Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 336 * 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 336 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -2 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 -83845.586 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 -83845.586

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 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 336 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 203038,6258.503,-1303.353,36,0.9,36,-12.0 TGT_NAME HE

_CALLS 3 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.158,-0.171

_SM_DEPTHo 1.57 KALMAN_X 442861.7,2737.6,872.7,-687173.8,-3507.2

_SM_ANGLEo -61.4 KALMAN_Y 63598.4,1527.3,1308.8,91683.1,-2775.6

GPS2 204351,6258.522,-1302.877,14,1.4,14,-12.0 MHEAD_RNG_PITCHd_Wd 149.3,15886,-15.1,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 713

Post-dive calculations and measurements:

FINISH 0.7,1.014676 XPDR_PINGS 3

SM_CCo 12475,0.00,0.000,0,0,1445,351.51 ALTIM_TOP_PING 18.8,999.0

SM_GC 1.54,12.10,0.00,0.00,0.031,0.000,0.000,35,1890,1445,-11.26,-0.28,351.51 _24V_AH 23.2,68.118

IRIDIUM_FIX 6235.17,-1308.20,180497,202054 _10V_AH 10.1,32.892

TT8_MAMPS 0.026078 DATA_FILE_SIZE 31658,597

HUMID 2103 CFSIZE 260165632,238260224

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.30 GPS 240108,001437,6258.609,-1256.348,32,1.3,32,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 86.60 SBE_CT 441 24 245.68

Roll_motor 138 85 274.25 SBE_O2 401 19 176.92

VBD_pump_during_apogee 417 1260 12218.54 WL_BB2F 370 105 902.39

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 120 103 287.37 nil 0 0 0.00

Iridium_during_connect 112 160 417.25 nil 0 0 0.00

Iridium_during_xfer 303 223 1568.18

Transponder_ping 6 420 60.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.90

TT8 1156 19 231.22

LPSleep 9339 2 206.58

TT8_Active 512 19 102.45

TT8_Sampling 1492 39 599.99

TT8_CF8 818 45 378.61

TT8_Kalman 33 81 27.57

Analog_circuits 1306 12 158.39

GPS_charging 0 0 0.00

Compass 1456 8 117.69

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 -1.25 -139.9 0.0 0.0 0 86 0.00 0.00 -61.08 0.000 2 0.000 0.000 36 1883 2811

90 -1.26 -146.6 3.3 -4.2 3 132 11.57 2.62 -22.00 0.000 4 0.141 0.063 2216 3299 3477

384 -1.26 -146.6 37.3 -11.4 16 389 0.00 2.50 0.00 0.000 6 0.000 0.043 2217 1905 3478

706 -1.26 -146.6 69.8 -12.6 32 711 0.00 2.53 0.00 0.000 4 0.000 0.048 2217 3302 3477

851 -1.26 -146.6 88.4 -9.9 38 858 0.00 2.53 0.00 0.000 6 0.000 0.044 2217 1894 3478

1169 -1.26 -146.6 121.7 -11.2 54 1174 0.00 2.55 0.00 0.000 4 0.000 0.048 2217 3305 3478

1202 -1.26 -146.6 125.9 -11.7 55 1209 0.00 2.53 0.00 0.000 6 0.000 0.044 2217 1900 3478

1518 -1.26 -146.6 156.3 -9.0 71 1522 0.00 2.53 0.00 0.000 4 0.000 0.048 2217 3303 3478

1544 -1.26 -146.6 158.9 -9.6 72 1549 0.00 2.53 0.00 0.000 6 0.000 0.043 2217 1895 3478

1860 -1.26 -146.6 191.1 -10.5 87 1865 0.00 2.55 0.00 0.000 4 0.000 0.048 2216 3305 3478

1922 -1.26 -146.6 197.4 -9.8 90 1927 0.00 2.53 0.00 0.000 6 0.000 0.044 2217 1895 3478

2250 -1.26 -146.6 233.2 -11.8 106 2254 0.00 2.53 0.00 0.000 4 0.000 0.048 2217 3303 3478

2266 -1.26 -146.6 235.2 -11.5 107 2271 0.00 2.53 0.00 0.000 6 0.000 0.044 2217 1898 3478

2593 -1.26 -146.6 270.1 -12.0 123 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 1898 3478

2903 -1.26 -146.6 306.6 -11.4 138 2907 0.00 2.55 0.00 0.000 4 0.000 0.049 2217 3305 3478

2941 -1.26 -146.6 310.8 -11.1 140 2946 0.00 2.53 0.00 0.000 6 0.000 0.044 2217 1901 3478

3268 -1.26 -146.6 345.9 -10.5 156 3269 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 1901 3478

3578 -1.26 -146.6 378.5 -10.7 171 3582 0.00 2.53 0.00 0.000 4 0.000 0.050 2217 3305 3478

3629 -1.26 -146.6 383.9 -10.0 173 3633 0.00 2.53 0.00 0.000 6 0.000 0.046 2217 1900 3478

3949 -1.26 -146.6 416.5 -9.8 189 3954 0.00 2.53 0.00 0.000 4 0.000 0.051 2217 3302 3478

3983 -1.26 -146.6 419.9 -10.0 190 3989 0.00 2.53 0.00 0.000 6 0.000 0.047 2217 1899 3478

4299 -1.26 -146.6 451.0 -9.7 206 4304 0.00 2.55 0.00 0.000 4 0.000 0.051 2217 3303 3478

4339 -1.26 -146.6 454.8 -9.6 208 4343 0.00 2.53 0.00 0.000 6 0.000 0.048 2217 1900 3478

4665 -1.26 -146.6 488.1 -11.0 224 4666 0.00 0.00 0.00 0.000 6 0.000 0.000 2217 1900 3478

4974 -1.26 -146.6 517.9 -8.7 239 4978 0.00 2.55 0.00 0.000 4 0.000 0.052 2217 3302 3477

5014 -1.26 -146.6 521.1 -8.6 241 5018 0.00 2.55 0.00 0.000 6 0.000 0.048 2217 1895 3477

5340 -1.26 -146.6 547.5 -8.7 257 5341 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 1895 3477

5649 -1.26 -146.6 573.4 -8.7 272 5653 0.00 2.58 0.00 0.000 4 0.000 0.057 2217 3299 3477

5704 -1.26 -146.6 578.2 -8.8 274 5710 0.00 2.55 0.00 0.000 6 0.000 0.051 2217 1896 3477

6020 -1.26 -146.6 604.1 -8.3 290 6024 0.00 2.60 0.00 0.000 4 0.000 0.060 2217 3301 3477

6119 -1.26 -146.6 613.4 -9.0 294 6126 0.00 2.58 0.00 0.000 6 0.000 0.055 2216 1896 3477

6435 -1.26 -146.6 643.4 -9.7 310 6439 0.00 2.60 0.00 0.000 4 0.000 0.063 2217 3299 3477

6503 -1.26 -146.6 650.1 -9.7 313 6508 0.00 2.58 0.00 0.000 6 0.000 0.058 2217 1903 3476

6824 -1.26 -146.6 669.7 -0.2 329 6828 0.00 2.60 0.00 0.000 4 0.000 0.065 2217 3303 3475

7081 -1.26 -146.6 669.6 -0.2 340 7088 0.00 2.60 0.00 0.000 6 0.000 0.059 2217 1898 3474

7106 end dive: NO_VERTICAL_VELOCITY

state 7106 begin apogee

7112 -0.36 0.0 669.6 0.0 342 7241 0.93 0.00 125.12 1.260 6 0.070 0.000 2418 2098 2878

7241 end apogee: CONTROL_FINISHED_OK

state 7241 begin climb

7244 1.26 146.6 669.2 0.0 348 7376 1.60 2.75 123.60 1.213 4 0.059 0.074 2768 691 2280

7490 1.51 351.1 669.3 -0.2 359 7670 0.25 2.55 169.20 1.207 6 0.039 0.051 2839 2094 1445

7991 1.51 351.1 619.6 14.0 384 7996 0.00 2.65 0.00 0.000 4 0.000 0.064 2839 3510 1445

8233 1.51 351.1 585.3 14.3 395 8238 0.00 2.62 0.00 0.000 6 0.000 0.058 2840 2098 1444

8560 1.51 351.1 540.3 14.1 411 8564 0.00 2.72 0.00 0.000 4 0.000 0.085 2839 691 1443

8581 1.51 351.1 536.9 15.2 412 8585 0.00 2.55 0.00 0.000 6 0.000 0.051 2840 2108 1443

8902 1.51 351.1 492.0 13.9 428 8906 0.00 2.58 0.00 0.000 4 0.000 0.058 2840 3508 1442

8951 1.51 351.1 484.8 15.0 430 8955 0.00 2.58 0.00 0.000 6 0.000 0.053 2840 2099 1442

9266 1.51 351.1 442.9 12.9 445 9271 0.00 2.67 0.00 0.000 4 0.000 0.079 2840 692 1442

9287 1.51 351.1 440.0 13.7 446 9292 0.00 2.53 0.00 0.000 6 0.000 0.045 2840 2105 1442

9608 1.51 351.1 395.7 14.4 462 9612 0.00 2.55 0.00 0.000 4 0.000 0.054 2840 3502 1442

9635 1.51 351.1 391.5 15.9 463 9640 0.00 2.55 0.00 0.000 6 0.000 0.050 2840 2096 1442

9951 1.51 351.1 344.9 14.8 478 9955 0.00 2.55 0.00 0.000 4 0.000 0.052 2840 3498 1442

9977 1.51 351.1 340.9 14.8 479 9982 0.00 2.55 0.00 0.000 6 0.000 0.047 2840 2095 1442

10293 1.51 351.1 295.0 14.5 494 10294 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2095 1442

10603 1.51 351.1 249.9 14.3 509 10607 0.00 2.55 0.00 0.000 4 0.000 0.051 2839 3504 1443

10643 1.51 351.1 243.9 16.0 511 10648 0.00 2.53 0.00 0.000 6 0.000 0.044 2839 2100 1443

10970 1.51 351.1 196.1 14.6 527 10974 0.00 2.62 0.00 0.000 4 0.000 0.071 2840 695 1444

10980 1.51 351.1 194.5 15.1 527 10986 0.00 2.47 0.00 0.000 6 0.000 0.041 2840 2103 1444

11295 1.51 351.1 150.0 14.0 543 11300 0.00 2.53 0.00 0.000 4 0.000 0.050 2840 3499 1444

11317 1.51 351.1 146.8 14.4 544 11321 0.00 2.50 0.00 0.000 6 0.000 0.043 2839 2095 1444

11639 1.51 351.1 101.0 14.4 560 11643 0.00 2.55 0.00 0.000 4 0.000 0.049 2840 3498 1444

11656 1.51 351.1 98.4 14.8 561 11660 0.00 2.53 0.00 0.000 6 0.000 0.042 2840 2092 1444

11982 1.51 351.1 52.9 12.6 577 11986 0.00 2.55 0.00 0.000 4 0.000 0.049 2840 3498 1445

12004 1.51 351.1 50.1 12.3 578 12008 0.00 2.50 0.00 0.000 6 0.000 0.041 2840 2091 1444

12330 1.51 351.1 7.3 13.8 594 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 2091 1446

12369 end climb: SURFACE_DEPTH_REACHED

state 12369 begin surface coast

12393 end surface coast: CONTROL_FINISHED_OK

state 12393 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	336	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-2	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	-83845.586	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	203038,6258.503,-1303.353,36,0.9,36,-12.0	TGT_NAME	HE
_CALLS	3	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.158,-0.171
_SM_DEPTHo	1.57	KALMAN_X	442861.7,2737.6,872.7,-687173.8,-3507.2
_SM_ANGLEo	-61.4	KALMAN_Y	63598.4,1527.3,1308.8,91683.1,-2775.6
GPS2	204351,6258.522,-1302.877,14,1.4,14,-12.0	MHEAD_RNG_PITCHd_Wd	149.3,15886,-15.1,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	713

FINISH	0.7,1.014676	XPDR_PINGS	3
SM_CCo	12475,0.00,0.000,0,0,1445,351.51	ALTIM_TOP_PING	18.8,999.0
SM_GC	1.54,12.10,0.00,0.00,0.031,0.000,0.000,35,1890,1445,-11.26,-0.28,351.51	_24V_AH	23.2,68.118
IRIDIUM_FIX	6235.17,-1308.20,180497,202054	_10V_AH	10.1,32.892
TT8_MAMPS	0.026078	DATA_FILE_SIZE	31658,597
HUMID	2103	CFSIZE	260165632,238260224
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.30	GPS	240108,001437,6258.609,-1256.348,32,1.3,32,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	86.60	SBE_CT	441	24	245.68
Roll_motor	138	85	274.25	SBE_O2	401	19	176.92
VBD_pump_during_apogee	417	1260	12218.54	WL_BB2F	370	105	902.39
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	120	103	287.37	nil	0	0	0.00
Iridium_during_connect	112	160	417.25	nil	0	0	0.00
Iridium_during_xfer	303	223	1568.18
Transponder_ping	6	420	60.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.90
TT8	1156	19	231.22
LPSleep	9339	2	206.58
TT8_Active	512	19	102.45
TT8_Sampling	1492	39	599.99
TT8_CF8	818	45	378.61
TT8_Kalman	33	81	27.57
Analog_circuits	1306	12	158.39
GPS_charging	0	0	0.00
Compass	1456	8	117.69
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	-1.25	-139.9	0.0	0.0	0	86	0.00	0.00	-61.08	0.000	2	0.000	0.000	36	1883	2811
90	-1.26	-146.6	3.3	-4.2	3	132	11.57	2.62	-22.00	0.000	4	0.141	0.063	2216	3299	3477
384	-1.26	-146.6	37.3	-11.4	16	389	0.00	2.50	0.00	0.000	6	0.000	0.043	2217	1905	3478
706	-1.26	-146.6	69.8	-12.6	32	711	0.00	2.53	0.00	0.000	4	0.000	0.048	2217	3302	3477
851	-1.26	-146.6	88.4	-9.9	38	858	0.00	2.53	0.00	0.000	6	0.000	0.044	2217	1894	3478
1169	-1.26	-146.6	121.7	-11.2	54	1174	0.00	2.55	0.00	0.000	4	0.000	0.048	2217	3305	3478
1202	-1.26	-146.6	125.9	-11.7	55	1209	0.00	2.53	0.00	0.000	6	0.000	0.044	2217	1900	3478
1518	-1.26	-146.6	156.3	-9.0	71	1522	0.00	2.53	0.00	0.000	4	0.000	0.048	2217	3303	3478
1544	-1.26	-146.6	158.9	-9.6	72	1549	0.00	2.53	0.00	0.000	6	0.000	0.043	2217	1895	3478
1860	-1.26	-146.6	191.1	-10.5	87	1865	0.00	2.55	0.00	0.000	4	0.000	0.048	2216	3305	3478
1922	-1.26	-146.6	197.4	-9.8	90	1927	0.00	2.53	0.00	0.000	6	0.000	0.044	2217	1895	3478
2250	-1.26	-146.6	233.2	-11.8	106	2254	0.00	2.53	0.00	0.000	4	0.000	0.048	2217	3303	3478
2266	-1.26	-146.6	235.2	-11.5	107	2271	0.00	2.53	0.00	0.000	6	0.000	0.044	2217	1898	3478
2593	-1.26	-146.6	270.1	-12.0	123	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	1898	3478
2903	-1.26	-146.6	306.6	-11.4	138	2907	0.00	2.55	0.00	0.000	4	0.000	0.049	2217	3305	3478
2941	-1.26	-146.6	310.8	-11.1	140	2946	0.00	2.53	0.00	0.000	6	0.000	0.044	2217	1901	3478
3268	-1.26	-146.6	345.9	-10.5	156	3269	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	1901	3478
3578	-1.26	-146.6	378.5	-10.7	171	3582	0.00	2.53	0.00	0.000	4	0.000	0.050	2217	3305	3478
3629	-1.26	-146.6	383.9	-10.0	173	3633	0.00	2.53	0.00	0.000	6	0.000	0.046	2217	1900	3478
3949	-1.26	-146.6	416.5	-9.8	189	3954	0.00	2.53	0.00	0.000	4	0.000	0.051	2217	3302	3478
3983	-1.26	-146.6	419.9	-10.0	190	3989	0.00	2.53	0.00	0.000	6	0.000	0.047	2217	1899	3478
4299	-1.26	-146.6	451.0	-9.7	206	4304	0.00	2.55	0.00	0.000	4	0.000	0.051	2217	3303	3478
4339	-1.26	-146.6	454.8	-9.6	208	4343	0.00	2.53	0.00	0.000	6	0.000	0.048	2217	1900	3478
4665	-1.26	-146.6	488.1	-11.0	224	4666	0.00	0.00	0.00	0.000	6	0.000	0.000	2217	1900	3478
4974	-1.26	-146.6	517.9	-8.7	239	4978	0.00	2.55	0.00	0.000	4	0.000	0.052	2217	3302	3477
5014	-1.26	-146.6	521.1	-8.6	241	5018	0.00	2.55	0.00	0.000	6	0.000	0.048	2217	1895	3477
5340	-1.26	-146.6	547.5	-8.7	257	5341	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	1895	3477
5649	-1.26	-146.6	573.4	-8.7	272	5653	0.00	2.58	0.00	0.000	4	0.000	0.057	2217	3299	3477
5704	-1.26	-146.6	578.2	-8.8	274	5710	0.00	2.55	0.00	0.000	6	0.000	0.051	2217	1896	3477
6020	-1.26	-146.6	604.1	-8.3	290	6024	0.00	2.60	0.00	0.000	4	0.000	0.060	2217	3301	3477
6119	-1.26	-146.6	613.4	-9.0	294	6126	0.00	2.58	0.00	0.000	6	0.000	0.055	2216	1896	3477
6435	-1.26	-146.6	643.4	-9.7	310	6439	0.00	2.60	0.00	0.000	4	0.000	0.063	2217	3299	3477
6503	-1.26	-146.6	650.1	-9.7	313	6508	0.00	2.58	0.00	0.000	6	0.000	0.058	2217	1903	3476
6824	-1.26	-146.6	669.7	-0.2	329	6828	0.00	2.60	0.00	0.000	4	0.000	0.065	2217	3303	3475
7081	-1.26	-146.6	669.6	-0.2	340	7088	0.00	2.60	0.00	0.000	6	0.000	0.059	2217	1898	3474
7106	end dive: NO_VERTICAL_VELOCITY
state	7106	begin apogee
7112	-0.36	0.0	669.6	0.0	342	7241	0.93	0.00	125.12	1.260	6	0.070	0.000	2418	2098	2878
7241	end apogee: CONTROL_FINISHED_OK
state	7241	begin climb
7244	1.26	146.6	669.2	0.0	348	7376	1.60	2.75	123.60	1.213	4	0.059	0.074	2768	691	2280
7490	1.51	351.1	669.3	-0.2	359	7670	0.25	2.55	169.20	1.207	6	0.039	0.051	2839	2094	1445
7991	1.51	351.1	619.6	14.0	384	7996	0.00	2.65	0.00	0.000	4	0.000	0.064	2839	3510	1445
8233	1.51	351.1	585.3	14.3	395	8238	0.00	2.62	0.00	0.000	6	0.000	0.058	2840	2098	1444
8560	1.51	351.1	540.3	14.1	411	8564	0.00	2.72	0.00	0.000	4	0.000	0.085	2839	691	1443
8581	1.51	351.1	536.9	15.2	412	8585	0.00	2.55	0.00	0.000	6	0.000	0.051	2840	2108	1443
8902	1.51	351.1	492.0	13.9	428	8906	0.00	2.58	0.00	0.000	4	0.000	0.058	2840	3508	1442
8951	1.51	351.1	484.8	15.0	430	8955	0.00	2.58	0.00	0.000	6	0.000	0.053	2840	2099	1442
9266	1.51	351.1	442.9	12.9	445	9271	0.00	2.67	0.00	0.000	4	0.000	0.079	2840	692	1442
9287	1.51	351.1	440.0	13.7	446	9292	0.00	2.53	0.00	0.000	6	0.000	0.045	2840	2105	1442
9608	1.51	351.1	395.7	14.4	462	9612	0.00	2.55	0.00	0.000	4	0.000	0.054	2840	3502	1442
9635	1.51	351.1	391.5	15.9	463	9640	0.00	2.55	0.00	0.000	6	0.000	0.050	2840	2096	1442
9951	1.51	351.1	344.9	14.8	478	9955	0.00	2.55	0.00	0.000	4	0.000	0.052	2840	3498	1442
9977	1.51	351.1	340.9	14.8	479	9982	0.00	2.55	0.00	0.000	6	0.000	0.047	2840	2095	1442
10293	1.51	351.1	295.0	14.5	494	10294	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2095	1442
10603	1.51	351.1	249.9	14.3	509	10607	0.00	2.55	0.00	0.000	4	0.000	0.051	2839	3504	1443
10643	1.51	351.1	243.9	16.0	511	10648	0.00	2.53	0.00	0.000	6	0.000	0.044	2839	2100	1443
10970	1.51	351.1	196.1	14.6	527	10974	0.00	2.62	0.00	0.000	4	0.000	0.071	2840	695	1444
10980	1.51	351.1	194.5	15.1	527	10986	0.00	2.47	0.00	0.000	6	0.000	0.041	2840	2103	1444
11295	1.51	351.1	150.0	14.0	543	11300	0.00	2.53	0.00	0.000	4	0.000	0.050	2840	3499	1444
11317	1.51	351.1	146.8	14.4	544	11321	0.00	2.50	0.00	0.000	6	0.000	0.043	2839	2095	1444
11639	1.51	351.1	101.0	14.4	560	11643	0.00	2.55	0.00	0.000	4	0.000	0.049	2840	3498	1444
11656	1.51	351.1	98.4	14.8	561	11660	0.00	2.53	0.00	0.000	6	0.000	0.042	2840	2092	1444
11982	1.51	351.1	52.9	12.6	577	11986	0.00	2.55	0.00	0.000	4	0.000	0.049	2840	3498	1445
12004	1.51	351.1	50.1	12.3	578	12008	0.00	2.50	0.00	0.000	6	0.000	0.041	2840	2091	1444
12330	1.51	351.1	7.3	13.8	594	12331	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	2091	1446
12369	end climb: SURFACE_DEPTH_REACHED
state	12369	begin surface coast
12393	end surface coast: CONTROL_FINISHED_OK
state	12393	begin surface