Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 365 * 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 365 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 23 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 -2101390.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2330 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2101390.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 23 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 365 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 184637,6426.747,-1010.002,37,2.0,48,-11.0 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 1.31 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 185205,6426.755,-1009.776,13,2.1,32,-11.0 MHEAD_RNG_PITCHd_Wd 149.7,36371,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014065 ALTIM_BOTTOM_PING 525.4,18.9

SM_CCo 15215,126.90,0.640,0,0,507,557.32 _24V_AH 23.4,58.651

SM_GC 1.30,0.00,0.00,126.90,0.000,0.000,0.640,71,2244,507,-10.39,0.40,557.32 _10V_AH 10.1,28.722

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37937,730

TT8_MAMPS 0.02301 CAP_FILE_SIZE 108121,0

HUMID 1905 CFSIZE 260165632,238403584

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 54 GPS 130808,230926,6425.141,-1002.686,42,1.8,42,-10.9

ALTIM_TOP_PING 18.6,17.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 104.69 SBE_CT 544 24 305.65

Roll_motor 110 82 211.82 SBE_O2 497 19 221.29

VBD_pump_during_apogee 404 1077 10209.59 WL_BB2F 488 105 1199.48

VBD_pump_during_surface 126 639 1899.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.64 nil 0 0 0.00

Iridium_during_connect 28 160 105.87 nil 0 0 0.00

Iridium_during_xfer 138 223 720.99

Transponder_ping 18 420 181.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.74

TT8 1326 19 265.27

LPSleep 11661 2 257.93

TT8_Active 689 19 137.98

TT8_Sampling 1537 39 618.05

TT8_CF8 456 45 211.16

TT8_Kalman 0 81 0.00

Analog_circuits 1467 12 177.88

GPS_charging 0 0 0.00

Compass 1484 8 119.98

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 -121.00 0.000 2 0.000 0.000 74 2236 2883

151 -0.85 -146.6 3.7 -2.9 6 181 11.73 2.62 -12.43 0.000 4 0.173 0.067 2140 827 3381

397 -0.78 -146.6 31.6 -9.8 17 401 0.00 2.55 0.00 0.000 6 0.000 0.044 2140 2235 3381

724 -0.66 -146.6 64.1 -10.4 33 729 0.20 2.62 0.00 0.000 4 0.095 0.064 2182 3647 3382

775 -0.66 -146.6 69.0 -9.2 35 779 0.00 2.55 0.00 0.000 6 0.000 0.043 2182 2224 3383

1091 -0.66 -146.6 98.1 -9.4 50 1095 0.00 2.58 0.00 0.000 4 0.000 0.055 2182 820 3382

1113 -0.71 -146.6 100.1 -8.9 51 1117 0.00 2.55 0.00 0.000 6 0.000 0.044 2182 2232 3383

1436 -0.71 -146.6 129.2 -8.9 67 1441 0.00 2.62 0.00 0.000 4 0.000 0.066 2182 3644 3383

1464 -0.71 -146.6 132.1 -9.5 68 1468 0.00 2.55 0.00 0.000 6 0.000 0.044 2182 2228 3383

1779 -0.71 -146.6 159.0 -8.2 83 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2184 2228 3383

2089 -0.71 -146.6 179.9 -6.2 98 2094 0.00 2.62 0.00 0.000 4 0.000 0.064 2182 3637 3383

2118 -0.71 -146.6 182.0 -7.0 99 2123 0.00 2.53 0.00 0.000 6 0.000 0.044 2183 2230 3383

2434 -0.76 -146.6 203.3 -7.0 114 2435 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2230 3382

2745 -0.81 -146.6 226.2 -7.2 129 2747 0.15 0.00 0.00 0.000 6 0.044 0.000 2136 2230 3383

3053 -0.71 -146.6 248.8 -6.5 144 3058 0.15 2.62 0.00 0.000 4 0.090 0.068 2169 3637 3383

3086 -0.71 -146.6 250.8 -6.0 145 3093 0.00 2.55 0.00 0.000 6 0.000 0.048 2169 2227 3383

3403 -0.71 -146.6 269.7 -6.4 161 3404 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2227 3383

3712 -0.71 -146.6 287.7 -5.5 176 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2227 3383

4021 -0.71 -146.6 303.4 -5.2 191 4026 0.00 2.67 0.00 0.000 4 0.000 0.074 2169 3636 3383

4067 -0.71 -146.6 306.2 -5.8 193 4071 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2225 3382

4387 -0.71 -146.6 327.7 -7.3 209 4392 0.00 2.62 0.00 0.000 4 0.000 0.064 2168 816 3382

4421 -0.79 -146.6 330.4 -7.8 210 4428 0.00 2.58 0.00 0.000 6 0.000 0.052 2169 2227 3382

4738 -0.79 -146.6 355.3 -8.4 226 4742 0.00 2.67 0.00 0.000 4 0.000 0.077 2169 3640 3381

4770 -0.79 -146.6 358.4 -9.5 227 4777 0.00 2.60 0.00 0.000 6 0.000 0.052 2169 2224 3381

5086 -0.79 -146.6 385.0 -8.1 243 5087 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2224 3380

5396 -0.79 -146.6 406.3 -6.5 258 5400 0.00 2.72 0.00 0.000 4 0.000 0.079 2169 3640 3379

5429 -0.79 -146.6 408.7 -7.8 259 5435 0.00 2.60 0.00 0.000 6 0.000 0.054 2169 2229 3379

5744 -0.79 -146.6 429.6 -7.1 275 5745 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2228 3378

6055 -0.83 -146.6 451.9 -7.4 290 6059 0.00 2.72 0.00 0.000 4 0.000 0.081 2169 3643 3377

6076 -0.83 -146.6 453.7 -7.3 291 6081 0.00 2.62 0.00 0.000 6 0.000 0.055 2169 2225 3376

6402 -0.88 -146.6 475.8 -7.0 307 6404 0.15 0.00 0.00 0.000 6 0.058 0.000 2131 2224 3375

6711 -0.80 -146.6 501.1 -8.0 322 6712 0.12 0.00 0.00 0.000 6 0.104 0.000 2153 2225 3374

7016 -0.80 -146.6 523.5 -7.0 337 7020 0.00 2.72 0.00 0.000 4 0.000 0.082 2153 3638 3373

7072 -0.80 -146.6 527.9 -7.8 339 7078 0.00 2.60 0.00 0.000 6 0.000 0.056 2153 2229 3373

7178 end dive: BOTTOM_OBSTACLE_DETECTED

state 7179 begin apogee

7185 -0.31 0.0 535.5 6.9 345 7321 0.52 0.00 129.73 1.078 6 0.097 0.000 2258 2228 2781

7322 end apogee: CONTROL_FINISHED_OK

state 7322 begin climb

7325 0.85 146.6 541.6 0.0 352 7462 1.20 2.80 129.00 1.055 4 0.079 0.078 2508 3648 2184

7606 0.80 176.7 533.5 5.2 364 7643 0.00 2.65 28.23 1.009 6 0.000 0.058 2508 2234 2059

7953 0.83 206.8 514.1 5.2 381 7983 0.00 0.00 27.55 1.010 6 0.000 0.000 2508 2234 1936

8281 0.83 211.9 496.1 5.9 397 8289 0.00 0.00 5.88 0.811 6 0.000 0.000 2508 2234 1917

8591 0.85 228.7 479.8 5.5 412 8610 0.00 0.00 16.40 0.979 6 0.000 0.000 2508 2234 1848

8921 0.87 240.7 460.9 5.7 428 8935 0.00 0.00 12.12 0.943 6 0.000 0.000 2508 2234 1799

9246 0.87 240.7 441.6 6.1 443 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2234 1798

9556 0.87 243.3 423.3 5.9 458 9557 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2234 1797

9866 0.87 246.0 405.2 5.9 473 9874 0.00 0.00 5.95 0.811 6 0.000 0.000 2508 2234 1776

10176 0.87 247.8 386.4 6.0 488 10180 0.00 2.75 0.00 0.000 4 0.000 0.081 2508 3653 1777

10209 0.87 247.8 384.1 6.6 489 10215 0.00 2.65 0.00 0.000 6 0.000 0.058 2508 2233 1776

10525 0.87 247.8 364.5 6.6 505 10529 0.00 2.67 0.00 0.000 4 0.000 0.073 2508 829 1776

10564 0.87 247.8 361.7 7.1 507 10569 0.00 2.62 0.00 0.000 6 0.000 0.056 2508 2241 1776

10892 0.92 247.8 336.1 7.8 523 10893 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2241 1776

11201 0.92 247.8 314.3 6.3 538 11202 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2241 1776

11510 1.02 304.0 299.6 4.5 553 11567 0.17 2.78 50.03 0.940 4 0.080 0.066 2550 823 1540

11597 0.98 304.0 293.9 7.4 556 11601 0.00 2.65 0.00 0.000 6 0.000 0.054 2550 2241 1539

11917 0.98 304.0 265.1 10.1 572 11922 0.00 2.67 0.00 0.000 4 0.000 0.075 2550 3650 1539

11957 0.98 304.0 260.7 12.2 574 11962 0.00 2.62 0.00 0.000 6 0.000 0.056 2550 2239 1539

12285 0.93 304.0 228.6 9.1 590 12286 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2239 1539

12593 0.89 304.0 198.6 9.6 605 12595 0.15 0.00 0.00 0.000 6 0.101 0.000 2522 2239 1539

12902 0.93 304.0 175.7 6.6 620 12903 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2239 1539

13212 0.98 304.0 151.9 8.4 635 13213 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2239 1539

13521 1.03 304.0 129.8 6.5 650 13526 0.15 2.62 0.00 0.000 4 0.050 0.058 2560 818 1540

13549 1.03 304.0 127.7 7.5 651 13553 0.00 2.58 0.00 0.000 6 0.000 0.045 2560 2244 1540

13867 0.96 304.0 104.8 7.4 666 13868 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2244 1541

14174 0.90 304.0 78.2 8.9 681 14179 0.15 2.62 0.00 0.000 4 0.091 0.058 2527 826 1542

14193 0.90 304.0 76.8 8.3 682 14198 0.00 2.55 0.00 0.000 6 0.000 0.044 2527 2242 1542

14522 0.97 304.0 55.2 6.5 698 14526 0.00 2.62 0.00 0.000 4 0.000 0.058 2528 826 1543

14555 1.06 304.0 52.5 6.8 699 14562 0.15 2.55 0.00 0.000 6 0.048 0.044 2562 2245 1543

14871 1.02 304.0 25.2 8.8 715 14875 0.00 2.62 0.00 0.000 4 0.000 0.057 2562 826 1544

14898 1.02 304.0 22.7 8.3 716 14903 0.00 2.55 0.00 0.000 6 0.000 0.043 2562 2243 1544

15170 end climb: SURFACE_DEPTH_REACHED

state 15170 begin surface coast

15192 end surface coast: CONTROL_FINISHED_OK

state 15192 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	365	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	23	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	-2101390.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2330	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	184637,6426.747,-1010.002,37,2.0,48,-11.0	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	1.31	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	185205,6426.755,-1009.776,13,2.1,32,-11.0	MHEAD_RNG_PITCHd_Wd	149.7,36371,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014065	ALTIM_BOTTOM_PING	525.4,18.9
SM_CCo	15215,126.90,0.640,0,0,507,557.32	_24V_AH	23.4,58.651
SM_GC	1.30,0.00,0.00,126.90,0.000,0.000,0.640,71,2244,507,-10.39,0.40,557.32	_10V_AH	10.1,28.722
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37937,730
TT8_MAMPS	0.02301	CAP_FILE_SIZE	108121,0
HUMID	1905	CFSIZE	260165632,238403584
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	54	GPS	130808,230926,6425.141,-1002.686,42,1.8,42,-10.9
ALTIM_TOP_PING	18.6,17.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	104.69	SBE_CT	544	24	305.65
Roll_motor	110	82	211.82	SBE_O2	497	19	221.29
VBD_pump_during_apogee	404	1077	10209.59	WL_BB2F	488	105	1199.48
VBD_pump_during_surface	126	639	1899.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.64	nil	0	0	0.00
Iridium_during_connect	28	160	105.87	nil	0	0	0.00
Iridium_during_xfer	138	223	720.99
Transponder_ping	18	420	181.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.74
TT8	1326	19	265.27
LPSleep	11661	2	257.93
TT8_Active	689	19	137.98
TT8_Sampling	1537	39	618.05
TT8_CF8	456	45	211.16
TT8_Kalman	0	81	0.00
Analog_circuits	1467	12	177.88
GPS_charging	0	0	0.00
Compass	1484	8	119.98
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	-121.00	0.000	2	0.000	0.000	74	2236	2883
151	-0.85	-146.6	3.7	-2.9	6	181	11.73	2.62	-12.43	0.000	4	0.173	0.067	2140	827	3381
397	-0.78	-146.6	31.6	-9.8	17	401	0.00	2.55	0.00	0.000	6	0.000	0.044	2140	2235	3381
724	-0.66	-146.6	64.1	-10.4	33	729	0.20	2.62	0.00	0.000	4	0.095	0.064	2182	3647	3382
775	-0.66	-146.6	69.0	-9.2	35	779	0.00	2.55	0.00	0.000	6	0.000	0.043	2182	2224	3383
1091	-0.66	-146.6	98.1	-9.4	50	1095	0.00	2.58	0.00	0.000	4	0.000	0.055	2182	820	3382
1113	-0.71	-146.6	100.1	-8.9	51	1117	0.00	2.55	0.00	0.000	6	0.000	0.044	2182	2232	3383
1436	-0.71	-146.6	129.2	-8.9	67	1441	0.00	2.62	0.00	0.000	4	0.000	0.066	2182	3644	3383
1464	-0.71	-146.6	132.1	-9.5	68	1468	0.00	2.55	0.00	0.000	6	0.000	0.044	2182	2228	3383
1779	-0.71	-146.6	159.0	-8.2	83	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2184	2228	3383
2089	-0.71	-146.6	179.9	-6.2	98	2094	0.00	2.62	0.00	0.000	4	0.000	0.064	2182	3637	3383
2118	-0.71	-146.6	182.0	-7.0	99	2123	0.00	2.53	0.00	0.000	6	0.000	0.044	2183	2230	3383
2434	-0.76	-146.6	203.3	-7.0	114	2435	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2230	3382
2745	-0.81	-146.6	226.2	-7.2	129	2747	0.15	0.00	0.00	0.000	6	0.044	0.000	2136	2230	3383
3053	-0.71	-146.6	248.8	-6.5	144	3058	0.15	2.62	0.00	0.000	4	0.090	0.068	2169	3637	3383
3086	-0.71	-146.6	250.8	-6.0	145	3093	0.00	2.55	0.00	0.000	6	0.000	0.048	2169	2227	3383
3403	-0.71	-146.6	269.7	-6.4	161	3404	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2227	3383
3712	-0.71	-146.6	287.7	-5.5	176	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2227	3383
4021	-0.71	-146.6	303.4	-5.2	191	4026	0.00	2.67	0.00	0.000	4	0.000	0.074	2169	3636	3383
4067	-0.71	-146.6	306.2	-5.8	193	4071	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2225	3382
4387	-0.71	-146.6	327.7	-7.3	209	4392	0.00	2.62	0.00	0.000	4	0.000	0.064	2168	816	3382
4421	-0.79	-146.6	330.4	-7.8	210	4428	0.00	2.58	0.00	0.000	6	0.000	0.052	2169	2227	3382
4738	-0.79	-146.6	355.3	-8.4	226	4742	0.00	2.67	0.00	0.000	4	0.000	0.077	2169	3640	3381
4770	-0.79	-146.6	358.4	-9.5	227	4777	0.00	2.60	0.00	0.000	6	0.000	0.052	2169	2224	3381
5086	-0.79	-146.6	385.0	-8.1	243	5087	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2224	3380
5396	-0.79	-146.6	406.3	-6.5	258	5400	0.00	2.72	0.00	0.000	4	0.000	0.079	2169	3640	3379
5429	-0.79	-146.6	408.7	-7.8	259	5435	0.00	2.60	0.00	0.000	6	0.000	0.054	2169	2229	3379
5744	-0.79	-146.6	429.6	-7.1	275	5745	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2228	3378
6055	-0.83	-146.6	451.9	-7.4	290	6059	0.00	2.72	0.00	0.000	4	0.000	0.081	2169	3643	3377
6076	-0.83	-146.6	453.7	-7.3	291	6081	0.00	2.62	0.00	0.000	6	0.000	0.055	2169	2225	3376
6402	-0.88	-146.6	475.8	-7.0	307	6404	0.15	0.00	0.00	0.000	6	0.058	0.000	2131	2224	3375
6711	-0.80	-146.6	501.1	-8.0	322	6712	0.12	0.00	0.00	0.000	6	0.104	0.000	2153	2225	3374
7016	-0.80	-146.6	523.5	-7.0	337	7020	0.00	2.72	0.00	0.000	4	0.000	0.082	2153	3638	3373
7072	-0.80	-146.6	527.9	-7.8	339	7078	0.00	2.60	0.00	0.000	6	0.000	0.056	2153	2229	3373
7178	end dive: BOTTOM_OBSTACLE_DETECTED
state	7179	begin apogee
7185	-0.31	0.0	535.5	6.9	345	7321	0.52	0.00	129.73	1.078	6	0.097	0.000	2258	2228	2781
7322	end apogee: CONTROL_FINISHED_OK
state	7322	begin climb
7325	0.85	146.6	541.6	0.0	352	7462	1.20	2.80	129.00	1.055	4	0.079	0.078	2508	3648	2184
7606	0.80	176.7	533.5	5.2	364	7643	0.00	2.65	28.23	1.009	6	0.000	0.058	2508	2234	2059
7953	0.83	206.8	514.1	5.2	381	7983	0.00	0.00	27.55	1.010	6	0.000	0.000	2508	2234	1936
8281	0.83	211.9	496.1	5.9	397	8289	0.00	0.00	5.88	0.811	6	0.000	0.000	2508	2234	1917
8591	0.85	228.7	479.8	5.5	412	8610	0.00	0.00	16.40	0.979	6	0.000	0.000	2508	2234	1848
8921	0.87	240.7	460.9	5.7	428	8935	0.00	0.00	12.12	0.943	6	0.000	0.000	2508	2234	1799
9246	0.87	240.7	441.6	6.1	443	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2234	1798
9556	0.87	243.3	423.3	5.9	458	9557	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2234	1797
9866	0.87	246.0	405.2	5.9	473	9874	0.00	0.00	5.95	0.811	6	0.000	0.000	2508	2234	1776
10176	0.87	247.8	386.4	6.0	488	10180	0.00	2.75	0.00	0.000	4	0.000	0.081	2508	3653	1777
10209	0.87	247.8	384.1	6.6	489	10215	0.00	2.65	0.00	0.000	6	0.000	0.058	2508	2233	1776
10525	0.87	247.8	364.5	6.6	505	10529	0.00	2.67	0.00	0.000	4	0.000	0.073	2508	829	1776
10564	0.87	247.8	361.7	7.1	507	10569	0.00	2.62	0.00	0.000	6	0.000	0.056	2508	2241	1776
10892	0.92	247.8	336.1	7.8	523	10893	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2241	1776
11201	0.92	247.8	314.3	6.3	538	11202	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2241	1776
11510	1.02	304.0	299.6	4.5	553	11567	0.17	2.78	50.03	0.940	4	0.080	0.066	2550	823	1540
11597	0.98	304.0	293.9	7.4	556	11601	0.00	2.65	0.00	0.000	6	0.000	0.054	2550	2241	1539
11917	0.98	304.0	265.1	10.1	572	11922	0.00	2.67	0.00	0.000	4	0.000	0.075	2550	3650	1539
11957	0.98	304.0	260.7	12.2	574	11962	0.00	2.62	0.00	0.000	6	0.000	0.056	2550	2239	1539
12285	0.93	304.0	228.6	9.1	590	12286	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2239	1539
12593	0.89	304.0	198.6	9.6	605	12595	0.15	0.00	0.00	0.000	6	0.101	0.000	2522	2239	1539
12902	0.93	304.0	175.7	6.6	620	12903	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2239	1539
13212	0.98	304.0	151.9	8.4	635	13213	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2239	1539
13521	1.03	304.0	129.8	6.5	650	13526	0.15	2.62	0.00	0.000	4	0.050	0.058	2560	818	1540
13549	1.03	304.0	127.7	7.5	651	13553	0.00	2.58	0.00	0.000	6	0.000	0.045	2560	2244	1540
13867	0.96	304.0	104.8	7.4	666	13868	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2244	1541
14174	0.90	304.0	78.2	8.9	681	14179	0.15	2.62	0.00	0.000	4	0.091	0.058	2527	826	1542
14193	0.90	304.0	76.8	8.3	682	14198	0.00	2.55	0.00	0.000	6	0.000	0.044	2527	2242	1542
14522	0.97	304.0	55.2	6.5	698	14526	0.00	2.62	0.00	0.000	4	0.000	0.058	2528	826	1543
14555	1.06	304.0	52.5	6.8	699	14562	0.15	2.55	0.00	0.000	6	0.048	0.044	2562	2245	1543
14871	1.02	304.0	25.2	8.8	715	14875	0.00	2.62	0.00	0.000	4	0.000	0.057	2562	826	1544
14898	1.02	304.0	22.7	8.3	716	14903	0.00	2.55	0.00	0.000	6	0.000	0.043	2562	2243	1544
15170	end climb: SURFACE_DEPTH_REACHED
state	15170	begin surface coast
15192	end surface coast: CONTROL_FINISHED_OK
state	15192	begin surface