Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 238 * 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 238 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 571.30371 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -1 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 -66822.719 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 1 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 571.30371

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 -66822.719

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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 18 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 238 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 211338,6350.993,-1253.150,30,1.0,30,-12.3 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6400.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.169,0.138

_SM_DEPTHo -0.47 KALMAN_X -273581.7,336.1,-1253.7,46425.1,3802.1

_SM_ANGLEo -48.3 KALMAN_Y -202632.8,82.4,-583.7,456765.0,-3486.5

GPS2 211920,6350.932,-1253.074,9,1.0,14,-12.3 MHEAD_RNG_PITCHd_Wd 321.4,17710,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 637

Post-dive calculations and measurements:

FINISH -0.9,1.027343 XPDR_PINGS 2

SM_CCo 16524,224.25,0.778,1,0,572,571.30 ALTIM_BOTTOM_PING 550.9,86.9

SM_GC -0.52,0.00,0.00,224.25,0.000,0.000,0.778,43,2899,572,-10.89,-0.03,571.30 _24V_AH 23.4,42.018

IRIDIUM_FIX 6322.64,-1127.20,271207,202024 _10V_AH 10.1,20.660

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41067,796

HUMID 2021 CFSIZE 260165632,244617216

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,1,0

TCM_TEMP 17.30 GPS 281207,020055,6352.379,-1252.093,25,1.3,42,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 98.56 SBE_CT 584 24 328.11

Roll_motor 103 111 271.80 SBE_O2 554 19 246.68

VBD_pump_during_apogee 367 1239 10645.79 WL_BB2F 506 105 1244.31

VBD_pump_during_surface 224 777 4081.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.77 nil 0 0 0.00

Iridium_during_connect 43 160 162.28 nil 0 0 0.00

Iridium_during_xfer 150 223 787.66

Transponder_ping 5 420 49.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.51

TT8 1437 19 287.56

LPSleep 12761 2 282.28

TT8_Active 756 19 151.28

TT8_Sampling 1675 39 673.48

TT8_CF8 478 45 221.38

TT8_Kalman 33 81 27.57

Analog_circuits 1590 12 192.72

GPS_charging 0 0 0.00

Compass 1665 8 134.55

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.10 -146.4 0.0 0.0 0 126 0.00 0.00 -102.07 0.000 2 0.000 0.000 42 2903 3371

129 -1.10 -146.6 3.4 -4.3 5 151 12.07 1.73 -2.30 0.000 4 0.161 0.112 2167 3776 3503

326 -1.10 -146.6 28.8 -6.9 13 332 0.00 1.60 0.00 0.000 6 0.000 0.057 2167 2907 3503

641 -1.10 -146.6 48.7 -5.2 29 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2907 3503

950 -1.10 -146.6 61.6 -3.7 44 955 0.00 2.65 0.00 0.000 4 0.000 0.073 2167 1479 3503

968 -1.10 -146.6 62.3 -4.1 45 973 0.00 2.72 0.00 0.000 6 0.000 0.082 2167 2899 3503

1294 -1.10 -146.6 77.6 -5.2 61 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

1603 -1.10 -146.6 106.0 -11.9 76 1607 0.00 2.62 0.00 0.000 4 0.000 0.067 2167 1486 3503

1635 -1.10 -146.6 109.4 -9.7 77 1642 0.00 2.70 0.00 0.000 6 0.000 0.082 2167 2905 3503

1952 -1.10 -146.6 130.8 -8.0 93 1954 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3503

2260 -1.10 -146.6 162.6 -10.0 108 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3503

2570 -1.10 -146.6 191.9 -7.8 123 2571 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2905 3503

2878 -1.10 -146.6 216.3 -9.3 138 2882 0.00 1.73 0.00 0.000 4 0.000 0.096 2167 3787 3503

2939 -1.10 -146.6 221.4 -9.3 140 2946 0.00 1.58 0.00 0.000 6 0.000 0.047 2167 2899 3503

3255 -1.10 -146.6 236.9 -4.0 156 3260 0.00 2.60 0.00 0.000 4 0.000 0.071 2167 1486 3503

3310 -1.10 -146.6 240.2 -6.1 158 3317 0.00 2.67 0.00 0.000 6 0.000 0.078 2167 2899 3503

3626 -1.10 -146.6 256.0 -5.2 174 3627 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

3935 -1.10 -146.6 277.4 -8.1 189 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

4244 -1.10 -146.6 303.2 -8.0 204 4245 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

4554 -1.10 -146.6 324.6 -6.5 219 4561 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1489 3503

4589 -1.10 -146.6 326.9 -6.7 220 4593 0.00 2.67 0.00 0.000 6 0.000 0.078 2167 2903 3503

4906 -1.10 -146.6 350.2 -7.8 235 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

5213 -1.10 -146.6 374.1 -7.9 250 5217 0.00 1.67 0.00 0.000 4 0.000 0.093 2167 3784 3503

5263 -1.10 -146.6 378.2 -8.4 252 5267 0.00 1.55 0.00 0.000 6 0.000 0.045 2167 2905 3503

5589 -1.10 -146.6 406.6 -8.6 268 5590 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2905 3503

5899 -1.10 -146.6 432.6 -7.5 283 5903 0.00 2.55 0.00 0.000 4 0.000 0.060 2167 1483 3503

5942 -1.10 -146.6 435.5 -7.0 285 5946 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2899 3503

6263 -1.10 -146.6 456.3 -6.5 301 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6573 -1.10 -146.6 478.0 -7.2 316 6574 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6883 -1.10 -146.6 500.4 -7.5 331 6887 0.00 2.55 0.00 0.000 4 0.000 0.054 2167 1479 3503

6926 -1.10 -146.6 503.8 -7.5 333 6930 0.00 2.62 0.00 0.000 6 0.000 0.065 2167 2903 3503

7253 -1.10 -146.6 527.5 -7.2 349 7257 0.00 2.53 0.00 0.000 4 0.000 0.052 2167 1481 3503

7285 -1.10 -146.6 530.0 -7.4 350 7292 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2900 3503

7605 -1.10 -146.6 550.9 -6.3 366 7606 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

7910 -1.10 -146.6 572.0 -7.4 381 7911 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

8220 -1.10 -146.6 588.3 -3.6 396 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

8529 -1.10 -146.6 597.5 -2.6 411 8533 0.00 2.53 0.00 0.000 4 0.000 0.047 2167 1470 3503

8596 -1.10 -146.6 599.7 -3.3 414 8600 0.00 2.60 0.00 0.000 6 0.000 0.060 2167 2901 3503

8917 -1.10 -146.6 614.3 -4.5 430 8920 0.00 1.67 0.00 0.000 4 0.000 0.087 2167 3792 3503

8944 -1.10 -146.6 615.6 -5.0 431 8948 0.00 1.58 0.00 0.000 6 0.000 0.038 2167 2874 3503

9165 end dive: BOTTOM_OBSTACLE_DETECTED

state 9165 begin apogee

9172 -0.42 0.0 627.9 6.6 442 9300 0.73 0.00 124.62 1.239 6 0.073 0.000 2319 2096 2901

9301 end apogee: CONTROL_FINISHED_OK

state 9301 begin climb

9303 1.10 146.6 631.5 0.0 448 9430 1.52 0.00 121.10 1.221 6 0.056 0.000 2648 2096 2303

9739 1.12 163.8 610.6 5.5 470 9761 0.00 2.58 15.88 1.129 4 0.000 0.055 2648 697 2233

9990 1.13 168.4 593.4 5.9 481 10001 0.00 2.47 5.53 0.939 6 0.000 0.035 2647 2121 2214

10311 1.13 168.4 571.8 8.6 496 10315 0.00 2.53 0.00 0.000 4 0.000 0.063 2648 3502 2213

10468 1.13 168.4 555.8 9.7 503 10472 0.00 2.45 0.00 0.000 6 0.000 0.035 2648 2098 2212

10793 1.13 168.4 532.9 6.2 519 10797 0.00 2.53 0.00 0.000 4 0.000 0.056 2648 699 2211

10969 1.14 172.5 522.4 5.9 527 10979 0.00 2.42 4.62 0.874 6 0.000 0.036 2648 2097 2197

11294 1.28 288.5 509.9 2.8 543 11398 0.15 2.70 95.30 1.193 4 0.039 0.068 2701 3507 1724

11466 1.28 288.5 499.4 8.5 551 11471 0.00 2.47 0.00 0.000 6 0.000 0.038 2702 2101 1723

11792 1.28 288.5 470.6 9.3 567 11793 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2101 1722

12101 1.28 288.5 443.3 8.7 582 12106 0.00 2.62 0.00 0.000 4 0.000 0.071 2702 3501 1722

12156 1.28 288.5 437.8 10.0 584 12163 0.00 2.47 0.00 0.000 6 0.000 0.043 2702 2100 1722

12472 1.28 288.5 405.2 10.7 600 12476 0.00 2.65 0.00 0.000 4 0.000 0.074 2701 3502 1722

12511 1.28 288.5 400.9 11.2 602 12516 0.00 2.50 0.00 0.000 6 0.000 0.046 2701 2098 1722

12837 1.28 288.5 370.0 9.4 618 12842 0.00 2.55 0.00 0.000 4 0.000 0.061 2701 691 1722

12871 1.28 288.5 366.8 9.7 619 12878 0.00 2.47 0.00 0.000 6 0.000 0.043 2701 2093 1723

13187 1.28 288.5 335.5 9.6 635 13191 0.00 2.67 0.00 0.000 4 0.000 0.076 2702 3519 1722

13230 1.28 288.5 331.1 9.5 637 13234 0.00 2.53 0.00 0.000 6 0.000 0.048 2702 2099 1722

13556 1.28 288.5 301.8 9.6 653 13558 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2099 1723

13866 1.28 288.5 268.7 11.1 668 13870 0.00 2.67 0.00 0.000 4 0.000 0.076 2702 3511 1723

13898 1.28 288.5 264.8 10.8 669 13904 0.00 2.53 0.00 0.000 6 0.000 0.050 2701 2096 1723

14213 1.28 288.5 232.0 10.2 685 14215 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2096 1724

14523 1.28 288.5 201.1 8.6 700 14524 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2096 1724

14832 1.28 288.5 175.2 9.3 715 14833 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2096 1724

15142 1.28 288.5 134.8 15.7 730 15143 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 1724

15451 1.28 288.5 99.7 8.4 745 15452 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 1724

15760 1.28 288.5 74.9 7.0 760 15761 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 1725

16071 1.28 288.5 44.8 8.8 775 16072 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2093 1725

16380 1.28 288.5 11.0 13.1 790 16381 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2093 1725

16481 end climb: SURFACE_DEPTH_REACHED

state 16481 begin surface coast

16502 end surface coast: CONTROL_FINISHED_OK

state 16502 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	238	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	571.30371	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-1	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	-66822.719	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	1	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	211338,6350.993,-1253.150,30,1.0,30,-12.3	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6400.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.169,0.138
_SM_DEPTHo	-0.47	KALMAN_X	-273581.7,336.1,-1253.7,46425.1,3802.1
_SM_ANGLEo	-48.3	KALMAN_Y	-202632.8,82.4,-583.7,456765.0,-3486.5
GPS2	211920,6350.932,-1253.074,9,1.0,14,-12.3	MHEAD_RNG_PITCHd_Wd	321.4,17710,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	637

FINISH	-0.9,1.027343	XPDR_PINGS	2
SM_CCo	16524,224.25,0.778,1,0,572,571.30	ALTIM_BOTTOM_PING	550.9,86.9
SM_GC	-0.52,0.00,0.00,224.25,0.000,0.000,0.778,43,2899,572,-10.89,-0.03,571.30	_24V_AH	23.4,42.018
IRIDIUM_FIX	6322.64,-1127.20,271207,202024	_10V_AH	10.1,20.660
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41067,796
HUMID	2021	CFSIZE	260165632,244617216
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
TCM_TEMP	17.30	GPS	281207,020055,6352.379,-1252.093,25,1.3,42,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	98.56	SBE_CT	584	24	328.11
Roll_motor	103	111	271.80	SBE_O2	554	19	246.68
VBD_pump_during_apogee	367	1239	10645.79	WL_BB2F	506	105	1244.31
VBD_pump_during_surface	224	777	4081.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.77	nil	0	0	0.00
Iridium_during_connect	43	160	162.28	nil	0	0	0.00
Iridium_during_xfer	150	223	787.66
Transponder_ping	5	420	49.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.51
TT8	1437	19	287.56
LPSleep	12761	2	282.28
TT8_Active	756	19	151.28
TT8_Sampling	1675	39	673.48
TT8_CF8	478	45	221.38
TT8_Kalman	33	81	27.57
Analog_circuits	1590	12	192.72
GPS_charging	0	0	0.00
Compass	1665	8	134.55
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.10	-146.4	0.0	0.0	0	126	0.00	0.00	-102.07	0.000	2	0.000	0.000	42	2903	3371
129	-1.10	-146.6	3.4	-4.3	5	151	12.07	1.73	-2.30	0.000	4	0.161	0.112	2167	3776	3503
326	-1.10	-146.6	28.8	-6.9	13	332	0.00	1.60	0.00	0.000	6	0.000	0.057	2167	2907	3503
641	-1.10	-146.6	48.7	-5.2	29	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2907	3503
950	-1.10	-146.6	61.6	-3.7	44	955	0.00	2.65	0.00	0.000	4	0.000	0.073	2167	1479	3503
968	-1.10	-146.6	62.3	-4.1	45	973	0.00	2.72	0.00	0.000	6	0.000	0.082	2167	2899	3503
1294	-1.10	-146.6	77.6	-5.2	61	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
1603	-1.10	-146.6	106.0	-11.9	76	1607	0.00	2.62	0.00	0.000	4	0.000	0.067	2167	1486	3503
1635	-1.10	-146.6	109.4	-9.7	77	1642	0.00	2.70	0.00	0.000	6	0.000	0.082	2167	2905	3503
1952	-1.10	-146.6	130.8	-8.0	93	1954	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3503
2260	-1.10	-146.6	162.6	-10.0	108	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3503
2570	-1.10	-146.6	191.9	-7.8	123	2571	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2905	3503
2878	-1.10	-146.6	216.3	-9.3	138	2882	0.00	1.73	0.00	0.000	4	0.000	0.096	2167	3787	3503
2939	-1.10	-146.6	221.4	-9.3	140	2946	0.00	1.58	0.00	0.000	6	0.000	0.047	2167	2899	3503
3255	-1.10	-146.6	236.9	-4.0	156	3260	0.00	2.60	0.00	0.000	4	0.000	0.071	2167	1486	3503
3310	-1.10	-146.6	240.2	-6.1	158	3317	0.00	2.67	0.00	0.000	6	0.000	0.078	2167	2899	3503
3626	-1.10	-146.6	256.0	-5.2	174	3627	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
3935	-1.10	-146.6	277.4	-8.1	189	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
4244	-1.10	-146.6	303.2	-8.0	204	4245	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
4554	-1.10	-146.6	324.6	-6.5	219	4561	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1489	3503
4589	-1.10	-146.6	326.9	-6.7	220	4593	0.00	2.67	0.00	0.000	6	0.000	0.078	2167	2903	3503
4906	-1.10	-146.6	350.2	-7.8	235	4908	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
5213	-1.10	-146.6	374.1	-7.9	250	5217	0.00	1.67	0.00	0.000	4	0.000	0.093	2167	3784	3503
5263	-1.10	-146.6	378.2	-8.4	252	5267	0.00	1.55	0.00	0.000	6	0.000	0.045	2167	2905	3503
5589	-1.10	-146.6	406.6	-8.6	268	5590	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2905	3503
5899	-1.10	-146.6	432.6	-7.5	283	5903	0.00	2.55	0.00	0.000	4	0.000	0.060	2167	1483	3503
5942	-1.10	-146.6	435.5	-7.0	285	5946	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2899	3503
6263	-1.10	-146.6	456.3	-6.5	301	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6573	-1.10	-146.6	478.0	-7.2	316	6574	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6883	-1.10	-146.6	500.4	-7.5	331	6887	0.00	2.55	0.00	0.000	4	0.000	0.054	2167	1479	3503
6926	-1.10	-146.6	503.8	-7.5	333	6930	0.00	2.62	0.00	0.000	6	0.000	0.065	2167	2903	3503
7253	-1.10	-146.6	527.5	-7.2	349	7257	0.00	2.53	0.00	0.000	4	0.000	0.052	2167	1481	3503
7285	-1.10	-146.6	530.0	-7.4	350	7292	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2900	3503
7605	-1.10	-146.6	550.9	-6.3	366	7606	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
7910	-1.10	-146.6	572.0	-7.4	381	7911	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
8220	-1.10	-146.6	588.3	-3.6	396	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
8529	-1.10	-146.6	597.5	-2.6	411	8533	0.00	2.53	0.00	0.000	4	0.000	0.047	2167	1470	3503
8596	-1.10	-146.6	599.7	-3.3	414	8600	0.00	2.60	0.00	0.000	6	0.000	0.060	2167	2901	3503
8917	-1.10	-146.6	614.3	-4.5	430	8920	0.00	1.67	0.00	0.000	4	0.000	0.087	2167	3792	3503
8944	-1.10	-146.6	615.6	-5.0	431	8948	0.00	1.58	0.00	0.000	6	0.000	0.038	2167	2874	3503
9165	end dive: BOTTOM_OBSTACLE_DETECTED
state	9165	begin apogee
9172	-0.42	0.0	627.9	6.6	442	9300	0.73	0.00	124.62	1.239	6	0.073	0.000	2319	2096	2901
9301	end apogee: CONTROL_FINISHED_OK
state	9301	begin climb
9303	1.10	146.6	631.5	0.0	448	9430	1.52	0.00	121.10	1.221	6	0.056	0.000	2648	2096	2303
9739	1.12	163.8	610.6	5.5	470	9761	0.00	2.58	15.88	1.129	4	0.000	0.055	2648	697	2233
9990	1.13	168.4	593.4	5.9	481	10001	0.00	2.47	5.53	0.939	6	0.000	0.035	2647	2121	2214
10311	1.13	168.4	571.8	8.6	496	10315	0.00	2.53	0.00	0.000	4	0.000	0.063	2648	3502	2213
10468	1.13	168.4	555.8	9.7	503	10472	0.00	2.45	0.00	0.000	6	0.000	0.035	2648	2098	2212
10793	1.13	168.4	532.9	6.2	519	10797	0.00	2.53	0.00	0.000	4	0.000	0.056	2648	699	2211
10969	1.14	172.5	522.4	5.9	527	10979	0.00	2.42	4.62	0.874	6	0.000	0.036	2648	2097	2197
11294	1.28	288.5	509.9	2.8	543	11398	0.15	2.70	95.30	1.193	4	0.039	0.068	2701	3507	1724
11466	1.28	288.5	499.4	8.5	551	11471	0.00	2.47	0.00	0.000	6	0.000	0.038	2702	2101	1723
11792	1.28	288.5	470.6	9.3	567	11793	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2101	1722
12101	1.28	288.5	443.3	8.7	582	12106	0.00	2.62	0.00	0.000	4	0.000	0.071	2702	3501	1722
12156	1.28	288.5	437.8	10.0	584	12163	0.00	2.47	0.00	0.000	6	0.000	0.043	2702	2100	1722
12472	1.28	288.5	405.2	10.7	600	12476	0.00	2.65	0.00	0.000	4	0.000	0.074	2701	3502	1722
12511	1.28	288.5	400.9	11.2	602	12516	0.00	2.50	0.00	0.000	6	0.000	0.046	2701	2098	1722
12837	1.28	288.5	370.0	9.4	618	12842	0.00	2.55	0.00	0.000	4	0.000	0.061	2701	691	1722
12871	1.28	288.5	366.8	9.7	619	12878	0.00	2.47	0.00	0.000	6	0.000	0.043	2701	2093	1723
13187	1.28	288.5	335.5	9.6	635	13191	0.00	2.67	0.00	0.000	4	0.000	0.076	2702	3519	1722
13230	1.28	288.5	331.1	9.5	637	13234	0.00	2.53	0.00	0.000	6	0.000	0.048	2702	2099	1722
13556	1.28	288.5	301.8	9.6	653	13558	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2099	1723
13866	1.28	288.5	268.7	11.1	668	13870	0.00	2.67	0.00	0.000	4	0.000	0.076	2702	3511	1723
13898	1.28	288.5	264.8	10.8	669	13904	0.00	2.53	0.00	0.000	6	0.000	0.050	2701	2096	1723
14213	1.28	288.5	232.0	10.2	685	14215	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2096	1724
14523	1.28	288.5	201.1	8.6	700	14524	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2096	1724
14832	1.28	288.5	175.2	9.3	715	14833	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2096	1724
15142	1.28	288.5	134.8	15.7	730	15143	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	1724
15451	1.28	288.5	99.7	8.4	745	15452	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	1724
15760	1.28	288.5	74.9	7.0	760	15761	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	1725
16071	1.28	288.5	44.8	8.8	775	16072	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2093	1725
16380	1.28	288.5	11.0	13.1	790	16381	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2093	1725
16481	end climb: SURFACE_DEPTH_REACHED
state	16481	begin surface coast
16502	end surface coast: CONTROL_FINISHED_OK
state	16502	begin surface