Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 37 * 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 37 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -2093283.5 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 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 -2093283.5

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 13 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 37 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 073837,6028.692,-554.087,36,1.1,42,-7.2 TGT_NAME WTB_1

_CALLS 1 TGT_LATLONG 6010.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.038,-0.218

_SM_DEPTHo 1.40 KALMAN_X -7243.9,509.3,-298.9,-26382.9,-78.7

_SM_ANGLEo -60.4 KALMAN_Y -21242.3,-667.3,-562.6,-12751.1,11253.7

GPS2 074408,6028.621,-553.913,15,1.1,32,-7.2 MHEAD_RNG_PITCHd_Wd 203.7,35966,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.005219 ALTIM_BOTTOM_PING 500.2,66.6

SM_CCo 15372,9.32,0.555,0,0,1557,300.00 _24V_AH 23.6,8.662

SM_GC 2.48,0.00,0.00,9.32,0.000,0.000,0.555,73,2298,1557,-10.24,-0.06,300.00 _10V_AH 10.1,3.796

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38008,738

TT8_MAMPS 0.02301 CAP_FILE_SIZE 114316,0

HUMID 1859 CFSIZE 260165632,256462848

TCM_TEMP 16.80 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 32 GPS 120608,120258,6025.624,-551.089,38,2.4,57,-7.2

ALTIM_TOP_PING 19.0,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 164 92.87 SBE_CT 549 24 311.45

Roll_motor 158 95 359.48 SBE_O2 501 19 224.74

VBD_pump_during_apogee 383 1020 9240.43 WL_BB2F 494 105 1226.38

VBD_pump_during_surface 9 555 122.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 80.99 nil 0 0 0.00

Iridium_during_connect 39 160 149.22 nil 0 0 0.00

Iridium_during_xfer 126 223 667.38

Transponder_ping 12 420 121.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.30

TT8 1372 19 274.51

LPSleep 11722 2 259.30

TT8_Active 541 19 108.26

TT8_Sampling 1623 39 652.53

TT8_CF8 457 45 211.76

TT8_Kalman 33 81 27.56

Analog_circuits 1373 12 166.46

GPS_charging 0 0 0.00

Compass 1570 8 126.93

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

24 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -60.72 0.000 2 0.000 0.000 66 2299 2666

90 -0.85 -146.6 3.1 -4.0 3 133 11.30 2.67 -24.12 0.000 4 0.164 0.089 2107 3707 3378

352 -0.66 -146.6 30.7 -10.8 14 359 0.25 2.58 0.00 0.000 6 0.092 0.056 2156 2298 3378

670 -0.62 -146.6 56.0 -8.1 30 674 0.00 2.65 0.00 0.000 4 0.000 0.067 2156 869 3378

764 -0.62 -146.6 63.7 -7.9 34 769 0.00 2.65 0.00 0.000 6 0.000 0.058 2156 2298 3378

1082 -0.62 -146.6 87.8 -7.6 49 1086 0.00 2.65 0.00 0.000 4 0.000 0.065 2156 876 3379

1131 -0.62 -146.6 91.8 -8.3 51 1135 0.00 2.65 0.00 0.000 6 0.000 0.058 2155 2304 3379

1449 -0.62 -146.6 118.5 -9.4 66 1453 0.00 2.67 0.00 0.000 4 0.000 0.079 2156 3712 3379

1475 -0.62 -146.6 121.7 -11.2 67 1480 0.00 2.60 0.00 0.000 6 0.000 0.055 2156 2296 3378

1792 -0.62 -146.6 151.2 -8.2 82 1797 0.00 2.62 0.00 0.000 4 0.000 0.067 2156 876 3379

1820 -0.62 -146.6 153.5 -7.2 83 1825 0.00 2.62 0.00 0.000 6 0.000 0.058 2156 2302 3379

2135 -0.62 -146.6 177.3 -7.3 98 2137 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2301 3379

2445 -0.62 -146.6 199.1 -7.0 113 2446 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2301 3379

2754 -0.62 -146.6 222.4 -7.8 128 2758 0.00 2.67 0.00 0.000 4 0.000 0.079 2156 3715 3379

2775 -0.62 -146.6 224.2 -7.8 129 2780 0.00 2.60 0.00 0.000 6 0.000 0.056 2156 2289 3379

3096 -0.62 -146.6 247.3 -6.7 145 3101 0.00 2.60 0.00 0.000 4 0.000 0.067 2156 881 3379

3124 -0.62 -146.6 249.2 -6.8 146 3128 0.00 2.60 0.00 0.000 6 0.000 0.058 2156 2299 3379

3440 -0.62 -146.6 271.9 -7.8 161 3441 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2299 3379

3749 -0.62 -146.6 295.6 -7.3 176 3753 0.00 2.67 0.00 0.000 4 0.000 0.081 2156 3707 3379

3793 -0.62 -146.6 299.0 -7.4 178 3797 0.00 2.58 0.00 0.000 6 0.000 0.057 2156 2296 3379

4114 -0.62 -146.6 324.0 -8.2 194 4118 0.00 2.60 0.00 0.000 4 0.000 0.067 2157 886 3379

4140 -0.62 -146.6 326.4 -9.3 195 4144 0.00 2.60 0.00 0.000 6 0.000 0.059 2156 2300 3379

4456 -0.62 -146.6 352.6 -8.1 210 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2299 3379

4767 -0.62 -146.6 376.3 -7.7 225 4772 0.00 2.65 0.00 0.000 4 0.000 0.069 2156 880 3379

4807 -0.66 -146.6 379.3 -7.9 227 4812 0.00 2.62 0.00 0.000 6 0.000 0.060 2156 2299 3379

5134 -0.66 -146.6 403.8 -7.6 243 5135 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2299 3379

5444 -0.66 -146.6 426.1 -6.6 258 5445 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2299 3379

5753 -0.66 -146.6 446.5 -6.4 273 5757 0.00 2.62 0.00 0.000 4 0.000 0.069 2156 886 3380

5780 -0.66 -146.6 448.2 -5.9 274 5785 0.00 2.60 0.00 0.000 6 0.000 0.061 2156 2298 3379

6095 -0.66 -146.6 469.4 -6.7 289 6100 0.00 2.70 0.00 0.000 4 0.000 0.084 2156 3717 3378

6151 -0.66 -146.6 473.2 -6.7 291 6157 0.00 2.60 0.00 0.000 6 0.000 0.058 2156 2298 3378

6467 -0.66 -146.6 495.9 -8.1 307 6471 0.00 2.62 0.00 0.000 4 0.000 0.070 2156 880 3378

6506 -0.73 -146.6 499.2 -9.3 309 6511 0.00 2.60 0.00 0.000 6 0.000 0.061 2156 2301 3378

6832 -0.73 -146.6 526.0 -7.6 325 6833 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2301 3378

7142 -0.73 -146.6 543.9 -5.4 340 7147 0.00 2.72 0.00 0.000 4 0.000 0.091 2156 3712 3378

7181 -0.73 -146.6 546.6 -7.0 342 7186 0.00 2.62 0.00 0.000 6 0.000 0.061 2156 2297 3378

7341 end dive: BOTTOM_OBSTACLE_DETECTED

state 7341 begin apogee

7347 -0.31 0.0 556.8 6.5 350 7483 0.38 0.00 129.80 1.020 6 0.095 0.000 2231 2297 2780

7484 end apogee: CONTROL_FINISHED_OK

state 7484 begin climb

7487 0.85 146.6 562.0 0.0 357 7622 1.17 0.00 130.18 0.987 6 0.081 0.000 2479 2297 2183

7939 0.89 185.8 544.6 4.9 379 7979 0.00 0.00 35.47 0.960 6 0.000 0.000 2478 2297 2023

8290 0.93 186.9 525.5 6.0 396 8291 0.12 0.00 0.00 0.000 6 0.077 0.000 2505 2297 2021

8598 0.93 186.9 502.9 6.5 411 8603 0.00 2.80 0.00 0.000 4 0.000 0.096 2505 3709 2020

8631 0.86 186.9 500.8 6.6 412 8637 0.00 2.67 0.00 0.000 6 0.000 0.069 2505 2301 2021

8947 0.88 202.3 482.9 5.6 428 8966 0.00 0.00 15.15 0.920 6 0.000 0.000 2505 2301 1955

9276 0.95 266.0 467.5 4.3 444 9339 0.00 2.78 56.15 0.979 4 0.000 0.077 2505 882 1695

9362 0.96 277.7 463.3 5.7 448 9383 0.00 2.72 11.38 0.883 6 0.000 0.064 2505 2304 1650

9692 0.96 277.7 442.2 7.9 464 9696 0.00 2.72 0.00 0.000 4 0.000 0.074 2505 880 1649

9719 1.01 277.7 440.1 7.5 465 9724 0.00 2.67 0.00 0.000 6 0.000 0.061 2505 2302 1648

10035 1.01 277.7 416.8 7.1 480 10040 0.00 2.70 0.00 0.000 4 0.000 0.073 2505 880 1648

10075 1.05 277.7 414.2 6.4 482 10080 0.10 2.67 0.00 0.000 6 0.085 0.059 2526 2308 1648

10401 1.05 277.7 388.5 8.7 498 10406 0.00 2.70 0.00 0.000 4 0.000 0.070 2526 880 1648

10451 1.05 277.7 384.3 8.2 500 10456 0.00 2.65 0.00 0.000 6 0.000 0.058 2526 2304 1648

10767 1.05 277.7 359.1 8.0 515 10771 0.00 2.70 0.00 0.000 4 0.000 0.072 2526 880 1649

10806 1.05 277.7 355.9 8.0 517 10811 0.00 2.62 0.00 0.000 6 0.000 0.058 2526 2301 1648

11133 1.05 277.7 331.3 7.3 533 11137 0.00 2.70 0.00 0.000 4 0.000 0.071 2526 876 1649

11172 1.05 277.7 328.5 6.9 535 11177 0.00 2.65 0.00 0.000 6 0.000 0.058 2526 2301 1649

11499 1.05 277.7 305.1 7.4 551 11501 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2301 1649

11809 1.05 277.7 275.1 10.9 566 11813 0.00 2.67 0.00 0.000 4 0.000 0.070 2526 880 1650

11830 1.05 277.7 272.5 11.5 567 11835 0.00 2.62 0.00 0.000 6 0.000 0.058 2526 2302 1650

12151 1.05 277.7 241.4 8.2 583 12152 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2303 1650

12461 1.05 277.7 223.5 6.8 598 12465 0.00 2.65 0.00 0.000 4 0.000 0.068 2526 880 1650

12488 1.05 277.7 221.3 7.6 599 12492 0.00 2.62 0.00 0.000 6 0.000 0.057 2526 2304 1650

12803 1.05 281.4 198.9 5.9 614 12814 0.00 2.70 5.70 0.613 4 0.000 0.081 2526 3707 1633

12844 1.05 281.4 196.5 6.5 616 12848 0.00 2.62 0.00 0.000 6 0.000 0.061 2526 2298 1633

13170 1.05 281.4 173.4 7.3 632 13174 0.00 2.62 0.00 0.000 4 0.000 0.067 2526 880 1633

13232 1.05 281.4 168.2 8.8 635 13236 0.00 2.62 0.00 0.000 6 0.000 0.055 2526 2301 1633

13560 1.05 281.4 138.7 8.8 651 13565 0.00 2.65 0.00 0.000 4 0.000 0.067 2526 880 1633

13605 1.05 281.4 134.8 8.2 653 13609 0.00 2.62 0.00 0.000 6 0.000 0.055 2527 2306 1633

13926 1.05 281.4 107.9 7.5 669 13930 0.00 2.65 0.00 0.000 4 0.000 0.066 2526 880 1634

13965 1.05 281.4 105.0 7.7 671 13970 0.00 2.60 0.00 0.000 6 0.000 0.055 2526 2301 1634

14292 1.05 281.4 81.8 8.1 687 14297 0.00 2.65 0.00 0.000 4 0.000 0.066 2526 878 1634

14337 1.05 281.4 77.9 9.4 689 14341 0.00 2.60 0.00 0.000 6 0.000 0.056 2526 2299 1634

14658 1.05 281.4 52.8 7.6 705 14662 0.00 2.65 0.00 0.000 4 0.000 0.066 2527 875 1635

14730 1.05 281.4 47.0 8.3 708 14734 0.00 2.60 0.00 0.000 6 0.000 0.055 2526 2301 1635

15047 1.05 281.4 23.2 7.6 723 15052 0.00 2.67 0.00 0.000 4 0.000 0.078 2526 3712 1636

15064 1.05 281.4 21.8 7.5 724 15069 0.00 2.58 0.00 0.000 6 0.000 0.058 2526 2298 1636

15326 end climb: SURFACE_DEPTH_REACHED

state 15327 begin surface coast

15349 end surface coast: CONTROL_FINISHED_OK

state 15351 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	37	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-2093283.5	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	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	073837,6028.692,-554.087,36,1.1,42,-7.2	TGT_NAME	WTB_1
_CALLS	1	TGT_LATLONG	6010.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.038,-0.218
_SM_DEPTHo	1.40	KALMAN_X	-7243.9,509.3,-298.9,-26382.9,-78.7
_SM_ANGLEo	-60.4	KALMAN_Y	-21242.3,-667.3,-562.6,-12751.1,11253.7
GPS2	074408,6028.621,-553.913,15,1.1,32,-7.2	MHEAD_RNG_PITCHd_Wd	203.7,35966,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.005219	ALTIM_BOTTOM_PING	500.2,66.6
SM_CCo	15372,9.32,0.555,0,0,1557,300.00	_24V_AH	23.6,8.662
SM_GC	2.48,0.00,0.00,9.32,0.000,0.000,0.555,73,2298,1557,-10.24,-0.06,300.00	_10V_AH	10.1,3.796
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38008,738
TT8_MAMPS	0.02301	CAP_FILE_SIZE	114316,0
HUMID	1859	CFSIZE	260165632,256462848
TCM_TEMP	16.80	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	32	GPS	120608,120258,6025.624,-551.089,38,2.4,57,-7.2
ALTIM_TOP_PING	19.0,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	164	92.87	SBE_CT	549	24	311.45
Roll_motor	158	95	359.48	SBE_O2	501	19	224.74
VBD_pump_during_apogee	383	1020	9240.43	WL_BB2F	494	105	1226.38
VBD_pump_during_surface	9	555	122.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	80.99	nil	0	0	0.00
Iridium_during_connect	39	160	149.22	nil	0	0	0.00
Iridium_during_xfer	126	223	667.38
Transponder_ping	12	420	121.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.30
TT8	1372	19	274.51
LPSleep	11722	2	259.30
TT8_Active	541	19	108.26
TT8_Sampling	1623	39	652.53
TT8_CF8	457	45	211.76
TT8_Kalman	33	81	27.56
Analog_circuits	1373	12	166.46
GPS_charging	0	0	0.00
Compass	1570	8	126.93
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
24	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-60.72	0.000	2	0.000	0.000	66	2299	2666
90	-0.85	-146.6	3.1	-4.0	3	133	11.30	2.67	-24.12	0.000	4	0.164	0.089	2107	3707	3378
352	-0.66	-146.6	30.7	-10.8	14	359	0.25	2.58	0.00	0.000	6	0.092	0.056	2156	2298	3378
670	-0.62	-146.6	56.0	-8.1	30	674	0.00	2.65	0.00	0.000	4	0.000	0.067	2156	869	3378
764	-0.62	-146.6	63.7	-7.9	34	769	0.00	2.65	0.00	0.000	6	0.000	0.058	2156	2298	3378
1082	-0.62	-146.6	87.8	-7.6	49	1086	0.00	2.65	0.00	0.000	4	0.000	0.065	2156	876	3379
1131	-0.62	-146.6	91.8	-8.3	51	1135	0.00	2.65	0.00	0.000	6	0.000	0.058	2155	2304	3379
1449	-0.62	-146.6	118.5	-9.4	66	1453	0.00	2.67	0.00	0.000	4	0.000	0.079	2156	3712	3379
1475	-0.62	-146.6	121.7	-11.2	67	1480	0.00	2.60	0.00	0.000	6	0.000	0.055	2156	2296	3378
1792	-0.62	-146.6	151.2	-8.2	82	1797	0.00	2.62	0.00	0.000	4	0.000	0.067	2156	876	3379
1820	-0.62	-146.6	153.5	-7.2	83	1825	0.00	2.62	0.00	0.000	6	0.000	0.058	2156	2302	3379
2135	-0.62	-146.6	177.3	-7.3	98	2137	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2301	3379
2445	-0.62	-146.6	199.1	-7.0	113	2446	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2301	3379
2754	-0.62	-146.6	222.4	-7.8	128	2758	0.00	2.67	0.00	0.000	4	0.000	0.079	2156	3715	3379
2775	-0.62	-146.6	224.2	-7.8	129	2780	0.00	2.60	0.00	0.000	6	0.000	0.056	2156	2289	3379
3096	-0.62	-146.6	247.3	-6.7	145	3101	0.00	2.60	0.00	0.000	4	0.000	0.067	2156	881	3379
3124	-0.62	-146.6	249.2	-6.8	146	3128	0.00	2.60	0.00	0.000	6	0.000	0.058	2156	2299	3379
3440	-0.62	-146.6	271.9	-7.8	161	3441	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2299	3379
3749	-0.62	-146.6	295.6	-7.3	176	3753	0.00	2.67	0.00	0.000	4	0.000	0.081	2156	3707	3379
3793	-0.62	-146.6	299.0	-7.4	178	3797	0.00	2.58	0.00	0.000	6	0.000	0.057	2156	2296	3379
4114	-0.62	-146.6	324.0	-8.2	194	4118	0.00	2.60	0.00	0.000	4	0.000	0.067	2157	886	3379
4140	-0.62	-146.6	326.4	-9.3	195	4144	0.00	2.60	0.00	0.000	6	0.000	0.059	2156	2300	3379
4456	-0.62	-146.6	352.6	-8.1	210	4457	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2299	3379
4767	-0.62	-146.6	376.3	-7.7	225	4772	0.00	2.65	0.00	0.000	4	0.000	0.069	2156	880	3379
4807	-0.66	-146.6	379.3	-7.9	227	4812	0.00	2.62	0.00	0.000	6	0.000	0.060	2156	2299	3379
5134	-0.66	-146.6	403.8	-7.6	243	5135	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2299	3379
5444	-0.66	-146.6	426.1	-6.6	258	5445	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2299	3379
5753	-0.66	-146.6	446.5	-6.4	273	5757	0.00	2.62	0.00	0.000	4	0.000	0.069	2156	886	3380
5780	-0.66	-146.6	448.2	-5.9	274	5785	0.00	2.60	0.00	0.000	6	0.000	0.061	2156	2298	3379
6095	-0.66	-146.6	469.4	-6.7	289	6100	0.00	2.70	0.00	0.000	4	0.000	0.084	2156	3717	3378
6151	-0.66	-146.6	473.2	-6.7	291	6157	0.00	2.60	0.00	0.000	6	0.000	0.058	2156	2298	3378
6467	-0.66	-146.6	495.9	-8.1	307	6471	0.00	2.62	0.00	0.000	4	0.000	0.070	2156	880	3378
6506	-0.73	-146.6	499.2	-9.3	309	6511	0.00	2.60	0.00	0.000	6	0.000	0.061	2156	2301	3378
6832	-0.73	-146.6	526.0	-7.6	325	6833	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2301	3378
7142	-0.73	-146.6	543.9	-5.4	340	7147	0.00	2.72	0.00	0.000	4	0.000	0.091	2156	3712	3378
7181	-0.73	-146.6	546.6	-7.0	342	7186	0.00	2.62	0.00	0.000	6	0.000	0.061	2156	2297	3378
7341	end dive: BOTTOM_OBSTACLE_DETECTED
state	7341	begin apogee
7347	-0.31	0.0	556.8	6.5	350	7483	0.38	0.00	129.80	1.020	6	0.095	0.000	2231	2297	2780
7484	end apogee: CONTROL_FINISHED_OK
state	7484	begin climb
7487	0.85	146.6	562.0	0.0	357	7622	1.17	0.00	130.18	0.987	6	0.081	0.000	2479	2297	2183
7939	0.89	185.8	544.6	4.9	379	7979	0.00	0.00	35.47	0.960	6	0.000	0.000	2478	2297	2023
8290	0.93	186.9	525.5	6.0	396	8291	0.12	0.00	0.00	0.000	6	0.077	0.000	2505	2297	2021
8598	0.93	186.9	502.9	6.5	411	8603	0.00	2.80	0.00	0.000	4	0.000	0.096	2505	3709	2020
8631	0.86	186.9	500.8	6.6	412	8637	0.00	2.67	0.00	0.000	6	0.000	0.069	2505	2301	2021
8947	0.88	202.3	482.9	5.6	428	8966	0.00	0.00	15.15	0.920	6	0.000	0.000	2505	2301	1955
9276	0.95	266.0	467.5	4.3	444	9339	0.00	2.78	56.15	0.979	4	0.000	0.077	2505	882	1695
9362	0.96	277.7	463.3	5.7	448	9383	0.00	2.72	11.38	0.883	6	0.000	0.064	2505	2304	1650
9692	0.96	277.7	442.2	7.9	464	9696	0.00	2.72	0.00	0.000	4	0.000	0.074	2505	880	1649
9719	1.01	277.7	440.1	7.5	465	9724	0.00	2.67	0.00	0.000	6	0.000	0.061	2505	2302	1648
10035	1.01	277.7	416.8	7.1	480	10040	0.00	2.70	0.00	0.000	4	0.000	0.073	2505	880	1648
10075	1.05	277.7	414.2	6.4	482	10080	0.10	2.67	0.00	0.000	6	0.085	0.059	2526	2308	1648
10401	1.05	277.7	388.5	8.7	498	10406	0.00	2.70	0.00	0.000	4	0.000	0.070	2526	880	1648
10451	1.05	277.7	384.3	8.2	500	10456	0.00	2.65	0.00	0.000	6	0.000	0.058	2526	2304	1648
10767	1.05	277.7	359.1	8.0	515	10771	0.00	2.70	0.00	0.000	4	0.000	0.072	2526	880	1649
10806	1.05	277.7	355.9	8.0	517	10811	0.00	2.62	0.00	0.000	6	0.000	0.058	2526	2301	1648
11133	1.05	277.7	331.3	7.3	533	11137	0.00	2.70	0.00	0.000	4	0.000	0.071	2526	876	1649
11172	1.05	277.7	328.5	6.9	535	11177	0.00	2.65	0.00	0.000	6	0.000	0.058	2526	2301	1649
11499	1.05	277.7	305.1	7.4	551	11501	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2301	1649
11809	1.05	277.7	275.1	10.9	566	11813	0.00	2.67	0.00	0.000	4	0.000	0.070	2526	880	1650
11830	1.05	277.7	272.5	11.5	567	11835	0.00	2.62	0.00	0.000	6	0.000	0.058	2526	2302	1650
12151	1.05	277.7	241.4	8.2	583	12152	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2303	1650
12461	1.05	277.7	223.5	6.8	598	12465	0.00	2.65	0.00	0.000	4	0.000	0.068	2526	880	1650
12488	1.05	277.7	221.3	7.6	599	12492	0.00	2.62	0.00	0.000	6	0.000	0.057	2526	2304	1650
12803	1.05	281.4	198.9	5.9	614	12814	0.00	2.70	5.70	0.613	4	0.000	0.081	2526	3707	1633
12844	1.05	281.4	196.5	6.5	616	12848	0.00	2.62	0.00	0.000	6	0.000	0.061	2526	2298	1633
13170	1.05	281.4	173.4	7.3	632	13174	0.00	2.62	0.00	0.000	4	0.000	0.067	2526	880	1633
13232	1.05	281.4	168.2	8.8	635	13236	0.00	2.62	0.00	0.000	6	0.000	0.055	2526	2301	1633
13560	1.05	281.4	138.7	8.8	651	13565	0.00	2.65	0.00	0.000	4	0.000	0.067	2526	880	1633
13605	1.05	281.4	134.8	8.2	653	13609	0.00	2.62	0.00	0.000	6	0.000	0.055	2527	2306	1633
13926	1.05	281.4	107.9	7.5	669	13930	0.00	2.65	0.00	0.000	4	0.000	0.066	2526	880	1634
13965	1.05	281.4	105.0	7.7	671	13970	0.00	2.60	0.00	0.000	6	0.000	0.055	2526	2301	1634
14292	1.05	281.4	81.8	8.1	687	14297	0.00	2.65	0.00	0.000	4	0.000	0.066	2526	878	1634
14337	1.05	281.4	77.9	9.4	689	14341	0.00	2.60	0.00	0.000	6	0.000	0.056	2526	2299	1634
14658	1.05	281.4	52.8	7.6	705	14662	0.00	2.65	0.00	0.000	4	0.000	0.066	2527	875	1635
14730	1.05	281.4	47.0	8.3	708	14734	0.00	2.60	0.00	0.000	6	0.000	0.055	2526	2301	1635
15047	1.05	281.4	23.2	7.6	723	15052	0.00	2.67	0.00	0.000	4	0.000	0.078	2526	3712	1636
15064	1.05	281.4	21.8	7.5	724	15069	0.00	2.58	0.00	0.000	6	0.000	0.058	2526	2298	1636
15326	end climb: SURFACE_DEPTH_REACHED
state	15327	begin surface coast
15349	end surface coast: CONTROL_FINISHED_OK
state	15351	begin surface