Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 418 * 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 418 HEADING 315 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 15 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 -2087231.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 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 2 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 -2087231.2

CAPUPLOAD 0 HEADING 315 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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 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 418 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 110238,6203.505,-34.139,41,1.7,41,-4.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6211.224,-37.725

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,-0.090

_SM_DEPTHo 1.34 KALMAN_X 109567.5,-3587.3,-866.2,330188.0,76350.7

_SM_ANGLEo -58.5 KALMAN_Y 54287.1,-2872.2,-674.1,-29543.7,60742.0

GPS2 110814,6203.588,-34.162,12,1.7,17,-4.9 MHEAD_RNG_PITCHd_Wd 319.9,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015792 ALTIM_BOTTOM_PING 525.4,98.5

SM_CCo 17385,46.80,0.634,2,0,1594,300.00 _24V_AH 23.4,64.748

SM_GC 1.73,0.00,0.00,46.80,0.000,0.000,0.634,73,2401,1594,-10.75,0.03,300.00 _10V_AH 10.2,34.932

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41115,836

TT8_MAMPS 0.023777 CFSIZE 260165632,235622400

HUMID 2122 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,2,0

TCM_TEMP 16.50 GPS 030208,160037,6207.974,-34.299,40,1.7,45,-4.9

XPDR_PINGS 60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 108.83 SBE_CT 617 24 347.03

Roll_motor 97 98 223.18 SBE_O2 573 19 255.09

VBD_pump_during_apogee 314 1122 8267.87 WL_BB2F 529 105 1301.84

VBD_pump_during_surface 46 634 694.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.54 nil 0 0 0.00

Iridium_during_connect 33 160 125.86 nil 0 0 0.00

Iridium_during_xfer 145 223 760.35

Transponder_ping 19 420 189.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.84

TT8 1499 19 302.75

LPSleep 13621 2 304.28

TT8_Active 496 19 100.24

TT8_Sampling 1680 39 682.30

TT8_CF8 485 45 226.65

TT8_Kalman 0 81 0.00

Analog_circuits 1307 12 160.02

GPS_charging 0 0 0.00

Compass 1645 8 134.27

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -0.85 -146.6 0.0 0.0 0 91 0.00 0.00 -61.15 0.000 2 0.000 0.000 67 2401 3079

94 -0.85 -146.6 3.9 -6.1 3 121 12.35 2.70 -7.80 0.000 4 0.179 0.081 2220 982 3417

375 -0.85 -146.6 34.3 -7.3 15 381 0.00 2.62 0.00 0.000 6 0.000 0.059 2220 2407 3418

692 -0.85 -146.6 66.0 -10.7 31 696 0.00 2.70 0.00 0.000 4 0.000 0.069 2220 974 3418

800 -0.85 -146.6 77.5 -8.3 36 805 0.00 2.62 0.00 0.000 6 0.000 0.059 2220 2400 3418

1128 -0.85 -146.6 105.7 -8.9 52 1133 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 983 3418

1155 -0.85 -146.6 108.3 -8.8 53 1160 0.00 2.62 0.00 0.000 6 0.000 0.058 2220 2401 3418

1472 -0.85 -146.6 137.7 -9.4 68 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

1780 -0.85 -146.6 164.5 -7.9 83 1781 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2402 3418

2089 -0.85 -146.6 187.4 -7.2 98 2094 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 982 3418

2133 -0.85 -146.6 190.6 -6.5 100 2138 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2405 3418

2456 -0.85 -146.6 210.9 -6.3 116 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3418

2764 -0.85 -146.6 229.3 -6.3 131 2769 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 977 3419

2804 -0.85 -146.6 231.9 -6.8 133 2809 0.00 2.62 0.00 0.000 6 0.000 0.061 2219 2399 3418

3131 -0.85 -146.6 253.4 -6.8 149 3132 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2399 3418

3439 -0.85 -146.6 274.7 -6.6 164 3444 0.00 2.67 0.00 0.000 4 0.000 0.072 2219 980 3418

3472 -0.85 -146.6 276.8 -6.8 165 3478 0.00 2.60 0.00 0.000 6 0.000 0.062 2220 2400 3418

3789 -0.85 -146.6 296.0 -5.9 181 3790 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

4097 -0.85 -146.6 314.9 -6.9 196 4099 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3418

4407 -0.85 -146.6 337.5 -7.7 211 4408 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

4716 -0.85 -146.6 360.7 -7.5 226 4717 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2402 3418

5025 -0.85 -146.6 382.4 -6.5 241 5029 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 976 3418

5070 -0.85 -146.6 385.8 -7.8 243 5075 0.00 2.65 0.00 0.000 6 0.000 0.061 2220 2401 3418

5392 -0.85 -146.6 405.9 -6.1 259 5393 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

5703 -0.85 -146.6 426.1 -6.8 274 5704 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

6010 -0.85 -146.6 449.2 -7.8 289 6014 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 982 3419

6050 -0.85 -146.6 452.7 -9.0 291 6055 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2404 3419

6377 -0.85 -146.6 480.2 -8.3 307 6378 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3419

6687 -0.85 -146.6 502.3 -7.2 322 6691 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 983 3419

6798 -0.85 -146.6 510.1 -7.3 327 6803 0.00 2.60 0.00 0.000 6 0.000 0.063 2220 2403 3419

7119 -0.85 -146.6 532.3 -6.7 343 7124 0.00 2.70 0.00 0.000 4 0.000 0.076 2220 979 3417

7193 -0.85 -146.6 537.2 -7.3 346 7197 0.00 2.65 0.00 0.000 6 0.000 0.064 2220 2400 3418

7508 -0.85 -146.6 556.7 -6.3 361 7513 0.00 2.70 0.00 0.000 4 0.000 0.077 2220 983 3419

7535 -0.85 -146.6 558.6 -6.9 362 7540 0.00 2.65 0.00 0.000 6 0.000 0.067 2220 2401 3419

7852 -0.85 -146.6 579.9 -7.1 377 7853 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

8160 -0.85 -146.6 600.7 -6.8 392 8165 0.00 2.72 0.00 0.000 4 0.000 0.083 2220 979 3418

8187 -0.85 -146.6 602.7 -7.2 393 8192 0.00 2.67 0.00 0.000 6 0.000 0.070 2220 2401 3418

8356 end dive: BOTTOM_OBSTACLE_DETECTED

state 8356 begin apogee

8364 -0.31 0.0 614.7 6.9 401 8490 0.60 0.00 123.00 1.122 6 0.115 0.000 2337 2191 2817

8491 end apogee: CONTROL_FINISHED_OK

state 8491 begin climb

8494 0.85 146.6 618.0 0.0 407 8624 1.27 2.85 121.12 1.095 4 0.105 0.081 2589 783 2218

8662 0.85 146.6 612.2 6.1 415 8667 0.00 2.70 0.00 0.000 6 0.000 0.065 2589 2203 2217

8989 0.85 150.9 592.7 5.9 431 8996 0.00 0.00 4.97 0.788 6 0.000 0.000 2589 2203 2201

9298 0.85 150.9 572.9 6.3 446 9302 0.00 2.80 0.00 0.000 4 0.000 0.098 2588 3616 2198

9348 0.85 150.9 569.5 6.4 448 9353 0.00 2.70 0.00 0.000 6 0.000 0.074 2589 2205 2198

9664 0.87 166.5 551.9 5.6 463 9683 0.00 0.00 13.70 1.021 6 0.000 0.000 2589 2205 2138

9993 0.87 172.3 534.0 5.8 479 10001 0.00 0.00 6.22 0.877 6 0.000 0.000 2589 2205 2114

10303 0.88 173.5 516.0 6.0 494 10304 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2205 2112

10611 0.88 173.5 494.1 7.5 509 10612 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2205 2111

10921 0.89 188.8 475.3 5.6 524 10942 0.00 2.80 14.38 0.999 4 0.000 0.081 2589 786 2046

11038 0.90 194.0 468.3 5.9 529 11049 0.00 2.65 5.85 0.831 6 0.000 0.062 2589 2200 2025

11359 0.93 223.8 450.2 5.2 544 11387 0.12 0.00 25.62 1.017 6 0.077 0.000 2618 2200 1904

11689 0.93 223.8 426.6 7.6 560 11690 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2200 1901

11997 0.93 223.8 402.0 8.2 575 12002 0.00 2.72 0.00 0.000 4 0.000 0.087 2618 3614 1902

12041 0.93 223.8 398.1 8.9 577 12046 0.00 2.70 0.00 0.000 6 0.000 0.067 2618 2193 1902

12363 0.93 223.8 371.0 8.4 593 12368 0.00 2.67 0.00 0.000 4 0.000 0.075 2618 785 1902

12407 0.93 223.8 367.1 8.6 595 12411 0.00 2.62 0.00 0.000 6 0.000 0.054 2618 2204 1902

12728 0.93 223.8 341.6 7.6 611 12729 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1902

13038 0.93 223.8 319.8 7.2 626 13039 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1903

13346 0.93 223.8 296.8 7.8 641 13348 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1904

13656 0.93 223.8 274.1 6.9 656 13657 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1904

13966 0.93 223.8 252.4 7.3 671 13967 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1905

14274 0.93 223.8 228.3 7.7 686 14279 0.00 2.67 0.00 0.000 4 0.000 0.069 2618 780 1905

14313 0.93 223.8 224.9 8.0 688 14318 0.00 2.62 0.00 0.000 6 0.000 0.054 2618 2204 1905

14640 0.93 223.8 199.0 7.7 704 14641 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1906

14949 0.93 223.8 175.0 7.8 719 14950 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1906

15258 0.93 223.8 151.1 7.6 734 15259 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1907

15568 0.93 223.8 126.1 8.2 749 15570 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1908

15878 0.93 223.8 102.4 7.3 764 15880 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2204 1908

16186 0.93 223.8 81.5 6.6 779 16187 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1908

16496 0.93 223.8 60.7 6.9 794 16497 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2204 1908

16805 0.93 223.8 39.4 7.3 809 16806 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1908

17114 0.93 223.8 17.3 7.3 824 17115 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2205 1909

17338 end climb: SURFACE_DEPTH_REACHED

state 17338 begin surface coast

17361 end surface coast: CONTROL_FINISHED_OK

state 17362 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	418	HEADING	315	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	15	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	-2087231.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	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	2	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	110238,6203.505,-34.139,41,1.7,41,-4.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6211.224,-37.725
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,-0.090
_SM_DEPTHo	1.34	KALMAN_X	109567.5,-3587.3,-866.2,330188.0,76350.7
_SM_ANGLEo	-58.5	KALMAN_Y	54287.1,-2872.2,-674.1,-29543.7,60742.0
GPS2	110814,6203.588,-34.162,12,1.7,17,-4.9	MHEAD_RNG_PITCHd_Wd	319.9,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.015792	ALTIM_BOTTOM_PING	525.4,98.5
SM_CCo	17385,46.80,0.634,2,0,1594,300.00	_24V_AH	23.4,64.748
SM_GC	1.73,0.00,0.00,46.80,0.000,0.000,0.634,73,2401,1594,-10.75,0.03,300.00	_10V_AH	10.2,34.932
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41115,836
TT8_MAMPS	0.023777	CFSIZE	260165632,235622400
HUMID	2122	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
TCM_TEMP	16.50	GPS	030208,160037,6207.974,-34.299,40,1.7,45,-4.9
XPDR_PINGS	60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	108.83	SBE_CT	617	24	347.03
Roll_motor	97	98	223.18	SBE_O2	573	19	255.09
VBD_pump_during_apogee	314	1122	8267.87	WL_BB2F	529	105	1301.84
VBD_pump_during_surface	46	634	694.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.54	nil	0	0	0.00
Iridium_during_connect	33	160	125.86	nil	0	0	0.00
Iridium_during_xfer	145	223	760.35
Transponder_ping	19	420	189.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.84
TT8	1499	19	302.75
LPSleep	13621	2	304.28
TT8_Active	496	19	100.24
TT8_Sampling	1680	39	682.30
TT8_CF8	485	45	226.65
TT8_Kalman	0	81	0.00
Analog_circuits	1307	12	160.02
GPS_charging	0	0	0.00
Compass	1645	8	134.27
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-0.85	-146.6	0.0	0.0	0	91	0.00	0.00	-61.15	0.000	2	0.000	0.000	67	2401	3079
94	-0.85	-146.6	3.9	-6.1	3	121	12.35	2.70	-7.80	0.000	4	0.179	0.081	2220	982	3417
375	-0.85	-146.6	34.3	-7.3	15	381	0.00	2.62	0.00	0.000	6	0.000	0.059	2220	2407	3418
692	-0.85	-146.6	66.0	-10.7	31	696	0.00	2.70	0.00	0.000	4	0.000	0.069	2220	974	3418
800	-0.85	-146.6	77.5	-8.3	36	805	0.00	2.62	0.00	0.000	6	0.000	0.059	2220	2400	3418
1128	-0.85	-146.6	105.7	-8.9	52	1133	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	983	3418
1155	-0.85	-146.6	108.3	-8.8	53	1160	0.00	2.62	0.00	0.000	6	0.000	0.058	2220	2401	3418
1472	-0.85	-146.6	137.7	-9.4	68	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
1780	-0.85	-146.6	164.5	-7.9	83	1781	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2402	3418
2089	-0.85	-146.6	187.4	-7.2	98	2094	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	982	3418
2133	-0.85	-146.6	190.6	-6.5	100	2138	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2405	3418
2456	-0.85	-146.6	210.9	-6.3	116	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3418
2764	-0.85	-146.6	229.3	-6.3	131	2769	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	977	3419
2804	-0.85	-146.6	231.9	-6.8	133	2809	0.00	2.62	0.00	0.000	6	0.000	0.061	2219	2399	3418
3131	-0.85	-146.6	253.4	-6.8	149	3132	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2399	3418
3439	-0.85	-146.6	274.7	-6.6	164	3444	0.00	2.67	0.00	0.000	4	0.000	0.072	2219	980	3418
3472	-0.85	-146.6	276.8	-6.8	165	3478	0.00	2.60	0.00	0.000	6	0.000	0.062	2220	2400	3418
3789	-0.85	-146.6	296.0	-5.9	181	3790	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
4097	-0.85	-146.6	314.9	-6.9	196	4099	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3418
4407	-0.85	-146.6	337.5	-7.7	211	4408	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
4716	-0.85	-146.6	360.7	-7.5	226	4717	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2402	3418
5025	-0.85	-146.6	382.4	-6.5	241	5029	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	976	3418
5070	-0.85	-146.6	385.8	-7.8	243	5075	0.00	2.65	0.00	0.000	6	0.000	0.061	2220	2401	3418
5392	-0.85	-146.6	405.9	-6.1	259	5393	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
5703	-0.85	-146.6	426.1	-6.8	274	5704	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
6010	-0.85	-146.6	449.2	-7.8	289	6014	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	982	3419
6050	-0.85	-146.6	452.7	-9.0	291	6055	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2404	3419
6377	-0.85	-146.6	480.2	-8.3	307	6378	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3419
6687	-0.85	-146.6	502.3	-7.2	322	6691	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	983	3419
6798	-0.85	-146.6	510.1	-7.3	327	6803	0.00	2.60	0.00	0.000	6	0.000	0.063	2220	2403	3419
7119	-0.85	-146.6	532.3	-6.7	343	7124	0.00	2.70	0.00	0.000	4	0.000	0.076	2220	979	3417
7193	-0.85	-146.6	537.2	-7.3	346	7197	0.00	2.65	0.00	0.000	6	0.000	0.064	2220	2400	3418
7508	-0.85	-146.6	556.7	-6.3	361	7513	0.00	2.70	0.00	0.000	4	0.000	0.077	2220	983	3419
7535	-0.85	-146.6	558.6	-6.9	362	7540	0.00	2.65	0.00	0.000	6	0.000	0.067	2220	2401	3419
7852	-0.85	-146.6	579.9	-7.1	377	7853	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
8160	-0.85	-146.6	600.7	-6.8	392	8165	0.00	2.72	0.00	0.000	4	0.000	0.083	2220	979	3418
8187	-0.85	-146.6	602.7	-7.2	393	8192	0.00	2.67	0.00	0.000	6	0.000	0.070	2220	2401	3418
8356	end dive: BOTTOM_OBSTACLE_DETECTED
state	8356	begin apogee
8364	-0.31	0.0	614.7	6.9	401	8490	0.60	0.00	123.00	1.122	6	0.115	0.000	2337	2191	2817
8491	end apogee: CONTROL_FINISHED_OK
state	8491	begin climb
8494	0.85	146.6	618.0	0.0	407	8624	1.27	2.85	121.12	1.095	4	0.105	0.081	2589	783	2218
8662	0.85	146.6	612.2	6.1	415	8667	0.00	2.70	0.00	0.000	6	0.000	0.065	2589	2203	2217
8989	0.85	150.9	592.7	5.9	431	8996	0.00	0.00	4.97	0.788	6	0.000	0.000	2589	2203	2201
9298	0.85	150.9	572.9	6.3	446	9302	0.00	2.80	0.00	0.000	4	0.000	0.098	2588	3616	2198
9348	0.85	150.9	569.5	6.4	448	9353	0.00	2.70	0.00	0.000	6	0.000	0.074	2589	2205	2198
9664	0.87	166.5	551.9	5.6	463	9683	0.00	0.00	13.70	1.021	6	0.000	0.000	2589	2205	2138
9993	0.87	172.3	534.0	5.8	479	10001	0.00	0.00	6.22	0.877	6	0.000	0.000	2589	2205	2114
10303	0.88	173.5	516.0	6.0	494	10304	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2205	2112
10611	0.88	173.5	494.1	7.5	509	10612	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2205	2111
10921	0.89	188.8	475.3	5.6	524	10942	0.00	2.80	14.38	0.999	4	0.000	0.081	2589	786	2046
11038	0.90	194.0	468.3	5.9	529	11049	0.00	2.65	5.85	0.831	6	0.000	0.062	2589	2200	2025
11359	0.93	223.8	450.2	5.2	544	11387	0.12	0.00	25.62	1.017	6	0.077	0.000	2618	2200	1904
11689	0.93	223.8	426.6	7.6	560	11690	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2200	1901
11997	0.93	223.8	402.0	8.2	575	12002	0.00	2.72	0.00	0.000	4	0.000	0.087	2618	3614	1902
12041	0.93	223.8	398.1	8.9	577	12046	0.00	2.70	0.00	0.000	6	0.000	0.067	2618	2193	1902
12363	0.93	223.8	371.0	8.4	593	12368	0.00	2.67	0.00	0.000	4	0.000	0.075	2618	785	1902
12407	0.93	223.8	367.1	8.6	595	12411	0.00	2.62	0.00	0.000	6	0.000	0.054	2618	2204	1902
12728	0.93	223.8	341.6	7.6	611	12729	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1902
13038	0.93	223.8	319.8	7.2	626	13039	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1903
13346	0.93	223.8	296.8	7.8	641	13348	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1904
13656	0.93	223.8	274.1	6.9	656	13657	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1904
13966	0.93	223.8	252.4	7.3	671	13967	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1905
14274	0.93	223.8	228.3	7.7	686	14279	0.00	2.67	0.00	0.000	4	0.000	0.069	2618	780	1905
14313	0.93	223.8	224.9	8.0	688	14318	0.00	2.62	0.00	0.000	6	0.000	0.054	2618	2204	1905
14640	0.93	223.8	199.0	7.7	704	14641	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1906
14949	0.93	223.8	175.0	7.8	719	14950	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1906
15258	0.93	223.8	151.1	7.6	734	15259	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1907
15568	0.93	223.8	126.1	8.2	749	15570	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1908
15878	0.93	223.8	102.4	7.3	764	15880	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2204	1908
16186	0.93	223.8	81.5	6.6	779	16187	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1908
16496	0.93	223.8	60.7	6.9	794	16497	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2204	1908
16805	0.93	223.8	39.4	7.3	809	16806	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1908
17114	0.93	223.8	17.3	7.3	824	17115	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2205	1909
17338	end climb: SURFACE_DEPTH_REACHED
state	17338	begin surface coast
17361	end surface coast: CONTROL_FINISHED_OK
state	17362	begin surface