0.00	0.000	6	0.000	0.059	2505	2241	1958
8277	0.86	215.7	395.4	5.6	399	8295	0.00	0.00	14.02	0.933	6	0.000	0.000	2505	2241	1900
8605	0.88	237.2	377.3	5.4	415	8627	0.00	0.00	20.08	0.950	6	0.000	0.000	2505	2241	1813
8936	0.95	257.1	358.4	5.5	431	8961	0.15	2.78	18.55	0.934	4	0.071	0.072	2540	833	1732
8995	0.91	257.1	354.1	7.1	433	9001	0.00	2.65	0.00	0.000	6	0.000	0.059	2540	2239	1730
9311	0.86	257.1	331.4	7.3	449	9313	0.12	0.00	0.00	0.000	6	0.105	0.000	2517	2239	1731
9621	0.86	257.1	311.5	6.3	464	9625	0.00	2.70	0.00	0.000	4	0.000	0.073	2517	827	1730
9661	0.86	257.1	308.7	7.2	466	9665	0.00	2.65	0.00	0.000	6	0.000	0.059	2517	2240	1730
9987	0.86	257.1	287.1	6.9	482	9988	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2240	1730
10297	0.86	257.1	266.4	6.7	497	10301	0.00	2.70	0.00	0.000	4	0.000	0.084	2518	3650	1730
10324	0.86	257.1	264.3	6.7	498	10328	0.00	2.62	0.00	0.000	6	0.000	0.061	2517	2238	1729
10640	0.88	276.6	245.4	5.5	513	10659	0.00	0.00	17.45	0.877	6	0.000	0.000	2517	2238	1653
10970	0.97	311.0	228.8	5.1	529	11007	0.12	2.75	30.48	0.884	4	0.061	0.071	2547	823	1512
11030	0.97	311.0	224.7	7.0	531	11035	0.00	2.67	0.00	0.000	6	0.000	0.057	2548	2245	1511
11358	0.97	311.0	201.7	7.6	547	11359	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2246	1511
11666	0.97	311.0	177.2	8.0	562	11671	0.00	2.67	0.00	0.000	4	0.000	0.067	2547	828	1511
11683	0.97	311.0	175.8	8.1	563	11688	0.00	2.60	0.00	0.000	6	0.000	0.054	2547	2241	1510
12011	0.97	311.0	147.4	8.7	579	12016	0.00	2.67	0.00	0.000	4	0.000	0.076	2547	3648	1510
12039	0.97	311.0	144.8	9.1	580	12043	0.00	2.60	0.00	0.000	6	0.000	0.056	2546	2239	1511
12356	0.97	311.0	120.2	7.8	595	12357	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2239	1510
12664	0.97	311.0	95.7	7.8	610	12665	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2239	1511
12974	0.97	311.0	72.2	7.4	625	12978	0.00	2.67	0.00	0.000	4	0.000	0.072	2547	3649	1512
12991	0.97	311.0	70.8	7.8	626	12996	0.00	2.60	0.00	0.000	6	0.000	0.053	2547	2234	1512
13319	0.97	311.0	48.3	7.0	642	13323	0.00	2.62	0.00	0.000	4	0.000	0.064	2547	826	1512
13383	0.97	311.0	43.4	8.2	645	13388	0.00	2.60	0.00	0.000	6	0.000	0.050	2548	2249	1512
13710	0.97	311.0	18.2	7.7	661	13714	0.00	2.62	0.00	0.000	4	0.000	0.069	2547	3649	1513
13732	1.02	311.0	16.4	7.0	662	13737	0.00	2.58	0.00	0.000	6	0.000	0.051	2547	2238	1513
13968	end climb: SURFACE_DEPTH_REACHED
state	13968	begin surface coast
13990	end surface coast: CONTROL_FINISHED_OK
state	13990	begin surface