Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 247 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 247 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 571.30371 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -66997.148 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 571.30371

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -66997.148

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 22 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 247 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 175038,6358.711,-1242.897,96,1.5,96,-12.3 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6400.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.190,0.108

_SM_DEPTHo -0.41 KALMAN_X -247543.5,504.7,407.1,27583.2,4458.8

_SM_ANGLEo -48.4 KALMAN_Y -217699.7,592.1,245.9,484720.2,-2206.9

GPS2 175638,6358.643,-1242.791,31,1.1,31,-12.3 MHEAD_RNG_PITCHd_Wd 312.0,14196,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 572

Post-dive calculations and measurements:

FINISH -0.8,1.027385 XPDR_PINGS 2

SM_CCo 15984,258.98,0.767,2,0,572,571.30 _24V_AH 23.4,43.687

SM_GC -0.65,0.00,0.00,258.98,0.000,0.000,0.767,45,2879,572,-10.87,-0.59,571.30 _10V_AH 10.1,21.391

IRIDIUM_FIX 6332.30,-1250.86,291207,161632 DATA_FILE_SIZE 38072,770

TT8_MAMPS 0.029146 CFSIZE 260165632,244084736

HUMID 2022 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,2,0

INTERNAL_PRESSURE 8.7308 GPS 291207,222938,6359.354,-1245.648,28,1.1,28,-12.3

TCM_TEMP 16.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 163 99.68 SBE_CT 561 24 315.31

Roll_motor 110 94 244.82 SBE_O2 542 19 241.33

VBD_pump_during_apogee 334 1189 9302.44 WL_BB2F 508 105 1248.78

VBD_pump_during_surface 258 767 4648.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 34 103 83.62 nil 0 0 0.00

Iridium_during_connect 35 160 131.59 nil 0 0 0.00

Iridium_during_xfer 161 223 843.56

Transponder_ping 4 420 46.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.07

TT8 1395 19 279.08

LPSleep 12351 2 273.19

TT8_Active 738 19 147.60

TT8_Sampling 1677 39 674.41

TT8_CF8 463 45 214.58

TT8_Kalman 33 81 27.57

Analog_circuits 1571 12 190.42

GPS_charging 0 0 0.00

Compass 1644 8 132.91

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.10 -146.6 0.0 0.0 0 131 0.00 0.00 -105.68 0.000 6 0.000 0.000 39 2888 3500

134 -1.10 -146.6 2.8 -3.5 5 155 12.18 1.80 0.00 0.000 4 0.163 0.094 2166 3787 3502

380 -1.10 -146.6 34.4 -8.4 16 384 0.00 1.60 0.00 0.000 6 0.000 0.061 2166 2903 3502

712 -1.10 -146.6 56.2 -6.2 32 717 0.00 2.65 0.00 0.000 4 0.000 0.075 2166 1486 3502

752 -1.10 -146.6 58.5 -6.1 34 757 0.00 2.72 0.00 0.000 6 0.000 0.081 2166 2902 3502

1078 -1.10 -146.6 81.7 -7.9 50 1082 0.00 2.67 0.00 0.000 4 0.000 0.074 2166 1482 3502

1127 -1.10 -146.6 86.6 -9.7 52 1131 0.00 2.70 0.00 0.000 6 0.000 0.078 2166 2900 3502

1443 -1.10 -146.6 108.9 -6.1 67 1444 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3502

1752 -1.10 -146.6 126.5 -5.7 82 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

2061 -1.10 -146.6 143.5 -5.9 97 2063 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

2370 -1.10 -146.6 163.4 -7.0 112 2371 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

2679 -1.10 -146.6 185.9 -8.1 127 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3502

2988 -1.10 -146.6 208.1 -7.1 142 2990 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

3298 -1.10 -146.6 230.2 -7.0 157 3302 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1481 3502

3341 -1.10 -146.6 233.3 -7.2 159 3346 0.00 2.70 0.00 0.000 6 0.000 0.079 2166 2903 3502

3662 -1.10 -146.6 254.6 -8.6 175 3663 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2903 3502

3972 -1.10 -146.6 279.5 -7.3 190 3976 0.00 2.62 0.00 0.000 4 0.000 0.068 2166 1484 3502

4010 -1.10 -146.6 282.1 -6.7 192 4015 0.00 2.70 0.00 0.000 6 0.000 0.079 2166 2909 3502

4336 -1.10 -146.6 303.3 -5.8 208 4337 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2909 3502

4646 -1.10 -146.6 320.6 -4.9 223 4647 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2909 3502

4955 -1.10 -146.6 335.1 -4.9 238 4959 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1481 3502

5043 -1.10 -146.6 340.6 -6.3 242 5048 0.00 2.67 0.00 0.000 6 0.000 0.077 2166 2898 3502

5364 -1.10 -146.6 362.7 -7.4 258 5369 0.00 2.62 0.00 0.000 4 0.000 0.069 2166 1477 3502

5408 -1.10 -146.6 366.5 -8.2 260 5412 0.00 2.70 0.00 0.000 6 0.000 0.080 2166 2901 3502

5735 -1.10 -146.6 392.8 -8.2 276 5736 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3502

6045 -1.10 -146.6 416.8 -7.0 291 6049 0.00 2.62 0.00 0.000 4 0.000 0.068 2166 1483 3502

6116 -1.10 -146.6 422.1 -7.3 294 6121 0.00 2.67 0.00 0.000 6 0.000 0.075 2166 2904 3502

6432 -1.10 -146.6 446.1 -7.9 309 6433 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2904 3502

6741 -1.10 -146.6 468.1 -7.0 324 6746 0.00 2.60 0.00 0.000 4 0.000 0.064 2166 1479 3502

6784 -1.10 -146.6 471.4 -7.2 326 6789 0.00 2.67 0.00 0.000 6 0.000 0.074 2166 2908 3502

7112 -1.10 -146.6 492.2 -5.7 342 7116 0.00 2.60 0.00 0.000 4 0.000 0.063 2166 1482 3502

7166 -1.10 -146.6 495.4 -5.9 344 7173 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2903 3502

7482 -1.10 -146.6 513.4 -6.0 360 7483 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3502

7791 -1.10 -146.6 531.1 -6.1 375 7792 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3502

8100 -1.10 -146.6 549.1 -5.5 390 8102 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3502

8410 -1.10 -146.6 568.6 -6.8 405 8411 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2903 3502

8469 end dive: TARGET_DEPTH_EXCEEDED

state 8469 begin apogee

8476 -0.42 0.0 572.8 6.9 408 8605 0.75 0.00 125.18 1.190 6 0.084 0.000 2320 2086 2901

8605 end apogee: CONTROL_FINISHED_OK

state 8606 begin climb

8608 1.10 146.6 578.3 0.0 414 8739 1.55 2.60 121.90 1.163 4 0.060 0.054 2651 695 2303

8880 1.13 172.0 573.3 5.3 426 8909 0.00 2.47 22.88 1.098 6 0.000 0.035 2650 2119 2199

9238 1.16 192.1 555.0 5.4 444 9262 0.00 2.67 18.00 1.104 4 0.000 0.068 2651 3502 2117

9314 1.16 192.1 550.1 7.1 447 9318 0.00 2.50 0.00 0.000 6 0.000 0.038 2651 2092 2117

9629 1.16 192.1 529.0 7.3 462 9633 0.00 2.62 0.00 0.000 4 0.000 0.068 2650 3501 2116

9677 1.16 192.1 524.9 8.8 464 9682 0.00 2.45 0.00 0.000 6 0.000 0.039 2651 2100 2116

9999 1.16 192.1 497.4 8.3 480 10000 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2100 2115

10308 1.16 192.1 476.0 6.7 495 10312 0.00 2.62 0.00 0.000 4 0.000 0.069 2650 3500 2115

10396 1.16 192.1 469.9 7.0 499 10400 0.00 2.47 0.00 0.000 6 0.000 0.042 2650 2098 2114

10723 1.16 192.1 447.8 7.0 515 10727 0.00 2.62 0.00 0.000 4 0.000 0.070 2650 3502 2114

10789 1.16 192.1 442.9 7.9 518 10793 0.00 2.47 0.00 0.000 6 0.000 0.044 2651 2097 2114

11115 1.16 192.1 422.0 6.8 534 11116 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2097 2114

11425 1.19 217.3 402.1 5.3 549 11453 0.00 2.72 21.38 1.068 4 0.000 0.072 2650 3504 2015

11534 1.22 245.8 396.3 5.2 554 11565 0.12 2.50 24.85 1.055 6 0.045 0.047 2690 2105 1898

11882 1.22 245.8 369.4 8.4 571 11883 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2105 1898

12190 1.22 245.8 342.5 9.1 586 12191 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2105 1897

12499 1.22 245.8 315.0 8.9 601 12504 0.00 2.65 0.00 0.000 4 0.000 0.077 2690 3500 1897

12542 1.22 245.8 310.8 9.5 603 12547 0.00 2.50 0.00 0.000 6 0.000 0.048 2690 2096 1897

12869 1.22 245.8 281.1 8.9 619 12870 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2096 1898

13178 1.22 245.8 253.3 9.1 634 13183 0.00 2.67 0.00 0.000 4 0.000 0.076 2690 3505 1898

13218 1.22 245.8 249.5 9.8 636 13223 0.00 2.50 0.00 0.000 6 0.000 0.048 2690 2101 1897

13544 1.22 245.8 219.7 9.3 652 13545 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2101 1898

13853 1.22 245.8 191.4 9.1 667 13857 0.00 2.65 0.00 0.000 4 0.000 0.076 2690 3501 1898

13914 1.22 245.8 185.6 9.3 670 13919 0.00 2.50 0.00 0.000 6 0.000 0.050 2690 2099 1899

14241 1.22 245.8 159.3 8.0 686 14242 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2099 1899

14550 1.22 245.8 131.2 9.4 701 14551 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2099 1899

14860 1.22 245.8 100.8 9.9 716 14864 0.00 2.65 0.00 0.000 4 0.000 0.076 2690 3499 1899

14903 1.22 245.8 96.5 8.9 718 14907 0.00 2.50 0.00 0.000 6 0.000 0.051 2690 2099 1899

15224 1.22 245.8 67.8 8.8 734 15225 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2099 1899

15535 1.22 245.8 37.6 9.3 749 15540 0.00 2.65 0.00 0.000 4 0.000 0.076 2690 3501 1899

15575 1.22 245.8 33.5 10.0 751 15579 0.00 2.50 0.00 0.000 6 0.000 0.050 2690 2095 1900

15901 1.22 245.8 4.2 7.9 767 15902 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2094 1900

15940 end climb: SURFACE_DEPTH_REACHED

state 15940 begin surface coast

15962 end surface coast: CONTROL_FINISHED_OK

state 15962 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	247	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	571.30371	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-66997.148	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	175038,6358.711,-1242.897,96,1.5,96,-12.3	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6400.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.190,0.108
_SM_DEPTHo	-0.41	KALMAN_X	-247543.5,504.7,407.1,27583.2,4458.8
_SM_ANGLEo	-48.4	KALMAN_Y	-217699.7,592.1,245.9,484720.2,-2206.9
GPS2	175638,6358.643,-1242.791,31,1.1,31,-12.3	MHEAD_RNG_PITCHd_Wd	312.0,14196,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	572

FINISH	-0.8,1.027385	XPDR_PINGS	2
SM_CCo	15984,258.98,0.767,2,0,572,571.30	_24V_AH	23.4,43.687
SM_GC	-0.65,0.00,0.00,258.98,0.000,0.000,0.767,45,2879,572,-10.87,-0.59,571.30	_10V_AH	10.1,21.391
IRIDIUM_FIX	6332.30,-1250.86,291207,161632	DATA_FILE_SIZE	38072,770
TT8_MAMPS	0.029146	CFSIZE	260165632,244084736
HUMID	2022	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,2,0
INTERNAL_PRESSURE	8.7308	GPS	291207,222938,6359.354,-1245.648,28,1.1,28,-12.3
TCM_TEMP	16.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	163	99.68	SBE_CT	561	24	315.31
Roll_motor	110	94	244.82	SBE_O2	542	19	241.33
VBD_pump_during_apogee	334	1189	9302.44	WL_BB2F	508	105	1248.78
VBD_pump_during_surface	258	767	4648.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	34	103	83.62	nil	0	0	0.00
Iridium_during_connect	35	160	131.59	nil	0	0	0.00
Iridium_during_xfer	161	223	843.56
Transponder_ping	4	420	46.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.07
TT8	1395	19	279.08
LPSleep	12351	2	273.19
TT8_Active	738	19	147.60
TT8_Sampling	1677	39	674.41
TT8_CF8	463	45	214.58
TT8_Kalman	33	81	27.57
Analog_circuits	1571	12	190.42
GPS_charging	0	0	0.00
Compass	1644	8	132.91
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.10	-146.6	0.0	0.0	0	131	0.00	0.00	-105.68	0.000	6	0.000	0.000	39	2888	3500
134	-1.10	-146.6	2.8	-3.5	5	155	12.18	1.80	0.00	0.000	4	0.163	0.094	2166	3787	3502
380	-1.10	-146.6	34.4	-8.4	16	384	0.00	1.60	0.00	0.000	6	0.000	0.061	2166	2903	3502
712	-1.10	-146.6	56.2	-6.2	32	717	0.00	2.65	0.00	0.000	4	0.000	0.075	2166	1486	3502
752	-1.10	-146.6	58.5	-6.1	34	757	0.00	2.72	0.00	0.000	6	0.000	0.081	2166	2902	3502
1078	-1.10	-146.6	81.7	-7.9	50	1082	0.00	2.67	0.00	0.000	4	0.000	0.074	2166	1482	3502
1127	-1.10	-146.6	86.6	-9.7	52	1131	0.00	2.70	0.00	0.000	6	0.000	0.078	2166	2900	3502
1443	-1.10	-146.6	108.9	-6.1	67	1444	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3502
1752	-1.10	-146.6	126.5	-5.7	82	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
2061	-1.10	-146.6	143.5	-5.9	97	2063	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
2370	-1.10	-146.6	163.4	-7.0	112	2371	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
2679	-1.10	-146.6	185.9	-8.1	127	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3502
2988	-1.10	-146.6	208.1	-7.1	142	2990	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
3298	-1.10	-146.6	230.2	-7.0	157	3302	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1481	3502
3341	-1.10	-146.6	233.3	-7.2	159	3346	0.00	2.70	0.00	0.000	6	0.000	0.079	2166	2903	3502
3662	-1.10	-146.6	254.6	-8.6	175	3663	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2903	3502
3972	-1.10	-146.6	279.5	-7.3	190	3976	0.00	2.62	0.00	0.000	4	0.000	0.068	2166	1484	3502
4010	-1.10	-146.6	282.1	-6.7	192	4015	0.00	2.70	0.00	0.000	6	0.000	0.079	2166	2909	3502
4336	-1.10	-146.6	303.3	-5.8	208	4337	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2909	3502
4646	-1.10	-146.6	320.6	-4.9	223	4647	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2909	3502
4955	-1.10	-146.6	335.1	-4.9	238	4959	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1481	3502
5043	-1.10	-146.6	340.6	-6.3	242	5048	0.00	2.67	0.00	0.000	6	0.000	0.077	2166	2898	3502
5364	-1.10	-146.6	362.7	-7.4	258	5369	0.00	2.62	0.00	0.000	4	0.000	0.069	2166	1477	3502
5408	-1.10	-146.6	366.5	-8.2	260	5412	0.00	2.70	0.00	0.000	6	0.000	0.080	2166	2901	3502
5735	-1.10	-146.6	392.8	-8.2	276	5736	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3502
6045	-1.10	-146.6	416.8	-7.0	291	6049	0.00	2.62	0.00	0.000	4	0.000	0.068	2166	1483	3502
6116	-1.10	-146.6	422.1	-7.3	294	6121	0.00	2.67	0.00	0.000	6	0.000	0.075	2166	2904	3502
6432	-1.10	-146.6	446.1	-7.9	309	6433	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2904	3502
6741	-1.10	-146.6	468.1	-7.0	324	6746	0.00	2.60	0.00	0.000	4	0.000	0.064	2166	1479	3502
6784	-1.10	-146.6	471.4	-7.2	326	6789	0.00	2.67	0.00	0.000	6	0.000	0.074	2166	2908	3502
7112	-1.10	-146.6	492.2	-5.7	342	7116	0.00	2.60	0.00	0.000	4	0.000	0.063	2166	1482	3502
7166	-1.10	-146.6	495.4	-5.9	344	7173	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2903	3502
7482	-1.10	-146.6	513.4	-6.0	360	7483	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3502
7791	-1.10	-146.6	531.1	-6.1	375	7792	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3502
8100	-1.10	-146.6	549.1	-5.5	390	8102	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3502
8410	-1.10	-146.6	568.6	-6.8	405	8411	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2903	3502
8469	end dive: TARGET_DEPTH_EXCEEDED
state	8469	begin apogee
8476	-0.42	0.0	572.8	6.9	408	8605	0.75	0.00	125.18	1.190	6	0.084	0.000	2320	2086	2901
8605	end apogee: CONTROL_FINISHED_OK
state	8606	begin climb
8608	1.10	146.6	578.3	0.0	414	8739	1.55	2.60	121.90	1.163	4	0.060	0.054	2651	695	2303
8880	1.13	172.0	573.3	5.3	426	8909	0.00	2.47	22.88	1.098	6	0.000	0.035	2650	2119	2199
9238	1.16	192.1	555.0	5.4	444	9262	0.00	2.67	18.00	1.104	4	0.000	0.068	2651	3502	2117
9314	1.16	192.1	550.1	7.1	447	9318	0.00	2.50	0.00	0.000	6	0.000	0.038	2651	2092	2117
9629	1.16	192.1	529.0	7.3	462	9633	0.00	2.62	0.00	0.000	4	0.000	0.068	2650	3501	2116
9677	1.16	192.1	524.9	8.8	464	9682	0.00	2.45	0.00	0.000	6	0.000	0.039	2651	2100	2116
9999	1.16	192.1	497.4	8.3	480	10000	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2100	2115
10308	1.16	192.1	476.0	6.7	495	10312	0.00	2.62	0.00	0.000	4	0.000	0.069	2650	3500	2115
10396	1.16	192.1	469.9	7.0	499	10400	0.00	2.47	0.00	0.000	6	0.000	0.042	2650	2098	2114
10723	1.16	192.1	447.8	7.0	515	10727	0.00	2.62	0.00	0.000	4	0.000	0.070	2650	3502	2114
10789	1.16	192.1	442.9	7.9	518	10793	0.00	2.47	0.00	0.000	6	0.000	0.044	2651	2097	2114
11115	1.16	192.1	422.0	6.8	534	11116	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2097	2114
11425	1.19	217.3	402.1	5.3	549	11453	0.00	2.72	21.38	1.068	4	0.000	0.072	2650	3504	2015
11534	1.22	245.8	396.3	5.2	554	11565	0.12	2.50	24.85	1.055	6	0.045	0.047	2690	2105	1898
11882	1.22	245.8	369.4	8.4	571	11883	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2105	1898
12190	1.22	245.8	342.5	9.1	586	12191	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2105	1897
12499	1.22	245.8	315.0	8.9	601	12504	0.00	2.65	0.00	0.000	4	0.000	0.077	2690	3500	1897
12542	1.22	245.8	310.8	9.5	603	12547	0.00	2.50	0.00	0.000	6	0.000	0.048	2690	2096	1897
12869	1.22	245.8	281.1	8.9	619	12870	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2096	1898
13178	1.22	245.8	253.3	9.1	634	13183	0.00	2.67	0.00	0.000	4	0.000	0.076	2690	3505	1898
13218	1.22	245.8	249.5	9.8	636	13223	0.00	2.50	0.00	0.000	6	0.000	0.048	2690	2101	1897
13544	1.22	245.8	219.7	9.3	652	13545	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2101	1898
13853	1.22	245.8	191.4	9.1	667	13857	0.00	2.65	0.00	0.000	4	0.000	0.076	2690	3501	1898
13914	1.22	245.8	185.6	9.3	670	13919	0.00	2.50	0.00	0.000	6	0.000	0.050	2690	2099	1899
14241	1.22	245.8	159.3	8.0	686	14242	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2099	1899
14550	1.22	245.8	131.2	9.4	701	14551	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2099	1899
14860	1.22	245.8	100.8	9.9	716	14864	0.00	2.65	0.00	0.000	4	0.000	0.076	2690	3499	1899
14903	1.22	245.8	96.5	8.9	718	14907	0.00	2.50	0.00	0.000	6	0.000	0.051	2690	2099	1899
15224	1.22	245.8	67.8	8.8	734	15225	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2099	1899
15535	1.22	245.8	37.6	9.3	749	15540	0.00	2.65	0.00	0.000	4	0.000	0.076	2690	3501	1899
15575	1.22	245.8	33.5	10.0	751	15579	0.00	2.50	0.00	0.000	6	0.000	0.050	2690	2095	1900
15901	1.22	245.8	4.2	7.9	767	15902	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2094	1900
15940	end climb: SURFACE_DEPTH_REACHED
state	15940	begin surface coast
15962	end surface coast: CONTROL_FINISHED_OK
state	15962	begin surface