Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 334 * 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 334 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 25 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 -83815.078 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 -83815.078

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 25 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 334 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 113726,6302.814,-1306.622,53,0.9,53,-12.1 TGT_NAME HE

_CALLS 3 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.141,-0.189

_SM_DEPTHo 1.65 KALMAN_X 447382.7,-2409.0,1092.8,-690072.6,-2237.3

_SM_ANGLEo -55.3 KALMAN_Y 65217.7,-1142.6,740.4,100992.8,-1373.4

GPS2 115014,6302.663,-1306.659,13,1.2,18,-12.1 MHEAD_RNG_PITCHd_Wd 155.5,23494,-14.8,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 719

Post-dive calculations and measurements:

FINISH 1.0,1.026706 XPDR_PINGS 3

SM_CCo 14517,51.35,0.801,6,0,1655,300.00 ALTIM_TOP_PING 19.9,999.0

SM_GC 1.90,0.00,0.00,51.35,0.000,0.000,0.801,36,1881,1655,-11.31,-0.54,300.00 _24V_AH 23.2,67.798

IRIDIUM_FIX 6239.86,-1314.97,180497,111138 _10V_AH 10.1,32.748

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34884,695

HUMID 2079 CFSIZE 260165632,238354432

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,6,0

TCM_TEMP 16.20 GPS 230108,155556,6259.854,-1306.505,39,1.4,39,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 142 87.13 SBE_CT 515 24 287.18

Roll_motor 164 83 318.92 SBE_O2 468 19 206.59

VBD_pump_during_apogee 334 1290 10010.15 WL_BB2F 428 105 1044.24

VBD_pump_during_surface 51 800 953.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 109 103 261.46 nil 0 0 0.00

Iridium_during_connect 126 160 468.35 nil 0 0 0.00

Iridium_during_xfer 284 223 1473.81

Transponder_ping 6 420 65.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.88

TT8 1347 19 269.52

LPSleep 10977 2 242.81

TT8_Active 549 19 109.91

TT8_Sampling 1729 39 695.38

TT8_CF8 781 45 361.59

TT8_Kalman 33 81 27.57

Analog_circuits 1443 12 174.91

GPS_charging 0 0 0.00

Compass 1686 8 136.27

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 -1.24 -144.2 0.0 0.0 0 87 0.00 0.00 -61.03 0.000 2 0.000 0.000 35 1888 2836

90 -1.24 -146.6 3.2 -2.8 3 133 11.62 2.62 -21.48 0.000 4 0.143 0.064 2223 3298 3477

385 -1.24 -146.6 36.4 -8.5 16 390 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1894 3477

707 -1.24 -146.6 66.2 -10.8 32 712 0.00 2.55 0.00 0.000 4 0.000 0.048 2223 3303 3477

757 -1.24 -146.6 72.3 -12.0 34 761 0.00 2.53 0.00 0.000 6 0.000 0.042 2223 1895 3477

1073 -1.24 -146.6 103.5 -7.7 49 1074 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1895 3477

1382 -1.24 -146.6 130.1 -8.1 64 1386 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3302 3477

1399 -1.24 -146.6 131.6 -9.0 65 1404 0.00 2.50 0.00 0.000 6 0.000 0.042 2223 1899 3477

1726 -1.24 -146.6 162.2 -9.8 81 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

2035 -1.24 -146.6 194.1 -10.7 96 2040 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3302 3477

2080 -1.24 -146.6 199.0 -10.9 98 2084 0.00 2.50 0.00 0.000 6 0.000 0.043 2223 1896 3477

2400 -1.24 -146.6 231.9 -10.3 114 2404 0.00 2.62 0.00 0.000 4 0.000 0.071 2223 491 3477

2426 -1.24 -146.6 234.8 -10.9 115 2431 0.00 2.45 0.00 0.000 6 0.000 0.041 2223 1903 3477

2749 -1.24 -146.6 267.9 -10.1 131 2753 0.00 2.53 0.00 0.000 4 0.000 0.051 2223 3302 3477

2792 -1.24 -146.6 272.1 -8.9 133 2796 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1896 3477

3113 -1.24 -146.6 303.7 -10.9 149 3117 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3298 3477

3141 -1.24 -146.6 306.8 -11.4 150 3145 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1900 3477

3456 -1.24 -146.6 338.3 -9.4 165 3460 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3302 3477

3477 -1.24 -146.6 340.3 -9.4 166 3481 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1898 3477

3798 -1.24 -146.6 370.0 -9.5 182 3802 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3298 3477

3830 -1.24 -146.6 373.3 -10.0 183 3836 0.00 2.50 0.00 0.000 6 0.000 0.045 2224 1900 3477

4146 -1.24 -146.6 400.7 -8.4 199 4147 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1900 3477

4455 -1.24 -146.6 428.3 -9.6 214 4456 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3477

4764 -1.24 -146.6 462.2 -12.3 229 4768 0.00 2.53 0.00 0.000 4 0.000 0.051 2223 3303 3477

4790 -1.24 -146.6 465.3 -11.3 230 4795 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1897 3477

5106 -1.24 -146.6 505.3 -13.2 245 5111 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3302 3476

5162 -1.24 -146.6 511.9 -12.4 247 5168 0.00 2.53 0.00 0.000 6 0.000 0.046 2223 1900 3477

5477 -1.24 -146.6 544.9 -9.7 263 5481 0.00 2.62 0.00 0.000 4 0.000 0.074 2224 496 3477

5533 -1.24 -146.6 550.3 -10.0 265 5539 0.00 2.47 0.00 0.000 6 0.000 0.044 2223 1902 3477

5849 -1.24 -146.6 582.7 -9.4 281 5853 0.00 2.67 0.00 0.000 4 0.000 0.076 2223 489 3476

5915 -1.24 -146.6 589.5 -10.0 284 5919 0.00 2.47 0.00 0.000 6 0.000 0.044 2223 1900 3476

6237 -1.24 -146.6 616.0 -7.9 300 6241 0.00 2.58 0.00 0.000 4 0.000 0.062 2223 3303 3476

6263 -1.24 -146.6 618.3 -8.5 301 6268 0.00 2.55 0.00 0.000 6 0.000 0.054 2223 1904 3477

6580 -1.24 -146.6 642.1 -7.6 316 6584 0.00 2.58 0.00 0.000 4 0.000 0.061 2223 3301 3477

6619 -1.24 -146.6 644.4 -6.3 318 6624 0.00 2.55 0.00 0.000 6 0.000 0.055 2223 1900 3476

6946 -1.24 -146.6 673.7 -8.4 334 6950 0.00 2.67 0.00 0.000 4 0.000 0.084 2223 494 3475

6972 -1.24 -146.6 676.1 -9.2 335 6977 0.00 2.50 0.00 0.000 6 0.000 0.051 2223 1899 3475

7288 -1.24 -146.6 705.6 -9.9 350 7292 0.00 2.60 0.00 0.000 4 0.000 0.064 2223 3303 3475

7350 -1.24 -146.6 710.9 -7.4 353 7354 0.00 2.60 0.00 0.000 6 0.000 0.060 2223 1900 3474

7467 end dive: TARGET_DEPTH_EXCEEDED

state 7467 begin apogee

7474 -0.36 0.0 720.8 8.9 359 7602 0.90 0.00 124.75 1.290 6 0.073 0.000 2421 2105 2878

7603 end apogee: CONTROL_FINISHED_OK

state 7603 begin climb

7605 1.24 146.6 721.3 0.0 365 7738 1.55 2.75 123.93 1.241 4 0.053 0.075 2766 688 2280

7995 1.28 181.1 700.4 6.7 383 8030 0.00 2.58 29.52 1.271 6 0.000 0.050 2766 2103 2139

8340 1.28 181.1 668.1 9.6 399 8345 0.00 2.72 0.00 0.000 4 0.000 0.078 2766 688 2138

8413 1.28 181.1 662.1 9.3 402 8417 0.00 2.58 0.00 0.000 6 0.000 0.050 2766 2105 2138

8728 1.29 191.0 635.9 7.6 417 8742 0.00 2.65 9.15 1.251 4 0.000 0.064 2766 3508 2100

8811 1.32 214.3 630.0 7.1 420 8838 0.00 2.60 20.52 1.239 6 0.000 0.054 2766 2101 2003

9147 1.36 245.1 609.0 6.8 437 9182 0.12 2.70 26.58 1.236 4 0.053 0.061 2803 3505 1878

9249 1.36 245.1 599.3 10.6 441 9255 0.00 2.60 0.00 0.000 6 0.000 0.054 2803 2093 1878

9564 1.36 245.1 571.4 8.5 457 9566 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2093 1877

9873 1.36 245.1 545.0 8.0 472 9878 0.00 2.65 0.00 0.000 4 0.000 0.078 2803 691 1877

9895 1.36 245.1 542.9 9.5 473 9899 0.00 2.53 0.00 0.000 6 0.000 0.048 2802 2102 1877

10217 1.36 245.9 516.2 8.0 489 10221 0.00 2.58 0.00 0.000 4 0.000 0.060 2803 3502 1877

10260 1.36 245.9 512.2 9.3 491 10264 0.00 2.58 0.00 0.000 6 0.000 0.051 2803 2093 1876

10581 1.36 245.9 484.7 8.5 507 10586 0.00 2.60 0.00 0.000 4 0.000 0.056 2803 3508 1877

10710 1.36 245.9 468.9 13.5 513 10715 0.00 2.55 0.00 0.000 6 0.000 0.047 2803 2094 1877

11037 1.36 245.9 431.0 11.6 529 11041 0.00 2.60 0.00 0.000 4 0.000 0.054 2803 3509 1877

11159 1.36 245.9 416.2 12.4 534 11165 0.00 2.50 0.00 0.000 6 0.000 0.046 2803 2106 1877

11474 1.36 245.9 377.2 13.3 550 11475 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2105 1877

11784 1.36 245.9 333.2 14.2 565 11788 0.00 2.55 0.00 0.000 4 0.000 0.052 2803 3505 1878

11850 1.36 245.9 323.8 13.8 568 11854 0.00 2.53 0.00 0.000 6 0.000 0.044 2803 2100 1878

12170 1.36 245.9 281.4 14.1 584 12174 0.00 2.58 0.00 0.000 4 0.000 0.052 2803 3508 1878

12258 1.36 245.9 269.5 13.6 588 12263 0.00 2.50 0.00 0.000 6 0.000 0.042 2803 2098 1878

12580 1.36 245.9 227.1 12.8 604 12584 0.00 2.55 0.00 0.000 4 0.000 0.051 2803 3502 1879

12664 1.36 245.9 215.6 13.9 608 12668 0.00 2.53 0.00 0.000 6 0.000 0.042 2803 2093 1879

12990 1.36 245.9 172.5 13.5 624 12994 0.00 2.58 0.00 0.000 4 0.000 0.052 2803 3507 1880

13061 1.36 245.9 162.5 13.7 627 13066 0.00 2.53 0.00 0.000 6 0.000 0.041 2803 2091 1879

13379 1.36 245.9 119.8 13.6 642 13383 0.00 2.58 0.00 0.000 4 0.000 0.051 2803 3507 1880

13451 1.36 245.9 110.0 13.0 645 13455 0.00 2.50 0.00 0.000 6 0.000 0.041 2803 2101 1880

13766 1.36 245.9 74.6 10.3 660 13770 0.00 2.55 0.00 0.000 4 0.000 0.050 2803 3505 1880

13889 1.36 245.9 59.7 11.1 665 13895 0.00 2.50 0.00 0.000 6 0.000 0.041 2803 2101 1880

14207 1.36 245.9 26.5 10.4 681 14211 0.00 2.55 0.00 0.000 4 0.000 0.050 2803 3509 1881

14314 1.36 245.9 15.5 10.3 686 14318 0.00 2.50 0.00 0.000 6 0.000 0.040 2803 2099 1881

14473 end climb: SURFACE_DEPTH_REACHED

state 14473 begin surface coast

14495 end surface coast: CONTROL_FINISHED_OK

state 14495 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	334	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	25	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	-83815.078	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	113726,6302.814,-1306.622,53,0.9,53,-12.1	TGT_NAME	HE
_CALLS	3	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.141,-0.189
_SM_DEPTHo	1.65	KALMAN_X	447382.7,-2409.0,1092.8,-690072.6,-2237.3
_SM_ANGLEo	-55.3	KALMAN_Y	65217.7,-1142.6,740.4,100992.8,-1373.4
GPS2	115014,6302.663,-1306.659,13,1.2,18,-12.1	MHEAD_RNG_PITCHd_Wd	155.5,23494,-14.8,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	719

FINISH	1.0,1.026706	XPDR_PINGS	3
SM_CCo	14517,51.35,0.801,6,0,1655,300.00	ALTIM_TOP_PING	19.9,999.0
SM_GC	1.90,0.00,0.00,51.35,0.000,0.000,0.801,36,1881,1655,-11.31,-0.54,300.00	_24V_AH	23.2,67.798
IRIDIUM_FIX	6239.86,-1314.97,180497,111138	_10V_AH	10.1,32.748
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34884,695
HUMID	2079	CFSIZE	260165632,238354432
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,6,0
TCM_TEMP	16.20	GPS	230108,155556,6259.854,-1306.505,39,1.4,39,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	142	87.13	SBE_CT	515	24	287.18
Roll_motor	164	83	318.92	SBE_O2	468	19	206.59
VBD_pump_during_apogee	334	1290	10010.15	WL_BB2F	428	105	1044.24
VBD_pump_during_surface	51	800	953.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	109	103	261.46	nil	0	0	0.00
Iridium_during_connect	126	160	468.35	nil	0	0	0.00
Iridium_during_xfer	284	223	1473.81
Transponder_ping	6	420	65.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.88
TT8	1347	19	269.52
LPSleep	10977	2	242.81
TT8_Active	549	19	109.91
TT8_Sampling	1729	39	695.38
TT8_CF8	781	45	361.59
TT8_Kalman	33	81	27.57
Analog_circuits	1443	12	174.91
GPS_charging	0	0	0.00
Compass	1686	8	136.27
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	-1.24	-144.2	0.0	0.0	0	87	0.00	0.00	-61.03	0.000	2	0.000	0.000	35	1888	2836
90	-1.24	-146.6	3.2	-2.8	3	133	11.62	2.62	-21.48	0.000	4	0.143	0.064	2223	3298	3477
385	-1.24	-146.6	36.4	-8.5	16	390	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1894	3477
707	-1.24	-146.6	66.2	-10.8	32	712	0.00	2.55	0.00	0.000	4	0.000	0.048	2223	3303	3477
757	-1.24	-146.6	72.3	-12.0	34	761	0.00	2.53	0.00	0.000	6	0.000	0.042	2223	1895	3477
1073	-1.24	-146.6	103.5	-7.7	49	1074	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1895	3477
1382	-1.24	-146.6	130.1	-8.1	64	1386	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3302	3477
1399	-1.24	-146.6	131.6	-9.0	65	1404	0.00	2.50	0.00	0.000	6	0.000	0.042	2223	1899	3477
1726	-1.24	-146.6	162.2	-9.8	81	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
2035	-1.24	-146.6	194.1	-10.7	96	2040	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3302	3477
2080	-1.24	-146.6	199.0	-10.9	98	2084	0.00	2.50	0.00	0.000	6	0.000	0.043	2223	1896	3477
2400	-1.24	-146.6	231.9	-10.3	114	2404	0.00	2.62	0.00	0.000	4	0.000	0.071	2223	491	3477
2426	-1.24	-146.6	234.8	-10.9	115	2431	0.00	2.45	0.00	0.000	6	0.000	0.041	2223	1903	3477
2749	-1.24	-146.6	267.9	-10.1	131	2753	0.00	2.53	0.00	0.000	4	0.000	0.051	2223	3302	3477
2792	-1.24	-146.6	272.1	-8.9	133	2796	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1896	3477
3113	-1.24	-146.6	303.7	-10.9	149	3117	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3298	3477
3141	-1.24	-146.6	306.8	-11.4	150	3145	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1900	3477
3456	-1.24	-146.6	338.3	-9.4	165	3460	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3302	3477
3477	-1.24	-146.6	340.3	-9.4	166	3481	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1898	3477
3798	-1.24	-146.6	370.0	-9.5	182	3802	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3298	3477
3830	-1.24	-146.6	373.3	-10.0	183	3836	0.00	2.50	0.00	0.000	6	0.000	0.045	2224	1900	3477
4146	-1.24	-146.6	400.7	-8.4	199	4147	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1900	3477
4455	-1.24	-146.6	428.3	-9.6	214	4456	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3477
4764	-1.24	-146.6	462.2	-12.3	229	4768	0.00	2.53	0.00	0.000	4	0.000	0.051	2223	3303	3477
4790	-1.24	-146.6	465.3	-11.3	230	4795	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1897	3477
5106	-1.24	-146.6	505.3	-13.2	245	5111	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3302	3476
5162	-1.24	-146.6	511.9	-12.4	247	5168	0.00	2.53	0.00	0.000	6	0.000	0.046	2223	1900	3477
5477	-1.24	-146.6	544.9	-9.7	263	5481	0.00	2.62	0.00	0.000	4	0.000	0.074	2224	496	3477
5533	-1.24	-146.6	550.3	-10.0	265	5539	0.00	2.47	0.00	0.000	6	0.000	0.044	2223	1902	3477
5849	-1.24	-146.6	582.7	-9.4	281	5853	0.00	2.67	0.00	0.000	4	0.000	0.076	2223	489	3476
5915	-1.24	-146.6	589.5	-10.0	284	5919	0.00	2.47	0.00	0.000	6	0.000	0.044	2223	1900	3476
6237	-1.24	-146.6	616.0	-7.9	300	6241	0.00	2.58	0.00	0.000	4	0.000	0.062	2223	3303	3476
6263	-1.24	-146.6	618.3	-8.5	301	6268	0.00	2.55	0.00	0.000	6	0.000	0.054	2223	1904	3477
6580	-1.24	-146.6	642.1	-7.6	316	6584	0.00	2.58	0.00	0.000	4	0.000	0.061	2223	3301	3477
6619	-1.24	-146.6	644.4	-6.3	318	6624	0.00	2.55	0.00	0.000	6	0.000	0.055	2223	1900	3476
6946	-1.24	-146.6	673.7	-8.4	334	6950	0.00	2.67	0.00	0.000	4	0.000	0.084	2223	494	3475
6972	-1.24	-146.6	676.1	-9.2	335	6977	0.00	2.50	0.00	0.000	6	0.000	0.051	2223	1899	3475
7288	-1.24	-146.6	705.6	-9.9	350	7292	0.00	2.60	0.00	0.000	4	0.000	0.064	2223	3303	3475
7350	-1.24	-146.6	710.9	-7.4	353	7354	0.00	2.60	0.00	0.000	6	0.000	0.060	2223	1900	3474
7467	end dive: TARGET_DEPTH_EXCEEDED
state	7467	begin apogee
7474	-0.36	0.0	720.8	8.9	359	7602	0.90	0.00	124.75	1.290	6	0.073	0.000	2421	2105	2878
7603	end apogee: CONTROL_FINISHED_OK
state	7603	begin climb
7605	1.24	146.6	721.3	0.0	365	7738	1.55	2.75	123.93	1.241	4	0.053	0.075	2766	688	2280
7995	1.28	181.1	700.4	6.7	383	8030	0.00	2.58	29.52	1.271	6	0.000	0.050	2766	2103	2139
8340	1.28	181.1	668.1	9.6	399	8345	0.00	2.72	0.00	0.000	4	0.000	0.078	2766	688	2138
8413	1.28	181.1	662.1	9.3	402	8417	0.00	2.58	0.00	0.000	6	0.000	0.050	2766	2105	2138
8728	1.29	191.0	635.9	7.6	417	8742	0.00	2.65	9.15	1.251	4	0.000	0.064	2766	3508	2100
8811	1.32	214.3	630.0	7.1	420	8838	0.00	2.60	20.52	1.239	6	0.000	0.054	2766	2101	2003
9147	1.36	245.1	609.0	6.8	437	9182	0.12	2.70	26.58	1.236	4	0.053	0.061	2803	3505	1878
9249	1.36	245.1	599.3	10.6	441	9255	0.00	2.60	0.00	0.000	6	0.000	0.054	2803	2093	1878
9564	1.36	245.1	571.4	8.5	457	9566	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2093	1877
9873	1.36	245.1	545.0	8.0	472	9878	0.00	2.65	0.00	0.000	4	0.000	0.078	2803	691	1877
9895	1.36	245.1	542.9	9.5	473	9899	0.00	2.53	0.00	0.000	6	0.000	0.048	2802	2102	1877
10217	1.36	245.9	516.2	8.0	489	10221	0.00	2.58	0.00	0.000	4	0.000	0.060	2803	3502	1877
10260	1.36	245.9	512.2	9.3	491	10264	0.00	2.58	0.00	0.000	6	0.000	0.051	2803	2093	1876
10581	1.36	245.9	484.7	8.5	507	10586	0.00	2.60	0.00	0.000	4	0.000	0.056	2803	3508	1877
10710	1.36	245.9	468.9	13.5	513	10715	0.00	2.55	0.00	0.000	6	0.000	0.047	2803	2094	1877
11037	1.36	245.9	431.0	11.6	529	11041	0.00	2.60	0.00	0.000	4	0.000	0.054	2803	3509	1877
11159	1.36	245.9	416.2	12.4	534	11165	0.00	2.50	0.00	0.000	6	0.000	0.046	2803	2106	1877
11474	1.36	245.9	377.2	13.3	550	11475	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2105	1877
11784	1.36	245.9	333.2	14.2	565	11788	0.00	2.55	0.00	0.000	4	0.000	0.052	2803	3505	1878
11850	1.36	245.9	323.8	13.8	568	11854	0.00	2.53	0.00	0.000	6	0.000	0.044	2803	2100	1878
12170	1.36	245.9	281.4	14.1	584	12174	0.00	2.58	0.00	0.000	4	0.000	0.052	2803	3508	1878
12258	1.36	245.9	269.5	13.6	588	12263	0.00	2.50	0.00	0.000	6	0.000	0.042	2803	2098	1878
12580	1.36	245.9	227.1	12.8	604	12584	0.00	2.55	0.00	0.000	4	0.000	0.051	2803	3502	1879
12664	1.36	245.9	215.6	13.9	608	12668	0.00	2.53	0.00	0.000	6	0.000	0.042	2803	2093	1879
12990	1.36	245.9	172.5	13.5	624	12994	0.00	2.58	0.00	0.000	4	0.000	0.052	2803	3507	1880
13061	1.36	245.9	162.5	13.7	627	13066	0.00	2.53	0.00	0.000	6	0.000	0.041	2803	2091	1879
13379	1.36	245.9	119.8	13.6	642	13383	0.00	2.58	0.00	0.000	4	0.000	0.051	2803	3507	1880
13451	1.36	245.9	110.0	13.0	645	13455	0.00	2.50	0.00	0.000	6	0.000	0.041	2803	2101	1880
13766	1.36	245.9	74.6	10.3	660	13770	0.00	2.55	0.00	0.000	4	0.000	0.050	2803	3505	1880
13889	1.36	245.9	59.7	11.1	665	13895	0.00	2.50	0.00	0.000	6	0.000	0.041	2803	2101	1880
14207	1.36	245.9	26.5	10.4	681	14211	0.00	2.55	0.00	0.000	4	0.000	0.050	2803	3509	1881
14314	1.36	245.9	15.5	10.3	686	14318	0.00	2.50	0.00	0.000	6	0.000	0.040	2803	2099	1881
14473	end climb: SURFACE_DEPTH_REACHED
state	14473	begin surface coast
14495	end surface coast: CONTROL_FINISHED_OK
state	14495	begin surface