Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 372 * 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 372 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 14 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 -2085996.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2085996.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 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 372 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 110326,6226.945,-337.978,40,1.8,40,-6.6 TGT_NAME FSCN_NW

_CALLS 1 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,-0.001

_SM_DEPTHo 1.59 KALMAN_X 27458.0,1500.3,881.9,258502.3,-10634.9

_SM_ANGLEo -59.3 KALMAN_Y -26070.3,115.5,1597.4,114737.6,10668.5

GPS2 110937,6226.996,-337.880,14,1.4,30,-6.6 MHEAD_RNG_PITCHd_Wd 169.6,23232,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027491 ALTIM_BOTTOM_PING 551.0,57.7

SM_CCo 16469,45.42,0.651,2,0,1593,300.00 _24V_AH 23.3,58.062

SM_GC 1.70,0.00,0.00,45.42,0.000,0.000,0.651,73,2401,1593,-10.75,0.03,300.00 _10V_AH 10.1,30.777

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41166,789

TT8_MAMPS 0.023777 CFSIZE 260165632,238391296

HUMID 2090 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,2,0

TCM_TEMP 16.40 GPS 230108,154708,6225.671,-334.571,38,1.8,38,-6.6

XPDR_PINGS 85

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.41 SBE_CT 581 24 325.11

Roll_motor 119 93 260.54 SBE_O2 541 19 239.90

VBD_pump_during_apogee 317 1155 8535.06 WL_BB2F 526 105 1287.26

VBD_pump_during_surface 45 651 689.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.32 nil 0 0 0.00

Iridium_during_connect 38 160 145.06 nil 0 0 0.00

Iridium_during_xfer 159 223 829.04

Transponder_ping 26 420 254.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.21

TT8 1439 19 287.81

LPSleep 12788 2 282.86

TT8_Active 495 19 99.17

TT8_Sampling 1681 39 675.87

TT8_CF8 491 45 227.28

TT8_Kalman 33 81 27.57

Analog_circuits 1316 12 159.55

GPS_charging 0 0 0.00

Compass 1627 8 131.46

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 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -59.03 0.000 2 0.000 0.000 66 2408 3023

90 -0.85 -146.6 3.7 -4.9 3 120 12.27 2.67 -9.82 0.000 4 0.175 0.088 2222 3772 3417

223 -0.85 -146.6 20.7 -8.5 9 227 0.00 2.58 0.00 0.000 6 0.000 0.058 2222 2394 3418

549 -0.85 -146.6 47.2 -8.0 25 550 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2394 3418

858 -0.85 -146.6 72.0 -8.3 40 859 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2394 3418

1168 -0.85 -146.6 93.3 -6.5 55 1173 0.00 2.67 0.00 0.000 4 0.000 0.074 2222 983 3418

1213 -0.85 -146.6 96.6 -6.9 57 1217 0.00 2.65 0.00 0.000 6 0.000 0.063 2221 2402 3419

1533 -0.85 -146.6 120.5 -7.2 73 1534 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3419

1845 -0.85 -146.6 141.9 -6.9 88 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3419

2151 -0.85 -146.6 165.6 -7.5 103 2153 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3419

2461 -0.85 -146.6 189.4 -7.9 118 2462 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3420

2771 -0.85 -146.6 213.1 -8.1 133 2775 0.00 2.70 0.00 0.000 4 0.000 0.074 2222 977 3421

2837 -0.85 -146.6 218.7 -8.3 136 2841 0.00 2.65 0.00 0.000 6 0.000 0.063 2222 2403 3421

3157 -0.85 -146.6 244.3 -8.1 152 3162 0.00 2.65 0.00 0.000 4 0.000 0.085 2222 3769 3421

3252 -0.85 -146.6 252.9 -9.5 156 3256 0.00 2.55 0.00 0.000 6 0.000 0.062 2222 2402 3421

3568 -0.85 -146.6 277.0 -7.1 171 3572 0.00 2.70 0.00 0.000 4 0.000 0.077 2222 980 3421

3640 -0.85 -146.6 282.1 -7.0 174 3644 0.00 2.65 0.00 0.000 6 0.000 0.066 2222 2404 3422

3956 -0.85 -146.6 302.8 -5.9 189 3961 0.00 2.72 0.00 0.000 4 0.000 0.077 2222 980 3422

4051 -0.85 -146.6 308.6 -6.6 193 4055 0.00 2.65 0.00 0.000 6 0.000 0.067 2222 2401 3422

4367 -0.85 -146.6 326.9 -6.4 208 4371 0.00 2.67 0.00 0.000 4 0.000 0.091 2222 3766 3422

4439 -0.85 -146.6 332.3 -7.2 211 4443 0.00 2.60 0.00 0.000 6 0.000 0.067 2222 2396 3421

4755 -0.85 -146.6 354.8 -7.2 226 4759 0.00 2.72 0.00 0.000 4 0.000 0.084 2222 983 3422

4827 -0.85 -146.6 360.4 -8.1 229 4832 0.00 2.67 0.00 0.000 6 0.000 0.071 2222 2400 3422

5142 -0.85 -146.6 383.0 -7.0 244 5144 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3422

5452 -0.85 -146.6 406.1 -7.5 259 5453 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3422

5762 -0.85 -146.6 428.3 -7.0 274 5766 0.00 2.72 0.00 0.000 4 0.000 0.084 2221 982 3421

5818 -0.85 -146.6 432.4 -7.2 276 5824 0.00 2.70 0.00 0.000 6 0.000 0.072 2222 2406 3421

6133 -0.85 -146.6 454.8 -6.9 292 6134 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2406 3420

6446 -0.85 -146.6 475.5 -6.6 307 6447 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2406 3419

6752 -0.85 -146.6 496.4 -6.9 322 6756 0.00 2.75 0.00 0.000 4 0.000 0.085 2222 984 3418

6802 -0.85 -146.6 500.2 -7.9 324 6806 0.00 2.70 0.00 0.000 6 0.000 0.074 2222 2404 3418

7118 -0.85 -146.6 521.5 -6.8 339 7119 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3415

7426 -0.85 -146.6 543.8 -7.1 354 7427 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3415

7735 -0.85 -146.6 565.1 -6.6 369 7740 0.00 2.75 0.00 0.000 4 0.000 0.084 2222 983 3414

7785 -0.85 -146.6 568.5 -7.4 371 7789 0.00 2.67 0.00 0.000 6 0.000 0.074 2222 2401 3414

8101 -0.85 -146.6 589.1 -6.8 386 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2401 3413

8242 end dive: BOTTOM_OBSTACLE_DETECTED

state 8242 begin apogee

8250 -0.31 0.0 598.8 6.8 393 8376 0.60 0.00 122.95 1.155 6 0.122 0.000 2337 2194 2816

8376 end apogee: CONTROL_FINISHED_OK

state 8376 begin climb

8379 0.85 146.6 602.8 0.0 399 8505 1.25 0.00 121.85 1.132 6 0.099 0.000 2586 2194 2219

8810 0.86 157.8 582.8 5.7 420 8826 0.00 2.78 10.73 0.999 4 0.000 0.084 2586 785 2173

8860 0.86 157.8 579.9 6.4 421 8865 0.00 2.70 0.00 0.000 6 0.000 0.067 2586 2196 2172

9178 0.87 165.1 562.2 5.8 436 9187 0.00 0.00 7.38 0.940 6 0.000 0.000 2587 2196 2144

9486 0.90 197.6 545.3 5.1 451 9521 0.00 2.88 28.17 1.092 4 0.000 0.094 2587 3603 2011

9544 0.91 209.1 542.0 5.7 453 9560 0.00 2.72 10.93 0.995 6 0.000 0.076 2587 2205 1964

9876 0.93 225.8 523.2 5.5 470 9897 0.12 0.00 15.12 1.039 6 0.081 0.000 2615 2205 1896

10206 0.93 225.8 500.1 7.6 486 10211 0.00 2.80 0.00 0.000 4 0.000 0.090 2615 777 1894

10234 0.93 225.8 497.7 8.5 487 10238 0.00 2.72 0.00 0.000 6 0.000 0.067 2615 2206 1894

10549 0.93 225.8 474.3 7.3 502 10550 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1894

10859 0.93 225.8 452.4 7.1 517 10864 0.00 2.78 0.00 0.000 4 0.000 0.086 2615 782 1893

10904 0.93 225.8 448.9 7.9 519 10908 0.00 2.70 0.00 0.000 6 0.000 0.067 2615 2204 1893

11224 0.93 225.8 423.1 8.1 535 11225 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2205 1893

11534 0.93 225.8 400.3 7.1 550 11538 0.00 2.78 0.00 0.000 4 0.000 0.085 2615 783 1893

11612 0.93 225.8 394.2 7.9 553 11618 0.00 2.70 0.00 0.000 6 0.000 0.067 2615 2206 1892

11927 0.93 225.8 370.9 7.6 569 11928 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1892

12237 0.93 225.8 348.4 7.2 584 12242 0.00 2.75 0.00 0.000 4 0.000 0.084 2615 782 1892

12278 0.93 225.8 345.4 7.9 586 12282 0.00 2.67 0.00 0.000 6 0.000 0.066 2615 2201 1892

12603 0.93 225.8 321.6 7.7 602 12605 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2201 1892

12913 0.93 225.8 296.1 8.4 617 12918 0.00 2.75 0.00 0.000 4 0.000 0.081 2615 776 1891

12991 0.93 225.8 288.9 10.0 620 12997 0.00 2.67 0.00 0.000 6 0.000 0.063 2615 2203 1890

13307 0.93 225.8 261.6 8.0 636 13311 0.00 2.78 0.00 0.000 4 0.000 0.093 2615 3617 1891

13351 0.93 225.8 257.7 8.8 638 13356 0.00 2.72 0.00 0.000 6 0.000 0.074 2615 2192 1890

13671 0.93 225.8 230.4 8.9 654 13676 0.00 2.70 0.00 0.000 4 0.000 0.078 2615 779 1890

13749 0.93 225.8 222.9 9.7 657 13756 0.00 2.65 0.00 0.000 6 0.000 0.058 2615 2204 1890

14065 0.93 225.8 194.5 8.8 673 14067 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1890

14374 0.93 225.8 167.5 8.6 688 14375 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1890

14684 0.93 225.8 141.5 8.2 703 14685 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1892

14994 0.93 225.8 115.0 8.5 718 14995 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1893

15304 0.93 225.8 91.0 7.3 733 15305 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1893

15612 0.93 225.8 67.6 8.1 748 15613 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1895

15921 0.93 225.8 42.1 8.7 763 15926 0.00 2.70 0.00 0.000 4 0.000 0.080 2615 3616 1895

15961 0.93 225.8 38.6 8.6 765 15965 0.00 2.70 0.00 0.000 6 0.000 0.069 2615 2193 1896

16287 0.93 225.8 12.3 10.0 781 16292 0.00 2.67 0.00 0.000 4 0.000 0.074 2615 781 1896

16328 0.93 225.8 8.4 8.8 783 16333 0.00 2.60 0.00 0.000 6 0.000 0.053 2615 2205 1896

16426 end climb: SURFACE_DEPTH_REACHED

state 16427 begin surface coast

16447 end surface coast: CONTROL_FINISHED_OK

state 16447 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	372	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	14	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	-2085996.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	110326,6226.945,-337.978,40,1.8,40,-6.6	TGT_NAME	FSCN_NW
_CALLS	1	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,-0.001
_SM_DEPTHo	1.59	KALMAN_X	27458.0,1500.3,881.9,258502.3,-10634.9
_SM_ANGLEo	-59.3	KALMAN_Y	-26070.3,115.5,1597.4,114737.6,10668.5
GPS2	110937,6226.996,-337.880,14,1.4,30,-6.6	MHEAD_RNG_PITCHd_Wd	169.6,23232,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027491	ALTIM_BOTTOM_PING	551.0,57.7
SM_CCo	16469,45.42,0.651,2,0,1593,300.00	_24V_AH	23.3,58.062
SM_GC	1.70,0.00,0.00,45.42,0.000,0.000,0.651,73,2401,1593,-10.75,0.03,300.00	_10V_AH	10.1,30.777
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41166,789
TT8_MAMPS	0.023777	CFSIZE	260165632,238391296
HUMID	2090	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,2,0
TCM_TEMP	16.40	GPS	230108,154708,6225.671,-334.571,38,1.8,38,-6.6
XPDR_PINGS	85

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.41	SBE_CT	581	24	325.11
Roll_motor	119	93	260.54	SBE_O2	541	19	239.90
VBD_pump_during_apogee	317	1155	8535.06	WL_BB2F	526	105	1287.26
VBD_pump_during_surface	45	651	689.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.32	nil	0	0	0.00
Iridium_during_connect	38	160	145.06	nil	0	0	0.00
Iridium_during_xfer	159	223	829.04
Transponder_ping	26	420	254.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.21
TT8	1439	19	287.81
LPSleep	12788	2	282.86
TT8_Active	495	19	99.17
TT8_Sampling	1681	39	675.87
TT8_CF8	491	45	227.28
TT8_Kalman	33	81	27.57
Analog_circuits	1316	12	159.55
GPS_charging	0	0	0.00
Compass	1627	8	131.46
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	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-59.03	0.000	2	0.000	0.000	66	2408	3023
90	-0.85	-146.6	3.7	-4.9	3	120	12.27	2.67	-9.82	0.000	4	0.175	0.088	2222	3772	3417
223	-0.85	-146.6	20.7	-8.5	9	227	0.00	2.58	0.00	0.000	6	0.000	0.058	2222	2394	3418
549	-0.85	-146.6	47.2	-8.0	25	550	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2394	3418
858	-0.85	-146.6	72.0	-8.3	40	859	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2394	3418
1168	-0.85	-146.6	93.3	-6.5	55	1173	0.00	2.67	0.00	0.000	4	0.000	0.074	2222	983	3418
1213	-0.85	-146.6	96.6	-6.9	57	1217	0.00	2.65	0.00	0.000	6	0.000	0.063	2221	2402	3419
1533	-0.85	-146.6	120.5	-7.2	73	1534	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3419
1845	-0.85	-146.6	141.9	-6.9	88	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3419
2151	-0.85	-146.6	165.6	-7.5	103	2153	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3419
2461	-0.85	-146.6	189.4	-7.9	118	2462	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3420
2771	-0.85	-146.6	213.1	-8.1	133	2775	0.00	2.70	0.00	0.000	4	0.000	0.074	2222	977	3421
2837	-0.85	-146.6	218.7	-8.3	136	2841	0.00	2.65	0.00	0.000	6	0.000	0.063	2222	2403	3421
3157	-0.85	-146.6	244.3	-8.1	152	3162	0.00	2.65	0.00	0.000	4	0.000	0.085	2222	3769	3421
3252	-0.85	-146.6	252.9	-9.5	156	3256	0.00	2.55	0.00	0.000	6	0.000	0.062	2222	2402	3421
3568	-0.85	-146.6	277.0	-7.1	171	3572	0.00	2.70	0.00	0.000	4	0.000	0.077	2222	980	3421
3640	-0.85	-146.6	282.1	-7.0	174	3644	0.00	2.65	0.00	0.000	6	0.000	0.066	2222	2404	3422
3956	-0.85	-146.6	302.8	-5.9	189	3961	0.00	2.72	0.00	0.000	4	0.000	0.077	2222	980	3422
4051	-0.85	-146.6	308.6	-6.6	193	4055	0.00	2.65	0.00	0.000	6	0.000	0.067	2222	2401	3422
4367	-0.85	-146.6	326.9	-6.4	208	4371	0.00	2.67	0.00	0.000	4	0.000	0.091	2222	3766	3422
4439	-0.85	-146.6	332.3	-7.2	211	4443	0.00	2.60	0.00	0.000	6	0.000	0.067	2222	2396	3421
4755	-0.85	-146.6	354.8	-7.2	226	4759	0.00	2.72	0.00	0.000	4	0.000	0.084	2222	983	3422
4827	-0.85	-146.6	360.4	-8.1	229	4832	0.00	2.67	0.00	0.000	6	0.000	0.071	2222	2400	3422
5142	-0.85	-146.6	383.0	-7.0	244	5144	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3422
5452	-0.85	-146.6	406.1	-7.5	259	5453	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3422
5762	-0.85	-146.6	428.3	-7.0	274	5766	0.00	2.72	0.00	0.000	4	0.000	0.084	2221	982	3421
5818	-0.85	-146.6	432.4	-7.2	276	5824	0.00	2.70	0.00	0.000	6	0.000	0.072	2222	2406	3421
6133	-0.85	-146.6	454.8	-6.9	292	6134	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2406	3420
6446	-0.85	-146.6	475.5	-6.6	307	6447	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2406	3419
6752	-0.85	-146.6	496.4	-6.9	322	6756	0.00	2.75	0.00	0.000	4	0.000	0.085	2222	984	3418
6802	-0.85	-146.6	500.2	-7.9	324	6806	0.00	2.70	0.00	0.000	6	0.000	0.074	2222	2404	3418
7118	-0.85	-146.6	521.5	-6.8	339	7119	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3415
7426	-0.85	-146.6	543.8	-7.1	354	7427	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3415
7735	-0.85	-146.6	565.1	-6.6	369	7740	0.00	2.75	0.00	0.000	4	0.000	0.084	2222	983	3414
7785	-0.85	-146.6	568.5	-7.4	371	7789	0.00	2.67	0.00	0.000	6	0.000	0.074	2222	2401	3414
8101	-0.85	-146.6	589.1	-6.8	386	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2401	3413
8242	end dive: BOTTOM_OBSTACLE_DETECTED
state	8242	begin apogee
8250	-0.31	0.0	598.8	6.8	393	8376	0.60	0.00	122.95	1.155	6	0.122	0.000	2337	2194	2816
8376	end apogee: CONTROL_FINISHED_OK
state	8376	begin climb
8379	0.85	146.6	602.8	0.0	399	8505	1.25	0.00	121.85	1.132	6	0.099	0.000	2586	2194	2219
8810	0.86	157.8	582.8	5.7	420	8826	0.00	2.78	10.73	0.999	4	0.000	0.084	2586	785	2173
8860	0.86	157.8	579.9	6.4	421	8865	0.00	2.70	0.00	0.000	6	0.000	0.067	2586	2196	2172
9178	0.87	165.1	562.2	5.8	436	9187	0.00	0.00	7.38	0.940	6	0.000	0.000	2587	2196	2144
9486	0.90	197.6	545.3	5.1	451	9521	0.00	2.88	28.17	1.092	4	0.000	0.094	2587	3603	2011
9544	0.91	209.1	542.0	5.7	453	9560	0.00	2.72	10.93	0.995	6	0.000	0.076	2587	2205	1964
9876	0.93	225.8	523.2	5.5	470	9897	0.12	0.00	15.12	1.039	6	0.081	0.000	2615	2205	1896
10206	0.93	225.8	500.1	7.6	486	10211	0.00	2.80	0.00	0.000	4	0.000	0.090	2615	777	1894
10234	0.93	225.8	497.7	8.5	487	10238	0.00	2.72	0.00	0.000	6	0.000	0.067	2615	2206	1894
10549	0.93	225.8	474.3	7.3	502	10550	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1894
10859	0.93	225.8	452.4	7.1	517	10864	0.00	2.78	0.00	0.000	4	0.000	0.086	2615	782	1893
10904	0.93	225.8	448.9	7.9	519	10908	0.00	2.70	0.00	0.000	6	0.000	0.067	2615	2204	1893
11224	0.93	225.8	423.1	8.1	535	11225	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2205	1893
11534	0.93	225.8	400.3	7.1	550	11538	0.00	2.78	0.00	0.000	4	0.000	0.085	2615	783	1893
11612	0.93	225.8	394.2	7.9	553	11618	0.00	2.70	0.00	0.000	6	0.000	0.067	2615	2206	1892
11927	0.93	225.8	370.9	7.6	569	11928	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1892
12237	0.93	225.8	348.4	7.2	584	12242	0.00	2.75	0.00	0.000	4	0.000	0.084	2615	782	1892
12278	0.93	225.8	345.4	7.9	586	12282	0.00	2.67	0.00	0.000	6	0.000	0.066	2615	2201	1892
12603	0.93	225.8	321.6	7.7	602	12605	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2201	1892
12913	0.93	225.8	296.1	8.4	617	12918	0.00	2.75	0.00	0.000	4	0.000	0.081	2615	776	1891
12991	0.93	225.8	288.9	10.0	620	12997	0.00	2.67	0.00	0.000	6	0.000	0.063	2615	2203	1890
13307	0.93	225.8	261.6	8.0	636	13311	0.00	2.78	0.00	0.000	4	0.000	0.093	2615	3617	1891
13351	0.93	225.8	257.7	8.8	638	13356	0.00	2.72	0.00	0.000	6	0.000	0.074	2615	2192	1890
13671	0.93	225.8	230.4	8.9	654	13676	0.00	2.70	0.00	0.000	4	0.000	0.078	2615	779	1890
13749	0.93	225.8	222.9	9.7	657	13756	0.00	2.65	0.00	0.000	6	0.000	0.058	2615	2204	1890
14065	0.93	225.8	194.5	8.8	673	14067	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1890
14374	0.93	225.8	167.5	8.6	688	14375	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1890
14684	0.93	225.8	141.5	8.2	703	14685	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1892
14994	0.93	225.8	115.0	8.5	718	14995	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1893
15304	0.93	225.8	91.0	7.3	733	15305	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1893
15612	0.93	225.8	67.6	8.1	748	15613	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1895
15921	0.93	225.8	42.1	8.7	763	15926	0.00	2.70	0.00	0.000	4	0.000	0.080	2615	3616	1895
15961	0.93	225.8	38.6	8.6	765	15965	0.00	2.70	0.00	0.000	6	0.000	0.069	2615	2193	1896
16287	0.93	225.8	12.3	10.0	781	16292	0.00	2.67	0.00	0.000	4	0.000	0.074	2615	781	1896
16328	0.93	225.8	8.4	8.8	783	16333	0.00	2.60	0.00	0.000	6	0.000	0.053	2615	2205	1896
16426	end climb: SURFACE_DEPTH_REACHED
state	16427	begin surface coast
16447	end surface coast: CONTROL_FINISHED_OK
state	16447	begin surface