Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 109 * 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 109 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 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -2109576.2 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 -2109576.2

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 29 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 109 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 162507,6327.137,-1311.782,43,1.4,43,-12.3 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.46 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -58.7 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 163014,6327.074,-1311.841,17,1.5,17,-12.3 MHEAD_RNG_PITCHd_Wd 2.2,14907,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.015211 ALTIM_BOTTOM_PING 650.4,103.5

SM_CCo 16653,0.00,0.000,0,0,1573,305.15 _24V_AH 23.6,21.084

SM_GC 1.58,12.27,0.00,0.00,0.100,0.000,0.000,80,2600,1573,-10.45,0.00,305.15 _10V_AH 10.1,10.277

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41199,798

TT8_MAMPS 0.02301 CAP_FILE_SIZE 115805,0

HUMID 1724 CFSIZE 260165632,252178432

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 250609,210906,6329.588,-1314.452,26,1.3,26,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 189 122.62 SBE_CT 582 24 330.02

Roll_motor 115 73 200.84 SBE_O2 547 19 245.62

VBD_pump_during_apogee 403 1041 9910.00 WL_BB2F 479 105 1188.31

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 17 103 43.70 nil 0 0 0.00

Iridium_during_connect 28 160 106.00 nil 0 0 0.00

Iridium_during_xfer 144 223 761.35

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.74

TT8 1449 19 289.87

LPSleep 12801 2 283.16

TT8_Active 517 19 103.58

TT8_Sampling 1755 39 705.67

TT8_CF8 435 45 201.45

TT8_Kalman 0 81 0.00

Analog_circuits 1394 12 168.98

GPS_charging 0 0 0.00

Compass 1711 8 138.26

RAFOS 0 0 0.00

Transponder 38 30 11.64

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.03 -146.6 0.0 0.0 0 101 0.00 0.00 -81.22 0.000 2 0.000 0.000 80 2608 3202

104 -1.03 -146.6 4.3 -4.5 4 127 12.00 2.53 -3.85 0.000 4 0.189 0.053 2129 1186 3417

380 -1.03 -146.6 37.2 -8.4 16 384 0.00 2.47 0.00 0.000 6 0.000 0.036 2129 2593 3418

701 -0.98 -146.6 61.2 -8.1 32 702 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2593 3418

1012 -0.98 -146.6 72.5 -3.9 47 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2593 3418

1319 -0.98 -146.6 98.0 -14.0 62 1323 0.00 2.47 0.00 0.000 4 0.000 0.038 2129 1188 3418

1382 -0.98 -146.6 107.0 -14.2 65 1386 0.00 2.50 0.00 0.000 6 0.000 0.038 2129 2608 3418

1709 -0.98 -146.6 151.2 -14.5 81 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2608 3418

2018 -0.98 -146.6 199.8 -14.8 96 2022 0.00 2.50 0.00 0.000 4 0.000 0.040 2129 1191 3418

2063 -0.98 -146.6 205.8 -13.0 98 2067 0.00 2.47 0.00 0.000 6 0.000 0.038 2129 2599 3418

2389 -0.98 -146.6 239.1 -8.9 114 2391 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2599 3418

2698 -0.98 -146.6 263.1 -7.7 129 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2599 3418

3008 -0.98 -146.6 290.7 -9.3 144 3009 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2599 3418

3317 -0.98 -146.6 322.5 -10.2 159 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

3627 -0.98 -146.6 352.0 -9.4 174 3628 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

3935 -0.98 -146.6 380.1 -9.3 189 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

4245 -0.98 -146.6 410.4 -9.7 204 4246 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3417

4554 -0.98 -146.6 438.6 -9.0 219 4558 0.00 2.50 0.00 0.000 4 0.000 0.041 2129 1185 3417

4594 -1.02 -146.6 442.0 -8.7 221 4598 0.00 2.50 0.00 0.000 6 0.000 0.038 2129 2608 3417

4920 -1.02 -146.6 470.1 -9.2 237 4922 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2608 3417

5229 -1.02 -146.6 499.6 -9.2 252 5231 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2608 3417

5539 -1.02 -146.6 533.8 -10.4 267 5543 0.00 2.50 0.00 0.000 4 0.000 0.041 2129 1188 3417

5589 -1.07 -146.6 539.1 -9.9 269 5593 0.00 2.47 0.00 0.000 6 0.000 0.038 2129 2600 3417

5909 -1.07 -146.6 570.0 -9.4 285 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3417

6219 -1.07 -146.6 594.4 -8.2 300 6223 0.00 2.50 0.00 0.000 4 0.000 0.041 2129 1186 3417

6263 -1.13 -146.6 597.9 -7.9 302 6267 0.00 2.47 0.00 0.000 6 0.000 0.038 2129 2599 3417

6583 -1.13 -146.6 624.9 -8.7 318 6588 0.00 2.35 0.00 0.000 4 0.000 0.074 2129 3859 3416

6633 -1.13 -146.6 629.5 -9.1 320 6637 0.00 2.17 0.00 0.000 6 0.000 0.030 2129 2582 3416

6955 -1.13 -146.6 659.1 -10.7 336 6956 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3416

7264 -1.13 -146.6 690.2 -8.8 351 7268 0.00 2.38 0.00 0.000 4 0.000 0.074 2129 3857 3415

7347 -1.13 -146.6 698.2 -9.5 354 7353 0.00 2.15 0.00 0.000 6 0.000 0.032 2129 2605 3415

7663 -1.13 -146.6 724.7 -8.6 370 7664 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2605 3414

7908 end dive: BOTTOM_OBSTACLE_DETECTED

state 7908 begin apogee

7915 -0.31 0.0 745.0 8.3 382 8050 0.80 0.00 129.18 1.042 6 0.097 0.000 2292 2299 2817

8051 end apogee: CONTROL_FINISHED_OK

state 8051 begin climb

8054 1.03 146.6 750.8 0.0 389 8193 1.33 2.62 130.43 1.037 4 0.071 0.054 2576 904 2218

8332 0.94 146.6 738.9 7.8 401 8336 0.00 2.47 0.00 0.000 6 0.000 0.039 2576 2300 2211

8658 0.88 181.3 715.6 6.3 417 8695 0.12 2.70 30.95 0.986 4 0.099 0.068 2553 3705 2078

8759 0.80 181.3 708.3 7.9 420 8765 0.00 2.47 0.00 0.000 6 0.000 0.033 2553 2304 2074

9075 0.84 214.6 687.9 6.4 436 9111 0.00 2.70 30.58 0.976 4 0.000 0.065 2553 3705 1942

9184 0.84 214.6 679.8 8.2 440 9188 0.00 2.50 0.00 0.000 6 0.000 0.033 2553 2296 1939

9505 0.84 214.6 654.3 8.1 456 9510 0.00 2.62 0.00 0.000 4 0.000 0.065 2553 3702 1936

9568 0.84 214.6 648.3 9.7 459 9572 0.00 2.45 0.00 0.000 6 0.000 0.032 2553 2298 1936

9894 0.84 214.6 619.4 8.9 475 9898 0.00 2.60 0.00 0.000 4 0.000 0.064 2553 3702 1935

10007 0.84 214.6 608.8 9.6 480 10011 0.00 2.45 0.00 0.000 6 0.000 0.031 2553 2299 1935

10328 0.84 214.6 581.6 8.5 496 10332 0.00 2.55 0.00 0.000 4 0.000 0.051 2553 891 1934

10377 0.84 214.6 577.2 8.3 498 10382 0.00 2.47 0.00 0.000 6 0.000 0.035 2553 2304 1932

10693 0.84 214.6 550.7 7.8 513 10698 0.00 2.58 0.00 0.000 4 0.000 0.062 2553 3698 1933

10743 0.84 214.6 546.6 8.7 515 10748 0.00 2.45 0.00 0.000 6 0.000 0.029 2553 2290 1933

11059 0.88 257.1 526.1 6.0 530 11100 0.00 0.00 38.80 0.891 6 0.000 0.000 2553 2290 1768

11409 0.98 290.5 503.8 6.4 547 11442 0.00 0.00 31.27 0.866 6 0.000 0.000 2553 2290 1632

11738 1.08 303.0 481.1 7.1 563 11760 0.20 2.60 11.95 0.782 4 0.044 0.048 2607 898 1580

11788 1.04 303.0 476.1 10.8 565 11793 0.00 2.47 0.00 0.000 6 0.000 0.035 2607 2298 1578

12111 0.99 303.0 442.3 10.3 581 12113 0.17 0.00 0.00 0.000 6 0.090 0.000 2573 2298 1577

12420 1.04 303.0 416.5 8.6 596 12424 0.00 2.53 0.00 0.000 4 0.000 0.046 2573 891 1575

12482 1.10 303.0 411.1 8.3 599 12487 0.12 2.47 0.00 0.000 6 0.049 0.035 2606 2306 1575

12809 1.06 303.0 377.5 9.8 615 12810 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2306 1575

13118 1.02 303.0 345.7 10.4 630 13123 0.15 2.53 0.00 0.000 4 0.091 0.044 2578 897 1575

13185 1.02 303.0 339.2 9.7 633 13189 0.00 2.45 0.00 0.000 6 0.000 0.034 2578 2308 1574

13512 1.06 303.0 310.9 8.2 649 13514 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2308 1574

13821 1.10 303.0 285.1 8.5 664 13822 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2308 1574

14131 1.14 303.0 259.0 8.3 679 14136 0.12 2.53 0.00 0.000 4 0.049 0.044 2618 895 1574

14193 1.09 303.0 252.6 9.8 682 14198 0.12 2.45 0.00 0.000 6 0.089 0.034 2594 2299 1574

14519 1.09 303.0 221.5 9.5 698 14524 0.00 2.50 0.00 0.000 4 0.000 0.044 2594 897 1574

14559 1.09 303.0 217.3 10.5 700 14564 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2304 1574

14887 1.09 303.0 183.3 10.5 716 14888 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2304 1574

15196 1.09 303.0 148.9 9.2 731 15200 0.00 2.50 0.00 0.000 4 0.000 0.044 2594 895 1574

15296 1.09 303.0 138.8 9.6 735 15302 0.00 2.45 0.00 0.000 6 0.000 0.035 2594 2302 1574

15612 1.09 303.0 106.1 11.2 751 15616 0.00 2.58 0.00 0.000 4 0.000 0.060 2594 3707 1574

15652 1.09 303.0 101.2 12.0 753 15656 0.00 2.42 0.00 0.000 6 0.000 0.029 2594 2293 1575

15979 1.09 303.0 65.0 9.5 769 15980 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2292 1575

16288 1.09 303.0 30.5 11.6 784 16292 0.00 2.58 0.00 0.000 4 0.000 0.057 2594 3701 1575

16332 1.09 303.0 24.9 13.6 786 16336 0.00 2.42 0.00 0.000 6 0.000 0.028 2594 2295 1575

16547 end climb: SURFACE_DEPTH_REACHED

state 16547 begin surface coast

16569 end surface coast: CONTROL_FINISHED_OK

state 16569 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	109	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	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-2109576.2	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	162507,6327.137,-1311.782,43,1.4,43,-12.3	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.46	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-58.7	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	163014,6327.074,-1311.841,17,1.5,17,-12.3	MHEAD_RNG_PITCHd_Wd	2.2,14907,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.015211	ALTIM_BOTTOM_PING	650.4,103.5
SM_CCo	16653,0.00,0.000,0,0,1573,305.15	_24V_AH	23.6,21.084
SM_GC	1.58,12.27,0.00,0.00,0.100,0.000,0.000,80,2600,1573,-10.45,0.00,305.15	_10V_AH	10.1,10.277
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41199,798
TT8_MAMPS	0.02301	CAP_FILE_SIZE	115805,0
HUMID	1724	CFSIZE	260165632,252178432
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	250609,210906,6329.588,-1314.452,26,1.3,26,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	189	122.62	SBE_CT	582	24	330.02
Roll_motor	115	73	200.84	SBE_O2	547	19	245.62
VBD_pump_during_apogee	403	1041	9910.00	WL_BB2F	479	105	1188.31
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	17	103	43.70	nil	0	0	0.00
Iridium_during_connect	28	160	106.00	nil	0	0	0.00
Iridium_during_xfer	144	223	761.35
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.74
TT8	1449	19	289.87
LPSleep	12801	2	283.16
TT8_Active	517	19	103.58
TT8_Sampling	1755	39	705.67
TT8_CF8	435	45	201.45
TT8_Kalman	0	81	0.00
Analog_circuits	1394	12	168.98
GPS_charging	0	0	0.00
Compass	1711	8	138.26
RAFOS	0	0	0.00
Transponder	38	30	11.64

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.03	-146.6	0.0	0.0	0	101	0.00	0.00	-81.22	0.000	2	0.000	0.000	80	2608	3202
104	-1.03	-146.6	4.3	-4.5	4	127	12.00	2.53	-3.85	0.000	4	0.189	0.053	2129	1186	3417
380	-1.03	-146.6	37.2	-8.4	16	384	0.00	2.47	0.00	0.000	6	0.000	0.036	2129	2593	3418
701	-0.98	-146.6	61.2	-8.1	32	702	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2593	3418
1012	-0.98	-146.6	72.5	-3.9	47	1013	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2593	3418
1319	-0.98	-146.6	98.0	-14.0	62	1323	0.00	2.47	0.00	0.000	4	0.000	0.038	2129	1188	3418
1382	-0.98	-146.6	107.0	-14.2	65	1386	0.00	2.50	0.00	0.000	6	0.000	0.038	2129	2608	3418
1709	-0.98	-146.6	151.2	-14.5	81	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2608	3418
2018	-0.98	-146.6	199.8	-14.8	96	2022	0.00	2.50	0.00	0.000	4	0.000	0.040	2129	1191	3418
2063	-0.98	-146.6	205.8	-13.0	98	2067	0.00	2.47	0.00	0.000	6	0.000	0.038	2129	2599	3418
2389	-0.98	-146.6	239.1	-8.9	114	2391	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2599	3418
2698	-0.98	-146.6	263.1	-7.7	129	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2599	3418
3008	-0.98	-146.6	290.7	-9.3	144	3009	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2599	3418
3317	-0.98	-146.6	322.5	-10.2	159	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
3627	-0.98	-146.6	352.0	-9.4	174	3628	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
3935	-0.98	-146.6	380.1	-9.3	189	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
4245	-0.98	-146.6	410.4	-9.7	204	4246	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3417
4554	-0.98	-146.6	438.6	-9.0	219	4558	0.00	2.50	0.00	0.000	4	0.000	0.041	2129	1185	3417
4594	-1.02	-146.6	442.0	-8.7	221	4598	0.00	2.50	0.00	0.000	6	0.000	0.038	2129	2608	3417
4920	-1.02	-146.6	470.1	-9.2	237	4922	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2608	3417
5229	-1.02	-146.6	499.6	-9.2	252	5231	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2608	3417
5539	-1.02	-146.6	533.8	-10.4	267	5543	0.00	2.50	0.00	0.000	4	0.000	0.041	2129	1188	3417
5589	-1.07	-146.6	539.1	-9.9	269	5593	0.00	2.47	0.00	0.000	6	0.000	0.038	2129	2600	3417
5909	-1.07	-146.6	570.0	-9.4	285	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3417
6219	-1.07	-146.6	594.4	-8.2	300	6223	0.00	2.50	0.00	0.000	4	0.000	0.041	2129	1186	3417
6263	-1.13	-146.6	597.9	-7.9	302	6267	0.00	2.47	0.00	0.000	6	0.000	0.038	2129	2599	3417
6583	-1.13	-146.6	624.9	-8.7	318	6588	0.00	2.35	0.00	0.000	4	0.000	0.074	2129	3859	3416
6633	-1.13	-146.6	629.5	-9.1	320	6637	0.00	2.17	0.00	0.000	6	0.000	0.030	2129	2582	3416
6955	-1.13	-146.6	659.1	-10.7	336	6956	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3416
7264	-1.13	-146.6	690.2	-8.8	351	7268	0.00	2.38	0.00	0.000	4	0.000	0.074	2129	3857	3415
7347	-1.13	-146.6	698.2	-9.5	354	7353	0.00	2.15	0.00	0.000	6	0.000	0.032	2129	2605	3415
7663	-1.13	-146.6	724.7	-8.6	370	7664	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2605	3414
7908	end dive: BOTTOM_OBSTACLE_DETECTED
state	7908	begin apogee
7915	-0.31	0.0	745.0	8.3	382	8050	0.80	0.00	129.18	1.042	6	0.097	0.000	2292	2299	2817
8051	end apogee: CONTROL_FINISHED_OK
state	8051	begin climb
8054	1.03	146.6	750.8	0.0	389	8193	1.33	2.62	130.43	1.037	4	0.071	0.054	2576	904	2218
8332	0.94	146.6	738.9	7.8	401	8336	0.00	2.47	0.00	0.000	6	0.000	0.039	2576	2300	2211
8658	0.88	181.3	715.6	6.3	417	8695	0.12	2.70	30.95	0.986	4	0.099	0.068	2553	3705	2078
8759	0.80	181.3	708.3	7.9	420	8765	0.00	2.47	0.00	0.000	6	0.000	0.033	2553	2304	2074
9075	0.84	214.6	687.9	6.4	436	9111	0.00	2.70	30.58	0.976	4	0.000	0.065	2553	3705	1942
9184	0.84	214.6	679.8	8.2	440	9188	0.00	2.50	0.00	0.000	6	0.000	0.033	2553	2296	1939
9505	0.84	214.6	654.3	8.1	456	9510	0.00	2.62	0.00	0.000	4	0.000	0.065	2553	3702	1936
9568	0.84	214.6	648.3	9.7	459	9572	0.00	2.45	0.00	0.000	6	0.000	0.032	2553	2298	1936
9894	0.84	214.6	619.4	8.9	475	9898	0.00	2.60	0.00	0.000	4	0.000	0.064	2553	3702	1935
10007	0.84	214.6	608.8	9.6	480	10011	0.00	2.45	0.00	0.000	6	0.000	0.031	2553	2299	1935
10328	0.84	214.6	581.6	8.5	496	10332	0.00	2.55	0.00	0.000	4	0.000	0.051	2553	891	1934
10377	0.84	214.6	577.2	8.3	498	10382	0.00	2.47	0.00	0.000	6	0.000	0.035	2553	2304	1932
10693	0.84	214.6	550.7	7.8	513	10698	0.00	2.58	0.00	0.000	4	0.000	0.062	2553	3698	1933
10743	0.84	214.6	546.6	8.7	515	10748	0.00	2.45	0.00	0.000	6	0.000	0.029	2553	2290	1933
11059	0.88	257.1	526.1	6.0	530	11100	0.00	0.00	38.80	0.891	6	0.000	0.000	2553	2290	1768
11409	0.98	290.5	503.8	6.4	547	11442	0.00	0.00	31.27	0.866	6	0.000	0.000	2553	2290	1632
11738	1.08	303.0	481.1	7.1	563	11760	0.20	2.60	11.95	0.782	4	0.044	0.048	2607	898	1580
11788	1.04	303.0	476.1	10.8	565	11793	0.00	2.47	0.00	0.000	6	0.000	0.035	2607	2298	1578
12111	0.99	303.0	442.3	10.3	581	12113	0.17	0.00	0.00	0.000	6	0.090	0.000	2573	2298	1577
12420	1.04	303.0	416.5	8.6	596	12424	0.00	2.53	0.00	0.000	4	0.000	0.046	2573	891	1575
12482	1.10	303.0	411.1	8.3	599	12487	0.12	2.47	0.00	0.000	6	0.049	0.035	2606	2306	1575
12809	1.06	303.0	377.5	9.8	615	12810	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2306	1575
13118	1.02	303.0	345.7	10.4	630	13123	0.15	2.53	0.00	0.000	4	0.091	0.044	2578	897	1575
13185	1.02	303.0	339.2	9.7	633	13189	0.00	2.45	0.00	0.000	6	0.000	0.034	2578	2308	1574
13512	1.06	303.0	310.9	8.2	649	13514	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2308	1574
13821	1.10	303.0	285.1	8.5	664	13822	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2308	1574
14131	1.14	303.0	259.0	8.3	679	14136	0.12	2.53	0.00	0.000	4	0.049	0.044	2618	895	1574
14193	1.09	303.0	252.6	9.8	682	14198	0.12	2.45	0.00	0.000	6	0.089	0.034	2594	2299	1574
14519	1.09	303.0	221.5	9.5	698	14524	0.00	2.50	0.00	0.000	4	0.000	0.044	2594	897	1574
14559	1.09	303.0	217.3	10.5	700	14564	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2304	1574
14887	1.09	303.0	183.3	10.5	716	14888	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2304	1574
15196	1.09	303.0	148.9	9.2	731	15200	0.00	2.50	0.00	0.000	4	0.000	0.044	2594	895	1574
15296	1.09	303.0	138.8	9.6	735	15302	0.00	2.45	0.00	0.000	6	0.000	0.035	2594	2302	1574
15612	1.09	303.0	106.1	11.2	751	15616	0.00	2.58	0.00	0.000	4	0.000	0.060	2594	3707	1574
15652	1.09	303.0	101.2	12.0	753	15656	0.00	2.42	0.00	0.000	6	0.000	0.029	2594	2293	1575
15979	1.09	303.0	65.0	9.5	769	15980	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2292	1575
16288	1.09	303.0	30.5	11.6	784	16292	0.00	2.58	0.00	0.000	4	0.000	0.057	2594	3701	1575
16332	1.09	303.0	24.9	13.6	786	16336	0.00	2.42	0.00	0.000	6	0.000	0.028	2594	2295	1575
16547	end climb: SURFACE_DEPTH_REACHED
state	16547	begin surface coast
16569	end surface coast: CONTROL_FINISHED_OK
state	16569	begin surface