Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 102 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2109448.2 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2109448.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 102 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 084537,6309.451,-1310.312,40,0.8,40,-12.2 TGT_NAME IW

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.52 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -65.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 085644,6309.367,-1309.972,12,1.6,12,-12.2 MHEAD_RNG_PITCHd_Wd 350.3,11242,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026542 ALTIM_BOTTOM_PING 650.2,60.2

SM_CCo 16465,0.20,0.133,0,0,1798,250.21 _24V_AH 23.6,20.149

SM_GC 2.55,0.00,0.00,0.20,0.000,0.000,0.133,75,2603,1798,-10.51,0.08,250.21 _10V_AH 10.1,9.777

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41244,791

TT8_MAMPS 0.023777 CAP_FILE_SIZE 117059,0

HUMID 1728 CFSIZE 260165632,252559360

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 240609,133236,6312.674,-1308.544,30,1.9,30,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 190 122.48 SBE_CT 580 24 328.58

Roll_motor 106 69 173.05 SBE_O2 541 19 242.83

VBD_pump_during_apogee 353 1017 8486.57 WL_BB2F 487 105 1208.38

VBD_pump_during_surface 0 133 0.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 131.83 nil 0 0 0.00

Iridium_during_connect 83 160 315.42 nil 0 0 0.00

Iridium_during_xfer 287 223 1513.80

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.17

TT8 1427 19 285.46

LPSleep 12926 2 285.92

TT8_Active 464 19 92.95

TT8_Sampling 1635 39 657.47

TT8_CF8 681 45 315.17

TT8_Kalman 0 81 0.00

Analog_circuits 1277 12 154.83

GPS_charging 0 0 0.00

Compass 1603 8 129.53

RAFOS 0 0 0.00

Transponder 38 30 11.78

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 78 0.00 0.00 -60.88 0.000 6 0.000 0.000 74 2609 3417

82 -1.03 -146.6 5.7 -9.9 3 103 12.12 2.55 0.00 0.000 4 0.191 0.038 2130 1191 3419

195 -1.03 -146.6 27.1 -8.2 8 199 0.00 2.47 0.00 0.000 6 0.000 0.037 2130 2597 3419

522 -0.98 -146.6 58.4 -8.9 24 523 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2597 3419

832 -0.98 -146.6 78.8 -7.9 39 836 0.00 2.47 0.00 0.000 4 0.000 0.038 2130 1193 3419

899 -0.98 -146.6 84.8 -8.4 42 903 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2600 3419

1220 -0.98 -146.6 114.6 -9.7 58 1221 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3419

1531 -0.98 -146.6 146.0 -9.9 73 1532 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3419

1838 -0.98 -146.6 174.5 -8.9 88 1846 0.00 2.47 0.00 0.000 4 0.000 0.038 2131 1192 3419

1886 -1.03 -146.6 178.9 -8.7 90 1890 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2599 3419

2219 -1.03 -146.6 210.9 -9.9 106 2221 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

2529 -1.03 -146.6 240.6 -9.2 121 2530 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3419

2838 -1.03 -146.6 267.7 -8.5 136 2842 0.00 2.47 0.00 0.000 4 0.000 0.039 2131 1193 3419

2882 -1.07 -146.6 271.5 -8.2 138 2886 0.00 2.47 0.00 0.000 6 0.000 0.037 2131 2600 3419

3203 -1.07 -146.6 297.4 -7.7 154 3204 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3419

3512 -1.07 -146.6 321.6 -7.9 169 3513 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3419

3822 -1.07 -146.6 350.2 -10.1 184 3826 0.00 2.47 0.00 0.000 4 0.000 0.040 2130 1193 3419

3855 -1.07 -146.6 353.7 -9.8 185 3860 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2602 3419

4171 -1.07 -146.6 383.5 -8.9 200 4172 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3418

4480 -1.07 -146.6 411.0 -8.6 215 4482 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3418

4789 -1.07 -146.6 436.7 -8.5 230 4794 0.00 2.47 0.00 0.000 4 0.000 0.040 2130 1194 3418

4840 -1.12 -146.6 441.2 -8.7 232 4844 0.00 2.47 0.00 0.000 6 0.000 0.038 2131 2609 3418

5156 -1.12 -146.6 467.5 -8.6 247 5157 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2609 3418

5464 -1.12 -146.6 495.6 -8.4 262 5469 0.00 2.50 0.00 0.000 4 0.000 0.040 2131 1190 3417

5532 -1.17 -146.6 500.7 -7.2 265 5537 0.12 2.47 0.00 0.000 6 0.048 0.038 2090 2600 3417

5854 -1.08 -146.6 529.6 -9.2 281 5855 0.17 0.00 0.00 0.000 6 0.096 0.000 2123 2600 3417

6162 -1.08 -146.6 556.3 -8.5 296 6167 0.00 2.47 0.00 0.000 4 0.000 0.040 2123 1193 3417

6202 -1.08 -146.6 559.8 -8.5 298 6207 0.00 2.47 0.00 0.000 6 0.000 0.038 2123 2603 3417

6529 -1.08 -146.6 586.3 -7.3 314 6531 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2603 3417

6839 -1.08 -146.6 606.6 -7.1 329 6843 0.00 2.50 0.00 0.000 4 0.000 0.041 2123 1187 3417

6901 -1.12 -146.6 611.3 -7.7 332 6905 0.00 2.47 0.00 0.000 6 0.000 0.038 2124 2599 3417

7227 -1.12 -146.6 638.8 -7.8 348 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2600 3417

7537 -1.12 -146.6 660.8 -7.3 363 7538 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2600 3416

7846 -1.12 -146.6 685.9 -8.7 378 7850 0.00 2.47 0.00 0.000 4 0.000 0.042 2123 1193 3415

7902 -1.18 -146.6 690.6 -8.6 380 7906 0.00 2.50 0.00 0.000 6 0.000 0.041 2123 2605 3415

8009 end dive: BOTTOM_OBSTACLE_DETECTED

state 8009 begin apogee

8016 -0.31 0.0 701.0 9.7 385 8152 0.82 0.00 128.80 1.017 6 0.101 0.000 2290 2277 2816

8152 end apogee: CONTROL_FINISHED_OK

state 8152 begin climb

8155 1.03 146.6 705.0 0.0 392 8291 1.35 0.00 131.10 1.006 6 0.066 0.000 2582 2277 2219

8589 0.97 184.2 681.9 6.2 413 8631 0.00 2.80 33.67 0.963 4 0.000 0.069 2582 3700 2065

8671 0.86 184.2 675.0 8.5 416 8677 0.17 2.45 0.00 0.000 6 0.099 0.031 2551 2313 2063

8986 0.86 184.2 651.4 7.8 432 8990 0.00 2.58 0.00 0.000 4 0.000 0.052 2549 897 2059

9041 0.86 184.2 647.1 8.2 434 9048 0.00 2.50 0.00 0.000 6 0.000 0.038 2549 2304 2058

9357 0.92 235.3 627.9 5.8 450 9410 0.00 2.70 47.00 0.962 4 0.000 0.067 2549 3706 1857

9520 0.92 235.3 616.2 8.0 457 9524 0.00 2.47 0.00 0.000 6 0.000 0.032 2549 2301 1852

9836 0.97 240.3 591.8 7.3 472 9846 0.00 2.58 4.68 0.653 4 0.000 0.051 2549 898 1837

9908 1.02 240.3 586.4 7.7 475 9913 0.15 2.50 0.00 0.000 6 0.049 0.037 2588 2309 1835

10224 0.97 240.3 559.1 9.1 490 10228 0.00 2.60 0.00 0.000 4 0.000 0.064 2589 3702 1835

10279 0.89 240.3 553.3 10.3 492 10286 0.17 2.45 0.00 0.000 6 0.100 0.031 2556 2301 1835

10595 0.89 240.3 525.4 10.0 508 10599 0.00 2.53 0.00 0.000 4 0.000 0.050 2556 898 1835

10662 0.89 240.3 518.7 10.2 511 10666 0.00 2.47 0.00 0.000 6 0.000 0.035 2556 2311 1833

10989 0.94 247.8 493.6 7.2 527 11003 0.00 2.62 8.32 0.752 4 0.000 0.061 2556 3692 1805

11033 0.94 247.8 490.2 8.2 529 11037 0.00 2.42 0.00 0.000 6 0.000 0.029 2556 2300 1805

11360 0.99 247.8 465.7 8.2 545 11364 0.00 2.53 0.00 0.000 4 0.000 0.048 2557 896 1804

11426 1.05 247.8 459.7 9.2 548 11431 0.15 2.45 0.00 0.000 6 0.048 0.034 2597 2299 1803

11748 0.99 247.8 426.5 10.5 564 11750 0.12 0.00 0.00 0.000 6 0.097 0.000 2575 2300 1803

12056 0.99 247.8 395.8 9.9 579 12057 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1803

12366 0.99 247.8 365.3 9.9 594 12367 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1803

12675 0.99 247.8 333.7 10.4 609 12676 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2299 1803

12984 0.99 247.8 302.2 10.0 624 12985 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2299 1803

13293 0.99 247.8 274.0 8.6 639 13297 0.00 2.50 0.00 0.000 4 0.000 0.044 2575 894 1804

13349 0.99 247.8 269.3 8.2 641 13353 0.00 2.45 0.00 0.000 6 0.000 0.034 2575 2299 1803

13665 0.99 247.8 243.5 8.0 656 13666 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2299 1803

13974 0.99 247.8 217.5 8.6 671 13975 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1803

14284 0.99 247.8 190.2 9.0 686 14285 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2299 1804

14593 0.99 247.8 164.1 8.4 701 14594 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2300 1803

14902 0.99 247.8 139.0 8.2 716 14906 0.00 2.50 0.00 0.000 4 0.000 0.044 2575 896 1804

14946 0.99 247.8 135.0 9.4 718 14951 0.00 2.45 0.00 0.000 6 0.000 0.034 2575 2302 1804

15268 0.99 247.8 107.4 8.7 734 15272 0.00 2.55 0.00 0.000 4 0.000 0.059 2575 3700 1804

15323 0.99 247.8 102.2 9.8 736 15329 0.00 2.42 0.00 0.000 6 0.000 0.029 2575 2292 1803

15639 0.99 247.8 73.2 9.5 752 15640 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2291 1804

15950 0.99 247.8 43.9 9.3 767 15951 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2291 1804

16257 0.99 247.8 15.6 8.7 782 16258 0.00 0.00 0.00 0.000 6 0.000 0.000 2575 2291 1804

16420 end climb: SURFACE_DEPTH_REACHED

state 16420 begin surface coast

16441 end surface coast: CONTROL_FINISHED_OK

state 16442 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	102	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2109448.2	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	084537,6309.451,-1310.312,40,0.8,40,-12.2	TGT_NAME	IW
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.52	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-65.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	085644,6309.367,-1309.972,12,1.6,12,-12.2	MHEAD_RNG_PITCHd_Wd	350.3,11242,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026542	ALTIM_BOTTOM_PING	650.2,60.2
SM_CCo	16465,0.20,0.133,0,0,1798,250.21	_24V_AH	23.6,20.149
SM_GC	2.55,0.00,0.00,0.20,0.000,0.000,0.133,75,2603,1798,-10.51,0.08,250.21	_10V_AH	10.1,9.777
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41244,791
TT8_MAMPS	0.023777	CAP_FILE_SIZE	117059,0
HUMID	1728	CFSIZE	260165632,252559360
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	240609,133236,6312.674,-1308.544,30,1.9,30,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	190	122.48	SBE_CT	580	24	328.58
Roll_motor	106	69	173.05	SBE_O2	541	19	242.83
VBD_pump_during_apogee	353	1017	8486.57	WL_BB2F	487	105	1208.38
VBD_pump_during_surface	0	133	0.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	131.83	nil	0	0	0.00
Iridium_during_connect	83	160	315.42	nil	0	0	0.00
Iridium_during_xfer	287	223	1513.80
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.17
TT8	1427	19	285.46
LPSleep	12926	2	285.92
TT8_Active	464	19	92.95
TT8_Sampling	1635	39	657.47
TT8_CF8	681	45	315.17
TT8_Kalman	0	81	0.00
Analog_circuits	1277	12	154.83
GPS_charging	0	0	0.00
Compass	1603	8	129.53
RAFOS	0	0	0.00
Transponder	38	30	11.78

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	78	0.00	0.00	-60.88	0.000	6	0.000	0.000	74	2609	3417
82	-1.03	-146.6	5.7	-9.9	3	103	12.12	2.55	0.00	0.000	4	0.191	0.038	2130	1191	3419
195	-1.03	-146.6	27.1	-8.2	8	199	0.00	2.47	0.00	0.000	6	0.000	0.037	2130	2597	3419
522	-0.98	-146.6	58.4	-8.9	24	523	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2597	3419
832	-0.98	-146.6	78.8	-7.9	39	836	0.00	2.47	0.00	0.000	4	0.000	0.038	2130	1193	3419
899	-0.98	-146.6	84.8	-8.4	42	903	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2600	3419
1220	-0.98	-146.6	114.6	-9.7	58	1221	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3419
1531	-0.98	-146.6	146.0	-9.9	73	1532	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3419
1838	-0.98	-146.6	174.5	-8.9	88	1846	0.00	2.47	0.00	0.000	4	0.000	0.038	2131	1192	3419
1886	-1.03	-146.6	178.9	-8.7	90	1890	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2599	3419
2219	-1.03	-146.6	210.9	-9.9	106	2221	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
2529	-1.03	-146.6	240.6	-9.2	121	2530	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3419
2838	-1.03	-146.6	267.7	-8.5	136	2842	0.00	2.47	0.00	0.000	4	0.000	0.039	2131	1193	3419
2882	-1.07	-146.6	271.5	-8.2	138	2886	0.00	2.47	0.00	0.000	6	0.000	0.037	2131	2600	3419
3203	-1.07	-146.6	297.4	-7.7	154	3204	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2600	3419
3512	-1.07	-146.6	321.6	-7.9	169	3513	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3419
3822	-1.07	-146.6	350.2	-10.1	184	3826	0.00	2.47	0.00	0.000	4	0.000	0.040	2130	1193	3419
3855	-1.07	-146.6	353.7	-9.8	185	3860	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2602	3419
4171	-1.07	-146.6	383.5	-8.9	200	4172	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3418
4480	-1.07	-146.6	411.0	-8.6	215	4482	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3418
4789	-1.07	-146.6	436.7	-8.5	230	4794	0.00	2.47	0.00	0.000	4	0.000	0.040	2130	1194	3418
4840	-1.12	-146.6	441.2	-8.7	232	4844	0.00	2.47	0.00	0.000	6	0.000	0.038	2131	2609	3418
5156	-1.12	-146.6	467.5	-8.6	247	5157	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2609	3418
5464	-1.12	-146.6	495.6	-8.4	262	5469	0.00	2.50	0.00	0.000	4	0.000	0.040	2131	1190	3417
5532	-1.17	-146.6	500.7	-7.2	265	5537	0.12	2.47	0.00	0.000	6	0.048	0.038	2090	2600	3417
5854	-1.08	-146.6	529.6	-9.2	281	5855	0.17	0.00	0.00	0.000	6	0.096	0.000	2123	2600	3417
6162	-1.08	-146.6	556.3	-8.5	296	6167	0.00	2.47	0.00	0.000	4	0.000	0.040	2123	1193	3417
6202	-1.08	-146.6	559.8	-8.5	298	6207	0.00	2.47	0.00	0.000	6	0.000	0.038	2123	2603	3417
6529	-1.08	-146.6	586.3	-7.3	314	6531	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2603	3417
6839	-1.08	-146.6	606.6	-7.1	329	6843	0.00	2.50	0.00	0.000	4	0.000	0.041	2123	1187	3417
6901	-1.12	-146.6	611.3	-7.7	332	6905	0.00	2.47	0.00	0.000	6	0.000	0.038	2124	2599	3417
7227	-1.12	-146.6	638.8	-7.8	348	7228	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2600	3417
7537	-1.12	-146.6	660.8	-7.3	363	7538	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2600	3416
7846	-1.12	-146.6	685.9	-8.7	378	7850	0.00	2.47	0.00	0.000	4	0.000	0.042	2123	1193	3415
7902	-1.18	-146.6	690.6	-8.6	380	7906	0.00	2.50	0.00	0.000	6	0.000	0.041	2123	2605	3415
8009	end dive: BOTTOM_OBSTACLE_DETECTED
state	8009	begin apogee
8016	-0.31	0.0	701.0	9.7	385	8152	0.82	0.00	128.80	1.017	6	0.101	0.000	2290	2277	2816
8152	end apogee: CONTROL_FINISHED_OK
state	8152	begin climb
8155	1.03	146.6	705.0	0.0	392	8291	1.35	0.00	131.10	1.006	6	0.066	0.000	2582	2277	2219
8589	0.97	184.2	681.9	6.2	413	8631	0.00	2.80	33.67	0.963	4	0.000	0.069	2582	3700	2065
8671	0.86	184.2	675.0	8.5	416	8677	0.17	2.45	0.00	0.000	6	0.099	0.031	2551	2313	2063
8986	0.86	184.2	651.4	7.8	432	8990	0.00	2.58	0.00	0.000	4	0.000	0.052	2549	897	2059
9041	0.86	184.2	647.1	8.2	434	9048	0.00	2.50	0.00	0.000	6	0.000	0.038	2549	2304	2058
9357	0.92	235.3	627.9	5.8	450	9410	0.00	2.70	47.00	0.962	4	0.000	0.067	2549	3706	1857
9520	0.92	235.3	616.2	8.0	457	9524	0.00	2.47	0.00	0.000	6	0.000	0.032	2549	2301	1852
9836	0.97	240.3	591.8	7.3	472	9846	0.00	2.58	4.68	0.653	4	0.000	0.051	2549	898	1837
9908	1.02	240.3	586.4	7.7	475	9913	0.15	2.50	0.00	0.000	6	0.049	0.037	2588	2309	1835
10224	0.97	240.3	559.1	9.1	490	10228	0.00	2.60	0.00	0.000	4	0.000	0.064	2589	3702	1835
10279	0.89	240.3	553.3	10.3	492	10286	0.17	2.45	0.00	0.000	6	0.100	0.031	2556	2301	1835
10595	0.89	240.3	525.4	10.0	508	10599	0.00	2.53	0.00	0.000	4	0.000	0.050	2556	898	1835
10662	0.89	240.3	518.7	10.2	511	10666	0.00	2.47	0.00	0.000	6	0.000	0.035	2556	2311	1833
10989	0.94	247.8	493.6	7.2	527	11003	0.00	2.62	8.32	0.752	4	0.000	0.061	2556	3692	1805
11033	0.94	247.8	490.2	8.2	529	11037	0.00	2.42	0.00	0.000	6	0.000	0.029	2556	2300	1805
11360	0.99	247.8	465.7	8.2	545	11364	0.00	2.53	0.00	0.000	4	0.000	0.048	2557	896	1804
11426	1.05	247.8	459.7	9.2	548	11431	0.15	2.45	0.00	0.000	6	0.048	0.034	2597	2299	1803
11748	0.99	247.8	426.5	10.5	564	11750	0.12	0.00	0.00	0.000	6	0.097	0.000	2575	2300	1803
12056	0.99	247.8	395.8	9.9	579	12057	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1803
12366	0.99	247.8	365.3	9.9	594	12367	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1803
12675	0.99	247.8	333.7	10.4	609	12676	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2299	1803
12984	0.99	247.8	302.2	10.0	624	12985	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2299	1803
13293	0.99	247.8	274.0	8.6	639	13297	0.00	2.50	0.00	0.000	4	0.000	0.044	2575	894	1804
13349	0.99	247.8	269.3	8.2	641	13353	0.00	2.45	0.00	0.000	6	0.000	0.034	2575	2299	1803
13665	0.99	247.8	243.5	8.0	656	13666	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2299	1803
13974	0.99	247.8	217.5	8.6	671	13975	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1803
14284	0.99	247.8	190.2	9.0	686	14285	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2299	1804
14593	0.99	247.8	164.1	8.4	701	14594	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2300	1803
14902	0.99	247.8	139.0	8.2	716	14906	0.00	2.50	0.00	0.000	4	0.000	0.044	2575	896	1804
14946	0.99	247.8	135.0	9.4	718	14951	0.00	2.45	0.00	0.000	6	0.000	0.034	2575	2302	1804
15268	0.99	247.8	107.4	8.7	734	15272	0.00	2.55	0.00	0.000	4	0.000	0.059	2575	3700	1804
15323	0.99	247.8	102.2	9.8	736	15329	0.00	2.42	0.00	0.000	6	0.000	0.029	2575	2292	1803
15639	0.99	247.8	73.2	9.5	752	15640	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2291	1804
15950	0.99	247.8	43.9	9.3	767	15951	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2291	1804
16257	0.99	247.8	15.6	8.7	782	16258	0.00	0.00	0.00	0.000	6	0.000	0.000	2575	2291	1804
16420	end climb: SURFACE_DEPTH_REACHED
state	16420	begin surface coast
16441	end surface coast: CONTROL_FINISHED_OK
state	16442	begin surface