Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 152 * 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 152 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2096168.8 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 -2096168.8

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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 152 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 151033,6212.854,-1003.995,39,1.7,41,-10.1 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6212.798,-1009.116

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.20 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -49.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 151559,6212.798,-1004.082,12,2.1,31,-10.1 MHEAD_RNG_PITCHd_Wd 280.1,20000,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027008 ALTIM_BOTTOM_PING 751.4,69.9

SM_CCo 17313,131.90,0.620,0,0,509,557.32 _24V_AH 23.6,27.177

SM_GC 1.27,0.00,0.00,131.90,0.000,0.000,0.620,72,2306,509,-10.24,0.14,557.32 _10V_AH 10.1,13.365

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41138,837

TT8_MAMPS 0.023777 CAP_FILE_SIZE 114586,0

HUMID 1868 CFSIZE 260165632,249389056

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 15 GPS 060708,200807,6211.489,-1011.121,29,1.3,29,-10.1

ALTIM_TOP_PING 18.3,17.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.01 SBE_CT 613 24 347.74

Roll_motor 106 80 202.08 SBE_O2 579 19 259.89

VBD_pump_during_apogee 390 1180 10882.63 WL_BB2F 495 105 1228.44

VBD_pump_during_surface 131 619 1929.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.63 nil 0 0 0.00

Iridium_during_connect 25 160 96.76 nil 0 0 0.00

Iridium_during_xfer 148 223 779.54

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.12

TT8 1487 19 297.45

LPSleep 13442 2 297.34

TT8_Active 671 19 134.27

TT8_Sampling 1706 39 685.82

TT8_CF8 462 45 214.08

TT8_Kalman 0 81 0.00

Analog_circuits 1525 12 184.86

GPS_charging 0 0 0.00

Compass 1653 8 133.57

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

32 -1.08 -146.6 0.0 0.0 0 154 0.00 0.00 -120.80 0.000 2 0.000 0.000 70 2311 3057

158 -1.08 -146.6 4.9 -4.4 6 183 11.15 2.70 -6.65 0.000 4 0.170 0.080 2054 3709 3381

382 -0.84 -146.6 43.0 -12.6 16 387 0.30 2.60 0.00 0.000 6 0.100 0.054 2113 2297 3381

709 -0.79 -146.6 72.6 -8.5 32 714 0.00 2.62 0.00 0.000 4 0.000 0.065 2113 880 3382

737 -0.79 -146.6 75.4 -9.9 33 741 0.00 2.60 0.00 0.000 6 0.000 0.051 2112 2300 3382

1054 -0.79 -146.6 106.1 -9.8 48 1059 0.00 2.65 0.00 0.000 4 0.000 0.071 2113 3712 3382

1095 -0.74 -146.6 110.3 -10.4 50 1100 0.12 2.60 0.00 0.000 6 0.102 0.054 2136 2294 3382

1423 -0.74 -146.6 136.8 -8.1 66 1427 0.00 2.67 0.00 0.000 4 0.000 0.073 2136 3708 3382

1455 -0.74 -146.6 139.8 -9.0 67 1462 0.00 2.58 0.00 0.000 6 0.000 0.054 2136 2297 3382

1771 -0.74 -146.6 165.3 -8.3 83 1772 0.00 0.00 0.00 0.000 6 0.000 0.000 2136 2298 3382

2081 -0.79 -146.6 194.1 -9.8 98 2085 0.00 2.62 0.00 0.000 4 0.000 0.065 2136 883 3382

2136 -0.89 -146.6 199.7 -10.0 100 2147 0.15 2.60 0.00 0.000 6 0.043 0.054 2090 2304 3382

2453 -0.82 -146.6 236.3 -11.5 116 2455 0.15 0.00 0.00 0.000 6 0.091 0.000 2119 2305 3382

2761 -0.82 -146.6 267.1 -9.8 131 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

3071 -0.82 -146.6 295.3 -8.9 146 3075 0.00 2.67 0.00 0.000 4 0.000 0.065 2119 880 3382

3111 -0.88 -146.6 298.8 -8.7 148 3115 0.00 2.62 0.00 0.000 6 0.000 0.054 2119 2304 3382

3437 -0.88 -146.6 329.0 -9.5 164 3438 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

3746 -0.88 -146.6 358.1 -9.6 179 3747 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2305 3382

4056 -0.88 -146.6 386.9 -9.6 194 4057 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

4365 -0.88 -146.6 413.9 -8.7 209 4366 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

4674 -0.88 -146.6 441.9 -9.2 224 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

4984 -0.88 -146.6 469.6 -8.9 239 4985 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2305 3382

5293 -0.88 -146.6 498.5 -9.6 254 5294 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2304 3382

5602 -0.88 -146.6 528.5 -9.7 269 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2305 3381

5912 -0.88 -146.6 558.1 -9.7 284 5916 0.00 2.65 0.00 0.000 4 0.000 0.076 2119 3709 3381

5952 -0.88 -146.6 562.2 -10.8 286 5956 0.00 2.60 0.00 0.000 6 0.000 0.054 2119 2291 3381

6278 -0.88 -146.6 593.1 -9.6 302 6283 0.00 2.70 0.00 0.000 4 0.000 0.074 2119 3709 3381

6312 -0.88 -146.6 596.5 -10.4 303 6318 0.00 2.58 0.00 0.000 6 0.000 0.053 2119 2297 3381

6628 -0.92 -146.6 627.8 -10.5 319 6632 0.00 2.70 0.00 0.000 4 0.000 0.074 2119 3713 3381

6668 -0.97 -146.6 632.1 -11.2 321 6673 0.15 2.60 0.00 0.000 6 0.044 0.054 2076 2293 3381

6995 -0.91 -146.6 672.9 -12.3 337 7000 0.12 2.70 0.00 0.000 4 0.102 0.075 2099 3709 3381

7028 -0.91 -146.6 677.0 -12.2 338 7034 0.00 2.58 0.00 0.000 6 0.000 0.054 2099 2299 3381

7344 -0.91 -146.6 706.8 -8.8 354 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2299 3380

7653 -0.91 -146.6 731.2 -8.1 369 7654 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2299 3380

7962 -0.91 -146.6 757.1 -9.1 384 7967 0.00 2.72 0.00 0.000 4 0.000 0.081 2099 3711 3380

8051 -0.91 -146.6 766.5 -10.7 388 8056 0.00 2.62 0.00 0.000 6 0.000 0.061 2099 2299 3380

8372 -0.91 -146.6 794.9 -8.5 404 8373 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2300 3380

8555 end dive: BOTTOM_OBSTACLE_DETECTED

state 8555 begin apogee

8562 -0.31 0.0 812.6 9.3 413 8699 0.65 0.00 133.77 1.180 6 0.098 0.000 2230 2202 2781

8700 end apogee: CONTROL_FINISHED_OK

state 8700 begin climb

8703 1.08 146.6 818.8 0.0 420 8847 1.42 2.83 131.70 1.160 4 0.076 0.081 2531 3606 2183

8861 1.11 218.3 814.5 5.4 427 8934 0.00 2.67 64.60 1.136 6 0.000 0.061 2531 2204 1891

9247 1.22 266.1 786.8 6.3 446 9293 0.15 0.00 43.55 1.116 6 0.055 0.000 2572 2204 1696

9597 1.22 266.1 753.0 9.7 463 9598 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2204 1695

9907 1.22 266.1 723.4 10.1 478 9911 0.00 2.72 0.00 0.000 4 0.000 0.078 2572 3610 1694

9973 1.22 266.1 715.8 11.6 481 9978 0.00 2.65 0.00 0.000 6 0.000 0.061 2572 2200 1694

10294 1.22 266.1 680.5 10.7 497 10295 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2199 1693

10604 1.22 266.1 649.6 9.6 512 10608 0.00 2.70 0.00 0.000 4 0.000 0.074 2572 3610 1692

10648 1.22 266.1 644.8 10.2 514 10652 0.00 2.65 0.00 0.000 6 0.000 0.059 2572 2200 1692

10968 1.22 266.1 613.6 9.5 530 10969 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2200 1692

11278 1.22 266.1 583.1 10.1 545 11282 0.00 2.67 0.00 0.000 4 0.000 0.074 2572 3610 1692

11333 1.22 266.1 576.5 12.1 547 11339 0.00 2.65 0.00 0.000 6 0.000 0.058 2573 2192 1692

11648 1.22 266.1 543.6 10.3 563 11649 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2192 1692

11958 1.22 266.1 511.0 10.4 578 11962 0.00 2.70 0.00 0.000 4 0.000 0.073 2572 3610 1692

11997 1.22 266.1 506.6 12.1 580 12002 0.00 2.60 0.00 0.000 6 0.000 0.059 2572 2200 1692

12324 1.22 266.1 474.0 9.6 596 12326 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2200 1693

12634 1.22 266.1 445.0 9.4 611 12635 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2201 1693

12943 1.22 266.1 416.1 9.2 626 12947 0.00 2.67 0.00 0.000 4 0.000 0.074 2572 3618 1693

12988 1.22 266.1 411.4 9.8 628 12993 0.00 2.62 0.00 0.000 6 0.000 0.061 2572 2202 1693

13309 1.22 266.1 380.6 9.4 644 13310 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2202 1693

13618 1.22 266.1 351.6 9.3 659 13619 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2201 1693

13927 1.22 266.1 322.9 9.4 674 13928 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2201 1694

14237 1.22 266.1 293.9 9.3 689 14238 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2202 1694

14546 1.22 266.1 264.9 9.4 704 14547 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2201 1694

14855 1.22 266.1 234.4 10.1 719 14859 0.00 2.65 0.00 0.000 4 0.000 0.072 2572 3613 1695

14895 1.22 266.1 230.3 10.8 721 14900 0.00 2.62 0.00 0.000 6 0.000 0.061 2572 2199 1695

15222 1.22 266.1 197.2 10.1 737 15223 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2199 1695

15531 1.22 266.1 165.9 10.3 752 15533 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2198 1695

15841 1.22 266.1 134.5 10.4 767 15843 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2198 1695

16152 1.22 266.1 102.7 10.6 782 16156 0.00 2.65 0.00 0.000 4 0.000 0.071 2572 3611 1695

16192 1.22 266.1 97.8 12.4 784 16196 0.00 2.60 0.00 0.000 6 0.000 0.059 2572 2198 1695

16518 1.22 266.1 64.0 9.2 800 16520 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2198 1695

16828 1.24 285.5 39.5 7.3 815 16850 0.00 2.72 17.02 0.633 4 0.000 0.064 2573 781 1616

16942 1.30 285.5 30.2 8.5 820 16947 0.00 2.58 0.00 0.000 6 0.000 0.049 2572 2203 1616

17267 end climb: SURFACE_DEPTH_REACHED

state 17267 begin surface coast

17291 end surface coast: CONTROL_FINISHED_OK

state 17291 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	152	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2096168.8	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	151033,6212.854,-1003.995,39,1.7,41,-10.1	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6212.798,-1009.116
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.20	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-49.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	151559,6212.798,-1004.082,12,2.1,31,-10.1	MHEAD_RNG_PITCHd_Wd	280.1,20000,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027008	ALTIM_BOTTOM_PING	751.4,69.9
SM_CCo	17313,131.90,0.620,0,0,509,557.32	_24V_AH	23.6,27.177
SM_GC	1.27,0.00,0.00,131.90,0.000,0.000,0.620,72,2306,509,-10.24,0.14,557.32	_10V_AH	10.1,13.365
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41138,837
TT8_MAMPS	0.023777	CAP_FILE_SIZE	114586,0
HUMID	1868	CFSIZE	260165632,249389056
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	15	GPS	060708,200807,6211.489,-1011.121,29,1.3,29,-10.1
ALTIM_TOP_PING	18.3,17.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.01	SBE_CT	613	24	347.74
Roll_motor	106	80	202.08	SBE_O2	579	19	259.89
VBD_pump_during_apogee	390	1180	10882.63	WL_BB2F	495	105	1228.44
VBD_pump_during_surface	131	619	1929.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.63	nil	0	0	0.00
Iridium_during_connect	25	160	96.76	nil	0	0	0.00
Iridium_during_xfer	148	223	779.54
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.12
TT8	1487	19	297.45
LPSleep	13442	2	297.34
TT8_Active	671	19	134.27
TT8_Sampling	1706	39	685.82
TT8_CF8	462	45	214.08
TT8_Kalman	0	81	0.00
Analog_circuits	1525	12	184.86
GPS_charging	0	0	0.00
Compass	1653	8	133.57
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
32	-1.08	-146.6	0.0	0.0	0	154	0.00	0.00	-120.80	0.000	2	0.000	0.000	70	2311	3057
158	-1.08	-146.6	4.9	-4.4	6	183	11.15	2.70	-6.65	0.000	4	0.170	0.080	2054	3709	3381
382	-0.84	-146.6	43.0	-12.6	16	387	0.30	2.60	0.00	0.000	6	0.100	0.054	2113	2297	3381
709	-0.79	-146.6	72.6	-8.5	32	714	0.00	2.62	0.00	0.000	4	0.000	0.065	2113	880	3382
737	-0.79	-146.6	75.4	-9.9	33	741	0.00	2.60	0.00	0.000	6	0.000	0.051	2112	2300	3382
1054	-0.79	-146.6	106.1	-9.8	48	1059	0.00	2.65	0.00	0.000	4	0.000	0.071	2113	3712	3382
1095	-0.74	-146.6	110.3	-10.4	50	1100	0.12	2.60	0.00	0.000	6	0.102	0.054	2136	2294	3382
1423	-0.74	-146.6	136.8	-8.1	66	1427	0.00	2.67	0.00	0.000	4	0.000	0.073	2136	3708	3382
1455	-0.74	-146.6	139.8	-9.0	67	1462	0.00	2.58	0.00	0.000	6	0.000	0.054	2136	2297	3382
1771	-0.74	-146.6	165.3	-8.3	83	1772	0.00	0.00	0.00	0.000	6	0.000	0.000	2136	2298	3382
2081	-0.79	-146.6	194.1	-9.8	98	2085	0.00	2.62	0.00	0.000	4	0.000	0.065	2136	883	3382
2136	-0.89	-146.6	199.7	-10.0	100	2147	0.15	2.60	0.00	0.000	6	0.043	0.054	2090	2304	3382
2453	-0.82	-146.6	236.3	-11.5	116	2455	0.15	0.00	0.00	0.000	6	0.091	0.000	2119	2305	3382
2761	-0.82	-146.6	267.1	-9.8	131	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
3071	-0.82	-146.6	295.3	-8.9	146	3075	0.00	2.67	0.00	0.000	4	0.000	0.065	2119	880	3382
3111	-0.88	-146.6	298.8	-8.7	148	3115	0.00	2.62	0.00	0.000	6	0.000	0.054	2119	2304	3382
3437	-0.88	-146.6	329.0	-9.5	164	3438	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
3746	-0.88	-146.6	358.1	-9.6	179	3747	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2305	3382
4056	-0.88	-146.6	386.9	-9.6	194	4057	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
4365	-0.88	-146.6	413.9	-8.7	209	4366	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
4674	-0.88	-146.6	441.9	-9.2	224	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
4984	-0.88	-146.6	469.6	-8.9	239	4985	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2305	3382
5293	-0.88	-146.6	498.5	-9.6	254	5294	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2304	3382
5602	-0.88	-146.6	528.5	-9.7	269	5603	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2305	3381
5912	-0.88	-146.6	558.1	-9.7	284	5916	0.00	2.65	0.00	0.000	4	0.000	0.076	2119	3709	3381
5952	-0.88	-146.6	562.2	-10.8	286	5956	0.00	2.60	0.00	0.000	6	0.000	0.054	2119	2291	3381
6278	-0.88	-146.6	593.1	-9.6	302	6283	0.00	2.70	0.00	0.000	4	0.000	0.074	2119	3709	3381
6312	-0.88	-146.6	596.5	-10.4	303	6318	0.00	2.58	0.00	0.000	6	0.000	0.053	2119	2297	3381
6628	-0.92	-146.6	627.8	-10.5	319	6632	0.00	2.70	0.00	0.000	4	0.000	0.074	2119	3713	3381
6668	-0.97	-146.6	632.1	-11.2	321	6673	0.15	2.60	0.00	0.000	6	0.044	0.054	2076	2293	3381
6995	-0.91	-146.6	672.9	-12.3	337	7000	0.12	2.70	0.00	0.000	4	0.102	0.075	2099	3709	3381
7028	-0.91	-146.6	677.0	-12.2	338	7034	0.00	2.58	0.00	0.000	6	0.000	0.054	2099	2299	3381
7344	-0.91	-146.6	706.8	-8.8	354	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2299	3380
7653	-0.91	-146.6	731.2	-8.1	369	7654	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2299	3380
7962	-0.91	-146.6	757.1	-9.1	384	7967	0.00	2.72	0.00	0.000	4	0.000	0.081	2099	3711	3380
8051	-0.91	-146.6	766.5	-10.7	388	8056	0.00	2.62	0.00	0.000	6	0.000	0.061	2099	2299	3380
8372	-0.91	-146.6	794.9	-8.5	404	8373	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2300	3380
8555	end dive: BOTTOM_OBSTACLE_DETECTED
state	8555	begin apogee
8562	-0.31	0.0	812.6	9.3	413	8699	0.65	0.00	133.77	1.180	6	0.098	0.000	2230	2202	2781
8700	end apogee: CONTROL_FINISHED_OK
state	8700	begin climb
8703	1.08	146.6	818.8	0.0	420	8847	1.42	2.83	131.70	1.160	4	0.076	0.081	2531	3606	2183
8861	1.11	218.3	814.5	5.4	427	8934	0.00	2.67	64.60	1.136	6	0.000	0.061	2531	2204	1891
9247	1.22	266.1	786.8	6.3	446	9293	0.15	0.00	43.55	1.116	6	0.055	0.000	2572	2204	1696
9597	1.22	266.1	753.0	9.7	463	9598	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2204	1695
9907	1.22	266.1	723.4	10.1	478	9911	0.00	2.72	0.00	0.000	4	0.000	0.078	2572	3610	1694
9973	1.22	266.1	715.8	11.6	481	9978	0.00	2.65	0.00	0.000	6	0.000	0.061	2572	2200	1694
10294	1.22	266.1	680.5	10.7	497	10295	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2199	1693
10604	1.22	266.1	649.6	9.6	512	10608	0.00	2.70	0.00	0.000	4	0.000	0.074	2572	3610	1692
10648	1.22	266.1	644.8	10.2	514	10652	0.00	2.65	0.00	0.000	6	0.000	0.059	2572	2200	1692
10968	1.22	266.1	613.6	9.5	530	10969	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2200	1692
11278	1.22	266.1	583.1	10.1	545	11282	0.00	2.67	0.00	0.000	4	0.000	0.074	2572	3610	1692
11333	1.22	266.1	576.5	12.1	547	11339	0.00	2.65	0.00	0.000	6	0.000	0.058	2573	2192	1692
11648	1.22	266.1	543.6	10.3	563	11649	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2192	1692
11958	1.22	266.1	511.0	10.4	578	11962	0.00	2.70	0.00	0.000	4	0.000	0.073	2572	3610	1692
11997	1.22	266.1	506.6	12.1	580	12002	0.00	2.60	0.00	0.000	6	0.000	0.059	2572	2200	1692
12324	1.22	266.1	474.0	9.6	596	12326	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2200	1693
12634	1.22	266.1	445.0	9.4	611	12635	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2201	1693
12943	1.22	266.1	416.1	9.2	626	12947	0.00	2.67	0.00	0.000	4	0.000	0.074	2572	3618	1693
12988	1.22	266.1	411.4	9.8	628	12993	0.00	2.62	0.00	0.000	6	0.000	0.061	2572	2202	1693
13309	1.22	266.1	380.6	9.4	644	13310	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2202	1693
13618	1.22	266.1	351.6	9.3	659	13619	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2201	1693
13927	1.22	266.1	322.9	9.4	674	13928	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2201	1694
14237	1.22	266.1	293.9	9.3	689	14238	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2202	1694
14546	1.22	266.1	264.9	9.4	704	14547	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2201	1694
14855	1.22	266.1	234.4	10.1	719	14859	0.00	2.65	0.00	0.000	4	0.000	0.072	2572	3613	1695
14895	1.22	266.1	230.3	10.8	721	14900	0.00	2.62	0.00	0.000	6	0.000	0.061	2572	2199	1695
15222	1.22	266.1	197.2	10.1	737	15223	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2199	1695
15531	1.22	266.1	165.9	10.3	752	15533	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2198	1695
15841	1.22	266.1	134.5	10.4	767	15843	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2198	1695
16152	1.22	266.1	102.7	10.6	782	16156	0.00	2.65	0.00	0.000	4	0.000	0.071	2572	3611	1695
16192	1.22	266.1	97.8	12.4	784	16196	0.00	2.60	0.00	0.000	6	0.000	0.059	2572	2198	1695
16518	1.22	266.1	64.0	9.2	800	16520	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2198	1695
16828	1.24	285.5	39.5	7.3	815	16850	0.00	2.72	17.02	0.633	4	0.000	0.064	2573	781	1616
16942	1.30	285.5	30.2	8.5	820	16947	0.00	2.58	0.00	0.000	6	0.000	0.049	2572	2203	1616
17267	end climb: SURFACE_DEPTH_REACHED
state	17267	begin surface coast
17291	end surface coast: CONTROL_FINISHED_OK
state	17291	begin surface