Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 66 * 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 66 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 16 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 -2076462.6 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 -2076462.6

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 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 66 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 112857,6137.973,-918.847,35,3.0,54,-9.4 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.149,-0.195

_SM_DEPTHo 1.50 KALMAN_X -4921.9,682.5,21.2,-7431.9,-5797.5

_SM_ANGLEo -52.2 KALMAN_Y 96914.3,-718.1,-644.9,-95951.9,9088.0

GPS2 113339,6137.983,-918.864,14,1.8,15,-9.4 MHEAD_RNG_PITCHd_Wd 152.1,37284,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013863 ALTIM_BOTTOM_PING 751.6,105.8

SM_CCo 16563,5.15,0.517,0,0,1593,300.00 _24V_AH 23.5,15.778

SM_GC 1.87,0.00,0.00,5.15,0.000,0.000,0.517,66,2405,1593,-10.78,0.14,300.00 _10V_AH 10.2,6.781

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41100,803

TT8_MAMPS 0.023777 CFSIZE 260165632,255188992

HUMID 2099 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 17.40 GPS 231107,161155,6136.468,-919.122,29,1.7,46,-9.4

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 99.51 SBE_CT 559 24 315.69

Roll_motor 120 88 249.77 SBE_O2 576 19 257.47

VBD_pump_during_apogee 366 1236 10660.46 WL_BB2F 452 105 1116.31

VBD_pump_during_surface 5 516 62.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.94 nil 0 0 0.00

Iridium_during_connect 26 160 100.98 nil 0 0 0.00

Iridium_during_xfer 135 223 711.24

Transponder_ping 9 420 91.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.66

TT8 1449 19 292.79

LPSleep 12892 2 287.99

TT8_Active 480 19 97.00

TT8_Sampling 1728 39 701.67

TT8_CF8 301 45 140.81

TT8_Kalman 33 81 27.83

Analog_circuits 1348 12 165.06

GPS_charging 0 0 0.00

Compass 1687 8 137.71

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.08 -146.6 0.0 0.0 0 83 0.00 0.00 -62.33 0.000 2 0.000 0.000 73 2406 3261

85 -1.08 -146.6 4.6 -7.5 3 108 11.65 2.55 -3.28 0.000 4 0.167 0.081 2170 3769 3417

287 -1.08 -146.6 29.5 -8.9 12 292 0.00 2.47 0.00 0.000 6 0.000 0.047 2170 2393 3418

615 -1.08 -146.6 70.5 -16.5 28 616 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2393 3418

923 -1.08 -146.6 106.0 -12.3 43 924 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2393 3418

1232 -1.08 -146.6 139.4 -8.9 58 1236 0.00 2.60 0.00 0.000 4 0.000 0.064 2170 983 3417

1274 -1.08 -146.6 143.2 -8.3 60 1279 0.00 2.60 0.00 0.000 6 0.000 0.051 2170 2395 3418

1603 -1.08 -146.6 175.2 -12.0 76 1607 0.00 2.58 0.00 0.000 4 0.000 0.071 2170 3773 3418

1640 -1.08 -146.6 180.0 -12.4 78 1645 0.00 2.47 0.00 0.000 6 0.000 0.048 2170 2398 3418

1966 -1.08 -146.6 214.7 -10.5 94 1970 0.00 2.60 0.00 0.000 4 0.000 0.065 2170 982 3418

2009 -1.08 -146.6 219.7 -11.4 96 2014 0.00 2.60 0.00 0.000 6 0.000 0.052 2170 2392 3418

2336 -1.08 -146.6 254.6 -10.5 112 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3418

2645 -1.08 -146.6 286.2 -10.3 127 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3418

2955 -1.08 -146.6 322.6 -12.2 142 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3418

3264 -1.08 -146.6 359.4 -11.5 157 3265 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3418

3573 -1.08 -146.6 395.3 -11.6 172 3574 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3418

3882 -1.08 -146.6 429.7 -11.6 187 3887 0.00 2.60 0.00 0.000 4 0.000 0.063 2170 982 3419

3937 -1.08 -146.6 435.9 -10.9 189 3944 0.00 2.60 0.00 0.000 6 0.000 0.051 2170 2400 3418

4252 -1.08 -146.6 468.7 -9.7 205 4256 0.00 2.53 0.00 0.000 4 0.000 0.073 2170 3767 3419

4297 -1.08 -146.6 473.1 -10.0 207 4301 0.00 2.45 0.00 0.000 6 0.000 0.048 2170 2400 3419

4622 -1.08 -146.6 502.3 -8.6 223 4623 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2399 3419

4931 -1.08 -146.6 531.0 -9.5 238 4936 0.00 2.60 0.00 0.000 4 0.000 0.064 2170 985 3419

4993 -1.08 -146.6 536.8 -9.2 241 4997 0.00 2.58 0.00 0.000 6 0.000 0.052 2169 2401 3418

5318 -1.08 -146.6 567.8 -9.2 257 5322 0.00 2.55 0.00 0.000 4 0.000 0.074 2170 3767 3419

5394 -1.08 -146.6 575.9 -10.5 260 5402 0.00 2.47 0.00 0.000 6 0.000 0.049 2170 2407 3419

5710 -1.08 -146.6 603.7 -8.1 276 5715 0.00 2.62 0.00 0.000 4 0.000 0.065 2170 983 3419

5749 -1.08 -146.6 607.0 -8.5 278 5753 0.00 2.58 0.00 0.000 6 0.000 0.052 2170 2401 3419

6074 -1.08 -146.6 634.8 -8.4 294 6075 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2401 3419

6384 -1.08 -146.6 659.8 -8.5 309 6388 0.00 2.60 0.00 0.000 4 0.000 0.064 2170 986 3419

6422 -1.08 -146.6 662.9 -7.9 311 6427 0.00 2.58 0.00 0.000 6 0.000 0.053 2170 2402 3419

6748 -1.08 -146.6 691.6 -9.1 327 6749 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2401 3419

7057 -1.08 -146.6 722.8 -11.3 342 7058 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2401 3419

7366 -1.08 -146.6 753.6 -9.0 357 7367 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2401 3419

7676 -1.08 -146.6 781.0 -7.9 372 7681 0.00 2.60 0.00 0.000 4 0.000 0.064 2170 985 3419

7753 -1.08 -146.6 787.2 -8.5 375 7760 0.00 2.60 0.00 0.000 6 0.000 0.054 2170 2395 3419

8069 -1.08 -146.6 811.8 -7.7 391 8070 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2395 3419

8378 -1.08 -146.6 839.0 -9.1 406 8383 0.00 2.60 0.00 0.000 4 0.000 0.086 2170 3765 3419

8471 end dive: BOTTOM_OBSTACLE_DETECTED

state 8471 begin apogee

8478 -0.31 0.0 847.5 8.6 410 8609 0.80 0.00 123.57 1.236 6 0.107 0.000 2334 2202 2817

8609 end apogee: CONTROL_FINISHED_OK

state 8610 begin climb

8611 1.08 146.6 850.9 0.0 417 8742 1.45 2.80 121.12 1.210 4 0.084 0.081 2637 794 2219

8904 1.08 146.6 835.0 9.9 430 8911 0.00 2.65 0.00 0.000 6 0.000 0.057 2636 2195 2218

9220 1.08 146.6 809.9 9.8 446 9224 0.00 2.75 0.00 0.000 4 0.000 0.088 2637 3616 2216

9313 1.08 146.6 800.8 9.2 450 9317 0.00 2.70 0.00 0.000 6 0.000 0.069 2637 2205 2216

9635 1.16 217.1 781.5 5.4 466 9700 0.12 2.83 57.12 1.199 4 0.054 0.075 2672 784 1931

9762 1.16 219.7 772.2 7.9 472 9767 0.00 2.62 0.00 0.000 6 0.000 0.052 2672 2204 1929

10088 1.20 250.3 748.7 6.9 488 10122 0.00 2.75 28.00 1.147 4 0.000 0.066 2672 782 1796

10167 1.21 262.1 743.0 7.6 491 10183 0.00 2.60 10.93 1.041 6 0.000 0.049 2672 2201 1749

10497 1.21 262.1 714.1 9.6 508 10498 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2201 1748

10806 1.21 262.1 680.8 10.4 523 10807 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2201 1748

11115 1.21 262.1 648.7 10.8 538 11117 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2202 1748

11425 1.21 262.1 616.0 10.4 553 11429 0.00 2.65 0.00 0.000 4 0.000 0.064 2672 781 1748

11467 1.21 262.1 611.1 11.7 555 11472 0.00 2.60 0.00 0.000 6 0.000 0.045 2672 2203 1748

11795 1.21 262.1 578.6 10.0 571 11796 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2203 1748

12104 1.21 262.1 546.4 10.9 586 12105 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2203 1748

12413 1.21 262.1 510.9 11.4 601 12417 0.00 2.62 0.00 0.000 4 0.000 0.064 2672 781 1748

12451 1.21 262.1 506.3 11.9 603 12455 0.00 2.55 0.00 0.000 6 0.000 0.044 2673 2201 1748

12776 1.21 262.1 467.7 11.4 619 12781 0.00 2.62 0.00 0.000 4 0.000 0.068 2672 3620 1748

12815 1.21 262.1 463.4 11.6 621 12820 0.00 2.60 0.00 0.000 6 0.000 0.057 2672 2197 1748

13140 1.21 262.1 428.5 10.5 637 13141 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2197 1748

13449 1.21 262.1 393.7 11.7 652 13453 0.00 2.62 0.00 0.000 4 0.000 0.066 2672 778 1749

13498 1.21 262.1 387.8 11.2 654 13503 0.00 2.58 0.00 0.000 6 0.000 0.044 2672 2197 1749

13819 1.21 262.1 348.7 12.9 670 13820 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2196 1750

14128 1.21 262.1 308.2 13.2 685 14132 0.00 2.60 0.00 0.000 4 0.000 0.063 2672 784 1750

14160 1.21 262.1 303.6 13.6 686 14167 0.00 2.58 0.00 0.000 6 0.000 0.044 2673 2201 1750

14476 1.21 262.1 258.6 14.0 702 14477 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2201 1751

14785 1.21 262.1 214.4 14.4 717 14786 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2201 1751

15094 1.21 262.1 172.1 13.3 732 15098 0.00 2.60 0.00 0.000 4 0.000 0.061 2672 783 1751

15133 1.21 262.1 166.3 15.1 734 15137 0.00 2.53 0.00 0.000 6 0.000 0.044 2672 2201 1751

15458 1.21 262.1 125.3 12.9 750 15459 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2201 1752

15768 1.24 293.2 97.7 6.9 765 15799 0.00 2.67 26.15 0.714 4 0.000 0.067 2673 3617 1620

15827 1.24 293.2 92.3 8.9 768 15832 0.00 2.62 0.00 0.000 6 0.000 0.056 2672 2200 1620

16153 1.24 293.2 50.4 13.4 784 16154 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2200 1620

16462 1.24 293.2 8.2 15.7 799 16464 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2200 1620

16523 end climb: SURFACE_DEPTH_REACHED

state 16523 begin surface coast

16545 end surface coast: CONTROL_FINISHED_OK

state 16545 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	66	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	16	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	-2076462.6	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	112857,6137.973,-918.847,35,3.0,54,-9.4	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.149,-0.195
_SM_DEPTHo	1.50	KALMAN_X	-4921.9,682.5,21.2,-7431.9,-5797.5
_SM_ANGLEo	-52.2	KALMAN_Y	96914.3,-718.1,-644.9,-95951.9,9088.0
GPS2	113339,6137.983,-918.864,14,1.8,15,-9.4	MHEAD_RNG_PITCHd_Wd	152.1,37284,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.013863	ALTIM_BOTTOM_PING	751.6,105.8
SM_CCo	16563,5.15,0.517,0,0,1593,300.00	_24V_AH	23.5,15.778
SM_GC	1.87,0.00,0.00,5.15,0.000,0.000,0.517,66,2405,1593,-10.78,0.14,300.00	_10V_AH	10.2,6.781
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41100,803
TT8_MAMPS	0.023777	CFSIZE	260165632,255188992
HUMID	2099	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	17.40	GPS	231107,161155,6136.468,-919.122,29,1.7,46,-9.4
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	99.51	SBE_CT	559	24	315.69
Roll_motor	120	88	249.77	SBE_O2	576	19	257.47
VBD_pump_during_apogee	366	1236	10660.46	WL_BB2F	452	105	1116.31
VBD_pump_during_surface	5	516	62.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.94	nil	0	0	0.00
Iridium_during_connect	26	160	100.98	nil	0	0	0.00
Iridium_during_xfer	135	223	711.24
Transponder_ping	9	420	91.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.66
TT8	1449	19	292.79
LPSleep	12892	2	287.99
TT8_Active	480	19	97.00
TT8_Sampling	1728	39	701.67
TT8_CF8	301	45	140.81
TT8_Kalman	33	81	27.83
Analog_circuits	1348	12	165.06
GPS_charging	0	0	0.00
Compass	1687	8	137.71
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.08	-146.6	0.0	0.0	0	83	0.00	0.00	-62.33	0.000	2	0.000	0.000	73	2406	3261
85	-1.08	-146.6	4.6	-7.5	3	108	11.65	2.55	-3.28	0.000	4	0.167	0.081	2170	3769	3417
287	-1.08	-146.6	29.5	-8.9	12	292	0.00	2.47	0.00	0.000	6	0.000	0.047	2170	2393	3418
615	-1.08	-146.6	70.5	-16.5	28	616	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2393	3418
923	-1.08	-146.6	106.0	-12.3	43	924	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2393	3418
1232	-1.08	-146.6	139.4	-8.9	58	1236	0.00	2.60	0.00	0.000	4	0.000	0.064	2170	983	3417
1274	-1.08	-146.6	143.2	-8.3	60	1279	0.00	2.60	0.00	0.000	6	0.000	0.051	2170	2395	3418
1603	-1.08	-146.6	175.2	-12.0	76	1607	0.00	2.58	0.00	0.000	4	0.000	0.071	2170	3773	3418
1640	-1.08	-146.6	180.0	-12.4	78	1645	0.00	2.47	0.00	0.000	6	0.000	0.048	2170	2398	3418
1966	-1.08	-146.6	214.7	-10.5	94	1970	0.00	2.60	0.00	0.000	4	0.000	0.065	2170	982	3418
2009	-1.08	-146.6	219.7	-11.4	96	2014	0.00	2.60	0.00	0.000	6	0.000	0.052	2170	2392	3418
2336	-1.08	-146.6	254.6	-10.5	112	2337	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3418
2645	-1.08	-146.6	286.2	-10.3	127	2646	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3418
2955	-1.08	-146.6	322.6	-12.2	142	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3418
3264	-1.08	-146.6	359.4	-11.5	157	3265	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3418
3573	-1.08	-146.6	395.3	-11.6	172	3574	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3418
3882	-1.08	-146.6	429.7	-11.6	187	3887	0.00	2.60	0.00	0.000	4	0.000	0.063	2170	982	3419
3937	-1.08	-146.6	435.9	-10.9	189	3944	0.00	2.60	0.00	0.000	6	0.000	0.051	2170	2400	3418
4252	-1.08	-146.6	468.7	-9.7	205	4256	0.00	2.53	0.00	0.000	4	0.000	0.073	2170	3767	3419
4297	-1.08	-146.6	473.1	-10.0	207	4301	0.00	2.45	0.00	0.000	6	0.000	0.048	2170	2400	3419
4622	-1.08	-146.6	502.3	-8.6	223	4623	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2399	3419
4931	-1.08	-146.6	531.0	-9.5	238	4936	0.00	2.60	0.00	0.000	4	0.000	0.064	2170	985	3419
4993	-1.08	-146.6	536.8	-9.2	241	4997	0.00	2.58	0.00	0.000	6	0.000	0.052	2169	2401	3418
5318	-1.08	-146.6	567.8	-9.2	257	5322	0.00	2.55	0.00	0.000	4	0.000	0.074	2170	3767	3419
5394	-1.08	-146.6	575.9	-10.5	260	5402	0.00	2.47	0.00	0.000	6	0.000	0.049	2170	2407	3419
5710	-1.08	-146.6	603.7	-8.1	276	5715	0.00	2.62	0.00	0.000	4	0.000	0.065	2170	983	3419
5749	-1.08	-146.6	607.0	-8.5	278	5753	0.00	2.58	0.00	0.000	6	0.000	0.052	2170	2401	3419
6074	-1.08	-146.6	634.8	-8.4	294	6075	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2401	3419
6384	-1.08	-146.6	659.8	-8.5	309	6388	0.00	2.60	0.00	0.000	4	0.000	0.064	2170	986	3419
6422	-1.08	-146.6	662.9	-7.9	311	6427	0.00	2.58	0.00	0.000	6	0.000	0.053	2170	2402	3419
6748	-1.08	-146.6	691.6	-9.1	327	6749	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2401	3419
7057	-1.08	-146.6	722.8	-11.3	342	7058	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2401	3419
7366	-1.08	-146.6	753.6	-9.0	357	7367	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2401	3419
7676	-1.08	-146.6	781.0	-7.9	372	7681	0.00	2.60	0.00	0.000	4	0.000	0.064	2170	985	3419
7753	-1.08	-146.6	787.2	-8.5	375	7760	0.00	2.60	0.00	0.000	6	0.000	0.054	2170	2395	3419
8069	-1.08	-146.6	811.8	-7.7	391	8070	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2395	3419
8378	-1.08	-146.6	839.0	-9.1	406	8383	0.00	2.60	0.00	0.000	4	0.000	0.086	2170	3765	3419
8471	end dive: BOTTOM_OBSTACLE_DETECTED
state	8471	begin apogee
8478	-0.31	0.0	847.5	8.6	410	8609	0.80	0.00	123.57	1.236	6	0.107	0.000	2334	2202	2817
8609	end apogee: CONTROL_FINISHED_OK
state	8610	begin climb
8611	1.08	146.6	850.9	0.0	417	8742	1.45	2.80	121.12	1.210	4	0.084	0.081	2637	794	2219
8904	1.08	146.6	835.0	9.9	430	8911	0.00	2.65	0.00	0.000	6	0.000	0.057	2636	2195	2218
9220	1.08	146.6	809.9	9.8	446	9224	0.00	2.75	0.00	0.000	4	0.000	0.088	2637	3616	2216
9313	1.08	146.6	800.8	9.2	450	9317	0.00	2.70	0.00	0.000	6	0.000	0.069	2637	2205	2216
9635	1.16	217.1	781.5	5.4	466	9700	0.12	2.83	57.12	1.199	4	0.054	0.075	2672	784	1931
9762	1.16	219.7	772.2	7.9	472	9767	0.00	2.62	0.00	0.000	6	0.000	0.052	2672	2204	1929
10088	1.20	250.3	748.7	6.9	488	10122	0.00	2.75	28.00	1.147	4	0.000	0.066	2672	782	1796
10167	1.21	262.1	743.0	7.6	491	10183	0.00	2.60	10.93	1.041	6	0.000	0.049	2672	2201	1749
10497	1.21	262.1	714.1	9.6	508	10498	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2201	1748
10806	1.21	262.1	680.8	10.4	523	10807	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2201	1748
11115	1.21	262.1	648.7	10.8	538	11117	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2202	1748
11425	1.21	262.1	616.0	10.4	553	11429	0.00	2.65	0.00	0.000	4	0.000	0.064	2672	781	1748
11467	1.21	262.1	611.1	11.7	555	11472	0.00	2.60	0.00	0.000	6	0.000	0.045	2672	2203	1748
11795	1.21	262.1	578.6	10.0	571	11796	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2203	1748
12104	1.21	262.1	546.4	10.9	586	12105	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2203	1748
12413	1.21	262.1	510.9	11.4	601	12417	0.00	2.62	0.00	0.000	4	0.000	0.064	2672	781	1748
12451	1.21	262.1	506.3	11.9	603	12455	0.00	2.55	0.00	0.000	6	0.000	0.044	2673	2201	1748
12776	1.21	262.1	467.7	11.4	619	12781	0.00	2.62	0.00	0.000	4	0.000	0.068	2672	3620	1748
12815	1.21	262.1	463.4	11.6	621	12820	0.00	2.60	0.00	0.000	6	0.000	0.057	2672	2197	1748
13140	1.21	262.1	428.5	10.5	637	13141	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2197	1748
13449	1.21	262.1	393.7	11.7	652	13453	0.00	2.62	0.00	0.000	4	0.000	0.066	2672	778	1749
13498	1.21	262.1	387.8	11.2	654	13503	0.00	2.58	0.00	0.000	6	0.000	0.044	2672	2197	1749
13819	1.21	262.1	348.7	12.9	670	13820	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2196	1750
14128	1.21	262.1	308.2	13.2	685	14132	0.00	2.60	0.00	0.000	4	0.000	0.063	2672	784	1750
14160	1.21	262.1	303.6	13.6	686	14167	0.00	2.58	0.00	0.000	6	0.000	0.044	2673	2201	1750
14476	1.21	262.1	258.6	14.0	702	14477	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2201	1751
14785	1.21	262.1	214.4	14.4	717	14786	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2201	1751
15094	1.21	262.1	172.1	13.3	732	15098	0.00	2.60	0.00	0.000	4	0.000	0.061	2672	783	1751
15133	1.21	262.1	166.3	15.1	734	15137	0.00	2.53	0.00	0.000	6	0.000	0.044	2672	2201	1751
15458	1.21	262.1	125.3	12.9	750	15459	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2201	1752
15768	1.24	293.2	97.7	6.9	765	15799	0.00	2.67	26.15	0.714	4	0.000	0.067	2673	3617	1620
15827	1.24	293.2	92.3	8.9	768	15832	0.00	2.62	0.00	0.000	6	0.000	0.056	2672	2200	1620
16153	1.24	293.2	50.4	13.4	784	16154	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2200	1620
16462	1.24	293.2	8.2	15.7	799	16464	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2200	1620
16523	end climb: SURFACE_DEPTH_REACHED
state	16523	begin surface coast
16545	end surface coast: CONTROL_FINISHED_OK
state	16545	begin surface