Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 361 * 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 -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 361 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 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 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 22 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 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 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 -2101293.8 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 0 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 2330 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 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 -2101293.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 22 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 361 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 013846,6434.599,-1026.906,40,3.1,59,-11.2 TGT_NAME NS

_CALLS 2 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 014659,6434.547,-1026.806,18,3.0,37,-11.2 MHEAD_RNG_PITCHd_Wd 149.1,56277,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014635 ALTIM_BOTTOM_PING 451.4,43.1

SM_CCo 13520,119.43,0.668,1,0,508,557.32 _24V_AH 23.4,58.035

SM_GC 1.23,0.00,0.00,119.43,0.000,0.000,0.668,73,2244,508,-10.38,0.40,557.32 _10V_AH 10.1,28.429

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31656,650

TT8_MAMPS 0.02301 CAP_FILE_SIZE 106727,0

HUMID 1932 CFSIZE 260165632,238637056

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

XPDR_PINGS 62 GPS 130808,053602,6432.721,-1023.660,40,2.0,40,-11.1

ALTIM_TOP_PING 19.4,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 176 108.15 SBE_CT 484 24 271.86

Roll_motor 137 82 264.54 SBE_O2 441 19 196.36

VBD_pump_during_apogee 424 1050 10428.59 WL_BB2F 477 105 1172.98

VBD_pump_during_surface 119 668 1866.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.53 nil 0 0 0.00

Iridium_during_connect 62 160 234.91 nil 0 0 0.00

Iridium_during_xfer 179 223 934.87

Transponder_ping 19 420 191.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.21

TT8 1207 19 241.44

LPSleep 10209 2 225.82

TT8_Active 707 19 141.53

TT8_Sampling 1456 39 585.65

TT8_CF8 560 45 259.08

TT8_Kalman 0 81 0.00

Analog_circuits 1473 12 178.55

GPS_charging 0 0 0.00

Compass 1399 8 113.05

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.05 0.000 2 0.000 0.000 73 2236 2774

151 -0.85 -146.6 3.7 -3.0 6 186 11.82 2.65 -15.88 0.000 4 0.176 0.067 2142 826 3380

329 -0.78 -146.6 24.6 -9.6 14 333 0.00 2.58 0.00 0.000 6 0.000 0.047 2142 2234 3380

657 -0.65 -146.6 59.0 -10.0 30 662 0.20 2.62 0.00 0.000 4 0.100 0.066 2184 3640 3381

690 -0.65 -146.6 62.4 -8.6 31 696 0.00 2.55 0.00 0.000 6 0.000 0.045 2184 2226 3382

1007 -0.65 -146.6 86.9 -7.5 47 1012 0.00 2.60 0.00 0.000 4 0.000 0.058 2184 815 3382

1048 -0.73 -146.6 90.0 -7.6 49 1052 0.00 2.58 0.00 0.000 6 0.000 0.047 2184 2230 3382

1376 -0.73 -146.6 111.3 -6.0 65 1380 0.00 2.65 0.00 0.000 4 0.000 0.071 2184 3641 3382

1431 -0.79 -146.6 115.1 -7.2 67 1438 0.12 2.55 0.00 0.000 6 0.051 0.048 2148 2229 3382

1748 -0.73 -146.6 139.9 -8.1 83 1753 0.12 2.62 0.00 0.000 4 0.094 0.060 2173 814 3382

1776 -0.77 -146.6 142.3 -7.8 84 1780 0.00 2.58 0.00 0.000 6 0.000 0.049 2172 2229 3382

2092 -0.77 -146.6 166.6 -7.5 99 2096 0.00 2.65 0.00 0.000 4 0.000 0.071 2173 3640 3382

2142 -0.77 -146.6 170.4 -7.6 101 2146 0.00 2.55 0.00 0.000 6 0.000 0.048 2173 2228 3382

2458 -0.77 -146.6 192.4 -6.6 116 2462 0.00 2.62 0.00 0.000 4 0.000 0.061 2173 816 3382

2485 -0.83 -146.6 194.2 -6.2 117 2490 0.00 2.60 0.00 0.000 6 0.000 0.050 2173 2236 3382

2802 -0.83 -146.6 214.5 -6.7 132 2806 0.00 2.65 0.00 0.000 4 0.000 0.074 2173 3639 3382

2847 -0.83 -146.6 217.8 -7.4 134 2851 0.00 2.58 0.00 0.000 6 0.000 0.051 2172 2231 3382

3168 -0.83 -146.6 242.7 -8.1 150 3169 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2231 3382

3478 -0.83 -146.6 269.4 -8.9 165 3479 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2231 3382

3786 -0.83 -146.6 294.8 -7.5 180 3790 0.00 2.70 0.00 0.000 4 0.000 0.078 2173 3637 3381

3825 -0.83 -146.6 297.6 -7.2 182 3831 0.12 2.60 0.00 0.000 6 0.058 0.054 2145 2227 3381

4153 -0.77 -146.6 319.6 -6.8 198 4158 0.00 2.67 0.00 0.000 4 0.000 0.070 2145 814 3380

4198 -0.77 -146.6 323.0 -8.0 200 4202 0.00 2.62 0.00 0.000 6 0.000 0.057 2144 2227 3380

4520 -0.72 -146.6 348.8 -9.0 216 4525 0.15 2.72 0.00 0.000 4 0.100 0.081 2176 3644 3379

4547 -0.72 -146.6 351.4 -8.6 217 4552 0.00 2.62 0.00 0.000 6 0.000 0.057 2176 2230 3379

4864 -0.78 -146.6 375.9 -7.7 232 4869 0.00 2.67 0.00 0.000 4 0.000 0.071 2176 818 3378

4892 -0.87 -146.6 378.2 -7.9 233 4897 0.17 2.62 0.00 0.000 6 0.051 0.058 2132 2230 3378

5208 -0.78 -146.6 407.7 -9.3 248 5213 0.15 2.70 0.00 0.000 4 0.099 0.082 2159 3640 3376

5264 -0.78 -146.6 412.6 -7.9 250 5270 0.00 2.62 0.00 0.000 6 0.000 0.058 2159 2225 3376

5581 -0.78 -146.6 436.8 -7.8 266 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2224 3376

5889 -0.78 -146.6 458.1 -6.5 281 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2224 3375

6198 -0.78 -146.6 480.1 -7.5 296 6200 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2224 3374

6257 end dive: BOTTOM_OBSTACLE_DETECTED

state 6257 begin apogee

6265 -0.31 0.0 484.9 7.8 299 6400 0.50 0.00 129.27 1.051 6 0.101 0.000 2257 2224 2781

6401 end apogee: CONTROL_FINISHED_OK

state 6401 begin climb

6404 0.85 146.6 491.6 0.0 306 6540 1.23 2.75 128.38 1.029 4 0.084 0.071 2510 824 2184

6589 0.87 244.0 491.3 3.3 314 6680 0.00 2.67 85.40 1.012 6 0.000 0.057 2510 2244 1786

7002 0.93 257.0 469.5 5.6 335 7025 0.10 2.78 13.10 0.924 4 0.091 0.070 2531 833 1732

7042 0.93 257.0 466.9 6.2 336 7048 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2240 1731

7358 0.93 257.4 446.9 6.0 352 7359 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2239 1731

7667 0.95 279.9 428.5 5.4 367 7695 0.00 2.78 21.15 0.969 4 0.000 0.071 2531 825 1637

7710 0.96 287.5 425.9 5.8 369 7724 0.00 2.67 8.23 0.854 6 0.000 0.058 2531 2245 1607

8041 0.96 287.5 405.6 6.1 385 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2244 1607

8350 0.96 287.5 385.1 7.3 400 8354 0.00 2.72 0.00 0.000 4 0.000 0.073 2531 824 1606

8383 0.96 287.5 382.7 6.9 401 8389 0.00 2.65 0.00 0.000 6 0.000 0.058 2530 2242 1606

8699 0.96 287.5 361.0 7.1 417 8703 0.00 2.70 0.00 0.000 4 0.000 0.073 2531 827 1606

8738 0.96 287.5 358.1 7.8 419 8743 0.00 2.62 0.00 0.000 6 0.000 0.058 2531 2240 1606

9065 0.96 287.5 334.7 7.1 435 9070 0.00 2.70 0.00 0.000 4 0.000 0.072 2531 827 1606

9098 0.96 287.5 332.1 7.8 436 9104 0.00 2.65 0.00 0.000 6 0.000 0.058 2531 2247 1606

9413 0.96 287.5 308.2 7.7 452 9414 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2247 1606

9723 0.96 287.5 285.7 7.1 467 9724 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2247 1605

10033 0.96 287.5 263.5 7.1 482 10038 0.00 2.70 0.00 0.000 4 0.000 0.071 2531 827 1606

10068 0.96 287.5 260.9 7.6 483 10074 0.00 2.62 0.00 0.000 6 0.000 0.058 2531 2240 1606

10384 0.96 287.5 236.7 8.2 499 10388 0.00 2.70 0.00 0.000 4 0.000 0.081 2531 3650 1606

10411 0.96 287.5 234.2 9.1 500 10416 0.00 2.62 0.00 0.000 6 0.000 0.060 2531 2239 1606

10727 0.99 318.0 212.4 5.2 515 10759 0.00 2.72 26.27 0.872 4 0.000 0.069 2531 827 1483

10812 1.04 318.1 207.9 6.0 519 10817 0.12 2.62 0.00 0.000 6 0.083 0.055 2554 2243 1482

11138 1.04 318.1 186.7 7.0 535 11143 0.00 2.70 0.00 0.000 4 0.000 0.068 2555 824 1482

11172 1.00 318.1 184.1 7.5 536 11178 0.00 2.62 0.00 0.000 6 0.000 0.054 2555 2243 1482

11488 0.96 318.1 156.9 9.0 552 11493 0.00 2.67 0.00 0.000 4 0.000 0.067 2555 826 1482

11521 0.96 318.1 153.5 9.4 553 11528 0.00 2.62 0.00 0.000 6 0.000 0.053 2555 2249 1482

11838 0.92 318.1 125.4 8.6 569 11843 0.15 2.70 0.00 0.000 4 0.105 0.065 2523 824 1482

11879 0.98 318.1 122.6 6.1 571 11884 0.00 2.60 0.00 0.000 6 0.000 0.052 2524 2240 1482

12207 1.05 331.1 104.5 5.6 587 12227 0.15 0.00 12.32 0.737 6 0.052 0.000 2559 2240 1430

12539 1.00 331.1 77.0 9.1 603 12543 0.00 2.67 0.00 0.000 4 0.000 0.064 2560 824 1431

12561 0.96 331.1 74.6 9.0 604 12565 0.00 2.60 0.00 0.000 6 0.000 0.050 2560 2243 1430

12882 0.89 331.1 43.9 9.9 620 12884 0.20 0.00 0.00 0.000 6 0.090 0.000 2521 2243 1431

13194 0.96 331.1 20.8 6.6 635 13195 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2243 1432

13477 end climb: SURFACE_DEPTH_REACHED

state 13477 begin surface coast

13499 end surface coast: CONTROL_FINISHED_OK

state 13499 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	361	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	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	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	22	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	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	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	-2101293.8	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	0	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	2330	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	013846,6434.599,-1026.906,40,3.1,59,-11.2	TGT_NAME	NS
_CALLS	2	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	014659,6434.547,-1026.806,18,3.0,37,-11.2	MHEAD_RNG_PITCHd_Wd	149.1,56277,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014635	ALTIM_BOTTOM_PING	451.4,43.1
SM_CCo	13520,119.43,0.668,1,0,508,557.32	_24V_AH	23.4,58.035
SM_GC	1.23,0.00,0.00,119.43,0.000,0.000,0.668,73,2244,508,-10.38,0.40,557.32	_10V_AH	10.1,28.429
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31656,650
TT8_MAMPS	0.02301	CAP_FILE_SIZE	106727,0
HUMID	1932	CFSIZE	260165632,238637056
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
XPDR_PINGS	62	GPS	130808,053602,6432.721,-1023.660,40,2.0,40,-11.1
ALTIM_TOP_PING	19.4,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	176	108.15	SBE_CT	484	24	271.86
Roll_motor	137	82	264.54	SBE_O2	441	19	196.36
VBD_pump_during_apogee	424	1050	10428.59	WL_BB2F	477	105	1172.98
VBD_pump_during_surface	119	668	1866.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.53	nil	0	0	0.00
Iridium_during_connect	62	160	234.91	nil	0	0	0.00
Iridium_during_xfer	179	223	934.87
Transponder_ping	19	420	191.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.21
TT8	1207	19	241.44
LPSleep	10209	2	225.82
TT8_Active	707	19	141.53
TT8_Sampling	1456	39	585.65
TT8_CF8	560	45	259.08
TT8_Kalman	0	81	0.00
Analog_circuits	1473	12	178.55
GPS_charging	0	0	0.00
Compass	1399	8	113.05
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.05	0.000	2	0.000	0.000	73	2236	2774
151	-0.85	-146.6	3.7	-3.0	6	186	11.82	2.65	-15.88	0.000	4	0.176	0.067	2142	826	3380
329	-0.78	-146.6	24.6	-9.6	14	333	0.00	2.58	0.00	0.000	6	0.000	0.047	2142	2234	3380
657	-0.65	-146.6	59.0	-10.0	30	662	0.20	2.62	0.00	0.000	4	0.100	0.066	2184	3640	3381
690	-0.65	-146.6	62.4	-8.6	31	696	0.00	2.55	0.00	0.000	6	0.000	0.045	2184	2226	3382
1007	-0.65	-146.6	86.9	-7.5	47	1012	0.00	2.60	0.00	0.000	4	0.000	0.058	2184	815	3382
1048	-0.73	-146.6	90.0	-7.6	49	1052	0.00	2.58	0.00	0.000	6	0.000	0.047	2184	2230	3382
1376	-0.73	-146.6	111.3	-6.0	65	1380	0.00	2.65	0.00	0.000	4	0.000	0.071	2184	3641	3382
1431	-0.79	-146.6	115.1	-7.2	67	1438	0.12	2.55	0.00	0.000	6	0.051	0.048	2148	2229	3382
1748	-0.73	-146.6	139.9	-8.1	83	1753	0.12	2.62	0.00	0.000	4	0.094	0.060	2173	814	3382
1776	-0.77	-146.6	142.3	-7.8	84	1780	0.00	2.58	0.00	0.000	6	0.000	0.049	2172	2229	3382
2092	-0.77	-146.6	166.6	-7.5	99	2096	0.00	2.65	0.00	0.000	4	0.000	0.071	2173	3640	3382
2142	-0.77	-146.6	170.4	-7.6	101	2146	0.00	2.55	0.00	0.000	6	0.000	0.048	2173	2228	3382
2458	-0.77	-146.6	192.4	-6.6	116	2462	0.00	2.62	0.00	0.000	4	0.000	0.061	2173	816	3382
2485	-0.83	-146.6	194.2	-6.2	117	2490	0.00	2.60	0.00	0.000	6	0.000	0.050	2173	2236	3382
2802	-0.83	-146.6	214.5	-6.7	132	2806	0.00	2.65	0.00	0.000	4	0.000	0.074	2173	3639	3382
2847	-0.83	-146.6	217.8	-7.4	134	2851	0.00	2.58	0.00	0.000	6	0.000	0.051	2172	2231	3382
3168	-0.83	-146.6	242.7	-8.1	150	3169	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2231	3382
3478	-0.83	-146.6	269.4	-8.9	165	3479	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2231	3382
3786	-0.83	-146.6	294.8	-7.5	180	3790	0.00	2.70	0.00	0.000	4	0.000	0.078	2173	3637	3381
3825	-0.83	-146.6	297.6	-7.2	182	3831	0.12	2.60	0.00	0.000	6	0.058	0.054	2145	2227	3381
4153	-0.77	-146.6	319.6	-6.8	198	4158	0.00	2.67	0.00	0.000	4	0.000	0.070	2145	814	3380
4198	-0.77	-146.6	323.0	-8.0	200	4202	0.00	2.62	0.00	0.000	6	0.000	0.057	2144	2227	3380
4520	-0.72	-146.6	348.8	-9.0	216	4525	0.15	2.72	0.00	0.000	4	0.100	0.081	2176	3644	3379
4547	-0.72	-146.6	351.4	-8.6	217	4552	0.00	2.62	0.00	0.000	6	0.000	0.057	2176	2230	3379
4864	-0.78	-146.6	375.9	-7.7	232	4869	0.00	2.67	0.00	0.000	4	0.000	0.071	2176	818	3378
4892	-0.87	-146.6	378.2	-7.9	233	4897	0.17	2.62	0.00	0.000	6	0.051	0.058	2132	2230	3378
5208	-0.78	-146.6	407.7	-9.3	248	5213	0.15	2.70	0.00	0.000	4	0.099	0.082	2159	3640	3376
5264	-0.78	-146.6	412.6	-7.9	250	5270	0.00	2.62	0.00	0.000	6	0.000	0.058	2159	2225	3376
5581	-0.78	-146.6	436.8	-7.8	266	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2224	3376
5889	-0.78	-146.6	458.1	-6.5	281	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2224	3375
6198	-0.78	-146.6	480.1	-7.5	296	6200	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2224	3374
6257	end dive: BOTTOM_OBSTACLE_DETECTED
state	6257	begin apogee
6265	-0.31	0.0	484.9	7.8	299	6400	0.50	0.00	129.27	1.051	6	0.101	0.000	2257	2224	2781
6401	end apogee: CONTROL_FINISHED_OK
state	6401	begin climb
6404	0.85	146.6	491.6	0.0	306	6540	1.23	2.75	128.38	1.029	4	0.084	0.071	2510	824	2184
6589	0.87	244.0	491.3	3.3	314	6680	0.00	2.67	85.40	1.012	6	0.000	0.057	2510	2244	1786
7002	0.93	257.0	469.5	5.6	335	7025	0.10	2.78	13.10	0.924	4	0.091	0.070	2531	833	1732
7042	0.93	257.0	466.9	6.2	336	7048	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2240	1731
7358	0.93	257.4	446.9	6.0	352	7359	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2239	1731
7667	0.95	279.9	428.5	5.4	367	7695	0.00	2.78	21.15	0.969	4	0.000	0.071	2531	825	1637
7710	0.96	287.5	425.9	5.8	369	7724	0.00	2.67	8.23	0.854	6	0.000	0.058	2531	2245	1607
8041	0.96	287.5	405.6	6.1	385	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2244	1607
8350	0.96	287.5	385.1	7.3	400	8354	0.00	2.72	0.00	0.000	4	0.000	0.073	2531	824	1606
8383	0.96	287.5	382.7	6.9	401	8389	0.00	2.65	0.00	0.000	6	0.000	0.058	2530	2242	1606
8699	0.96	287.5	361.0	7.1	417	8703	0.00	2.70	0.00	0.000	4	0.000	0.073	2531	827	1606
8738	0.96	287.5	358.1	7.8	419	8743	0.00	2.62	0.00	0.000	6	0.000	0.058	2531	2240	1606
9065	0.96	287.5	334.7	7.1	435	9070	0.00	2.70	0.00	0.000	4	0.000	0.072	2531	827	1606
9098	0.96	287.5	332.1	7.8	436	9104	0.00	2.65	0.00	0.000	6	0.000	0.058	2531	2247	1606
9413	0.96	287.5	308.2	7.7	452	9414	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2247	1606
9723	0.96	287.5	285.7	7.1	467	9724	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2247	1605
10033	0.96	287.5	263.5	7.1	482	10038	0.00	2.70	0.00	0.000	4	0.000	0.071	2531	827	1606
10068	0.96	287.5	260.9	7.6	483	10074	0.00	2.62	0.00	0.000	6	0.000	0.058	2531	2240	1606
10384	0.96	287.5	236.7	8.2	499	10388	0.00	2.70	0.00	0.000	4	0.000	0.081	2531	3650	1606
10411	0.96	287.5	234.2	9.1	500	10416	0.00	2.62	0.00	0.000	6	0.000	0.060	2531	2239	1606
10727	0.99	318.0	212.4	5.2	515	10759	0.00	2.72	26.27	0.872	4	0.000	0.069	2531	827	1483
10812	1.04	318.1	207.9	6.0	519	10817	0.12	2.62	0.00	0.000	6	0.083	0.055	2554	2243	1482
11138	1.04	318.1	186.7	7.0	535	11143	0.00	2.70	0.00	0.000	4	0.000	0.068	2555	824	1482
11172	1.00	318.1	184.1	7.5	536	11178	0.00	2.62	0.00	0.000	6	0.000	0.054	2555	2243	1482
11488	0.96	318.1	156.9	9.0	552	11493	0.00	2.67	0.00	0.000	4	0.000	0.067	2555	826	1482
11521	0.96	318.1	153.5	9.4	553	11528	0.00	2.62	0.00	0.000	6	0.000	0.053	2555	2249	1482
11838	0.92	318.1	125.4	8.6	569	11843	0.15	2.70	0.00	0.000	4	0.105	0.065	2523	824	1482
11879	0.98	318.1	122.6	6.1	571	11884	0.00	2.60	0.00	0.000	6	0.000	0.052	2524	2240	1482
12207	1.05	331.1	104.5	5.6	587	12227	0.15	0.00	12.32	0.737	6	0.052	0.000	2559	2240	1430
12539	1.00	331.1	77.0	9.1	603	12543	0.00	2.67	0.00	0.000	4	0.000	0.064	2560	824	1431
12561	0.96	331.1	74.6	9.0	604	12565	0.00	2.60	0.00	0.000	6	0.000	0.050	2560	2243	1430
12882	0.89	331.1	43.9	9.9	620	12884	0.20	0.00	0.00	0.000	6	0.090	0.000	2521	2243	1431
13194	0.96	331.1	20.8	6.6	635	13195	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2243	1432
13477	end climb: SURFACE_DEPTH_REACHED
state	13477	begin surface coast
13499	end surface coast: CONTROL_FINISHED_OK
state	13499	begin surface