Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 363 * 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 363 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2101340.5 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 -2101340.5

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 363 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 095255,6430.349,-1018.076,28,1.7,45,-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 1.26 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 095832,6430.298,-1018.010,15,1.8,32,-11.1 MHEAD_RNG_PITCHd_Wd 149.0,45686,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026964 ALTIM_BOTTOM_PING 501.0,35.2

SM_CCo 15342,91.38,0.641,1,0,508,557.32 _24V_AH 23.4,58.348

SM_GC 1.23,0.00,0.00,91.38,0.000,0.000,0.641,72,2241,508,-10.39,0.34,557.32 _10V_AH 10.1,28.575

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37990,736

TT8_MAMPS 0.02301 CAP_FILE_SIZE 113056,0

HUMID 1912 CFSIZE 260165632,238514176

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

XPDR_PINGS 64 GPS 130808,141731,6427.504,-1015.680,38,1.8,43,-11.0

ALTIM_TOP_PING 18.6,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 102.77 SBE_CT 550 24 309.29

Roll_motor 137 82 263.53 SBE_O2 501 19 222.88

VBD_pump_during_apogee 467 1077 11786.27 WL_BB2F 498 105 1224.22

VBD_pump_during_surface 91 641 1371.02 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 36 160 135.01 nil 0 0 0.00

Iridium_during_xfer 138 223 722.68

Transponder_ping 20 420 201.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.43

TT8 1346 19 269.22

LPSleep 11620 2 257.03

TT8_Active 707 19 141.58

TT8_Sampling 1618 39 650.71

TT8_CF8 484 45 223.91

TT8_Kalman 0 81 0.00

Analog_circuits 1552 12 188.15

GPS_charging 0 0 0.00

Compass 1562 8 126.22

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 -120.78 0.000 2 0.000 0.000 74 2251 2807

151 -0.85 -146.6 3.6 -2.8 6 186 11.73 2.70 -15.20 0.000 4 0.173 0.067 2141 813 3380

286 -0.79 -146.6 18.9 -9.3 12 291 0.00 2.58 0.00 0.000 6 0.000 0.045 2141 2233 3380

614 -0.66 -146.6 54.9 -10.9 28 616 0.22 0.00 0.00 0.000 6 0.099 0.000 2184 2233 3380

923 -0.66 -146.6 80.6 -8.0 43 927 0.00 2.62 0.00 0.000 4 0.000 0.066 2184 3643 3381

990 -0.71 -146.6 86.0 -8.1 46 994 0.00 2.55 0.00 0.000 6 0.000 0.044 2184 2227 3381

1311 -0.71 -146.6 107.0 -6.0 62 1313 0.00 0.00 0.00 0.000 6 0.000 0.000 2184 2227 3382

1620 -0.71 -146.6 129.5 -7.9 77 1625 0.00 2.65 0.00 0.000 4 0.000 0.067 2184 3640 3382

1666 -0.77 -146.6 133.1 -7.6 79 1670 0.00 2.53 0.00 0.000 6 0.000 0.044 2184 2228 3382

1988 -0.82 -146.6 147.1 -4.3 95 1993 0.15 2.60 0.00 0.000 4 0.046 0.056 2134 816 3382

2031 -0.76 -146.6 150.1 -8.5 97 2036 0.15 2.58 0.00 0.000 6 0.091 0.048 2163 2230 3382

2358 -0.76 -146.6 184.0 -10.1 113 2362 0.00 2.62 0.00 0.000 4 0.000 0.071 2163 3642 3382

2424 -0.76 -146.6 190.6 -10.0 116 2429 0.00 2.55 0.00 0.000 6 0.000 0.046 2163 2233 3382

2746 -0.76 -146.6 212.2 -5.7 132 2747 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2233 3382

3054 -0.76 -146.6 235.2 -8.1 147 3058 0.00 2.67 0.00 0.000 4 0.000 0.072 2163 3641 3381

3087 -0.76 -146.6 237.9 -8.4 148 3093 0.00 2.58 0.00 0.000 6 0.000 0.050 2163 2230 3382

3403 -0.76 -146.6 259.8 -6.3 164 3407 0.00 2.62 0.00 0.000 4 0.000 0.061 2163 817 3382

3436 -0.76 -146.6 262.3 -7.0 165 3442 0.00 2.58 0.00 0.000 6 0.000 0.051 2163 2231 3382

3752 -0.76 -146.6 281.1 -5.7 181 3753 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2230 3382

4062 -0.76 -146.6 297.2 -5.5 196 4067 0.00 2.65 0.00 0.000 4 0.000 0.063 2163 817 3382

4090 -0.76 -146.6 299.0 -6.3 197 4094 0.00 2.60 0.00 0.000 6 0.000 0.054 2163 2230 3382

4406 -0.89 -146.6 322.2 -8.5 212 4411 0.15 2.67 0.00 0.000 4 0.053 0.077 2125 3639 3381

4526 -0.76 -146.6 334.2 -10.8 217 4532 0.20 2.60 0.00 0.000 6 0.100 0.054 2164 2227 3381

4842 -0.76 -146.6 359.1 -6.8 232 4843 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2227 3379

5152 -0.76 -146.6 377.0 -5.5 247 5153 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2227 3379

5460 -0.76 -146.6 395.5 -6.1 262 5465 0.00 2.70 0.00 0.000 4 0.000 0.081 2163 3637 3378

5494 -0.76 -146.6 397.7 -6.6 263 5500 0.00 2.60 0.00 0.000 6 0.000 0.056 2163 2229 3378

5810 -0.76 -146.6 418.6 -7.0 279 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2228 3377

6118 -0.76 -146.6 439.7 -6.6 294 6119 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2228 3376

6428 -0.76 -146.6 459.2 -6.3 309 6432 0.00 2.72 0.00 0.000 4 0.000 0.082 2163 3641 3375

6455 -0.76 -146.6 461.2 -7.4 310 6460 0.00 2.62 0.00 0.000 6 0.000 0.056 2163 2224 3374

6771 -0.76 -146.6 481.3 -6.4 325 6772 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2224 3374

7080 -0.76 -146.6 502.4 -7.0 340 7081 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2224 3373

7390 -0.76 -146.6 523.5 -6.9 355 7395 0.00 2.72 0.00 0.000 4 0.000 0.082 2163 3637 3373

7418 -0.76 -146.6 525.5 -7.8 356 7422 0.00 2.60 0.00 0.000 6 0.000 0.057 2163 2228 3373

7442 end dive: BOTTOM_OBSTACLE_DETECTED

state 7442 begin apogee

7449 -0.31 0.0 527.5 7.3 357 7585 0.47 0.00 129.43 1.078 6 0.098 0.000 2257 2228 2781

7586 end apogee: CONTROL_FINISHED_OK

state 7586 begin climb

7589 0.85 146.6 534.1 0.0 364 7726 1.23 2.72 129.43 1.055 4 0.083 0.068 2510 829 2182

7802 0.81 188.3 531.0 4.9 373 7846 0.00 2.65 38.05 1.019 6 0.000 0.057 2510 2239 2013

8169 0.81 188.3 510.3 6.3 391 8171 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2240 2012

8478 0.84 212.1 493.3 5.3 406 8502 0.00 0.00 21.88 1.002 6 0.000 0.000 2510 2240 1916

8807 0.84 212.1 472.8 6.4 422 8811 0.00 2.70 0.00 0.000 4 0.000 0.070 2510 823 1915

8847 0.84 212.1 470.1 6.9 424 8852 0.00 2.65 0.00 0.000 6 0.000 0.058 2510 2243 1914

9173 0.84 212.1 448.8 6.5 440 9174 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2243 1914

9483 0.85 224.2 430.6 5.7 455 9504 0.00 2.80 11.73 0.938 4 0.000 0.069 2510 826 1867

9522 0.88 250.3 428.4 5.3 456 9551 0.00 2.67 24.25 0.986 6 0.000 0.057 2510 2246 1760

9880 0.89 260.3 407.7 5.7 474 9892 0.00 0.00 10.23 0.905 6 0.000 0.000 2510 2246 1720

10190 0.93 260.3 388.9 6.1 489 10195 0.10 2.70 0.00 0.000 4 0.070 0.071 2538 830 1720

10231 0.89 260.3 385.9 7.8 491 10235 0.00 2.65 0.00 0.000 6 0.000 0.058 2537 2246 1719

10557 0.89 260.3 361.8 6.9 507 10562 0.00 2.72 0.00 0.000 4 0.000 0.071 2538 827 1719

10580 0.89 260.3 360.2 7.1 508 10584 0.00 2.62 0.00 0.000 6 0.000 0.057 2537 2239 1719

10901 0.89 260.3 338.2 6.6 524 10902 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2239 1719

11210 0.89 260.3 316.8 7.3 539 11211 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2239 1719

11520 0.89 260.3 292.7 7.6 554 11524 0.00 2.70 0.00 0.000 4 0.000 0.072 2537 826 1718

11541 0.89 260.3 290.9 7.7 555 11546 0.00 2.62 0.00 0.000 6 0.000 0.058 2538 2239 1718

11862 0.89 260.3 269.3 6.1 571 11863 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2239 1718

12172 0.89 260.3 249.2 6.9 586 12173 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1718

12481 0.89 260.3 226.5 7.5 601 12485 0.00 2.70 0.00 0.000 4 0.000 0.067 2537 822 1718

12542 0.89 260.3 221.1 8.6 604 12547 0.00 2.62 0.00 0.000 6 0.000 0.054 2538 2246 1718

12870 0.89 260.3 191.7 9.2 620 12874 0.00 2.65 0.00 0.000 4 0.000 0.076 2538 3648 1718

12903 0.89 260.3 188.6 8.8 621 12908 0.00 2.60 0.00 0.000 6 0.000 0.056 2538 2240 1718

13218 0.95 319.0 168.3 4.4 637 13273 0.00 2.75 49.40 0.839 4 0.000 0.074 2538 3650 1480

13298 1.02 381.8 165.3 4.3 640 13360 0.00 2.65 53.03 0.822 6 0.000 0.054 2537 2235 1222

13672 1.07 382.7 145.1 6.0 658 13677 0.12 2.65 0.00 0.000 4 0.061 0.064 2569 826 1222

13713 1.07 382.7 142.0 7.9 660 13718 0.00 2.60 0.00 0.000 6 0.000 0.050 2569 2242 1222

14041 1.02 382.7 112.8 9.6 676 14045 0.00 2.65 0.00 0.000 4 0.000 0.062 2569 828 1222

14068 1.02 382.7 110.2 9.2 677 14072 0.00 2.58 0.00 0.000 6 0.000 0.048 2569 2243 1222

14386 1.02 382.7 82.9 8.3 692 14391 0.00 2.65 0.00 0.000 4 0.000 0.061 2569 823 1223

14436 1.02 382.7 78.2 9.1 694 14441 0.00 2.58 0.00 0.000 6 0.000 0.046 2569 2242 1223

14754 1.02 382.7 46.4 9.1 709 14758 0.00 2.65 0.00 0.000 4 0.000 0.060 2570 820 1223

14794 1.02 382.7 42.8 8.7 711 14798 0.00 2.58 0.00 0.000 6 0.000 0.045 2569 2243 1223

15121 1.02 382.7 17.2 7.2 727 15125 0.00 2.62 0.00 0.000 4 0.000 0.058 2569 827 1225

15171 1.02 382.7 13.1 8.4 729 15175 0.00 2.55 0.00 0.000 6 0.000 0.044 2569 2241 1225

15298 end climb: SURFACE_DEPTH_REACHED

state 15298 begin surface coast

15320 end surface coast: CONTROL_FINISHED_OK

state 15320 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	363	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2101340.5	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	095255,6430.349,-1018.076,28,1.7,45,-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	1.26	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	095832,6430.298,-1018.010,15,1.8,32,-11.1	MHEAD_RNG_PITCHd_Wd	149.0,45686,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026964	ALTIM_BOTTOM_PING	501.0,35.2
SM_CCo	15342,91.38,0.641,1,0,508,557.32	_24V_AH	23.4,58.348
SM_GC	1.23,0.00,0.00,91.38,0.000,0.000,0.641,72,2241,508,-10.39,0.34,557.32	_10V_AH	10.1,28.575
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37990,736
TT8_MAMPS	0.02301	CAP_FILE_SIZE	113056,0
HUMID	1912	CFSIZE	260165632,238514176
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
XPDR_PINGS	64	GPS	130808,141731,6427.504,-1015.680,38,1.8,43,-11.0
ALTIM_TOP_PING	18.6,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	102.77	SBE_CT	550	24	309.29
Roll_motor	137	82	263.53	SBE_O2	501	19	222.88
VBD_pump_during_apogee	467	1077	11786.27	WL_BB2F	498	105	1224.22
VBD_pump_during_surface	91	641	1371.02	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	36	160	135.01	nil	0	0	0.00
Iridium_during_xfer	138	223	722.68
Transponder_ping	20	420	201.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.43
TT8	1346	19	269.22
LPSleep	11620	2	257.03
TT8_Active	707	19	141.58
TT8_Sampling	1618	39	650.71
TT8_CF8	484	45	223.91
TT8_Kalman	0	81	0.00
Analog_circuits	1552	12	188.15
GPS_charging	0	0	0.00
Compass	1562	8	126.22
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	-120.78	0.000	2	0.000	0.000	74	2251	2807
151	-0.85	-146.6	3.6	-2.8	6	186	11.73	2.70	-15.20	0.000	4	0.173	0.067	2141	813	3380
286	-0.79	-146.6	18.9	-9.3	12	291	0.00	2.58	0.00	0.000	6	0.000	0.045	2141	2233	3380
614	-0.66	-146.6	54.9	-10.9	28	616	0.22	0.00	0.00	0.000	6	0.099	0.000	2184	2233	3380
923	-0.66	-146.6	80.6	-8.0	43	927	0.00	2.62	0.00	0.000	4	0.000	0.066	2184	3643	3381
990	-0.71	-146.6	86.0	-8.1	46	994	0.00	2.55	0.00	0.000	6	0.000	0.044	2184	2227	3381
1311	-0.71	-146.6	107.0	-6.0	62	1313	0.00	0.00	0.00	0.000	6	0.000	0.000	2184	2227	3382
1620	-0.71	-146.6	129.5	-7.9	77	1625	0.00	2.65	0.00	0.000	4	0.000	0.067	2184	3640	3382
1666	-0.77	-146.6	133.1	-7.6	79	1670	0.00	2.53	0.00	0.000	6	0.000	0.044	2184	2228	3382
1988	-0.82	-146.6	147.1	-4.3	95	1993	0.15	2.60	0.00	0.000	4	0.046	0.056	2134	816	3382
2031	-0.76	-146.6	150.1	-8.5	97	2036	0.15	2.58	0.00	0.000	6	0.091	0.048	2163	2230	3382
2358	-0.76	-146.6	184.0	-10.1	113	2362	0.00	2.62	0.00	0.000	4	0.000	0.071	2163	3642	3382
2424	-0.76	-146.6	190.6	-10.0	116	2429	0.00	2.55	0.00	0.000	6	0.000	0.046	2163	2233	3382
2746	-0.76	-146.6	212.2	-5.7	132	2747	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2233	3382
3054	-0.76	-146.6	235.2	-8.1	147	3058	0.00	2.67	0.00	0.000	4	0.000	0.072	2163	3641	3381
3087	-0.76	-146.6	237.9	-8.4	148	3093	0.00	2.58	0.00	0.000	6	0.000	0.050	2163	2230	3382
3403	-0.76	-146.6	259.8	-6.3	164	3407	0.00	2.62	0.00	0.000	4	0.000	0.061	2163	817	3382
3436	-0.76	-146.6	262.3	-7.0	165	3442	0.00	2.58	0.00	0.000	6	0.000	0.051	2163	2231	3382
3752	-0.76	-146.6	281.1	-5.7	181	3753	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2230	3382
4062	-0.76	-146.6	297.2	-5.5	196	4067	0.00	2.65	0.00	0.000	4	0.000	0.063	2163	817	3382
4090	-0.76	-146.6	299.0	-6.3	197	4094	0.00	2.60	0.00	0.000	6	0.000	0.054	2163	2230	3382
4406	-0.89	-146.6	322.2	-8.5	212	4411	0.15	2.67	0.00	0.000	4	0.053	0.077	2125	3639	3381
4526	-0.76	-146.6	334.2	-10.8	217	4532	0.20	2.60	0.00	0.000	6	0.100	0.054	2164	2227	3381
4842	-0.76	-146.6	359.1	-6.8	232	4843	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2227	3379
5152	-0.76	-146.6	377.0	-5.5	247	5153	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2227	3379
5460	-0.76	-146.6	395.5	-6.1	262	5465	0.00	2.70	0.00	0.000	4	0.000	0.081	2163	3637	3378
5494	-0.76	-146.6	397.7	-6.6	263	5500	0.00	2.60	0.00	0.000	6	0.000	0.056	2163	2229	3378
5810	-0.76	-146.6	418.6	-7.0	279	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2228	3377
6118	-0.76	-146.6	439.7	-6.6	294	6119	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2228	3376
6428	-0.76	-146.6	459.2	-6.3	309	6432	0.00	2.72	0.00	0.000	4	0.000	0.082	2163	3641	3375
6455	-0.76	-146.6	461.2	-7.4	310	6460	0.00	2.62	0.00	0.000	6	0.000	0.056	2163	2224	3374
6771	-0.76	-146.6	481.3	-6.4	325	6772	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2224	3374
7080	-0.76	-146.6	502.4	-7.0	340	7081	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2224	3373
7390	-0.76	-146.6	523.5	-6.9	355	7395	0.00	2.72	0.00	0.000	4	0.000	0.082	2163	3637	3373
7418	-0.76	-146.6	525.5	-7.8	356	7422	0.00	2.60	0.00	0.000	6	0.000	0.057	2163	2228	3373
7442	end dive: BOTTOM_OBSTACLE_DETECTED
state	7442	begin apogee
7449	-0.31	0.0	527.5	7.3	357	7585	0.47	0.00	129.43	1.078	6	0.098	0.000	2257	2228	2781
7586	end apogee: CONTROL_FINISHED_OK
state	7586	begin climb
7589	0.85	146.6	534.1	0.0	364	7726	1.23	2.72	129.43	1.055	4	0.083	0.068	2510	829	2182
7802	0.81	188.3	531.0	4.9	373	7846	0.00	2.65	38.05	1.019	6	0.000	0.057	2510	2239	2013
8169	0.81	188.3	510.3	6.3	391	8171	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2240	2012
8478	0.84	212.1	493.3	5.3	406	8502	0.00	0.00	21.88	1.002	6	0.000	0.000	2510	2240	1916
8807	0.84	212.1	472.8	6.4	422	8811	0.00	2.70	0.00	0.000	4	0.000	0.070	2510	823	1915
8847	0.84	212.1	470.1	6.9	424	8852	0.00	2.65	0.00	0.000	6	0.000	0.058	2510	2243	1914
9173	0.84	212.1	448.8	6.5	440	9174	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2243	1914
9483	0.85	224.2	430.6	5.7	455	9504	0.00	2.80	11.73	0.938	4	0.000	0.069	2510	826	1867
9522	0.88	250.3	428.4	5.3	456	9551	0.00	2.67	24.25	0.986	6	0.000	0.057	2510	2246	1760
9880	0.89	260.3	407.7	5.7	474	9892	0.00	0.00	10.23	0.905	6	0.000	0.000	2510	2246	1720
10190	0.93	260.3	388.9	6.1	489	10195	0.10	2.70	0.00	0.000	4	0.070	0.071	2538	830	1720
10231	0.89	260.3	385.9	7.8	491	10235	0.00	2.65	0.00	0.000	6	0.000	0.058	2537	2246	1719
10557	0.89	260.3	361.8	6.9	507	10562	0.00	2.72	0.00	0.000	4	0.000	0.071	2538	827	1719
10580	0.89	260.3	360.2	7.1	508	10584	0.00	2.62	0.00	0.000	6	0.000	0.057	2537	2239	1719
10901	0.89	260.3	338.2	6.6	524	10902	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2239	1719
11210	0.89	260.3	316.8	7.3	539	11211	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2239	1719
11520	0.89	260.3	292.7	7.6	554	11524	0.00	2.70	0.00	0.000	4	0.000	0.072	2537	826	1718
11541	0.89	260.3	290.9	7.7	555	11546	0.00	2.62	0.00	0.000	6	0.000	0.058	2538	2239	1718
11862	0.89	260.3	269.3	6.1	571	11863	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2239	1718
12172	0.89	260.3	249.2	6.9	586	12173	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1718
12481	0.89	260.3	226.5	7.5	601	12485	0.00	2.70	0.00	0.000	4	0.000	0.067	2537	822	1718
12542	0.89	260.3	221.1	8.6	604	12547	0.00	2.62	0.00	0.000	6	0.000	0.054	2538	2246	1718
12870	0.89	260.3	191.7	9.2	620	12874	0.00	2.65	0.00	0.000	4	0.000	0.076	2538	3648	1718
12903	0.89	260.3	188.6	8.8	621	12908	0.00	2.60	0.00	0.000	6	0.000	0.056	2538	2240	1718
13218	0.95	319.0	168.3	4.4	637	13273	0.00	2.75	49.40	0.839	4	0.000	0.074	2538	3650	1480
13298	1.02	381.8	165.3	4.3	640	13360	0.00	2.65	53.03	0.822	6	0.000	0.054	2537	2235	1222
13672	1.07	382.7	145.1	6.0	658	13677	0.12	2.65	0.00	0.000	4	0.061	0.064	2569	826	1222
13713	1.07	382.7	142.0	7.9	660	13718	0.00	2.60	0.00	0.000	6	0.000	0.050	2569	2242	1222
14041	1.02	382.7	112.8	9.6	676	14045	0.00	2.65	0.00	0.000	4	0.000	0.062	2569	828	1222
14068	1.02	382.7	110.2	9.2	677	14072	0.00	2.58	0.00	0.000	6	0.000	0.048	2569	2243	1222
14386	1.02	382.7	82.9	8.3	692	14391	0.00	2.65	0.00	0.000	4	0.000	0.061	2569	823	1223
14436	1.02	382.7	78.2	9.1	694	14441	0.00	2.58	0.00	0.000	6	0.000	0.046	2569	2242	1223
14754	1.02	382.7	46.4	9.1	709	14758	0.00	2.65	0.00	0.000	4	0.000	0.060	2570	820	1223
14794	1.02	382.7	42.8	8.7	711	14798	0.00	2.58	0.00	0.000	6	0.000	0.045	2569	2243	1223
15121	1.02	382.7	17.2	7.2	727	15125	0.00	2.62	0.00	0.000	4	0.000	0.058	2569	827	1225
15171	1.02	382.7	13.1	8.4	729	15175	0.00	2.55	0.00	0.000	6	0.000	0.044	2569	2241	1225
15298	end climb: SURFACE_DEPTH_REACHED
state	15298	begin surface coast
15320	end surface coast: CONTROL_FINISHED_OK
state	15320	begin surface