Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 418 * 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 418 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 10 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 -70577.031 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 -70577.031

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 10 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 418 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 143708,6208.877,-924.343,40,0.9,40,-9.7 TGT_NAME AE

_CALLS 2 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.36 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -53.8 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 144709,6208.823,-924.107,15,1.1,15,-9.7 MHEAD_RNG_PITCHd_Wd 174.5,30363,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 554

Post-dive calculations and measurements:

FINISH -0.4,1.027354 XPDR_PINGS 2

SM_CCo 15492,42.50,0.841,1,0,1678,300.00 ALTIM_BOTTOM_PING 500.0,61.0

SM_GC -0.32,0.00,0.00,42.50,0.000,0.000,0.841,31,2895,1678,-10.94,-0.17,300.00 _24V_AH 23.2,69.700

IRIDIUM_FIX 6144.36,-923.21,190497,141400 _10V_AH 10.1,32.415

TT8_MAMPS 0.027612 DATA_FILE_SIZE 37995,741

HUMID 2063 CFSIZE 260165632,236007424

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,1,0

TCM_TEMP 17.10 GPS 240108,190756,6205.908,-922.526,38,2.0,38,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 94.84 SBE_CT 543 24 302.78

Roll_motor 121 98 276.40 SBE_O2 515 19 227.25

VBD_pump_during_apogee 335 1201 9361.99 WL_BB2F 530 105 1291.27

VBD_pump_during_surface 42 840 828.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 184.60 nil 0 0 0.00

Iridium_during_connect 71 160 264.96 nil 0 0 0.00

Iridium_during_xfer 256 223 1327.07

Transponder_ping 4 420 43.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.96

TT8 1365 19 273.07

LPSleep 11973 2 264.84

TT8_Active 497 19 99.52

TT8_Sampling 1602 39 644.00

TT8_CF8 715 45 331.20

TT8_Kalman 0 81 0.00

Analog_circuits 1308 12 158.64

GPS_charging 0 0 0.00

Compass 1582 8 127.88

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.10 -146.6 0.0 0.0 0 96 0.00 0.00 -70.20 0.000 6 0.000 0.000 45 2900 3500

100 -1.10 -146.6 2.3 -6.0 3 116 11.93 1.75 0.00 0.000 4 0.156 0.089 2163 3786 3501

352 -1.10 -146.6 37.6 -5.3 13 355 0.00 1.58 0.00 0.000 6 0.000 0.051 2163 2900 3502

674 -1.10 -146.6 55.8 -4.9 29 679 0.00 2.60 0.00 0.000 4 0.000 0.071 2163 1490 3502

702 -1.10 -146.6 57.1 -4.0 30 707 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2900 3502

1018 -1.10 -146.6 68.5 -3.5 45 1020 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

1329 -1.10 -146.6 92.0 -8.2 60 1334 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1490 3502

1362 -1.10 -146.6 94.5 -6.9 61 1369 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2903 3502

1679 -1.10 -146.6 109.6 -5.8 77 1682 0.00 1.70 0.00 0.000 4 0.000 0.098 2163 3786 3502

1758 -1.10 -146.6 113.5 -4.1 80 1761 0.00 1.58 0.00 0.000 6 0.000 0.050 2163 2899 3502

2080 -1.10 -146.6 124.9 -3.5 96 2084 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1481 3502

2120 -1.10 -146.6 126.3 -3.8 98 2124 0.00 2.65 0.00 0.000 6 0.000 0.068 2163 2903 3502

2447 -1.10 -146.6 140.1 -5.7 114 2448 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

2755 -1.10 -146.6 151.1 -3.7 129 2760 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1487 3503

2800 -1.10 -146.6 153.5 -5.6 131 2805 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2900 3502

3121 -1.10 -146.6 168.2 -5.8 147 3125 0.00 1.73 0.00 0.000 4 0.000 0.098 2163 3792 3502

3138 -1.10 -146.6 169.5 -6.5 147 3144 0.00 1.60 0.00 0.000 6 0.000 0.050 2163 2892 3503

3454 -1.10 -146.6 187.5 -5.1 163 3458 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1480 3502

3487 -1.10 -146.6 189.2 -5.1 164 3493 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2900 3502

3803 -1.10 -146.6 205.1 -5.8 180 3804 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

4112 -1.10 -146.6 223.0 -4.3 195 4114 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

4422 -1.10 -146.6 238.8 -5.2 210 4423 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

4731 -1.10 -146.6 262.5 -9.0 225 4735 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1483 3502

4763 -1.10 -146.6 265.4 -9.1 226 4769 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2908 3502

5080 -1.10 -146.6 286.7 -4.8 242 5081 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3502

5388 -1.10 -146.6 309.4 -9.7 257 5392 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1478 3502

5438 -1.10 -146.6 314.0 -8.9 259 5442 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2903 3502

5754 -1.10 -146.6 340.4 -7.2 274 5755 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

6063 -1.10 -146.6 367.4 -9.8 289 6064 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

6372 -1.10 -146.6 392.7 -8.8 304 6376 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1486 3502

6439 -1.10 -146.6 398.4 -8.5 307 6443 0.00 2.60 0.00 0.000 6 0.000 0.062 2163 2902 3502

6759 -1.10 -146.6 423.8 -7.5 323 6760 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3502

7068 -1.10 -146.6 447.1 -7.0 338 7073 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1485 3502

7132 -1.10 -146.6 451.1 -6.8 341 7136 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2902 3502

7458 -1.10 -146.6 472.6 -6.6 357 7459 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

7768 -1.10 -146.6 489.3 -4.4 372 7769 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

8077 -1.10 -146.6 505.1 -4.7 387 8081 0.00 2.53 0.00 0.000 4 0.000 0.055 2163 1482 3502

8194 -1.10 -146.6 511.1 -4.7 392 8199 0.00 2.60 0.00 0.000 6 0.000 0.062 2163 2900 3502

8511 -1.10 -146.6 525.4 -5.0 407 8512 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

8819 -1.10 -146.6 544.2 -6.8 422 8823 0.00 2.53 0.00 0.000 4 0.000 0.053 2163 1481 3503

8897 -1.10 -146.6 550.0 -7.3 425 8904 0.00 2.60 0.00 0.000 6 0.000 0.063 2163 2906 3503

8922 end dive: BOTTOM_OBSTACLE_DETECTED

state 8922 begin apogee

8930 -0.42 0.0 551.9 7.6 427 9059 0.77 0.00 125.45 1.202 6 0.097 0.000 2317 2092 2901

9060 end apogee: CONTROL_FINISHED_OK

state 9060 begin climb

9063 1.10 146.6 556.5 0.0 433 9191 1.52 2.58 120.43 1.177 4 0.052 0.051 2647 695 2303

9329 1.12 158.9 546.0 5.7 445 9347 0.00 2.47 11.62 1.071 6 0.000 0.034 2647 2116 2253

9670 1.13 168.1 525.6 5.7 462 9684 0.00 2.62 9.48 1.054 4 0.000 0.053 2647 691 2215

9731 1.13 168.1 521.9 6.1 464 9735 0.00 2.45 0.00 0.000 6 0.000 0.035 2647 2097 2215

10057 1.16 191.6 507.3 5.3 480 10080 0.00 0.00 20.88 1.138 6 0.000 0.000 2647 2097 2119

10387 1.23 248.7 492.1 4.4 496 10442 0.15 2.72 47.90 1.165 4 0.041 0.070 2693 3502 1887

10465 1.23 248.7 486.4 9.4 499 10471 0.00 2.47 0.00 0.000 6 0.000 0.038 2693 2095 1887

10780 1.23 248.7 456.8 9.1 515 10781 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2095 1886

11090 1.23 248.7 426.1 10.8 530 11094 0.00 2.65 0.00 0.000 4 0.000 0.069 2693 3511 1886

11129 1.23 248.7 421.6 12.6 532 11134 0.00 2.47 0.00 0.000 6 0.000 0.041 2693 2104 1886

11455 1.23 248.7 383.9 11.1 548 11456 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2104 1885

11765 1.23 248.7 350.8 10.0 563 11766 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2103 1885

12074 1.23 248.7 314.9 13.6 578 12075 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2103 1885

12383 1.23 248.7 275.2 8.1 593 12384 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2103 1885

12693 1.23 248.7 246.6 9.4 608 12697 0.00 2.55 0.00 0.000 4 0.000 0.061 2693 695 1885

12737 1.23 248.7 241.5 11.0 610 12741 0.00 2.47 0.00 0.000 6 0.000 0.044 2693 2091 1885

13058 1.23 248.7 214.4 7.8 626 13062 0.00 2.65 0.00 0.000 4 0.000 0.075 2694 3511 1885

13085 1.23 248.7 211.8 9.2 627 13089 0.00 2.50 0.00 0.000 6 0.000 0.044 2693 2100 1885

13401 1.23 248.7 184.8 7.8 642 13405 0.00 2.67 0.00 0.000 4 0.000 0.074 2693 3516 1885

13433 1.23 248.7 182.2 6.9 643 13439 0.00 2.50 0.00 0.000 6 0.000 0.044 2693 2101 1885

13749 1.23 248.7 158.9 7.6 659 13750 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2101 1885

14059 1.23 248.7 132.8 8.5 674 14060 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2101 1886

14368 1.23 248.7 106.3 8.9 689 14372 0.00 2.65 0.00 0.000 4 0.000 0.074 2693 3511 1886

14401 1.23 248.7 103.0 9.6 690 14407 0.00 2.50 0.00 0.000 6 0.000 0.045 2693 2094 1886

14718 1.23 248.7 72.8 9.3 706 14722 0.00 2.58 0.00 0.000 4 0.000 0.067 2693 688 1886

14746 1.23 248.7 69.7 11.1 707 14750 0.00 2.50 0.00 0.000 6 0.000 0.044 2693 2100 1886

15062 1.23 248.7 41.6 10.3 722 15063 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2100 1886

15372 1.23 248.7 9.0 10.0 737 15376 0.00 2.65 0.00 0.000 4 0.000 0.077 2693 3511 1886

15398 1.23 248.7 6.1 10.8 738 15403 0.00 2.50 0.00 0.000 6 0.000 0.049 2694 2105 1886

15444 end climb: SURFACE_DEPTH_REACHED

state 15444 begin surface coast

15467 end surface coast: CONTROL_FINISHED_OK

state 15467 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	418	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	10	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	-70577.031	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	143708,6208.877,-924.343,40,0.9,40,-9.7	TGT_NAME	AE
_CALLS	2	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.36	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-53.8	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	144709,6208.823,-924.107,15,1.1,15,-9.7	MHEAD_RNG_PITCHd_Wd	174.5,30363,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	554

FINISH	-0.4,1.027354	XPDR_PINGS	2
SM_CCo	15492,42.50,0.841,1,0,1678,300.00	ALTIM_BOTTOM_PING	500.0,61.0
SM_GC	-0.32,0.00,0.00,42.50,0.000,0.000,0.841,31,2895,1678,-10.94,-0.17,300.00	_24V_AH	23.2,69.700
IRIDIUM_FIX	6144.36,-923.21,190497,141400	_10V_AH	10.1,32.415
TT8_MAMPS	0.027612	DATA_FILE_SIZE	37995,741
HUMID	2063	CFSIZE	260165632,236007424
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
TCM_TEMP	17.10	GPS	240108,190756,6205.908,-922.526,38,2.0,38,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	94.84	SBE_CT	543	24	302.78
Roll_motor	121	98	276.40	SBE_O2	515	19	227.25
VBD_pump_during_apogee	335	1201	9361.99	WL_BB2F	530	105	1291.27
VBD_pump_during_surface	42	840	828.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	184.60	nil	0	0	0.00
Iridium_during_connect	71	160	264.96	nil	0	0	0.00
Iridium_during_xfer	256	223	1327.07
Transponder_ping	4	420	43.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.96
TT8	1365	19	273.07
LPSleep	11973	2	264.84
TT8_Active	497	19	99.52
TT8_Sampling	1602	39	644.00
TT8_CF8	715	45	331.20
TT8_Kalman	0	81	0.00
Analog_circuits	1308	12	158.64
GPS_charging	0	0	0.00
Compass	1582	8	127.88
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.10	-146.6	0.0	0.0	0	96	0.00	0.00	-70.20	0.000	6	0.000	0.000	45	2900	3500
100	-1.10	-146.6	2.3	-6.0	3	116	11.93	1.75	0.00	0.000	4	0.156	0.089	2163	3786	3501
352	-1.10	-146.6	37.6	-5.3	13	355	0.00	1.58	0.00	0.000	6	0.000	0.051	2163	2900	3502
674	-1.10	-146.6	55.8	-4.9	29	679	0.00	2.60	0.00	0.000	4	0.000	0.071	2163	1490	3502
702	-1.10	-146.6	57.1	-4.0	30	707	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2900	3502
1018	-1.10	-146.6	68.5	-3.5	45	1020	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
1329	-1.10	-146.6	92.0	-8.2	60	1334	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1490	3502
1362	-1.10	-146.6	94.5	-6.9	61	1369	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2903	3502
1679	-1.10	-146.6	109.6	-5.8	77	1682	0.00	1.70	0.00	0.000	4	0.000	0.098	2163	3786	3502
1758	-1.10	-146.6	113.5	-4.1	80	1761	0.00	1.58	0.00	0.000	6	0.000	0.050	2163	2899	3502
2080	-1.10	-146.6	124.9	-3.5	96	2084	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1481	3502
2120	-1.10	-146.6	126.3	-3.8	98	2124	0.00	2.65	0.00	0.000	6	0.000	0.068	2163	2903	3502
2447	-1.10	-146.6	140.1	-5.7	114	2448	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
2755	-1.10	-146.6	151.1	-3.7	129	2760	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1487	3503
2800	-1.10	-146.6	153.5	-5.6	131	2805	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2900	3502
3121	-1.10	-146.6	168.2	-5.8	147	3125	0.00	1.73	0.00	0.000	4	0.000	0.098	2163	3792	3502
3138	-1.10	-146.6	169.5	-6.5	147	3144	0.00	1.60	0.00	0.000	6	0.000	0.050	2163	2892	3503
3454	-1.10	-146.6	187.5	-5.1	163	3458	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1480	3502
3487	-1.10	-146.6	189.2	-5.1	164	3493	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2900	3502
3803	-1.10	-146.6	205.1	-5.8	180	3804	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
4112	-1.10	-146.6	223.0	-4.3	195	4114	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
4422	-1.10	-146.6	238.8	-5.2	210	4423	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
4731	-1.10	-146.6	262.5	-9.0	225	4735	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1483	3502
4763	-1.10	-146.6	265.4	-9.1	226	4769	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2908	3502
5080	-1.10	-146.6	286.7	-4.8	242	5081	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3502
5388	-1.10	-146.6	309.4	-9.7	257	5392	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1478	3502
5438	-1.10	-146.6	314.0	-8.9	259	5442	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2903	3502
5754	-1.10	-146.6	340.4	-7.2	274	5755	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
6063	-1.10	-146.6	367.4	-9.8	289	6064	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
6372	-1.10	-146.6	392.7	-8.8	304	6376	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1486	3502
6439	-1.10	-146.6	398.4	-8.5	307	6443	0.00	2.60	0.00	0.000	6	0.000	0.062	2163	2902	3502
6759	-1.10	-146.6	423.8	-7.5	323	6760	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3502
7068	-1.10	-146.6	447.1	-7.0	338	7073	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1485	3502
7132	-1.10	-146.6	451.1	-6.8	341	7136	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2902	3502
7458	-1.10	-146.6	472.6	-6.6	357	7459	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
7768	-1.10	-146.6	489.3	-4.4	372	7769	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
8077	-1.10	-146.6	505.1	-4.7	387	8081	0.00	2.53	0.00	0.000	4	0.000	0.055	2163	1482	3502
8194	-1.10	-146.6	511.1	-4.7	392	8199	0.00	2.60	0.00	0.000	6	0.000	0.062	2163	2900	3502
8511	-1.10	-146.6	525.4	-5.0	407	8512	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
8819	-1.10	-146.6	544.2	-6.8	422	8823	0.00	2.53	0.00	0.000	4	0.000	0.053	2163	1481	3503
8897	-1.10	-146.6	550.0	-7.3	425	8904	0.00	2.60	0.00	0.000	6	0.000	0.063	2163	2906	3503
8922	end dive: BOTTOM_OBSTACLE_DETECTED
state	8922	begin apogee
8930	-0.42	0.0	551.9	7.6	427	9059	0.77	0.00	125.45	1.202	6	0.097	0.000	2317	2092	2901
9060	end apogee: CONTROL_FINISHED_OK
state	9060	begin climb
9063	1.10	146.6	556.5	0.0	433	9191	1.52	2.58	120.43	1.177	4	0.052	0.051	2647	695	2303
9329	1.12	158.9	546.0	5.7	445	9347	0.00	2.47	11.62	1.071	6	0.000	0.034	2647	2116	2253
9670	1.13	168.1	525.6	5.7	462	9684	0.00	2.62	9.48	1.054	4	0.000	0.053	2647	691	2215
9731	1.13	168.1	521.9	6.1	464	9735	0.00	2.45	0.00	0.000	6	0.000	0.035	2647	2097	2215
10057	1.16	191.6	507.3	5.3	480	10080	0.00	0.00	20.88	1.138	6	0.000	0.000	2647	2097	2119
10387	1.23	248.7	492.1	4.4	496	10442	0.15	2.72	47.90	1.165	4	0.041	0.070	2693	3502	1887
10465	1.23	248.7	486.4	9.4	499	10471	0.00	2.47	0.00	0.000	6	0.000	0.038	2693	2095	1887
10780	1.23	248.7	456.8	9.1	515	10781	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2095	1886
11090	1.23	248.7	426.1	10.8	530	11094	0.00	2.65	0.00	0.000	4	0.000	0.069	2693	3511	1886
11129	1.23	248.7	421.6	12.6	532	11134	0.00	2.47	0.00	0.000	6	0.000	0.041	2693	2104	1886
11455	1.23	248.7	383.9	11.1	548	11456	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2104	1885
11765	1.23	248.7	350.8	10.0	563	11766	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2103	1885
12074	1.23	248.7	314.9	13.6	578	12075	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2103	1885
12383	1.23	248.7	275.2	8.1	593	12384	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2103	1885
12693	1.23	248.7	246.6	9.4	608	12697	0.00	2.55	0.00	0.000	4	0.000	0.061	2693	695	1885
12737	1.23	248.7	241.5	11.0	610	12741	0.00	2.47	0.00	0.000	6	0.000	0.044	2693	2091	1885
13058	1.23	248.7	214.4	7.8	626	13062	0.00	2.65	0.00	0.000	4	0.000	0.075	2694	3511	1885
13085	1.23	248.7	211.8	9.2	627	13089	0.00	2.50	0.00	0.000	6	0.000	0.044	2693	2100	1885
13401	1.23	248.7	184.8	7.8	642	13405	0.00	2.67	0.00	0.000	4	0.000	0.074	2693	3516	1885
13433	1.23	248.7	182.2	6.9	643	13439	0.00	2.50	0.00	0.000	6	0.000	0.044	2693	2101	1885
13749	1.23	248.7	158.9	7.6	659	13750	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2101	1885
14059	1.23	248.7	132.8	8.5	674	14060	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2101	1886
14368	1.23	248.7	106.3	8.9	689	14372	0.00	2.65	0.00	0.000	4	0.000	0.074	2693	3511	1886
14401	1.23	248.7	103.0	9.6	690	14407	0.00	2.50	0.00	0.000	6	0.000	0.045	2693	2094	1886
14718	1.23	248.7	72.8	9.3	706	14722	0.00	2.58	0.00	0.000	4	0.000	0.067	2693	688	1886
14746	1.23	248.7	69.7	11.1	707	14750	0.00	2.50	0.00	0.000	6	0.000	0.044	2693	2100	1886
15062	1.23	248.7	41.6	10.3	722	15063	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2100	1886
15372	1.23	248.7	9.0	10.0	737	15376	0.00	2.65	0.00	0.000	4	0.000	0.077	2693	3511	1886
15398	1.23	248.7	6.1	10.8	738	15403	0.00	2.50	0.00	0.000	6	0.000	0.049	2694	2105	1886
15444	end climb: SURFACE_DEPTH_REACHED
state	15444	begin surface coast
15467	end surface coast: CONTROL_FINISHED_OK
state	15467	begin surface