Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 48 * 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 48 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 120 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 -2076023.9 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 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 412.5

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 -2076023.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 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 48 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 012037,6127.770,-826.396,27,1.1,27,-8.9 TGT_NAME BE

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.231,0.082

_SM_DEPTHo 1.61 KALMAN_X -13654.5,828.3,711.9,46620.4,-13630.9

_SM_ANGLEo -60.9 KALMAN_Y 85293.3,-212.3,-276.9,-104125.9,12404.9

GPS2 012826,6127.755,-826.375,13,1.3,13,-8.9 MHEAD_RNG_PITCHd_Wd 298.5,53262,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.019311 ALTIM_BOTTOM_PING 750.2,110.4

SM_CCo 17108,66.03,0.643,2,0,1594,300.00 _24V_AH 23.4,13.475

SM_GC 1.59,0.00,0.00,66.03,0.000,0.000,0.643,71,2405,1594,-10.76,0.14,300.00 _10V_AH 10.1,5.512

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41149,827

TT8_MAMPS 0.02301 CFSIZE 260165632,256135168

HUMID 2075 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,2,0

TCM_TEMP 17.50 GPS 201107,061638,6131.055,-833.805,27,1.6,27,-9.0

XPDR_PINGS 62

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 102.97 SBE_CT 584 24 328.44

Roll_motor 111 89 233.46 SBE_O2 593 19 263.85

VBD_pump_during_apogee 276 1310 8479.49 WL_BB2F 471 105 1157.99

VBD_pump_during_surface 66 642 993.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.21 nil 0 0 0.00

Iridium_during_connect 50 160 188.85 nil 0 0 0.00

Iridium_during_xfer 215 223 1125.85

Transponder_ping 22 420 216.22

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.57

TT8 1501 19 300.28

LPSleep 13409 2 296.61

TT8_Active 499 19 99.95

TT8_Sampling 1822 39 732.53

TT8_CF8 426 45 197.50

TT8_Kalman 33 81 27.56

Analog_circuits 1387 12 168.17

GPS_charging 0 0 0.00

Compass 1781 8 143.94

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 108 0.00 0.00 -87.32 0.000 2 0.000 0.000 71 2398 3313

110 -1.08 -146.6 4.5 -3.6 5 132 11.82 2.67 -2.15 0.000 4 0.174 0.075 2166 982 3418

384 -1.08 -146.6 50.6 -14.1 17 388 0.00 2.60 0.00 0.000 6 0.000 0.051 2166 2399 3417

710 -1.08 -146.6 92.3 -10.3 33 715 0.00 2.62 0.00 0.000 4 0.000 0.062 2166 981 3417

772 -1.08 -146.6 97.9 -8.8 36 776 0.00 2.60 0.00 0.000 6 0.000 0.051 2166 2403 3417

1097 -1.08 -146.6 130.5 -9.8 52 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2403 3417

1405 -1.08 -146.6 165.6 -11.3 67 1407 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2403 3417

1715 -1.08 -146.6 199.8 -11.5 82 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2403 3417

2024 -1.08 -146.6 236.8 -12.4 97 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2403 3417

2333 -1.08 -146.6 273.4 -12.7 112 2338 0.00 2.55 0.00 0.000 4 0.000 0.073 2167 3767 3417

2372 -1.08 -146.6 278.3 -12.3 114 2376 0.00 2.47 0.00 0.000 6 0.000 0.048 2166 2395 3417

2698 -1.08 -146.6 319.9 -12.5 130 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2395 3417

3007 -1.08 -146.6 357.7 -11.8 145 3008 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2395 3417

3316 -1.08 -146.6 393.9 -11.7 160 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2395 3417

3625 -1.08 -146.6 428.5 -11.1 175 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2395 3417

3935 -1.08 -146.6 463.5 -11.6 190 3936 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2395 3417

4245 -1.08 -146.6 502.5 -13.9 205 4249 0.00 2.58 0.00 0.000 4 0.000 0.072 2166 3767 3417

4293 -1.08 -146.6 510.0 -15.4 207 4298 0.00 2.47 0.00 0.000 6 0.000 0.048 2166 2404 3417

4614 -1.08 -146.6 557.7 -15.1 223 4615 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3417

4923 -1.08 -146.6 598.7 -9.9 238 4924 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2404 3417

5232 -1.08 -146.6 620.7 -10.8 253 5236 0.00 2.55 0.00 0.000 4 0.000 0.072 2167 3769 3417

5277 -1.08 -146.6 619.0 -0.1 255 5281 0.00 2.45 0.00 0.000 6 0.000 0.045 2166 2395 3417

5608 -1.08 -146.6 645.0 -8.7 271 5612 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 989 3417

5656 -1.08 -146.6 650.8 -12.3 273 5661 0.00 2.60 0.00 0.000 6 0.000 0.051 2166 2400 3417

5977 -1.08 -146.6 685.0 -8.7 289 5981 0.00 2.58 0.00 0.000 4 0.000 0.076 2166 3770 3417

6003 -1.08 -146.6 688.1 -11.9 290 6008 0.00 2.50 0.00 0.000 6 0.000 0.051 2167 2405 3418

6326 -1.08 -146.6 712.9 -5.1 306 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2405 3418

6634 -1.08 -146.6 743.6 -11.6 321 6635 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2405 3418

6944 -1.08 -146.6 771.7 -8.6 336 6945 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2405 3418

7253 -1.08 -146.6 809.5 -10.5 351 7254 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2405 3416

7562 -1.08 -146.6 843.1 -11.2 366 7563 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2404 3415

7872 -1.08 -146.6 850.1 -0.2 381 7876 0.00 2.65 0.00 0.000 4 0.000 0.070 2166 987 3413

7942 -1.08 -146.6 850.0 -0.8 384 7947 0.00 2.70 0.00 0.000 6 0.000 0.075 2166 2397 3412

8242 end dive: NO_VERTICAL_VELOCITY

state 8242 begin apogee

8246 -0.31 0.0 849.5 0.0 399 8371 0.85 0.00 121.93 1.311 6 0.107 0.000 2338 2186 2817

8372 end apogee: CONTROL_FINISHED_OK

state 8372 begin climb

8373 1.08 146.6 847.5 0.0 405 8504 1.38 2.90 120.82 1.284 4 0.054 0.090 2647 3613 2219

8650 1.08 146.6 819.8 12.3 418 8655 0.00 2.70 0.00 0.000 6 0.000 0.072 2647 2206 2218

8976 1.13 187.1 789.0 6.5 434 9018 0.00 2.85 33.70 1.243 4 0.000 0.081 2647 788 2054

9079 1.13 187.1 778.8 18.4 438 9086 0.00 2.67 0.00 0.000 6 0.000 0.061 2647 2207 2052

9394 1.13 187.1 745.3 8.5 454 9395 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2208 2052

9703 1.13 187.1 710.7 10.8 469 9707 0.00 2.72 0.00 0.000 4 0.000 0.089 2647 3612 2049

9959 1.13 187.1 679.8 11.9 480 9967 0.00 2.67 0.00 0.000 6 0.000 0.066 2647 2206 2047

10275 1.13 187.1 647.3 8.8 496 10279 0.00 2.70 0.00 0.000 4 0.000 0.081 2647 3622 2046

10514 1.13 187.1 625.0 9.5 507 10519 0.00 2.62 0.00 0.000 6 0.000 0.056 2647 2197 2045

10840 1.13 187.1 595.7 8.8 523 10841 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2197 2045

11149 1.13 187.1 568.5 8.5 538 11150 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2197 2045

11458 1.13 187.1 541.6 9.2 553 11463 0.00 2.67 0.00 0.000 4 0.000 0.071 2647 3625 2047

11507 1.13 187.1 536.3 10.4 555 11512 0.00 2.62 0.00 0.000 6 0.000 0.053 2647 2203 2047

11828 1.13 187.1 504.3 9.9 571 11830 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2203 2048

12138 1.13 187.1 474.6 9.8 586 12139 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2203 2049

12447 1.13 187.1 443.5 10.0 601 12451 0.00 2.65 0.00 0.000 4 0.000 0.071 2647 3623 2051

12507 1.13 187.1 437.2 10.3 604 12512 0.00 2.60 0.00 0.000 6 0.000 0.054 2647 2197 2050

12833 1.13 187.1 406.8 9.0 620 12837 0.00 2.67 0.00 0.000 4 0.000 0.071 2647 3623 2051

12909 1.13 187.1 399.0 10.1 623 12916 0.00 2.62 0.00 0.000 6 0.000 0.053 2647 2200 2052

13225 1.13 187.1 370.9 9.0 639 13229 0.00 2.65 0.00 0.000 4 0.000 0.070 2647 3622 2053

13273 1.13 187.1 366.4 8.8 641 13278 0.00 2.62 0.00 0.000 6 0.000 0.054 2647 2200 2053

13594 1.13 187.1 337.5 9.2 657 13599 0.00 2.65 0.00 0.000 4 0.000 0.071 2647 3621 2053

13654 1.13 187.1 331.6 10.6 660 13659 0.00 2.60 0.00 0.000 6 0.000 0.055 2647 2200 2053

13981 1.13 187.1 301.0 9.7 676 13982 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2200 2054

14290 1.13 187.1 270.3 10.1 691 14291 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 2055

14599 1.13 187.1 237.4 10.7 706 14600 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2200 2055

14908 1.13 187.1 207.6 9.2 721 14912 0.00 2.65 0.00 0.000 4 0.000 0.069 2647 3623 2055

14956 1.13 187.1 202.5 10.6 723 14961 0.00 2.62 0.00 0.000 6 0.000 0.054 2647 2202 2056

15277 1.13 187.1 173.6 8.6 739 15278 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2202 2056

15587 1.13 187.1 145.6 9.4 754 15591 0.00 2.62 0.00 0.000 4 0.000 0.069 2647 3614 2056

15657 1.13 187.1 138.5 10.1 757 15662 0.00 2.60 0.00 0.000 6 0.000 0.054 2647 2207 2056

15980 1.13 187.1 107.2 10.0 773 15985 0.00 2.62 0.00 0.000 4 0.000 0.069 2647 3617 2056

16043 1.13 187.1 100.3 10.6 776 16047 0.00 2.60 0.00 0.000 6 0.000 0.056 2647 2196 2057

16368 1.13 187.1 68.5 9.5 792 16372 0.00 2.65 0.00 0.000 4 0.000 0.070 2647 3616 2057

16444 1.13 187.1 60.5 10.4 795 16452 0.00 2.62 0.00 0.000 6 0.000 0.058 2647 2201 2057

16760 1.13 187.1 28.7 10.3 811 16761 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2201 2058

17068 end climb: SURFACE_DEPTH_REACHED

state 17068 begin surface coast

17090 end surface coast: CONTROL_FINISHED_OK

state 17090 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	48	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	120	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	-2076023.9	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	012037,6127.770,-826.396,27,1.1,27,-8.9	TGT_NAME	BE
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.231,0.082
_SM_DEPTHo	1.61	KALMAN_X	-13654.5,828.3,711.9,46620.4,-13630.9
_SM_ANGLEo	-60.9	KALMAN_Y	85293.3,-212.3,-276.9,-104125.9,12404.9
GPS2	012826,6127.755,-826.375,13,1.3,13,-8.9	MHEAD_RNG_PITCHd_Wd	298.5,53262,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.019311	ALTIM_BOTTOM_PING	750.2,110.4
SM_CCo	17108,66.03,0.643,2,0,1594,300.00	_24V_AH	23.4,13.475
SM_GC	1.59,0.00,0.00,66.03,0.000,0.000,0.643,71,2405,1594,-10.76,0.14,300.00	_10V_AH	10.1,5.512
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41149,827
TT8_MAMPS	0.02301	CFSIZE	260165632,256135168
HUMID	2075	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,2,0
TCM_TEMP	17.50	GPS	201107,061638,6131.055,-833.805,27,1.6,27,-9.0
XPDR_PINGS	62

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	102.97	SBE_CT	584	24	328.44
Roll_motor	111	89	233.46	SBE_O2	593	19	263.85
VBD_pump_during_apogee	276	1310	8479.49	WL_BB2F	471	105	1157.99
VBD_pump_during_surface	66	642	993.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.21	nil	0	0	0.00
Iridium_during_connect	50	160	188.85	nil	0	0	0.00
Iridium_during_xfer	215	223	1125.85
Transponder_ping	22	420	216.22
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.57
TT8	1501	19	300.28
LPSleep	13409	2	296.61
TT8_Active	499	19	99.95
TT8_Sampling	1822	39	732.53
TT8_CF8	426	45	197.50
TT8_Kalman	33	81	27.56
Analog_circuits	1387	12	168.17
GPS_charging	0	0	0.00
Compass	1781	8	143.94
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	108	0.00	0.00	-87.32	0.000	2	0.000	0.000	71	2398	3313
110	-1.08	-146.6	4.5	-3.6	5	132	11.82	2.67	-2.15	0.000	4	0.174	0.075	2166	982	3418
384	-1.08	-146.6	50.6	-14.1	17	388	0.00	2.60	0.00	0.000	6	0.000	0.051	2166	2399	3417
710	-1.08	-146.6	92.3	-10.3	33	715	0.00	2.62	0.00	0.000	4	0.000	0.062	2166	981	3417
772	-1.08	-146.6	97.9	-8.8	36	776	0.00	2.60	0.00	0.000	6	0.000	0.051	2166	2403	3417
1097	-1.08	-146.6	130.5	-9.8	52	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2403	3417
1405	-1.08	-146.6	165.6	-11.3	67	1407	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2403	3417
1715	-1.08	-146.6	199.8	-11.5	82	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2403	3417
2024	-1.08	-146.6	236.8	-12.4	97	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2403	3417
2333	-1.08	-146.6	273.4	-12.7	112	2338	0.00	2.55	0.00	0.000	4	0.000	0.073	2167	3767	3417
2372	-1.08	-146.6	278.3	-12.3	114	2376	0.00	2.47	0.00	0.000	6	0.000	0.048	2166	2395	3417
2698	-1.08	-146.6	319.9	-12.5	130	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2395	3417
3007	-1.08	-146.6	357.7	-11.8	145	3008	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2395	3417
3316	-1.08	-146.6	393.9	-11.7	160	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2395	3417
3625	-1.08	-146.6	428.5	-11.1	175	3627	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2395	3417
3935	-1.08	-146.6	463.5	-11.6	190	3936	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2395	3417
4245	-1.08	-146.6	502.5	-13.9	205	4249	0.00	2.58	0.00	0.000	4	0.000	0.072	2166	3767	3417
4293	-1.08	-146.6	510.0	-15.4	207	4298	0.00	2.47	0.00	0.000	6	0.000	0.048	2166	2404	3417
4614	-1.08	-146.6	557.7	-15.1	223	4615	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3417
4923	-1.08	-146.6	598.7	-9.9	238	4924	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2404	3417
5232	-1.08	-146.6	620.7	-10.8	253	5236	0.00	2.55	0.00	0.000	4	0.000	0.072	2167	3769	3417
5277	-1.08	-146.6	619.0	-0.1	255	5281	0.00	2.45	0.00	0.000	6	0.000	0.045	2166	2395	3417
5608	-1.08	-146.6	645.0	-8.7	271	5612	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	989	3417
5656	-1.08	-146.6	650.8	-12.3	273	5661	0.00	2.60	0.00	0.000	6	0.000	0.051	2166	2400	3417
5977	-1.08	-146.6	685.0	-8.7	289	5981	0.00	2.58	0.00	0.000	4	0.000	0.076	2166	3770	3417
6003	-1.08	-146.6	688.1	-11.9	290	6008	0.00	2.50	0.00	0.000	6	0.000	0.051	2167	2405	3418
6326	-1.08	-146.6	712.9	-5.1	306	6327	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2405	3418
6634	-1.08	-146.6	743.6	-11.6	321	6635	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2405	3418
6944	-1.08	-146.6	771.7	-8.6	336	6945	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2405	3418
7253	-1.08	-146.6	809.5	-10.5	351	7254	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2405	3416
7562	-1.08	-146.6	843.1	-11.2	366	7563	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2404	3415
7872	-1.08	-146.6	850.1	-0.2	381	7876	0.00	2.65	0.00	0.000	4	0.000	0.070	2166	987	3413
7942	-1.08	-146.6	850.0	-0.8	384	7947	0.00	2.70	0.00	0.000	6	0.000	0.075	2166	2397	3412
8242	end dive: NO_VERTICAL_VELOCITY
state	8242	begin apogee
8246	-0.31	0.0	849.5	0.0	399	8371	0.85	0.00	121.93	1.311	6	0.107	0.000	2338	2186	2817
8372	end apogee: CONTROL_FINISHED_OK
state	8372	begin climb
8373	1.08	146.6	847.5	0.0	405	8504	1.38	2.90	120.82	1.284	4	0.054	0.090	2647	3613	2219
8650	1.08	146.6	819.8	12.3	418	8655	0.00	2.70	0.00	0.000	6	0.000	0.072	2647	2206	2218
8976	1.13	187.1	789.0	6.5	434	9018	0.00	2.85	33.70	1.243	4	0.000	0.081	2647	788	2054
9079	1.13	187.1	778.8	18.4	438	9086	0.00	2.67	0.00	0.000	6	0.000	0.061	2647	2207	2052
9394	1.13	187.1	745.3	8.5	454	9395	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2208	2052
9703	1.13	187.1	710.7	10.8	469	9707	0.00	2.72	0.00	0.000	4	0.000	0.089	2647	3612	2049
9959	1.13	187.1	679.8	11.9	480	9967	0.00	2.67	0.00	0.000	6	0.000	0.066	2647	2206	2047
10275	1.13	187.1	647.3	8.8	496	10279	0.00	2.70	0.00	0.000	4	0.000	0.081	2647	3622	2046
10514	1.13	187.1	625.0	9.5	507	10519	0.00	2.62	0.00	0.000	6	0.000	0.056	2647	2197	2045
10840	1.13	187.1	595.7	8.8	523	10841	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2197	2045
11149	1.13	187.1	568.5	8.5	538	11150	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2197	2045
11458	1.13	187.1	541.6	9.2	553	11463	0.00	2.67	0.00	0.000	4	0.000	0.071	2647	3625	2047
11507	1.13	187.1	536.3	10.4	555	11512	0.00	2.62	0.00	0.000	6	0.000	0.053	2647	2203	2047
11828	1.13	187.1	504.3	9.9	571	11830	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2203	2048
12138	1.13	187.1	474.6	9.8	586	12139	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2203	2049
12447	1.13	187.1	443.5	10.0	601	12451	0.00	2.65	0.00	0.000	4	0.000	0.071	2647	3623	2051
12507	1.13	187.1	437.2	10.3	604	12512	0.00	2.60	0.00	0.000	6	0.000	0.054	2647	2197	2050
12833	1.13	187.1	406.8	9.0	620	12837	0.00	2.67	0.00	0.000	4	0.000	0.071	2647	3623	2051
12909	1.13	187.1	399.0	10.1	623	12916	0.00	2.62	0.00	0.000	6	0.000	0.053	2647	2200	2052
13225	1.13	187.1	370.9	9.0	639	13229	0.00	2.65	0.00	0.000	4	0.000	0.070	2647	3622	2053
13273	1.13	187.1	366.4	8.8	641	13278	0.00	2.62	0.00	0.000	6	0.000	0.054	2647	2200	2053
13594	1.13	187.1	337.5	9.2	657	13599	0.00	2.65	0.00	0.000	4	0.000	0.071	2647	3621	2053
13654	1.13	187.1	331.6	10.6	660	13659	0.00	2.60	0.00	0.000	6	0.000	0.055	2647	2200	2053
13981	1.13	187.1	301.0	9.7	676	13982	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2200	2054
14290	1.13	187.1	270.3	10.1	691	14291	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	2055
14599	1.13	187.1	237.4	10.7	706	14600	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2200	2055
14908	1.13	187.1	207.6	9.2	721	14912	0.00	2.65	0.00	0.000	4	0.000	0.069	2647	3623	2055
14956	1.13	187.1	202.5	10.6	723	14961	0.00	2.62	0.00	0.000	6	0.000	0.054	2647	2202	2056
15277	1.13	187.1	173.6	8.6	739	15278	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2202	2056
15587	1.13	187.1	145.6	9.4	754	15591	0.00	2.62	0.00	0.000	4	0.000	0.069	2647	3614	2056
15657	1.13	187.1	138.5	10.1	757	15662	0.00	2.60	0.00	0.000	6	0.000	0.054	2647	2207	2056
15980	1.13	187.1	107.2	10.0	773	15985	0.00	2.62	0.00	0.000	4	0.000	0.069	2647	3617	2056
16043	1.13	187.1	100.3	10.6	776	16047	0.00	2.60	0.00	0.000	6	0.000	0.056	2647	2196	2057
16368	1.13	187.1	68.5	9.5	792	16372	0.00	2.65	0.00	0.000	4	0.000	0.070	2647	3616	2057
16444	1.13	187.1	60.5	10.4	795	16452	0.00	2.62	0.00	0.000	6	0.000	0.058	2647	2201	2057
16760	1.13	187.1	28.7	10.3	811	16761	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2201	2058
17068	end climb: SURFACE_DEPTH_REACHED
state	17068	begin surface coast
17090	end surface coast: CONTROL_FINISHED_OK
state	17090	begin surface