Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 144 * 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 144 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 566.1524 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 26 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 -2078436.8 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 566.1524

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 -2078436.8

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 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 144 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 043628,6239.432,-1022.333,30,2.3,49,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.080

_SM_DEPTHo 1.18 KALMAN_X -124846.2,1550.3,1025.9,54658.9,-27011.1

_SM_ANGLEo -54.4 KALMAN_Y 115241.5,-305.2,200.0,-1691.8,-5404.6

GPS2 044141,6239.449,-1022.414,14,2.3,33,-10.4 MHEAD_RNG_PITCHd_Wd 79.2,40843,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027371 ALTIM_BOTTOM_PING 450.2,98.9

SM_CCo 14501,169.60,0.655,1,0,509,566.15 _24V_AH 23.6,25.836

SM_GC 1.13,0.00,0.00,169.60,0.000,0.000,0.655,65,2401,509,-10.78,0.03,566.15 _10V_AH 10.2,12.476

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34777,705

TT8_MAMPS 0.02301 CFSIZE 260165632,250982400

HUMID 2068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,1,0

TCM_TEMP 15.90 GPS 081207,084828,6241.458,-1017.826,27,2.8,46,-10.4

XPDR_PINGS 22

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 104.16 SBE_CT 500 24 283.47

Roll_motor 136 79 257.44 SBE_O2 496 19 222.42

VBD_pump_during_apogee 331 1045 8176.90 WL_BB2F 485 105 1201.96

VBD_pump_during_surface 169 655 2621.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.23 nil 0 0 0.00

Iridium_during_connect 34 160 128.60 nil 0 0 0.00

Iridium_during_xfer 133 223 704.58

Transponder_ping 9 420 89.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.73

TT8 1283 19 259.15

LPSleep 11162 2 249.35

TT8_Active 689 19 139.18

TT8_Sampling 1520 39 617.16

TT8_CF8 340 45 158.93

TT8_Kalman 33 81 27.84

Analog_circuits 1450 12 177.58

GPS_charging 0 0 0.00

Compass 1470 8 120.03

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.82 0.000 2 0.000 0.000 65 2411 3103

126 -0.85 -146.6 3.6 -2.8 5 149 12.30 0.00 -7.30 0.000 6 0.173 0.000 2217 2411 3416

453 -0.85 -146.6 34.4 -8.1 21 454 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2411 3417

761 -0.85 -146.6 58.9 -8.9 36 765 0.00 2.65 0.00 0.000 4 0.000 0.063 2217 984 3417

792 -0.85 -146.6 61.9 -9.1 37 800 0.00 2.58 0.00 0.000 6 0.000 0.051 2217 2394 3417

1108 -0.85 -146.6 84.7 -7.0 53 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2394 3417

1418 -0.85 -146.6 106.1 -7.0 68 1422 0.00 2.62 0.00 0.000 4 0.000 0.066 2217 984 3417

1461 -0.85 -146.6 109.3 -7.0 70 1465 0.00 2.58 0.00 0.000 6 0.000 0.052 2217 2406 3417

1787 -0.85 -146.6 134.0 -7.8 86 1792 0.00 2.65 0.00 0.000 4 0.000 0.067 2217 985 3417

1814 -0.85 -146.6 136.3 -8.1 87 1819 0.00 2.58 0.00 0.000 6 0.000 0.053 2217 2405 3417

2135 -0.85 -146.6 161.5 -7.8 103 2139 0.00 2.67 0.00 0.000 4 0.000 0.068 2217 978 3417

2166 -0.85 -146.6 164.0 -8.1 104 2173 0.00 2.60 0.00 0.000 6 0.000 0.053 2217 2399 3417

2482 -0.85 -146.6 188.6 -8.0 120 2486 0.00 2.65 0.00 0.000 4 0.000 0.068 2217 980 3417

2513 -0.85 -146.6 191.4 -8.6 121 2520 0.00 2.60 0.00 0.000 6 0.000 0.054 2217 2398 3417

2829 -0.85 -146.6 216.8 -8.4 137 2830 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2398 3417

3138 -0.85 -146.6 242.1 -8.5 152 3143 0.00 2.65 0.00 0.000 4 0.000 0.070 2217 983 3417

3200 -0.85 -146.6 247.4 -8.7 155 3204 0.00 2.55 0.00 0.000 6 0.000 0.052 2217 2403 3418

3525 -0.85 -146.6 274.1 -8.2 171 3529 0.00 2.65 0.00 0.000 4 0.000 0.069 2217 985 3417

3564 -0.85 -146.6 277.5 -8.9 173 3568 0.00 2.55 0.00 0.000 6 0.000 0.054 2217 2400 3417

3889 -0.85 -146.6 306.3 -8.8 189 3893 0.00 2.65 0.00 0.000 4 0.000 0.070 2217 983 3417

3928 -0.85 -146.6 309.7 -8.6 191 3932 0.00 2.58 0.00 0.000 6 0.000 0.054 2217 2407 3417

4253 -0.85 -146.6 337.6 -8.1 207 4257 0.00 2.67 0.00 0.000 4 0.000 0.070 2217 979 3417

4313 -0.85 -146.6 342.3 -7.5 210 4318 0.00 2.58 0.00 0.000 6 0.000 0.054 2217 2403 3417

4640 -0.85 -146.6 367.2 -7.8 226 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2403 3417

4949 -0.85 -146.6 392.9 -9.0 241 4954 0.00 2.67 0.00 0.000 4 0.000 0.071 2217 979 3417

4975 -0.85 -146.6 395.4 -9.2 242 4980 0.00 2.60 0.00 0.000 6 0.000 0.054 2217 2401 3417

5298 -0.85 -146.6 426.7 -9.6 258 5303 0.00 2.65 0.00 0.000 4 0.000 0.070 2217 984 3417

5347 -0.85 -146.6 431.4 -8.7 260 5352 0.00 2.58 0.00 0.000 6 0.000 0.055 2217 2406 3418

5669 -0.85 -146.6 454.1 -6.3 276 5670 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 2405 3418

5978 -0.85 -146.6 475.5 -6.4 291 5982 0.00 2.53 0.00 0.000 4 0.000 0.070 2217 3766 3418

6049 -0.85 -146.6 480.5 -7.1 294 6053 0.00 2.47 0.00 0.000 6 0.000 0.052 2217 2399 3418

6370 -0.85 -146.6 496.9 -3.4 310 6375 0.00 2.65 0.00 0.000 4 0.000 0.076 2217 988 3418

6447 -0.85 -146.6 498.9 -3.0 313 6453 0.00 2.58 0.00 0.000 6 0.000 0.058 2217 2404 3418

6763 -0.85 -146.6 510.4 -4.3 329 6767 0.00 2.55 0.00 0.000 4 0.000 0.077 2217 3763 3418

6839 -0.85 -146.6 514.8 -6.4 332 6846 0.00 2.53 0.00 0.000 6 0.000 0.059 2217 2401 3418

7154 -0.85 -146.6 533.0 -6.3 348 7159 0.00 2.65 0.00 0.000 4 0.000 0.073 2217 986 3418

7171 -0.85 -146.6 534.0 -6.6 349 7175 0.00 2.60 0.00 0.000 6 0.000 0.062 2217 2400 3418

7268 end dive: BOTTOM_OBSTACLE_DETECTED

state 7268 begin apogee

7273 -0.31 0.0 540.3 6.4 354 7396 0.62 0.00 119.82 1.045 6 0.109 0.000 2341 2200 2818

7396 end apogee: CONTROL_FINISHED_OK

state 7396 begin climb

7398 0.85 146.6 543.1 0.0 360 7522 1.23 0.00 118.25 1.029 6 0.097 0.000 2588 2200 2219

7832 0.86 159.8 521.3 5.6 381 7853 0.00 2.78 11.85 0.908 4 0.000 0.077 2589 3610 2164

7920 0.86 159.8 515.3 7.0 385 7925 0.00 2.67 0.00 0.000 6 0.000 0.067 2589 2191 2164

8246 0.86 159.8 495.5 6.1 401 8250 0.00 2.72 0.00 0.000 4 0.000 0.080 2589 3614 2163

8290 0.86 159.8 492.6 6.7 403 8294 0.00 2.67 0.00 0.000 6 0.000 0.067 2589 2193 2163

8610 0.94 234.1 477.8 4.0 419 8675 0.12 2.75 59.22 1.006 4 0.065 0.077 2621 793 1862

8738 0.94 234.1 470.0 7.5 425 8742 0.00 2.62 0.00 0.000 6 0.000 0.058 2621 2201 1861

9063 0.94 234.1 445.4 7.4 441 9065 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1859

9373 0.97 260.9 426.8 5.3 456 9397 0.00 0.00 22.27 0.945 6 0.000 0.000 2621 2201 1753

9702 0.97 260.9 405.8 6.5 472 9706 0.00 2.67 0.00 0.000 4 0.000 0.074 2621 791 1751

9733 0.97 260.9 403.5 7.1 473 9740 0.00 2.60 0.00 0.000 6 0.000 0.050 2621 2197 1751

10049 0.97 260.9 381.4 7.5 489 10053 0.00 2.67 0.00 0.000 4 0.000 0.074 2621 785 1751

10074 0.97 260.9 379.3 7.7 490 10079 0.00 2.60 0.00 0.000 6 0.000 0.048 2621 2197 1751

10396 0.97 260.9 352.7 8.8 506 10397 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2196 1751

10706 0.97 260.9 324.9 8.9 521 10710 0.00 2.65 0.00 0.000 4 0.000 0.071 2621 790 1751

10748 0.97 260.9 321.0 9.1 523 10753 0.00 2.58 0.00 0.000 6 0.000 0.048 2621 2195 1751

11075 0.97 260.9 292.7 8.7 539 11076 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2195 1751

11385 0.97 260.9 266.1 8.5 554 11389 0.00 2.65 0.00 0.000 4 0.000 0.069 2621 784 1751

11411 0.97 260.9 263.6 9.4 555 11415 0.00 2.55 0.00 0.000 6 0.000 0.047 2621 2202 1752

11732 0.97 260.9 237.2 8.0 571 11733 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2201 1752

12041 0.97 260.9 211.9 8.1 586 12046 0.00 2.65 0.00 0.000 4 0.000 0.068 2621 786 1752

12085 0.97 260.9 208.1 8.6 588 12089 0.00 2.58 0.00 0.000 6 0.000 0.047 2621 2197 1753

12411 0.97 260.9 182.3 7.7 604 12412 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2196 1753

12721 0.97 260.9 156.7 8.3 619 12725 0.00 2.62 0.00 0.000 4 0.000 0.067 2622 789 1753

12759 0.97 260.9 153.3 9.1 621 12764 0.00 2.53 0.00 0.000 6 0.000 0.044 2621 2203 1753

13085 0.97 260.9 126.0 8.4 637 13087 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2203 1753

13395 0.97 260.9 97.3 9.5 652 13399 0.00 2.62 0.00 0.000 4 0.000 0.066 2621 790 1754

13421 0.97 260.9 94.6 9.8 653 13425 0.00 2.53 0.00 0.000 6 0.000 0.044 2621 2199 1754

13742 0.97 260.9 71.2 6.9 669 13743 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2199 1754

14051 0.97 260.9 40.2 10.1 684 14056 0.00 2.62 0.00 0.000 4 0.000 0.065 2621 788 1754

14084 0.97 260.9 36.6 10.1 685 14091 0.00 2.55 0.00 0.000 6 0.000 0.044 2621 2198 1754

14399 0.97 260.9 6.0 9.2 701 14400 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2198 1755

14459 end climb: SURFACE_DEPTH_REACHED

state 14460 begin surface coast

14482 end surface coast: CONTROL_FINISHED_OK

state 14482 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	144	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	566.1524	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	26	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	-2078436.8	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	043628,6239.432,-1022.333,30,2.3,49,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.080
_SM_DEPTHo	1.18	KALMAN_X	-124846.2,1550.3,1025.9,54658.9,-27011.1
_SM_ANGLEo	-54.4	KALMAN_Y	115241.5,-305.2,200.0,-1691.8,-5404.6
GPS2	044141,6239.449,-1022.414,14,2.3,33,-10.4	MHEAD_RNG_PITCHd_Wd	79.2,40843,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027371	ALTIM_BOTTOM_PING	450.2,98.9
SM_CCo	14501,169.60,0.655,1,0,509,566.15	_24V_AH	23.6,25.836
SM_GC	1.13,0.00,0.00,169.60,0.000,0.000,0.655,65,2401,509,-10.78,0.03,566.15	_10V_AH	10.2,12.476
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34777,705
TT8_MAMPS	0.02301	CFSIZE	260165632,250982400
HUMID	2068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
TCM_TEMP	15.90	GPS	081207,084828,6241.458,-1017.826,27,2.8,46,-10.4
XPDR_PINGS	22

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	104.16	SBE_CT	500	24	283.47
Roll_motor	136	79	257.44	SBE_O2	496	19	222.42
VBD_pump_during_apogee	331	1045	8176.90	WL_BB2F	485	105	1201.96
VBD_pump_during_surface	169	655	2621.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.23	nil	0	0	0.00
Iridium_during_connect	34	160	128.60	nil	0	0	0.00
Iridium_during_xfer	133	223	704.58
Transponder_ping	9	420	89.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.73
TT8	1283	19	259.15
LPSleep	11162	2	249.35
TT8_Active	689	19	139.18
TT8_Sampling	1520	39	617.16
TT8_CF8	340	45	158.93
TT8_Kalman	33	81	27.84
Analog_circuits	1450	12	177.58
GPS_charging	0	0	0.00
Compass	1470	8	120.03
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.82	0.000	2	0.000	0.000	65	2411	3103
126	-0.85	-146.6	3.6	-2.8	5	149	12.30	0.00	-7.30	0.000	6	0.173	0.000	2217	2411	3416
453	-0.85	-146.6	34.4	-8.1	21	454	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2411	3417
761	-0.85	-146.6	58.9	-8.9	36	765	0.00	2.65	0.00	0.000	4	0.000	0.063	2217	984	3417
792	-0.85	-146.6	61.9	-9.1	37	800	0.00	2.58	0.00	0.000	6	0.000	0.051	2217	2394	3417
1108	-0.85	-146.6	84.7	-7.0	53	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2394	3417
1418	-0.85	-146.6	106.1	-7.0	68	1422	0.00	2.62	0.00	0.000	4	0.000	0.066	2217	984	3417
1461	-0.85	-146.6	109.3	-7.0	70	1465	0.00	2.58	0.00	0.000	6	0.000	0.052	2217	2406	3417
1787	-0.85	-146.6	134.0	-7.8	86	1792	0.00	2.65	0.00	0.000	4	0.000	0.067	2217	985	3417
1814	-0.85	-146.6	136.3	-8.1	87	1819	0.00	2.58	0.00	0.000	6	0.000	0.053	2217	2405	3417
2135	-0.85	-146.6	161.5	-7.8	103	2139	0.00	2.67	0.00	0.000	4	0.000	0.068	2217	978	3417
2166	-0.85	-146.6	164.0	-8.1	104	2173	0.00	2.60	0.00	0.000	6	0.000	0.053	2217	2399	3417
2482	-0.85	-146.6	188.6	-8.0	120	2486	0.00	2.65	0.00	0.000	4	0.000	0.068	2217	980	3417
2513	-0.85	-146.6	191.4	-8.6	121	2520	0.00	2.60	0.00	0.000	6	0.000	0.054	2217	2398	3417
2829	-0.85	-146.6	216.8	-8.4	137	2830	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2398	3417
3138	-0.85	-146.6	242.1	-8.5	152	3143	0.00	2.65	0.00	0.000	4	0.000	0.070	2217	983	3417
3200	-0.85	-146.6	247.4	-8.7	155	3204	0.00	2.55	0.00	0.000	6	0.000	0.052	2217	2403	3418
3525	-0.85	-146.6	274.1	-8.2	171	3529	0.00	2.65	0.00	0.000	4	0.000	0.069	2217	985	3417
3564	-0.85	-146.6	277.5	-8.9	173	3568	0.00	2.55	0.00	0.000	6	0.000	0.054	2217	2400	3417
3889	-0.85	-146.6	306.3	-8.8	189	3893	0.00	2.65	0.00	0.000	4	0.000	0.070	2217	983	3417
3928	-0.85	-146.6	309.7	-8.6	191	3932	0.00	2.58	0.00	0.000	6	0.000	0.054	2217	2407	3417
4253	-0.85	-146.6	337.6	-8.1	207	4257	0.00	2.67	0.00	0.000	4	0.000	0.070	2217	979	3417
4313	-0.85	-146.6	342.3	-7.5	210	4318	0.00	2.58	0.00	0.000	6	0.000	0.054	2217	2403	3417
4640	-0.85	-146.6	367.2	-7.8	226	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2403	3417
4949	-0.85	-146.6	392.9	-9.0	241	4954	0.00	2.67	0.00	0.000	4	0.000	0.071	2217	979	3417
4975	-0.85	-146.6	395.4	-9.2	242	4980	0.00	2.60	0.00	0.000	6	0.000	0.054	2217	2401	3417
5298	-0.85	-146.6	426.7	-9.6	258	5303	0.00	2.65	0.00	0.000	4	0.000	0.070	2217	984	3417
5347	-0.85	-146.6	431.4	-8.7	260	5352	0.00	2.58	0.00	0.000	6	0.000	0.055	2217	2406	3418
5669	-0.85	-146.6	454.1	-6.3	276	5670	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	2405	3418
5978	-0.85	-146.6	475.5	-6.4	291	5982	0.00	2.53	0.00	0.000	4	0.000	0.070	2217	3766	3418
6049	-0.85	-146.6	480.5	-7.1	294	6053	0.00	2.47	0.00	0.000	6	0.000	0.052	2217	2399	3418
6370	-0.85	-146.6	496.9	-3.4	310	6375	0.00	2.65	0.00	0.000	4	0.000	0.076	2217	988	3418
6447	-0.85	-146.6	498.9	-3.0	313	6453	0.00	2.58	0.00	0.000	6	0.000	0.058	2217	2404	3418
6763	-0.85	-146.6	510.4	-4.3	329	6767	0.00	2.55	0.00	0.000	4	0.000	0.077	2217	3763	3418
6839	-0.85	-146.6	514.8	-6.4	332	6846	0.00	2.53	0.00	0.000	6	0.000	0.059	2217	2401	3418
7154	-0.85	-146.6	533.0	-6.3	348	7159	0.00	2.65	0.00	0.000	4	0.000	0.073	2217	986	3418
7171	-0.85	-146.6	534.0	-6.6	349	7175	0.00	2.60	0.00	0.000	6	0.000	0.062	2217	2400	3418
7268	end dive: BOTTOM_OBSTACLE_DETECTED
state	7268	begin apogee
7273	-0.31	0.0	540.3	6.4	354	7396	0.62	0.00	119.82	1.045	6	0.109	0.000	2341	2200	2818
7396	end apogee: CONTROL_FINISHED_OK
state	7396	begin climb
7398	0.85	146.6	543.1	0.0	360	7522	1.23	0.00	118.25	1.029	6	0.097	0.000	2588	2200	2219
7832	0.86	159.8	521.3	5.6	381	7853	0.00	2.78	11.85	0.908	4	0.000	0.077	2589	3610	2164
7920	0.86	159.8	515.3	7.0	385	7925	0.00	2.67	0.00	0.000	6	0.000	0.067	2589	2191	2164
8246	0.86	159.8	495.5	6.1	401	8250	0.00	2.72	0.00	0.000	4	0.000	0.080	2589	3614	2163
8290	0.86	159.8	492.6	6.7	403	8294	0.00	2.67	0.00	0.000	6	0.000	0.067	2589	2193	2163
8610	0.94	234.1	477.8	4.0	419	8675	0.12	2.75	59.22	1.006	4	0.065	0.077	2621	793	1862
8738	0.94	234.1	470.0	7.5	425	8742	0.00	2.62	0.00	0.000	6	0.000	0.058	2621	2201	1861
9063	0.94	234.1	445.4	7.4	441	9065	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1859
9373	0.97	260.9	426.8	5.3	456	9397	0.00	0.00	22.27	0.945	6	0.000	0.000	2621	2201	1753
9702	0.97	260.9	405.8	6.5	472	9706	0.00	2.67	0.00	0.000	4	0.000	0.074	2621	791	1751
9733	0.97	260.9	403.5	7.1	473	9740	0.00	2.60	0.00	0.000	6	0.000	0.050	2621	2197	1751
10049	0.97	260.9	381.4	7.5	489	10053	0.00	2.67	0.00	0.000	4	0.000	0.074	2621	785	1751
10074	0.97	260.9	379.3	7.7	490	10079	0.00	2.60	0.00	0.000	6	0.000	0.048	2621	2197	1751
10396	0.97	260.9	352.7	8.8	506	10397	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2196	1751
10706	0.97	260.9	324.9	8.9	521	10710	0.00	2.65	0.00	0.000	4	0.000	0.071	2621	790	1751
10748	0.97	260.9	321.0	9.1	523	10753	0.00	2.58	0.00	0.000	6	0.000	0.048	2621	2195	1751
11075	0.97	260.9	292.7	8.7	539	11076	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2195	1751
11385	0.97	260.9	266.1	8.5	554	11389	0.00	2.65	0.00	0.000	4	0.000	0.069	2621	784	1751
11411	0.97	260.9	263.6	9.4	555	11415	0.00	2.55	0.00	0.000	6	0.000	0.047	2621	2202	1752
11732	0.97	260.9	237.2	8.0	571	11733	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2201	1752
12041	0.97	260.9	211.9	8.1	586	12046	0.00	2.65	0.00	0.000	4	0.000	0.068	2621	786	1752
12085	0.97	260.9	208.1	8.6	588	12089	0.00	2.58	0.00	0.000	6	0.000	0.047	2621	2197	1753
12411	0.97	260.9	182.3	7.7	604	12412	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2196	1753
12721	0.97	260.9	156.7	8.3	619	12725	0.00	2.62	0.00	0.000	4	0.000	0.067	2622	789	1753
12759	0.97	260.9	153.3	9.1	621	12764	0.00	2.53	0.00	0.000	6	0.000	0.044	2621	2203	1753
13085	0.97	260.9	126.0	8.4	637	13087	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2203	1753
13395	0.97	260.9	97.3	9.5	652	13399	0.00	2.62	0.00	0.000	4	0.000	0.066	2621	790	1754
13421	0.97	260.9	94.6	9.8	653	13425	0.00	2.53	0.00	0.000	6	0.000	0.044	2621	2199	1754
13742	0.97	260.9	71.2	6.9	669	13743	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2199	1754
14051	0.97	260.9	40.2	10.1	684	14056	0.00	2.62	0.00	0.000	4	0.000	0.065	2621	788	1754
14084	0.97	260.9	36.6	10.1	685	14091	0.00	2.55	0.00	0.000	6	0.000	0.044	2621	2198	1754
14399	0.97	260.9	6.0	9.2	701	14400	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2198	1755
14459	end climb: SURFACE_DEPTH_REACHED
state	14460	begin surface coast
14482	end surface coast: CONTROL_FINISHED_OK
state	14482	begin surface