Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 69 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 2817 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 -2076561.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 412.5

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 -2076561.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 69 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 012356,6134.818,-911.116,42,1.9,42,-9.3 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.181,-0.166

_SM_DEPTHo 1.46 KALMAN_X -11319.9,1066.2,-155.1,5603.0,-5916.4

_SM_ANGLEo -56.6 KALMAN_Y 101458.0,-1086.8,-1120.8,-105552.4,8128.7

GPS2 012841,6134.779,-911.075,12,2.5,31,-9.3 MHEAD_RNG_PITCHd_Wd 141.8,29085,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027326 ALTIM_BOTTOM_PING 700.3,91.8

SM_CCo 15074,0.00,0.000,0,0,1516,318.89 _24V_AH 23.5,16.162

SM_GC 1.28,11.43,0.00,0.00,0.041,0.000,0.000,74,2402,1516,-10.69,0.08,318.89 _10V_AH 10.2,6.992

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37987,724

TT8_MAMPS 0.02301 CFSIZE 260165632,255033344

HUMID 2079 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 16.30 GPS 241107,054216,6132.922,-906.118,43,2.1,62,-9.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 103.36 SBE_CT 507 24 286.14

Roll_motor 126 80 239.17 SBE_O2 514 19 229.84

VBD_pump_during_apogee 383 1181 10638.84 WL_BB2F 414 105 1022.96

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.89 nil 0 0 0.00

Iridium_during_connect 31 160 116.60 nil 0 0 0.00

Iridium_during_xfer 119 223 628.82

Transponder_ping 6 420 64.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.51

TT8 1331 19 268.85

LPSleep 11560 2 258.24

TT8_Active 494 19 99.81

TT8_Sampling 1691 39 686.81

TT8_CF8 282 45 132.16

TT8_Kalman 33 81 27.83

Analog_circuits 1345 12 164.68

GPS_charging 0 0 0.00

Compass 1634 8 133.34

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -62.30 0.000 2 0.000 0.000 74 2402 3211

84 -1.08 -146.6 4.4 -7.0 3 107 11.75 2.58 -4.20 0.000 4 0.172 0.081 2167 3773 3418

358 -1.08 -146.6 49.6 -10.5 15 363 0.00 2.53 0.00 0.000 6 0.000 0.050 2167 2399 3417

685 -1.08 -146.6 92.5 -13.5 31 690 0.00 2.58 0.00 0.000 4 0.000 0.073 2167 3766 3418

897 -1.08 -146.6 116.2 -12.0 40 904 0.00 2.53 0.00 0.000 6 0.000 0.053 2167 2398 3417

1213 -1.08 -146.6 154.5 -12.2 56 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2398 3418

1522 -1.08 -146.6 190.1 -11.8 71 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2398 3417

1833 -1.08 -146.6 227.2 -11.3 86 1835 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2398 3418

2140 -1.08 -146.6 258.9 -9.9 101 2145 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 984 3417

2179 -1.08 -146.6 262.8 -9.4 103 2183 0.00 2.58 0.00 0.000 6 0.000 0.055 2167 2404 3417

2505 -1.08 -146.6 297.3 -11.2 119 2509 0.00 2.55 0.00 0.000 4 0.000 0.074 2167 3769 3417

2553 -1.08 -146.6 302.7 -11.3 121 2558 0.00 2.53 0.00 0.000 6 0.000 0.053 2167 2398 3417

2874 -1.08 -146.6 332.8 -8.5 137 2875 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2398 3417

3183 -1.08 -146.6 358.9 -8.3 152 3187 0.00 2.62 0.00 0.000 4 0.000 0.068 2167 980 3417

3277 -1.08 -146.6 367.1 -8.5 156 3282 0.00 2.60 0.00 0.000 6 0.000 0.057 2167 2392 3418

3598 -1.08 -146.6 394.6 -8.1 172 3599 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2392 3418

3908 -1.08 -146.6 418.6 -7.6 187 3909 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2392 3417

4217 -1.08 -146.6 441.3 -7.6 202 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2392 3417

4526 -1.08 -146.6 464.3 -7.1 217 4531 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 986 3417

4581 -1.08 -146.6 468.5 -7.0 219 4588 0.00 2.60 0.00 0.000 6 0.000 0.055 2166 2393 3418

4896 -1.08 -146.6 497.2 -10.7 235 4897 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2393 3418

5205 -1.08 -146.6 534.3 -11.7 250 5206 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2393 3417

5514 -1.08 -146.6 567.9 -10.9 265 5519 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 985 3418

5576 -1.08 -146.6 574.7 -11.3 268 5581 0.00 2.58 0.00 0.000 6 0.000 0.055 2167 2398 3418

5906 -1.08 -146.6 608.2 -9.3 284 5911 0.00 2.55 0.00 0.000 4 0.000 0.074 2167 3768 3418

6012 -1.08 -146.6 617.5 -8.3 289 6017 0.00 2.47 0.00 0.000 6 0.000 0.055 2167 2401 3418

6339 -1.08 -146.6 642.5 -7.8 305 6343 0.00 2.62 0.00 0.000 4 0.000 0.067 2167 977 3418

6381 -1.08 -146.6 646.3 -7.7 307 6386 0.00 2.62 0.00 0.000 6 0.000 0.055 2167 2412 3418

6708 -1.08 -146.6 667.1 -4.9 323 6712 0.00 2.65 0.00 0.000 4 0.000 0.069 2167 986 3418

6785 -1.08 -146.6 671.7 -4.9 326 6791 0.00 2.58 0.00 0.000 6 0.000 0.056 2167 2407 3418

7099 -1.08 -146.6 703.4 -12.8 342 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2407 3417

7409 -1.08 -146.6 733.2 -5.3 357 7414 0.00 2.65 0.00 0.000 4 0.000 0.067 2167 978 3418

7494 -1.08 -146.6 739.0 -7.7 361 7498 0.00 2.60 0.00 0.000 6 0.000 0.057 2167 2400 3418

7818 -1.08 -146.6 777.6 -16.0 377 7823 0.00 2.58 0.00 0.000 4 0.000 0.079 2165 3769 3418

7844 end dive: BOTTOM_OBSTACLE_DETECTED

state 7844 begin apogee

7851 -0.31 0.0 782.6 19.4 378 7977 0.82 0.00 122.70 1.181 6 0.107 0.000 2335 2202 2817

7978 end apogee: CONTROL_FINISHED_OK

state 7978 begin climb

7979 1.08 146.6 782.2 0.0 384 8109 1.48 2.80 120.28 1.147 4 0.083 0.072 2643 786 2218

8288 1.08 146.6 746.1 9.2 398 8293 0.00 2.65 0.00 0.000 6 0.000 0.053 2643 2201 2218

8610 1.17 222.3 719.5 5.3 414 8679 0.00 2.75 61.65 1.115 4 0.000 0.078 2642 3614 1909

8707 1.17 222.3 712.9 8.8 418 8714 0.00 2.72 0.00 0.000 6 0.000 0.066 2643 2200 1909

9022 1.17 222.3 681.7 9.0 434 9026 0.00 2.70 0.00 0.000 4 0.000 0.079 2642 3620 1907

9054 1.17 222.3 678.4 10.0 435 9062 0.00 2.70 0.00 0.000 6 0.000 0.066 2643 2201 1907

9370 1.21 260.7 653.8 6.6 451 9412 0.12 2.80 31.58 1.070 4 0.051 0.073 2681 782 1753

9461 1.21 260.7 645.8 8.6 455 9466 0.00 2.62 0.00 0.000 6 0.000 0.049 2680 2196 1753

9788 1.21 260.7 616.4 11.2 471 9792 0.00 2.65 0.00 0.000 4 0.000 0.067 2681 781 1752

9864 1.21 260.7 609.0 8.6 474 9871 0.00 2.60 0.00 0.000 6 0.000 0.048 2680 2197 1752

10180 1.21 260.7 574.7 11.7 490 10181 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2197 1752

10489 1.21 260.7 535.7 12.5 505 10490 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2198 1752

10798 1.21 260.7 494.9 13.2 520 10802 0.00 2.65 0.00 0.000 4 0.000 0.066 2681 779 1752

10852 1.21 260.7 487.5 13.0 522 10860 0.00 2.60 0.00 0.000 6 0.000 0.046 2681 2203 1752

11168 1.21 260.7 447.6 12.2 538 11169 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2203 1752

11477 1.21 260.7 410.9 11.8 553 11482 0.00 2.65 0.00 0.000 4 0.000 0.066 2681 775 1751

11520 1.21 260.7 405.3 12.5 555 11526 0.00 2.60 0.00 0.000 6 0.000 0.045 2681 2201 1752

11848 1.21 260.7 367.6 10.9 571 11849 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2202 1752

12157 1.21 260.7 332.8 11.8 586 12161 0.00 2.62 0.00 0.000 4 0.000 0.064 2680 781 1752

12205 1.21 260.7 326.8 12.3 588 12210 0.00 2.58 0.00 0.000 6 0.000 0.045 2680 2196 1752

12526 1.21 260.7 288.2 12.1 604 12530 0.00 2.62 0.00 0.000 4 0.000 0.065 2681 781 1752

12559 1.21 260.7 284.2 11.9 605 12566 0.00 2.55 0.00 0.000 6 0.000 0.046 2679 2205 1753

12874 1.21 260.7 246.1 12.2 621 12875 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2205 1752

13183 1.21 260.7 206.4 13.2 636 13187 0.00 2.65 0.00 0.000 4 0.000 0.064 2680 773 1753

13221 1.21 260.7 201.3 13.0 638 13225 0.00 2.55 0.00 0.000 6 0.000 0.044 2680 2201 1752

13546 1.21 260.7 159.4 12.5 654 13551 0.00 2.62 0.00 0.000 4 0.000 0.071 2681 3612 1753

13590 1.21 260.7 154.4 11.7 656 13594 0.00 2.62 0.00 0.000 6 0.000 0.061 2680 2206 1753

13917 1.21 260.7 118.9 10.6 672 13918 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2206 1753

14226 1.23 280.2 86.1 7.3 687 14249 0.00 2.75 16.83 0.688 4 0.000 0.067 2680 779 1673

14281 1.27 318.2 82.6 6.6 689 14317 0.00 2.62 30.25 0.703 6 0.000 0.048 2680 2201 1519

14645 1.27 318.2 43.6 14.9 707 14646 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2201 1517

14954 1.27 318.2 3.9 11.9 722 14955 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2202 1518

14973 end climb: SURFACE_DEPTH_REACHED

state 14973 begin surface coast

14996 end surface coast: CONTROL_FINISHED_OK

state 14996 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	69	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	2817	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	-2076561.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	012356,6134.818,-911.116,42,1.9,42,-9.3	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.181,-0.166
_SM_DEPTHo	1.46	KALMAN_X	-11319.9,1066.2,-155.1,5603.0,-5916.4
_SM_ANGLEo	-56.6	KALMAN_Y	101458.0,-1086.8,-1120.8,-105552.4,8128.7
GPS2	012841,6134.779,-911.075,12,2.5,31,-9.3	MHEAD_RNG_PITCHd_Wd	141.8,29085,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027326	ALTIM_BOTTOM_PING	700.3,91.8
SM_CCo	15074,0.00,0.000,0,0,1516,318.89	_24V_AH	23.5,16.162
SM_GC	1.28,11.43,0.00,0.00,0.041,0.000,0.000,74,2402,1516,-10.69,0.08,318.89	_10V_AH	10.2,6.992
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37987,724
TT8_MAMPS	0.02301	CFSIZE	260165632,255033344
HUMID	2079	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	16.30	GPS	241107,054216,6132.922,-906.118,43,2.1,62,-9.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	103.36	SBE_CT	507	24	286.14
Roll_motor	126	80	239.17	SBE_O2	514	19	229.84
VBD_pump_during_apogee	383	1181	10638.84	WL_BB2F	414	105	1022.96
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.89	nil	0	0	0.00
Iridium_during_connect	31	160	116.60	nil	0	0	0.00
Iridium_during_xfer	119	223	628.82
Transponder_ping	6	420	64.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.51
TT8	1331	19	268.85
LPSleep	11560	2	258.24
TT8_Active	494	19	99.81
TT8_Sampling	1691	39	686.81
TT8_CF8	282	45	132.16
TT8_Kalman	33	81	27.83
Analog_circuits	1345	12	164.68
GPS_charging	0	0	0.00
Compass	1634	8	133.34
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-62.30	0.000	2	0.000	0.000	74	2402	3211
84	-1.08	-146.6	4.4	-7.0	3	107	11.75	2.58	-4.20	0.000	4	0.172	0.081	2167	3773	3418
358	-1.08	-146.6	49.6	-10.5	15	363	0.00	2.53	0.00	0.000	6	0.000	0.050	2167	2399	3417
685	-1.08	-146.6	92.5	-13.5	31	690	0.00	2.58	0.00	0.000	4	0.000	0.073	2167	3766	3418
897	-1.08	-146.6	116.2	-12.0	40	904	0.00	2.53	0.00	0.000	6	0.000	0.053	2167	2398	3417
1213	-1.08	-146.6	154.5	-12.2	56	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2398	3418
1522	-1.08	-146.6	190.1	-11.8	71	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2398	3417
1833	-1.08	-146.6	227.2	-11.3	86	1835	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2398	3418
2140	-1.08	-146.6	258.9	-9.9	101	2145	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	984	3417
2179	-1.08	-146.6	262.8	-9.4	103	2183	0.00	2.58	0.00	0.000	6	0.000	0.055	2167	2404	3417
2505	-1.08	-146.6	297.3	-11.2	119	2509	0.00	2.55	0.00	0.000	4	0.000	0.074	2167	3769	3417
2553	-1.08	-146.6	302.7	-11.3	121	2558	0.00	2.53	0.00	0.000	6	0.000	0.053	2167	2398	3417
2874	-1.08	-146.6	332.8	-8.5	137	2875	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2398	3417
3183	-1.08	-146.6	358.9	-8.3	152	3187	0.00	2.62	0.00	0.000	4	0.000	0.068	2167	980	3417
3277	-1.08	-146.6	367.1	-8.5	156	3282	0.00	2.60	0.00	0.000	6	0.000	0.057	2167	2392	3418
3598	-1.08	-146.6	394.6	-8.1	172	3599	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2392	3418
3908	-1.08	-146.6	418.6	-7.6	187	3909	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2392	3417
4217	-1.08	-146.6	441.3	-7.6	202	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2392	3417
4526	-1.08	-146.6	464.3	-7.1	217	4531	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	986	3417
4581	-1.08	-146.6	468.5	-7.0	219	4588	0.00	2.60	0.00	0.000	6	0.000	0.055	2166	2393	3418
4896	-1.08	-146.6	497.2	-10.7	235	4897	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2393	3418
5205	-1.08	-146.6	534.3	-11.7	250	5206	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2393	3417
5514	-1.08	-146.6	567.9	-10.9	265	5519	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	985	3418
5576	-1.08	-146.6	574.7	-11.3	268	5581	0.00	2.58	0.00	0.000	6	0.000	0.055	2167	2398	3418
5906	-1.08	-146.6	608.2	-9.3	284	5911	0.00	2.55	0.00	0.000	4	0.000	0.074	2167	3768	3418
6012	-1.08	-146.6	617.5	-8.3	289	6017	0.00	2.47	0.00	0.000	6	0.000	0.055	2167	2401	3418
6339	-1.08	-146.6	642.5	-7.8	305	6343	0.00	2.62	0.00	0.000	4	0.000	0.067	2167	977	3418
6381	-1.08	-146.6	646.3	-7.7	307	6386	0.00	2.62	0.00	0.000	6	0.000	0.055	2167	2412	3418
6708	-1.08	-146.6	667.1	-4.9	323	6712	0.00	2.65	0.00	0.000	4	0.000	0.069	2167	986	3418
6785	-1.08	-146.6	671.7	-4.9	326	6791	0.00	2.58	0.00	0.000	6	0.000	0.056	2167	2407	3418
7099	-1.08	-146.6	703.4	-12.8	342	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2407	3417
7409	-1.08	-146.6	733.2	-5.3	357	7414	0.00	2.65	0.00	0.000	4	0.000	0.067	2167	978	3418
7494	-1.08	-146.6	739.0	-7.7	361	7498	0.00	2.60	0.00	0.000	6	0.000	0.057	2167	2400	3418
7818	-1.08	-146.6	777.6	-16.0	377	7823	0.00	2.58	0.00	0.000	4	0.000	0.079	2165	3769	3418
7844	end dive: BOTTOM_OBSTACLE_DETECTED
state	7844	begin apogee
7851	-0.31	0.0	782.6	19.4	378	7977	0.82	0.00	122.70	1.181	6	0.107	0.000	2335	2202	2817
7978	end apogee: CONTROL_FINISHED_OK
state	7978	begin climb
7979	1.08	146.6	782.2	0.0	384	8109	1.48	2.80	120.28	1.147	4	0.083	0.072	2643	786	2218
8288	1.08	146.6	746.1	9.2	398	8293	0.00	2.65	0.00	0.000	6	0.000	0.053	2643	2201	2218
8610	1.17	222.3	719.5	5.3	414	8679	0.00	2.75	61.65	1.115	4	0.000	0.078	2642	3614	1909
8707	1.17	222.3	712.9	8.8	418	8714	0.00	2.72	0.00	0.000	6	0.000	0.066	2643	2200	1909
9022	1.17	222.3	681.7	9.0	434	9026	0.00	2.70	0.00	0.000	4	0.000	0.079	2642	3620	1907
9054	1.17	222.3	678.4	10.0	435	9062	0.00	2.70	0.00	0.000	6	0.000	0.066	2643	2201	1907
9370	1.21	260.7	653.8	6.6	451	9412	0.12	2.80	31.58	1.070	4	0.051	0.073	2681	782	1753
9461	1.21	260.7	645.8	8.6	455	9466	0.00	2.62	0.00	0.000	6	0.000	0.049	2680	2196	1753
9788	1.21	260.7	616.4	11.2	471	9792	0.00	2.65	0.00	0.000	4	0.000	0.067	2681	781	1752
9864	1.21	260.7	609.0	8.6	474	9871	0.00	2.60	0.00	0.000	6	0.000	0.048	2680	2197	1752
10180	1.21	260.7	574.7	11.7	490	10181	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2197	1752
10489	1.21	260.7	535.7	12.5	505	10490	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2198	1752
10798	1.21	260.7	494.9	13.2	520	10802	0.00	2.65	0.00	0.000	4	0.000	0.066	2681	779	1752
10852	1.21	260.7	487.5	13.0	522	10860	0.00	2.60	0.00	0.000	6	0.000	0.046	2681	2203	1752
11168	1.21	260.7	447.6	12.2	538	11169	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2203	1752
11477	1.21	260.7	410.9	11.8	553	11482	0.00	2.65	0.00	0.000	4	0.000	0.066	2681	775	1751
11520	1.21	260.7	405.3	12.5	555	11526	0.00	2.60	0.00	0.000	6	0.000	0.045	2681	2201	1752
11848	1.21	260.7	367.6	10.9	571	11849	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2202	1752
12157	1.21	260.7	332.8	11.8	586	12161	0.00	2.62	0.00	0.000	4	0.000	0.064	2680	781	1752
12205	1.21	260.7	326.8	12.3	588	12210	0.00	2.58	0.00	0.000	6	0.000	0.045	2680	2196	1752
12526	1.21	260.7	288.2	12.1	604	12530	0.00	2.62	0.00	0.000	4	0.000	0.065	2681	781	1752
12559	1.21	260.7	284.2	11.9	605	12566	0.00	2.55	0.00	0.000	6	0.000	0.046	2679	2205	1753
12874	1.21	260.7	246.1	12.2	621	12875	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2205	1752
13183	1.21	260.7	206.4	13.2	636	13187	0.00	2.65	0.00	0.000	4	0.000	0.064	2680	773	1753
13221	1.21	260.7	201.3	13.0	638	13225	0.00	2.55	0.00	0.000	6	0.000	0.044	2680	2201	1752
13546	1.21	260.7	159.4	12.5	654	13551	0.00	2.62	0.00	0.000	4	0.000	0.071	2681	3612	1753
13590	1.21	260.7	154.4	11.7	656	13594	0.00	2.62	0.00	0.000	6	0.000	0.061	2680	2206	1753
13917	1.21	260.7	118.9	10.6	672	13918	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2206	1753
14226	1.23	280.2	86.1	7.3	687	14249	0.00	2.75	16.83	0.688	4	0.000	0.067	2680	779	1673
14281	1.27	318.2	82.6	6.6	689	14317	0.00	2.62	30.25	0.703	6	0.000	0.048	2680	2201	1519
14645	1.27	318.2	43.6	14.9	707	14646	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2201	1517
14954	1.27	318.2	3.9	11.9	722	14955	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2202	1518
14973	end climb: SURFACE_DEPTH_REACHED
state	14973	begin surface coast
14996	end surface coast: CONTROL_FINISHED_OK
state	14996	begin surface