Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 373 * 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 373 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2086012.8 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 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 -2086012.8

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 373 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 154708,6225.671,-334.571,38,1.8,38,-6.6 TGT_NAME FSCN_NW

_CALLS 1 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.145,-0.167

_SM_DEPTHo 1.50 KALMAN_X 26524.1,212.3,-324.1,264813.2,-6848.7

_SM_ANGLEo -59.8 KALMAN_Y -25608.8,-1572.2,-1649.9,116800.4,15559.1

GPS2 155309,6225.671,-334.596,15,1.9,15,-6.6 MHEAD_RNG_PITCHd_Wd 175.3,20156,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027508 ALTIM_BOTTOM_PING 550.3,26.4

SM_CCo 16811,39.40,0.644,2,0,1595,300.00 _24V_AH 23.3,58.188

SM_GC 1.50,0.00,0.00,39.40,0.000,0.000,0.644,73,2406,1595,-10.75,0.17,300.00 _10V_AH 10.1,30.853

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41181,809

TT8_MAMPS 0.023777 CFSIZE 260165632,238346240

HUMID 2098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,2,0

TCM_TEMP 16.40 GPS 230108,203637,6223.109,-333.408,57,1.2,57,-6.6

XPDR_PINGS 84

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.46 SBE_CT 605 24 338.72

Roll_motor 98 98 224.80 SBE_O2 554 19 245.67

VBD_pump_during_apogee 330 1136 8745.34 WL_BB2F 536 105 1312.47

VBD_pump_during_surface 39 644 591.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.37 nil 0 0 0.00

Iridium_during_connect 35 160 132.84 nil 0 0 0.00

Iridium_during_xfer 173 223 901.59

Transponder_ping 25 420 251.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.82

TT8 1448 19 289.76

LPSleep 13124 2 290.29

TT8_Active 497 19 99.54

TT8_Sampling 1660 39 667.36

TT8_CF8 495 45 229.21

TT8_Kalman 33 81 27.56

Analog_circuits 1306 12 158.32

GPS_charging 0 0 0.00

Compass 1627 8 131.47

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 85 0.00 0.00 -60.60 0.000 2 0.000 0.000 71 2403 3043

89 -0.85 -146.6 3.4 -4.2 3 118 12.20 2.65 -9.45 0.000 4 0.174 0.091 2219 3772 3416

288 -0.85 -146.6 25.7 -13.9 12 292 0.00 2.58 0.00 0.000 6 0.000 0.060 2219 2396 3416

615 -0.85 -146.6 48.7 -7.6 28 619 0.00 2.70 0.00 0.000 4 0.000 0.075 2219 980 3417

686 -0.85 -146.6 54.8 -7.8 31 691 0.00 2.62 0.00 0.000 6 0.000 0.060 2219 2398 3417

1003 -0.85 -146.6 78.1 -7.0 46 1007 0.00 2.65 0.00 0.000 4 0.000 0.082 2219 3772 3417

1065 -0.85 -146.6 82.8 -7.3 49 1069 0.00 2.58 0.00 0.000 6 0.000 0.059 2219 2394 3417

1392 -0.85 -146.6 106.3 -7.5 65 1396 0.00 2.70 0.00 0.000 4 0.000 0.075 2219 974 3417

1477 -0.85 -146.6 112.6 -7.0 69 1481 0.00 2.67 0.00 0.000 6 0.000 0.062 2219 2407 3418

1805 -0.85 -146.6 136.0 -6.9 85 1809 0.00 2.70 0.00 0.000 4 0.000 0.074 2219 979 3417

1855 -0.85 -146.6 139.3 -6.6 87 1859 0.00 2.65 0.00 0.000 6 0.000 0.062 2219 2400 3418

2170 -0.85 -146.6 162.6 -7.9 102 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2400 3418

2479 -0.85 -146.6 187.4 -8.0 117 2483 0.00 2.70 0.00 0.000 4 0.000 0.074 2218 977 3418

2568 -0.85 -146.6 194.8 -8.5 121 2573 0.00 2.65 0.00 0.000 6 0.000 0.063 2219 2399 3418

2889 -0.85 -146.6 220.9 -7.5 137 2893 0.00 2.70 0.00 0.000 4 0.000 0.074 2219 976 3419

2938 -0.85 -146.6 224.6 -7.2 139 2943 0.00 2.65 0.00 0.000 6 0.000 0.064 2219 2404 3418

3260 -0.85 -146.6 246.7 -7.2 155 3261 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3419

3568 -0.85 -146.6 267.9 -6.8 170 3569 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3420

3878 -0.85 -146.6 285.2 -5.3 185 3879 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3420

4187 -0.85 -146.6 303.0 -6.3 200 4192 0.00 2.72 0.00 0.000 4 0.000 0.080 2219 982 3420

4276 -0.85 -146.6 309.0 -6.6 204 4281 0.00 2.67 0.00 0.000 6 0.000 0.069 2219 2404 3420

4597 -0.85 -146.6 329.0 -6.4 220 4598 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3420

4907 -0.85 -146.6 348.7 -6.6 235 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3421

5215 -0.85 -146.6 368.5 -6.5 250 5220 0.00 2.75 0.00 0.000 4 0.000 0.082 2219 977 3420

5323 -0.85 -146.6 375.6 -7.1 255 5327 0.00 2.70 0.00 0.000 6 0.000 0.073 2219 2401 3420

5649 -0.85 -146.6 397.2 -7.0 271 5650 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3420

5958 -0.85 -146.6 418.2 -6.8 286 5959 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3419

6268 -0.85 -146.6 438.4 -6.7 301 6273 0.00 2.75 0.00 0.000 4 0.000 0.084 2219 980 3418

6314 -0.85 -146.6 441.7 -7.9 303 6319 0.00 2.70 0.00 0.000 6 0.000 0.074 2219 2398 3417

6634 -0.85 -146.6 463.5 -6.8 319 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3416

6944 -0.85 -146.6 485.3 -7.2 334 6949 0.00 2.75 0.00 0.000 4 0.000 0.085 2219 982 3414

6994 -0.85 -146.6 489.2 -7.5 336 6999 0.00 2.70 0.00 0.000 6 0.000 0.074 2219 2407 3414

7310 -0.85 -146.6 510.7 -6.8 351 7311 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2407 3414

7620 -0.85 -146.6 531.7 -6.7 366 7625 0.00 2.75 0.00 0.000 4 0.000 0.084 2219 983 3413

7675 -0.85 -146.6 535.8 -7.6 368 7682 0.00 2.65 0.00 0.000 6 0.000 0.074 2219 2389 3412

7990 -0.85 -146.6 556.8 -6.1 384 7991 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2389 3411

8153 end dive: BOTTOM_OBSTACLE_DETECTED

state 8153 begin apogee

8160 -0.31 0.0 567.9 6.6 392 8286 0.62 0.00 122.28 1.137 6 0.124 0.000 2338 2197 2817

8286 end apogee: CONTROL_FINISHED_OK

state 8287 begin climb

8289 0.85 146.6 572.6 0.0 398 8415 1.23 0.00 121.35 1.114 6 0.090 0.000 2588 2197 2219

8721 0.86 155.4 552.4 5.8 419 8735 0.00 2.80 8.50 0.946 4 0.000 0.083 2588 795 2183

8788 0.86 155.4 548.3 6.6 422 8792 0.00 2.67 0.00 0.000 6 0.000 0.067 2588 2200 2183

9114 0.87 169.6 530.4 5.6 438 9135 0.00 2.88 12.98 1.022 4 0.000 0.097 2588 3603 2125

9169 0.87 169.6 526.8 6.8 440 9174 0.00 2.72 0.00 0.000 6 0.000 0.076 2588 2203 2125

9484 0.87 169.6 506.9 6.4 455 9486 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2124

9794 0.87 169.6 486.7 6.6 470 9795 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2124

10104 0.88 180.6 467.7 5.7 485 10116 0.00 0.00 10.45 0.976 6 0.000 0.000 2588 2203 2080

10412 0.90 194.2 450.5 5.6 500 10431 0.00 0.00 12.68 0.995 6 0.000 0.000 2587 2203 2025

10741 0.91 209.5 432.1 5.6 516 10763 0.00 2.88 13.90 0.996 4 0.000 0.098 2588 3611 1962

10786 0.91 209.5 429.3 6.3 518 10791 0.00 2.78 0.00 0.000 6 0.000 0.078 2588 2194 1962

11112 0.94 236.8 411.6 5.3 534 11139 0.12 0.00 23.80 1.022 6 0.075 0.000 2617 2194 1851

11442 0.94 236.8 387.6 7.7 550 11443 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1849

11751 0.94 236.8 363.1 7.9 565 11752 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1848

12060 0.94 236.8 340.8 7.0 580 12061 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1848

12370 0.94 236.8 319.2 6.9 595 12374 0.00 2.83 0.00 0.000 4 0.000 0.097 2617 3614 1848

12413 0.94 236.8 315.9 7.5 597 12418 0.00 2.75 0.00 0.000 6 0.000 0.080 2617 2194 1848

12734 0.94 236.8 294.3 6.9 613 12736 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1847

13045 0.95 240.6 275.6 5.9 628 13054 0.00 2.75 4.28 0.678 4 0.000 0.085 2617 784 1836

13093 0.95 240.6 272.5 6.7 630 13098 0.00 2.67 0.00 0.000 6 0.000 0.064 2617 2200 1835

13409 0.95 240.6 252.7 6.6 645 13410 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2200 1836

13719 0.95 240.6 232.5 6.5 660 13720 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2200 1836

14027 0.95 240.6 213.0 6.4 675 14028 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2199 1836

14337 0.95 240.6 191.5 7.8 690 14338 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1836

14647 0.95 240.6 167.2 7.9 705 14651 0.00 2.72 0.00 0.000 4 0.000 0.087 2617 3613 1836

14701 0.95 240.6 162.7 7.9 707 14708 0.00 2.70 0.00 0.000 6 0.000 0.070 2617 2194 1836

15017 0.95 240.6 139.4 7.4 723 15018 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1836

15329 0.95 240.6 116.1 7.1 738 15330 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2195 1836

15636 0.95 240.6 92.1 8.1 753 15637 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1838

15945 0.95 240.6 65.0 9.1 768 15946 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1840

16255 0.95 240.6 39.6 7.6 783 16256 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2194 1840

16564 0.95 240.6 16.5 7.3 798 16565 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2194 1840

16767 end climb: SURFACE_DEPTH_REACHED

state 16767 begin surface coast

16789 end surface coast: CONTROL_FINISHED_OK

state 16789 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	373	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2086012.8	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	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	154708,6225.671,-334.571,38,1.8,38,-6.6	TGT_NAME	FSCN_NW
_CALLS	1	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.145,-0.167
_SM_DEPTHo	1.50	KALMAN_X	26524.1,212.3,-324.1,264813.2,-6848.7
_SM_ANGLEo	-59.8	KALMAN_Y	-25608.8,-1572.2,-1649.9,116800.4,15559.1
GPS2	155309,6225.671,-334.596,15,1.9,15,-6.6	MHEAD_RNG_PITCHd_Wd	175.3,20156,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027508	ALTIM_BOTTOM_PING	550.3,26.4
SM_CCo	16811,39.40,0.644,2,0,1595,300.00	_24V_AH	23.3,58.188
SM_GC	1.50,0.00,0.00,39.40,0.000,0.000,0.644,73,2406,1595,-10.75,0.17,300.00	_10V_AH	10.1,30.853
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41181,809
TT8_MAMPS	0.023777	CFSIZE	260165632,238346240
HUMID	2098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
TCM_TEMP	16.40	GPS	230108,203637,6223.109,-333.408,57,1.2,57,-6.6
XPDR_PINGS	84

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.46	SBE_CT	605	24	338.72
Roll_motor	98	98	224.80	SBE_O2	554	19	245.67
VBD_pump_during_apogee	330	1136	8745.34	WL_BB2F	536	105	1312.47
VBD_pump_during_surface	39	644	591.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.37	nil	0	0	0.00
Iridium_during_connect	35	160	132.84	nil	0	0	0.00
Iridium_during_xfer	173	223	901.59
Transponder_ping	25	420	251.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.82
TT8	1448	19	289.76
LPSleep	13124	2	290.29
TT8_Active	497	19	99.54
TT8_Sampling	1660	39	667.36
TT8_CF8	495	45	229.21
TT8_Kalman	33	81	27.56
Analog_circuits	1306	12	158.32
GPS_charging	0	0	0.00
Compass	1627	8	131.47
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	85	0.00	0.00	-60.60	0.000	2	0.000	0.000	71	2403	3043
89	-0.85	-146.6	3.4	-4.2	3	118	12.20	2.65	-9.45	0.000	4	0.174	0.091	2219	3772	3416
288	-0.85	-146.6	25.7	-13.9	12	292	0.00	2.58	0.00	0.000	6	0.000	0.060	2219	2396	3416
615	-0.85	-146.6	48.7	-7.6	28	619	0.00	2.70	0.00	0.000	4	0.000	0.075	2219	980	3417
686	-0.85	-146.6	54.8	-7.8	31	691	0.00	2.62	0.00	0.000	6	0.000	0.060	2219	2398	3417
1003	-0.85	-146.6	78.1	-7.0	46	1007	0.00	2.65	0.00	0.000	4	0.000	0.082	2219	3772	3417
1065	-0.85	-146.6	82.8	-7.3	49	1069	0.00	2.58	0.00	0.000	6	0.000	0.059	2219	2394	3417
1392	-0.85	-146.6	106.3	-7.5	65	1396	0.00	2.70	0.00	0.000	4	0.000	0.075	2219	974	3417
1477	-0.85	-146.6	112.6	-7.0	69	1481	0.00	2.67	0.00	0.000	6	0.000	0.062	2219	2407	3418
1805	-0.85	-146.6	136.0	-6.9	85	1809	0.00	2.70	0.00	0.000	4	0.000	0.074	2219	979	3417
1855	-0.85	-146.6	139.3	-6.6	87	1859	0.00	2.65	0.00	0.000	6	0.000	0.062	2219	2400	3418
2170	-0.85	-146.6	162.6	-7.9	102	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2400	3418
2479	-0.85	-146.6	187.4	-8.0	117	2483	0.00	2.70	0.00	0.000	4	0.000	0.074	2218	977	3418
2568	-0.85	-146.6	194.8	-8.5	121	2573	0.00	2.65	0.00	0.000	6	0.000	0.063	2219	2399	3418
2889	-0.85	-146.6	220.9	-7.5	137	2893	0.00	2.70	0.00	0.000	4	0.000	0.074	2219	976	3419
2938	-0.85	-146.6	224.6	-7.2	139	2943	0.00	2.65	0.00	0.000	6	0.000	0.064	2219	2404	3418
3260	-0.85	-146.6	246.7	-7.2	155	3261	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3419
3568	-0.85	-146.6	267.9	-6.8	170	3569	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3420
3878	-0.85	-146.6	285.2	-5.3	185	3879	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3420
4187	-0.85	-146.6	303.0	-6.3	200	4192	0.00	2.72	0.00	0.000	4	0.000	0.080	2219	982	3420
4276	-0.85	-146.6	309.0	-6.6	204	4281	0.00	2.67	0.00	0.000	6	0.000	0.069	2219	2404	3420
4597	-0.85	-146.6	329.0	-6.4	220	4598	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3420
4907	-0.85	-146.6	348.7	-6.6	235	4908	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3421
5215	-0.85	-146.6	368.5	-6.5	250	5220	0.00	2.75	0.00	0.000	4	0.000	0.082	2219	977	3420
5323	-0.85	-146.6	375.6	-7.1	255	5327	0.00	2.70	0.00	0.000	6	0.000	0.073	2219	2401	3420
5649	-0.85	-146.6	397.2	-7.0	271	5650	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3420
5958	-0.85	-146.6	418.2	-6.8	286	5959	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3419
6268	-0.85	-146.6	438.4	-6.7	301	6273	0.00	2.75	0.00	0.000	4	0.000	0.084	2219	980	3418
6314	-0.85	-146.6	441.7	-7.9	303	6319	0.00	2.70	0.00	0.000	6	0.000	0.074	2219	2398	3417
6634	-0.85	-146.6	463.5	-6.8	319	6635	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3416
6944	-0.85	-146.6	485.3	-7.2	334	6949	0.00	2.75	0.00	0.000	4	0.000	0.085	2219	982	3414
6994	-0.85	-146.6	489.2	-7.5	336	6999	0.00	2.70	0.00	0.000	6	0.000	0.074	2219	2407	3414
7310	-0.85	-146.6	510.7	-6.8	351	7311	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2407	3414
7620	-0.85	-146.6	531.7	-6.7	366	7625	0.00	2.75	0.00	0.000	4	0.000	0.084	2219	983	3413
7675	-0.85	-146.6	535.8	-7.6	368	7682	0.00	2.65	0.00	0.000	6	0.000	0.074	2219	2389	3412
7990	-0.85	-146.6	556.8	-6.1	384	7991	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2389	3411
8153	end dive: BOTTOM_OBSTACLE_DETECTED
state	8153	begin apogee
8160	-0.31	0.0	567.9	6.6	392	8286	0.62	0.00	122.28	1.137	6	0.124	0.000	2338	2197	2817
8286	end apogee: CONTROL_FINISHED_OK
state	8287	begin climb
8289	0.85	146.6	572.6	0.0	398	8415	1.23	0.00	121.35	1.114	6	0.090	0.000	2588	2197	2219
8721	0.86	155.4	552.4	5.8	419	8735	0.00	2.80	8.50	0.946	4	0.000	0.083	2588	795	2183
8788	0.86	155.4	548.3	6.6	422	8792	0.00	2.67	0.00	0.000	6	0.000	0.067	2588	2200	2183
9114	0.87	169.6	530.4	5.6	438	9135	0.00	2.88	12.98	1.022	4	0.000	0.097	2588	3603	2125
9169	0.87	169.6	526.8	6.8	440	9174	0.00	2.72	0.00	0.000	6	0.000	0.076	2588	2203	2125
9484	0.87	169.6	506.9	6.4	455	9486	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2124
9794	0.87	169.6	486.7	6.6	470	9795	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2124
10104	0.88	180.6	467.7	5.7	485	10116	0.00	0.00	10.45	0.976	6	0.000	0.000	2588	2203	2080
10412	0.90	194.2	450.5	5.6	500	10431	0.00	0.00	12.68	0.995	6	0.000	0.000	2587	2203	2025
10741	0.91	209.5	432.1	5.6	516	10763	0.00	2.88	13.90	0.996	4	0.000	0.098	2588	3611	1962
10786	0.91	209.5	429.3	6.3	518	10791	0.00	2.78	0.00	0.000	6	0.000	0.078	2588	2194	1962
11112	0.94	236.8	411.6	5.3	534	11139	0.12	0.00	23.80	1.022	6	0.075	0.000	2617	2194	1851
11442	0.94	236.8	387.6	7.7	550	11443	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1849
11751	0.94	236.8	363.1	7.9	565	11752	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1848
12060	0.94	236.8	340.8	7.0	580	12061	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1848
12370	0.94	236.8	319.2	6.9	595	12374	0.00	2.83	0.00	0.000	4	0.000	0.097	2617	3614	1848
12413	0.94	236.8	315.9	7.5	597	12418	0.00	2.75	0.00	0.000	6	0.000	0.080	2617	2194	1848
12734	0.94	236.8	294.3	6.9	613	12736	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1847
13045	0.95	240.6	275.6	5.9	628	13054	0.00	2.75	4.28	0.678	4	0.000	0.085	2617	784	1836
13093	0.95	240.6	272.5	6.7	630	13098	0.00	2.67	0.00	0.000	6	0.000	0.064	2617	2200	1835
13409	0.95	240.6	252.7	6.6	645	13410	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2200	1836
13719	0.95	240.6	232.5	6.5	660	13720	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2200	1836
14027	0.95	240.6	213.0	6.4	675	14028	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2199	1836
14337	0.95	240.6	191.5	7.8	690	14338	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1836
14647	0.95	240.6	167.2	7.9	705	14651	0.00	2.72	0.00	0.000	4	0.000	0.087	2617	3613	1836
14701	0.95	240.6	162.7	7.9	707	14708	0.00	2.70	0.00	0.000	6	0.000	0.070	2617	2194	1836
15017	0.95	240.6	139.4	7.4	723	15018	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1836
15329	0.95	240.6	116.1	7.1	738	15330	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2195	1836
15636	0.95	240.6	92.1	8.1	753	15637	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1838
15945	0.95	240.6	65.0	9.1	768	15946	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1840
16255	0.95	240.6	39.6	7.6	783	16256	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2194	1840
16564	0.95	240.6	16.5	7.3	798	16565	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2194	1840
16767	end climb: SURFACE_DEPTH_REACHED
state	16767	begin surface coast
16789	end surface coast: CONTROL_FINISHED_OK
state	16789	begin surface