Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 48 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HD_B 0.0099099996 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 48 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 202 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3893 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2120 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 187 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3559 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2540 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 0.00159 COMPASS_DEVICE 17

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -132432.44 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 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 42 AH0_24V 95.400002 SEABIRD_T_G 0.0042855334

SPEED_FACTOR 1 PITCH_MAX 3363 AH0_10V 61.200001 SEABIRD_T_H 0.00062604493

RHO 1.023 C_PITCH 2340 PRESSURE_YINT -15.807375 SEABIRD_T_I 2.1829796e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0724553e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9956274

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_C_H 1.1210338

KALMAN_USE 1 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_I -0.0011134691

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016706332

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 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3363 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 42 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_PITCH_OFFSET -0.69999999

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0.5

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.807375 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_GPS_CHARGE -132432.44

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 17 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 14 ROLL_MAX 3893 T_TURN_SAMPINT 5

C_PITCH 2340 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2120 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2320 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -9.9956274 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1210338 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011134691 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016706332 VBD_MAX 3559

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042855334 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062604493 VBD_MIN 187

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1829796e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 48 PHONE_DEVICE 16 SEABIRD_T_J 2.0724553e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 121525,6132.607,-418.348,43,1.2,61,-6.7 TGT_NAME ESEC_NW

_CALLS 3 TGT_LATLONG 6140.000,-445.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.024,0.234

_SM_DEPTHo 1.29 KALMAN_X 128952.4,320.4,887.5,-191200.4,-3304.3

_SM_ANGLEo -63.6 KALMAN_Y -40861.9,74.6,461.9,37835.0,-3531.6

GPS2 122932,6132.612,-418.139,10,1.4,15,-6.7 MHEAD_RNG_PITCHd_Wd 0.9,27288,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.002671 ALTIM_BOTTOM_PING 851.7,78.8

SM_CCo 17765,0.00,0.000,0,0,1121,347.84 _24V_AH 23.5,10.736

SM_GC 0.88,11.65,0.00,0.00,0.063,0.000,0.000,37,2325,1121,-10.53,0.14,347.84 _10V_AH 10.1,5.502

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41145,848

TT8_MAMPS 0.02301 CFSIZE 254472192,249384960

HUMID 1753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 1.00 GPS 250208,172737,6133.918,-419.950,30,1.1,30,-6.7

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 180 109.71 SBE_CT 818 24 461.63

Roll_motor 66 130 203.08 SBE_O2 793 19 354.30

VBD_pump_during_apogee 407 1329 12731.51 WL_BB2F 458 105 1130.56

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 236.29 nil 0 0 0.00

Iridium_during_connect 141 160 531.64 nil 0 0 0.00

Iridium_during_xfer 330 223 1732.82

Transponder_ping 8 420 78.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.46

TT8 1492 19 298.48

LPSleep 14421 2 318.99

TT8_Active 510 19 102.07

TT8_Sampling 1266 39 509.16

TT8_CF8 914 45 423.25

TT8_Kalman 33 81 27.57

Analog_circuits 1312 12 159.08

GPS_charging 0 0 0.00

Compass 898 26 236.01

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.16 -146.6 0.0 0.0 0 93 0.00 0.00 -60.17 0.000 2 0.000 0.000 33 2321 2703

97 -1.16 -146.6 4.3 -7.0 3 127 11.52 2.53 -9.73 0.000 4 0.180 0.084 2084 912 3140

398 -1.16 -146.6 40.1 -7.9 16 402 0.00 2.42 0.00 0.000 6 0.000 0.058 2083 2325 3141

716 -1.16 -146.6 68.1 -9.7 31 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2325 3141

1023 -1.16 -146.6 97.3 -8.9 46 1028 0.00 2.53 0.00 0.000 4 0.000 0.073 2083 907 3141

1079 -1.16 -146.6 101.9 -8.5 48 1085 0.00 2.42 0.00 0.000 6 0.000 0.059 2083 2317 3141

1396 -1.16 -146.6 126.6 -9.2 64 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3142

1705 -1.16 -146.6 157.3 -7.2 79 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3142

2013 -1.16 -146.6 182.4 -8.2 94 2015 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3143

2323 -1.16 -146.6 207.7 -8.2 109 2324 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3142

2632 -1.16 -146.6 233.1 -8.3 124 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3143

2941 -1.16 -146.6 258.6 -8.4 139 2942 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3143

3251 -1.16 -146.6 284.6 -8.3 154 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3143

3560 -1.16 -146.6 310.0 -8.4 169 3561 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

3869 -1.16 -146.6 335.9 -8.3 184 3870 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

4179 -1.16 -146.6 357.9 -6.9 199 4180 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

4488 -1.16 -146.6 380.5 -7.7 214 4489 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3144

4797 -1.16 -146.6 404.3 -8.1 229 4798 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

5106 -1.16 -146.6 431.9 -8.9 244 5108 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

5416 -1.16 -146.6 456.3 -7.8 259 5417 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2317 3143

5725 -1.16 -146.6 480.7 -8.0 274 5726 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

6035 -1.16 -146.6 504.7 -7.4 289 6036 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2318 3143

6343 -1.16 -146.6 529.1 -8.1 304 6344 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3142

6652 -1.16 -146.6 554.7 -8.0 319 6657 0.00 2.78 0.00 0.000 4 0.000 0.130 2083 3721 3142

6702 -1.16 -146.6 559.0 -8.5 321 6706 0.00 2.45 0.00 0.000 6 0.000 0.067 2083 2321 3142

7019 -1.16 -146.6 583.6 -8.0 336 7020 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3142

7328 -1.16 -146.6 608.6 -8.1 351 7332 0.00 2.72 0.00 0.000 4 0.000 0.119 2083 3720 3140

7367 -1.16 -146.6 611.9 -8.3 353 7372 0.00 2.42 0.00 0.000 6 0.000 0.066 2083 2322 3140

7695 -1.16 -146.6 638.1 -7.9 369 7696 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3139

8004 -1.16 -146.6 661.8 -7.5 384 8005 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2322 3139

8314 -1.16 -146.6 684.7 -7.2 399 8315 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2322 3137

8623 -1.16 -146.6 706.4 -6.8 414 8627 0.00 2.75 0.00 0.000 4 0.000 0.123 2083 3720 3136

8673 -1.16 -146.6 710.1 -7.6 416 8677 0.00 2.47 0.00 0.000 6 0.000 0.068 2083 2315 3136

8990 -1.16 -146.6 732.7 -7.6 431 8991 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2315 3135

9298 -1.16 -146.6 757.2 -8.2 446 9303 0.00 2.58 0.00 0.000 4 0.000 0.091 2083 912 3134

9349 -1.16 -146.6 761.6 -9.0 448 9353 0.00 2.42 0.00 0.000 6 0.000 0.059 2083 2320 3134

9665 -1.16 -146.6 787.2 -8.0 463 9666 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3134

9974 -1.16 -146.6 811.6 -8.1 478 9975 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3133

10283 -1.16 -146.6 835.9 -8.1 493 10284 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3132

10592 -1.16 -146.6 862.0 -8.5 508 10594 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3132

10901 -1.16 -146.6 887.3 -8.5 523 10903 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2321 3131

11211 -1.16 -146.6 912.2 -8.0 538 11212 0.00 0.00 0.00 0.000 6 0.000 0.000 2083 2320 3130

11331 end dive: BOTTOM_OBSTACLE_DETECTED

state 11332 begin apogee

11340 -0.32 0.0 921.8 7.7 544 11467 0.90 0.00 123.55 1.330 6 0.105 0.000 2267 2107 2540

11468 end apogee: CONTROL_FINISHED_OK

state 11468 begin climb

11472 1.16 146.6 923.8 0.0 550 11602 1.50 2.78 121.12 1.289 4 0.084 0.100 2593 3515 1942

11618 1.48 347.4 923.1 0.4 557 11791 0.32 2.45 162.68 1.273 6 0.065 0.060 2668 2117 1123

12114 1.48 347.4 856.9 15.1 581 12118 0.00 2.58 0.00 0.000 4 0.000 0.087 2668 716 1121

12388 1.48 347.4 811.0 17.3 593 12393 0.00 2.45 0.00 0.000 6 0.000 0.057 2668 2127 1121

12704 1.48 347.4 762.4 15.5 608 12708 0.00 2.58 0.00 0.000 4 0.000 0.081 2668 721 1121

12748 1.48 347.4 754.8 17.4 610 12752 0.00 2.42 0.00 0.000 6 0.000 0.058 2668 2126 1121

13070 1.48 347.4 705.0 15.1 626 13071 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2127 1120

13379 1.48 347.4 658.4 14.9 641 13380 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2129 1121

13688 1.48 347.4 612.7 15.4 656 13692 0.00 2.55 0.00 0.000 4 0.000 0.083 2668 721 1120

13738 1.48 347.4 604.3 16.1 658 13742 0.00 2.40 0.00 0.000 6 0.000 0.057 2668 2123 1120

14054 1.48 347.4 555.9 15.4 673 14055 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2123 1120

14363 1.48 347.4 508.8 14.9 688 14364 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2124 1119

14672 1.48 347.4 462.4 15.1 703 14673 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2124 1119

14982 1.48 347.4 413.9 16.2 718 14986 0.00 2.60 0.00 0.000 4 0.000 0.098 2668 3513 1119

15076 1.48 347.4 398.2 17.1 722 15081 0.00 2.42 0.00 0.000 6 0.000 0.062 2668 2122 1119

15392 1.48 347.4 350.7 14.2 737 15393 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2122 1119

15701 1.48 347.4 305.3 15.0 752 15702 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2122 1119

16010 1.48 347.4 259.4 14.9 767 16015 0.00 2.55 0.00 0.000 4 0.000 0.086 2668 717 1119

16073 1.48 347.4 249.3 15.4 770 16077 0.00 2.40 0.00 0.000 6 0.000 0.056 2668 2131 1119

16400 1.48 347.4 199.3 15.4 786 16401 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2132 1119

16709 1.48 347.4 150.2 15.8 801 16711 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2131 1120

17019 1.48 347.4 101.0 16.6 816 17020 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2131 1121

17330 1.48 347.4 53.4 15.0 831 17334 0.00 2.55 0.00 0.000 4 0.000 0.077 2668 714 1122

17385 1.48 347.4 43.4 18.4 833 17391 0.00 2.40 0.00 0.000 6 0.000 0.057 2668 2124 1122

17656 end climb: SURFACE_DEPTH_REACHED

state 17657 begin surface coast

17680 end surface coast: CONTROL_FINISHED_OK

state 17680 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	48	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	202	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3893	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2120	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	187	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3559	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2540	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	0.00159	COMPASS_DEVICE	17
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-132432.44	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	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	42	AH0_24V	95.400002	SEABIRD_T_G	0.0042855334
SPEED_FACTOR	1	PITCH_MAX	3363	AH0_10V	61.200001	SEABIRD_T_H	0.00062604493
RHO	1.023	C_PITCH	2340	PRESSURE_YINT	-15.807375	SEABIRD_T_I	2.1829796e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0724553e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9956274
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_C_H	1.1210338
KALMAN_USE	1	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_I	-0.0011134691
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016706332

GPS1	121525,6132.607,-418.348,43,1.2,61,-6.7	TGT_NAME	ESEC_NW
_CALLS	3	TGT_LATLONG	6140.000,-445.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.024,0.234
_SM_DEPTHo	1.29	KALMAN_X	128952.4,320.4,887.5,-191200.4,-3304.3
_SM_ANGLEo	-63.6	KALMAN_Y	-40861.9,74.6,461.9,37835.0,-3531.6
GPS2	122932,6132.612,-418.139,10,1.4,15,-6.7	MHEAD_RNG_PITCHd_Wd	0.9,27288,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.2,1.002671	ALTIM_BOTTOM_PING	851.7,78.8
SM_CCo	17765,0.00,0.000,0,0,1121,347.84	_24V_AH	23.5,10.736
SM_GC	0.88,11.65,0.00,0.00,0.063,0.000,0.000,37,2325,1121,-10.53,0.14,347.84	_10V_AH	10.1,5.502
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41145,848
TT8_MAMPS	0.02301	CFSIZE	254472192,249384960
HUMID	1753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	1.00	GPS	250208,172737,6133.918,-419.950,30,1.1,30,-6.7
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	180	109.71	SBE_CT	818	24	461.63
Roll_motor	66	130	203.08	SBE_O2	793	19	354.30
VBD_pump_during_apogee	407	1329	12731.51	WL_BB2F	458	105	1130.56
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	236.29	nil	0	0	0.00
Iridium_during_connect	141	160	531.64	nil	0	0	0.00
Iridium_during_xfer	330	223	1732.82
Transponder_ping	8	420	78.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.46
TT8	1492	19	298.48
LPSleep	14421	2	318.99
TT8_Active	510	19	102.07
TT8_Sampling	1266	39	509.16
TT8_CF8	914	45	423.25
TT8_Kalman	33	81	27.57
Analog_circuits	1312	12	159.08
GPS_charging	0	0	0.00
Compass	898	26	236.01
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.16	-146.6	0.0	0.0	0	93	0.00	0.00	-60.17	0.000	2	0.000	0.000	33	2321	2703
97	-1.16	-146.6	4.3	-7.0	3	127	11.52	2.53	-9.73	0.000	4	0.180	0.084	2084	912	3140
398	-1.16	-146.6	40.1	-7.9	16	402	0.00	2.42	0.00	0.000	6	0.000	0.058	2083	2325	3141
716	-1.16	-146.6	68.1	-9.7	31	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2325	3141
1023	-1.16	-146.6	97.3	-8.9	46	1028	0.00	2.53	0.00	0.000	4	0.000	0.073	2083	907	3141
1079	-1.16	-146.6	101.9	-8.5	48	1085	0.00	2.42	0.00	0.000	6	0.000	0.059	2083	2317	3141
1396	-1.16	-146.6	126.6	-9.2	64	1397	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3142
1705	-1.16	-146.6	157.3	-7.2	79	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3142
2013	-1.16	-146.6	182.4	-8.2	94	2015	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3143
2323	-1.16	-146.6	207.7	-8.2	109	2324	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3142
2632	-1.16	-146.6	233.1	-8.3	124	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3143
2941	-1.16	-146.6	258.6	-8.4	139	2942	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3143
3251	-1.16	-146.6	284.6	-8.3	154	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3143
3560	-1.16	-146.6	310.0	-8.4	169	3561	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
3869	-1.16	-146.6	335.9	-8.3	184	3870	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
4179	-1.16	-146.6	357.9	-6.9	199	4180	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
4488	-1.16	-146.6	380.5	-7.7	214	4489	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3144
4797	-1.16	-146.6	404.3	-8.1	229	4798	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
5106	-1.16	-146.6	431.9	-8.9	244	5108	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
5416	-1.16	-146.6	456.3	-7.8	259	5417	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2317	3143
5725	-1.16	-146.6	480.7	-8.0	274	5726	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
6035	-1.16	-146.6	504.7	-7.4	289	6036	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2318	3143
6343	-1.16	-146.6	529.1	-8.1	304	6344	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3142
6652	-1.16	-146.6	554.7	-8.0	319	6657	0.00	2.78	0.00	0.000	4	0.000	0.130	2083	3721	3142
6702	-1.16	-146.6	559.0	-8.5	321	6706	0.00	2.45	0.00	0.000	6	0.000	0.067	2083	2321	3142
7019	-1.16	-146.6	583.6	-8.0	336	7020	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3142
7328	-1.16	-146.6	608.6	-8.1	351	7332	0.00	2.72	0.00	0.000	4	0.000	0.119	2083	3720	3140
7367	-1.16	-146.6	611.9	-8.3	353	7372	0.00	2.42	0.00	0.000	6	0.000	0.066	2083	2322	3140
7695	-1.16	-146.6	638.1	-7.9	369	7696	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3139
8004	-1.16	-146.6	661.8	-7.5	384	8005	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2322	3139
8314	-1.16	-146.6	684.7	-7.2	399	8315	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2322	3137
8623	-1.16	-146.6	706.4	-6.8	414	8627	0.00	2.75	0.00	0.000	4	0.000	0.123	2083	3720	3136
8673	-1.16	-146.6	710.1	-7.6	416	8677	0.00	2.47	0.00	0.000	6	0.000	0.068	2083	2315	3136
8990	-1.16	-146.6	732.7	-7.6	431	8991	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2315	3135
9298	-1.16	-146.6	757.2	-8.2	446	9303	0.00	2.58	0.00	0.000	4	0.000	0.091	2083	912	3134
9349	-1.16	-146.6	761.6	-9.0	448	9353	0.00	2.42	0.00	0.000	6	0.000	0.059	2083	2320	3134
9665	-1.16	-146.6	787.2	-8.0	463	9666	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3134
9974	-1.16	-146.6	811.6	-8.1	478	9975	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3133
10283	-1.16	-146.6	835.9	-8.1	493	10284	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3132
10592	-1.16	-146.6	862.0	-8.5	508	10594	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3132
10901	-1.16	-146.6	887.3	-8.5	523	10903	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2321	3131
11211	-1.16	-146.6	912.2	-8.0	538	11212	0.00	0.00	0.00	0.000	6	0.000	0.000	2083	2320	3130
11331	end dive: BOTTOM_OBSTACLE_DETECTED
state	11332	begin apogee
11340	-0.32	0.0	921.8	7.7	544	11467	0.90	0.00	123.55	1.330	6	0.105	0.000	2267	2107	2540
11468	end apogee: CONTROL_FINISHED_OK
state	11468	begin climb
11472	1.16	146.6	923.8	0.0	550	11602	1.50	2.78	121.12	1.289	4	0.084	0.100	2593	3515	1942
11618	1.48	347.4	923.1	0.4	557	11791	0.32	2.45	162.68	1.273	6	0.065	0.060	2668	2117	1123
12114	1.48	347.4	856.9	15.1	581	12118	0.00	2.58	0.00	0.000	4	0.000	0.087	2668	716	1121
12388	1.48	347.4	811.0	17.3	593	12393	0.00	2.45	0.00	0.000	6	0.000	0.057	2668	2127	1121
12704	1.48	347.4	762.4	15.5	608	12708	0.00	2.58	0.00	0.000	4	0.000	0.081	2668	721	1121
12748	1.48	347.4	754.8	17.4	610	12752	0.00	2.42	0.00	0.000	6	0.000	0.058	2668	2126	1121
13070	1.48	347.4	705.0	15.1	626	13071	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2127	1120
13379	1.48	347.4	658.4	14.9	641	13380	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2129	1121
13688	1.48	347.4	612.7	15.4	656	13692	0.00	2.55	0.00	0.000	4	0.000	0.083	2668	721	1120
13738	1.48	347.4	604.3	16.1	658	13742	0.00	2.40	0.00	0.000	6	0.000	0.057	2668	2123	1120
14054	1.48	347.4	555.9	15.4	673	14055	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2123	1120
14363	1.48	347.4	508.8	14.9	688	14364	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2124	1119
14672	1.48	347.4	462.4	15.1	703	14673	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2124	1119
14982	1.48	347.4	413.9	16.2	718	14986	0.00	2.60	0.00	0.000	4	0.000	0.098	2668	3513	1119
15076	1.48	347.4	398.2	17.1	722	15081	0.00	2.42	0.00	0.000	6	0.000	0.062	2668	2122	1119
15392	1.48	347.4	350.7	14.2	737	15393	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2122	1119
15701	1.48	347.4	305.3	15.0	752	15702	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2122	1119
16010	1.48	347.4	259.4	14.9	767	16015	0.00	2.55	0.00	0.000	4	0.000	0.086	2668	717	1119
16073	1.48	347.4	249.3	15.4	770	16077	0.00	2.40	0.00	0.000	6	0.000	0.056	2668	2131	1119
16400	1.48	347.4	199.3	15.4	786	16401	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2132	1119
16709	1.48	347.4	150.2	15.8	801	16711	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2131	1120
17019	1.48	347.4	101.0	16.6	816	17020	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2131	1121
17330	1.48	347.4	53.4	15.0	831	17334	0.00	2.55	0.00	0.000	4	0.000	0.077	2668	714	1122
17385	1.48	347.4	43.4	18.4	833	17391	0.00	2.40	0.00	0.000	6	0.000	0.057	2668	2124	1122
17656	end climb: SURFACE_DEPTH_REACHED
state	17657	begin surface coast
17680	end surface coast: CONTROL_FINISHED_OK
state	17680	begin surface