Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 333 * 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 333 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -83794.891 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 -83794.891

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 30 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 333 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 074238,6304.418,-1302.189,36,1.1,36,-12.1 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,-0.182

_SM_DEPTHo 1.81 KALMAN_X 450999.5,-1790.1,-1854.7,-687598.5,2553.1

_SM_ANGLEo -63.3 KALMAN_Y 67013.5,-1341.8,-480.8,103925.6,1804.8

GPS2 074808,6304.442,-1302.430,10,1.3,15,-12.1 MHEAD_RNG_PITCHd_Wd 233.3,26836,-14.3,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 668

Post-dive calculations and measurements:

FINISH 1.0,1.003917 XPDR_PINGS 1

SM_CCo 13545,34.78,0.808,4,0,1655,300.00 ALTIM_TOP_PING 19.1,999.0

SM_GC 1.55,0.00,0.00,34.78,0.000,0.000,0.808,35,1890,1655,-11.31,-0.28,300.00 _24V_AH 23.2,67.639

IRIDIUM_FIX 6239.86,-1250.78,180497,040433 _10V_AH 10.1,32.671

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31690,655

HUMID 2064 CFSIZE 260165632,238428160

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,4,0

TCM_TEMP 16.50 GPS 230108,113726,6302.814,-1306.622,53,0.9,53,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 142 87.38 SBE_CT 480 24 267.50

Roll_motor 122 80 228.32 SBE_O2 441 19 194.46

VBD_pump_during_apogee 344 1224 9769.55 WL_BB2F 408 105 993.98

VBD_pump_during_surface 34 807 651.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.69 nil 0 0 0.00

Iridium_during_connect 38 160 141.43 nil 0 0 0.00

Iridium_during_xfer 146 223 758.26

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.36

TT8 1233 19 246.73

LPSleep 10210 2 225.84

TT8_Active 534 19 106.90

TT8_Sampling 1528 39 614.61

TT8_CF8 445 45 206.04

TT8_Kalman 33 81 27.57

Analog_circuits 1302 12 157.80

GPS_charging 0 0 0.00

Compass 1495 8 120.86

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

23 -1.20 -146.6 0.0 0.0 0 85 0.00 0.00 -60.80 0.000 2 0.000 0.000 31 1884 2804

88 -1.20 -146.6 3.1 -3.0 3 130 11.80 2.62 -23.95 0.000 4 0.143 0.081 2225 498 3476

382 -1.20 -146.6 38.6 -11.4 16 389 0.00 2.45 0.00 0.000 6 0.000 0.040 2225 1908 3476

698 -1.20 -146.6 71.1 -9.8 32 702 0.00 2.50 0.00 0.000 4 0.000 0.048 2225 3295 3476

955 -1.20 -146.6 97.3 -8.9 43 962 0.00 2.47 0.00 0.000 6 0.000 0.043 2225 1908 3476

1271 -1.20 -146.6 128.2 -10.1 59 1275 0.00 2.50 0.00 0.000 4 0.000 0.047 2225 3299 3476

1337 -1.20 -146.6 135.1 -10.0 62 1342 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1902 3476

1657 -1.20 -146.6 169.2 -11.0 78 1659 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3476

1967 -1.20 -146.6 205.4 -12.1 93 1971 0.00 2.50 0.00 0.000 4 0.000 0.047 2225 3297 3476

2029 -1.20 -146.6 212.8 -11.9 96 2034 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1897 3476

2356 -1.20 -146.6 250.9 -12.2 112 2357 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3476

2664 -1.20 -146.6 287.3 -11.7 127 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3476

2974 -1.20 -146.6 323.6 -11.5 142 2978 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3299 3476

3035 -1.20 -146.6 330.6 -11.5 145 3040 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1901 3476

3362 -1.20 -146.6 367.4 -10.8 161 3366 0.00 2.47 0.00 0.000 4 0.000 0.048 2225 3293 3476

3446 -1.20 -146.6 376.8 -10.7 164 3452 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1898 3476

3761 -1.20 -146.6 406.4 -8.9 180 3766 0.00 2.60 0.00 0.000 4 0.000 0.071 2225 497 3476

3801 -1.20 -146.6 409.6 -8.3 182 3806 0.00 2.45 0.00 0.000 6 0.000 0.041 2225 1902 3476

4127 -1.20 -146.6 433.0 -7.4 198 4131 0.00 2.53 0.00 0.000 4 0.000 0.051 2225 3301 3476

4177 -1.20 -146.6 437.0 -7.7 200 4182 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1896 3476

4493 -1.20 -146.6 461.4 -8.3 215 4494 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1896 3476

4802 -1.20 -146.6 489.4 -9.0 230 4803 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1896 3477

5111 -1.20 -146.6 514.9 -7.7 245 5112 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1894 3476

5421 -1.20 -146.6 544.5 -10.8 260 5425 0.00 2.55 0.00 0.000 4 0.000 0.052 2225 3301 3476

5531 -1.20 -146.6 556.6 -10.6 265 5536 0.00 2.53 0.00 0.000 6 0.000 0.048 2225 1900 3476

5853 -1.20 -146.6 588.6 -10.8 281 5858 0.00 2.53 0.00 0.000 4 0.000 0.052 2225 3303 3476

5897 -1.20 -146.6 593.8 -11.8 283 5902 0.00 2.53 0.00 0.000 6 0.000 0.050 2225 1902 3476

6224 -1.20 -146.6 633.1 -10.0 299 6225 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1903 3476

6534 -1.20 -146.6 664.2 -8.3 314 6535 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3476

6573 end dive: TARGET_DEPTH_EXCEEDED

state 6573 begin apogee

6579 -0.36 0.0 668.1 9.4 316 6707 0.90 0.00 124.43 1.224 6 0.084 0.000 2415 2103 2878

6707 end apogee: CONTROL_FINISHED_OK

state 6708 begin climb

6710 1.20 146.6 673.7 0.0 322 6841 1.55 2.65 123.25 1.190 4 0.058 0.064 2756 3496 2280

6853 1.35 262.4 673.8 3.8 330 6957 0.15 2.58 96.32 1.170 6 0.049 0.051 2797 2102 1808

7265 1.35 262.4 632.3 10.8 350 7269 0.00 2.60 0.00 0.000 4 0.000 0.061 2796 3501 1808

7399 1.35 262.4 617.1 11.3 356 7403 0.00 2.58 0.00 0.000 6 0.000 0.052 2796 2097 1808

7719 1.35 262.4 585.7 9.1 372 7720 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2097 1808

8028 1.35 262.4 558.2 8.4 387 8032 0.00 2.60 0.00 0.000 4 0.000 0.058 2796 3498 1806

8090 1.35 262.4 551.9 10.7 390 8094 0.00 2.55 0.00 0.000 6 0.000 0.049 2796 2094 1806

8416 1.35 262.4 521.0 9.7 406 8420 0.00 2.60 0.00 0.000 4 0.000 0.057 2796 3503 1806

8455 1.35 262.4 516.9 10.2 408 8459 0.00 2.55 0.00 0.000 6 0.000 0.048 2796 2095 1806

8781 1.35 262.4 485.1 9.2 424 8786 0.00 2.55 0.00 0.000 4 0.000 0.055 2796 3497 1805

8843 1.35 262.4 479.4 9.2 427 8848 0.00 2.53 0.00 0.000 6 0.000 0.046 2796 2101 1805

9170 1.35 262.4 450.2 9.4 443 9171 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2101 1804

9479 1.35 262.4 418.9 10.4 458 9484 0.00 2.55 0.00 0.000 4 0.000 0.052 2797 3502 1805

9546 1.35 262.4 411.7 11.5 461 9550 0.00 2.50 0.00 0.000 6 0.000 0.044 2796 2099 1805

9866 1.35 262.4 378.9 10.3 477 9871 0.00 2.55 0.00 0.000 4 0.000 0.052 2796 3498 1805

9894 1.35 262.4 376.0 10.9 478 9898 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2094 1805

10209 1.35 262.4 342.3 10.4 493 10210 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2094 1805

10518 1.35 262.4 312.5 9.7 508 10519 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2094 1805

10828 1.35 262.4 284.4 8.7 523 10832 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3498 1806

10883 1.35 262.4 279.4 8.9 525 10889 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2088 1805

11198 1.35 262.4 249.6 10.0 541 11203 0.00 2.58 0.00 0.000 4 0.000 0.051 2797 3504 1806

11260 1.35 262.4 243.1 11.0 544 11265 0.00 2.50 0.00 0.000 6 0.000 0.042 2796 2102 1806

11587 1.35 262.4 210.7 9.7 560 11591 0.00 2.53 0.00 0.000 4 0.000 0.050 2797 3498 1806

11626 1.35 262.4 206.6 10.2 562 11630 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2095 1807

11952 1.35 262.4 175.1 8.5 578 11957 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3501 1808

11992 1.35 262.4 171.4 8.9 580 11996 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2098 1807

12318 1.35 262.4 139.5 10.8 596 12322 0.00 2.53 0.00 0.000 4 0.000 0.049 2797 3499 1808

12358 1.35 262.4 134.9 12.2 598 12362 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2093 1808

12684 1.35 262.4 93.1 12.7 614 12689 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3499 1808

12747 1.35 262.4 85.0 13.6 617 12751 0.00 2.47 0.00 0.000 6 0.000 0.041 2797 2097 1808

13074 1.35 262.4 50.2 10.9 633 13078 0.00 2.55 0.00 0.000 4 0.000 0.050 2796 3506 1808

13135 1.35 262.4 42.8 12.5 636 13140 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2101 1808

13463 1.35 262.4 5.8 9.8 652 13464 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2101 1808

13501 end climb: SURFACE_DEPTH_REACHED

state 13501 begin surface coast

13523 end surface coast: CONTROL_FINISHED_OK

state 13523 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	333	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-83794.891	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	074238,6304.418,-1302.189,36,1.1,36,-12.1	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,-0.182
_SM_DEPTHo	1.81	KALMAN_X	450999.5,-1790.1,-1854.7,-687598.5,2553.1
_SM_ANGLEo	-63.3	KALMAN_Y	67013.5,-1341.8,-480.8,103925.6,1804.8
GPS2	074808,6304.442,-1302.430,10,1.3,15,-12.1	MHEAD_RNG_PITCHd_Wd	233.3,26836,-14.3,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	668

FINISH	1.0,1.003917	XPDR_PINGS	1
SM_CCo	13545,34.78,0.808,4,0,1655,300.00	ALTIM_TOP_PING	19.1,999.0
SM_GC	1.55,0.00,0.00,34.78,0.000,0.000,0.808,35,1890,1655,-11.31,-0.28,300.00	_24V_AH	23.2,67.639
IRIDIUM_FIX	6239.86,-1250.78,180497,040433	_10V_AH	10.1,32.671
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31690,655
HUMID	2064	CFSIZE	260165632,238428160
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,4,0
TCM_TEMP	16.50	GPS	230108,113726,6302.814,-1306.622,53,0.9,53,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	142	87.38	SBE_CT	480	24	267.50
Roll_motor	122	80	228.32	SBE_O2	441	19	194.46
VBD_pump_during_apogee	344	1224	9769.55	WL_BB2F	408	105	993.98
VBD_pump_during_surface	34	807	651.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.69	nil	0	0	0.00
Iridium_during_connect	38	160	141.43	nil	0	0	0.00
Iridium_during_xfer	146	223	758.26
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.36
TT8	1233	19	246.73
LPSleep	10210	2	225.84
TT8_Active	534	19	106.90
TT8_Sampling	1528	39	614.61
TT8_CF8	445	45	206.04
TT8_Kalman	33	81	27.57
Analog_circuits	1302	12	157.80
GPS_charging	0	0	0.00
Compass	1495	8	120.86
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
23	-1.20	-146.6	0.0	0.0	0	85	0.00	0.00	-60.80	0.000	2	0.000	0.000	31	1884	2804
88	-1.20	-146.6	3.1	-3.0	3	130	11.80	2.62	-23.95	0.000	4	0.143	0.081	2225	498	3476
382	-1.20	-146.6	38.6	-11.4	16	389	0.00	2.45	0.00	0.000	6	0.000	0.040	2225	1908	3476
698	-1.20	-146.6	71.1	-9.8	32	702	0.00	2.50	0.00	0.000	4	0.000	0.048	2225	3295	3476
955	-1.20	-146.6	97.3	-8.9	43	962	0.00	2.47	0.00	0.000	6	0.000	0.043	2225	1908	3476
1271	-1.20	-146.6	128.2	-10.1	59	1275	0.00	2.50	0.00	0.000	4	0.000	0.047	2225	3299	3476
1337	-1.20	-146.6	135.1	-10.0	62	1342	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1902	3476
1657	-1.20	-146.6	169.2	-11.0	78	1659	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3476
1967	-1.20	-146.6	205.4	-12.1	93	1971	0.00	2.50	0.00	0.000	4	0.000	0.047	2225	3297	3476
2029	-1.20	-146.6	212.8	-11.9	96	2034	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1897	3476
2356	-1.20	-146.6	250.9	-12.2	112	2357	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3476
2664	-1.20	-146.6	287.3	-11.7	127	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3476
2974	-1.20	-146.6	323.6	-11.5	142	2978	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3299	3476
3035	-1.20	-146.6	330.6	-11.5	145	3040	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1901	3476
3362	-1.20	-146.6	367.4	-10.8	161	3366	0.00	2.47	0.00	0.000	4	0.000	0.048	2225	3293	3476
3446	-1.20	-146.6	376.8	-10.7	164	3452	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1898	3476
3761	-1.20	-146.6	406.4	-8.9	180	3766	0.00	2.60	0.00	0.000	4	0.000	0.071	2225	497	3476
3801	-1.20	-146.6	409.6	-8.3	182	3806	0.00	2.45	0.00	0.000	6	0.000	0.041	2225	1902	3476
4127	-1.20	-146.6	433.0	-7.4	198	4131	0.00	2.53	0.00	0.000	4	0.000	0.051	2225	3301	3476
4177	-1.20	-146.6	437.0	-7.7	200	4182	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1896	3476
4493	-1.20	-146.6	461.4	-8.3	215	4494	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1896	3476
4802	-1.20	-146.6	489.4	-9.0	230	4803	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1896	3477
5111	-1.20	-146.6	514.9	-7.7	245	5112	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1894	3476
5421	-1.20	-146.6	544.5	-10.8	260	5425	0.00	2.55	0.00	0.000	4	0.000	0.052	2225	3301	3476
5531	-1.20	-146.6	556.6	-10.6	265	5536	0.00	2.53	0.00	0.000	6	0.000	0.048	2225	1900	3476
5853	-1.20	-146.6	588.6	-10.8	281	5858	0.00	2.53	0.00	0.000	4	0.000	0.052	2225	3303	3476
5897	-1.20	-146.6	593.8	-11.8	283	5902	0.00	2.53	0.00	0.000	6	0.000	0.050	2225	1902	3476
6224	-1.20	-146.6	633.1	-10.0	299	6225	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1903	3476
6534	-1.20	-146.6	664.2	-8.3	314	6535	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3476
6573	end dive: TARGET_DEPTH_EXCEEDED
state	6573	begin apogee
6579	-0.36	0.0	668.1	9.4	316	6707	0.90	0.00	124.43	1.224	6	0.084	0.000	2415	2103	2878
6707	end apogee: CONTROL_FINISHED_OK
state	6708	begin climb
6710	1.20	146.6	673.7	0.0	322	6841	1.55	2.65	123.25	1.190	4	0.058	0.064	2756	3496	2280
6853	1.35	262.4	673.8	3.8	330	6957	0.15	2.58	96.32	1.170	6	0.049	0.051	2797	2102	1808
7265	1.35	262.4	632.3	10.8	350	7269	0.00	2.60	0.00	0.000	4	0.000	0.061	2796	3501	1808
7399	1.35	262.4	617.1	11.3	356	7403	0.00	2.58	0.00	0.000	6	0.000	0.052	2796	2097	1808
7719	1.35	262.4	585.7	9.1	372	7720	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2097	1808
8028	1.35	262.4	558.2	8.4	387	8032	0.00	2.60	0.00	0.000	4	0.000	0.058	2796	3498	1806
8090	1.35	262.4	551.9	10.7	390	8094	0.00	2.55	0.00	0.000	6	0.000	0.049	2796	2094	1806
8416	1.35	262.4	521.0	9.7	406	8420	0.00	2.60	0.00	0.000	4	0.000	0.057	2796	3503	1806
8455	1.35	262.4	516.9	10.2	408	8459	0.00	2.55	0.00	0.000	6	0.000	0.048	2796	2095	1806
8781	1.35	262.4	485.1	9.2	424	8786	0.00	2.55	0.00	0.000	4	0.000	0.055	2796	3497	1805
8843	1.35	262.4	479.4	9.2	427	8848	0.00	2.53	0.00	0.000	6	0.000	0.046	2796	2101	1805
9170	1.35	262.4	450.2	9.4	443	9171	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2101	1804
9479	1.35	262.4	418.9	10.4	458	9484	0.00	2.55	0.00	0.000	4	0.000	0.052	2797	3502	1805
9546	1.35	262.4	411.7	11.5	461	9550	0.00	2.50	0.00	0.000	6	0.000	0.044	2796	2099	1805
9866	1.35	262.4	378.9	10.3	477	9871	0.00	2.55	0.00	0.000	4	0.000	0.052	2796	3498	1805
9894	1.35	262.4	376.0	10.9	478	9898	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2094	1805
10209	1.35	262.4	342.3	10.4	493	10210	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2094	1805
10518	1.35	262.4	312.5	9.7	508	10519	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2094	1805
10828	1.35	262.4	284.4	8.7	523	10832	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3498	1806
10883	1.35	262.4	279.4	8.9	525	10889	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2088	1805
11198	1.35	262.4	249.6	10.0	541	11203	0.00	2.58	0.00	0.000	4	0.000	0.051	2797	3504	1806
11260	1.35	262.4	243.1	11.0	544	11265	0.00	2.50	0.00	0.000	6	0.000	0.042	2796	2102	1806
11587	1.35	262.4	210.7	9.7	560	11591	0.00	2.53	0.00	0.000	4	0.000	0.050	2797	3498	1806
11626	1.35	262.4	206.6	10.2	562	11630	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2095	1807
11952	1.35	262.4	175.1	8.5	578	11957	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3501	1808
11992	1.35	262.4	171.4	8.9	580	11996	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2098	1807
12318	1.35	262.4	139.5	10.8	596	12322	0.00	2.53	0.00	0.000	4	0.000	0.049	2797	3499	1808
12358	1.35	262.4	134.9	12.2	598	12362	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2093	1808
12684	1.35	262.4	93.1	12.7	614	12689	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3499	1808
12747	1.35	262.4	85.0	13.6	617	12751	0.00	2.47	0.00	0.000	6	0.000	0.041	2797	2097	1808
13074	1.35	262.4	50.2	10.9	633	13078	0.00	2.55	0.00	0.000	4	0.000	0.050	2796	3506	1808
13135	1.35	262.4	42.8	12.5	636	13140	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2101	1808
13463	1.35	262.4	5.8	9.8	652	13464	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2101	1808
13501	end climb: SURFACE_DEPTH_REACHED
state	13501	begin surface coast
13523	end surface coast: CONTROL_FINISHED_OK
state	13523	begin surface