Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 343 * 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 343 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -2085200.1 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2085200.1

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

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

DIVE 343 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 210408,6246.025,-532.064,39,1.8,39,-7.8 TGT_NAME FC1K

_CALLS 1 TGT_LATLONG 6247.000,-415.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,0.048

_SM_DEPTHo 1.44 KALMAN_X 76895.4,1007.5,-1285.1,111264.9,-2704.1

_SM_ANGLEo -59.3 KALMAN_Y -8374.2,1064.5,1263.9,131574.1,-13726.2

GPS2 211008,6246.006,-532.075,32,1.8,33,-7.8 MHEAD_RNG_PITCHd_Wd 96.2,65310,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013878 ALTIM_BOTTOM_PING 525.3,85.1

SM_CCo 14763,15.80,0.591,1,0,1594,300.00 _24V_AH 23.5,53.827

SM_GC 1.23,0.00,0.00,15.80,0.000,0.000,0.591,68,2402,1594,-10.77,0.06,300.00 _10V_AH 10.2,27.954

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34912,711

TT8_MAMPS 0.02301 CFSIZE 260165632,240427008

HUMID 2099 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,1,0

TCM_TEMP 15.70 GPS 160108,011857,6246.288,-525.362,38,2.3,57,-7.7

XPDR_PINGS 36

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 105.72 SBE_CT 520 24 293.49

Roll_motor 148 89 314.06 SBE_O2 486 19 217.24

VBD_pump_during_apogee 346 1105 8987.41 WL_BB2F 473 105 1167.19

VBD_pump_during_surface 15 590 219.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.88 nil 0 0 0.00

Iridium_during_connect 34 160 127.87 nil 0 0 0.00

Iridium_during_xfer 156 223 819.78

Transponder_ping 13 420 130.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.91

TT8 1312 19 265.00

LPSleep 11279 2 251.95

TT8_Active 494 19 99.85

TT8_Sampling 1599 39 649.50

TT8_CF8 461 45 215.66

TT8_Kalman 33 81 27.84

Analog_circuits 1302 12 159.38

GPS_charging 0 0 0.00

Compass 1543 8 125.95

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -61.28 0.000 2 0.000 0.000 71 2401 3103

89 -0.85 -146.6 3.7 -5.3 3 115 12.23 2.70 -7.12 0.000 4 0.175 0.082 2222 976 3417

193 -0.85 -146.6 21.5 -11.1 7 200 0.00 2.65 0.00 0.000 6 0.000 0.058 2222 2403 3419

509 -0.85 -146.6 47.3 -8.1 23 510 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2403 3419

818 -0.85 -146.6 71.0 -8.7 38 823 0.00 2.67 0.00 0.000 4 0.000 0.068 2222 977 3419

858 -0.85 -146.6 74.4 -8.6 40 863 0.00 2.60 0.00 0.000 6 0.000 0.060 2222 2399 3419

1185 -0.85 -146.6 98.2 -7.8 56 1189 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 976 3419

1211 -0.85 -146.6 100.5 -8.1 57 1216 0.00 2.62 0.00 0.000 6 0.000 0.060 2222 2400 3419

1529 -0.85 -146.6 125.9 -7.6 72 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3419

1838 -0.85 -146.6 148.0 -6.6 87 1839 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3419

2146 -0.85 -146.6 171.9 -7.7 102 2150 0.00 2.67 0.00 0.000 4 0.000 0.071 2222 978 3419

2172 -0.85 -146.6 174.0 -8.1 103 2176 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2402 3419

2488 -0.85 -146.6 197.7 -7.3 118 2493 0.00 2.67 0.00 0.000 4 0.000 0.074 2222 976 3419

2528 -0.85 -146.6 200.6 -6.9 120 2532 0.00 2.62 0.00 0.000 6 0.000 0.062 2222 2399 3419

2854 -0.85 -146.6 227.1 -7.6 136 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3419

3164 -0.85 -146.6 253.5 -7.9 151 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2399 3419

3472 -0.85 -146.6 279.3 -8.3 166 3477 0.00 2.67 0.00 0.000 4 0.000 0.072 2222 979 3420

3557 -0.85 -146.6 286.5 -9.2 170 3561 0.00 2.62 0.00 0.000 6 0.000 0.062 2222 2398 3419

3884 -0.85 -146.6 316.0 -8.7 186 3885 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3419

4192 -0.85 -146.6 341.9 -8.3 201 4197 0.00 2.67 0.00 0.000 4 0.000 0.074 2222 980 3419

4236 -0.85 -146.6 345.5 -8.1 203 4241 0.00 2.62 0.00 0.000 6 0.000 0.063 2222 2404 3419

4558 -0.85 -146.6 370.6 -7.4 219 4559 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3419

4867 -0.85 -146.6 395.4 -8.2 234 4871 0.00 2.67 0.00 0.000 4 0.000 0.073 2222 980 3419

4944 -0.85 -146.6 402.0 -8.2 237 4950 0.00 2.65 0.00 0.000 6 0.000 0.063 2222 2408 3419

5260 -0.85 -146.6 428.8 -8.2 253 5264 0.00 2.60 0.00 0.000 4 0.000 0.084 2222 3769 3419

5292 -0.85 -146.6 431.5 -8.5 254 5298 0.00 2.53 0.00 0.000 6 0.000 0.061 2222 2398 3419

5608 -0.85 -146.6 453.8 -6.7 270 5609 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3419

5917 -0.85 -146.6 473.7 -5.9 285 5918 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3419

6226 -0.85 -146.6 491.8 -6.0 300 6230 0.00 2.65 0.00 0.000 4 0.000 0.076 2222 982 3419

6258 -0.85 -146.6 494.0 -6.3 301 6264 0.00 2.62 0.00 0.000 6 0.000 0.063 2222 2406 3419

6574 -0.85 -146.6 518.4 -9.6 317 6578 0.00 2.60 0.00 0.000 4 0.000 0.084 2222 3768 3419

6660 -0.85 -146.6 527.4 -8.7 321 6664 0.00 2.55 0.00 0.000 6 0.000 0.061 2222 2393 3419

6987 -0.85 -146.6 547.9 -6.5 337 6991 0.00 2.67 0.00 0.000 4 0.000 0.087 2222 3773 3419

7048 -0.85 -146.6 552.9 -8.7 340 7052 0.00 2.55 0.00 0.000 6 0.000 0.062 2222 2398 3420

7374 -0.85 -146.6 575.0 -6.2 356 7379 0.00 2.70 0.00 0.000 4 0.000 0.079 2222 977 3420

7429 -0.85 -146.6 578.6 -6.8 358 7435 0.00 2.65 0.00 0.000 6 0.000 0.066 2222 2401 3420

7745 -0.85 -146.6 597.6 -5.9 374 7749 0.00 2.70 0.00 0.000 4 0.000 0.079 2222 982 3419

7792 end dive: BOTTOM_OBSTACLE_DETECTED

state 7792 begin apogee

7800 -0.31 0.0 600.6 6.4 376 7925 0.57 0.00 122.22 1.105 6 0.113 0.000 2337 2200 2817

7926 end apogee: CONTROL_FINISHED_OK

state 7926 begin climb

7929 0.85 146.6 603.0 0.0 382 8059 1.25 2.85 119.82 1.091 4 0.096 0.090 2590 3619 2218

8103 0.85 146.6 595.9 8.3 390 8108 0.00 2.72 0.00 0.000 6 0.000 0.071 2590 2203 2218

8419 0.85 146.6 574.0 6.4 405 8424 0.00 2.75 0.00 0.000 4 0.000 0.083 2590 784 2215

8510 0.99 276.4 570.9 2.4 409 8621 0.17 2.67 103.97 1.076 6 0.067 0.062 2631 2204 1689

8936 0.99 276.4 529.5 12.6 430 8941 0.00 2.75 0.00 0.000 4 0.000 0.087 2631 3615 1687

8991 0.99 276.4 523.3 10.3 432 8997 0.00 2.72 0.00 0.000 6 0.000 0.072 2631 2195 1687

9307 0.99 276.4 495.5 8.1 448 9311 0.00 2.78 0.00 0.000 4 0.000 0.088 2631 3614 1684

9351 0.99 276.4 491.6 9.1 450 9355 0.00 2.70 0.00 0.000 6 0.000 0.071 2631 2199 1684

9671 0.99 276.4 463.6 9.7 466 9676 0.00 2.72 0.00 0.000 4 0.000 0.080 2631 778 1683

9720 0.99 276.4 458.2 11.3 468 9725 0.00 2.65 0.00 0.000 6 0.000 0.055 2631 2206 1681

10037 0.99 276.4 429.5 8.8 483 10041 0.00 2.72 0.00 0.000 4 0.000 0.087 2631 3614 1682

10086 0.99 276.4 424.7 9.4 485 10090 0.00 2.70 0.00 0.000 6 0.000 0.069 2631 2192 1682

10401 0.99 276.4 396.3 9.1 500 10405 0.00 2.67 0.00 0.000 4 0.000 0.076 2631 782 1682

10463 0.99 276.4 390.2 9.5 503 10468 0.00 2.62 0.00 0.000 6 0.000 0.054 2631 2201 1682

10790 0.99 276.4 361.3 8.1 519 10794 0.00 2.70 0.00 0.000 4 0.000 0.073 2631 782 1682

10822 0.99 276.4 357.8 10.4 520 10829 0.00 2.60 0.00 0.000 6 0.000 0.053 2631 2202 1682

11139 0.99 276.4 326.8 9.5 536 11140 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2201 1682

11447 0.99 276.4 302.2 8.1 551 11452 0.00 2.67 0.00 0.000 4 0.000 0.071 2631 782 1683

11502 0.99 276.4 297.6 8.7 553 11508 0.00 2.60 0.00 0.000 6 0.000 0.053 2631 2202 1682

11818 0.99 276.4 273.3 7.3 569 11819 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2202 1683

12127 0.99 276.4 242.7 9.9 584 12131 0.00 2.67 0.00 0.000 4 0.000 0.071 2631 782 1684

12183 0.99 276.4 237.0 9.8 586 12189 0.00 2.60 0.00 0.000 6 0.000 0.053 2631 2201 1684

12498 0.99 276.4 209.1 8.3 602 12500 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2201 1684

12807 0.99 276.4 181.8 9.7 617 12811 0.00 2.67 0.00 0.000 4 0.000 0.071 2631 782 1684

12846 0.99 276.4 177.7 10.3 619 12850 0.00 2.60 0.00 0.000 6 0.000 0.053 2631 2201 1684

13173 0.99 276.4 146.9 9.9 635 13177 0.00 2.67 0.00 0.000 4 0.000 0.071 2631 780 1685

13216 0.99 276.4 142.0 10.1 637 13221 0.00 2.60 0.00 0.000 6 0.000 0.052 2631 2204 1685

13538 0.99 276.4 110.7 9.9 653 13542 0.00 2.67 0.00 0.000 4 0.000 0.069 2631 778 1685

13564 0.99 276.4 107.8 10.3 654 13569 0.00 2.60 0.00 0.000 6 0.000 0.052 2631 2204 1685

13881 0.99 276.4 73.0 10.8 669 13882 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2204 1686

14189 0.99 276.4 41.8 7.5 684 14194 0.00 2.67 0.00 0.000 4 0.000 0.070 2631 782 1686

14255 0.99 276.4 36.0 9.4 687 14260 0.00 2.60 0.00 0.000 6 0.000 0.052 2631 2204 1686

14578 0.99 276.4 13.3 7.0 703 14579 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2204 1686

14719 end climb: SURFACE_DEPTH_REACHED

state 14719 begin surface coast

14741 end surface coast: CONTROL_FINISHED_OK

state 14741 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	343	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-2085200.1	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	210408,6246.025,-532.064,39,1.8,39,-7.8	TGT_NAME	FC1K
_CALLS	1	TGT_LATLONG	6247.000,-415.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,0.048
_SM_DEPTHo	1.44	KALMAN_X	76895.4,1007.5,-1285.1,111264.9,-2704.1
_SM_ANGLEo	-59.3	KALMAN_Y	-8374.2,1064.5,1263.9,131574.1,-13726.2
GPS2	211008,6246.006,-532.075,32,1.8,33,-7.8	MHEAD_RNG_PITCHd_Wd	96.2,65310,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.013878	ALTIM_BOTTOM_PING	525.3,85.1
SM_CCo	14763,15.80,0.591,1,0,1594,300.00	_24V_AH	23.5,53.827
SM_GC	1.23,0.00,0.00,15.80,0.000,0.000,0.591,68,2402,1594,-10.77,0.06,300.00	_10V_AH	10.2,27.954
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34912,711
TT8_MAMPS	0.02301	CFSIZE	260165632,240427008
HUMID	2099	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
TCM_TEMP	15.70	GPS	160108,011857,6246.288,-525.362,38,2.3,57,-7.7
XPDR_PINGS	36

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	105.72	SBE_CT	520	24	293.49
Roll_motor	148	89	314.06	SBE_O2	486	19	217.24
VBD_pump_during_apogee	346	1105	8987.41	WL_BB2F	473	105	1167.19
VBD_pump_during_surface	15	590	219.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.88	nil	0	0	0.00
Iridium_during_connect	34	160	127.87	nil	0	0	0.00
Iridium_during_xfer	156	223	819.78
Transponder_ping	13	420	130.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.91
TT8	1312	19	265.00
LPSleep	11279	2	251.95
TT8_Active	494	19	99.85
TT8_Sampling	1599	39	649.50
TT8_CF8	461	45	215.66
TT8_Kalman	33	81	27.84
Analog_circuits	1302	12	159.38
GPS_charging	0	0	0.00
Compass	1543	8	125.95
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-61.28	0.000	2	0.000	0.000	71	2401	3103
89	-0.85	-146.6	3.7	-5.3	3	115	12.23	2.70	-7.12	0.000	4	0.175	0.082	2222	976	3417
193	-0.85	-146.6	21.5	-11.1	7	200	0.00	2.65	0.00	0.000	6	0.000	0.058	2222	2403	3419
509	-0.85	-146.6	47.3	-8.1	23	510	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2403	3419
818	-0.85	-146.6	71.0	-8.7	38	823	0.00	2.67	0.00	0.000	4	0.000	0.068	2222	977	3419
858	-0.85	-146.6	74.4	-8.6	40	863	0.00	2.60	0.00	0.000	6	0.000	0.060	2222	2399	3419
1185	-0.85	-146.6	98.2	-7.8	56	1189	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	976	3419
1211	-0.85	-146.6	100.5	-8.1	57	1216	0.00	2.62	0.00	0.000	6	0.000	0.060	2222	2400	3419
1529	-0.85	-146.6	125.9	-7.6	72	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3419
1838	-0.85	-146.6	148.0	-6.6	87	1839	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3419
2146	-0.85	-146.6	171.9	-7.7	102	2150	0.00	2.67	0.00	0.000	4	0.000	0.071	2222	978	3419
2172	-0.85	-146.6	174.0	-8.1	103	2176	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2402	3419
2488	-0.85	-146.6	197.7	-7.3	118	2493	0.00	2.67	0.00	0.000	4	0.000	0.074	2222	976	3419
2528	-0.85	-146.6	200.6	-6.9	120	2532	0.00	2.62	0.00	0.000	6	0.000	0.062	2222	2399	3419
2854	-0.85	-146.6	227.1	-7.6	136	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3419
3164	-0.85	-146.6	253.5	-7.9	151	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2399	3419
3472	-0.85	-146.6	279.3	-8.3	166	3477	0.00	2.67	0.00	0.000	4	0.000	0.072	2222	979	3420
3557	-0.85	-146.6	286.5	-9.2	170	3561	0.00	2.62	0.00	0.000	6	0.000	0.062	2222	2398	3419
3884	-0.85	-146.6	316.0	-8.7	186	3885	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3419
4192	-0.85	-146.6	341.9	-8.3	201	4197	0.00	2.67	0.00	0.000	4	0.000	0.074	2222	980	3419
4236	-0.85	-146.6	345.5	-8.1	203	4241	0.00	2.62	0.00	0.000	6	0.000	0.063	2222	2404	3419
4558	-0.85	-146.6	370.6	-7.4	219	4559	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3419
4867	-0.85	-146.6	395.4	-8.2	234	4871	0.00	2.67	0.00	0.000	4	0.000	0.073	2222	980	3419
4944	-0.85	-146.6	402.0	-8.2	237	4950	0.00	2.65	0.00	0.000	6	0.000	0.063	2222	2408	3419
5260	-0.85	-146.6	428.8	-8.2	253	5264	0.00	2.60	0.00	0.000	4	0.000	0.084	2222	3769	3419
5292	-0.85	-146.6	431.5	-8.5	254	5298	0.00	2.53	0.00	0.000	6	0.000	0.061	2222	2398	3419
5608	-0.85	-146.6	453.8	-6.7	270	5609	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3419
5917	-0.85	-146.6	473.7	-5.9	285	5918	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3419
6226	-0.85	-146.6	491.8	-6.0	300	6230	0.00	2.65	0.00	0.000	4	0.000	0.076	2222	982	3419
6258	-0.85	-146.6	494.0	-6.3	301	6264	0.00	2.62	0.00	0.000	6	0.000	0.063	2222	2406	3419
6574	-0.85	-146.6	518.4	-9.6	317	6578	0.00	2.60	0.00	0.000	4	0.000	0.084	2222	3768	3419
6660	-0.85	-146.6	527.4	-8.7	321	6664	0.00	2.55	0.00	0.000	6	0.000	0.061	2222	2393	3419
6987	-0.85	-146.6	547.9	-6.5	337	6991	0.00	2.67	0.00	0.000	4	0.000	0.087	2222	3773	3419
7048	-0.85	-146.6	552.9	-8.7	340	7052	0.00	2.55	0.00	0.000	6	0.000	0.062	2222	2398	3420
7374	-0.85	-146.6	575.0	-6.2	356	7379	0.00	2.70	0.00	0.000	4	0.000	0.079	2222	977	3420
7429	-0.85	-146.6	578.6	-6.8	358	7435	0.00	2.65	0.00	0.000	6	0.000	0.066	2222	2401	3420
7745	-0.85	-146.6	597.6	-5.9	374	7749	0.00	2.70	0.00	0.000	4	0.000	0.079	2222	982	3419
7792	end dive: BOTTOM_OBSTACLE_DETECTED
state	7792	begin apogee
7800	-0.31	0.0	600.6	6.4	376	7925	0.57	0.00	122.22	1.105	6	0.113	0.000	2337	2200	2817
7926	end apogee: CONTROL_FINISHED_OK
state	7926	begin climb
7929	0.85	146.6	603.0	0.0	382	8059	1.25	2.85	119.82	1.091	4	0.096	0.090	2590	3619	2218
8103	0.85	146.6	595.9	8.3	390	8108	0.00	2.72	0.00	0.000	6	0.000	0.071	2590	2203	2218
8419	0.85	146.6	574.0	6.4	405	8424	0.00	2.75	0.00	0.000	4	0.000	0.083	2590	784	2215
8510	0.99	276.4	570.9	2.4	409	8621	0.17	2.67	103.97	1.076	6	0.067	0.062	2631	2204	1689
8936	0.99	276.4	529.5	12.6	430	8941	0.00	2.75	0.00	0.000	4	0.000	0.087	2631	3615	1687
8991	0.99	276.4	523.3	10.3	432	8997	0.00	2.72	0.00	0.000	6	0.000	0.072	2631	2195	1687
9307	0.99	276.4	495.5	8.1	448	9311	0.00	2.78	0.00	0.000	4	0.000	0.088	2631	3614	1684
9351	0.99	276.4	491.6	9.1	450	9355	0.00	2.70	0.00	0.000	6	0.000	0.071	2631	2199	1684
9671	0.99	276.4	463.6	9.7	466	9676	0.00	2.72	0.00	0.000	4	0.000	0.080	2631	778	1683
9720	0.99	276.4	458.2	11.3	468	9725	0.00	2.65	0.00	0.000	6	0.000	0.055	2631	2206	1681
10037	0.99	276.4	429.5	8.8	483	10041	0.00	2.72	0.00	0.000	4	0.000	0.087	2631	3614	1682
10086	0.99	276.4	424.7	9.4	485	10090	0.00	2.70	0.00	0.000	6	0.000	0.069	2631	2192	1682
10401	0.99	276.4	396.3	9.1	500	10405	0.00	2.67	0.00	0.000	4	0.000	0.076	2631	782	1682
10463	0.99	276.4	390.2	9.5	503	10468	0.00	2.62	0.00	0.000	6	0.000	0.054	2631	2201	1682
10790	0.99	276.4	361.3	8.1	519	10794	0.00	2.70	0.00	0.000	4	0.000	0.073	2631	782	1682
10822	0.99	276.4	357.8	10.4	520	10829	0.00	2.60	0.00	0.000	6	0.000	0.053	2631	2202	1682
11139	0.99	276.4	326.8	9.5	536	11140	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2201	1682
11447	0.99	276.4	302.2	8.1	551	11452	0.00	2.67	0.00	0.000	4	0.000	0.071	2631	782	1683
11502	0.99	276.4	297.6	8.7	553	11508	0.00	2.60	0.00	0.000	6	0.000	0.053	2631	2202	1682
11818	0.99	276.4	273.3	7.3	569	11819	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2202	1683
12127	0.99	276.4	242.7	9.9	584	12131	0.00	2.67	0.00	0.000	4	0.000	0.071	2631	782	1684
12183	0.99	276.4	237.0	9.8	586	12189	0.00	2.60	0.00	0.000	6	0.000	0.053	2631	2201	1684
12498	0.99	276.4	209.1	8.3	602	12500	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2201	1684
12807	0.99	276.4	181.8	9.7	617	12811	0.00	2.67	0.00	0.000	4	0.000	0.071	2631	782	1684
12846	0.99	276.4	177.7	10.3	619	12850	0.00	2.60	0.00	0.000	6	0.000	0.053	2631	2201	1684
13173	0.99	276.4	146.9	9.9	635	13177	0.00	2.67	0.00	0.000	4	0.000	0.071	2631	780	1685
13216	0.99	276.4	142.0	10.1	637	13221	0.00	2.60	0.00	0.000	6	0.000	0.052	2631	2204	1685
13538	0.99	276.4	110.7	9.9	653	13542	0.00	2.67	0.00	0.000	4	0.000	0.069	2631	778	1685
13564	0.99	276.4	107.8	10.3	654	13569	0.00	2.60	0.00	0.000	6	0.000	0.052	2631	2204	1685
13881	0.99	276.4	73.0	10.8	669	13882	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2204	1686
14189	0.99	276.4	41.8	7.5	684	14194	0.00	2.67	0.00	0.000	4	0.000	0.070	2631	782	1686
14255	0.99	276.4	36.0	9.4	687	14260	0.00	2.60	0.00	0.000	6	0.000	0.052	2631	2204	1686
14578	0.99	276.4	13.3	7.0	703	14579	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2204	1686
14719	end climb: SURFACE_DEPTH_REACHED
state	14719	begin surface coast
14741	end surface coast: CONTROL_FINISHED_OK
state	14741	begin surface