Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING 270 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 151 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2096136.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 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 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 557.32159

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 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2096136.2

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 151 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 105052,6213.210,-1000.784,40,3.6,59,-10.0 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6213.259,-1005.710

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.22 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -48.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 105859,6213.259,-1000.677,13,2.3,32,-10.0 MHEAD_RNG_PITCHd_Wd 280.0,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026418 ALTIM_BOTTOM_PING 650.4,98.3

SM_CCo 14882,115.72,0.621,0,0,509,557.32 _24V_AH 23.3,27.016

SM_GC 1.35,0.00,0.00,115.72,0.000,0.000,0.621,71,2309,509,-10.25,0.25,557.32 _10V_AH 10.1,13.287

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34802,716

TT8_MAMPS 0.02301 CAP_FILE_SIZE 114313,0

HUMID 1854 CFSIZE 260165632,249454592

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 14 GPS 060708,151033,6212.854,-1003.995,39,1.7,41,-10.1

ALTIM_TOP_PING 18.8,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 98.24 SBE_CT 522 24 292.19

Roll_motor 154 82 298.53 SBE_O2 487 19 215.91

VBD_pump_during_apogee 414 1130 10924.03 WL_BB2F 425 105 1040.70

VBD_pump_during_surface 115 621 1675.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 86.75 nil 0 0 0.00

Iridium_during_connect 106 160 397.32 nil 0 0 0.00

Iridium_during_xfer 148 223 769.50

Transponder_ping 9 420 90.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.74

TT8 1339 19 267.88

LPSleep 11225 2 248.30

TT8_Active 701 19 140.29

TT8_Sampling 1665 39 669.36

TT8_CF8 552 45 255.59

TT8_Kalman 0 81 0.00

Analog_circuits 1554 12 188.42

GPS_charging 0 0 0.00

Compass 1603 8 129.58

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -1.08 -146.6 0.0 0.0 0 153 0.00 0.00 -120.80 0.000 2 0.000 0.000 71 2307 3038

156 -1.08 -146.6 4.1 -3.3 6 181 11.15 2.67 -7.53 0.000 4 0.170 0.083 2055 3705 3381

434 -0.89 -146.6 51.4 -14.1 18 439 0.25 2.58 0.00 0.000 6 0.098 0.054 2104 2298 3382

750 -0.89 -146.6 84.8 -11.3 33 754 0.00 2.62 0.00 0.000 4 0.000 0.065 2104 884 3382

812 -0.89 -146.6 92.7 -13.0 36 817 0.00 2.60 0.00 0.000 6 0.000 0.052 2104 2300 3382

1139 -0.89 -146.6 133.1 -11.2 52 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2300 3382

1448 -0.89 -146.6 164.1 -10.2 67 1453 0.00 2.67 0.00 0.000 4 0.000 0.066 2104 879 3382

1504 -0.89 -146.6 169.7 -9.7 69 1509 0.00 2.60 0.00 0.000 6 0.000 0.052 2104 2300 3382

1819 -0.89 -146.6 202.7 -10.8 85 1823 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 875 3382

1859 -0.89 -146.6 207.0 -11.1 87 1863 0.00 2.62 0.00 0.000 6 0.000 0.054 2104 2299 3382

2185 -0.89 -146.6 244.1 -11.6 103 2189 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 877 3382

2224 -0.89 -146.6 248.6 -11.8 105 2228 0.00 2.60 0.00 0.000 6 0.000 0.054 2104 2304 3382

2551 -0.89 -146.6 284.0 -10.5 121 2555 0.00 2.67 0.00 0.000 4 0.000 0.068 2104 880 3382

2596 -0.89 -146.6 288.7 -10.2 123 2601 0.00 2.62 0.00 0.000 6 0.000 0.054 2104 2304 3382

2917 -0.89 -146.6 321.3 -9.9 139 2921 0.00 2.70 0.00 0.000 4 0.000 0.067 2104 875 3382

2958 -0.89 -146.6 325.3 -10.2 141 2962 0.00 2.62 0.00 0.000 6 0.000 0.054 2104 2300 3382

3284 -0.89 -146.6 357.3 -9.8 157 3288 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 884 3382

3323 -0.89 -146.6 361.1 -9.6 159 3327 0.00 2.62 0.00 0.000 6 0.000 0.054 2104 2307 3382

3649 -0.89 -146.6 392.1 -9.6 175 3654 0.00 2.70 0.00 0.000 4 0.000 0.067 2104 878 3381

3689 -0.89 -146.6 396.0 -9.9 177 3694 0.00 2.60 0.00 0.000 6 0.000 0.054 2104 2300 3381

4017 -0.89 -146.6 426.4 -9.5 193 4021 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 884 3381

4050 -0.89 -146.6 429.5 -8.8 194 4056 0.00 2.60 0.00 0.000 6 0.000 0.055 2102 2301 3381

4365 -0.89 -146.6 458.7 -9.6 210 4369 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 879 3381

4415 -0.94 -146.6 463.7 -9.6 212 4419 0.00 2.62 0.00 0.000 6 0.000 0.055 2104 2304 3381

4731 -0.94 -146.6 496.4 -10.6 227 4735 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 884 3381

4771 -0.94 -146.6 500.5 -10.3 229 4775 0.00 2.62 0.00 0.000 6 0.000 0.055 2104 2307 3381

5097 -0.94 -146.6 533.8 -9.8 245 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 2104 2307 3380

5406 -0.94 -146.6 562.3 -8.9 260 5411 0.00 2.67 0.00 0.000 4 0.000 0.067 2104 884 3381

5464 -0.99 -146.6 567.2 -8.1 262 5470 0.00 2.60 0.00 0.000 6 0.000 0.055 2104 2302 3381

5780 -0.99 -146.6 595.5 -9.0 278 5784 0.00 2.67 0.00 0.000 4 0.000 0.065 2104 875 3381

5819 -1.03 -146.6 598.9 -8.7 280 5824 0.12 2.62 0.00 0.000 6 0.048 0.055 2066 2300 3380

6149 -0.92 -146.6 631.0 -10.2 296 6154 0.15 2.67 0.00 0.000 4 0.095 0.066 2098 879 3380

6222 -0.92 -146.6 638.0 -7.9 299 6226 0.00 2.62 0.00 0.000 6 0.000 0.055 2098 2305 3380

6537 -0.92 -146.6 660.6 -7.4 314 6542 0.00 2.67 0.00 0.000 4 0.000 0.077 2098 3713 3380

6587 -0.92 -146.6 665.0 -8.9 316 6592 0.00 2.62 0.00 0.000 6 0.000 0.056 2098 2291 3380

6903 -0.92 -146.6 692.4 -8.4 331 6904 0.00 0.00 0.00 0.000 6 0.000 0.000 2098 2291 3380

7212 -0.92 -146.6 717.9 -8.8 346 7217 0.00 2.75 0.00 0.000 4 0.000 0.081 2098 3713 3379

7252 -0.92 -146.6 721.8 -9.8 348 7256 0.00 2.65 0.00 0.000 6 0.000 0.061 2099 2292 3379

7431 end dive: BOTTOM_OBSTACLE_DETECTED

state 7431 begin apogee

7438 -0.31 0.0 739.9 10.0 357 7574 0.65 0.00 132.40 1.131 6 0.098 0.000 2230 2200 2781

7575 end apogee: CONTROL_FINISHED_OK

state 7575 begin climb

7578 1.08 146.6 744.6 0.0 364 7722 1.42 2.83 130.55 1.110 4 0.071 0.080 2534 3613 2183

7815 1.02 146.6 733.3 9.2 375 7820 0.00 2.67 0.00 0.000 6 0.000 0.061 2534 2201 2183

8142 1.07 194.4 712.4 6.3 391 8191 0.00 2.83 43.20 1.076 4 0.000 0.079 2534 3614 1988

8247 1.07 194.4 704.7 8.8 396 8251 0.00 2.67 0.00 0.000 6 0.000 0.063 2534 2197 1988

8568 1.16 275.6 684.4 5.1 412 8648 0.00 2.80 72.45 1.085 4 0.000 0.080 2534 3604 1657

8673 1.29 314.9 678.7 6.6 417 8715 0.22 2.65 36.10 1.054 6 0.046 0.062 2592 2197 1497

9027 1.29 314.9 638.8 11.0 434 9031 0.00 2.72 0.00 0.000 4 0.000 0.076 2592 3616 1495

9099 1.29 314.9 630.7 11.2 437 9103 0.00 2.65 0.00 0.000 6 0.000 0.061 2592 2196 1495

9415 1.29 314.9 598.8 10.9 452 9419 0.00 2.67 0.00 0.000 4 0.000 0.071 2593 782 1494

9477 1.29 314.9 591.6 11.7 455 9481 0.00 2.62 0.00 0.000 6 0.000 0.051 2592 2207 1493

9803 1.29 314.9 555.5 11.0 471 9807 0.00 2.65 0.00 0.000 4 0.000 0.074 2592 3611 1493

9882 1.29 314.9 545.8 12.5 474 9888 0.00 2.62 0.00 0.000 6 0.000 0.060 2592 2200 1494

10198 1.29 314.9 507.8 11.8 490 10199 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2200 1494

10508 1.29 314.9 473.0 11.2 505 10512 0.00 2.67 0.00 0.000 4 0.000 0.073 2592 3611 1494

10564 1.29 314.9 466.3 12.3 507 10570 0.00 2.65 0.00 0.000 6 0.000 0.063 2592 2191 1495

10879 1.29 314.9 429.9 11.7 523 10881 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2191 1494

11189 1.29 314.9 394.6 11.0 538 11193 0.00 2.70 0.00 0.000 4 0.000 0.074 2592 3613 1494

11233 1.29 314.9 389.1 12.3 540 11237 0.00 2.65 0.00 0.000 6 0.000 0.064 2592 2192 1494

11554 1.29 314.9 353.5 11.4 556 11555 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2192 1494

11863 1.29 314.9 318.6 11.2 571 11867 0.00 2.70 0.00 0.000 4 0.000 0.074 2592 3618 1495

11913 1.29 314.9 312.7 11.6 573 11917 0.00 2.65 0.00 0.000 6 0.000 0.064 2592 2197 1495

12228 1.29 314.9 281.0 9.8 588 12229 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2197 1496

12537 1.29 314.9 251.4 9.5 603 12539 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2197 1496

12847 1.29 314.9 219.4 10.8 618 12852 0.00 2.67 0.00 0.000 4 0.000 0.073 2592 3614 1495

12886 1.29 314.9 214.8 11.3 620 12891 0.00 2.62 0.00 0.000 6 0.000 0.064 2590 2198 1496

13214 1.29 314.9 175.7 12.1 636 13215 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2199 1496

13523 1.29 314.9 139.6 11.4 651 13524 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2198 1496

13832 1.29 314.9 102.5 12.2 666 13836 0.00 2.67 0.00 0.000 4 0.000 0.071 2592 3617 1497

13898 1.29 314.9 93.6 13.0 669 13903 0.00 2.65 0.00 0.000 6 0.000 0.062 2592 2191 1497

14220 1.29 314.9 60.9 8.8 685 14221 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2191 1497

14529 1.29 314.9 31.2 9.8 700 14533 0.00 2.65 0.00 0.000 4 0.000 0.071 2592 3612 1497

14606 1.29 314.9 23.3 10.6 703 14613 0.00 2.62 0.00 0.000 6 0.000 0.061 2592 2198 1496

14837 end climb: SURFACE_DEPTH_REACHED

state 14838 begin surface coast

14859 end surface coast: CONTROL_FINISHED_OK

state 14859 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	270	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	151	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2096136.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	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	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	105052,6213.210,-1000.784,40,3.6,59,-10.0	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6213.259,-1005.710
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.22	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-48.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	105859,6213.259,-1000.677,13,2.3,32,-10.0	MHEAD_RNG_PITCHd_Wd	280.0,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.026418	ALTIM_BOTTOM_PING	650.4,98.3
SM_CCo	14882,115.72,0.621,0,0,509,557.32	_24V_AH	23.3,27.016
SM_GC	1.35,0.00,0.00,115.72,0.000,0.000,0.621,71,2309,509,-10.25,0.25,557.32	_10V_AH	10.1,13.287
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34802,716
TT8_MAMPS	0.02301	CAP_FILE_SIZE	114313,0
HUMID	1854	CFSIZE	260165632,249454592
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	14	GPS	060708,151033,6212.854,-1003.995,39,1.7,41,-10.1
ALTIM_TOP_PING	18.8,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	98.24	SBE_CT	522	24	292.19
Roll_motor	154	82	298.53	SBE_O2	487	19	215.91
VBD_pump_during_apogee	414	1130	10924.03	WL_BB2F	425	105	1040.70
VBD_pump_during_surface	115	621	1675.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	86.75	nil	0	0	0.00
Iridium_during_connect	106	160	397.32	nil	0	0	0.00
Iridium_during_xfer	148	223	769.50
Transponder_ping	9	420	90.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.74
TT8	1339	19	267.88
LPSleep	11225	2	248.30
TT8_Active	701	19	140.29
TT8_Sampling	1665	39	669.36
TT8_CF8	552	45	255.59
TT8_Kalman	0	81	0.00
Analog_circuits	1554	12	188.42
GPS_charging	0	0	0.00
Compass	1603	8	129.58
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-1.08	-146.6	0.0	0.0	0	153	0.00	0.00	-120.80	0.000	2	0.000	0.000	71	2307	3038
156	-1.08	-146.6	4.1	-3.3	6	181	11.15	2.67	-7.53	0.000	4	0.170	0.083	2055	3705	3381
434	-0.89	-146.6	51.4	-14.1	18	439	0.25	2.58	0.00	0.000	6	0.098	0.054	2104	2298	3382
750	-0.89	-146.6	84.8	-11.3	33	754	0.00	2.62	0.00	0.000	4	0.000	0.065	2104	884	3382
812	-0.89	-146.6	92.7	-13.0	36	817	0.00	2.60	0.00	0.000	6	0.000	0.052	2104	2300	3382
1139	-0.89	-146.6	133.1	-11.2	52	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2300	3382
1448	-0.89	-146.6	164.1	-10.2	67	1453	0.00	2.67	0.00	0.000	4	0.000	0.066	2104	879	3382
1504	-0.89	-146.6	169.7	-9.7	69	1509	0.00	2.60	0.00	0.000	6	0.000	0.052	2104	2300	3382
1819	-0.89	-146.6	202.7	-10.8	85	1823	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	875	3382
1859	-0.89	-146.6	207.0	-11.1	87	1863	0.00	2.62	0.00	0.000	6	0.000	0.054	2104	2299	3382
2185	-0.89	-146.6	244.1	-11.6	103	2189	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	877	3382
2224	-0.89	-146.6	248.6	-11.8	105	2228	0.00	2.60	0.00	0.000	6	0.000	0.054	2104	2304	3382
2551	-0.89	-146.6	284.0	-10.5	121	2555	0.00	2.67	0.00	0.000	4	0.000	0.068	2104	880	3382
2596	-0.89	-146.6	288.7	-10.2	123	2601	0.00	2.62	0.00	0.000	6	0.000	0.054	2104	2304	3382
2917	-0.89	-146.6	321.3	-9.9	139	2921	0.00	2.70	0.00	0.000	4	0.000	0.067	2104	875	3382
2958	-0.89	-146.6	325.3	-10.2	141	2962	0.00	2.62	0.00	0.000	6	0.000	0.054	2104	2300	3382
3284	-0.89	-146.6	357.3	-9.8	157	3288	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	884	3382
3323	-0.89	-146.6	361.1	-9.6	159	3327	0.00	2.62	0.00	0.000	6	0.000	0.054	2104	2307	3382
3649	-0.89	-146.6	392.1	-9.6	175	3654	0.00	2.70	0.00	0.000	4	0.000	0.067	2104	878	3381
3689	-0.89	-146.6	396.0	-9.9	177	3694	0.00	2.60	0.00	0.000	6	0.000	0.054	2104	2300	3381
4017	-0.89	-146.6	426.4	-9.5	193	4021	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	884	3381
4050	-0.89	-146.6	429.5	-8.8	194	4056	0.00	2.60	0.00	0.000	6	0.000	0.055	2102	2301	3381
4365	-0.89	-146.6	458.7	-9.6	210	4369	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	879	3381
4415	-0.94	-146.6	463.7	-9.6	212	4419	0.00	2.62	0.00	0.000	6	0.000	0.055	2104	2304	3381
4731	-0.94	-146.6	496.4	-10.6	227	4735	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	884	3381
4771	-0.94	-146.6	500.5	-10.3	229	4775	0.00	2.62	0.00	0.000	6	0.000	0.055	2104	2307	3381
5097	-0.94	-146.6	533.8	-9.8	245	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	2104	2307	3380
5406	-0.94	-146.6	562.3	-8.9	260	5411	0.00	2.67	0.00	0.000	4	0.000	0.067	2104	884	3381
5464	-0.99	-146.6	567.2	-8.1	262	5470	0.00	2.60	0.00	0.000	6	0.000	0.055	2104	2302	3381
5780	-0.99	-146.6	595.5	-9.0	278	5784	0.00	2.67	0.00	0.000	4	0.000	0.065	2104	875	3381
5819	-1.03	-146.6	598.9	-8.7	280	5824	0.12	2.62	0.00	0.000	6	0.048	0.055	2066	2300	3380
6149	-0.92	-146.6	631.0	-10.2	296	6154	0.15	2.67	0.00	0.000	4	0.095	0.066	2098	879	3380
6222	-0.92	-146.6	638.0	-7.9	299	6226	0.00	2.62	0.00	0.000	6	0.000	0.055	2098	2305	3380
6537	-0.92	-146.6	660.6	-7.4	314	6542	0.00	2.67	0.00	0.000	4	0.000	0.077	2098	3713	3380
6587	-0.92	-146.6	665.0	-8.9	316	6592	0.00	2.62	0.00	0.000	6	0.000	0.056	2098	2291	3380
6903	-0.92	-146.6	692.4	-8.4	331	6904	0.00	0.00	0.00	0.000	6	0.000	0.000	2098	2291	3380
7212	-0.92	-146.6	717.9	-8.8	346	7217	0.00	2.75	0.00	0.000	4	0.000	0.081	2098	3713	3379
7252	-0.92	-146.6	721.8	-9.8	348	7256	0.00	2.65	0.00	0.000	6	0.000	0.061	2099	2292	3379
7431	end dive: BOTTOM_OBSTACLE_DETECTED
state	7431	begin apogee
7438	-0.31	0.0	739.9	10.0	357	7574	0.65	0.00	132.40	1.131	6	0.098	0.000	2230	2200	2781
7575	end apogee: CONTROL_FINISHED_OK
state	7575	begin climb
7578	1.08	146.6	744.6	0.0	364	7722	1.42	2.83	130.55	1.110	4	0.071	0.080	2534	3613	2183
7815	1.02	146.6	733.3	9.2	375	7820	0.00	2.67	0.00	0.000	6	0.000	0.061	2534	2201	2183
8142	1.07	194.4	712.4	6.3	391	8191	0.00	2.83	43.20	1.076	4	0.000	0.079	2534	3614	1988
8247	1.07	194.4	704.7	8.8	396	8251	0.00	2.67	0.00	0.000	6	0.000	0.063	2534	2197	1988
8568	1.16	275.6	684.4	5.1	412	8648	0.00	2.80	72.45	1.085	4	0.000	0.080	2534	3604	1657
8673	1.29	314.9	678.7	6.6	417	8715	0.22	2.65	36.10	1.054	6	0.046	0.062	2592	2197	1497
9027	1.29	314.9	638.8	11.0	434	9031	0.00	2.72	0.00	0.000	4	0.000	0.076	2592	3616	1495
9099	1.29	314.9	630.7	11.2	437	9103	0.00	2.65	0.00	0.000	6	0.000	0.061	2592	2196	1495
9415	1.29	314.9	598.8	10.9	452	9419	0.00	2.67	0.00	0.000	4	0.000	0.071	2593	782	1494
9477	1.29	314.9	591.6	11.7	455	9481	0.00	2.62	0.00	0.000	6	0.000	0.051	2592	2207	1493
9803	1.29	314.9	555.5	11.0	471	9807	0.00	2.65	0.00	0.000	4	0.000	0.074	2592	3611	1493
9882	1.29	314.9	545.8	12.5	474	9888	0.00	2.62	0.00	0.000	6	0.000	0.060	2592	2200	1494
10198	1.29	314.9	507.8	11.8	490	10199	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2200	1494
10508	1.29	314.9	473.0	11.2	505	10512	0.00	2.67	0.00	0.000	4	0.000	0.073	2592	3611	1494
10564	1.29	314.9	466.3	12.3	507	10570	0.00	2.65	0.00	0.000	6	0.000	0.063	2592	2191	1495
10879	1.29	314.9	429.9	11.7	523	10881	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2191	1494
11189	1.29	314.9	394.6	11.0	538	11193	0.00	2.70	0.00	0.000	4	0.000	0.074	2592	3613	1494
11233	1.29	314.9	389.1	12.3	540	11237	0.00	2.65	0.00	0.000	6	0.000	0.064	2592	2192	1494
11554	1.29	314.9	353.5	11.4	556	11555	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2192	1494
11863	1.29	314.9	318.6	11.2	571	11867	0.00	2.70	0.00	0.000	4	0.000	0.074	2592	3618	1495
11913	1.29	314.9	312.7	11.6	573	11917	0.00	2.65	0.00	0.000	6	0.000	0.064	2592	2197	1495
12228	1.29	314.9	281.0	9.8	588	12229	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2197	1496
12537	1.29	314.9	251.4	9.5	603	12539	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2197	1496
12847	1.29	314.9	219.4	10.8	618	12852	0.00	2.67	0.00	0.000	4	0.000	0.073	2592	3614	1495
12886	1.29	314.9	214.8	11.3	620	12891	0.00	2.62	0.00	0.000	6	0.000	0.064	2590	2198	1496
13214	1.29	314.9	175.7	12.1	636	13215	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2199	1496
13523	1.29	314.9	139.6	11.4	651	13524	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2198	1496
13832	1.29	314.9	102.5	12.2	666	13836	0.00	2.67	0.00	0.000	4	0.000	0.071	2592	3617	1497
13898	1.29	314.9	93.6	13.0	669	13903	0.00	2.65	0.00	0.000	6	0.000	0.062	2592	2191	1497
14220	1.29	314.9	60.9	8.8	685	14221	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2191	1497
14529	1.29	314.9	31.2	9.8	700	14533	0.00	2.65	0.00	0.000	4	0.000	0.071	2592	3612	1497
14606	1.29	314.9	23.3	10.6	703	14613	0.00	2.62	0.00	0.000	6	0.000	0.061	2592	2198	1496
14837	end climb: SURFACE_DEPTH_REACHED
state	14838	begin surface coast
14859	end surface coast: CONTROL_FINISHED_OK
state	14859	begin surface