Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 448 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 448 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -87377.109 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -87377.109

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 29 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 448 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 095431,6131.512,-823.474,33,1.2,33,-8.9 TGT_NAME FB_DS

_CALLS 2 TGT_LATLONG 6127.000,-840.000

_XMS_NAKs 0 TGT_RADIUS 3704.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.151,-0.183

_SM_DEPTHo 1.92 KALMAN_X 643722.9,2116.4,-765.3,-639391.3,-1768.4

_SM_ANGLEo -60.6 KALMAN_Y 123466.2,-2233.1,-741.1,-123444.1,6929.9

GPS2 100402,6131.534,-823.614,42,1.3,42,-8.9 MHEAD_RNG_PITCHd_Wd 228.5,16759,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 752

Post-dive calculations and measurements:

FINISH 1.2,1.013445 XPDR_PINGS 2

SM_CCo 16231,41.20,0.798,5,0,1655,300.00 ALTIM_TOP_PING 19.6,999.0

SM_GC 1.99,0.00,0.00,41.20,0.000,0.000,0.798,33,1875,1655,-11.33,-0.68,300.00 _24V_AH 22.8,85.785

IRIDIUM_FIX 6108.28,-826.94,080597,101009 _10V_AH 10.1,41.154

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37999,778

HUMID 2073 CFSIZE 260165632,232189952

INTERNAL_PRESSURE 9.20934 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,12,5,0

TCM_TEMP 16.50 GPS 120208,143838,6130.810,-825.847,37,1.2,37,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 82.39 SBE_CT 573 24 313.60

Roll_motor 132 76 232.28 SBE_O2 524 19 227.25

VBD_pump_during_apogee 354 1287 10400.64 WL_BB2F 464 105 1112.20

VBD_pump_during_surface 41 798 750.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 71 103 168.55 nil 0 0 0.00

Iridium_during_connect 89 160 325.19 nil 0 0 0.00

Iridium_during_xfer 204 223 1038.10

Transponder_ping 7 420 67.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 43 50 22.06

TT8 1479 19 295.82

LPSleep 12253 2 271.04

TT8_Active 543 19 108.70

TT8_Sampling 1951 39 784.59

TT8_CF8 698 45 322.90

TT8_Kalman 33 81 27.57

Analog_circuits 1500 12 181.82

GPS_charging 0 0 0.00

Compass 1877 8 151.73

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.23 -146.6 0.0 0.0 0 89 0.00 0.00 -60.95 0.000 2 0.000 0.000 29 1882 2843

93 -1.23 -146.6 3.7 -4.1 3 130 11.60 2.58 -19.48 0.000 4 0.138 0.058 2221 3298 3476

383 -1.23 -146.6 35.0 -10.7 15 388 0.00 2.50 0.00 0.000 6 0.000 0.040 2221 1899 3476

705 -1.23 -146.6 68.7 -10.1 31 709 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3301 3476

767 -1.23 -146.6 75.2 -10.4 34 771 0.00 2.50 0.00 0.000 6 0.000 0.040 2222 1902 3475

1094 -1.23 -146.6 106.5 -9.5 50 1095 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1902 3476

1403 -1.23 -146.6 136.8 -9.7 65 1407 0.00 2.50 0.00 0.000 4 0.000 0.044 2221 3295 3476

1458 -1.23 -146.6 142.2 -9.5 67 1464 0.00 2.47 0.00 0.000 6 0.000 0.040 2221 1899 3476

1774 -1.23 -146.6 171.7 -8.9 83 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3476

2083 -1.23 -146.6 198.6 -8.5 98 2087 0.00 2.50 0.00 0.000 4 0.000 0.045 2221 3295 3476

2132 -1.23 -146.6 202.9 -8.2 100 2137 0.00 2.47 0.00 0.000 6 0.000 0.040 2221 1898 3476

2448 -1.23 -146.6 228.9 -8.2 115 2450 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3475

2757 -1.23 -146.6 254.0 -8.4 130 2761 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3301 3476

2819 -1.23 -146.6 259.7 -9.3 133 2823 0.00 2.50 0.00 0.000 6 0.000 0.039 2221 1900 3475

3146 -1.23 -146.6 286.2 -8.5 149 3147 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3476

3454 -1.23 -146.6 313.3 -9.6 164 3456 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3476

3764 -1.23 -146.6 338.4 -8.1 179 3768 0.00 2.53 0.00 0.000 4 0.000 0.046 2221 3301 3476

3808 -1.23 -146.6 342.5 -9.3 181 3813 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1901 3476

4129 -1.23 -146.6 372.5 -8.3 197 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3476

4439 -1.23 -146.6 401.2 -10.8 212 4440 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3476

4748 -1.23 -146.6 432.7 -10.3 227 4749 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3475

5057 -1.23 -146.6 462.2 -8.9 242 5058 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3475

5366 -1.23 -146.6 490.9 -9.4 257 5370 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3293 3475

5428 -1.23 -146.6 496.7 -9.7 260 5432 0.00 2.47 0.00 0.000 6 0.000 0.042 2221 1899 3475

5756 -1.23 -146.6 526.2 -9.2 276 5757 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3476

6066 -1.23 -146.6 555.8 -9.7 291 6070 0.00 2.53 0.00 0.000 4 0.000 0.050 2222 3293 3476

6150 -1.23 -146.6 564.2 -9.5 295 6154 0.00 2.47 0.00 0.000 6 0.000 0.042 2221 1899 3476

6484 -1.23 -146.6 591.7 -7.9 311 6485 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3475

6793 -1.23 -146.6 615.3 -8.7 326 6798 0.00 2.55 0.00 0.000 4 0.000 0.052 2221 3297 3475

6856 -1.23 -146.6 621.3 -9.3 329 6860 0.00 2.50 0.00 0.000 6 0.000 0.046 2221 1898 3475

7182 -1.23 -146.6 658.3 -11.5 345 7186 0.00 2.55 0.00 0.000 4 0.000 0.054 2221 3293 3475

7440 -1.23 -146.6 695.2 -14.7 356 7446 0.00 2.50 0.00 0.000 6 0.000 0.047 2221 1903 3475

7756 -1.23 -146.6 732.5 -9.8 372 7760 0.00 2.53 0.00 0.000 4 0.000 0.056 2221 3292 3475

7915 -1.23 -146.6 741.1 -2.9 379 7919 0.00 2.53 0.00 0.000 6 0.000 0.051 2221 1902 3474

8191 end dive: TARGET_DEPTH_EXCEEDED

state 8192 begin apogee

8199 -0.36 0.0 752.2 6.7 393 8334 0.93 0.00 128.05 1.288 6 0.082 0.000 2416 2093 2877

8335 end apogee: CONTROL_FINISHED_OK

state 8335 begin climb

8338 1.23 146.6 755.8 0.0 400 8474 1.58 2.72 126.07 1.255 4 0.056 0.061 2764 3495 2279

8488 1.23 146.6 748.4 8.2 407 8492 0.00 2.60 0.00 0.000 6 0.000 0.050 2764 2100 2279

8809 1.24 158.3 719.7 7.6 423 8825 0.00 2.75 11.07 1.253 4 0.000 0.077 2764 693 2231

9079 1.25 165.0 699.9 7.7 434 9095 0.00 2.55 6.68 1.234 6 0.000 0.048 2764 2101 2205

9404 1.25 165.0 673.6 8.2 450 9408 0.00 2.60 0.00 0.000 4 0.000 0.062 2764 3503 2204

9555 1.25 165.0 659.7 9.0 457 9560 0.00 2.58 0.00 0.000 6 0.000 0.051 2764 2093 2203

9882 1.25 165.0 628.2 10.5 473 9887 0.00 2.62 0.00 0.000 4 0.000 0.061 2764 3507 2202

10005 1.25 165.0 615.9 9.8 478 10011 0.00 2.58 0.00 0.000 6 0.000 0.049 2764 2096 2201

10322 1.26 175.6 590.9 7.6 494 10333 0.00 0.00 9.55 1.262 6 0.000 0.000 2764 2096 2161

10630 1.26 175.6 566.5 9.7 509 10635 0.00 2.58 0.00 0.000 4 0.000 0.056 2764 3500 2161

10715 1.26 175.6 558.4 9.2 513 10720 0.00 2.53 0.00 0.000 6 0.000 0.044 2764 2093 2160

11042 1.27 182.9 531.8 7.7 529 11051 0.00 0.00 7.10 1.202 6 0.000 0.000 2764 2093 2132

11351 1.27 182.9 506.9 8.5 544 11355 0.00 2.58 0.00 0.000 4 0.000 0.052 2764 3505 2132

11515 1.28 187.5 493.2 7.8 551 11527 0.00 2.53 5.45 1.145 6 0.000 0.041 2764 2093 2113

11836 1.34 233.9 471.2 6.2 567 11881 0.00 2.65 39.62 1.118 4 0.000 0.050 2764 3505 1924

11949 1.37 257.2 462.8 7.1 572 11976 0.12 2.55 20.62 1.098 6 0.054 0.040 2800 2095 1829

12287 1.37 257.2 429.1 10.7 588 12291 0.00 2.55 0.00 0.000 4 0.000 0.049 2800 3503 1830

12389 1.37 257.2 414.8 14.9 592 12395 0.00 2.53 0.00 0.000 6 0.000 0.041 2800 2100 1829

12705 1.37 257.2 374.5 12.4 608 12709 0.00 2.58 0.00 0.000 4 0.000 0.049 2800 3507 1830

12789 1.37 257.2 363.9 9.8 612 12794 0.00 2.50 0.00 0.000 6 0.000 0.039 2800 2097 1830

13116 1.37 257.2 325.5 11.3 628 13120 0.00 2.55 0.00 0.000 4 0.000 0.049 2800 3503 1831

13179 1.37 257.2 318.3 12.7 631 13183 0.00 2.53 0.00 0.000 6 0.000 0.040 2800 2095 1832

13505 1.37 257.2 281.5 11.7 647 13507 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2095 1831

13815 1.37 257.2 243.1 12.3 662 13819 0.00 2.58 0.00 0.000 4 0.000 0.048 2800 3507 1832

13960 1.37 257.2 227.2 9.6 668 13966 0.00 2.53 0.00 0.000 6 0.000 0.038 2800 2088 1832

14276 1.37 257.2 197.0 10.6 684 14280 0.00 2.58 0.00 0.000 4 0.000 0.048 2800 3508 1833

14353 1.37 257.2 188.2 11.6 687 14359 0.00 2.50 0.00 0.000 6 0.000 0.038 2800 2101 1832

14669 1.37 257.2 155.8 10.5 703 14673 0.00 2.55 0.00 0.000 4 0.000 0.048 2800 3507 1832

14709 1.37 257.2 151.6 10.4 705 14713 0.00 2.50 0.00 0.000 6 0.000 0.038 2800 2098 1833

15036 1.37 257.2 121.7 9.0 721 15037 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2097 1833

15345 1.37 257.2 90.6 10.8 736 15349 0.00 2.55 0.00 0.000 4 0.000 0.048 2800 3504 1833

15423 1.37 257.2 80.8 11.5 739 15430 0.00 2.47 0.00 0.000 6 0.000 0.036 2800 2097 1833

15739 1.37 257.2 47.5 10.0 755 15740 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2097 1834

16048 1.37 257.2 15.2 10.9 770 16053 0.00 2.55 0.00 0.000 4 0.000 0.048 2800 3502 1834

16093 1.37 257.2 10.3 11.5 772 16098 0.00 2.47 0.00 0.000 6 0.000 0.036 2800 2100 1834

16186 end climb: SURFACE_DEPTH_REACHED

state 16186 begin surface coast

16207 end surface coast: CONTROL_FINISHED_OK

state 16208 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	448	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-87377.109	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	095431,6131.512,-823.474,33,1.2,33,-8.9	TGT_NAME	FB_DS
_CALLS	2	TGT_LATLONG	6127.000,-840.000
_XMS_NAKs	0	TGT_RADIUS	3704.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.151,-0.183
_SM_DEPTHo	1.92	KALMAN_X	643722.9,2116.4,-765.3,-639391.3,-1768.4
_SM_ANGLEo	-60.6	KALMAN_Y	123466.2,-2233.1,-741.1,-123444.1,6929.9
GPS2	100402,6131.534,-823.614,42,1.3,42,-8.9	MHEAD_RNG_PITCHd_Wd	228.5,16759,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	752

FINISH	1.2,1.013445	XPDR_PINGS	2
SM_CCo	16231,41.20,0.798,5,0,1655,300.00	ALTIM_TOP_PING	19.6,999.0
SM_GC	1.99,0.00,0.00,41.20,0.000,0.000,0.798,33,1875,1655,-11.33,-0.68,300.00	_24V_AH	22.8,85.785
IRIDIUM_FIX	6108.28,-826.94,080597,101009	_10V_AH	10.1,41.154
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37999,778
HUMID	2073	CFSIZE	260165632,232189952
INTERNAL_PRESSURE	9.20934	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,12,5,0
TCM_TEMP	16.50	GPS	120208,143838,6130.810,-825.847,37,1.2,37,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	82.39	SBE_CT	573	24	313.60
Roll_motor	132	76	232.28	SBE_O2	524	19	227.25
VBD_pump_during_apogee	354	1287	10400.64	WL_BB2F	464	105	1112.20
VBD_pump_during_surface	41	798	750.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	71	103	168.55	nil	0	0	0.00
Iridium_during_connect	89	160	325.19	nil	0	0	0.00
Iridium_during_xfer	204	223	1038.10
Transponder_ping	7	420	67.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	43	50	22.06
TT8	1479	19	295.82
LPSleep	12253	2	271.04
TT8_Active	543	19	108.70
TT8_Sampling	1951	39	784.59
TT8_CF8	698	45	322.90
TT8_Kalman	33	81	27.57
Analog_circuits	1500	12	181.82
GPS_charging	0	0	0.00
Compass	1877	8	151.73
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.23	-146.6	0.0	0.0	0	89	0.00	0.00	-60.95	0.000	2	0.000	0.000	29	1882	2843
93	-1.23	-146.6	3.7	-4.1	3	130	11.60	2.58	-19.48	0.000	4	0.138	0.058	2221	3298	3476
383	-1.23	-146.6	35.0	-10.7	15	388	0.00	2.50	0.00	0.000	6	0.000	0.040	2221	1899	3476
705	-1.23	-146.6	68.7	-10.1	31	709	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3301	3476
767	-1.23	-146.6	75.2	-10.4	34	771	0.00	2.50	0.00	0.000	6	0.000	0.040	2222	1902	3475
1094	-1.23	-146.6	106.5	-9.5	50	1095	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1902	3476
1403	-1.23	-146.6	136.8	-9.7	65	1407	0.00	2.50	0.00	0.000	4	0.000	0.044	2221	3295	3476
1458	-1.23	-146.6	142.2	-9.5	67	1464	0.00	2.47	0.00	0.000	6	0.000	0.040	2221	1899	3476
1774	-1.23	-146.6	171.7	-8.9	83	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3476
2083	-1.23	-146.6	198.6	-8.5	98	2087	0.00	2.50	0.00	0.000	4	0.000	0.045	2221	3295	3476
2132	-1.23	-146.6	202.9	-8.2	100	2137	0.00	2.47	0.00	0.000	6	0.000	0.040	2221	1898	3476
2448	-1.23	-146.6	228.9	-8.2	115	2450	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3475
2757	-1.23	-146.6	254.0	-8.4	130	2761	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3301	3476
2819	-1.23	-146.6	259.7	-9.3	133	2823	0.00	2.50	0.00	0.000	6	0.000	0.039	2221	1900	3475
3146	-1.23	-146.6	286.2	-8.5	149	3147	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3476
3454	-1.23	-146.6	313.3	-9.6	164	3456	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3476
3764	-1.23	-146.6	338.4	-8.1	179	3768	0.00	2.53	0.00	0.000	4	0.000	0.046	2221	3301	3476
3808	-1.23	-146.6	342.5	-9.3	181	3813	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1901	3476
4129	-1.23	-146.6	372.5	-8.3	197	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3476
4439	-1.23	-146.6	401.2	-10.8	212	4440	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3476
4748	-1.23	-146.6	432.7	-10.3	227	4749	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3475
5057	-1.23	-146.6	462.2	-8.9	242	5058	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3475
5366	-1.23	-146.6	490.9	-9.4	257	5370	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3293	3475
5428	-1.23	-146.6	496.7	-9.7	260	5432	0.00	2.47	0.00	0.000	6	0.000	0.042	2221	1899	3475
5756	-1.23	-146.6	526.2	-9.2	276	5757	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3476
6066	-1.23	-146.6	555.8	-9.7	291	6070	0.00	2.53	0.00	0.000	4	0.000	0.050	2222	3293	3476
6150	-1.23	-146.6	564.2	-9.5	295	6154	0.00	2.47	0.00	0.000	6	0.000	0.042	2221	1899	3476
6484	-1.23	-146.6	591.7	-7.9	311	6485	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3475
6793	-1.23	-146.6	615.3	-8.7	326	6798	0.00	2.55	0.00	0.000	4	0.000	0.052	2221	3297	3475
6856	-1.23	-146.6	621.3	-9.3	329	6860	0.00	2.50	0.00	0.000	6	0.000	0.046	2221	1898	3475
7182	-1.23	-146.6	658.3	-11.5	345	7186	0.00	2.55	0.00	0.000	4	0.000	0.054	2221	3293	3475
7440	-1.23	-146.6	695.2	-14.7	356	7446	0.00	2.50	0.00	0.000	6	0.000	0.047	2221	1903	3475
7756	-1.23	-146.6	732.5	-9.8	372	7760	0.00	2.53	0.00	0.000	4	0.000	0.056	2221	3292	3475
7915	-1.23	-146.6	741.1	-2.9	379	7919	0.00	2.53	0.00	0.000	6	0.000	0.051	2221	1902	3474
8191	end dive: TARGET_DEPTH_EXCEEDED
state	8192	begin apogee
8199	-0.36	0.0	752.2	6.7	393	8334	0.93	0.00	128.05	1.288	6	0.082	0.000	2416	2093	2877
8335	end apogee: CONTROL_FINISHED_OK
state	8335	begin climb
8338	1.23	146.6	755.8	0.0	400	8474	1.58	2.72	126.07	1.255	4	0.056	0.061	2764	3495	2279
8488	1.23	146.6	748.4	8.2	407	8492	0.00	2.60	0.00	0.000	6	0.000	0.050	2764	2100	2279
8809	1.24	158.3	719.7	7.6	423	8825	0.00	2.75	11.07	1.253	4	0.000	0.077	2764	693	2231
9079	1.25	165.0	699.9	7.7	434	9095	0.00	2.55	6.68	1.234	6	0.000	0.048	2764	2101	2205
9404	1.25	165.0	673.6	8.2	450	9408	0.00	2.60	0.00	0.000	4	0.000	0.062	2764	3503	2204
9555	1.25	165.0	659.7	9.0	457	9560	0.00	2.58	0.00	0.000	6	0.000	0.051	2764	2093	2203
9882	1.25	165.0	628.2	10.5	473	9887	0.00	2.62	0.00	0.000	4	0.000	0.061	2764	3507	2202
10005	1.25	165.0	615.9	9.8	478	10011	0.00	2.58	0.00	0.000	6	0.000	0.049	2764	2096	2201
10322	1.26	175.6	590.9	7.6	494	10333	0.00	0.00	9.55	1.262	6	0.000	0.000	2764	2096	2161
10630	1.26	175.6	566.5	9.7	509	10635	0.00	2.58	0.00	0.000	4	0.000	0.056	2764	3500	2161
10715	1.26	175.6	558.4	9.2	513	10720	0.00	2.53	0.00	0.000	6	0.000	0.044	2764	2093	2160
11042	1.27	182.9	531.8	7.7	529	11051	0.00	0.00	7.10	1.202	6	0.000	0.000	2764	2093	2132
11351	1.27	182.9	506.9	8.5	544	11355	0.00	2.58	0.00	0.000	4	0.000	0.052	2764	3505	2132
11515	1.28	187.5	493.2	7.8	551	11527	0.00	2.53	5.45	1.145	6	0.000	0.041	2764	2093	2113
11836	1.34	233.9	471.2	6.2	567	11881	0.00	2.65	39.62	1.118	4	0.000	0.050	2764	3505	1924
11949	1.37	257.2	462.8	7.1	572	11976	0.12	2.55	20.62	1.098	6	0.054	0.040	2800	2095	1829
12287	1.37	257.2	429.1	10.7	588	12291	0.00	2.55	0.00	0.000	4	0.000	0.049	2800	3503	1830
12389	1.37	257.2	414.8	14.9	592	12395	0.00	2.53	0.00	0.000	6	0.000	0.041	2800	2100	1829
12705	1.37	257.2	374.5	12.4	608	12709	0.00	2.58	0.00	0.000	4	0.000	0.049	2800	3507	1830
12789	1.37	257.2	363.9	9.8	612	12794	0.00	2.50	0.00	0.000	6	0.000	0.039	2800	2097	1830
13116	1.37	257.2	325.5	11.3	628	13120	0.00	2.55	0.00	0.000	4	0.000	0.049	2800	3503	1831
13179	1.37	257.2	318.3	12.7	631	13183	0.00	2.53	0.00	0.000	6	0.000	0.040	2800	2095	1832
13505	1.37	257.2	281.5	11.7	647	13507	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2095	1831
13815	1.37	257.2	243.1	12.3	662	13819	0.00	2.58	0.00	0.000	4	0.000	0.048	2800	3507	1832
13960	1.37	257.2	227.2	9.6	668	13966	0.00	2.53	0.00	0.000	6	0.000	0.038	2800	2088	1832
14276	1.37	257.2	197.0	10.6	684	14280	0.00	2.58	0.00	0.000	4	0.000	0.048	2800	3508	1833
14353	1.37	257.2	188.2	11.6	687	14359	0.00	2.50	0.00	0.000	6	0.000	0.038	2800	2101	1832
14669	1.37	257.2	155.8	10.5	703	14673	0.00	2.55	0.00	0.000	4	0.000	0.048	2800	3507	1832
14709	1.37	257.2	151.6	10.4	705	14713	0.00	2.50	0.00	0.000	6	0.000	0.038	2800	2098	1833
15036	1.37	257.2	121.7	9.0	721	15037	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2097	1833
15345	1.37	257.2	90.6	10.8	736	15349	0.00	2.55	0.00	0.000	4	0.000	0.048	2800	3504	1833
15423	1.37	257.2	80.8	11.5	739	15430	0.00	2.47	0.00	0.000	6	0.000	0.036	2800	2097	1833
15739	1.37	257.2	47.5	10.0	755	15740	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2097	1834
16048	1.37	257.2	15.2	10.9	770	16053	0.00	2.55	0.00	0.000	4	0.000	0.048	2800	3502	1834
16093	1.37	257.2	10.3	11.5	772	16098	0.00	2.47	0.00	0.000	6	0.000	0.036	2800	2100	1834
16186	end climb: SURFACE_DEPTH_REACHED
state	16186	begin surface coast
16207	end surface coast: CONTROL_FINISHED_OK
state	16208	begin surface