Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 367 * 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 367 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -2101447.5 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 -2101447.5

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 367 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 034538,6422.721,-958.918,41,1.3,41,-10.8 TGT_NAME NS

_CALLS 2 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.27 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 035401,6422.727,-958.751,36,1.8,40,-10.8 MHEAD_RNG_PITCHd_Wd 153.5,24963,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026952 ALTIM_BOTTOM_PING 550.7,25.5

SM_CCo 16388,123.95,0.623,0,0,508,557.32 _24V_AH 23.4,58.961

SM_GC 1.19,0.00,0.00,123.95,0.000,0.000,0.623,68,2243,508,-10.40,0.37,557.32 _10V_AH 10.1,28.876

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41159,791

TT8_MAMPS 0.023777 CAP_FILE_SIZE 114181,0

HUMID 1882 CFSIZE 260165632,238284800

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 54 GPS 140808,083058,6421.138,-952.508,28,2.5,47,-10.8

ALTIM_TOP_PING 19.8,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 171 99.76 SBE_CT 589 24 330.98

Roll_motor 125 80 236.79 SBE_O2 539 19 239.69

VBD_pump_during_apogee 406 1089 10370.49 WL_BB2F 536 105 1317.91

VBD_pump_during_surface 123 622 1806.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 86.80 nil 0 0 0.00

Iridium_during_connect 58 160 218.72 nil 0 0 0.00

Iridium_during_xfer 185 223 970.29

Transponder_ping 18 420 179.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 40 50 20.43

TT8 1426 19 285.29

LPSleep 12653 2 279.87

TT8_Active 692 19 138.55

TT8_Sampling 1652 39 664.14

TT8_CF8 591 45 273.54

TT8_Kalman 0 81 0.00

Analog_circuits 1528 12 185.20

GPS_charging 0 0 0.00

Compass 1592 8 128.67

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 -120.90 0.000 2 0.000 0.000 72 2242 2889

152 -0.85 -146.6 3.2 -2.6 6 182 11.70 2.62 -12.38 0.000 4 0.171 0.073 2139 3637 3380

323 -0.72 -146.6 25.0 -10.9 13 330 0.17 2.53 0.00 0.000 6 0.094 0.044 2172 2227 3381

641 -0.72 -146.6 53.9 -7.7 29 645 0.00 2.58 0.00 0.000 4 0.000 0.054 2172 816 3380

668 -0.72 -146.6 56.1 -6.6 30 672 0.00 2.55 0.00 0.000 6 0.000 0.042 2172 2233 3380

984 -0.72 -146.6 78.7 -7.3 45 985 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2233 3381

1293 -0.72 -146.6 104.0 -7.8 60 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2233 3381

1603 -0.72 -146.6 123.9 -6.4 75 1608 0.00 2.60 0.00 0.000 4 0.000 0.064 2172 3640 3382

1637 -0.72 -146.6 126.4 -7.0 76 1643 0.00 2.53 0.00 0.000 6 0.000 0.044 2172 2225 3382

1954 -0.72 -146.6 148.7 -7.1 92 1958 0.00 2.58 0.00 0.000 4 0.000 0.055 2172 815 3382

1988 -0.76 -146.6 151.2 -7.2 93 1994 0.00 2.53 0.00 0.000 6 0.000 0.044 2172 2227 3382

2303 -0.76 -146.6 173.8 -7.8 109 2308 0.00 2.60 0.00 0.000 4 0.000 0.064 2172 3643 3382

2331 -0.76 -146.6 176.2 -8.4 110 2335 0.00 2.55 0.00 0.000 6 0.000 0.044 2172 2221 3382

2650 -0.76 -146.6 200.3 -6.9 125 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2222 3382

2956 -0.76 -146.6 220.0 -5.9 140 2961 0.00 2.62 0.00 0.000 4 0.000 0.064 2172 3638 3382

2996 -0.76 -146.6 222.4 -6.3 142 3001 0.00 2.53 0.00 0.000 6 0.000 0.044 2172 2228 3382

3324 -0.76 -146.6 243.1 -7.6 158 3328 0.00 2.62 0.00 0.000 4 0.000 0.065 2173 3639 3382

3363 -0.76 -146.6 246.6 -8.4 160 3367 0.00 2.55 0.00 0.000 6 0.000 0.045 2172 2225 3382

3690 -0.76 -146.6 271.7 -7.2 176 3691 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2225 3382

4000 -0.76 -146.6 295.9 -8.3 191 4001 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2225 3382

4309 -0.76 -146.6 315.7 -5.8 206 4313 0.00 2.65 0.00 0.000 4 0.000 0.069 2172 3640 3382

4348 -0.76 -146.6 318.6 -7.1 208 4353 0.00 2.55 0.00 0.000 6 0.000 0.048 2172 2225 3381

4675 -0.76 -146.6 342.3 -7.5 224 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2225 3381

4986 -0.76 -146.6 361.7 -6.0 239 4990 0.00 2.67 0.00 0.000 4 0.000 0.072 2172 3640 3381

5026 -0.76 -146.6 364.5 -6.9 241 5030 0.00 2.58 0.00 0.000 6 0.000 0.049 2172 2225 3380

5353 -0.80 -146.6 386.2 -6.6 257 5354 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2225 3380

5662 -0.85 -146.6 404.5 -5.4 272 5664 0.15 0.00 0.00 0.000 6 0.052 0.000 2135 2225 3379

5972 -0.78 -146.6 429.1 -8.4 287 5977 0.12 2.70 0.00 0.000 4 0.099 0.077 2158 3641 3378

6012 -0.78 -146.6 432.4 -7.9 289 6016 0.00 2.58 0.00 0.000 6 0.000 0.053 2158 2233 3378

6338 -0.78 -146.6 454.5 -6.8 305 6339 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2233 3377

6648 -0.78 -146.6 478.0 -8.1 320 6649 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2233 3376

6959 -0.78 -146.6 500.3 -7.1 335 6963 0.00 2.70 0.00 0.000 4 0.000 0.081 2158 3636 3374

6998 -0.78 -146.6 503.3 -7.3 337 7002 0.00 2.60 0.00 0.000 6 0.000 0.056 2158 2230 3374

7327 -0.78 -146.6 526.0 -6.9 353 7328 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2230 3373

7633 -0.78 -146.6 547.5 -7.8 368 7635 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2230 3372

7878 end dive: BOTTOM_OBSTACLE_DETECTED

state 7878 begin apogee

7885 -0.31 0.0 567.3 7.9 380 8021 0.50 0.00 129.45 1.090 6 0.098 0.000 2258 2230 2781

8022 end apogee: CONTROL_FINISHED_OK

state 8022 begin climb

8026 0.85 146.6 573.9 0.0 387 8163 1.20 2.72 129.40 1.069 4 0.084 0.069 2507 831 2182

8273 0.85 213.5 570.8 4.2 397 8341 0.00 2.62 59.25 1.044 6 0.000 0.056 2507 2238 1910

8654 0.86 219.4 549.8 5.8 416 8662 0.00 0.00 6.95 0.858 6 0.000 0.000 2507 2238 1886

8958 0.86 219.4 529.5 6.1 431 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2238 1885

9268 0.86 219.4 511.2 6.1 446 9273 0.00 2.67 0.00 0.000 4 0.000 0.070 2506 830 1884

9296 0.86 226.9 509.6 5.8 447 9310 0.00 2.62 8.05 0.892 6 0.000 0.056 2507 2241 1854

9638 0.86 226.9 488.6 6.4 464 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 1854

9948 0.86 226.9 469.1 6.4 479 9953 0.00 2.70 0.00 0.000 4 0.000 0.071 2507 829 1853

9989 0.86 226.9 466.4 6.8 481 9993 0.00 2.62 0.00 0.000 6 0.000 0.057 2506 2239 1853

10315 0.88 244.1 446.8 5.5 497 10334 0.00 0.00 16.15 0.972 6 0.000 0.000 2507 2239 1785

10645 0.92 281.5 428.9 5.0 513 10684 0.12 0.00 33.67 1.002 6 0.084 0.000 2533 2240 1633

10993 0.92 281.5 404.5 7.9 530 10998 0.00 2.70 0.00 0.000 4 0.000 0.071 2534 829 1632

11012 0.92 281.5 403.0 8.2 531 11016 0.00 2.62 0.00 0.000 6 0.000 0.055 2534 2240 1632

11338 0.92 281.5 376.0 7.7 547 11342 0.00 2.70 0.00 0.000 4 0.000 0.079 2534 3652 1632

11382 0.92 281.5 372.4 8.0 549 11386 0.00 2.62 0.00 0.000 6 0.000 0.060 2534 2240 1632

11703 0.92 281.5 349.5 7.7 565 11708 0.00 2.67 0.00 0.000 4 0.000 0.071 2534 826 1631

11721 0.92 281.5 348.1 7.6 566 11726 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2242 1631

12048 0.92 281.5 323.1 7.7 582 12049 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2242 1630

12358 0.95 303.4 303.7 5.4 597 12384 0.00 2.75 19.67 0.895 4 0.000 0.065 2534 832 1543

12413 0.95 303.4 300.4 6.3 599 12417 0.00 2.62 0.00 0.000 6 0.000 0.051 2534 2245 1543

12728 0.95 303.4 277.3 8.6 614 12730 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2245 1543

13038 0.95 303.4 251.0 6.8 629 13043 0.00 2.67 0.00 0.000 4 0.000 0.062 2534 821 1543

13061 0.95 306.0 249.6 5.9 630 13070 0.00 2.60 4.03 0.594 6 0.000 0.048 2534 2246 1533

13387 0.95 306.0 229.6 6.9 646 13392 0.00 2.67 0.00 0.000 4 0.000 0.061 2534 821 1533

13421 0.95 306.0 227.1 7.2 647 13427 0.00 2.58 0.00 0.000 6 0.000 0.047 2534 2241 1533

13737 0.95 306.0 201.7 8.6 663 13741 0.00 2.65 0.00 0.000 4 0.000 0.060 2534 820 1534

13769 0.95 306.0 198.7 8.3 664 13775 0.00 2.58 0.00 0.000 6 0.000 0.046 2534 2241 1534

14085 0.95 306.0 173.4 8.2 680 14089 0.00 2.62 0.00 0.000 4 0.000 0.058 2534 825 1535

14107 0.95 306.0 171.6 7.8 681 14112 0.00 2.55 0.00 0.000 6 0.000 0.044 2534 2242 1534

14428 0.95 306.0 143.7 9.1 697 14429 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2242 1536

14737 0.95 306.0 116.8 8.2 712 14742 0.00 2.65 0.00 0.000 4 0.000 0.058 2534 819 1537

14781 0.99 306.0 113.4 7.7 714 14786 0.00 2.58 0.00 0.000 6 0.000 0.044 2533 2248 1536

15110 0.99 306.0 90.9 6.7 730 15111 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2248 1537

15418 0.99 306.0 69.8 6.5 745 15422 0.00 2.65 0.00 0.000 4 0.000 0.057 2534 820 1538

15474 1.05 306.0 66.2 6.1 747 15481 0.12 2.55 0.00 0.000 6 0.076 0.044 2558 2243 1538

15790 1.05 306.0 44.6 6.9 763 15791 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2243 1539

16100 1.05 306.0 21.4 8.1 778 16101 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2243 1540

16346 end climb: SURFACE_DEPTH_REACHED

state 16346 begin surface coast

16366 end surface coast: CONTROL_FINISHED_OK

state 16366 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	367	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-2101447.5	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	034538,6422.721,-958.918,41,1.3,41,-10.8	TGT_NAME	NS
_CALLS	2	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.27	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	035401,6422.727,-958.751,36,1.8,40,-10.8	MHEAD_RNG_PITCHd_Wd	153.5,24963,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026952	ALTIM_BOTTOM_PING	550.7,25.5
SM_CCo	16388,123.95,0.623,0,0,508,557.32	_24V_AH	23.4,58.961
SM_GC	1.19,0.00,0.00,123.95,0.000,0.000,0.623,68,2243,508,-10.40,0.37,557.32	_10V_AH	10.1,28.876
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41159,791
TT8_MAMPS	0.023777	CAP_FILE_SIZE	114181,0
HUMID	1882	CFSIZE	260165632,238284800
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	54	GPS	140808,083058,6421.138,-952.508,28,2.5,47,-10.8
ALTIM_TOP_PING	19.8,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	171	99.76	SBE_CT	589	24	330.98
Roll_motor	125	80	236.79	SBE_O2	539	19	239.69
VBD_pump_during_apogee	406	1089	10370.49	WL_BB2F	536	105	1317.91
VBD_pump_during_surface	123	622	1806.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	86.80	nil	0	0	0.00
Iridium_during_connect	58	160	218.72	nil	0	0	0.00
Iridium_during_xfer	185	223	970.29
Transponder_ping	18	420	179.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	40	50	20.43
TT8	1426	19	285.29
LPSleep	12653	2	279.87
TT8_Active	692	19	138.55
TT8_Sampling	1652	39	664.14
TT8_CF8	591	45	273.54
TT8_Kalman	0	81	0.00
Analog_circuits	1528	12	185.20
GPS_charging	0	0	0.00
Compass	1592	8	128.67
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	-120.90	0.000	2	0.000	0.000	72	2242	2889
152	-0.85	-146.6	3.2	-2.6	6	182	11.70	2.62	-12.38	0.000	4	0.171	0.073	2139	3637	3380
323	-0.72	-146.6	25.0	-10.9	13	330	0.17	2.53	0.00	0.000	6	0.094	0.044	2172	2227	3381
641	-0.72	-146.6	53.9	-7.7	29	645	0.00	2.58	0.00	0.000	4	0.000	0.054	2172	816	3380
668	-0.72	-146.6	56.1	-6.6	30	672	0.00	2.55	0.00	0.000	6	0.000	0.042	2172	2233	3380
984	-0.72	-146.6	78.7	-7.3	45	985	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2233	3381
1293	-0.72	-146.6	104.0	-7.8	60	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2233	3381
1603	-0.72	-146.6	123.9	-6.4	75	1608	0.00	2.60	0.00	0.000	4	0.000	0.064	2172	3640	3382
1637	-0.72	-146.6	126.4	-7.0	76	1643	0.00	2.53	0.00	0.000	6	0.000	0.044	2172	2225	3382
1954	-0.72	-146.6	148.7	-7.1	92	1958	0.00	2.58	0.00	0.000	4	0.000	0.055	2172	815	3382
1988	-0.76	-146.6	151.2	-7.2	93	1994	0.00	2.53	0.00	0.000	6	0.000	0.044	2172	2227	3382
2303	-0.76	-146.6	173.8	-7.8	109	2308	0.00	2.60	0.00	0.000	4	0.000	0.064	2172	3643	3382
2331	-0.76	-146.6	176.2	-8.4	110	2335	0.00	2.55	0.00	0.000	6	0.000	0.044	2172	2221	3382
2650	-0.76	-146.6	200.3	-6.9	125	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2222	3382
2956	-0.76	-146.6	220.0	-5.9	140	2961	0.00	2.62	0.00	0.000	4	0.000	0.064	2172	3638	3382
2996	-0.76	-146.6	222.4	-6.3	142	3001	0.00	2.53	0.00	0.000	6	0.000	0.044	2172	2228	3382
3324	-0.76	-146.6	243.1	-7.6	158	3328	0.00	2.62	0.00	0.000	4	0.000	0.065	2173	3639	3382
3363	-0.76	-146.6	246.6	-8.4	160	3367	0.00	2.55	0.00	0.000	6	0.000	0.045	2172	2225	3382
3690	-0.76	-146.6	271.7	-7.2	176	3691	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2225	3382
4000	-0.76	-146.6	295.9	-8.3	191	4001	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2225	3382
4309	-0.76	-146.6	315.7	-5.8	206	4313	0.00	2.65	0.00	0.000	4	0.000	0.069	2172	3640	3382
4348	-0.76	-146.6	318.6	-7.1	208	4353	0.00	2.55	0.00	0.000	6	0.000	0.048	2172	2225	3381
4675	-0.76	-146.6	342.3	-7.5	224	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2225	3381
4986	-0.76	-146.6	361.7	-6.0	239	4990	0.00	2.67	0.00	0.000	4	0.000	0.072	2172	3640	3381
5026	-0.76	-146.6	364.5	-6.9	241	5030	0.00	2.58	0.00	0.000	6	0.000	0.049	2172	2225	3380
5353	-0.80	-146.6	386.2	-6.6	257	5354	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2225	3380
5662	-0.85	-146.6	404.5	-5.4	272	5664	0.15	0.00	0.00	0.000	6	0.052	0.000	2135	2225	3379
5972	-0.78	-146.6	429.1	-8.4	287	5977	0.12	2.70	0.00	0.000	4	0.099	0.077	2158	3641	3378
6012	-0.78	-146.6	432.4	-7.9	289	6016	0.00	2.58	0.00	0.000	6	0.000	0.053	2158	2233	3378
6338	-0.78	-146.6	454.5	-6.8	305	6339	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2233	3377
6648	-0.78	-146.6	478.0	-8.1	320	6649	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2233	3376
6959	-0.78	-146.6	500.3	-7.1	335	6963	0.00	2.70	0.00	0.000	4	0.000	0.081	2158	3636	3374
6998	-0.78	-146.6	503.3	-7.3	337	7002	0.00	2.60	0.00	0.000	6	0.000	0.056	2158	2230	3374
7327	-0.78	-146.6	526.0	-6.9	353	7328	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2230	3373
7633	-0.78	-146.6	547.5	-7.8	368	7635	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2230	3372
7878	end dive: BOTTOM_OBSTACLE_DETECTED
state	7878	begin apogee
7885	-0.31	0.0	567.3	7.9	380	8021	0.50	0.00	129.45	1.090	6	0.098	0.000	2258	2230	2781
8022	end apogee: CONTROL_FINISHED_OK
state	8022	begin climb
8026	0.85	146.6	573.9	0.0	387	8163	1.20	2.72	129.40	1.069	4	0.084	0.069	2507	831	2182
8273	0.85	213.5	570.8	4.2	397	8341	0.00	2.62	59.25	1.044	6	0.000	0.056	2507	2238	1910
8654	0.86	219.4	549.8	5.8	416	8662	0.00	0.00	6.95	0.858	6	0.000	0.000	2507	2238	1886
8958	0.86	219.4	529.5	6.1	431	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2238	1885
9268	0.86	219.4	511.2	6.1	446	9273	0.00	2.67	0.00	0.000	4	0.000	0.070	2506	830	1884
9296	0.86	226.9	509.6	5.8	447	9310	0.00	2.62	8.05	0.892	6	0.000	0.056	2507	2241	1854
9638	0.86	226.9	488.6	6.4	464	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	1854
9948	0.86	226.9	469.1	6.4	479	9953	0.00	2.70	0.00	0.000	4	0.000	0.071	2507	829	1853
9989	0.86	226.9	466.4	6.8	481	9993	0.00	2.62	0.00	0.000	6	0.000	0.057	2506	2239	1853
10315	0.88	244.1	446.8	5.5	497	10334	0.00	0.00	16.15	0.972	6	0.000	0.000	2507	2239	1785
10645	0.92	281.5	428.9	5.0	513	10684	0.12	0.00	33.67	1.002	6	0.084	0.000	2533	2240	1633
10993	0.92	281.5	404.5	7.9	530	10998	0.00	2.70	0.00	0.000	4	0.000	0.071	2534	829	1632
11012	0.92	281.5	403.0	8.2	531	11016	0.00	2.62	0.00	0.000	6	0.000	0.055	2534	2240	1632
11338	0.92	281.5	376.0	7.7	547	11342	0.00	2.70	0.00	0.000	4	0.000	0.079	2534	3652	1632
11382	0.92	281.5	372.4	8.0	549	11386	0.00	2.62	0.00	0.000	6	0.000	0.060	2534	2240	1632
11703	0.92	281.5	349.5	7.7	565	11708	0.00	2.67	0.00	0.000	4	0.000	0.071	2534	826	1631
11721	0.92	281.5	348.1	7.6	566	11726	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2242	1631
12048	0.92	281.5	323.1	7.7	582	12049	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2242	1630
12358	0.95	303.4	303.7	5.4	597	12384	0.00	2.75	19.67	0.895	4	0.000	0.065	2534	832	1543
12413	0.95	303.4	300.4	6.3	599	12417	0.00	2.62	0.00	0.000	6	0.000	0.051	2534	2245	1543
12728	0.95	303.4	277.3	8.6	614	12730	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2245	1543
13038	0.95	303.4	251.0	6.8	629	13043	0.00	2.67	0.00	0.000	4	0.000	0.062	2534	821	1543
13061	0.95	306.0	249.6	5.9	630	13070	0.00	2.60	4.03	0.594	6	0.000	0.048	2534	2246	1533
13387	0.95	306.0	229.6	6.9	646	13392	0.00	2.67	0.00	0.000	4	0.000	0.061	2534	821	1533
13421	0.95	306.0	227.1	7.2	647	13427	0.00	2.58	0.00	0.000	6	0.000	0.047	2534	2241	1533
13737	0.95	306.0	201.7	8.6	663	13741	0.00	2.65	0.00	0.000	4	0.000	0.060	2534	820	1534
13769	0.95	306.0	198.7	8.3	664	13775	0.00	2.58	0.00	0.000	6	0.000	0.046	2534	2241	1534
14085	0.95	306.0	173.4	8.2	680	14089	0.00	2.62	0.00	0.000	4	0.000	0.058	2534	825	1535
14107	0.95	306.0	171.6	7.8	681	14112	0.00	2.55	0.00	0.000	6	0.000	0.044	2534	2242	1534
14428	0.95	306.0	143.7	9.1	697	14429	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2242	1536
14737	0.95	306.0	116.8	8.2	712	14742	0.00	2.65	0.00	0.000	4	0.000	0.058	2534	819	1537
14781	0.99	306.0	113.4	7.7	714	14786	0.00	2.58	0.00	0.000	6	0.000	0.044	2533	2248	1536
15110	0.99	306.0	90.9	6.7	730	15111	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2248	1537
15418	0.99	306.0	69.8	6.5	745	15422	0.00	2.65	0.00	0.000	4	0.000	0.057	2534	820	1538
15474	1.05	306.0	66.2	6.1	747	15481	0.12	2.55	0.00	0.000	6	0.076	0.044	2558	2243	1538
15790	1.05	306.0	44.6	6.9	763	15791	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2243	1539
16100	1.05	306.0	21.4	8.1	778	16101	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2243	1540
16346	end climb: SURFACE_DEPTH_REACHED
state	16346	begin surface coast
16366	end surface coast: CONTROL_FINISHED_OK
state	16366	begin surface