Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 480 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 480 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -72817.078 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -72817.078

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 8 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 480 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 24

Pre-dive calculations and measurements:

GPS1 235852,6156.664,-905.692,42,2.3,61,-9.4 TGT_NAME FB_DS

_CALLS 1 TGT_LATLONG 6127.000,-840.000

_XMS_NAKs 0 TGT_RADIUS 3704.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.43 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -58.9 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 000439,6156.570,-905.737,11,1.4,11,-9.4 MHEAD_RNG_PITCHd_Wd 166.8,59313,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 520

Post-dive calculations and measurements:

FINISH -0.1,1.027359 XPDR_PINGS 2

SM_CCo 15169,65.25,0.792,2,0,1678,300.00 ALTIM_BOTTOM_PING 476.5,109.2

SM_GC -0.37,0.00,0.00,65.25,0.000,0.000,0.792,50,2895,1678,-10.86,-0.11,300.00 _24V_AH 23.1,79.930

IRIDIUM_FIX 6135.28,-907.41,300497,202041 _10V_AH 10.1,37.104

TT8_MAMPS 0.029146 DATA_FILE_SIZE 34805,729

HUMID 2058 CFSIZE 260165632,232734720

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,2,0

TCM_TEMP 17.00 GPS 050208,042038,6151.356,-906.931,42,0.9,42,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 94.53 SBE_CT 535 24 297.10

Roll_motor 137 75 241.71 SBE_O2 503 19 221.09

VBD_pump_during_apogee 313 1153 8351.97 WL_BB2F 513 105 1244.35

VBD_pump_during_surface 65 791 1193.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 97.53 nil 0 0 0.00

Iridium_during_connect 41 160 154.56 nil 0 0 0.00

Iridium_during_xfer 144 223 742.25

Transponder_ping 4 420 41.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.85

TT8 1324 19 264.83

LPSleep 11657 2 257.85

TT8_Active 520 19 104.07

TT8_Sampling 1557 39 626.20

TT8_CF8 549 45 254.31

TT8_Kalman 0 81 0.00

Analog_circuits 1323 12 160.44

GPS_charging 0 0 0.00

Compass 1538 8 124.33

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

24 -1.10 -146.6 0.0 0.0 0 92 0.00 0.00 -66.57 0.000 6 0.000 0.000 48 2893 3500

96 -1.10 -146.6 3.0 -8.4 3 117 12.00 2.62 0.00 0.000 4 0.158 0.058 2163 1487 3503

299 -1.10 -146.6 29.2 -6.0 12 303 0.00 2.67 0.00 0.000 6 0.000 0.071 2163 2904 3503

625 -1.10 -146.6 49.2 -6.3 28 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3503

935 -1.10 -146.6 68.8 -6.4 43 939 0.00 2.62 0.00 0.000 4 0.000 0.066 2163 1491 3503

985 -1.10 -146.6 71.8 -5.8 45 990 0.00 2.67 0.00 0.000 6 0.000 0.074 2163 2901 3502

1302 -1.10 -146.6 94.4 -7.6 60 1303 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

1611 -1.10 -146.6 116.8 -6.5 75 1615 0.00 2.62 0.00 0.000 4 0.000 0.066 2164 1482 3503

1644 -1.10 -146.6 119.2 -7.1 76 1650 0.00 2.67 0.00 0.000 6 0.000 0.071 2163 2909 3503

1962 -1.10 -146.6 139.1 -6.1 92 1963 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

2269 -1.10 -146.6 158.0 -6.0 107 2270 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

2578 -1.10 -146.6 177.7 -6.5 122 2582 0.00 2.62 0.00 0.000 4 0.000 0.064 2163 1484 3503

2611 -1.10 -146.6 180.0 -6.3 123 2617 0.00 2.65 0.00 0.000 6 0.000 0.065 2163 2909 3503

2929 -1.10 -146.6 200.8 -6.9 139 2934 0.00 2.62 0.00 0.000 4 0.000 0.066 2163 1486 3503

2970 -1.10 -146.6 203.8 -7.1 141 2974 0.00 2.65 0.00 0.000 6 0.000 0.068 2164 2911 3503

3297 -1.10 -146.6 226.4 -7.0 157 3301 0.00 2.62 0.00 0.000 4 0.000 0.065 2163 1488 3503

3330 -1.10 -146.6 228.8 -6.8 158 3336 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2904 3503

3646 -1.10 -146.6 251.4 -7.1 174 3648 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3503

3958 -1.10 -146.6 275.1 -7.5 189 3962 0.00 2.60 0.00 0.000 4 0.000 0.061 2163 1482 3503

4002 -1.10 -146.6 278.5 -7.4 191 4006 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2906 3503

4323 -1.10 -146.6 299.6 -6.3 207 4324 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3503

4633 -1.10 -146.6 319.8 -6.6 222 4637 0.00 2.58 0.00 0.000 4 0.000 0.058 2163 1488 3503

4673 -1.10 -146.6 322.6 -6.9 224 4677 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2899 3503

4999 -1.10 -146.6 344.1 -6.4 240 5003 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1484 3503

5055 -1.10 -146.6 347.5 -6.2 242 5061 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2904 3503

5370 -1.10 -146.6 367.9 -7.0 258 5375 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1489 3503

5404 -1.10 -146.6 370.3 -7.3 259 5410 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2902 3503

5720 -1.10 -146.6 390.4 -6.0 275 5724 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1484 3503

5760 -1.10 -146.6 392.7 -5.6 277 5764 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2903 3503

6086 -1.10 -146.6 412.6 -6.6 293 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3503

6396 -1.10 -146.6 432.9 -6.5 308 6400 0.00 2.58 0.00 0.000 4 0.000 0.059 2163 1484 3503

6451 -1.10 -146.6 436.7 -6.8 310 6458 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2901 3503

6768 -1.10 -146.6 459.7 -7.5 326 6769 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

7077 -1.10 -146.6 482.9 -7.7 341 7082 0.00 2.55 0.00 0.000 4 0.000 0.056 2163 1486 3503

7105 -1.10 -146.6 485.5 -8.5 342 7109 0.00 2.62 0.00 0.000 6 0.000 0.066 2163 2900 3503

7421 -1.10 -146.6 511.4 -7.9 357 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

7541 end dive: TARGET_DEPTH_EXCEEDED

state 7542 begin apogee

7551 -0.42 0.0 520.1 7.0 363 7684 0.75 0.00 126.40 1.154 6 0.077 0.000 2320 2089 2901

7685 end apogee: CONTROL_FINISHED_OK

state 7685 begin climb

7688 1.10 146.6 524.7 0.0 370 7820 1.55 2.62 122.35 1.116 4 0.064 0.056 2646 695 2302

7986 1.18 208.0 517.3 4.3 383 8046 0.00 2.47 52.60 1.113 6 0.000 0.035 2646 2113 2052

8365 1.18 208.0 494.9 7.3 402 8369 0.00 2.58 0.00 0.000 4 0.000 0.065 2646 3506 2051

8443 1.18 208.0 489.0 6.5 405 8450 0.00 2.47 0.00 0.000 6 0.000 0.038 2646 2095 2051

8760 1.19 220.9 470.8 5.6 421 8782 0.10 2.75 12.07 1.033 4 0.048 0.071 2678 3504 2000

8806 1.19 220.9 467.6 7.1 423 8810 0.00 2.50 0.00 0.000 6 0.000 0.041 2678 2098 2000

9132 1.19 220.9 442.6 7.7 439 9136 0.00 2.62 0.00 0.000 4 0.000 0.069 2678 3508 1999

9165 1.19 220.9 439.9 7.5 440 9171 0.00 2.47 0.00 0.000 6 0.000 0.041 2677 2102 1999

9481 1.19 220.9 416.6 7.5 456 9486 0.00 2.62 0.00 0.000 4 0.000 0.071 2678 3503 1999

9509 1.19 220.9 414.2 8.6 457 9513 0.00 2.50 0.00 0.000 6 0.000 0.041 2678 2091 1999

9825 1.19 220.9 390.2 7.6 472 9829 0.00 2.65 0.00 0.000 4 0.000 0.071 2678 3503 1999

9852 1.19 220.9 388.0 8.3 473 9856 0.00 2.47 0.00 0.000 6 0.000 0.041 2678 2098 1999

10168 1.19 220.9 363.8 7.5 488 10169 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2098 1999

10477 1.19 220.9 341.7 7.5 503 10481 0.00 2.62 0.00 0.000 4 0.000 0.072 2678 3502 1999

10504 1.19 220.9 339.5 8.0 504 10508 0.00 2.47 0.00 0.000 6 0.000 0.044 2678 2099 1999

10820 1.19 220.9 317.5 6.8 519 10822 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2099 1999

11129 1.19 220.9 296.3 7.1 534 11133 0.00 2.62 0.00 0.000 4 0.000 0.074 2677 3502 1998

11151 1.19 220.9 294.7 7.4 535 11155 0.00 2.50 0.00 0.000 6 0.000 0.044 2678 2092 1999

11472 1.19 220.9 271.9 7.2 551 11477 0.00 2.65 0.00 0.000 4 0.000 0.073 2677 3502 1998

11517 1.19 220.9 268.3 7.5 553 11521 0.00 2.50 0.00 0.000 6 0.000 0.046 2678 2099 1998

11838 1.19 220.9 245.5 7.3 569 11839 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2099 1998

12148 1.19 220.9 222.6 6.7 584 12149 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2099 1998

12456 1.19 220.9 201.6 7.2 599 12461 0.00 2.65 0.00 0.000 4 0.000 0.076 2678 3509 1998

12501 1.19 220.9 198.1 8.6 601 12505 0.00 2.53 0.00 0.000 6 0.000 0.047 2678 2093 1998

12822 1.19 220.9 176.0 6.7 617 12823 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2093 1998

13131 1.19 220.9 153.8 7.7 632 13132 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2093 1998

13441 1.19 220.9 129.9 7.4 647 13445 0.00 2.65 0.00 0.000 4 0.000 0.071 2678 3505 1998

13468 1.19 220.9 127.6 8.7 648 13473 0.00 2.50 0.00 0.000 6 0.000 0.046 2677 2100 1998

13785 1.19 220.9 101.0 8.9 663 13786 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2100 1998

14095 1.19 220.9 77.8 7.9 678 14100 0.00 2.65 0.00 0.000 4 0.000 0.074 2678 3507 1998

14152 1.19 220.9 72.4 9.2 680 14158 0.00 2.50 0.00 0.000 6 0.000 0.050 2678 2101 1998

14468 1.19 220.9 48.2 6.6 696 14469 0.00 0.00 0.00 0.000 6 0.000 0.000 2678 2101 1998

14777 1.19 220.9 26.1 7.6 711 14781 0.00 2.55 0.00 0.000 4 0.000 0.064 2678 698 1998

14795 1.19 220.9 24.6 7.8 712 14800 0.00 2.45 0.00 0.000 6 0.000 0.043 2678 2092 1999

15120 end climb: SURFACE_DEPTH_REACHED

state 15120 begin surface coast

15144 end surface coast: CONTROL_FINISHED_OK

state 15144 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	480	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-72817.078	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	235852,6156.664,-905.692,42,2.3,61,-9.4	TGT_NAME	FB_DS
_CALLS	1	TGT_LATLONG	6127.000,-840.000
_XMS_NAKs	0	TGT_RADIUS	3704.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.43	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-58.9	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	000439,6156.570,-905.737,11,1.4,11,-9.4	MHEAD_RNG_PITCHd_Wd	166.8,59313,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	520

FINISH	-0.1,1.027359	XPDR_PINGS	2
SM_CCo	15169,65.25,0.792,2,0,1678,300.00	ALTIM_BOTTOM_PING	476.5,109.2
SM_GC	-0.37,0.00,0.00,65.25,0.000,0.000,0.792,50,2895,1678,-10.86,-0.11,300.00	_24V_AH	23.1,79.930
IRIDIUM_FIX	6135.28,-907.41,300497,202041	_10V_AH	10.1,37.104
TT8_MAMPS	0.029146	DATA_FILE_SIZE	34805,729
HUMID	2058	CFSIZE	260165632,232734720
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,2,0
TCM_TEMP	17.00	GPS	050208,042038,6151.356,-906.931,42,0.9,42,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	94.53	SBE_CT	535	24	297.10
Roll_motor	137	75	241.71	SBE_O2	503	19	221.09
VBD_pump_during_apogee	313	1153	8351.97	WL_BB2F	513	105	1244.35
VBD_pump_during_surface	65	791	1193.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	97.53	nil	0	0	0.00
Iridium_during_connect	41	160	154.56	nil	0	0	0.00
Iridium_during_xfer	144	223	742.25
Transponder_ping	4	420	41.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.85
TT8	1324	19	264.83
LPSleep	11657	2	257.85
TT8_Active	520	19	104.07
TT8_Sampling	1557	39	626.20
TT8_CF8	549	45	254.31
TT8_Kalman	0	81	0.00
Analog_circuits	1323	12	160.44
GPS_charging	0	0	0.00
Compass	1538	8	124.33
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
24	-1.10	-146.6	0.0	0.0	0	92	0.00	0.00	-66.57	0.000	6	0.000	0.000	48	2893	3500
96	-1.10	-146.6	3.0	-8.4	3	117	12.00	2.62	0.00	0.000	4	0.158	0.058	2163	1487	3503
299	-1.10	-146.6	29.2	-6.0	12	303	0.00	2.67	0.00	0.000	6	0.000	0.071	2163	2904	3503
625	-1.10	-146.6	49.2	-6.3	28	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3503
935	-1.10	-146.6	68.8	-6.4	43	939	0.00	2.62	0.00	0.000	4	0.000	0.066	2163	1491	3503
985	-1.10	-146.6	71.8	-5.8	45	990	0.00	2.67	0.00	0.000	6	0.000	0.074	2163	2901	3502
1302	-1.10	-146.6	94.4	-7.6	60	1303	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
1611	-1.10	-146.6	116.8	-6.5	75	1615	0.00	2.62	0.00	0.000	4	0.000	0.066	2164	1482	3503
1644	-1.10	-146.6	119.2	-7.1	76	1650	0.00	2.67	0.00	0.000	6	0.000	0.071	2163	2909	3503
1962	-1.10	-146.6	139.1	-6.1	92	1963	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
2269	-1.10	-146.6	158.0	-6.0	107	2270	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
2578	-1.10	-146.6	177.7	-6.5	122	2582	0.00	2.62	0.00	0.000	4	0.000	0.064	2163	1484	3503
2611	-1.10	-146.6	180.0	-6.3	123	2617	0.00	2.65	0.00	0.000	6	0.000	0.065	2163	2909	3503
2929	-1.10	-146.6	200.8	-6.9	139	2934	0.00	2.62	0.00	0.000	4	0.000	0.066	2163	1486	3503
2970	-1.10	-146.6	203.8	-7.1	141	2974	0.00	2.65	0.00	0.000	6	0.000	0.068	2164	2911	3503
3297	-1.10	-146.6	226.4	-7.0	157	3301	0.00	2.62	0.00	0.000	4	0.000	0.065	2163	1488	3503
3330	-1.10	-146.6	228.8	-6.8	158	3336	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2904	3503
3646	-1.10	-146.6	251.4	-7.1	174	3648	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3503
3958	-1.10	-146.6	275.1	-7.5	189	3962	0.00	2.60	0.00	0.000	4	0.000	0.061	2163	1482	3503
4002	-1.10	-146.6	278.5	-7.4	191	4006	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2906	3503
4323	-1.10	-146.6	299.6	-6.3	207	4324	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3503
4633	-1.10	-146.6	319.8	-6.6	222	4637	0.00	2.58	0.00	0.000	4	0.000	0.058	2163	1488	3503
4673	-1.10	-146.6	322.6	-6.9	224	4677	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2899	3503
4999	-1.10	-146.6	344.1	-6.4	240	5003	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1484	3503
5055	-1.10	-146.6	347.5	-6.2	242	5061	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2904	3503
5370	-1.10	-146.6	367.9	-7.0	258	5375	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1489	3503
5404	-1.10	-146.6	370.3	-7.3	259	5410	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2902	3503
5720	-1.10	-146.6	390.4	-6.0	275	5724	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1484	3503
5760	-1.10	-146.6	392.7	-5.6	277	5764	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2903	3503
6086	-1.10	-146.6	412.6	-6.6	293	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3503
6396	-1.10	-146.6	432.9	-6.5	308	6400	0.00	2.58	0.00	0.000	4	0.000	0.059	2163	1484	3503
6451	-1.10	-146.6	436.7	-6.8	310	6458	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2901	3503
6768	-1.10	-146.6	459.7	-7.5	326	6769	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
7077	-1.10	-146.6	482.9	-7.7	341	7082	0.00	2.55	0.00	0.000	4	0.000	0.056	2163	1486	3503
7105	-1.10	-146.6	485.5	-8.5	342	7109	0.00	2.62	0.00	0.000	6	0.000	0.066	2163	2900	3503
7421	-1.10	-146.6	511.4	-7.9	357	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
7541	end dive: TARGET_DEPTH_EXCEEDED
state	7542	begin apogee
7551	-0.42	0.0	520.1	7.0	363	7684	0.75	0.00	126.40	1.154	6	0.077	0.000	2320	2089	2901
7685	end apogee: CONTROL_FINISHED_OK
state	7685	begin climb
7688	1.10	146.6	524.7	0.0	370	7820	1.55	2.62	122.35	1.116	4	0.064	0.056	2646	695	2302
7986	1.18	208.0	517.3	4.3	383	8046	0.00	2.47	52.60	1.113	6	0.000	0.035	2646	2113	2052
8365	1.18	208.0	494.9	7.3	402	8369	0.00	2.58	0.00	0.000	4	0.000	0.065	2646	3506	2051
8443	1.18	208.0	489.0	6.5	405	8450	0.00	2.47	0.00	0.000	6	0.000	0.038	2646	2095	2051
8760	1.19	220.9	470.8	5.6	421	8782	0.10	2.75	12.07	1.033	4	0.048	0.071	2678	3504	2000
8806	1.19	220.9	467.6	7.1	423	8810	0.00	2.50	0.00	0.000	6	0.000	0.041	2678	2098	2000
9132	1.19	220.9	442.6	7.7	439	9136	0.00	2.62	0.00	0.000	4	0.000	0.069	2678	3508	1999
9165	1.19	220.9	439.9	7.5	440	9171	0.00	2.47	0.00	0.000	6	0.000	0.041	2677	2102	1999
9481	1.19	220.9	416.6	7.5	456	9486	0.00	2.62	0.00	0.000	4	0.000	0.071	2678	3503	1999
9509	1.19	220.9	414.2	8.6	457	9513	0.00	2.50	0.00	0.000	6	0.000	0.041	2678	2091	1999
9825	1.19	220.9	390.2	7.6	472	9829	0.00	2.65	0.00	0.000	4	0.000	0.071	2678	3503	1999
9852	1.19	220.9	388.0	8.3	473	9856	0.00	2.47	0.00	0.000	6	0.000	0.041	2678	2098	1999
10168	1.19	220.9	363.8	7.5	488	10169	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2098	1999
10477	1.19	220.9	341.7	7.5	503	10481	0.00	2.62	0.00	0.000	4	0.000	0.072	2678	3502	1999
10504	1.19	220.9	339.5	8.0	504	10508	0.00	2.47	0.00	0.000	6	0.000	0.044	2678	2099	1999
10820	1.19	220.9	317.5	6.8	519	10822	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2099	1999
11129	1.19	220.9	296.3	7.1	534	11133	0.00	2.62	0.00	0.000	4	0.000	0.074	2677	3502	1998
11151	1.19	220.9	294.7	7.4	535	11155	0.00	2.50	0.00	0.000	6	0.000	0.044	2678	2092	1999
11472	1.19	220.9	271.9	7.2	551	11477	0.00	2.65	0.00	0.000	4	0.000	0.073	2677	3502	1998
11517	1.19	220.9	268.3	7.5	553	11521	0.00	2.50	0.00	0.000	6	0.000	0.046	2678	2099	1998
11838	1.19	220.9	245.5	7.3	569	11839	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2099	1998
12148	1.19	220.9	222.6	6.7	584	12149	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2099	1998
12456	1.19	220.9	201.6	7.2	599	12461	0.00	2.65	0.00	0.000	4	0.000	0.076	2678	3509	1998
12501	1.19	220.9	198.1	8.6	601	12505	0.00	2.53	0.00	0.000	6	0.000	0.047	2678	2093	1998
12822	1.19	220.9	176.0	6.7	617	12823	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2093	1998
13131	1.19	220.9	153.8	7.7	632	13132	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2093	1998
13441	1.19	220.9	129.9	7.4	647	13445	0.00	2.65	0.00	0.000	4	0.000	0.071	2678	3505	1998
13468	1.19	220.9	127.6	8.7	648	13473	0.00	2.50	0.00	0.000	6	0.000	0.046	2677	2100	1998
13785	1.19	220.9	101.0	8.9	663	13786	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2100	1998
14095	1.19	220.9	77.8	7.9	678	14100	0.00	2.65	0.00	0.000	4	0.000	0.074	2678	3507	1998
14152	1.19	220.9	72.4	9.2	680	14158	0.00	2.50	0.00	0.000	6	0.000	0.050	2678	2101	1998
14468	1.19	220.9	48.2	6.6	696	14469	0.00	0.00	0.00	0.000	6	0.000	0.000	2678	2101	1998
14777	1.19	220.9	26.1	7.6	711	14781	0.00	2.55	0.00	0.000	4	0.000	0.064	2678	698	1998
14795	1.19	220.9	24.6	7.8	712	14800	0.00	2.45	0.00	0.000	6	0.000	0.043	2678	2092	1999
15120	end climb: SURFACE_DEPTH_REACHED
state	15120	begin surface coast
15144	end surface coast: CONTROL_FINISHED_OK
state	15144	begin surface