Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 59 * 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 59 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -2076296.1 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 -2076296.1

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 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 59 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 022608,6138.392,-911.201,33,1.7,33,-9.4 TGT_NAME BE

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.130

_SM_DEPTHo 1.59 KALMAN_X 9185.6,-840.1,-871.0,-12335.8,4990.0

_SM_ANGLEo -58.5 KALMAN_Y 77970.4,140.0,187.0,-78063.5,-2662.0

GPS2 023345,6138.324,-911.213,13,1.6,13,-9.4 MHEAD_RNG_PITCHd_Wd 311.5,12802,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.002885 ALTIM_BOTTOM_PING 775.4,78.2

SM_CCo 15992,32.47,0.637,1,0,1594,300.00 _24V_AH 23.5,14.772

SM_GC 1.90,0.00,0.00,32.47,0.000,0.000,0.637,70,2402,1594,-10.76,0.03,300.00 _10V_AH 10.2,6.265

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37978,773

TT8_MAMPS 0.023777 CFSIZE 260165632,255586304

HUMID 2096 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,1,0

TCM_TEMP 17.60 GPS 221107,070255,6141.442,-915.984,38,1.7,38,-9.4

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 97.11 SBE_CT 539 24 304.16

Roll_motor 130 87 268.82 SBE_O2 553 19 246.95

VBD_pump_during_apogee 324 1260 9607.53 WL_BB2F 440 105 1086.56

VBD_pump_during_surface 32 636 485.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 158.02 nil 0 0 0.00

Iridium_during_connect 116 160 438.37 nil 0 0 0.00

Iridium_during_xfer 132 223 691.95

Transponder_ping 12 420 118.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.09

TT8 1417 19 286.35

LPSleep 12452 2 278.17

TT8_Active 484 19 97.83

TT8_Sampling 1722 39 699.07

TT8_CF8 413 45 193.33

TT8_Kalman 33 81 27.83

Analog_circuits 1350 12 165.34

GPS_charging 0 0 0.00

Compass 1680 8 137.16

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 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 63 0.00 0.00 -42.80 0.000 2 0.000 0.000 69 2405 2732

65 -1.08 -146.6 3.1 -6.6 2 107 11.60 2.58 -20.38 0.000 4 0.164 0.080 2167 3763 3416

207 -1.08 -146.6 23.0 -12.8 8 212 0.00 2.45 0.00 0.000 6 0.000 0.041 2167 2404 3416

530 -1.08 -146.6 61.6 -10.4 24 531 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3416

838 -1.08 -146.6 95.6 -10.8 39 839 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3416

1147 -1.08 -146.6 123.1 -8.7 54 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3416

1456 -1.08 -146.6 159.2 -11.7 69 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3416

1765 -1.08 -146.6 193.5 -12.1 84 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2404 3416

2075 -1.08 -146.6 229.2 -11.1 99 2079 0.00 2.60 0.00 0.000 4 0.000 0.062 2168 989 3416

2102 -1.08 -146.6 232.3 -11.4 100 2107 0.00 2.53 0.00 0.000 6 0.000 0.048 2168 2395 3416

2416 -1.08 -146.6 264.4 -10.0 115 2417 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2395 3416

2726 -1.08 -146.6 295.5 -10.1 130 2730 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 981 3416

2764 -1.08 -146.6 299.2 -9.8 132 2768 0.00 2.55 0.00 0.000 6 0.000 0.049 2168 2400 3417

3089 -1.08 -146.6 331.0 -10.0 148 3090 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2400 3417

3398 -1.08 -146.6 362.3 -10.2 163 3402 0.00 2.60 0.00 0.000 4 0.000 0.061 2168 983 3417

3430 -1.08 -146.6 365.7 -10.4 164 3437 0.00 2.60 0.00 0.000 6 0.000 0.049 2168 2401 3417

3745 -1.08 -146.6 397.7 -10.3 180 3747 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

4055 -1.08 -146.6 429.4 -10.2 195 4056 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2401 3417

4364 -1.08 -146.6 460.8 -9.9 210 4365 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

4673 -1.08 -146.6 491.7 -10.0 225 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

4982 -1.08 -146.6 523.0 -10.4 240 4987 0.00 2.60 0.00 0.000 4 0.000 0.060 2168 982 3417

5027 -1.08 -146.6 527.6 -10.4 242 5031 0.00 2.55 0.00 0.000 6 0.000 0.049 2167 2400 3417

5347 -1.08 -146.6 559.3 -9.5 258 5351 0.00 2.55 0.00 0.000 4 0.000 0.071 2167 3772 3417

5409 -1.08 -146.6 565.9 -10.9 261 5413 0.00 2.45 0.00 0.000 6 0.000 0.046 2167 2400 3417

5733 -1.08 -146.6 597.4 -9.7 277 5738 0.00 2.58 0.00 0.000 4 0.000 0.063 2167 990 3417

5805 -1.08 -146.6 604.2 -9.5 280 5809 0.00 2.58 0.00 0.000 6 0.000 0.050 2167 2399 3417

6126 -1.08 -146.6 639.4 -10.8 296 6131 0.00 2.58 0.00 0.000 4 0.000 0.061 2168 989 3417

6237 -1.08 -146.6 651.1 -11.2 301 6242 0.00 2.58 0.00 0.000 6 0.000 0.050 2167 2401 3417

6564 -1.08 -146.6 687.6 -11.8 317 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2401 3417

6873 -1.08 -146.6 713.1 -6.4 332 6877 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 989 3417

6921 -1.08 -146.6 719.1 -13.6 334 6926 0.00 2.58 0.00 0.000 6 0.000 0.051 2167 2400 3417

7242 -1.08 -146.6 749.0 -9.4 350 7246 0.00 2.55 0.00 0.000 4 0.000 0.074 2168 3765 3417

7274 -1.08 -146.6 752.8 -12.1 351 7281 0.00 2.47 0.00 0.000 6 0.000 0.049 2168 2404 3418

7590 -1.08 -146.6 778.6 -8.9 367 7594 0.00 2.62 0.00 0.000 4 0.000 0.068 2166 983 3417

7705 -1.08 -146.6 789.0 -12.0 372 7710 0.00 2.60 0.00 0.000 6 0.000 0.055 2168 2390 3417

8026 -1.08 -146.6 818.2 -8.1 388 8031 0.00 2.62 0.00 0.000 4 0.000 0.070 2167 985 3418

8088 -1.08 -146.6 823.2 -10.2 391 8093 0.00 2.60 0.00 0.000 6 0.000 0.063 2168 2398 3418

8247 end dive: BOTTOM_OBSTACLE_DETECTED

state 8247 begin apogee

8251 -0.31 0.0 847.1 16.9 399 8378 0.85 0.00 123.45 1.261 6 0.108 0.000 2338 2194 2817

8378 end apogee: CONTROL_FINISHED_OK

state 8378 begin climb

8380 1.08 146.6 859.5 0.0 405 8511 1.45 2.85 121.00 1.237 4 0.081 0.087 2641 3616 2219

8763 1.08 146.6 818.3 13.4 422 8771 0.00 2.67 0.00 0.000 6 0.000 0.066 2641 2199 2218

9079 1.19 244.9 803.7 4.4 438 9165 0.12 2.83 79.78 1.225 4 0.058 0.087 2673 3619 1818

9214 1.19 244.9 785.5 13.9 444 9221 0.00 2.75 0.00 0.000 6 0.000 0.072 2674 2204 1817

9530 1.19 244.9 750.0 10.4 460 9534 0.00 2.75 0.00 0.000 4 0.000 0.082 2674 781 1814

9658 1.19 244.9 735.8 12.5 466 9662 0.00 2.65 0.00 0.000 6 0.000 0.056 2674 2208 1813

9983 1.19 244.9 699.1 9.0 482 9987 0.00 2.67 0.00 0.000 4 0.000 0.077 2674 3622 1811

10021 1.19 244.9 695.5 9.8 484 10025 0.00 2.65 0.00 0.000 6 0.000 0.059 2674 2189 1811

10351 1.19 244.9 658.3 12.4 500 10356 0.00 2.62 0.00 0.000 4 0.000 0.069 2674 788 1810

10445 1.19 244.9 646.7 12.0 504 10450 0.00 2.60 0.00 0.000 6 0.000 0.048 2674 2203 1809

10766 1.19 244.9 608.8 12.1 520 10767 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2203 1809

11075 1.19 244.9 573.7 11.1 535 11080 0.00 2.65 0.00 0.000 4 0.000 0.063 2674 781 1810

11130 1.19 244.9 567.2 11.1 537 11137 0.00 2.58 0.00 0.000 6 0.000 0.044 2674 2196 1810

11445 1.19 244.9 533.0 10.6 553 11449 0.00 2.60 0.00 0.000 4 0.000 0.061 2674 785 1810

11483 1.19 244.9 528.9 10.4 554 11490 0.00 2.58 0.00 0.000 6 0.000 0.044 2674 2198 1810

11798 1.19 244.9 493.7 11.6 570 11800 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2198 1811

12108 1.19 244.9 456.5 12.1 585 12112 0.00 2.60 0.00 0.000 4 0.000 0.067 2674 3613 1812

12152 1.19 244.9 450.7 12.3 587 12156 0.00 2.58 0.00 0.000 6 0.000 0.052 2674 2199 1812

12478 1.19 244.9 411.9 11.9 603 12479 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2199 1813

12787 1.19 244.9 375.5 12.1 618 12788 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2199 1813

13096 1.19 244.9 336.1 12.8 633 13097 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2199 1813

13405 1.19 244.9 296.1 12.6 648 13410 0.00 2.62 0.00 0.000 4 0.000 0.065 2674 3617 1813

13448 1.19 244.9 290.1 13.5 650 13453 0.00 2.60 0.00 0.000 6 0.000 0.052 2674 2202 1813

13776 1.19 244.9 251.6 11.1 666 13780 0.00 2.62 0.00 0.000 4 0.000 0.065 2674 779 1814

13824 1.19 244.9 246.0 11.3 668 13829 0.00 2.55 0.00 0.000 6 0.000 0.042 2674 2196 1814

14145 1.19 244.9 210.7 10.8 684 14146 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2196 1815

14454 1.19 244.9 178.2 10.3 699 14458 0.00 2.60 0.00 0.000 4 0.000 0.066 2674 3616 1815

14491 1.19 244.9 174.0 10.8 700 14499 0.00 2.58 0.00 0.000 6 0.000 0.051 2674 2207 1815

14808 1.19 244.9 140.1 11.2 716 14809 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2207 1815

15117 1.19 244.9 106.9 11.9 731 15118 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2207 1816

15426 1.19 244.9 71.2 14.4 746 15430 0.00 2.60 0.00 0.000 4 0.000 0.061 2674 785 1816

15469 1.19 244.9 64.7 14.1 748 15473 0.00 2.55 0.00 0.000 6 0.000 0.043 2674 2199 1816

15795 1.19 244.9 21.0 12.0 764 15800 0.00 2.60 0.00 0.000 4 0.000 0.066 2674 3613 1817

15834 1.19 244.9 15.0 15.6 766 15838 0.00 2.55 0.00 0.000 6 0.000 0.052 2673 2199 1817

15952 end climb: SURFACE_DEPTH_REACHED

state 15952 begin surface coast

15974 end surface coast: CONTROL_FINISHED_OK

state 15974 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	59	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-2076296.1	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	022608,6138.392,-911.201,33,1.7,33,-9.4	TGT_NAME	BE
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.130
_SM_DEPTHo	1.59	KALMAN_X	9185.6,-840.1,-871.0,-12335.8,4990.0
_SM_ANGLEo	-58.5	KALMAN_Y	77970.4,140.0,187.0,-78063.5,-2662.0
GPS2	023345,6138.324,-911.213,13,1.6,13,-9.4	MHEAD_RNG_PITCHd_Wd	311.5,12802,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.002885	ALTIM_BOTTOM_PING	775.4,78.2
SM_CCo	15992,32.47,0.637,1,0,1594,300.00	_24V_AH	23.5,14.772
SM_GC	1.90,0.00,0.00,32.47,0.000,0.000,0.637,70,2402,1594,-10.76,0.03,300.00	_10V_AH	10.2,6.265
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37978,773
TT8_MAMPS	0.023777	CFSIZE	260165632,255586304
HUMID	2096	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
TCM_TEMP	17.60	GPS	221107,070255,6141.442,-915.984,38,1.7,38,-9.4
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	97.11	SBE_CT	539	24	304.16
Roll_motor	130	87	268.82	SBE_O2	553	19	246.95
VBD_pump_during_apogee	324	1260	9607.53	WL_BB2F	440	105	1086.56
VBD_pump_during_surface	32	636	485.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	158.02	nil	0	0	0.00
Iridium_during_connect	116	160	438.37	nil	0	0	0.00
Iridium_during_xfer	132	223	691.95
Transponder_ping	12	420	118.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.09
TT8	1417	19	286.35
LPSleep	12452	2	278.17
TT8_Active	484	19	97.83
TT8_Sampling	1722	39	699.07
TT8_CF8	413	45	193.33
TT8_Kalman	33	81	27.83
Analog_circuits	1350	12	165.34
GPS_charging	0	0	0.00
Compass	1680	8	137.16
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	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	63	0.00	0.00	-42.80	0.000	2	0.000	0.000	69	2405	2732
65	-1.08	-146.6	3.1	-6.6	2	107	11.60	2.58	-20.38	0.000	4	0.164	0.080	2167	3763	3416
207	-1.08	-146.6	23.0	-12.8	8	212	0.00	2.45	0.00	0.000	6	0.000	0.041	2167	2404	3416
530	-1.08	-146.6	61.6	-10.4	24	531	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3416
838	-1.08	-146.6	95.6	-10.8	39	839	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3416
1147	-1.08	-146.6	123.1	-8.7	54	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3416
1456	-1.08	-146.6	159.2	-11.7	69	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3416
1765	-1.08	-146.6	193.5	-12.1	84	1766	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2404	3416
2075	-1.08	-146.6	229.2	-11.1	99	2079	0.00	2.60	0.00	0.000	4	0.000	0.062	2168	989	3416
2102	-1.08	-146.6	232.3	-11.4	100	2107	0.00	2.53	0.00	0.000	6	0.000	0.048	2168	2395	3416
2416	-1.08	-146.6	264.4	-10.0	115	2417	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2395	3416
2726	-1.08	-146.6	295.5	-10.1	130	2730	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	981	3416
2764	-1.08	-146.6	299.2	-9.8	132	2768	0.00	2.55	0.00	0.000	6	0.000	0.049	2168	2400	3417
3089	-1.08	-146.6	331.0	-10.0	148	3090	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2400	3417
3398	-1.08	-146.6	362.3	-10.2	163	3402	0.00	2.60	0.00	0.000	4	0.000	0.061	2168	983	3417
3430	-1.08	-146.6	365.7	-10.4	164	3437	0.00	2.60	0.00	0.000	6	0.000	0.049	2168	2401	3417
3745	-1.08	-146.6	397.7	-10.3	180	3747	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
4055	-1.08	-146.6	429.4	-10.2	195	4056	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2401	3417
4364	-1.08	-146.6	460.8	-9.9	210	4365	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
4673	-1.08	-146.6	491.7	-10.0	225	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
4982	-1.08	-146.6	523.0	-10.4	240	4987	0.00	2.60	0.00	0.000	4	0.000	0.060	2168	982	3417
5027	-1.08	-146.6	527.6	-10.4	242	5031	0.00	2.55	0.00	0.000	6	0.000	0.049	2167	2400	3417
5347	-1.08	-146.6	559.3	-9.5	258	5351	0.00	2.55	0.00	0.000	4	0.000	0.071	2167	3772	3417
5409	-1.08	-146.6	565.9	-10.9	261	5413	0.00	2.45	0.00	0.000	6	0.000	0.046	2167	2400	3417
5733	-1.08	-146.6	597.4	-9.7	277	5738	0.00	2.58	0.00	0.000	4	0.000	0.063	2167	990	3417
5805	-1.08	-146.6	604.2	-9.5	280	5809	0.00	2.58	0.00	0.000	6	0.000	0.050	2167	2399	3417
6126	-1.08	-146.6	639.4	-10.8	296	6131	0.00	2.58	0.00	0.000	4	0.000	0.061	2168	989	3417
6237	-1.08	-146.6	651.1	-11.2	301	6242	0.00	2.58	0.00	0.000	6	0.000	0.050	2167	2401	3417
6564	-1.08	-146.6	687.6	-11.8	317	6565	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2401	3417
6873	-1.08	-146.6	713.1	-6.4	332	6877	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	989	3417
6921	-1.08	-146.6	719.1	-13.6	334	6926	0.00	2.58	0.00	0.000	6	0.000	0.051	2167	2400	3417
7242	-1.08	-146.6	749.0	-9.4	350	7246	0.00	2.55	0.00	0.000	4	0.000	0.074	2168	3765	3417
7274	-1.08	-146.6	752.8	-12.1	351	7281	0.00	2.47	0.00	0.000	6	0.000	0.049	2168	2404	3418
7590	-1.08	-146.6	778.6	-8.9	367	7594	0.00	2.62	0.00	0.000	4	0.000	0.068	2166	983	3417
7705	-1.08	-146.6	789.0	-12.0	372	7710	0.00	2.60	0.00	0.000	6	0.000	0.055	2168	2390	3417
8026	-1.08	-146.6	818.2	-8.1	388	8031	0.00	2.62	0.00	0.000	4	0.000	0.070	2167	985	3418
8088	-1.08	-146.6	823.2	-10.2	391	8093	0.00	2.60	0.00	0.000	6	0.000	0.063	2168	2398	3418
8247	end dive: BOTTOM_OBSTACLE_DETECTED
state	8247	begin apogee
8251	-0.31	0.0	847.1	16.9	399	8378	0.85	0.00	123.45	1.261	6	0.108	0.000	2338	2194	2817
8378	end apogee: CONTROL_FINISHED_OK
state	8378	begin climb
8380	1.08	146.6	859.5	0.0	405	8511	1.45	2.85	121.00	1.237	4	0.081	0.087	2641	3616	2219
8763	1.08	146.6	818.3	13.4	422	8771	0.00	2.67	0.00	0.000	6	0.000	0.066	2641	2199	2218
9079	1.19	244.9	803.7	4.4	438	9165	0.12	2.83	79.78	1.225	4	0.058	0.087	2673	3619	1818
9214	1.19	244.9	785.5	13.9	444	9221	0.00	2.75	0.00	0.000	6	0.000	0.072	2674	2204	1817
9530	1.19	244.9	750.0	10.4	460	9534	0.00	2.75	0.00	0.000	4	0.000	0.082	2674	781	1814
9658	1.19	244.9	735.8	12.5	466	9662	0.00	2.65	0.00	0.000	6	0.000	0.056	2674	2208	1813
9983	1.19	244.9	699.1	9.0	482	9987	0.00	2.67	0.00	0.000	4	0.000	0.077	2674	3622	1811
10021	1.19	244.9	695.5	9.8	484	10025	0.00	2.65	0.00	0.000	6	0.000	0.059	2674	2189	1811
10351	1.19	244.9	658.3	12.4	500	10356	0.00	2.62	0.00	0.000	4	0.000	0.069	2674	788	1810
10445	1.19	244.9	646.7	12.0	504	10450	0.00	2.60	0.00	0.000	6	0.000	0.048	2674	2203	1809
10766	1.19	244.9	608.8	12.1	520	10767	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2203	1809
11075	1.19	244.9	573.7	11.1	535	11080	0.00	2.65	0.00	0.000	4	0.000	0.063	2674	781	1810
11130	1.19	244.9	567.2	11.1	537	11137	0.00	2.58	0.00	0.000	6	0.000	0.044	2674	2196	1810
11445	1.19	244.9	533.0	10.6	553	11449	0.00	2.60	0.00	0.000	4	0.000	0.061	2674	785	1810
11483	1.19	244.9	528.9	10.4	554	11490	0.00	2.58	0.00	0.000	6	0.000	0.044	2674	2198	1810
11798	1.19	244.9	493.7	11.6	570	11800	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2198	1811
12108	1.19	244.9	456.5	12.1	585	12112	0.00	2.60	0.00	0.000	4	0.000	0.067	2674	3613	1812
12152	1.19	244.9	450.7	12.3	587	12156	0.00	2.58	0.00	0.000	6	0.000	0.052	2674	2199	1812
12478	1.19	244.9	411.9	11.9	603	12479	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2199	1813
12787	1.19	244.9	375.5	12.1	618	12788	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2199	1813
13096	1.19	244.9	336.1	12.8	633	13097	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2199	1813
13405	1.19	244.9	296.1	12.6	648	13410	0.00	2.62	0.00	0.000	4	0.000	0.065	2674	3617	1813
13448	1.19	244.9	290.1	13.5	650	13453	0.00	2.60	0.00	0.000	6	0.000	0.052	2674	2202	1813
13776	1.19	244.9	251.6	11.1	666	13780	0.00	2.62	0.00	0.000	4	0.000	0.065	2674	779	1814
13824	1.19	244.9	246.0	11.3	668	13829	0.00	2.55	0.00	0.000	6	0.000	0.042	2674	2196	1814
14145	1.19	244.9	210.7	10.8	684	14146	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2196	1815
14454	1.19	244.9	178.2	10.3	699	14458	0.00	2.60	0.00	0.000	4	0.000	0.066	2674	3616	1815
14491	1.19	244.9	174.0	10.8	700	14499	0.00	2.58	0.00	0.000	6	0.000	0.051	2674	2207	1815
14808	1.19	244.9	140.1	11.2	716	14809	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2207	1815
15117	1.19	244.9	106.9	11.9	731	15118	0.00	0.00	0.00	0.000	6	0.000	0.000	2674	2207	1816
15426	1.19	244.9	71.2	14.4	746	15430	0.00	2.60	0.00	0.000	4	0.000	0.061	2674	785	1816
15469	1.19	244.9	64.7	14.1	748	15473	0.00	2.55	0.00	0.000	6	0.000	0.043	2674	2199	1816
15795	1.19	244.9	21.0	12.0	764	15800	0.00	2.60	0.00	0.000	4	0.000	0.066	2674	3613	1817
15834	1.19	244.9	15.0	15.6	766	15838	0.00	2.55	0.00	0.000	6	0.000	0.052	2673	2199	1817
15952	end climb: SURFACE_DEPTH_REACHED
state	15952	begin surface coast
15974	end surface coast: CONTROL_FINISHED_OK
state	15974	begin surface