Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 55 * 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 55 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 440 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 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 -2076176.2 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 1 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 412.5

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 -2076176.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 1 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 55 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 065925,6133.387,-853.785,36,1.9,36,-9.2 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.199,0.143

_SM_DEPTHo 1.47 KALMAN_X 8132.0,-1139.8,-400.2,3912.8,12098.1

_SM_ANGLEo -65.5 KALMAN_Y 81674.1,302.2,-131.8,-90745.2,-706.4

GPS2 070401,6133.401,-853.724,39,1.4,39,-9.2 MHEAD_RNG_PITCHd_Wd 314.9,28447,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.002238 ALTIM_BOTTOM_PING 651.3,90.5

SM_CCo 16096,51.10,0.627,2,0,1593,300.00 _24V_AH 23.6,14.249

SM_GC 1.52,0.00,0.00,51.10,0.000,0.000,0.627,71,2407,1593,-10.76,0.20,300.00 _10V_AH 10.2,5.964

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38039,779

TT8_MAMPS 0.023777 CFSIZE 260165632,255815680

HUMID 2098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,2,0

TCM_TEMP 16.30 GPS 211107,113528,6134.438,-857.330,30,2.2,49,-9.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.14 SBE_CT 539 24 305.47

Roll_motor 83 72 144.19 SBE_O2 565 19 253.60

VBD_pump_during_apogee 298 1150 8095.31 WL_BB2F 460 105 1142.31

VBD_pump_during_surface 51 627 756.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.31 nil 0 0 0.00

Iridium_during_connect 35 160 132.95 nil 0 0 0.00

Iridium_during_xfer 105 223 553.56

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 39 50 19.94

TT8 1376 19 278.08

LPSleep 12750 2 284.82

TT8_Active 484 19 97.76

TT8_Sampling 1560 39 633.70

TT8_CF8 267 45 124.79

TT8_Kalman 33 81 27.83

Analog_circuits 1231 12 150.76

GPS_charging 0 0 0.00

Compass 1510 8 123.25

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -62.35 0.000 2 0.000 0.000 71 2403 3247

84 -1.08 -146.6 4.2 -6.7 3 107 11.77 2.65 -3.55 0.000 4 0.173 0.073 2168 979 3416

189 -1.08 -146.6 22.3 -12.0 7 197 0.00 2.62 0.00 0.000 6 0.000 0.051 2167 2399 3417

505 -1.08 -146.6 60.6 -12.2 23 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3417

814 -1.08 -146.6 97.2 -12.4 38 816 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3417

1124 -1.08 -146.6 135.2 -11.8 53 1125 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3417

1433 -1.08 -146.6 170.9 -11.3 68 1437 0.00 2.60 0.00 0.000 4 0.000 0.060 2168 981 3417

1464 -1.08 -146.6 174.7 -11.5 69 1472 0.00 2.60 0.00 0.000 6 0.000 0.051 2168 2397 3417

1779 -1.08 -146.6 208.4 -11.1 85 1781 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2397 3417

2089 -1.08 -146.6 242.3 -10.9 100 2093 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 982 3417

2131 -1.08 -146.6 247.1 -10.9 102 2136 0.00 2.60 0.00 0.000 6 0.000 0.051 2168 2399 3417

2458 -1.08 -146.6 284.9 -12.3 118 2459 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2400 3417

2768 -1.08 -146.6 320.4 -10.3 133 2769 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3417

3077 -1.08 -146.6 349.8 -9.2 148 3084 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 976 3417

3124 -1.08 -146.6 354.1 -9.1 150 3129 0.00 2.58 0.00 0.000 6 0.000 0.051 2168 2401 3417

3450 -1.08 -146.6 385.1 -9.7 166 3451 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

3760 -1.08 -146.6 415.8 -9.9 181 3764 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 982 3417

3807 -1.08 -146.6 420.8 -10.4 183 3812 0.00 2.60 0.00 0.000 6 0.000 0.051 2168 2400 3417

4131 -1.08 -146.6 450.4 -8.8 199 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

4439 -1.08 -146.6 475.9 -7.8 214 4443 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 982 3417

4482 -1.08 -146.6 479.4 -7.9 216 4486 0.00 2.58 0.00 0.000 6 0.000 0.051 2168 2403 3417

4808 -1.08 -146.6 507.1 -9.0 232 4809 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2402 3417

5117 -1.08 -146.6 535.1 -8.5 247 5122 0.00 2.60 0.00 0.000 4 0.000 0.060 2168 976 3417

5161 -1.08 -146.6 539.0 -8.7 249 5165 0.00 2.60 0.00 0.000 6 0.000 0.051 2168 2397 3417

5487 -1.08 -146.6 568.2 -8.8 265 5488 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3418

5796 -1.08 -146.6 595.9 -8.9 280 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3418

6106 -1.08 -146.6 622.3 -8.8 295 6107 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3417

6415 -1.08 -146.6 649.6 -8.5 310 6416 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2399 3418

6724 -1.08 -146.6 676.3 -8.6 325 6729 0.00 2.58 0.00 0.000 4 0.000 0.060 2168 984 3417

6808 -1.08 -146.6 683.6 -9.0 329 6812 0.00 2.58 0.00 0.000 6 0.000 0.051 2168 2409 3417

7134 -1.08 -146.6 713.7 -9.4 345 7138 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 984 3417

7165 -1.08 -146.6 716.9 -9.7 346 7172 0.00 2.58 0.00 0.000 6 0.000 0.051 2168 2395 3417

7335 end dive: BOTTOM_OBSTACLE_DETECTED

state 7335 begin apogee

7339 -0.31 0.0 732.2 8.6 355 7464 0.88 0.00 121.32 1.151 6 0.117 0.000 2340 2190 2817

7465 end apogee: CONTROL_FINISHED_OK

state 7465 begin climb

7466 1.08 146.6 735.2 0.0 361 7592 1.50 0.00 119.25 1.131 6 0.091 0.000 2646 2190 2219

7908 1.08 146.6 701.2 8.4 383 7909 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2190 2218

8217 1.09 148.9 676.2 7.9 398 8222 0.00 2.58 0.00 0.000 4 0.000 0.060 2646 793 2217

8272 1.09 148.9 671.6 8.8 400 8279 0.00 2.58 0.00 0.000 6 0.000 0.046 2646 2197 2217

8588 1.09 148.9 643.7 8.5 416 8589 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2196 2217

8897 1.09 148.9 617.7 8.2 431 8898 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2197 2217

9206 1.09 148.9 592.8 8.4 446 9210 0.00 2.62 0.00 0.000 4 0.000 0.069 2646 3614 2217

9271 1.09 148.9 586.9 9.2 449 9276 0.00 2.58 0.00 0.000 6 0.000 0.049 2646 2209 2217

9597 1.09 148.9 559.6 8.4 465 9599 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2209 2217

9907 1.09 148.9 533.2 8.7 480 9908 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2209 2217

10216 1.09 148.9 505.3 9.5 495 10220 0.00 2.60 0.00 0.000 4 0.000 0.069 2647 3612 2216

10270 1.09 148.9 499.4 11.6 497 10275 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2200 2217

10592 1.09 148.9 467.3 9.5 513 10593 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 2216

10901 1.09 148.9 440.7 8.2 528 10902 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 2216

11210 1.09 148.9 414.2 8.9 543 11214 0.00 2.62 0.00 0.000 4 0.000 0.069 2646 3613 2217

11298 1.09 148.9 405.9 9.9 547 11303 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2204 2216

11625 1.09 148.9 378.6 8.0 563 11626 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2204 2216

11934 1.09 153.0 354.1 7.9 578 11943 0.00 0.00 6.28 0.716 6 0.000 0.000 2646 2204 2192

12244 1.10 158.7 329.6 7.8 593 12252 0.00 0.00 6.18 0.705 6 0.000 0.000 2646 2204 2170

12553 1.10 165.4 305.3 7.8 608 12562 0.00 0.00 7.12 0.719 6 0.000 0.000 2646 2204 2143

12862 1.10 165.4 278.8 9.0 623 12866 0.00 2.62 0.00 0.000 4 0.000 0.068 2646 3615 2142

12929 1.10 165.4 272.2 10.1 626 12934 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2194 2142

13254 1.10 165.4 243.8 8.3 642 13258 0.00 2.65 0.00 0.000 4 0.000 0.068 2646 3620 2142

13297 1.10 165.4 239.7 9.0 644 13302 0.00 2.60 0.00 0.000 6 0.000 0.051 2646 2196 2142

13624 1.10 165.4 212.4 8.2 660 13625 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2196 2142

13933 1.10 165.4 187.7 8.2 675 13937 0.00 2.62 0.00 0.000 4 0.000 0.067 2646 3613 2142

14004 1.10 165.4 181.4 8.9 678 14009 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2200 2142

14326 1.12 180.3 157.6 7.5 694 14341 0.00 0.00 13.27 0.716 6 0.000 0.000 2646 2200 2082

14635 1.12 180.3 131.7 8.7 709 14636 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 2081

14944 1.12 180.3 103.5 9.0 724 14945 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 2081

15254 1.15 211.4 79.9 6.9 739 15280 0.00 0.00 24.73 0.703 6 0.000 0.000 2646 2200 1955

15584 1.15 211.4 49.5 9.1 755 15585 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 1954

15892 1.15 211.4 18.9 9.5 770 15893 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 1954

16056 end climb: SURFACE_DEPTH_REACHED

state 16056 begin surface coast

16078 end surface coast: CONTROL_FINISHED_OK

state 16078 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	55	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	440	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	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	-2076176.2	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	1	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	065925,6133.387,-853.785,36,1.9,36,-9.2	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.199,0.143
_SM_DEPTHo	1.47	KALMAN_X	8132.0,-1139.8,-400.2,3912.8,12098.1
_SM_ANGLEo	-65.5	KALMAN_Y	81674.1,302.2,-131.8,-90745.2,-706.4
GPS2	070401,6133.401,-853.724,39,1.4,39,-9.2	MHEAD_RNG_PITCHd_Wd	314.9,28447,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.002238	ALTIM_BOTTOM_PING	651.3,90.5
SM_CCo	16096,51.10,0.627,2,0,1593,300.00	_24V_AH	23.6,14.249
SM_GC	1.52,0.00,0.00,51.10,0.000,0.000,0.627,71,2407,1593,-10.76,0.20,300.00	_10V_AH	10.2,5.964
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38039,779
TT8_MAMPS	0.023777	CFSIZE	260165632,255815680
HUMID	2098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,2,0
TCM_TEMP	16.30	GPS	211107,113528,6134.438,-857.330,30,2.2,49,-9.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.14	SBE_CT	539	24	305.47
Roll_motor	83	72	144.19	SBE_O2	565	19	253.60
VBD_pump_during_apogee	298	1150	8095.31	WL_BB2F	460	105	1142.31
VBD_pump_during_surface	51	627	756.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.31	nil	0	0	0.00
Iridium_during_connect	35	160	132.95	nil	0	0	0.00
Iridium_during_xfer	105	223	553.56
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	39	50	19.94
TT8	1376	19	278.08
LPSleep	12750	2	284.82
TT8_Active	484	19	97.76
TT8_Sampling	1560	39	633.70
TT8_CF8	267	45	124.79
TT8_Kalman	33	81	27.83
Analog_circuits	1231	12	150.76
GPS_charging	0	0	0.00
Compass	1510	8	123.25
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-62.35	0.000	2	0.000	0.000	71	2403	3247
84	-1.08	-146.6	4.2	-6.7	3	107	11.77	2.65	-3.55	0.000	4	0.173	0.073	2168	979	3416
189	-1.08	-146.6	22.3	-12.0	7	197	0.00	2.62	0.00	0.000	6	0.000	0.051	2167	2399	3417
505	-1.08	-146.6	60.6	-12.2	23	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3417
814	-1.08	-146.6	97.2	-12.4	38	816	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3417
1124	-1.08	-146.6	135.2	-11.8	53	1125	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3417
1433	-1.08	-146.6	170.9	-11.3	68	1437	0.00	2.60	0.00	0.000	4	0.000	0.060	2168	981	3417
1464	-1.08	-146.6	174.7	-11.5	69	1472	0.00	2.60	0.00	0.000	6	0.000	0.051	2168	2397	3417
1779	-1.08	-146.6	208.4	-11.1	85	1781	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2397	3417
2089	-1.08	-146.6	242.3	-10.9	100	2093	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	982	3417
2131	-1.08	-146.6	247.1	-10.9	102	2136	0.00	2.60	0.00	0.000	6	0.000	0.051	2168	2399	3417
2458	-1.08	-146.6	284.9	-12.3	118	2459	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2400	3417
2768	-1.08	-146.6	320.4	-10.3	133	2769	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3417
3077	-1.08	-146.6	349.8	-9.2	148	3084	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	976	3417
3124	-1.08	-146.6	354.1	-9.1	150	3129	0.00	2.58	0.00	0.000	6	0.000	0.051	2168	2401	3417
3450	-1.08	-146.6	385.1	-9.7	166	3451	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
3760	-1.08	-146.6	415.8	-9.9	181	3764	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	982	3417
3807	-1.08	-146.6	420.8	-10.4	183	3812	0.00	2.60	0.00	0.000	6	0.000	0.051	2168	2400	3417
4131	-1.08	-146.6	450.4	-8.8	199	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
4439	-1.08	-146.6	475.9	-7.8	214	4443	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	982	3417
4482	-1.08	-146.6	479.4	-7.9	216	4486	0.00	2.58	0.00	0.000	6	0.000	0.051	2168	2403	3417
4808	-1.08	-146.6	507.1	-9.0	232	4809	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2402	3417
5117	-1.08	-146.6	535.1	-8.5	247	5122	0.00	2.60	0.00	0.000	4	0.000	0.060	2168	976	3417
5161	-1.08	-146.6	539.0	-8.7	249	5165	0.00	2.60	0.00	0.000	6	0.000	0.051	2168	2397	3417
5487	-1.08	-146.6	568.2	-8.8	265	5488	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3418
5796	-1.08	-146.6	595.9	-8.9	280	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3418
6106	-1.08	-146.6	622.3	-8.8	295	6107	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3417
6415	-1.08	-146.6	649.6	-8.5	310	6416	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2399	3418
6724	-1.08	-146.6	676.3	-8.6	325	6729	0.00	2.58	0.00	0.000	4	0.000	0.060	2168	984	3417
6808	-1.08	-146.6	683.6	-9.0	329	6812	0.00	2.58	0.00	0.000	6	0.000	0.051	2168	2409	3417
7134	-1.08	-146.6	713.7	-9.4	345	7138	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	984	3417
7165	-1.08	-146.6	716.9	-9.7	346	7172	0.00	2.58	0.00	0.000	6	0.000	0.051	2168	2395	3417
7335	end dive: BOTTOM_OBSTACLE_DETECTED
state	7335	begin apogee
7339	-0.31	0.0	732.2	8.6	355	7464	0.88	0.00	121.32	1.151	6	0.117	0.000	2340	2190	2817
7465	end apogee: CONTROL_FINISHED_OK
state	7465	begin climb
7466	1.08	146.6	735.2	0.0	361	7592	1.50	0.00	119.25	1.131	6	0.091	0.000	2646	2190	2219
7908	1.08	146.6	701.2	8.4	383	7909	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2190	2218
8217	1.09	148.9	676.2	7.9	398	8222	0.00	2.58	0.00	0.000	4	0.000	0.060	2646	793	2217
8272	1.09	148.9	671.6	8.8	400	8279	0.00	2.58	0.00	0.000	6	0.000	0.046	2646	2197	2217
8588	1.09	148.9	643.7	8.5	416	8589	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2196	2217
8897	1.09	148.9	617.7	8.2	431	8898	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2197	2217
9206	1.09	148.9	592.8	8.4	446	9210	0.00	2.62	0.00	0.000	4	0.000	0.069	2646	3614	2217
9271	1.09	148.9	586.9	9.2	449	9276	0.00	2.58	0.00	0.000	6	0.000	0.049	2646	2209	2217
9597	1.09	148.9	559.6	8.4	465	9599	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2209	2217
9907	1.09	148.9	533.2	8.7	480	9908	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2209	2217
10216	1.09	148.9	505.3	9.5	495	10220	0.00	2.60	0.00	0.000	4	0.000	0.069	2647	3612	2216
10270	1.09	148.9	499.4	11.6	497	10275	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2200	2217
10592	1.09	148.9	467.3	9.5	513	10593	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	2216
10901	1.09	148.9	440.7	8.2	528	10902	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	2216
11210	1.09	148.9	414.2	8.9	543	11214	0.00	2.62	0.00	0.000	4	0.000	0.069	2646	3613	2217
11298	1.09	148.9	405.9	9.9	547	11303	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2204	2216
11625	1.09	148.9	378.6	8.0	563	11626	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2204	2216
11934	1.09	153.0	354.1	7.9	578	11943	0.00	0.00	6.28	0.716	6	0.000	0.000	2646	2204	2192
12244	1.10	158.7	329.6	7.8	593	12252	0.00	0.00	6.18	0.705	6	0.000	0.000	2646	2204	2170
12553	1.10	165.4	305.3	7.8	608	12562	0.00	0.00	7.12	0.719	6	0.000	0.000	2646	2204	2143
12862	1.10	165.4	278.8	9.0	623	12866	0.00	2.62	0.00	0.000	4	0.000	0.068	2646	3615	2142
12929	1.10	165.4	272.2	10.1	626	12934	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2194	2142
13254	1.10	165.4	243.8	8.3	642	13258	0.00	2.65	0.00	0.000	4	0.000	0.068	2646	3620	2142
13297	1.10	165.4	239.7	9.0	644	13302	0.00	2.60	0.00	0.000	6	0.000	0.051	2646	2196	2142
13624	1.10	165.4	212.4	8.2	660	13625	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2196	2142
13933	1.10	165.4	187.7	8.2	675	13937	0.00	2.62	0.00	0.000	4	0.000	0.067	2646	3613	2142
14004	1.10	165.4	181.4	8.9	678	14009	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2200	2142
14326	1.12	180.3	157.6	7.5	694	14341	0.00	0.00	13.27	0.716	6	0.000	0.000	2646	2200	2082
14635	1.12	180.3	131.7	8.7	709	14636	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	2081
14944	1.12	180.3	103.5	9.0	724	14945	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	2081
15254	1.15	211.4	79.9	6.9	739	15280	0.00	0.00	24.73	0.703	6	0.000	0.000	2646	2200	1955
15584	1.15	211.4	49.5	9.1	755	15585	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	1954
15892	1.15	211.4	18.9	9.5	770	15893	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	1954
16056	end climb: SURFACE_DEPTH_REACHED
state	16056	begin surface coast
16078	end surface coast: CONTROL_FINISHED_OK
state	16078	begin surface