Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 58 * 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 58 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 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 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 120 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 -2076281.6 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 1 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 412.5

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 -2076281.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 1 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 58 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 213955,6136.880,-905.148,40,1.3,57,-9.3 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.180,0.167

_SM_DEPTHo 1.54 KALMAN_X 11002.5,-1150.5,-692.1,-8736.4,7559.1

_SM_ANGLEo -58.7 KALMAN_Y 80051.0,-7.2,-254.8,-82339.7,92.8

GPS2 214547,6136.830,-905.187,13,7.4,32,-9.3 MHEAD_RNG_PITCHd_Wd 322.2,17405,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.002964 ALTIM_BOTTOM_PING 750.5,92.2

SM_CCo 16690,13.00,0.548,1,0,1594,300.00 _24V_AH 23.5,14.634

SM_GC 1.39,0.00,0.00,13.00,0.000,0.000,0.548,70,2405,1594,-10.76,0.14,300.00 _10V_AH 10.2,6.192

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41242,808

TT8_MAMPS 0.02301 CFSIZE 260165632,255635456

HUMID 2094 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,1,0

TCM_TEMP 17.50 GPS 221107,022608,6138.392,-911.201,33,1.7,33,-9.4

XPDR_PINGS 23

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 105.82 SBE_CT 566 24 319.74

Roll_motor 130 91 280.02 SBE_O2 580 19 259.07

VBD_pump_during_apogee 359 1256 10614.66 WL_BB2F 443 105 1095.14

VBD_pump_during_surface 13 548 167.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.88 nil 0 0 0.00

Iridium_during_connect 28 160 106.28 nil 0 0 0.00

Iridium_during_xfer 188 223 989.82

Transponder_ping 12 420 120.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.98

TT8 1481 19 299.23

LPSleep 12926 2 288.75

TT8_Active 514 19 103.83

TT8_Sampling 1788 39 726.25

TT8_CF8 350 45 163.69

TT8_Kalman 33 81 27.83

Analog_circuits 1388 12 169.90

GPS_charging 0 0 0.00

Compass 1728 8 141.02

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -62.08 0.000 2 0.000 0.000 72 2406 3252

84 -1.08 -146.6 4.3 -6.9 3 107 11.85 2.55 -3.42 0.000 4 0.175 0.077 2167 3770 3417

206 -1.08 -146.6 22.2 -9.8 8 211 0.00 2.50 0.00 0.000 6 0.000 0.044 2167 2401 3417

529 -1.08 -146.6 58.8 -12.0 24 530 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2401 3417

838 -1.08 -146.6 92.6 -11.2 39 842 0.00 2.55 0.00 0.000 4 0.000 0.069 2167 3765 3417

908 -1.08 -146.6 100.4 -11.2 42 913 0.00 2.47 0.00 0.000 6 0.000 0.044 2167 2401 3417

1230 -1.08 -146.6 137.0 -11.6 58 1234 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 988 3417

1268 -1.08 -146.6 141.4 -11.3 60 1273 0.00 2.55 0.00 0.000 6 0.000 0.049 2167 2399 3417

1594 -1.08 -146.6 179.1 -11.2 76 1598 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 986 3417

1625 -1.08 -146.6 182.7 -11.3 77 1632 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2400 3417

1941 -1.08 -146.6 218.3 -10.7 93 1942 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3417

2250 -1.08 -146.6 249.7 -10.4 108 2251 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2400 3417

2559 -1.08 -146.6 280.9 -9.9 123 2563 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 985 3417

2614 -1.08 -146.6 286.5 -9.4 125 2621 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2400 3417

2930 -1.08 -146.6 316.6 -9.3 141 2934 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 980 3418

2972 -1.08 -146.6 320.7 -8.7 143 2977 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2401 3418

3299 -1.08 -146.6 349.6 -8.7 159 3300 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2401 3418

3609 -1.08 -146.6 375.2 -8.2 174 3613 0.00 2.60 0.00 0.000 4 0.000 0.060 2167 982 3418

3674 -1.08 -146.6 381.0 -8.7 177 3679 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2401 3418

4000 -1.08 -146.6 409.0 -8.7 193 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2401 3418

4310 -1.08 -146.6 437.0 -9.0 208 4314 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 979 3418

4397 -1.08 -146.6 445.6 -10.1 212 4402 0.00 2.60 0.00 0.000 6 0.000 0.050 2167 2403 3418

4724 -1.08 -146.6 478.1 -10.4 228 4728 0.00 2.60 0.00 0.000 4 0.000 0.060 2167 983 3418

4785 -1.08 -146.6 484.8 -10.8 231 4790 0.00 2.55 0.00 0.000 6 0.000 0.050 2167 2401 3418

5111 -1.08 -146.6 522.8 -12.2 247 5115 0.00 2.60 0.00 0.000 4 0.000 0.060 2167 982 3418

5149 -1.08 -146.6 527.6 -11.7 249 5153 0.00 2.58 0.00 0.000 6 0.000 0.051 2167 2408 3418

5474 -1.08 -146.6 563.1 -9.7 265 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2408 3418

5784 -1.08 -146.6 583.4 -5.8 280 5785 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2408 3418

6093 -1.08 -146.6 603.5 -6.6 295 6094 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2408 3417

6402 -1.08 -146.6 633.1 -11.3 310 6406 0.00 2.60 0.00 0.000 4 0.000 0.062 2167 986 3418

6447 -1.08 -146.6 638.1 -11.5 312 6451 0.00 2.55 0.00 0.000 6 0.000 0.051 2167 2401 3418

6772 -1.08 -146.6 667.1 -7.2 328 6773 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2401 3418

7081 -1.08 -146.6 693.6 -11.9 343 7085 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 985 3418

7157 -1.08 -146.6 705.6 -16.1 346 7162 0.00 2.60 0.00 0.000 6 0.000 0.051 2167 2404 3418

7481 -1.08 -146.6 750.5 -10.9 362 7482 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3418

7788 -1.08 -146.6 768.4 -2.0 377 7792 0.00 2.60 0.00 0.000 4 0.000 0.063 2167 986 3418

7993 -1.08 -146.6 780.1 -8.2 386 7998 0.00 2.60 0.00 0.000 6 0.000 0.057 2168 2392 3418

8314 -1.08 -146.6 809.5 -10.1 402 8319 0.00 2.65 0.00 0.000 4 0.000 0.091 2167 3764 3418

8353 -1.08 -146.6 814.6 -14.0 404 8357 0.00 2.50 0.00 0.000 6 0.000 0.059 2167 2398 3418

8596 end dive: BOTTOM_OBSTACLE_DETECTED

state 8596 begin apogee

8600 -0.31 0.0 834.0 8.2 416 8726 0.88 0.00 123.18 1.256 6 0.119 0.000 2339 2194 2817

8727 end apogee: CONTROL_FINISHED_OK

state 8727 begin climb

8729 1.08 146.6 836.1 0.0 422 8854 1.48 0.00 121.15 1.225 6 0.086 0.000 2646 2194 2219

9159 1.11 169.6 801.8 7.2 443 9184 0.00 2.83 20.05 1.144 4 0.000 0.087 2646 3610 2124

9301 1.11 169.6 788.7 11.3 449 9308 0.00 2.67 0.00 0.000 6 0.000 0.068 2646 2200 2124

9616 1.11 169.6 756.5 12.0 465 9621 0.00 2.70 0.00 0.000 4 0.000 0.079 2646 786 2122

9749 1.11 169.6 742.5 11.2 471 9754 0.00 2.62 0.00 0.000 6 0.000 0.058 2646 2195 2120

10076 1.11 169.6 708.3 8.2 487 10081 0.00 2.70 0.00 0.000 4 0.000 0.080 2646 3612 2117

10204 1.11 169.6 696.8 8.8 493 10209 0.00 2.60 0.00 0.000 6 0.000 0.057 2646 2198 2117

10530 1.11 169.6 663.3 10.4 509 10534 0.00 2.65 0.00 0.000 4 0.000 0.067 2646 779 2116

10600 1.11 169.6 655.2 11.9 512 10605 0.00 2.60 0.00 0.000 6 0.000 0.048 2646 2197 2115

10922 1.12 176.3 624.0 7.8 528 10928 0.00 0.00 5.12 0.816 6 0.000 0.000 2646 2196 2098

11231 1.16 214.6 603.8 6.6 543 11265 0.00 0.00 32.20 1.087 6 0.000 0.000 2646 2196 1942

11559 1.16 214.6 572.5 11.6 559 11563 0.00 2.62 0.00 0.000 4 0.000 0.069 2646 3611 1941

11604 1.16 214.6 566.5 14.3 561 11609 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2198 1941

11930 1.16 214.6 521.2 13.2 577 11931 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2198 1941

12239 1.16 216.7 492.2 7.9 592 12248 0.00 2.62 4.00 0.645 4 0.000 0.067 2646 3611 1933

12292 1.16 216.7 487.4 8.9 594 12297 0.00 2.60 0.00 0.000 6 0.000 0.051 2647 2201 1933

12613 1.16 216.7 456.1 10.5 610 12614 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 1933

12922 1.16 216.7 421.2 11.4 625 12924 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2200 1933

13232 1.16 216.7 386.3 11.1 640 13233 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2200 1934

13541 1.16 216.7 352.9 10.8 655 13545 0.00 2.60 0.00 0.000 4 0.000 0.062 2646 785 1935

13584 1.16 216.7 348.0 11.1 657 13589 0.00 2.55 0.00 0.000 6 0.000 0.043 2646 2193 1935

13911 1.16 216.7 314.7 10.0 673 13915 0.00 2.60 0.00 0.000 4 0.000 0.067 2646 3611 1936

13950 1.16 216.7 310.6 11.0 675 13954 0.00 2.58 0.00 0.000 6 0.000 0.051 2646 2192 1936

14276 1.16 216.7 277.3 10.8 691 14277 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2192 1936

14585 1.16 216.7 245.3 10.0 706 14589 0.00 2.58 0.00 0.000 4 0.000 0.063 2646 786 1937

14623 1.16 216.7 241.4 10.7 708 14627 0.00 2.53 0.00 0.000 6 0.000 0.044 2646 2201 1937

14949 1.16 216.7 208.7 10.3 724 14953 0.00 2.60 0.00 0.000 4 0.000 0.067 2646 3613 1937

15014 1.16 216.7 201.4 11.2 727 15018 0.00 2.58 0.00 0.000 6 0.000 0.050 2647 2202 1937

15340 1.16 216.7 167.9 9.4 743 15342 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2202 1937

15650 1.23 284.0 142.2 5.6 758 15711 0.15 0.00 53.83 0.754 6 0.044 0.000 2693 2201 1658

16020 1.23 284.0 98.5 15.5 776 16022 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2202 1658

16328 1.23 284.0 49.9 14.6 791 16333 0.00 2.62 0.00 0.000 4 0.000 0.063 2693 778 1658

16367 1.23 284.0 43.9 16.5 793 16371 0.00 2.55 0.00 0.000 6 0.000 0.042 2693 2201 1658

16650 end climb: SURFACE_DEPTH_REACHED

state 16650 begin surface coast

16672 end surface coast: CONTROL_FINISHED_OK

state 16672 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	58	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	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	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	120	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	-2076281.6	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	1	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	213955,6136.880,-905.148,40,1.3,57,-9.3	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.180,0.167
_SM_DEPTHo	1.54	KALMAN_X	11002.5,-1150.5,-692.1,-8736.4,7559.1
_SM_ANGLEo	-58.7	KALMAN_Y	80051.0,-7.2,-254.8,-82339.7,92.8
GPS2	214547,6136.830,-905.187,13,7.4,32,-9.3	MHEAD_RNG_PITCHd_Wd	322.2,17405,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.002964	ALTIM_BOTTOM_PING	750.5,92.2
SM_CCo	16690,13.00,0.548,1,0,1594,300.00	_24V_AH	23.5,14.634
SM_GC	1.39,0.00,0.00,13.00,0.000,0.000,0.548,70,2405,1594,-10.76,0.14,300.00	_10V_AH	10.2,6.192
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41242,808
TT8_MAMPS	0.02301	CFSIZE	260165632,255635456
HUMID	2094	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
TCM_TEMP	17.50	GPS	221107,022608,6138.392,-911.201,33,1.7,33,-9.4
XPDR_PINGS	23

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	105.82	SBE_CT	566	24	319.74
Roll_motor	130	91	280.02	SBE_O2	580	19	259.07
VBD_pump_during_apogee	359	1256	10614.66	WL_BB2F	443	105	1095.14
VBD_pump_during_surface	13	548	167.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.88	nil	0	0	0.00
Iridium_during_connect	28	160	106.28	nil	0	0	0.00
Iridium_during_xfer	188	223	989.82
Transponder_ping	12	420	120.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.98
TT8	1481	19	299.23
LPSleep	12926	2	288.75
TT8_Active	514	19	103.83
TT8_Sampling	1788	39	726.25
TT8_CF8	350	45	163.69
TT8_Kalman	33	81	27.83
Analog_circuits	1388	12	169.90
GPS_charging	0	0	0.00
Compass	1728	8	141.02
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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-62.08	0.000	2	0.000	0.000	72	2406	3252
84	-1.08	-146.6	4.3	-6.9	3	107	11.85	2.55	-3.42	0.000	4	0.175	0.077	2167	3770	3417
206	-1.08	-146.6	22.2	-9.8	8	211	0.00	2.50	0.00	0.000	6	0.000	0.044	2167	2401	3417
529	-1.08	-146.6	58.8	-12.0	24	530	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2401	3417
838	-1.08	-146.6	92.6	-11.2	39	842	0.00	2.55	0.00	0.000	4	0.000	0.069	2167	3765	3417
908	-1.08	-146.6	100.4	-11.2	42	913	0.00	2.47	0.00	0.000	6	0.000	0.044	2167	2401	3417
1230	-1.08	-146.6	137.0	-11.6	58	1234	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	988	3417
1268	-1.08	-146.6	141.4	-11.3	60	1273	0.00	2.55	0.00	0.000	6	0.000	0.049	2167	2399	3417
1594	-1.08	-146.6	179.1	-11.2	76	1598	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	986	3417
1625	-1.08	-146.6	182.7	-11.3	77	1632	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2400	3417
1941	-1.08	-146.6	218.3	-10.7	93	1942	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3417
2250	-1.08	-146.6	249.7	-10.4	108	2251	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2400	3417
2559	-1.08	-146.6	280.9	-9.9	123	2563	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	985	3417
2614	-1.08	-146.6	286.5	-9.4	125	2621	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2400	3417
2930	-1.08	-146.6	316.6	-9.3	141	2934	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	980	3418
2972	-1.08	-146.6	320.7	-8.7	143	2977	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2401	3418
3299	-1.08	-146.6	349.6	-8.7	159	3300	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2401	3418
3609	-1.08	-146.6	375.2	-8.2	174	3613	0.00	2.60	0.00	0.000	4	0.000	0.060	2167	982	3418
3674	-1.08	-146.6	381.0	-8.7	177	3679	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2401	3418
4000	-1.08	-146.6	409.0	-8.7	193	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2401	3418
4310	-1.08	-146.6	437.0	-9.0	208	4314	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	979	3418
4397	-1.08	-146.6	445.6	-10.1	212	4402	0.00	2.60	0.00	0.000	6	0.000	0.050	2167	2403	3418
4724	-1.08	-146.6	478.1	-10.4	228	4728	0.00	2.60	0.00	0.000	4	0.000	0.060	2167	983	3418
4785	-1.08	-146.6	484.8	-10.8	231	4790	0.00	2.55	0.00	0.000	6	0.000	0.050	2167	2401	3418
5111	-1.08	-146.6	522.8	-12.2	247	5115	0.00	2.60	0.00	0.000	4	0.000	0.060	2167	982	3418
5149	-1.08	-146.6	527.6	-11.7	249	5153	0.00	2.58	0.00	0.000	6	0.000	0.051	2167	2408	3418
5474	-1.08	-146.6	563.1	-9.7	265	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2408	3418
5784	-1.08	-146.6	583.4	-5.8	280	5785	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2408	3418
6093	-1.08	-146.6	603.5	-6.6	295	6094	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2408	3417
6402	-1.08	-146.6	633.1	-11.3	310	6406	0.00	2.60	0.00	0.000	4	0.000	0.062	2167	986	3418
6447	-1.08	-146.6	638.1	-11.5	312	6451	0.00	2.55	0.00	0.000	6	0.000	0.051	2167	2401	3418
6772	-1.08	-146.6	667.1	-7.2	328	6773	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2401	3418
7081	-1.08	-146.6	693.6	-11.9	343	7085	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	985	3418
7157	-1.08	-146.6	705.6	-16.1	346	7162	0.00	2.60	0.00	0.000	6	0.000	0.051	2167	2404	3418
7481	-1.08	-146.6	750.5	-10.9	362	7482	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3418
7788	-1.08	-146.6	768.4	-2.0	377	7792	0.00	2.60	0.00	0.000	4	0.000	0.063	2167	986	3418
7993	-1.08	-146.6	780.1	-8.2	386	7998	0.00	2.60	0.00	0.000	6	0.000	0.057	2168	2392	3418
8314	-1.08	-146.6	809.5	-10.1	402	8319	0.00	2.65	0.00	0.000	4	0.000	0.091	2167	3764	3418
8353	-1.08	-146.6	814.6	-14.0	404	8357	0.00	2.50	0.00	0.000	6	0.000	0.059	2167	2398	3418
8596	end dive: BOTTOM_OBSTACLE_DETECTED
state	8596	begin apogee
8600	-0.31	0.0	834.0	8.2	416	8726	0.88	0.00	123.18	1.256	6	0.119	0.000	2339	2194	2817
8727	end apogee: CONTROL_FINISHED_OK
state	8727	begin climb
8729	1.08	146.6	836.1	0.0	422	8854	1.48	0.00	121.15	1.225	6	0.086	0.000	2646	2194	2219
9159	1.11	169.6	801.8	7.2	443	9184	0.00	2.83	20.05	1.144	4	0.000	0.087	2646	3610	2124
9301	1.11	169.6	788.7	11.3	449	9308	0.00	2.67	0.00	0.000	6	0.000	0.068	2646	2200	2124
9616	1.11	169.6	756.5	12.0	465	9621	0.00	2.70	0.00	0.000	4	0.000	0.079	2646	786	2122
9749	1.11	169.6	742.5	11.2	471	9754	0.00	2.62	0.00	0.000	6	0.000	0.058	2646	2195	2120
10076	1.11	169.6	708.3	8.2	487	10081	0.00	2.70	0.00	0.000	4	0.000	0.080	2646	3612	2117
10204	1.11	169.6	696.8	8.8	493	10209	0.00	2.60	0.00	0.000	6	0.000	0.057	2646	2198	2117
10530	1.11	169.6	663.3	10.4	509	10534	0.00	2.65	0.00	0.000	4	0.000	0.067	2646	779	2116
10600	1.11	169.6	655.2	11.9	512	10605	0.00	2.60	0.00	0.000	6	0.000	0.048	2646	2197	2115
10922	1.12	176.3	624.0	7.8	528	10928	0.00	0.00	5.12	0.816	6	0.000	0.000	2646	2196	2098
11231	1.16	214.6	603.8	6.6	543	11265	0.00	0.00	32.20	1.087	6	0.000	0.000	2646	2196	1942
11559	1.16	214.6	572.5	11.6	559	11563	0.00	2.62	0.00	0.000	4	0.000	0.069	2646	3611	1941
11604	1.16	214.6	566.5	14.3	561	11609	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2198	1941
11930	1.16	214.6	521.2	13.2	577	11931	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2198	1941
12239	1.16	216.7	492.2	7.9	592	12248	0.00	2.62	4.00	0.645	4	0.000	0.067	2646	3611	1933
12292	1.16	216.7	487.4	8.9	594	12297	0.00	2.60	0.00	0.000	6	0.000	0.051	2647	2201	1933
12613	1.16	216.7	456.1	10.5	610	12614	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	1933
12922	1.16	216.7	421.2	11.4	625	12924	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2200	1933
13232	1.16	216.7	386.3	11.1	640	13233	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2200	1934
13541	1.16	216.7	352.9	10.8	655	13545	0.00	2.60	0.00	0.000	4	0.000	0.062	2646	785	1935
13584	1.16	216.7	348.0	11.1	657	13589	0.00	2.55	0.00	0.000	6	0.000	0.043	2646	2193	1935
13911	1.16	216.7	314.7	10.0	673	13915	0.00	2.60	0.00	0.000	4	0.000	0.067	2646	3611	1936
13950	1.16	216.7	310.6	11.0	675	13954	0.00	2.58	0.00	0.000	6	0.000	0.051	2646	2192	1936
14276	1.16	216.7	277.3	10.8	691	14277	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2192	1936
14585	1.16	216.7	245.3	10.0	706	14589	0.00	2.58	0.00	0.000	4	0.000	0.063	2646	786	1937
14623	1.16	216.7	241.4	10.7	708	14627	0.00	2.53	0.00	0.000	6	0.000	0.044	2646	2201	1937
14949	1.16	216.7	208.7	10.3	724	14953	0.00	2.60	0.00	0.000	4	0.000	0.067	2646	3613	1937
15014	1.16	216.7	201.4	11.2	727	15018	0.00	2.58	0.00	0.000	6	0.000	0.050	2647	2202	1937
15340	1.16	216.7	167.9	9.4	743	15342	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2202	1937
15650	1.23	284.0	142.2	5.6	758	15711	0.15	0.00	53.83	0.754	6	0.044	0.000	2693	2201	1658
16020	1.23	284.0	98.5	15.5	776	16022	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2202	1658
16328	1.23	284.0	49.9	14.6	791	16333	0.00	2.62	0.00	0.000	4	0.000	0.063	2693	778	1658
16367	1.23	284.0	43.9	16.5	793	16371	0.00	2.55	0.00	0.000	6	0.000	0.042	2693	2201	1658
16650	end climb: SURFACE_DEPTH_REACHED
state	16650	begin surface coast
16672	end surface coast: CONTROL_FINISHED_OK
state	16672	begin surface