Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 108 * 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 108 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 31 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 -2109558.2 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 -2109558.2

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 31 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 108 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 120624,6325.009,-1311.977,26,1.2,44,-12.3 TGT_NAME JW

_CALLS 2 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.48 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.8 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 121431,6325.058,-1311.913,15,1.3,32,-12.3 MHEAD_RNG_PITCHd_Wd 4.4,18587,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026631 ALTIM_BOTTOM_PING 628.7,112.0

SM_CCo 14941,0.00,0.000,0,0,968,453.56 _24V_AH 23.6,20.959

SM_GC 1.43,12.55,0.00,0.00,0.100,0.000,0.000,81,2606,968,-10.45,0.17,453.56 _10V_AH 10.1,10.202

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37998,713

TT8_MAMPS 0.023777 CAP_FILE_SIZE 111044,0

HUMID 1725 CFSIZE 260165632,252239872

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 250609,162507,6327.137,-1311.782,43,1.4,43,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 184 123.16 SBE_CT 520 24 294.55

Roll_motor 104 77 191.19 SBE_O2 485 19 217.67

VBD_pump_during_apogee 528 1039 12968.10 WL_BB2F 437 105 1085.32

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 36 103 88.18 nil 0 0 0.00

Iridium_during_connect 63 160 241.12 nil 0 0 0.00

Iridium_during_xfer 188 223 989.90

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.52

TT8 1304 19 260.92

LPSleep 11350 2 251.06

TT8_Active 563 19 112.60

TT8_Sampling 1678 39 674.87

TT8_CF8 530 45 245.62

TT8_Kalman 0 81 0.00

Analog_circuits 1426 12 172.84

GPS_charging 0 0 0.00

Compass 1619 8 130.83

RAFOS 0 0 0.00

Transponder 37 30 11.24

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 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -61.28 0.000 2 0.000 0.000 68 2602 3159

82 -1.03 -146.6 4.3 -6.9 3 105 11.95 2.33 -4.70 0.000 4 0.184 0.077 2132 3858 3418

200 -1.03 -146.6 25.0 -11.8 8 204 0.00 2.17 0.00 0.000 6 0.000 0.028 2132 2582 3418

529 -1.03 -146.6 56.2 -8.2 24 533 0.00 2.42 0.00 0.000 4 0.000 0.040 2132 1206 3419

615 -1.03 -146.6 62.5 -7.4 28 619 0.00 2.45 0.00 0.000 6 0.000 0.037 2132 2597 3419

942 -1.03 -146.6 88.7 -7.5 44 946 0.00 2.33 0.00 0.000 4 0.000 0.064 2132 3858 3419

1031 -1.03 -146.6 96.0 -8.5 48 1035 0.00 2.15 0.00 0.000 6 0.000 0.028 2133 2589 3419

1358 -1.03 -146.6 122.9 -8.4 64 1362 0.00 2.35 0.00 0.000 4 0.000 0.065 2132 3860 3419

1391 -1.03 -146.6 125.8 -8.7 65 1397 0.00 2.12 0.00 0.000 6 0.000 0.028 2132 2599 3419

1709 -1.03 -146.6 150.7 -8.5 81 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

2017 -1.03 -146.6 175.9 -7.9 96 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

2326 -1.03 -146.6 200.4 -7.6 111 2327 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

2635 -1.03 -146.6 226.0 -8.8 126 2636 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

2946 -1.03 -146.6 250.6 -7.8 141 2950 0.00 2.45 0.00 0.000 4 0.000 0.041 2132 1211 3419

2985 -1.03 -146.6 253.8 -7.9 143 2990 0.00 2.45 0.00 0.000 6 0.000 0.038 2132 2603 3419

3312 -1.03 -146.6 279.8 -7.9 159 3313 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2604 3419

3621 -1.03 -146.6 305.5 -8.2 174 3625 0.00 2.45 0.00 0.000 4 0.000 0.041 2132 1212 3419

3649 -1.03 -146.6 307.9 -8.5 175 3653 0.00 2.42 0.00 0.000 6 0.000 0.038 2132 2601 3419

3971 -1.03 -146.6 335.0 -8.5 191 3972 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2602 3419

4280 -1.03 -146.6 360.6 -8.3 206 4281 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2601 3419

4589 -1.03 -146.6 387.5 -9.2 221 4590 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2602 3418

4898 -1.03 -146.6 421.0 -11.9 236 4899 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2601 3418

5207 -1.03 -146.6 468.6 -18.2 251 5211 0.00 2.45 0.00 0.000 4 0.000 0.041 2133 1211 3419

5241 -1.08 -146.6 474.9 -18.0 252 5248 0.00 2.45 0.00 0.000 6 0.000 0.038 2132 2604 3418

5557 -1.08 -146.6 520.5 -12.8 268 5558 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2604 3418

5866 -1.08 -146.6 537.7 -3.1 283 5867 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2604 3418

6175 -1.08 -146.6 561.4 -9.1 298 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2604 3417

6485 -1.12 -146.6 598.5 -11.5 313 6486 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2605 3417

6794 -1.23 -146.6 639.5 -8.3 328 6796 0.17 0.00 0.00 0.000 6 0.044 0.000 2082 2604 3416

7104 -1.10 -146.6 665.7 -8.8 343 7108 0.17 2.47 0.00 0.000 4 0.104 0.042 2118 1206 3416

7166 -1.10 -146.6 671.0 -8.6 346 7170 0.00 2.47 0.00 0.000 6 0.000 0.041 2118 2605 3415

7493 -1.10 -146.6 698.3 -7.7 362 7494 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2606 3415

7802 -1.10 -146.6 725.1 -9.9 377 7806 0.00 2.47 0.00 0.000 4 0.000 0.046 2118 1214 3415

7835 -1.15 -146.6 729.3 -12.9 378 7841 0.00 2.47 0.00 0.000 6 0.000 0.042 2118 2607 3415

7859 end dive: BOTTOM_OBSTACLE_DETECTED

state 7860 begin apogee

7867 -0.31 0.0 731.8 10.3 380 8002 0.85 0.00 129.10 1.039 6 0.101 0.000 2290 2307 2816

8003 end apogee: CONTROL_FINISHED_OK

state 8003 begin climb

8006 1.03 146.6 738.6 0.0 387 8145 1.38 2.70 130.38 1.030 4 0.078 0.068 2580 3706 2218

8338 0.87 146.6 723.7 9.0 401 8343 0.15 2.47 0.00 0.000 6 0.100 0.034 2553 2311 2213

8655 0.75 146.6 702.2 10.1 416 8660 0.15 2.60 0.00 0.000 4 0.101 0.055 2523 894 2210

8763 0.80 192.4 697.7 5.9 421 8808 0.00 2.50 40.47 0.988 6 0.000 0.039 2524 2304 2032

9139 0.94 325.5 671.4 3.0 439 9267 0.17 2.70 121.38 0.992 4 0.049 0.067 2572 3707 1490

9335 0.99 325.5 645.1 11.2 448 9339 0.00 2.47 0.00 0.000 6 0.000 0.031 2572 2298 1484

9656 1.05 325.5 606.1 13.9 464 9657 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2298 1479

9965 1.11 325.5 569.2 9.6 479 9970 0.15 2.55 0.00 0.000 4 0.054 0.051 2614 892 1478

10043 1.07 325.5 560.5 11.3 482 10050 0.12 2.50 0.00 0.000 6 0.095 0.036 2591 2306 1476

10358 1.07 325.5 524.1 13.7 498 10362 0.00 2.55 0.00 0.000 4 0.000 0.047 2590 894 1476

10415 1.07 325.5 516.6 13.0 500 10419 0.00 2.47 0.00 0.000 6 0.000 0.035 2590 2302 1474

10730 1.07 325.5 476.9 12.7 515 10731 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2302 1475

11039 1.07 325.5 444.6 10.7 530 11044 0.00 2.53 0.00 0.000 4 0.000 0.047 2590 897 1474

11102 1.07 325.5 437.9 11.3 533 11106 0.00 2.47 0.00 0.000 6 0.000 0.035 2590 2309 1474

11428 1.07 325.5 394.3 14.7 549 11429 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2309 1474

11737 1.07 325.5 344.8 16.0 564 11741 0.00 2.55 0.00 0.000 4 0.000 0.045 2590 889 1474

11782 1.11 325.5 337.1 16.3 566 11786 0.00 2.47 0.00 0.000 6 0.000 0.035 2590 2306 1474

12109 1.11 325.5 285.7 14.9 582 12110 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2307 1474

12419 1.11 325.5 245.5 11.1 597 12423 0.00 2.53 0.00 0.000 4 0.000 0.046 2590 895 1474

12485 1.11 325.5 238.5 9.5 600 12489 0.00 2.45 0.00 0.000 6 0.000 0.035 2591 2300 1474

12807 1.11 325.5 210.1 9.0 616 12808 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2300 1475

13116 1.14 356.6 186.8 6.4 631 13147 0.00 2.58 26.08 0.664 4 0.000 0.045 2590 892 1362

13182 1.28 415.9 183.2 5.5 634 13241 0.22 2.50 52.03 0.671 6 0.044 0.034 2645 2310 1120

13551 1.23 415.9 152.4 8.0 652 13555 0.00 2.58 0.00 0.000 4 0.000 0.047 2645 890 1112

13645 1.23 415.9 144.4 8.7 656 13649 0.00 2.47 0.00 0.000 6 0.000 0.035 2645 2300 1110

13962 1.21 450.7 118.3 6.3 671 13997 0.00 2.62 29.30 0.618 4 0.000 0.048 2645 896 978

14184 1.21 450.7 99.7 11.0 681 14188 0.00 2.45 0.00 0.000 6 0.000 0.035 2645 2300 972

14517 1.15 450.7 46.6 17.6 697 14522 0.17 2.53 0.00 0.000 4 0.091 0.048 2606 896 970

14665 1.25 450.7 25.9 11.5 703 14672 0.12 2.45 0.00 0.000 6 0.048 0.034 2637 2307 970

14833 end climb: SURFACE_DEPTH_REACHED

state 14833 begin surface coast

14857 end surface coast: CONTROL_FINISHED_OK

state 14857 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	108	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	31	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	-2109558.2	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	120624,6325.009,-1311.977,26,1.2,44,-12.3	TGT_NAME	JW
_CALLS	2	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.48	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.8	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	121431,6325.058,-1311.913,15,1.3,32,-12.3	MHEAD_RNG_PITCHd_Wd	4.4,18587,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026631	ALTIM_BOTTOM_PING	628.7,112.0
SM_CCo	14941,0.00,0.000,0,0,968,453.56	_24V_AH	23.6,20.959
SM_GC	1.43,12.55,0.00,0.00,0.100,0.000,0.000,81,2606,968,-10.45,0.17,453.56	_10V_AH	10.1,10.202
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37998,713
TT8_MAMPS	0.023777	CAP_FILE_SIZE	111044,0
HUMID	1725	CFSIZE	260165632,252239872
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	250609,162507,6327.137,-1311.782,43,1.4,43,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	184	123.16	SBE_CT	520	24	294.55
Roll_motor	104	77	191.19	SBE_O2	485	19	217.67
VBD_pump_during_apogee	528	1039	12968.10	WL_BB2F	437	105	1085.32
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	36	103	88.18	nil	0	0	0.00
Iridium_during_connect	63	160	241.12	nil	0	0	0.00
Iridium_during_xfer	188	223	989.90
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.52
TT8	1304	19	260.92
LPSleep	11350	2	251.06
TT8_Active	563	19	112.60
TT8_Sampling	1678	39	674.87
TT8_CF8	530	45	245.62
TT8_Kalman	0	81	0.00
Analog_circuits	1426	12	172.84
GPS_charging	0	0	0.00
Compass	1619	8	130.83
RAFOS	0	0	0.00
Transponder	37	30	11.24

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	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-61.28	0.000	2	0.000	0.000	68	2602	3159
82	-1.03	-146.6	4.3	-6.9	3	105	11.95	2.33	-4.70	0.000	4	0.184	0.077	2132	3858	3418
200	-1.03	-146.6	25.0	-11.8	8	204	0.00	2.17	0.00	0.000	6	0.000	0.028	2132	2582	3418
529	-1.03	-146.6	56.2	-8.2	24	533	0.00	2.42	0.00	0.000	4	0.000	0.040	2132	1206	3419
615	-1.03	-146.6	62.5	-7.4	28	619	0.00	2.45	0.00	0.000	6	0.000	0.037	2132	2597	3419
942	-1.03	-146.6	88.7	-7.5	44	946	0.00	2.33	0.00	0.000	4	0.000	0.064	2132	3858	3419
1031	-1.03	-146.6	96.0	-8.5	48	1035	0.00	2.15	0.00	0.000	6	0.000	0.028	2133	2589	3419
1358	-1.03	-146.6	122.9	-8.4	64	1362	0.00	2.35	0.00	0.000	4	0.000	0.065	2132	3860	3419
1391	-1.03	-146.6	125.8	-8.7	65	1397	0.00	2.12	0.00	0.000	6	0.000	0.028	2132	2599	3419
1709	-1.03	-146.6	150.7	-8.5	81	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
2017	-1.03	-146.6	175.9	-7.9	96	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
2326	-1.03	-146.6	200.4	-7.6	111	2327	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
2635	-1.03	-146.6	226.0	-8.8	126	2636	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
2946	-1.03	-146.6	250.6	-7.8	141	2950	0.00	2.45	0.00	0.000	4	0.000	0.041	2132	1211	3419
2985	-1.03	-146.6	253.8	-7.9	143	2990	0.00	2.45	0.00	0.000	6	0.000	0.038	2132	2603	3419
3312	-1.03	-146.6	279.8	-7.9	159	3313	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2604	3419
3621	-1.03	-146.6	305.5	-8.2	174	3625	0.00	2.45	0.00	0.000	4	0.000	0.041	2132	1212	3419
3649	-1.03	-146.6	307.9	-8.5	175	3653	0.00	2.42	0.00	0.000	6	0.000	0.038	2132	2601	3419
3971	-1.03	-146.6	335.0	-8.5	191	3972	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2602	3419
4280	-1.03	-146.6	360.6	-8.3	206	4281	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2601	3419
4589	-1.03	-146.6	387.5	-9.2	221	4590	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2602	3418
4898	-1.03	-146.6	421.0	-11.9	236	4899	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2601	3418
5207	-1.03	-146.6	468.6	-18.2	251	5211	0.00	2.45	0.00	0.000	4	0.000	0.041	2133	1211	3419
5241	-1.08	-146.6	474.9	-18.0	252	5248	0.00	2.45	0.00	0.000	6	0.000	0.038	2132	2604	3418
5557	-1.08	-146.6	520.5	-12.8	268	5558	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2604	3418
5866	-1.08	-146.6	537.7	-3.1	283	5867	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2604	3418
6175	-1.08	-146.6	561.4	-9.1	298	6177	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2604	3417
6485	-1.12	-146.6	598.5	-11.5	313	6486	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2605	3417
6794	-1.23	-146.6	639.5	-8.3	328	6796	0.17	0.00	0.00	0.000	6	0.044	0.000	2082	2604	3416
7104	-1.10	-146.6	665.7	-8.8	343	7108	0.17	2.47	0.00	0.000	4	0.104	0.042	2118	1206	3416
7166	-1.10	-146.6	671.0	-8.6	346	7170	0.00	2.47	0.00	0.000	6	0.000	0.041	2118	2605	3415
7493	-1.10	-146.6	698.3	-7.7	362	7494	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2606	3415
7802	-1.10	-146.6	725.1	-9.9	377	7806	0.00	2.47	0.00	0.000	4	0.000	0.046	2118	1214	3415
7835	-1.15	-146.6	729.3	-12.9	378	7841	0.00	2.47	0.00	0.000	6	0.000	0.042	2118	2607	3415
7859	end dive: BOTTOM_OBSTACLE_DETECTED
state	7860	begin apogee
7867	-0.31	0.0	731.8	10.3	380	8002	0.85	0.00	129.10	1.039	6	0.101	0.000	2290	2307	2816
8003	end apogee: CONTROL_FINISHED_OK
state	8003	begin climb
8006	1.03	146.6	738.6	0.0	387	8145	1.38	2.70	130.38	1.030	4	0.078	0.068	2580	3706	2218
8338	0.87	146.6	723.7	9.0	401	8343	0.15	2.47	0.00	0.000	6	0.100	0.034	2553	2311	2213
8655	0.75	146.6	702.2	10.1	416	8660	0.15	2.60	0.00	0.000	4	0.101	0.055	2523	894	2210
8763	0.80	192.4	697.7	5.9	421	8808	0.00	2.50	40.47	0.988	6	0.000	0.039	2524	2304	2032
9139	0.94	325.5	671.4	3.0	439	9267	0.17	2.70	121.38	0.992	4	0.049	0.067	2572	3707	1490
9335	0.99	325.5	645.1	11.2	448	9339	0.00	2.47	0.00	0.000	6	0.000	0.031	2572	2298	1484
9656	1.05	325.5	606.1	13.9	464	9657	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2298	1479
9965	1.11	325.5	569.2	9.6	479	9970	0.15	2.55	0.00	0.000	4	0.054	0.051	2614	892	1478
10043	1.07	325.5	560.5	11.3	482	10050	0.12	2.50	0.00	0.000	6	0.095	0.036	2591	2306	1476
10358	1.07	325.5	524.1	13.7	498	10362	0.00	2.55	0.00	0.000	4	0.000	0.047	2590	894	1476
10415	1.07	325.5	516.6	13.0	500	10419	0.00	2.47	0.00	0.000	6	0.000	0.035	2590	2302	1474
10730	1.07	325.5	476.9	12.7	515	10731	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2302	1475
11039	1.07	325.5	444.6	10.7	530	11044	0.00	2.53	0.00	0.000	4	0.000	0.047	2590	897	1474
11102	1.07	325.5	437.9	11.3	533	11106	0.00	2.47	0.00	0.000	6	0.000	0.035	2590	2309	1474
11428	1.07	325.5	394.3	14.7	549	11429	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2309	1474
11737	1.07	325.5	344.8	16.0	564	11741	0.00	2.55	0.00	0.000	4	0.000	0.045	2590	889	1474
11782	1.11	325.5	337.1	16.3	566	11786	0.00	2.47	0.00	0.000	6	0.000	0.035	2590	2306	1474
12109	1.11	325.5	285.7	14.9	582	12110	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2307	1474
12419	1.11	325.5	245.5	11.1	597	12423	0.00	2.53	0.00	0.000	4	0.000	0.046	2590	895	1474
12485	1.11	325.5	238.5	9.5	600	12489	0.00	2.45	0.00	0.000	6	0.000	0.035	2591	2300	1474
12807	1.11	325.5	210.1	9.0	616	12808	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2300	1475
13116	1.14	356.6	186.8	6.4	631	13147	0.00	2.58	26.08	0.664	4	0.000	0.045	2590	892	1362
13182	1.28	415.9	183.2	5.5	634	13241	0.22	2.50	52.03	0.671	6	0.044	0.034	2645	2310	1120
13551	1.23	415.9	152.4	8.0	652	13555	0.00	2.58	0.00	0.000	4	0.000	0.047	2645	890	1112
13645	1.23	415.9	144.4	8.7	656	13649	0.00	2.47	0.00	0.000	6	0.000	0.035	2645	2300	1110
13962	1.21	450.7	118.3	6.3	671	13997	0.00	2.62	29.30	0.618	4	0.000	0.048	2645	896	978
14184	1.21	450.7	99.7	11.0	681	14188	0.00	2.45	0.00	0.000	6	0.000	0.035	2645	2300	972
14517	1.15	450.7	46.6	17.6	697	14522	0.17	2.53	0.00	0.000	4	0.091	0.048	2606	896	970
14665	1.25	450.7	25.9	11.5	703	14672	0.12	2.45	0.00	0.000	6	0.048	0.034	2637	2307	970
14833	end climb: SURFACE_DEPTH_REACHED
state	14833	begin surface coast
14857	end surface coast: CONTROL_FINISHED_OK
state	14857	begin surface