Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 91 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2109261.2 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2109261.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 91 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 035657,6246.635,-1243.385,38,3.9,57,-11.8 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 11 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.52 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 040301,6246.649,-1243.355,12,1.6,17,-11.8 MHEAD_RNG_PITCHd_Wd 300.5,19326,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026657 ALTIM_BOTTOM_PING 675.2,65.7

SM_CCo 17562,0.00,0.000,0,0,1790,251.68 _24V_AH 23.6,18.840

SM_GC 1.43,11.38,0.00,0.00,0.064,0.000,0.000,70,2597,1790,-10.47,-0.08,251.68 _10V_AH 10.1,8.960

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41113,842

TT8_MAMPS 0.02301 CAP_FILE_SIZE 115067,0

HUMID 1714 CFSIZE 260165632,253161472

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 220609,085707,6249.564,-1245.912,32,0.8,32,-11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 185 121.12 SBE_CT 619 24 351.05

Roll_motor 85 69 139.13 SBE_O2 577 19 258.81

VBD_pump_during_apogee 358 1048 8859.71 WL_BB2F 513 105 1272.25

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 33 103 81.62 nil 0 0 0.00

Iridium_during_connect 37 160 142.27 nil 0 0 0.00

Iridium_during_xfer 174 223 915.80

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.76

TT8 1498 19 299.58

LPSleep 13794 2 305.13

TT8_Active 452 19 90.47

TT8_Sampling 1688 39 678.81

TT8_CF8 490 45 227.12

TT8_Kalman 0 81 0.00

Analog_circuits 1275 12 154.57

GPS_charging 0 0 0.00

Compass 1651 8 133.41

RAFOS 0 0 0.00

Transponder 39 30 12.09

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -57.25 0.000 6 0.000 0.000 68 2607 3416

80 -1.03 -146.6 7.4 -14.1 3 97 12.10 0.00 0.00 0.000 6 0.186 0.000 2126 2607 3417

409 -0.98 -146.6 54.2 -9.9 19 413 0.00 2.33 0.00 0.000 4 0.000 0.067 2126 3858 3418

505 -0.93 -146.6 64.7 -10.3 23 509 0.15 2.17 0.00 0.000 6 0.104 0.028 2155 2579 3418

823 -0.98 -146.6 87.7 -6.7 38 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2577 3419

1131 -1.03 -146.6 109.6 -7.3 53 1135 0.00 2.42 0.00 0.000 4 0.000 0.041 2154 1202 3419

1172 -1.12 -146.6 112.5 -6.8 55 1177 0.17 2.45 0.00 0.000 6 0.041 0.038 2101 2596 3419

1499 -1.02 -146.6 145.8 -10.3 71 1501 0.17 0.00 0.00 0.000 6 0.097 0.000 2133 2597 3419

1808 -1.02 -146.6 173.2 -9.0 86 1809 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2597 3419

2118 -1.02 -146.6 201.5 -9.5 101 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2597 3419

2427 -1.02 -146.6 229.6 -9.2 116 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2597 3419

2736 -1.02 -146.6 257.9 -9.1 131 2737 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2597 3418

3045 -1.02 -146.6 286.4 -9.1 146 3050 0.00 2.45 0.00 0.000 4 0.000 0.041 2134 1206 3418

3090 -1.07 -146.6 290.6 -9.5 148 3094 0.00 2.45 0.00 0.000 6 0.000 0.038 2134 2601 3418

3411 -1.07 -146.6 320.5 -9.0 164 3412 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2601 3418

3720 -1.07 -146.6 346.8 -8.4 179 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2602 3418

4029 -1.07 -146.6 372.9 -8.5 194 4033 0.00 2.45 0.00 0.000 4 0.000 0.041 2134 1211 3417

4075 -1.12 -146.6 376.7 -8.5 196 4079 0.00 2.45 0.00 0.000 6 0.000 0.038 2134 2603 3418

4395 -1.12 -146.6 404.0 -8.2 212 4397 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2604 3418

4704 -1.12 -146.6 430.8 -8.8 227 4706 0.00 0.00 0.00 0.000 6 0.000 0.000 2134 2604 3418

5014 -1.12 -146.6 456.6 -8.0 242 5018 0.00 2.45 0.00 0.000 4 0.000 0.041 2134 1211 3418

5054 -1.17 -146.6 459.4 -7.5 244 5059 0.12 2.45 0.00 0.000 6 0.050 0.039 2094 2605 3418

5381 -1.07 -146.6 492.9 -10.5 260 5383 0.15 0.00 0.00 0.000 6 0.097 0.000 2123 2605 3418

5690 -1.07 -146.6 517.6 -7.9 275 5691 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2605 3418

5999 -1.07 -146.6 543.8 -8.6 290 6003 0.00 2.45 0.00 0.000 4 0.000 0.041 2123 1211 3418

6038 -1.07 -146.6 547.0 -8.2 292 6042 0.00 2.45 0.00 0.000 6 0.000 0.039 2123 2605 3418

6365 -1.07 -146.6 575.1 -9.3 308 6366 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2605 3417

6673 -1.07 -146.6 604.6 -9.6 323 6674 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2605 3417

6983 -1.07 -146.6 631.5 -8.6 338 6987 0.00 2.47 0.00 0.000 4 0.000 0.044 2123 1206 3417

7068 -1.07 -146.6 639.0 -9.2 342 7072 0.00 2.47 0.00 0.000 6 0.000 0.041 2122 2608 3416

7394 -1.07 -146.6 668.0 -9.2 358 7395 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2608 3416

7704 -1.07 -146.6 692.5 -7.5 373 7705 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2608 3416

8013 -1.07 -146.6 717.5 -8.1 388 8017 0.00 2.47 0.00 0.000 4 0.000 0.045 2123 1212 3416

8085 -1.07 -146.6 723.4 -8.1 391 8089 0.00 2.47 0.00 0.000 6 0.000 0.043 2123 2606 3415

8171 end dive: BOTTOM_OBSTACLE_DETECTED

state 8171 begin apogee

8178 -0.31 0.0 731.0 8.7 395 8314 0.82 0.00 129.27 1.048 6 0.105 0.000 2288 2308 2816

8315 end apogee: CONTROL_FINISHED_OK

state 8315 begin climb

8318 1.03 146.6 735.5 0.0 402 8458 1.40 2.60 130.85 1.038 4 0.072 0.050 2583 908 2218

8582 0.91 146.6 724.5 7.8 414 8587 0.12 2.50 0.00 0.000 6 0.091 0.040 2560 2302 2212

8898 0.82 150.1 702.0 7.4 429 8899 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2302 2210

9207 0.76 159.4 680.3 7.2 444 9224 0.17 2.58 11.05 0.894 4 0.099 0.050 2523 908 2166

9293 0.84 180.6 674.7 6.8 447 9319 0.00 2.50 20.83 0.958 6 0.000 0.041 2523 2304 2080

9644 0.93 197.7 651.3 6.9 464 9666 0.17 2.75 16.25 0.930 4 0.050 0.069 2574 3702 2009

9770 0.81 197.7 639.2 10.1 469 9775 0.20 2.45 0.00 0.000 6 0.094 0.033 2535 2310 2008

10086 0.89 210.1 616.2 7.1 484 10107 0.00 2.67 12.20 0.884 4 0.000 0.053 2535 894 1958

10160 0.95 210.1 610.8 7.5 487 10165 0.15 2.50 0.00 0.000 6 0.051 0.038 2577 2302 1957

10481 0.90 210.1 583.0 8.6 503 10485 0.00 2.62 0.00 0.000 4 0.000 0.066 2577 3704 1956

10548 0.80 210.1 577.0 9.1 506 10553 0.22 2.47 0.00 0.000 6 0.096 0.031 2533 2292 1956

10869 0.92 249.0 556.2 6.2 522 10910 0.12 0.00 37.60 0.928 6 0.052 0.000 2570 2292 1801

11218 0.92 249.0 527.5 8.6 539 11219 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2292 1794

11528 0.92 249.0 500.6 9.0 554 11529 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2292 1794

11837 0.92 249.0 472.9 9.3 569 11838 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2292 1793

12146 0.92 249.0 444.5 9.1 584 12147 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2292 1793

12455 0.92 249.0 416.3 8.7 599 12456 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2292 1794

12764 0.92 249.0 390.0 8.4 614 12765 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2292 1794

13074 0.92 249.0 364.7 8.2 629 13075 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2292 1793

13383 0.92 249.0 339.4 8.3 644 13384 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2292 1793

13692 0.92 249.0 313.7 8.3 659 13693 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2292 1794

14001 0.92 249.0 287.6 8.6 674 14006 0.00 2.60 0.00 0.000 4 0.000 0.061 2569 3701 1793

14043 0.92 249.0 283.9 9.6 676 14048 0.00 2.42 0.00 0.000 6 0.000 0.031 2569 2299 1794

14370 0.92 249.0 255.9 8.3 692 14371 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2299 1793

14679 0.92 249.0 230.6 8.2 707 14680 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2299 1793

14989 0.92 249.0 205.3 8.3 722 14990 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2299 1794

15298 0.92 249.0 178.7 8.6 737 15299 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2299 1794

15607 0.92 249.0 152.4 8.3 752 15611 0.00 2.50 0.00 0.000 4 0.000 0.048 2569 895 1794

15645 0.92 249.0 149.1 8.2 753 15652 0.00 2.45 0.00 0.000 6 0.000 0.035 2569 2302 1793

15963 0.92 249.0 123.3 8.1 769 15967 0.00 2.58 0.00 0.000 4 0.000 0.061 2569 3702 1794

16002 0.92 249.0 119.7 9.1 771 16007 0.00 2.42 0.00 0.000 6 0.000 0.030 2569 2297 1794

16330 0.92 249.0 92.5 8.4 787 16331 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2296 1794

16639 0.92 249.0 66.2 8.7 802 16640 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2296 1794

16948 0.92 249.0 41.1 7.7 817 16952 0.00 2.47 0.00 0.000 4 0.000 0.046 2569 898 1794

17020 0.92 250.5 35.3 7.4 820 17025 0.00 2.45 0.00 0.000 6 0.000 0.035 2569 2305 1793

17337 0.98 250.5 11.5 8.0 835 17338 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2305 1794

17457 end climb: SURFACE_DEPTH_REACHED

state 17457 begin surface coast

17479 end surface coast: CONTROL_FINISHED_OK

state 17480 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	91	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2109261.2	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	035657,6246.635,-1243.385,38,3.9,57,-11.8	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	11	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.52	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	040301,6246.649,-1243.355,12,1.6,17,-11.8	MHEAD_RNG_PITCHd_Wd	300.5,19326,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026657	ALTIM_BOTTOM_PING	675.2,65.7
SM_CCo	17562,0.00,0.000,0,0,1790,251.68	_24V_AH	23.6,18.840
SM_GC	1.43,11.38,0.00,0.00,0.064,0.000,0.000,70,2597,1790,-10.47,-0.08,251.68	_10V_AH	10.1,8.960
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41113,842
TT8_MAMPS	0.02301	CAP_FILE_SIZE	115067,0
HUMID	1714	CFSIZE	260165632,253161472
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	220609,085707,6249.564,-1245.912,32,0.8,32,-11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	185	121.12	SBE_CT	619	24	351.05
Roll_motor	85	69	139.13	SBE_O2	577	19	258.81
VBD_pump_during_apogee	358	1048	8859.71	WL_BB2F	513	105	1272.25
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	33	103	81.62	nil	0	0	0.00
Iridium_during_connect	37	160	142.27	nil	0	0	0.00
Iridium_during_xfer	174	223	915.80
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.76
TT8	1498	19	299.58
LPSleep	13794	2	305.13
TT8_Active	452	19	90.47
TT8_Sampling	1688	39	678.81
TT8_CF8	490	45	227.12
TT8_Kalman	0	81	0.00
Analog_circuits	1275	12	154.57
GPS_charging	0	0	0.00
Compass	1651	8	133.41
RAFOS	0	0	0.00
Transponder	39	30	12.09

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-57.25	0.000	6	0.000	0.000	68	2607	3416
80	-1.03	-146.6	7.4	-14.1	3	97	12.10	0.00	0.00	0.000	6	0.186	0.000	2126	2607	3417
409	-0.98	-146.6	54.2	-9.9	19	413	0.00	2.33	0.00	0.000	4	0.000	0.067	2126	3858	3418
505	-0.93	-146.6	64.7	-10.3	23	509	0.15	2.17	0.00	0.000	6	0.104	0.028	2155	2579	3418
823	-0.98	-146.6	87.7	-6.7	38	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2577	3419
1131	-1.03	-146.6	109.6	-7.3	53	1135	0.00	2.42	0.00	0.000	4	0.000	0.041	2154	1202	3419
1172	-1.12	-146.6	112.5	-6.8	55	1177	0.17	2.45	0.00	0.000	6	0.041	0.038	2101	2596	3419
1499	-1.02	-146.6	145.8	-10.3	71	1501	0.17	0.00	0.00	0.000	6	0.097	0.000	2133	2597	3419
1808	-1.02	-146.6	173.2	-9.0	86	1809	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2597	3419
2118	-1.02	-146.6	201.5	-9.5	101	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2597	3419
2427	-1.02	-146.6	229.6	-9.2	116	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2597	3419
2736	-1.02	-146.6	257.9	-9.1	131	2737	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2597	3418
3045	-1.02	-146.6	286.4	-9.1	146	3050	0.00	2.45	0.00	0.000	4	0.000	0.041	2134	1206	3418
3090	-1.07	-146.6	290.6	-9.5	148	3094	0.00	2.45	0.00	0.000	6	0.000	0.038	2134	2601	3418
3411	-1.07	-146.6	320.5	-9.0	164	3412	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2601	3418
3720	-1.07	-146.6	346.8	-8.4	179	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2602	3418
4029	-1.07	-146.6	372.9	-8.5	194	4033	0.00	2.45	0.00	0.000	4	0.000	0.041	2134	1211	3417
4075	-1.12	-146.6	376.7	-8.5	196	4079	0.00	2.45	0.00	0.000	6	0.000	0.038	2134	2603	3418
4395	-1.12	-146.6	404.0	-8.2	212	4397	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2604	3418
4704	-1.12	-146.6	430.8	-8.8	227	4706	0.00	0.00	0.00	0.000	6	0.000	0.000	2134	2604	3418
5014	-1.12	-146.6	456.6	-8.0	242	5018	0.00	2.45	0.00	0.000	4	0.000	0.041	2134	1211	3418
5054	-1.17	-146.6	459.4	-7.5	244	5059	0.12	2.45	0.00	0.000	6	0.050	0.039	2094	2605	3418
5381	-1.07	-146.6	492.9	-10.5	260	5383	0.15	0.00	0.00	0.000	6	0.097	0.000	2123	2605	3418
5690	-1.07	-146.6	517.6	-7.9	275	5691	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2605	3418
5999	-1.07	-146.6	543.8	-8.6	290	6003	0.00	2.45	0.00	0.000	4	0.000	0.041	2123	1211	3418
6038	-1.07	-146.6	547.0	-8.2	292	6042	0.00	2.45	0.00	0.000	6	0.000	0.039	2123	2605	3418
6365	-1.07	-146.6	575.1	-9.3	308	6366	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2605	3417
6673	-1.07	-146.6	604.6	-9.6	323	6674	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2605	3417
6983	-1.07	-146.6	631.5	-8.6	338	6987	0.00	2.47	0.00	0.000	4	0.000	0.044	2123	1206	3417
7068	-1.07	-146.6	639.0	-9.2	342	7072	0.00	2.47	0.00	0.000	6	0.000	0.041	2122	2608	3416
7394	-1.07	-146.6	668.0	-9.2	358	7395	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2608	3416
7704	-1.07	-146.6	692.5	-7.5	373	7705	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2608	3416
8013	-1.07	-146.6	717.5	-8.1	388	8017	0.00	2.47	0.00	0.000	4	0.000	0.045	2123	1212	3416
8085	-1.07	-146.6	723.4	-8.1	391	8089	0.00	2.47	0.00	0.000	6	0.000	0.043	2123	2606	3415
8171	end dive: BOTTOM_OBSTACLE_DETECTED
state	8171	begin apogee
8178	-0.31	0.0	731.0	8.7	395	8314	0.82	0.00	129.27	1.048	6	0.105	0.000	2288	2308	2816
8315	end apogee: CONTROL_FINISHED_OK
state	8315	begin climb
8318	1.03	146.6	735.5	0.0	402	8458	1.40	2.60	130.85	1.038	4	0.072	0.050	2583	908	2218
8582	0.91	146.6	724.5	7.8	414	8587	0.12	2.50	0.00	0.000	6	0.091	0.040	2560	2302	2212
8898	0.82	150.1	702.0	7.4	429	8899	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2302	2210
9207	0.76	159.4	680.3	7.2	444	9224	0.17	2.58	11.05	0.894	4	0.099	0.050	2523	908	2166
9293	0.84	180.6	674.7	6.8	447	9319	0.00	2.50	20.83	0.958	6	0.000	0.041	2523	2304	2080
9644	0.93	197.7	651.3	6.9	464	9666	0.17	2.75	16.25	0.930	4	0.050	0.069	2574	3702	2009
9770	0.81	197.7	639.2	10.1	469	9775	0.20	2.45	0.00	0.000	6	0.094	0.033	2535	2310	2008
10086	0.89	210.1	616.2	7.1	484	10107	0.00	2.67	12.20	0.884	4	0.000	0.053	2535	894	1958
10160	0.95	210.1	610.8	7.5	487	10165	0.15	2.50	0.00	0.000	6	0.051	0.038	2577	2302	1957
10481	0.90	210.1	583.0	8.6	503	10485	0.00	2.62	0.00	0.000	4	0.000	0.066	2577	3704	1956
10548	0.80	210.1	577.0	9.1	506	10553	0.22	2.47	0.00	0.000	6	0.096	0.031	2533	2292	1956
10869	0.92	249.0	556.2	6.2	522	10910	0.12	0.00	37.60	0.928	6	0.052	0.000	2570	2292	1801
11218	0.92	249.0	527.5	8.6	539	11219	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2292	1794
11528	0.92	249.0	500.6	9.0	554	11529	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2292	1794
11837	0.92	249.0	472.9	9.3	569	11838	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2292	1793
12146	0.92	249.0	444.5	9.1	584	12147	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2292	1793
12455	0.92	249.0	416.3	8.7	599	12456	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2292	1794
12764	0.92	249.0	390.0	8.4	614	12765	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2292	1794
13074	0.92	249.0	364.7	8.2	629	13075	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2292	1793
13383	0.92	249.0	339.4	8.3	644	13384	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2292	1793
13692	0.92	249.0	313.7	8.3	659	13693	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2292	1794
14001	0.92	249.0	287.6	8.6	674	14006	0.00	2.60	0.00	0.000	4	0.000	0.061	2569	3701	1793
14043	0.92	249.0	283.9	9.6	676	14048	0.00	2.42	0.00	0.000	6	0.000	0.031	2569	2299	1794
14370	0.92	249.0	255.9	8.3	692	14371	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2299	1793
14679	0.92	249.0	230.6	8.2	707	14680	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2299	1793
14989	0.92	249.0	205.3	8.3	722	14990	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2299	1794
15298	0.92	249.0	178.7	8.6	737	15299	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2299	1794
15607	0.92	249.0	152.4	8.3	752	15611	0.00	2.50	0.00	0.000	4	0.000	0.048	2569	895	1794
15645	0.92	249.0	149.1	8.2	753	15652	0.00	2.45	0.00	0.000	6	0.000	0.035	2569	2302	1793
15963	0.92	249.0	123.3	8.1	769	15967	0.00	2.58	0.00	0.000	4	0.000	0.061	2569	3702	1794
16002	0.92	249.0	119.7	9.1	771	16007	0.00	2.42	0.00	0.000	6	0.000	0.030	2569	2297	1794
16330	0.92	249.0	92.5	8.4	787	16331	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2296	1794
16639	0.92	249.0	66.2	8.7	802	16640	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2296	1794
16948	0.92	249.0	41.1	7.7	817	16952	0.00	2.47	0.00	0.000	4	0.000	0.046	2569	898	1794
17020	0.92	250.5	35.3	7.4	820	17025	0.00	2.45	0.00	0.000	6	0.000	0.035	2569	2305	1793
17337	0.98	250.5	11.5	8.0	835	17338	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2305	1794
17457	end climb: SURFACE_DEPTH_REACHED
state	17457	begin surface coast
17479	end surface coast: CONTROL_FINISHED_OK
state	17480	begin surface