Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 362 * 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 362 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -2101307.2 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 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 -2101307.2

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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 362 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 053602,6432.721,-1023.660,40,2.0,40,-11.1 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.24 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 054103,6432.685,-1023.552,12,1.4,12,-11.1 MHEAD_RNG_PITCHd_Wd 148.6,51960,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.011792 ALTIM_BOTTOM_PING 500.7,25.3

SM_CCo 14856,145.12,0.652,1,0,509,557.32 _24V_AH 23.4,58.186

SM_GC 1.31,0.00,0.00,145.12,0.000,0.000,0.652,74,2250,509,-10.38,0.57,557.32 _10V_AH 10.1,28.501

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34824,713

TT8_MAMPS 0.020709 CAP_FILE_SIZE 107235,0

HUMID 1883 CFSIZE 260165632,238575616

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 72 GPS 130808,095255,6430.349,-1018.076,28,1.7,45,-11.1

ALTIM_TOP_PING 19.4,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 102.27 SBE_CT 528 24 296.65

Roll_motor 131 82 255.09 SBE_O2 485 19 215.68

VBD_pump_during_apogee 382 1069 9572.98 WL_BB2F 510 105 1253.85

VBD_pump_during_surface 145 651 2213.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.47 nil 0 0 0.00

Iridium_during_connect 27 160 103.61 nil 0 0 0.00

Iridium_during_xfer 132 223 693.29

Transponder_ping 22 420 218.67

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.44

TT8 1301 19 260.29

LPSleep 11305 2 250.08

TT8_Active 709 19 141.89

TT8_Sampling 1537 39 618.23

TT8_CF8 457 45 211.55

TT8_Kalman 0 81 0.00

Analog_circuits 1505 12 182.47

GPS_charging 0 0 0.00

Compass 1504 8 121.56

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

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.60 0.000 2 0.000 0.000 73 2245 2736

150 -0.85 -146.6 3.4 -2.8 6 186 11.75 2.67 -18.48 0.000 4 0.173 0.068 2141 813 3379

322 -0.77 -146.6 23.0 -10.9 13 327 0.00 2.60 0.00 0.000 6 0.000 0.047 2141 2235 3380

650 -0.65 -146.6 60.7 -10.7 29 655 0.20 2.62 0.00 0.000 4 0.120 0.067 2180 3642 3381

683 -0.65 -146.6 63.9 -8.9 30 690 0.00 2.55 0.00 0.000 6 0.000 0.045 2180 2225 3381

1000 -0.65 -146.6 83.9 -6.1 46 1004 0.00 2.60 0.00 0.000 4 0.000 0.058 2180 813 3381

1033 -0.71 -146.6 86.4 -7.0 47 1039 0.00 2.58 0.00 0.000 6 0.000 0.047 2180 2232 3381

1350 -0.71 -146.6 111.1 -8.3 63 1355 0.00 2.62 0.00 0.000 4 0.000 0.068 2180 3638 3381

1419 -0.75 -146.6 116.8 -8.3 66 1423 0.00 2.55 0.00 0.000 6 0.000 0.046 2180 2230 3381

1740 -0.75 -146.6 141.0 -7.5 82 1744 0.00 2.60 0.00 0.000 4 0.000 0.058 2180 819 3382

1773 -0.83 -146.6 143.7 -7.8 83 1780 0.15 2.58 0.00 0.000 6 0.048 0.048 2134 2234 3382

2089 -0.71 -146.6 170.2 -8.0 99 2094 0.15 2.62 0.00 0.000 4 0.094 0.071 2167 3639 3381

2139 -0.71 -146.6 173.7 -6.6 101 2144 0.00 2.55 0.00 0.000 6 0.000 0.048 2167 2225 3381

2456 -0.71 -146.6 192.3 -6.6 116 2460 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 819 3382

2488 -0.71 -146.6 194.9 -7.9 117 2494 0.00 2.58 0.00 0.000 6 0.000 0.049 2167 2230 3382

2804 -0.71 -146.6 220.5 -8.0 133 2805 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3382

3114 -0.71 -146.6 241.5 -7.0 148 3118 0.00 2.67 0.00 0.000 4 0.000 0.074 2167 3644 3382

3180 -0.71 -146.6 247.2 -8.1 151 3185 0.00 2.58 0.00 0.000 6 0.000 0.051 2167 2225 3381

3502 -0.71 -146.6 270.0 -6.1 167 3503 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2225 3382

3812 -0.71 -146.6 289.3 -6.1 182 3813 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2225 3381

4120 -0.71 -146.6 311.7 -7.3 197 4124 0.00 2.62 0.00 0.000 4 0.000 0.066 2167 819 3381

4160 -0.77 -146.6 314.5 -6.9 199 4164 0.00 2.60 0.00 0.000 6 0.000 0.053 2167 2229 3381

4487 -0.77 -146.6 337.1 -7.3 215 4491 0.00 2.67 0.00 0.000 4 0.000 0.078 2167 3644 3381

4519 -0.77 -146.6 339.8 -7.9 216 4525 0.00 2.60 0.00 0.000 6 0.000 0.054 2167 2230 3380

4835 -0.77 -146.6 363.2 -7.2 232 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3380

5145 -0.77 -146.6 384.7 -6.9 247 5149 0.00 2.70 0.00 0.000 4 0.000 0.080 2167 3636 3379

5172 -0.77 -146.6 386.8 -7.9 248 5176 0.00 2.60 0.00 0.000 6 0.000 0.056 2167 2228 3379

5487 -0.77 -146.6 407.7 -6.5 263 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2228 3378

5800 -0.77 -146.6 425.7 -5.7 278 5805 0.00 2.72 0.00 0.000 4 0.000 0.082 2167 3643 3377

5834 -0.77 -146.6 428.2 -6.8 279 5840 0.00 2.60 0.00 0.000 6 0.000 0.057 2167 2231 3376

6149 -0.77 -146.6 448.8 -6.9 295 6154 0.00 2.67 0.00 0.000 4 0.000 0.071 2167 819 3376

6184 -0.84 -146.6 451.2 -6.6 296 6190 0.00 2.62 0.00 0.000 6 0.000 0.058 2167 2229 3376

6499 -0.84 -146.6 474.8 -7.6 312 6504 0.00 2.67 0.00 0.000 4 0.000 0.083 2167 3635 3375

6544 -0.84 -146.6 478.4 -8.5 314 6548 0.00 2.60 0.00 0.000 6 0.000 0.057 2167 2230 3375

6874 -0.84 -146.6 500.7 -6.5 330 6878 0.00 2.65 0.00 0.000 4 0.000 0.071 2167 820 3374

6901 -0.92 -146.6 502.9 -7.0 331 6906 0.17 2.62 0.00 0.000 6 0.055 0.058 2124 2232 3374

7070 end dive: BOTTOM_OBSTACLE_DETECTED

state 7070 begin apogee

7076 -0.31 0.0 517.7 9.4 339 7213 0.70 0.00 129.15 1.069 6 0.118 0.000 2257 2232 2781

7214 end apogee: CONTROL_FINISHED_OK

state 7214 begin climb

7217 0.85 146.6 523.4 0.0 346 7355 1.23 2.75 129.25 1.049 4 0.086 0.067 2510 826 2183

7426 0.84 212.3 520.6 4.2 355 7491 0.00 2.65 58.35 1.025 6 0.000 0.058 2511 2241 1914

7819 0.86 228.0 498.2 5.6 374 7838 0.00 0.00 15.32 0.961 6 0.000 0.000 2510 2241 1851

8149 0.87 243.9 479.9 5.6 390 8171 0.00 2.75 15.23 0.963 4 0.000 0.071 2510 831 1785

8195 0.88 252.4 477.3 5.8 392 8209 0.00 2.67 9.10 0.891 6 0.000 0.058 2510 2247 1752

8526 0.88 252.4 457.7 6.0 408 8527 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2248 1751

8836 0.88 252.4 438.0 6.5 423 8840 0.00 2.72 0.00 0.000 4 0.000 0.071 2510 824 1751

8880 0.88 252.4 434.9 6.7 425 8885 0.00 2.65 0.00 0.000 6 0.000 0.058 2510 2242 1750

9203 0.89 258.5 415.2 5.8 441 9211 0.00 0.00 6.90 0.847 6 0.000 0.000 2510 2241 1727

9512 0.94 265.1 396.7 5.8 456 9522 0.12 0.00 7.57 0.860 6 0.071 0.000 2540 2242 1700

9821 0.94 265.1 374.3 7.1 471 9826 0.00 2.70 0.00 0.000 4 0.000 0.072 2540 829 1699

9861 0.94 265.1 371.2 7.9 473 9866 0.00 2.62 0.00 0.000 6 0.000 0.058 2540 2240 1699

10188 0.94 265.1 345.3 8.7 489 10189 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2240 1698

10498 0.94 265.1 316.3 9.3 504 10499 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2240 1698

10807 0.94 265.1 288.7 8.4 519 10808 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2240 1698

11116 0.94 265.1 263.5 8.9 534 11120 0.00 2.67 0.00 0.000 4 0.000 0.071 2540 827 1697

11157 0.94 265.1 259.8 9.3 536 11161 0.00 2.62 0.00 0.000 6 0.000 0.057 2540 2240 1697

11483 0.94 265.1 234.3 6.8 552 11484 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2241 1697

11792 0.94 265.1 214.0 6.1 567 11793 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2240 1698

12102 0.94 265.1 195.2 6.7 582 12106 0.00 2.65 0.00 0.000 4 0.000 0.067 2540 829 1697

12157 0.94 265.1 191.2 7.4 584 12163 0.00 2.60 0.00 0.000 6 0.000 0.054 2540 2241 1697

12473 0.94 265.1 167.4 9.0 600 12474 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2241 1697

12783 0.94 265.1 137.6 9.4 615 12788 0.00 2.65 0.00 0.000 4 0.000 0.073 2540 3650 1697

12810 0.94 265.1 135.1 9.1 616 12814 0.00 2.60 0.00 0.000 6 0.000 0.054 2540 2235 1698

13128 0.94 265.1 113.0 6.1 631 13132 0.00 2.62 0.00 0.000 4 0.000 0.064 2540 827 1698

13161 0.94 265.1 110.8 6.0 632 13167 0.00 2.58 0.00 0.000 6 0.000 0.050 2540 2242 1698

13477 0.95 277.8 91.0 5.7 648 13499 0.00 2.72 11.75 0.717 4 0.000 0.069 2540 3648 1648

13545 0.95 279.0 86.8 6.0 651 13550 0.00 2.60 0.00 0.000 6 0.000 0.051 2540 2234 1648

13874 0.95 279.0 65.5 6.7 667 13876 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2235 1648

14181 0.95 279.0 42.8 7.0 682 14186 0.00 2.62 0.00 0.000 4 0.000 0.061 2540 820 1649

14231 0.95 279.0 39.1 6.6 684 14236 0.00 2.58 0.00 0.000 6 0.000 0.047 2540 2249 1649

14549 0.95 279.0 19.4 6.1 699 14550 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2249 1649

14814 end climb: SURFACE_DEPTH_REACHED

state 14814 begin surface coast

14835 end surface coast: CONTROL_FINISHED_OK

state 14835 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	362	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-2101307.2	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	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	053602,6432.721,-1023.660,40,2.0,40,-11.1	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.24	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	054103,6432.685,-1023.552,12,1.4,12,-11.1	MHEAD_RNG_PITCHd_Wd	148.6,51960,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.011792	ALTIM_BOTTOM_PING	500.7,25.3
SM_CCo	14856,145.12,0.652,1,0,509,557.32	_24V_AH	23.4,58.186
SM_GC	1.31,0.00,0.00,145.12,0.000,0.000,0.652,74,2250,509,-10.38,0.57,557.32	_10V_AH	10.1,28.501
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34824,713
TT8_MAMPS	0.020709	CAP_FILE_SIZE	107235,0
HUMID	1883	CFSIZE	260165632,238575616
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	72	GPS	130808,095255,6430.349,-1018.076,28,1.7,45,-11.1
ALTIM_TOP_PING	19.4,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	102.27	SBE_CT	528	24	296.65
Roll_motor	131	82	255.09	SBE_O2	485	19	215.68
VBD_pump_during_apogee	382	1069	9572.98	WL_BB2F	510	105	1253.85
VBD_pump_during_surface	145	651	2213.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.47	nil	0	0	0.00
Iridium_during_connect	27	160	103.61	nil	0	0	0.00
Iridium_during_xfer	132	223	693.29
Transponder_ping	22	420	218.67
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.44
TT8	1301	19	260.29
LPSleep	11305	2	250.08
TT8_Active	709	19	141.89
TT8_Sampling	1537	39	618.23
TT8_CF8	457	45	211.55
TT8_Kalman	0	81	0.00
Analog_circuits	1505	12	182.47
GPS_charging	0	0	0.00
Compass	1504	8	121.56
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
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.60	0.000	2	0.000	0.000	73	2245	2736
150	-0.85	-146.6	3.4	-2.8	6	186	11.75	2.67	-18.48	0.000	4	0.173	0.068	2141	813	3379
322	-0.77	-146.6	23.0	-10.9	13	327	0.00	2.60	0.00	0.000	6	0.000	0.047	2141	2235	3380
650	-0.65	-146.6	60.7	-10.7	29	655	0.20	2.62	0.00	0.000	4	0.120	0.067	2180	3642	3381
683	-0.65	-146.6	63.9	-8.9	30	690	0.00	2.55	0.00	0.000	6	0.000	0.045	2180	2225	3381
1000	-0.65	-146.6	83.9	-6.1	46	1004	0.00	2.60	0.00	0.000	4	0.000	0.058	2180	813	3381
1033	-0.71	-146.6	86.4	-7.0	47	1039	0.00	2.58	0.00	0.000	6	0.000	0.047	2180	2232	3381
1350	-0.71	-146.6	111.1	-8.3	63	1355	0.00	2.62	0.00	0.000	4	0.000	0.068	2180	3638	3381
1419	-0.75	-146.6	116.8	-8.3	66	1423	0.00	2.55	0.00	0.000	6	0.000	0.046	2180	2230	3381
1740	-0.75	-146.6	141.0	-7.5	82	1744	0.00	2.60	0.00	0.000	4	0.000	0.058	2180	819	3382
1773	-0.83	-146.6	143.7	-7.8	83	1780	0.15	2.58	0.00	0.000	6	0.048	0.048	2134	2234	3382
2089	-0.71	-146.6	170.2	-8.0	99	2094	0.15	2.62	0.00	0.000	4	0.094	0.071	2167	3639	3381
2139	-0.71	-146.6	173.7	-6.6	101	2144	0.00	2.55	0.00	0.000	6	0.000	0.048	2167	2225	3381
2456	-0.71	-146.6	192.3	-6.6	116	2460	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	819	3382
2488	-0.71	-146.6	194.9	-7.9	117	2494	0.00	2.58	0.00	0.000	6	0.000	0.049	2167	2230	3382
2804	-0.71	-146.6	220.5	-8.0	133	2805	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3382
3114	-0.71	-146.6	241.5	-7.0	148	3118	0.00	2.67	0.00	0.000	4	0.000	0.074	2167	3644	3382
3180	-0.71	-146.6	247.2	-8.1	151	3185	0.00	2.58	0.00	0.000	6	0.000	0.051	2167	2225	3381
3502	-0.71	-146.6	270.0	-6.1	167	3503	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2225	3382
3812	-0.71	-146.6	289.3	-6.1	182	3813	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2225	3381
4120	-0.71	-146.6	311.7	-7.3	197	4124	0.00	2.62	0.00	0.000	4	0.000	0.066	2167	819	3381
4160	-0.77	-146.6	314.5	-6.9	199	4164	0.00	2.60	0.00	0.000	6	0.000	0.053	2167	2229	3381
4487	-0.77	-146.6	337.1	-7.3	215	4491	0.00	2.67	0.00	0.000	4	0.000	0.078	2167	3644	3381
4519	-0.77	-146.6	339.8	-7.9	216	4525	0.00	2.60	0.00	0.000	6	0.000	0.054	2167	2230	3380
4835	-0.77	-146.6	363.2	-7.2	232	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3380
5145	-0.77	-146.6	384.7	-6.9	247	5149	0.00	2.70	0.00	0.000	4	0.000	0.080	2167	3636	3379
5172	-0.77	-146.6	386.8	-7.9	248	5176	0.00	2.60	0.00	0.000	6	0.000	0.056	2167	2228	3379
5487	-0.77	-146.6	407.7	-6.5	263	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2228	3378
5800	-0.77	-146.6	425.7	-5.7	278	5805	0.00	2.72	0.00	0.000	4	0.000	0.082	2167	3643	3377
5834	-0.77	-146.6	428.2	-6.8	279	5840	0.00	2.60	0.00	0.000	6	0.000	0.057	2167	2231	3376
6149	-0.77	-146.6	448.8	-6.9	295	6154	0.00	2.67	0.00	0.000	4	0.000	0.071	2167	819	3376
6184	-0.84	-146.6	451.2	-6.6	296	6190	0.00	2.62	0.00	0.000	6	0.000	0.058	2167	2229	3376
6499	-0.84	-146.6	474.8	-7.6	312	6504	0.00	2.67	0.00	0.000	4	0.000	0.083	2167	3635	3375
6544	-0.84	-146.6	478.4	-8.5	314	6548	0.00	2.60	0.00	0.000	6	0.000	0.057	2167	2230	3375
6874	-0.84	-146.6	500.7	-6.5	330	6878	0.00	2.65	0.00	0.000	4	0.000	0.071	2167	820	3374
6901	-0.92	-146.6	502.9	-7.0	331	6906	0.17	2.62	0.00	0.000	6	0.055	0.058	2124	2232	3374
7070	end dive: BOTTOM_OBSTACLE_DETECTED
state	7070	begin apogee
7076	-0.31	0.0	517.7	9.4	339	7213	0.70	0.00	129.15	1.069	6	0.118	0.000	2257	2232	2781
7214	end apogee: CONTROL_FINISHED_OK
state	7214	begin climb
7217	0.85	146.6	523.4	0.0	346	7355	1.23	2.75	129.25	1.049	4	0.086	0.067	2510	826	2183
7426	0.84	212.3	520.6	4.2	355	7491	0.00	2.65	58.35	1.025	6	0.000	0.058	2511	2241	1914
7819	0.86	228.0	498.2	5.6	374	7838	0.00	0.00	15.32	0.961	6	0.000	0.000	2510	2241	1851
8149	0.87	243.9	479.9	5.6	390	8171	0.00	2.75	15.23	0.963	4	0.000	0.071	2510	831	1785
8195	0.88	252.4	477.3	5.8	392	8209	0.00	2.67	9.10	0.891	6	0.000	0.058	2510	2247	1752
8526	0.88	252.4	457.7	6.0	408	8527	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2248	1751
8836	0.88	252.4	438.0	6.5	423	8840	0.00	2.72	0.00	0.000	4	0.000	0.071	2510	824	1751
8880	0.88	252.4	434.9	6.7	425	8885	0.00	2.65	0.00	0.000	6	0.000	0.058	2510	2242	1750
9203	0.89	258.5	415.2	5.8	441	9211	0.00	0.00	6.90	0.847	6	0.000	0.000	2510	2241	1727
9512	0.94	265.1	396.7	5.8	456	9522	0.12	0.00	7.57	0.860	6	0.071	0.000	2540	2242	1700
9821	0.94	265.1	374.3	7.1	471	9826	0.00	2.70	0.00	0.000	4	0.000	0.072	2540	829	1699
9861	0.94	265.1	371.2	7.9	473	9866	0.00	2.62	0.00	0.000	6	0.000	0.058	2540	2240	1699
10188	0.94	265.1	345.3	8.7	489	10189	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2240	1698
10498	0.94	265.1	316.3	9.3	504	10499	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2240	1698
10807	0.94	265.1	288.7	8.4	519	10808	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2240	1698
11116	0.94	265.1	263.5	8.9	534	11120	0.00	2.67	0.00	0.000	4	0.000	0.071	2540	827	1697
11157	0.94	265.1	259.8	9.3	536	11161	0.00	2.62	0.00	0.000	6	0.000	0.057	2540	2240	1697
11483	0.94	265.1	234.3	6.8	552	11484	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2241	1697
11792	0.94	265.1	214.0	6.1	567	11793	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2240	1698
12102	0.94	265.1	195.2	6.7	582	12106	0.00	2.65	0.00	0.000	4	0.000	0.067	2540	829	1697
12157	0.94	265.1	191.2	7.4	584	12163	0.00	2.60	0.00	0.000	6	0.000	0.054	2540	2241	1697
12473	0.94	265.1	167.4	9.0	600	12474	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2241	1697
12783	0.94	265.1	137.6	9.4	615	12788	0.00	2.65	0.00	0.000	4	0.000	0.073	2540	3650	1697
12810	0.94	265.1	135.1	9.1	616	12814	0.00	2.60	0.00	0.000	6	0.000	0.054	2540	2235	1698
13128	0.94	265.1	113.0	6.1	631	13132	0.00	2.62	0.00	0.000	4	0.000	0.064	2540	827	1698
13161	0.94	265.1	110.8	6.0	632	13167	0.00	2.58	0.00	0.000	6	0.000	0.050	2540	2242	1698
13477	0.95	277.8	91.0	5.7	648	13499	0.00	2.72	11.75	0.717	4	0.000	0.069	2540	3648	1648
13545	0.95	279.0	86.8	6.0	651	13550	0.00	2.60	0.00	0.000	6	0.000	0.051	2540	2234	1648
13874	0.95	279.0	65.5	6.7	667	13876	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2235	1648
14181	0.95	279.0	42.8	7.0	682	14186	0.00	2.62	0.00	0.000	4	0.000	0.061	2540	820	1649
14231	0.95	279.0	39.1	6.6	684	14236	0.00	2.58	0.00	0.000	6	0.000	0.047	2540	2249	1649
14549	0.95	279.0	19.4	6.1	699	14550	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2249	1649
14814	end climb: SURFACE_DEPTH_REACHED
state	14814	begin surface coast
14835	end surface coast: CONTROL_FINISHED_OK
state	14835	begin surface