Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 142 * 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 142 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 566.1524 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 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 -2078361.8 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 566.1524

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 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2078361.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 142 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 195601,6239.793,-1027.079,40,1.1,46,-10.4 TGT_NAME IFRSILL

_CALLS 3 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.215,0.052

_SM_DEPTHo 1.25 KALMAN_X -122114.0,2207.1,1961.7,46232.9,-28090.6

_SM_ANGLEo -60.5 KALMAN_Y 120650.8,-219.2,240.4,-6536.5,1953.4

GPS2 201121,6239.836,-1027.025,15,1.1,15,-10.4 MHEAD_RNG_PITCHd_Wd 86.8,43994,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027423 ALTIM_BOTTOM_PING 476.0,74.6

SM_CCo 14164,165.90,0.652,1,0,509,566.15 _24V_AH 23.6,25.531

SM_GC 1.31,0.00,0.00,165.90,0.000,0.000,0.652,67,2405,509,-10.78,0.14,566.15 _10V_AH 10.2,12.329

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34849,686

TT8_MAMPS 0.023777 CFSIZE 260165632,251084800

HUMID 2069 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,1,0

TCM_TEMP 17.10 GPS 081207,001228,6239.871,-1022.137,26,2.8,45,-10.4

XPDR_PINGS 30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 105.39 SBE_CT 490 24 277.62

Roll_motor 131 72 223.66 SBE_O2 482 19 216.19

VBD_pump_during_apogee 341 1039 8371.11 WL_BB2F 475 105 1178.88

VBD_pump_during_surface 165 651 2552.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 238.04 nil 0 0 0.00

Iridium_during_connect 133 160 502.33 nil 0 0 0.00

Iridium_during_xfer 462 223 2431.85

Transponder_ping 11 420 113.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.81

TT8 1246 19 251.81

LPSleep 11040 2 246.63

TT8_Active 677 19 136.76

TT8_Sampling 1453 39 589.95

TT8_CF8 843 45 393.91

TT8_Kalman 33 81 27.84

Analog_circuits 1430 12 175.09

GPS_charging 0 0 0.00

Compass 1421 8 116.02

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.12 0.000 2 0.000 0.000 67 2412 3123

126 -0.85 -146.6 3.5 -2.6 5 151 12.27 2.67 -6.75 0.000 4 0.176 0.069 2221 987 3417

184 -0.85 -146.6 13.2 -9.1 7 191 0.00 2.58 0.00 0.000 6 0.000 0.050 2222 2391 3417

500 -0.85 -146.6 37.8 -7.6 23 501 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2390 3418

809 -0.85 -146.6 63.0 -8.2 38 813 0.00 2.60 0.00 0.000 4 0.000 0.061 2222 982 3418

835 -0.85 -146.6 65.4 -8.9 39 840 0.00 2.58 0.00 0.000 6 0.000 0.050 2221 2391 3418

1158 -0.85 -146.6 92.1 -8.4 55 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2390 3418

1466 -0.85 -146.6 115.8 -7.1 70 1470 0.00 2.62 0.00 0.000 4 0.000 0.064 2221 977 3418

1514 -0.85 -146.6 119.8 -7.4 72 1519 0.00 2.60 0.00 0.000 6 0.000 0.051 2222 2401 3418

1836 -0.85 -146.6 142.6 -6.9 88 1837 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3418

2145 -0.85 -146.6 165.3 -7.5 103 2149 0.00 2.62 0.00 0.000 4 0.000 0.064 2222 983 3418

2193 -0.85 -146.6 169.0 -7.8 105 2198 0.00 2.58 0.00 0.000 6 0.000 0.051 2221 2401 3418

2515 -0.85 -146.6 193.2 -7.5 121 2519 0.00 2.65 0.00 0.000 4 0.000 0.065 2222 976 3418

2546 -0.85 -146.6 195.7 -7.6 122 2553 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 2404 3418

2861 -0.85 -146.6 219.0 -7.4 138 2866 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 982 3418

2893 -0.85 -146.6 221.6 -7.9 139 2900 0.00 2.58 0.00 0.000 6 0.000 0.052 2222 2397 3418

3209 -0.85 -146.6 245.2 -7.3 155 3213 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 977 3418

3240 -0.85 -146.6 247.6 -7.8 156 3247 0.00 2.58 0.00 0.000 6 0.000 0.052 2221 2392 3419

3556 -0.85 -146.6 270.8 -7.3 172 3560 0.00 2.62 0.00 0.000 4 0.000 0.067 2222 984 3417

3582 -0.85 -146.6 272.8 -7.1 173 3587 0.00 2.55 0.00 0.000 6 0.000 0.052 2221 2398 3418

3903 -0.85 -146.6 297.0 -7.3 189 3907 0.00 2.65 0.00 0.000 4 0.000 0.070 2222 982 3417

3934 -0.85 -146.6 299.4 -7.4 190 3941 0.00 2.58 0.00 0.000 6 0.000 0.052 2222 2397 3418

4250 -0.85 -146.6 322.3 -7.3 206 4255 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 982 3418

4276 -0.85 -146.6 324.3 -7.7 207 4281 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 2397 3417

4597 -0.85 -146.6 348.6 -7.7 223 4598 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2397 3418

4908 -0.85 -146.6 375.2 -9.0 238 4912 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 979 3417

4946 -0.85 -146.6 378.6 -9.3 240 4950 0.00 2.58 0.00 0.000 6 0.000 0.052 2222 2408 3417

5272 -0.85 -146.6 406.4 -7.8 256 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2408 3418

5581 -0.85 -146.6 428.3 -6.9 271 5585 0.00 2.67 0.00 0.000 4 0.000 0.068 2222 978 3418

5624 -0.85 -146.6 431.1 -6.8 273 5628 0.00 2.60 0.00 0.000 6 0.000 0.053 2222 2401 3418

5950 -0.85 -146.6 453.2 -7.2 289 5955 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 981 3418

6022 -0.85 -146.6 458.3 -6.8 292 6027 0.00 2.58 0.00 0.000 6 0.000 0.054 2222 2405 3418

6337 -0.85 -146.6 478.6 -6.3 307 6338 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2407 3419

6646 -0.85 -146.6 498.9 -6.9 322 6647 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2407 3419

6956 -0.85 -146.6 519.9 -6.6 337 6960 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 985 3419

7010 -0.85 -146.6 523.7 -6.9 339 7017 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2398 3419

7283 end dive: BOTTOM_OBSTACLE_DETECTED

state 7283 begin apogee

7288 -0.31 0.0 541.5 6.7 353 7411 0.60 0.00 120.05 1.039 6 0.106 0.000 2341 2192 2817

7412 end apogee: CONTROL_FINISHED_OK

state 7412 begin climb

7413 0.85 146.6 545.3 0.0 359 7539 1.20 2.78 117.70 1.020 4 0.094 0.071 2586 3612 2218

7585 0.86 157.6 539.7 5.7 367 7601 0.00 2.60 10.48 0.877 6 0.000 0.054 2586 2204 2173

7910 0.87 167.4 521.1 5.7 383 7924 0.00 2.72 9.43 0.874 4 0.000 0.072 2586 789 2134

7962 0.87 167.4 517.8 6.3 384 7970 0.00 2.62 0.00 0.000 6 0.000 0.053 2586 2195 2132

8278 0.87 167.4 496.8 6.4 400 8279 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2195 2131

8587 0.87 167.4 478.5 6.3 415 8588 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2195 2130

8896 0.87 167.4 456.2 7.4 430 8901 0.00 2.65 0.00 0.000 4 0.000 0.069 2586 788 2129

8923 0.87 167.4 454.2 7.7 431 8928 0.00 2.62 0.00 0.000 6 0.000 0.052 2586 2202 2128

9244 0.91 204.9 435.2 5.0 447 9276 0.00 0.00 30.02 0.967 6 0.000 0.000 2586 2202 1981

9573 0.98 271.8 421.2 4.2 463 9636 0.17 2.72 53.62 0.969 4 0.062 0.066 2634 795 1707

9681 0.98 271.8 413.7 7.9 468 9686 0.00 2.60 0.00 0.000 6 0.000 0.049 2634 2207 1706

10007 0.98 271.8 386.7 8.4 484 10008 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2207 1705

10316 0.98 271.8 360.7 8.4 499 10321 0.00 2.67 0.00 0.000 4 0.000 0.067 2634 786 1705

10355 0.98 271.8 357.5 8.3 501 10359 0.00 2.58 0.00 0.000 6 0.000 0.048 2634 2201 1705

10680 0.98 271.8 329.4 8.7 517 10681 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2202 1704

10989 0.98 271.8 300.8 9.3 532 10994 0.00 2.65 0.00 0.000 4 0.000 0.065 2634 781 1704

11039 0.98 271.8 295.9 10.0 534 11043 0.00 2.58 0.00 0.000 6 0.000 0.046 2633 2206 1704

11359 0.98 271.8 264.3 10.1 550 11363 0.00 2.65 0.00 0.000 4 0.000 0.064 2634 785 1705

11390 0.98 271.8 260.8 10.9 551 11397 0.00 2.58 0.00 0.000 6 0.000 0.045 2633 2196 1705

11706 0.98 271.8 228.7 10.1 567 11707 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2196 1706

12015 0.98 271.8 197.3 10.1 582 12020 0.00 2.60 0.00 0.000 4 0.000 0.063 2634 787 1707

12058 0.98 271.8 192.7 10.7 584 12063 0.00 2.55 0.00 0.000 6 0.000 0.044 2634 2192 1706

12385 0.98 271.8 160.2 10.0 600 12387 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2192 1707

12696 0.98 271.8 130.6 9.3 615 12701 0.00 2.60 0.00 0.000 4 0.000 0.061 2634 785 1708

12728 0.98 271.8 127.3 9.6 616 12735 0.00 2.55 0.00 0.000 6 0.000 0.043 2634 2193 1708

13044 0.98 271.8 98.2 9.4 632 13046 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2193 1708

13353 0.98 271.8 68.6 9.2 647 13358 0.00 2.60 0.00 0.000 4 0.000 0.062 2634 786 1708

13392 0.98 271.8 65.5 8.3 649 13397 0.00 2.53 0.00 0.000 6 0.000 0.043 2634 2204 1708

13718 0.98 271.8 36.9 8.8 665 13719 0.00 0.00 0.00 0.000 6 0.000 0.000 2634 2204 1708

14027 0.98 271.8 10.8 8.6 680 14031 0.00 2.62 0.00 0.000 4 0.000 0.062 2634 783 1709

14066 0.98 271.8 7.0 9.7 682 14070 0.00 2.53 0.00 0.000 6 0.000 0.043 2634 2202 1709

14122 end climb: SURFACE_DEPTH_REACHED

state 14122 begin surface coast

14144 end surface coast: CONTROL_FINISHED_OK

state 14144 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	142	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	566.1524	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	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	-2078361.8	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	195601,6239.793,-1027.079,40,1.1,46,-10.4	TGT_NAME	IFRSILL
_CALLS	3	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.215,0.052
_SM_DEPTHo	1.25	KALMAN_X	-122114.0,2207.1,1961.7,46232.9,-28090.6
_SM_ANGLEo	-60.5	KALMAN_Y	120650.8,-219.2,240.4,-6536.5,1953.4
GPS2	201121,6239.836,-1027.025,15,1.1,15,-10.4	MHEAD_RNG_PITCHd_Wd	86.8,43994,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027423	ALTIM_BOTTOM_PING	476.0,74.6
SM_CCo	14164,165.90,0.652,1,0,509,566.15	_24V_AH	23.6,25.531
SM_GC	1.31,0.00,0.00,165.90,0.000,0.000,0.652,67,2405,509,-10.78,0.14,566.15	_10V_AH	10.2,12.329
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34849,686
TT8_MAMPS	0.023777	CFSIZE	260165632,251084800
HUMID	2069	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
TCM_TEMP	17.10	GPS	081207,001228,6239.871,-1022.137,26,2.8,45,-10.4
XPDR_PINGS	30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	105.39	SBE_CT	490	24	277.62
Roll_motor	131	72	223.66	SBE_O2	482	19	216.19
VBD_pump_during_apogee	341	1039	8371.11	WL_BB2F	475	105	1178.88
VBD_pump_during_surface	165	651	2552.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	238.04	nil	0	0	0.00
Iridium_during_connect	133	160	502.33	nil	0	0	0.00
Iridium_during_xfer	462	223	2431.85
Transponder_ping	11	420	113.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.81
TT8	1246	19	251.81
LPSleep	11040	2	246.63
TT8_Active	677	19	136.76
TT8_Sampling	1453	39	589.95
TT8_CF8	843	45	393.91
TT8_Kalman	33	81	27.84
Analog_circuits	1430	12	175.09
GPS_charging	0	0	0.00
Compass	1421	8	116.02
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.12	0.000	2	0.000	0.000	67	2412	3123
126	-0.85	-146.6	3.5	-2.6	5	151	12.27	2.67	-6.75	0.000	4	0.176	0.069	2221	987	3417
184	-0.85	-146.6	13.2	-9.1	7	191	0.00	2.58	0.00	0.000	6	0.000	0.050	2222	2391	3417
500	-0.85	-146.6	37.8	-7.6	23	501	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2390	3418
809	-0.85	-146.6	63.0	-8.2	38	813	0.00	2.60	0.00	0.000	4	0.000	0.061	2222	982	3418
835	-0.85	-146.6	65.4	-8.9	39	840	0.00	2.58	0.00	0.000	6	0.000	0.050	2221	2391	3418
1158	-0.85	-146.6	92.1	-8.4	55	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2390	3418
1466	-0.85	-146.6	115.8	-7.1	70	1470	0.00	2.62	0.00	0.000	4	0.000	0.064	2221	977	3418
1514	-0.85	-146.6	119.8	-7.4	72	1519	0.00	2.60	0.00	0.000	6	0.000	0.051	2222	2401	3418
1836	-0.85	-146.6	142.6	-6.9	88	1837	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3418
2145	-0.85	-146.6	165.3	-7.5	103	2149	0.00	2.62	0.00	0.000	4	0.000	0.064	2222	983	3418
2193	-0.85	-146.6	169.0	-7.8	105	2198	0.00	2.58	0.00	0.000	6	0.000	0.051	2221	2401	3418
2515	-0.85	-146.6	193.2	-7.5	121	2519	0.00	2.65	0.00	0.000	4	0.000	0.065	2222	976	3418
2546	-0.85	-146.6	195.7	-7.6	122	2553	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	2404	3418
2861	-0.85	-146.6	219.0	-7.4	138	2866	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	982	3418
2893	-0.85	-146.6	221.6	-7.9	139	2900	0.00	2.58	0.00	0.000	6	0.000	0.052	2222	2397	3418
3209	-0.85	-146.6	245.2	-7.3	155	3213	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	977	3418
3240	-0.85	-146.6	247.6	-7.8	156	3247	0.00	2.58	0.00	0.000	6	0.000	0.052	2221	2392	3419
3556	-0.85	-146.6	270.8	-7.3	172	3560	0.00	2.62	0.00	0.000	4	0.000	0.067	2222	984	3417
3582	-0.85	-146.6	272.8	-7.1	173	3587	0.00	2.55	0.00	0.000	6	0.000	0.052	2221	2398	3418
3903	-0.85	-146.6	297.0	-7.3	189	3907	0.00	2.65	0.00	0.000	4	0.000	0.070	2222	982	3417
3934	-0.85	-146.6	299.4	-7.4	190	3941	0.00	2.58	0.00	0.000	6	0.000	0.052	2222	2397	3418
4250	-0.85	-146.6	322.3	-7.3	206	4255	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	982	3418
4276	-0.85	-146.6	324.3	-7.7	207	4281	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	2397	3417
4597	-0.85	-146.6	348.6	-7.7	223	4598	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2397	3418
4908	-0.85	-146.6	375.2	-9.0	238	4912	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	979	3417
4946	-0.85	-146.6	378.6	-9.3	240	4950	0.00	2.58	0.00	0.000	6	0.000	0.052	2222	2408	3417
5272	-0.85	-146.6	406.4	-7.8	256	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2408	3418
5581	-0.85	-146.6	428.3	-6.9	271	5585	0.00	2.67	0.00	0.000	4	0.000	0.068	2222	978	3418
5624	-0.85	-146.6	431.1	-6.8	273	5628	0.00	2.60	0.00	0.000	6	0.000	0.053	2222	2401	3418
5950	-0.85	-146.6	453.2	-7.2	289	5955	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	981	3418
6022	-0.85	-146.6	458.3	-6.8	292	6027	0.00	2.58	0.00	0.000	6	0.000	0.054	2222	2405	3418
6337	-0.85	-146.6	478.6	-6.3	307	6338	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2407	3419
6646	-0.85	-146.6	498.9	-6.9	322	6647	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2407	3419
6956	-0.85	-146.6	519.9	-6.6	337	6960	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	985	3419
7010	-0.85	-146.6	523.7	-6.9	339	7017	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2398	3419
7283	end dive: BOTTOM_OBSTACLE_DETECTED
state	7283	begin apogee
7288	-0.31	0.0	541.5	6.7	353	7411	0.60	0.00	120.05	1.039	6	0.106	0.000	2341	2192	2817
7412	end apogee: CONTROL_FINISHED_OK
state	7412	begin climb
7413	0.85	146.6	545.3	0.0	359	7539	1.20	2.78	117.70	1.020	4	0.094	0.071	2586	3612	2218
7585	0.86	157.6	539.7	5.7	367	7601	0.00	2.60	10.48	0.877	6	0.000	0.054	2586	2204	2173
7910	0.87	167.4	521.1	5.7	383	7924	0.00	2.72	9.43	0.874	4	0.000	0.072	2586	789	2134
7962	0.87	167.4	517.8	6.3	384	7970	0.00	2.62	0.00	0.000	6	0.000	0.053	2586	2195	2132
8278	0.87	167.4	496.8	6.4	400	8279	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2195	2131
8587	0.87	167.4	478.5	6.3	415	8588	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2195	2130
8896	0.87	167.4	456.2	7.4	430	8901	0.00	2.65	0.00	0.000	4	0.000	0.069	2586	788	2129
8923	0.87	167.4	454.2	7.7	431	8928	0.00	2.62	0.00	0.000	6	0.000	0.052	2586	2202	2128
9244	0.91	204.9	435.2	5.0	447	9276	0.00	0.00	30.02	0.967	6	0.000	0.000	2586	2202	1981
9573	0.98	271.8	421.2	4.2	463	9636	0.17	2.72	53.62	0.969	4	0.062	0.066	2634	795	1707
9681	0.98	271.8	413.7	7.9	468	9686	0.00	2.60	0.00	0.000	6	0.000	0.049	2634	2207	1706
10007	0.98	271.8	386.7	8.4	484	10008	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2207	1705
10316	0.98	271.8	360.7	8.4	499	10321	0.00	2.67	0.00	0.000	4	0.000	0.067	2634	786	1705
10355	0.98	271.8	357.5	8.3	501	10359	0.00	2.58	0.00	0.000	6	0.000	0.048	2634	2201	1705
10680	0.98	271.8	329.4	8.7	517	10681	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2202	1704
10989	0.98	271.8	300.8	9.3	532	10994	0.00	2.65	0.00	0.000	4	0.000	0.065	2634	781	1704
11039	0.98	271.8	295.9	10.0	534	11043	0.00	2.58	0.00	0.000	6	0.000	0.046	2633	2206	1704
11359	0.98	271.8	264.3	10.1	550	11363	0.00	2.65	0.00	0.000	4	0.000	0.064	2634	785	1705
11390	0.98	271.8	260.8	10.9	551	11397	0.00	2.58	0.00	0.000	6	0.000	0.045	2633	2196	1705
11706	0.98	271.8	228.7	10.1	567	11707	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2196	1706
12015	0.98	271.8	197.3	10.1	582	12020	0.00	2.60	0.00	0.000	4	0.000	0.063	2634	787	1707
12058	0.98	271.8	192.7	10.7	584	12063	0.00	2.55	0.00	0.000	6	0.000	0.044	2634	2192	1706
12385	0.98	271.8	160.2	10.0	600	12387	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2192	1707
12696	0.98	271.8	130.6	9.3	615	12701	0.00	2.60	0.00	0.000	4	0.000	0.061	2634	785	1708
12728	0.98	271.8	127.3	9.6	616	12735	0.00	2.55	0.00	0.000	6	0.000	0.043	2634	2193	1708
13044	0.98	271.8	98.2	9.4	632	13046	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2193	1708
13353	0.98	271.8	68.6	9.2	647	13358	0.00	2.60	0.00	0.000	4	0.000	0.062	2634	786	1708
13392	0.98	271.8	65.5	8.3	649	13397	0.00	2.53	0.00	0.000	6	0.000	0.043	2634	2204	1708
13718	0.98	271.8	36.9	8.8	665	13719	0.00	0.00	0.00	0.000	6	0.000	0.000	2634	2204	1708
14027	0.98	271.8	10.8	8.6	680	14031	0.00	2.62	0.00	0.000	4	0.000	0.062	2634	783	1709
14066	0.98	271.8	7.0	9.7	682	14070	0.00	2.53	0.00	0.000	6	0.000	0.043	2634	2202	1709
14122	end climb: SURFACE_DEPTH_REACHED
state	14122	begin surface coast
14144	end surface coast: CONTROL_FINISHED_OK
state	14144	begin surface