Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 317 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 317 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -83480.586 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -83480.586

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 32 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

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

DIVE 317 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 201733,6319.756,-1305.864,35,1.5,36,-12.2 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.051,-0.232

_SM_DEPTHo 2.18 KALMAN_X 409705.4,2626.0,628.0,-656251.5,-83.9

_SM_ANGLEo -59.6 KALMAN_Y 50738.2,-121.1,841.4,146082.5,2907.9

GPS2 202321,6319.812,-1305.801,12,1.0,12,-12.2 MHEAD_RNG_PITCHd_Wd 204.6,11757,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 682

Post-dive calculations and measurements:

FINISH 1.4,1.027392 XPDR_PINGS 1

SM_CCo 14617,32.60,0.809,4,0,1654,300.00 ALTIM_TOP_PING 19.5,999.0

SM_GC 2.20,0.00,0.00,32.60,0.000,0.000,0.809,34,1880,1654,-11.32,-0.57,300.00 _24V_AH 23.2,65.354

IRIDIUM_FIX 6254.00,-1307.57,200108,191902 _10V_AH 10.1,31.642

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34851,700

HUMID 2065 CFSIZE 260165632,239157248

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,4,0

TCM_TEMP 16.40 GPS 210108,003028,6319.865,-1301.853,31,4.5,50,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 84.06 SBE_CT 520 24 290.08

Roll_motor 138 76 246.72 SBE_O2 472 19 208.14

VBD_pump_during_apogee 354 1224 10069.88 WL_BB2F 435 105 1060.63

VBD_pump_during_surface 32 809 612.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.67 nil 0 0 0.00

Iridium_during_connect 37 160 139.52 nil 0 0 0.00

Iridium_during_xfer 159 223 826.87

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.17

TT8 1326 19 265.35

LPSleep 11028 2 243.94

TT8_Active 537 19 107.46

TT8_Sampling 1670 39 671.41

TT8_CF8 473 45 219.09

TT8_Kalman 33 81 27.57

Analog_circuits 1397 12 169.40

GPS_charging 0 0 0.00

Compass 1635 8 132.13

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.23 -146.6 0.0 0.0 0 87 0.00 0.00 -61.38 0.000 2 0.000 0.000 36 1884 2885

90 -1.23 -146.6 4.0 -4.3 3 125 11.57 2.60 -17.05 0.000 4 0.139 0.061 2221 3296 3477

379 -1.23 -146.6 36.1 -9.9 16 384 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1903 3477

706 -1.23 -146.6 73.6 -13.7 32 710 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3308 3478

862 -1.23 -146.6 90.7 -9.8 39 866 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1898 3477

1183 -1.23 -146.6 122.4 -10.4 55 1187 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3308 3477

1215 -1.23 -146.6 126.1 -10.9 56 1221 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1898 3477

1531 -1.23 -146.6 159.4 -10.7 72 1532 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3477

1840 -1.23 -146.6 187.4 -9.7 87 1844 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3309 3477

1883 -1.23 -146.6 191.4 -8.9 89 1887 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1896 3478

2210 -1.23 -146.6 224.5 -10.9 105 2211 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

2522 -1.23 -146.6 251.1 -7.9 120 2526 0.00 2.55 0.00 0.000 4 0.000 0.048 2222 3311 3477

2565 -1.23 -146.6 254.7 -7.7 122 2570 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1900 3477

2886 -1.23 -146.6 279.8 -7.6 138 2888 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3477

3195 -1.23 -146.6 305.0 -8.4 153 3200 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3307 3477

3251 -1.23 -146.6 310.2 -9.6 155 3257 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1898 3477

3567 -1.23 -146.6 343.4 -10.4 171 3568 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1898 3477

3876 -1.23 -146.6 373.1 -9.7 186 3880 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3308 3477

3919 -1.23 -146.6 377.7 -10.1 188 3924 0.00 2.53 0.00 0.000 6 0.000 0.045 2221 1898 3477

4240 -1.23 -146.6 409.6 -9.9 204 4245 0.00 2.55 0.00 0.000 4 0.000 0.050 2222 3309 3477

4280 -1.23 -146.6 413.4 -9.6 206 4285 0.00 2.53 0.00 0.000 6 0.000 0.046 2221 1902 3477

4606 -1.23 -146.6 444.8 -9.6 222 4610 0.00 2.55 0.00 0.000 4 0.000 0.051 2221 3313 3477

4634 -1.23 -146.6 447.5 -10.0 223 4638 0.00 2.53 0.00 0.000 6 0.000 0.045 2221 1899 3477

4950 -1.23 -146.6 475.8 -9.2 238 4951 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3478

5259 -1.23 -146.6 504.9 -9.5 253 5260 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1897 3477

5567 -1.23 -146.6 535.4 -10.1 268 5572 0.00 2.55 0.00 0.000 4 0.000 0.051 2222 3306 3477

5645 -1.23 -146.6 543.6 -10.6 271 5651 0.00 2.53 0.00 0.000 6 0.000 0.047 2222 1899 3477

5961 -1.23 -146.6 574.7 -10.0 287 5969 0.00 2.55 0.00 0.000 4 0.000 0.053 2222 3307 3477

6064 -1.23 -146.6 584.1 -9.0 291 6068 0.00 2.55 0.00 0.000 6 0.000 0.048 2222 1895 3477

6380 -1.23 -146.6 614.0 -10.7 306 6381 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1895 3477

6689 -1.23 -146.6 643.7 -9.0 321 6693 0.00 2.58 0.00 0.000 4 0.000 0.061 2222 3305 3478

6946 -1.23 -146.6 653.9 0.0 332 6952 0.00 2.55 0.00 0.000 6 0.000 0.054 2222 1902 3477

7115 end dive: NO_VERTICAL_VELOCITY

state 7115 begin apogee

7121 -0.36 0.0 653.9 0.0 341 7249 0.93 0.00 124.80 1.224 6 0.079 0.000 2419 2109 2878

7250 end apogee: CONTROL_FINISHED_OK

state 7250 begin climb

7252 1.23 146.6 653.8 0.0 347 7384 1.55 2.75 122.62 1.183 4 0.052 0.074 2765 692 2280

7604 1.23 147.2 635.0 8.0 363 7609 0.00 2.50 0.00 0.000 6 0.000 0.047 2765 2093 2279

7926 1.27 183.0 615.0 6.6 379 7967 0.00 2.67 31.27 1.200 4 0.000 0.061 2765 3505 2130

8075 1.27 183.0 602.0 9.2 385 8081 0.00 2.60 0.00 0.000 6 0.000 0.051 2765 2092 2130

8391 1.29 197.0 578.3 7.5 401 8412 0.00 2.75 12.35 1.198 4 0.000 0.077 2765 695 2074

8435 1.29 197.5 574.6 8.0 403 8440 0.00 2.55 0.00 0.000 6 0.000 0.048 2765 2104 2073

8761 1.30 208.5 549.3 7.6 419 8777 0.00 2.62 10.77 1.190 4 0.000 0.058 2765 3503 2026

8867 1.30 208.5 540.6 8.5 423 8872 0.00 2.55 0.00 0.000 6 0.000 0.050 2765 2101 2026

9194 1.32 220.4 515.5 7.5 439 9210 0.00 2.62 10.82 1.172 4 0.000 0.054 2765 3502 1979

9256 1.32 220.4 510.4 8.1 441 9261 0.00 2.55 0.00 0.000 6 0.000 0.047 2765 2091 1979

9582 1.34 236.8 485.3 7.4 457 9604 0.00 2.65 14.68 1.151 4 0.000 0.054 2765 3505 1912

9637 1.34 236.8 480.8 8.4 459 9641 0.00 2.55 0.00 0.000 6 0.000 0.047 2765 2098 1912

9952 1.34 236.8 455.4 8.5 474 9954 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2098 1912

10262 1.34 241.2 430.2 7.8 489 10272 0.10 2.60 4.80 1.081 4 0.057 0.053 2798 3502 1894

10294 1.34 241.2 426.9 10.2 490 10301 0.00 2.53 0.00 0.000 6 0.000 0.044 2797 2094 1894

10611 1.35 248.8 400.3 7.7 506 10625 0.00 2.62 7.53 1.088 4 0.000 0.052 2798 3502 1862

10693 1.35 248.8 392.5 10.6 509 10699 0.00 2.53 0.00 0.000 6 0.000 0.044 2797 2099 1862

11009 1.37 265.6 364.7 7.4 525 11028 0.00 0.00 14.93 1.060 6 0.000 0.000 2797 2099 1794

11338 1.37 265.6 334.0 11.0 541 11342 0.00 2.58 0.00 0.000 4 0.000 0.051 2797 3505 1794

11364 1.37 265.6 331.3 9.5 542 11368 0.00 2.53 0.00 0.000 6 0.000 0.043 2797 2098 1794

11686 1.37 265.6 301.6 11.0 558 11690 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3505 1795

11712 1.37 265.6 298.3 12.4 559 11717 0.00 2.53 0.00 0.000 6 0.000 0.042 2797 2093 1795

12033 1.37 265.6 261.3 10.4 575 12035 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2093 1795

12343 1.37 265.6 227.5 10.9 590 12344 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2093 1795

12652 1.37 265.6 195.3 9.7 605 12657 0.00 2.58 0.00 0.000 4 0.000 0.050 2798 3508 1795

12692 1.37 265.6 190.4 12.4 607 12696 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2097 1795

13017 1.37 265.6 153.2 10.7 623 13019 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2097 1796

13329 1.37 265.6 119.8 10.5 638 13333 0.00 2.55 0.00 0.000 4 0.000 0.049 2797 3506 1796

13350 1.37 265.6 117.3 10.2 639 13354 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2097 1796

13677 1.37 265.6 87.6 9.5 655 13681 0.00 2.55 0.00 0.000 4 0.000 0.049 2797 3508 1796

13694 1.37 265.6 85.8 10.0 656 13698 0.00 2.50 0.00 0.000 6 0.000 0.041 2798 2099 1796

14021 1.37 265.6 55.8 9.7 672 14025 0.00 2.55 0.00 0.000 4 0.000 0.049 2798 3509 1796

14093 1.37 265.6 47.8 12.0 675 14097 0.00 2.50 0.00 0.000 6 0.000 0.040 2797 2098 1796

14415 1.37 265.6 15.7 9.2 691 14419 0.00 2.53 0.00 0.000 4 0.000 0.049 2798 3504 1796

14425 1.37 265.6 14.5 9.2 691 14431 0.00 2.50 0.00 0.000 6 0.000 0.041 2798 2102 1797

14573 end climb: SURFACE_DEPTH_REACHED

state 14573 begin surface coast

14595 end surface coast: CONTROL_FINISHED_OK

state 14595 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	317	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-83480.586	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	201733,6319.756,-1305.864,35,1.5,36,-12.2	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.051,-0.232
_SM_DEPTHo	2.18	KALMAN_X	409705.4,2626.0,628.0,-656251.5,-83.9
_SM_ANGLEo	-59.6	KALMAN_Y	50738.2,-121.1,841.4,146082.5,2907.9
GPS2	202321,6319.812,-1305.801,12,1.0,12,-12.2	MHEAD_RNG_PITCHd_Wd	204.6,11757,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	682

FINISH	1.4,1.027392	XPDR_PINGS	1
SM_CCo	14617,32.60,0.809,4,0,1654,300.00	ALTIM_TOP_PING	19.5,999.0
SM_GC	2.20,0.00,0.00,32.60,0.000,0.000,0.809,34,1880,1654,-11.32,-0.57,300.00	_24V_AH	23.2,65.354
IRIDIUM_FIX	6254.00,-1307.57,200108,191902	_10V_AH	10.1,31.642
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34851,700
HUMID	2065	CFSIZE	260165632,239157248
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,4,0
TCM_TEMP	16.40	GPS	210108,003028,6319.865,-1301.853,31,4.5,50,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	84.06	SBE_CT	520	24	290.08
Roll_motor	138	76	246.72	SBE_O2	472	19	208.14
VBD_pump_during_apogee	354	1224	10069.88	WL_BB2F	435	105	1060.63
VBD_pump_during_surface	32	809	612.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.67	nil	0	0	0.00
Iridium_during_connect	37	160	139.52	nil	0	0	0.00
Iridium_during_xfer	159	223	826.87
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.17
TT8	1326	19	265.35
LPSleep	11028	2	243.94
TT8_Active	537	19	107.46
TT8_Sampling	1670	39	671.41
TT8_CF8	473	45	219.09
TT8_Kalman	33	81	27.57
Analog_circuits	1397	12	169.40
GPS_charging	0	0	0.00
Compass	1635	8	132.13
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.23	-146.6	0.0	0.0	0	87	0.00	0.00	-61.38	0.000	2	0.000	0.000	36	1884	2885
90	-1.23	-146.6	4.0	-4.3	3	125	11.57	2.60	-17.05	0.000	4	0.139	0.061	2221	3296	3477
379	-1.23	-146.6	36.1	-9.9	16	384	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1903	3477
706	-1.23	-146.6	73.6	-13.7	32	710	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3308	3478
862	-1.23	-146.6	90.7	-9.8	39	866	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1898	3477
1183	-1.23	-146.6	122.4	-10.4	55	1187	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3308	3477
1215	-1.23	-146.6	126.1	-10.9	56	1221	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1898	3477
1531	-1.23	-146.6	159.4	-10.7	72	1532	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3477
1840	-1.23	-146.6	187.4	-9.7	87	1844	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3309	3477
1883	-1.23	-146.6	191.4	-8.9	89	1887	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1896	3478
2210	-1.23	-146.6	224.5	-10.9	105	2211	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
2522	-1.23	-146.6	251.1	-7.9	120	2526	0.00	2.55	0.00	0.000	4	0.000	0.048	2222	3311	3477
2565	-1.23	-146.6	254.7	-7.7	122	2570	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1900	3477
2886	-1.23	-146.6	279.8	-7.6	138	2888	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3477
3195	-1.23	-146.6	305.0	-8.4	153	3200	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3307	3477
3251	-1.23	-146.6	310.2	-9.6	155	3257	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1898	3477
3567	-1.23	-146.6	343.4	-10.4	171	3568	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1898	3477
3876	-1.23	-146.6	373.1	-9.7	186	3880	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3308	3477
3919	-1.23	-146.6	377.7	-10.1	188	3924	0.00	2.53	0.00	0.000	6	0.000	0.045	2221	1898	3477
4240	-1.23	-146.6	409.6	-9.9	204	4245	0.00	2.55	0.00	0.000	4	0.000	0.050	2222	3309	3477
4280	-1.23	-146.6	413.4	-9.6	206	4285	0.00	2.53	0.00	0.000	6	0.000	0.046	2221	1902	3477
4606	-1.23	-146.6	444.8	-9.6	222	4610	0.00	2.55	0.00	0.000	4	0.000	0.051	2221	3313	3477
4634	-1.23	-146.6	447.5	-10.0	223	4638	0.00	2.53	0.00	0.000	6	0.000	0.045	2221	1899	3477
4950	-1.23	-146.6	475.8	-9.2	238	4951	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3478
5259	-1.23	-146.6	504.9	-9.5	253	5260	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1897	3477
5567	-1.23	-146.6	535.4	-10.1	268	5572	0.00	2.55	0.00	0.000	4	0.000	0.051	2222	3306	3477
5645	-1.23	-146.6	543.6	-10.6	271	5651	0.00	2.53	0.00	0.000	6	0.000	0.047	2222	1899	3477
5961	-1.23	-146.6	574.7	-10.0	287	5969	0.00	2.55	0.00	0.000	4	0.000	0.053	2222	3307	3477
6064	-1.23	-146.6	584.1	-9.0	291	6068	0.00	2.55	0.00	0.000	6	0.000	0.048	2222	1895	3477
6380	-1.23	-146.6	614.0	-10.7	306	6381	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1895	3477
6689	-1.23	-146.6	643.7	-9.0	321	6693	0.00	2.58	0.00	0.000	4	0.000	0.061	2222	3305	3478
6946	-1.23	-146.6	653.9	0.0	332	6952	0.00	2.55	0.00	0.000	6	0.000	0.054	2222	1902	3477
7115	end dive: NO_VERTICAL_VELOCITY
state	7115	begin apogee
7121	-0.36	0.0	653.9	0.0	341	7249	0.93	0.00	124.80	1.224	6	0.079	0.000	2419	2109	2878
7250	end apogee: CONTROL_FINISHED_OK
state	7250	begin climb
7252	1.23	146.6	653.8	0.0	347	7384	1.55	2.75	122.62	1.183	4	0.052	0.074	2765	692	2280
7604	1.23	147.2	635.0	8.0	363	7609	0.00	2.50	0.00	0.000	6	0.000	0.047	2765	2093	2279
7926	1.27	183.0	615.0	6.6	379	7967	0.00	2.67	31.27	1.200	4	0.000	0.061	2765	3505	2130
8075	1.27	183.0	602.0	9.2	385	8081	0.00	2.60	0.00	0.000	6	0.000	0.051	2765	2092	2130
8391	1.29	197.0	578.3	7.5	401	8412	0.00	2.75	12.35	1.198	4	0.000	0.077	2765	695	2074
8435	1.29	197.5	574.6	8.0	403	8440	0.00	2.55	0.00	0.000	6	0.000	0.048	2765	2104	2073
8761	1.30	208.5	549.3	7.6	419	8777	0.00	2.62	10.77	1.190	4	0.000	0.058	2765	3503	2026
8867	1.30	208.5	540.6	8.5	423	8872	0.00	2.55	0.00	0.000	6	0.000	0.050	2765	2101	2026
9194	1.32	220.4	515.5	7.5	439	9210	0.00	2.62	10.82	1.172	4	0.000	0.054	2765	3502	1979
9256	1.32	220.4	510.4	8.1	441	9261	0.00	2.55	0.00	0.000	6	0.000	0.047	2765	2091	1979
9582	1.34	236.8	485.3	7.4	457	9604	0.00	2.65	14.68	1.151	4	0.000	0.054	2765	3505	1912
9637	1.34	236.8	480.8	8.4	459	9641	0.00	2.55	0.00	0.000	6	0.000	0.047	2765	2098	1912
9952	1.34	236.8	455.4	8.5	474	9954	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2098	1912
10262	1.34	241.2	430.2	7.8	489	10272	0.10	2.60	4.80	1.081	4	0.057	0.053	2798	3502	1894
10294	1.34	241.2	426.9	10.2	490	10301	0.00	2.53	0.00	0.000	6	0.000	0.044	2797	2094	1894
10611	1.35	248.8	400.3	7.7	506	10625	0.00	2.62	7.53	1.088	4	0.000	0.052	2798	3502	1862
10693	1.35	248.8	392.5	10.6	509	10699	0.00	2.53	0.00	0.000	6	0.000	0.044	2797	2099	1862
11009	1.37	265.6	364.7	7.4	525	11028	0.00	0.00	14.93	1.060	6	0.000	0.000	2797	2099	1794
11338	1.37	265.6	334.0	11.0	541	11342	0.00	2.58	0.00	0.000	4	0.000	0.051	2797	3505	1794
11364	1.37	265.6	331.3	9.5	542	11368	0.00	2.53	0.00	0.000	6	0.000	0.043	2797	2098	1794
11686	1.37	265.6	301.6	11.0	558	11690	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3505	1795
11712	1.37	265.6	298.3	12.4	559	11717	0.00	2.53	0.00	0.000	6	0.000	0.042	2797	2093	1795
12033	1.37	265.6	261.3	10.4	575	12035	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2093	1795
12343	1.37	265.6	227.5	10.9	590	12344	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2093	1795
12652	1.37	265.6	195.3	9.7	605	12657	0.00	2.58	0.00	0.000	4	0.000	0.050	2798	3508	1795
12692	1.37	265.6	190.4	12.4	607	12696	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2097	1795
13017	1.37	265.6	153.2	10.7	623	13019	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2097	1796
13329	1.37	265.6	119.8	10.5	638	13333	0.00	2.55	0.00	0.000	4	0.000	0.049	2797	3506	1796
13350	1.37	265.6	117.3	10.2	639	13354	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2097	1796
13677	1.37	265.6	87.6	9.5	655	13681	0.00	2.55	0.00	0.000	4	0.000	0.049	2797	3508	1796
13694	1.37	265.6	85.8	10.0	656	13698	0.00	2.50	0.00	0.000	6	0.000	0.041	2798	2099	1796
14021	1.37	265.6	55.8	9.7	672	14025	0.00	2.55	0.00	0.000	4	0.000	0.049	2798	3509	1796
14093	1.37	265.6	47.8	12.0	675	14097	0.00	2.50	0.00	0.000	6	0.000	0.040	2797	2098	1796
14415	1.37	265.6	15.7	9.2	691	14419	0.00	2.53	0.00	0.000	4	0.000	0.049	2798	3504	1796
14425	1.37	265.6	14.5	9.2	691	14431	0.00	2.50	0.00	0.000	6	0.000	0.041	2798	2102	1797
14573	end climb: SURFACE_DEPTH_REACHED
state	14573	begin surface coast
14595	end surface coast: CONTROL_FINISHED_OK
state	14595	begin surface