Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 374 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 374 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2086049.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 300

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2086049.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 374 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 203637,6223.109,-333.408,57,1.2,57,-6.6 TGT_NAME FSCN_NW

_CALLS 3 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.113,-0.190

_SM_DEPTHo 1.60 KALMAN_X 22736.6,-561.5,1041.1,269094.2,-10136.1

_SM_ANGLEo -63.2 KALMAN_Y -28326.5,-1884.9,-20.2,113629.6,6834.3

GPS2 205014,6223.204,-333.380,30,1.2,36,-6.6 MHEAD_RNG_PITCHd_Wd 175.7,15470,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027508 ALTIM_BOTTOM_PING 500.3,65.3

SM_CCo 15782,47.10,0.657,2,0,1594,300.00 _24V_AH 23.3,58.323

SM_GC 1.76,0.00,0.00,47.10,0.000,0.000,0.657,76,2408,1594,-10.73,0.23,300.00 _10V_AH 10.1,30.931

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37945,762

TT8_MAMPS 0.024544 CFSIZE 260165632,238301184

HUMID 2112 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,2,0

TCM_TEMP 16.00 GPS 240108,011625,6222.234,-332.265,43,1.2,43,-6.6

XPDR_PINGS 78

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 106.40 SBE_CT 565 24 316.32

Roll_motor 103 93 225.28 SBE_O2 521 19 230.96

VBD_pump_during_apogee 316 1124 8300.51 WL_BB2F 493 105 1207.50

VBD_pump_during_surface 47 656 720.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 100 103 240.83 nil 0 0 0.00

Iridium_during_connect 295 160 1103.39 nil 0 0 0.00

Iridium_during_xfer 157 223 818.88

Transponder_ping 23 420 229.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.41

TT8 1365 19 273.15

LPSleep 12400 2 274.30

TT8_Active 498 19 99.75

TT8_Sampling 1588 39 638.64

TT8_CF8 804 45 372.36

TT8_Kalman 33 81 27.57

Analog_circuits 1270 12 153.92

GPS_charging 0 0 0.00

Compass 1536 8 124.17

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 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -61.00 0.000 2 0.000 0.000 71 2410 3061

90 -0.85 -146.6 3.6 -4.5 3 116 12.30 2.62 -8.52 0.000 4 0.177 0.089 2221 3765 3416

363 -0.85 -146.6 30.9 -9.4 15 367 0.00 2.55 0.00 0.000 6 0.000 0.059 2221 2399 3417

680 -0.85 -146.6 55.2 -8.4 30 684 0.00 2.72 0.00 0.000 4 0.000 0.077 2221 977 3417

729 -0.85 -146.6 59.2 -8.2 32 734 0.00 2.65 0.00 0.000 6 0.000 0.061 2221 2397 3417

1045 -0.85 -146.6 86.6 -9.5 47 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3418

1354 -0.85 -146.6 117.7 -7.9 62 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3417

1664 -0.85 -146.6 143.9 -9.5 77 1668 0.00 2.70 0.00 0.000 4 0.000 0.074 2221 977 3418

1742 -0.85 -146.6 151.5 -9.6 80 1748 0.00 2.62 0.00 0.000 6 0.000 0.062 2221 2400 3417

2059 -0.85 -146.6 175.9 -7.1 96 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

2369 -0.85 -146.6 201.0 -8.3 111 2374 0.00 2.70 0.00 0.000 4 0.000 0.075 2221 982 3418

2431 -0.85 -146.6 206.6 -8.9 114 2436 0.00 2.65 0.00 0.000 6 0.000 0.063 2221 2407 3418

2759 -0.85 -146.6 234.2 -8.0 130 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2407 3418

3067 -0.85 -146.6 255.8 -7.7 145 3071 0.00 2.62 0.00 0.000 4 0.000 0.084 2221 3768 3419

3106 -0.85 -146.6 258.8 -8.0 147 3111 0.00 2.58 0.00 0.000 6 0.000 0.063 2221 2395 3419

3433 -0.85 -146.6 282.6 -6.6 163 3437 0.00 2.70 0.00 0.000 4 0.000 0.080 2221 983 3419

3521 -0.85 -146.6 288.6 -6.5 167 3526 0.00 2.65 0.00 0.000 6 0.000 0.067 2221 2404 3419

3843 -0.85 -146.6 310.4 -6.4 183 3844 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3420

4152 -0.85 -146.6 332.3 -7.6 198 4154 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2405 3420

4461 -0.85 -146.6 354.1 -7.1 213 4462 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2405 3420

4770 -0.85 -146.6 374.4 -6.7 228 4771 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2405 3420

5081 -0.85 -146.6 393.9 -6.0 243 5085 0.00 2.67 0.00 0.000 4 0.000 0.093 2219 3766 3420

5124 -0.85 -146.6 396.8 -6.3 245 5129 0.00 2.58 0.00 0.000 6 0.000 0.068 2221 2403 3420

5446 -0.85 -146.6 414.4 -5.3 261 5450 0.00 2.78 0.00 0.000 4 0.000 0.087 2221 980 3420

5502 -0.85 -146.6 417.5 -5.9 263 5508 0.00 2.70 0.00 0.000 6 0.000 0.071 2221 2404 3420

5818 -0.85 -146.6 433.4 -5.0 279 5819 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3419

6128 -0.85 -146.6 450.1 -5.7 294 6132 0.00 2.75 0.00 0.000 4 0.000 0.085 2221 983 3418

6185 -0.85 -146.6 453.9 -7.1 296 6191 0.00 2.70 0.00 0.000 6 0.000 0.073 2221 2407 3418

6500 -0.85 -146.6 474.0 -6.6 312 6501 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2406 3417

6810 -0.85 -146.6 493.6 -6.0 327 6815 0.00 2.75 0.00 0.000 4 0.000 0.087 2221 983 3415

6888 -0.85 -146.6 498.6 -6.3 330 6894 0.00 2.67 0.00 0.000 6 0.000 0.075 2221 2398 3415

7204 -0.85 -146.6 520.4 -7.5 346 7208 0.00 2.78 0.00 0.000 4 0.000 0.087 2221 977 3414

7259 -0.85 -146.6 524.7 -7.6 348 7265 0.00 2.72 0.00 0.000 6 0.000 0.074 2221 2406 3414

7574 -0.85 -146.6 544.6 -6.7 364 7579 0.00 2.78 0.00 0.000 4 0.000 0.087 2221 983 3412

7618 -0.85 -146.6 547.6 -7.1 366 7622 0.00 2.70 0.00 0.000 6 0.000 0.074 2221 2407 3412

7730 end dive: BOTTOM_OBSTACLE_DETECTED

state 7730 begin apogee

7737 -0.31 0.0 555.6 7.2 372 7863 0.60 0.00 122.35 1.124 6 0.117 0.000 2337 2198 2817

7864 end apogee: CONTROL_FINISHED_OK

state 7864 begin climb

7866 0.85 146.6 560.2 0.0 378 7995 1.27 2.88 121.10 1.098 4 0.104 0.083 2588 787 2218

8052 0.88 177.0 555.2 5.2 387 8084 0.00 2.70 26.02 1.045 6 0.000 0.067 2588 2199 2095

8393 0.88 177.0 532.9 6.4 404 8394 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2199 2093

8702 0.88 180.6 513.9 5.9 419 8708 0.00 0.00 4.35 0.753 6 0.000 0.000 2588 2199 2080

9012 0.88 180.6 494.5 6.2 434 9016 0.00 2.75 0.00 0.000 4 0.000 0.085 2588 786 2078

9044 0.88 180.6 492.2 6.6 435 9051 0.00 2.67 0.00 0.000 6 0.000 0.067 2589 2203 2078

9360 0.88 180.6 471.1 6.8 451 9365 0.00 2.78 0.00 0.000 4 0.000 0.084 2588 782 2078

9393 0.88 180.6 468.6 7.7 452 9399 0.00 2.70 0.00 0.000 6 0.000 0.067 2588 2206 2078

9708 0.88 180.6 448.5 6.1 468 9710 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2206 2078

10018 0.88 181.3 429.9 6.0 483 10019 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2206 2078

10328 0.89 183.9 411.7 5.9 498 10334 0.00 0.00 3.92 0.705 6 0.000 0.000 2588 2206 2067

10636 0.90 193.3 394.0 5.7 513 10648 0.00 0.00 9.40 0.936 6 0.000 0.000 2588 2206 2029

10946 0.90 200.7 376.0 5.8 528 10955 0.00 0.00 7.65 0.888 6 0.000 0.000 2588 2206 1998

11256 0.93 226.4 358.7 5.3 543 11280 0.12 0.00 22.02 0.987 6 0.083 0.000 2617 2206 1894

11584 0.93 226.4 333.9 8.1 559 11589 0.00 2.75 0.00 0.000 4 0.000 0.083 2617 786 1893

11639 0.93 226.4 328.9 8.5 561 11645 0.00 2.67 0.00 0.000 6 0.000 0.064 2616 2199 1892

11956 0.93 226.4 304.2 8.0 577 11957 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2199 1892

12264 0.93 226.4 280.1 7.9 592 12269 0.00 2.80 0.00 0.000 4 0.000 0.094 2616 3617 1892

12303 0.93 226.4 276.5 9.4 594 12308 0.00 2.72 0.00 0.000 6 0.000 0.076 2617 2204 1891

12630 0.93 226.4 250.3 7.6 610 12631 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2204 1891

12938 0.93 226.4 224.5 8.5 625 12939 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2204 1891

13248 0.93 226.4 201.1 7.0 640 13249 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2204 1891

13558 0.93 226.4 179.1 7.3 655 13562 0.00 2.75 0.00 0.000 4 0.000 0.085 2617 3613 1891

13590 0.93 226.4 176.2 8.8 656 13596 0.00 2.70 0.00 0.000 6 0.000 0.070 2617 2196 1892

13905 0.93 226.4 151.7 8.0 672 13906 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2196 1892

14216 0.93 226.4 125.9 8.0 687 14217 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1893

14524 0.93 226.4 97.7 8.8 702 14525 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1894

14835 0.93 226.4 70.8 7.4 717 14836 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1896

15144 0.93 226.4 47.1 7.8 732 15148 0.00 2.70 0.00 0.000 4 0.000 0.075 2617 777 1896

15176 0.93 226.4 44.1 8.5 733 15183 0.00 2.62 0.00 0.000 6 0.000 0.057 2617 2203 1896

15494 0.93 226.4 20.4 7.5 749 15495 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1897

15737 end climb: SURFACE_DEPTH_REACHED

state 15737 begin surface coast

15759 end surface coast: CONTROL_FINISHED_OK

state 15759 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	374	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2086049.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	203637,6223.109,-333.408,57,1.2,57,-6.6	TGT_NAME	FSCN_NW
_CALLS	3	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.113,-0.190
_SM_DEPTHo	1.60	KALMAN_X	22736.6,-561.5,1041.1,269094.2,-10136.1
_SM_ANGLEo	-63.2	KALMAN_Y	-28326.5,-1884.9,-20.2,113629.6,6834.3
GPS2	205014,6223.204,-333.380,30,1.2,36,-6.6	MHEAD_RNG_PITCHd_Wd	175.7,15470,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027508	ALTIM_BOTTOM_PING	500.3,65.3
SM_CCo	15782,47.10,0.657,2,0,1594,300.00	_24V_AH	23.3,58.323
SM_GC	1.76,0.00,0.00,47.10,0.000,0.000,0.657,76,2408,1594,-10.73,0.23,300.00	_10V_AH	10.1,30.931
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37945,762
TT8_MAMPS	0.024544	CFSIZE	260165632,238301184
HUMID	2112	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
TCM_TEMP	16.00	GPS	240108,011625,6222.234,-332.265,43,1.2,43,-6.6
XPDR_PINGS	78

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	106.40	SBE_CT	565	24	316.32
Roll_motor	103	93	225.28	SBE_O2	521	19	230.96
VBD_pump_during_apogee	316	1124	8300.51	WL_BB2F	493	105	1207.50
VBD_pump_during_surface	47	656	720.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	100	103	240.83	nil	0	0	0.00
Iridium_during_connect	295	160	1103.39	nil	0	0	0.00
Iridium_during_xfer	157	223	818.88
Transponder_ping	23	420	229.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.41
TT8	1365	19	273.15
LPSleep	12400	2	274.30
TT8_Active	498	19	99.75
TT8_Sampling	1588	39	638.64
TT8_CF8	804	45	372.36
TT8_Kalman	33	81	27.57
Analog_circuits	1270	12	153.92
GPS_charging	0	0	0.00
Compass	1536	8	124.17
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	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-61.00	0.000	2	0.000	0.000	71	2410	3061
90	-0.85	-146.6	3.6	-4.5	3	116	12.30	2.62	-8.52	0.000	4	0.177	0.089	2221	3765	3416
363	-0.85	-146.6	30.9	-9.4	15	367	0.00	2.55	0.00	0.000	6	0.000	0.059	2221	2399	3417
680	-0.85	-146.6	55.2	-8.4	30	684	0.00	2.72	0.00	0.000	4	0.000	0.077	2221	977	3417
729	-0.85	-146.6	59.2	-8.2	32	734	0.00	2.65	0.00	0.000	6	0.000	0.061	2221	2397	3417
1045	-0.85	-146.6	86.6	-9.5	47	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3418
1354	-0.85	-146.6	117.7	-7.9	62	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3417
1664	-0.85	-146.6	143.9	-9.5	77	1668	0.00	2.70	0.00	0.000	4	0.000	0.074	2221	977	3418
1742	-0.85	-146.6	151.5	-9.6	80	1748	0.00	2.62	0.00	0.000	6	0.000	0.062	2221	2400	3417
2059	-0.85	-146.6	175.9	-7.1	96	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
2369	-0.85	-146.6	201.0	-8.3	111	2374	0.00	2.70	0.00	0.000	4	0.000	0.075	2221	982	3418
2431	-0.85	-146.6	206.6	-8.9	114	2436	0.00	2.65	0.00	0.000	6	0.000	0.063	2221	2407	3418
2759	-0.85	-146.6	234.2	-8.0	130	2760	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2407	3418
3067	-0.85	-146.6	255.8	-7.7	145	3071	0.00	2.62	0.00	0.000	4	0.000	0.084	2221	3768	3419
3106	-0.85	-146.6	258.8	-8.0	147	3111	0.00	2.58	0.00	0.000	6	0.000	0.063	2221	2395	3419
3433	-0.85	-146.6	282.6	-6.6	163	3437	0.00	2.70	0.00	0.000	4	0.000	0.080	2221	983	3419
3521	-0.85	-146.6	288.6	-6.5	167	3526	0.00	2.65	0.00	0.000	6	0.000	0.067	2221	2404	3419
3843	-0.85	-146.6	310.4	-6.4	183	3844	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3420
4152	-0.85	-146.6	332.3	-7.6	198	4154	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2405	3420
4461	-0.85	-146.6	354.1	-7.1	213	4462	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2405	3420
4770	-0.85	-146.6	374.4	-6.7	228	4771	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2405	3420
5081	-0.85	-146.6	393.9	-6.0	243	5085	0.00	2.67	0.00	0.000	4	0.000	0.093	2219	3766	3420
5124	-0.85	-146.6	396.8	-6.3	245	5129	0.00	2.58	0.00	0.000	6	0.000	0.068	2221	2403	3420
5446	-0.85	-146.6	414.4	-5.3	261	5450	0.00	2.78	0.00	0.000	4	0.000	0.087	2221	980	3420
5502	-0.85	-146.6	417.5	-5.9	263	5508	0.00	2.70	0.00	0.000	6	0.000	0.071	2221	2404	3420
5818	-0.85	-146.6	433.4	-5.0	279	5819	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3419
6128	-0.85	-146.6	450.1	-5.7	294	6132	0.00	2.75	0.00	0.000	4	0.000	0.085	2221	983	3418
6185	-0.85	-146.6	453.9	-7.1	296	6191	0.00	2.70	0.00	0.000	6	0.000	0.073	2221	2407	3418
6500	-0.85	-146.6	474.0	-6.6	312	6501	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2406	3417
6810	-0.85	-146.6	493.6	-6.0	327	6815	0.00	2.75	0.00	0.000	4	0.000	0.087	2221	983	3415
6888	-0.85	-146.6	498.6	-6.3	330	6894	0.00	2.67	0.00	0.000	6	0.000	0.075	2221	2398	3415
7204	-0.85	-146.6	520.4	-7.5	346	7208	0.00	2.78	0.00	0.000	4	0.000	0.087	2221	977	3414
7259	-0.85	-146.6	524.7	-7.6	348	7265	0.00	2.72	0.00	0.000	6	0.000	0.074	2221	2406	3414
7574	-0.85	-146.6	544.6	-6.7	364	7579	0.00	2.78	0.00	0.000	4	0.000	0.087	2221	983	3412
7618	-0.85	-146.6	547.6	-7.1	366	7622	0.00	2.70	0.00	0.000	6	0.000	0.074	2221	2407	3412
7730	end dive: BOTTOM_OBSTACLE_DETECTED
state	7730	begin apogee
7737	-0.31	0.0	555.6	7.2	372	7863	0.60	0.00	122.35	1.124	6	0.117	0.000	2337	2198	2817
7864	end apogee: CONTROL_FINISHED_OK
state	7864	begin climb
7866	0.85	146.6	560.2	0.0	378	7995	1.27	2.88	121.10	1.098	4	0.104	0.083	2588	787	2218
8052	0.88	177.0	555.2	5.2	387	8084	0.00	2.70	26.02	1.045	6	0.000	0.067	2588	2199	2095
8393	0.88	177.0	532.9	6.4	404	8394	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2199	2093
8702	0.88	180.6	513.9	5.9	419	8708	0.00	0.00	4.35	0.753	6	0.000	0.000	2588	2199	2080
9012	0.88	180.6	494.5	6.2	434	9016	0.00	2.75	0.00	0.000	4	0.000	0.085	2588	786	2078
9044	0.88	180.6	492.2	6.6	435	9051	0.00	2.67	0.00	0.000	6	0.000	0.067	2589	2203	2078
9360	0.88	180.6	471.1	6.8	451	9365	0.00	2.78	0.00	0.000	4	0.000	0.084	2588	782	2078
9393	0.88	180.6	468.6	7.7	452	9399	0.00	2.70	0.00	0.000	6	0.000	0.067	2588	2206	2078
9708	0.88	180.6	448.5	6.1	468	9710	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2206	2078
10018	0.88	181.3	429.9	6.0	483	10019	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2206	2078
10328	0.89	183.9	411.7	5.9	498	10334	0.00	0.00	3.92	0.705	6	0.000	0.000	2588	2206	2067
10636	0.90	193.3	394.0	5.7	513	10648	0.00	0.00	9.40	0.936	6	0.000	0.000	2588	2206	2029
10946	0.90	200.7	376.0	5.8	528	10955	0.00	0.00	7.65	0.888	6	0.000	0.000	2588	2206	1998
11256	0.93	226.4	358.7	5.3	543	11280	0.12	0.00	22.02	0.987	6	0.083	0.000	2617	2206	1894
11584	0.93	226.4	333.9	8.1	559	11589	0.00	2.75	0.00	0.000	4	0.000	0.083	2617	786	1893
11639	0.93	226.4	328.9	8.5	561	11645	0.00	2.67	0.00	0.000	6	0.000	0.064	2616	2199	1892
11956	0.93	226.4	304.2	8.0	577	11957	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2199	1892
12264	0.93	226.4	280.1	7.9	592	12269	0.00	2.80	0.00	0.000	4	0.000	0.094	2616	3617	1892
12303	0.93	226.4	276.5	9.4	594	12308	0.00	2.72	0.00	0.000	6	0.000	0.076	2617	2204	1891
12630	0.93	226.4	250.3	7.6	610	12631	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2204	1891
12938	0.93	226.4	224.5	8.5	625	12939	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2204	1891
13248	0.93	226.4	201.1	7.0	640	13249	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2204	1891
13558	0.93	226.4	179.1	7.3	655	13562	0.00	2.75	0.00	0.000	4	0.000	0.085	2617	3613	1891
13590	0.93	226.4	176.2	8.8	656	13596	0.00	2.70	0.00	0.000	6	0.000	0.070	2617	2196	1892
13905	0.93	226.4	151.7	8.0	672	13906	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2196	1892
14216	0.93	226.4	125.9	8.0	687	14217	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1893
14524	0.93	226.4	97.7	8.8	702	14525	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1894
14835	0.93	226.4	70.8	7.4	717	14836	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1896
15144	0.93	226.4	47.1	7.8	732	15148	0.00	2.70	0.00	0.000	4	0.000	0.075	2617	777	1896
15176	0.93	226.4	44.1	8.5	733	15183	0.00	2.62	0.00	0.000	6	0.000	0.057	2617	2203	1896
15494	0.93	226.4	20.4	7.5	749	15495	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1897
15737	end climb: SURFACE_DEPTH_REACHED
state	15737	begin surface coast
15759	end surface coast: CONTROL_FINISHED_OK
state	15759	begin surface