Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 338 * 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 338 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -83878.883 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 -83878.883

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 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 338 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 043055,6256.650,-1252.567,24,1.4,42,-11.9 TGT_NAME HE

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.060,-0.230

_SM_DEPTHo 1.53 KALMAN_X 452080.8,2121.8,448.9,-686168.1,-885.5

_SM_ANGLEo -61.3 KALMAN_Y 70278.6,946.1,-773.8,84102.8,1784.6

GPS2 044021,6256.600,-1252.406,13,1.6,13,-11.9 MHEAD_RNG_PITCHd_Wd 206.5,16212,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 674

Post-dive calculations and measurements:

FINISH 0.8,1.027549 XPDR_PINGS 2

SM_CCo 14432,50.45,0.802,6,0,1655,300.00 ALTIM_TOP_PING 17.9,999.0

SM_GC 1.62,0.00,0.00,50.45,0.000,0.000,0.802,35,1885,1655,-11.31,-0.40,300.00 _24V_AH 23.2,68.418

IRIDIUM_FIX 6230.49,-1256.84,190497,040437 _10V_AH 10.1,33.042

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34775,696

HUMID 2068 CFSIZE 260165632,238137344

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,6,0

TCM_TEMP 16.30 GPS 240108,084508,6255.518,-1247.906,31,1.2,31,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 84.14 SBE_CT 513 24 286.06

Roll_motor 159 80 298.76 SBE_O2 468 19 206.66

VBD_pump_during_apogee 335 1258 9785.85 WL_BB2F 430 105 1048.33

VBD_pump_during_surface 50 801 938.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 182.92 nil 0 0 0.00

Iridium_during_connect 67 160 250.87 nil 0 0 0.00

Iridium_during_xfer 239 223 1241.62

Transponder_ping 6 420 58.46

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.63

TT8 1347 19 269.45

LPSleep 10817 2 239.28

TT8_Active 559 19 111.95

TT8_Sampling 1731 39 696.18

TT8_CF8 678 45 313.79

TT8_Kalman 33 81 27.57

Analog_circuits 1443 12 175.00

GPS_charging 0 0 0.00

Compass 1692 8 136.73

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 -1.23 -146.4 0.0 0.0 0 101 0.00 0.00 -76.43 0.000 2 0.000 0.000 29 1898 3176

105 -1.23 -146.6 4.5 -4.2 4 130 11.57 2.60 -7.10 0.000 4 0.139 0.060 2224 3303 3477

344 -1.23 -146.6 42.1 -11.2 14 350 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1893 3478

659 -1.23 -146.6 73.2 -8.9 30 664 0.00 2.58 0.00 0.000 4 0.000 0.048 2224 3314 3478

699 -1.23 -146.6 76.8 -9.1 32 704 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1898 3478

1027 -1.23 -146.6 108.4 -8.9 48 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3478

1335 -1.23 -146.6 135.5 -8.7 63 1340 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3310 3478

1421 -1.23 -146.6 143.6 -9.2 67 1425 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1898 3478

1748 -1.23 -146.6 175.8 -10.3 83 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3478

2056 -1.23 -146.6 209.7 -11.2 98 2060 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3309 3478

2110 -1.23 -146.6 215.8 -10.6 100 2117 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1899 3478

2427 -1.23 -146.6 249.3 -10.5 116 2431 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3309 3478

2466 -1.23 -146.6 253.6 -11.0 118 2470 0.00 2.55 0.00 0.000 6 0.000 0.045 2224 1895 3478

2792 -1.23 -146.6 287.2 -9.9 134 2793 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1895 3477

3101 -1.23 -146.6 317.3 -9.6 149 3105 0.00 2.58 0.00 0.000 4 0.000 0.050 2224 3316 3478

3150 -1.23 -146.6 322.3 -9.5 151 3154 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1898 3478

3472 -1.23 -146.6 352.6 -9.3 167 3473 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1898 3478

3781 -1.23 -146.6 381.8 -9.7 182 3785 0.00 2.53 0.00 0.000 4 0.000 0.050 2224 3309 3478

3813 -1.23 -146.6 384.7 -9.4 183 3819 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1900 3478

4129 -1.23 -146.6 414.9 -9.4 199 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3478

4438 -1.23 -146.6 440.2 -7.3 214 4442 0.00 2.58 0.00 0.000 4 0.000 0.051 2224 3314 3478

4505 -1.23 -146.6 445.2 -7.6 217 4509 0.00 2.55 0.00 0.000 6 0.000 0.045 2224 1898 3478

4826 -1.23 -146.6 470.6 -8.2 233 4830 0.00 2.62 0.00 0.000 4 0.000 0.075 2224 498 3478

4865 -1.23 -146.6 474.1 -9.2 235 4869 0.00 2.50 0.00 0.000 6 0.000 0.044 2224 1921 3478

5191 -1.23 -146.6 503.7 -9.8 251 5195 0.00 2.50 0.00 0.000 4 0.000 0.054 2224 3299 3478

5246 -1.23 -146.6 509.3 -9.7 253 5252 0.00 2.53 0.00 0.000 6 0.000 0.049 2224 1903 3477

5561 -1.23 -146.6 535.7 -8.3 269 5565 0.00 2.55 0.00 0.000 4 0.000 0.053 2224 3303 3477

5737 -1.23 -146.6 554.1 -11.3 277 5741 0.00 2.55 0.00 0.000 6 0.000 0.050 2224 1899 3477

6063 -1.23 -146.6 584.8 -8.7 293 6067 0.00 2.65 0.00 0.000 4 0.000 0.081 2224 496 3477

6106 -1.23 -146.6 588.5 -8.2 295 6111 0.00 2.47 0.00 0.000 6 0.000 0.048 2224 1896 3477

6429 -1.23 -146.6 616.7 -8.9 311 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3477

6737 -1.23 -146.6 642.0 -7.5 326 6742 0.00 2.62 0.00 0.000 4 0.000 0.067 2224 3306 3477

6821 -1.23 -146.6 650.8 -10.9 330 6825 0.00 2.60 0.00 0.000 6 0.000 0.061 2224 1903 3476

7062 end dive: TARGET_DEPTH_EXCEEDED

state 7062 begin apogee

7068 -0.36 0.0 674.2 7.4 342 7197 0.90 0.00 125.25 1.259 6 0.083 0.000 2415 2102 2878

7198 end apogee: CONTROL_FINISHED_OK

state 7198 begin climb

7200 1.23 146.6 675.1 0.0 348 7332 1.58 2.70 123.43 1.219 4 0.052 0.069 2764 3498 2280

7439 1.26 173.6 668.2 7.0 360 7468 0.00 2.60 23.83 1.213 6 0.000 0.054 2763 2097 2169

7785 1.26 173.6 639.0 9.5 377 7789 0.00 2.62 0.00 0.000 4 0.000 0.064 2764 3499 2168

7795 1.26 173.6 638.0 10.4 377 7801 0.00 2.58 0.00 0.000 6 0.000 0.054 2764 2101 2168

8110 1.26 173.6 601.4 13.5 393 8115 0.00 2.67 0.00 0.000 4 0.000 0.080 2764 693 2167

8370 1.26 173.6 580.4 8.2 404 8376 0.00 2.55 0.00 0.000 6 0.000 0.051 2764 2098 2166

8685 1.30 201.0 557.3 7.0 420 8715 0.00 2.78 22.95 1.238 4 0.000 0.078 2764 699 2058

8777 1.30 201.0 550.0 8.3 424 8782 0.00 2.55 0.00 0.000 6 0.000 0.051 2764 2104 2057

9099 1.33 227.4 528.7 7.0 440 9129 0.00 2.67 22.92 1.217 4 0.000 0.063 2764 3495 1950

9191 1.33 227.4 521.1 8.3 444 9196 0.00 2.58 0.00 0.000 6 0.000 0.052 2764 2097 1949

9513 1.33 227.4 492.0 9.1 460 9517 0.00 2.60 0.00 0.000 4 0.000 0.059 2764 3502 1949

9569 1.33 227.4 486.5 10.0 462 9575 0.00 2.58 0.00 0.000 6 0.000 0.051 2764 2097 1949

9884 1.33 227.4 456.3 9.4 478 9888 0.00 2.60 0.00 0.000 4 0.000 0.057 2764 3502 1949

9928 1.33 227.4 451.9 10.3 480 9932 0.00 2.55 0.00 0.000 6 0.000 0.048 2764 2099 1949

10249 1.35 247.0 427.1 7.3 496 10272 0.12 2.70 16.75 1.141 4 0.053 0.055 2801 3508 1871

10340 1.35 247.0 417.1 12.3 500 10344 0.00 2.58 0.00 0.000 6 0.000 0.048 2801 2094 1871

10667 1.35 247.0 382.7 10.6 516 10671 0.00 2.55 0.00 0.000 4 0.000 0.054 2802 3504 1871

10750 1.35 247.0 373.0 11.2 520 10755 0.00 2.53 0.00 0.000 6 0.000 0.046 2801 2100 1872

11078 1.35 247.0 338.4 10.4 536 11082 0.00 2.58 0.00 0.000 4 0.000 0.053 2801 3504 1872

11149 1.35 247.0 330.3 11.2 539 11154 0.00 2.53 0.00 0.000 6 0.000 0.045 2801 2097 1872

11465 1.35 247.0 297.2 10.9 554 11469 0.00 2.58 0.00 0.000 4 0.000 0.053 2801 3504 1873

11542 1.35 247.0 288.5 10.2 557 11548 0.00 2.53 0.00 0.000 6 0.000 0.044 2802 2098 1873

11857 1.35 247.0 256.4 10.1 573 11862 0.00 2.58 0.00 0.000 4 0.000 0.052 2802 3508 1873

11920 1.35 247.0 250.1 10.1 576 11924 0.00 2.55 0.00 0.000 6 0.000 0.044 2801 2091 1873

12246 1.35 247.0 219.1 9.2 592 12250 0.00 2.58 0.00 0.000 4 0.000 0.052 2802 3510 1874

12312 1.35 247.0 212.6 9.9 595 12316 0.00 2.50 0.00 0.000 6 0.000 0.043 2801 2100 1874

12633 1.35 247.0 181.1 9.6 611 12637 0.00 2.55 0.00 0.000 4 0.000 0.051 2801 3509 1874

12684 1.35 247.0 176.1 9.9 613 12688 0.00 2.53 0.00 0.000 6 0.000 0.042 2801 2095 1874

12999 1.35 247.0 147.1 9.5 628 13003 0.00 2.58 0.00 0.000 4 0.000 0.051 2801 3510 1875

13076 1.35 247.0 139.3 9.8 631 13083 0.00 2.53 0.00 0.000 6 0.000 0.042 2802 2102 1875

13393 1.35 247.0 109.7 9.9 647 13397 0.00 2.55 0.00 0.000 4 0.000 0.050 2802 3505 1875

13459 1.35 247.0 101.5 12.0 650 13463 0.00 2.50 0.00 0.000 6 0.000 0.041 2801 2094 1875

13780 1.35 247.0 74.5 9.1 666 13785 0.00 2.58 0.00 0.000 4 0.000 0.051 2802 3509 1875

13892 1.35 247.0 62.2 11.0 671 13896 0.00 2.50 0.00 0.000 6 0.000 0.041 2801 2093 1876

14213 1.35 247.0 25.0 13.8 687 14217 0.00 2.58 0.00 0.000 4 0.000 0.051 2801 3510 1876

14240 1.35 247.0 21.3 12.6 688 14244 0.00 2.53 0.00 0.000 6 0.000 0.041 2801 2090 1876

14388 end climb: SURFACE_DEPTH_REACHED

state 14388 begin surface coast

14410 end surface coast: CONTROL_FINISHED_OK

state 14410 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	338	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-83878.883	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	043055,6256.650,-1252.567,24,1.4,42,-11.9	TGT_NAME	HE
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.060,-0.230
_SM_DEPTHo	1.53	KALMAN_X	452080.8,2121.8,448.9,-686168.1,-885.5
_SM_ANGLEo	-61.3	KALMAN_Y	70278.6,946.1,-773.8,84102.8,1784.6
GPS2	044021,6256.600,-1252.406,13,1.6,13,-11.9	MHEAD_RNG_PITCHd_Wd	206.5,16212,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	674

FINISH	0.8,1.027549	XPDR_PINGS	2
SM_CCo	14432,50.45,0.802,6,0,1655,300.00	ALTIM_TOP_PING	17.9,999.0
SM_GC	1.62,0.00,0.00,50.45,0.000,0.000,0.802,35,1885,1655,-11.31,-0.40,300.00	_24V_AH	23.2,68.418
IRIDIUM_FIX	6230.49,-1256.84,190497,040437	_10V_AH	10.1,33.042
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34775,696
HUMID	2068	CFSIZE	260165632,238137344
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,6,0
TCM_TEMP	16.30	GPS	240108,084508,6255.518,-1247.906,31,1.2,31,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	84.14	SBE_CT	513	24	286.06
Roll_motor	159	80	298.76	SBE_O2	468	19	206.66
VBD_pump_during_apogee	335	1258	9785.85	WL_BB2F	430	105	1048.33
VBD_pump_during_surface	50	801	938.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	182.92	nil	0	0	0.00
Iridium_during_connect	67	160	250.87	nil	0	0	0.00
Iridium_during_xfer	239	223	1241.62
Transponder_ping	6	420	58.46
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.63
TT8	1347	19	269.45
LPSleep	10817	2	239.28
TT8_Active	559	19	111.95
TT8_Sampling	1731	39	696.18
TT8_CF8	678	45	313.79
TT8_Kalman	33	81	27.57
Analog_circuits	1443	12	175.00
GPS_charging	0	0	0.00
Compass	1692	8	136.73
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	-1.23	-146.4	0.0	0.0	0	101	0.00	0.00	-76.43	0.000	2	0.000	0.000	29	1898	3176
105	-1.23	-146.6	4.5	-4.2	4	130	11.57	2.60	-7.10	0.000	4	0.139	0.060	2224	3303	3477
344	-1.23	-146.6	42.1	-11.2	14	350	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1893	3478
659	-1.23	-146.6	73.2	-8.9	30	664	0.00	2.58	0.00	0.000	4	0.000	0.048	2224	3314	3478
699	-1.23	-146.6	76.8	-9.1	32	704	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1898	3478
1027	-1.23	-146.6	108.4	-8.9	48	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3478
1335	-1.23	-146.6	135.5	-8.7	63	1340	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3310	3478
1421	-1.23	-146.6	143.6	-9.2	67	1425	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1898	3478
1748	-1.23	-146.6	175.8	-10.3	83	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3478
2056	-1.23	-146.6	209.7	-11.2	98	2060	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3309	3478
2110	-1.23	-146.6	215.8	-10.6	100	2117	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1899	3478
2427	-1.23	-146.6	249.3	-10.5	116	2431	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3309	3478
2466	-1.23	-146.6	253.6	-11.0	118	2470	0.00	2.55	0.00	0.000	6	0.000	0.045	2224	1895	3478
2792	-1.23	-146.6	287.2	-9.9	134	2793	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1895	3477
3101	-1.23	-146.6	317.3	-9.6	149	3105	0.00	2.58	0.00	0.000	4	0.000	0.050	2224	3316	3478
3150	-1.23	-146.6	322.3	-9.5	151	3154	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1898	3478
3472	-1.23	-146.6	352.6	-9.3	167	3473	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1898	3478
3781	-1.23	-146.6	381.8	-9.7	182	3785	0.00	2.53	0.00	0.000	4	0.000	0.050	2224	3309	3478
3813	-1.23	-146.6	384.7	-9.4	183	3819	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1900	3478
4129	-1.23	-146.6	414.9	-9.4	199	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3478
4438	-1.23	-146.6	440.2	-7.3	214	4442	0.00	2.58	0.00	0.000	4	0.000	0.051	2224	3314	3478
4505	-1.23	-146.6	445.2	-7.6	217	4509	0.00	2.55	0.00	0.000	6	0.000	0.045	2224	1898	3478
4826	-1.23	-146.6	470.6	-8.2	233	4830	0.00	2.62	0.00	0.000	4	0.000	0.075	2224	498	3478
4865	-1.23	-146.6	474.1	-9.2	235	4869	0.00	2.50	0.00	0.000	6	0.000	0.044	2224	1921	3478
5191	-1.23	-146.6	503.7	-9.8	251	5195	0.00	2.50	0.00	0.000	4	0.000	0.054	2224	3299	3478
5246	-1.23	-146.6	509.3	-9.7	253	5252	0.00	2.53	0.00	0.000	6	0.000	0.049	2224	1903	3477
5561	-1.23	-146.6	535.7	-8.3	269	5565	0.00	2.55	0.00	0.000	4	0.000	0.053	2224	3303	3477
5737	-1.23	-146.6	554.1	-11.3	277	5741	0.00	2.55	0.00	0.000	6	0.000	0.050	2224	1899	3477
6063	-1.23	-146.6	584.8	-8.7	293	6067	0.00	2.65	0.00	0.000	4	0.000	0.081	2224	496	3477
6106	-1.23	-146.6	588.5	-8.2	295	6111	0.00	2.47	0.00	0.000	6	0.000	0.048	2224	1896	3477
6429	-1.23	-146.6	616.7	-8.9	311	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3477
6737	-1.23	-146.6	642.0	-7.5	326	6742	0.00	2.62	0.00	0.000	4	0.000	0.067	2224	3306	3477
6821	-1.23	-146.6	650.8	-10.9	330	6825	0.00	2.60	0.00	0.000	6	0.000	0.061	2224	1903	3476
7062	end dive: TARGET_DEPTH_EXCEEDED
state	7062	begin apogee
7068	-0.36	0.0	674.2	7.4	342	7197	0.90	0.00	125.25	1.259	6	0.083	0.000	2415	2102	2878
7198	end apogee: CONTROL_FINISHED_OK
state	7198	begin climb
7200	1.23	146.6	675.1	0.0	348	7332	1.58	2.70	123.43	1.219	4	0.052	0.069	2764	3498	2280
7439	1.26	173.6	668.2	7.0	360	7468	0.00	2.60	23.83	1.213	6	0.000	0.054	2763	2097	2169
7785	1.26	173.6	639.0	9.5	377	7789	0.00	2.62	0.00	0.000	4	0.000	0.064	2764	3499	2168
7795	1.26	173.6	638.0	10.4	377	7801	0.00	2.58	0.00	0.000	6	0.000	0.054	2764	2101	2168
8110	1.26	173.6	601.4	13.5	393	8115	0.00	2.67	0.00	0.000	4	0.000	0.080	2764	693	2167
8370	1.26	173.6	580.4	8.2	404	8376	0.00	2.55	0.00	0.000	6	0.000	0.051	2764	2098	2166
8685	1.30	201.0	557.3	7.0	420	8715	0.00	2.78	22.95	1.238	4	0.000	0.078	2764	699	2058
8777	1.30	201.0	550.0	8.3	424	8782	0.00	2.55	0.00	0.000	6	0.000	0.051	2764	2104	2057
9099	1.33	227.4	528.7	7.0	440	9129	0.00	2.67	22.92	1.217	4	0.000	0.063	2764	3495	1950
9191	1.33	227.4	521.1	8.3	444	9196	0.00	2.58	0.00	0.000	6	0.000	0.052	2764	2097	1949
9513	1.33	227.4	492.0	9.1	460	9517	0.00	2.60	0.00	0.000	4	0.000	0.059	2764	3502	1949
9569	1.33	227.4	486.5	10.0	462	9575	0.00	2.58	0.00	0.000	6	0.000	0.051	2764	2097	1949
9884	1.33	227.4	456.3	9.4	478	9888	0.00	2.60	0.00	0.000	4	0.000	0.057	2764	3502	1949
9928	1.33	227.4	451.9	10.3	480	9932	0.00	2.55	0.00	0.000	6	0.000	0.048	2764	2099	1949
10249	1.35	247.0	427.1	7.3	496	10272	0.12	2.70	16.75	1.141	4	0.053	0.055	2801	3508	1871
10340	1.35	247.0	417.1	12.3	500	10344	0.00	2.58	0.00	0.000	6	0.000	0.048	2801	2094	1871
10667	1.35	247.0	382.7	10.6	516	10671	0.00	2.55	0.00	0.000	4	0.000	0.054	2802	3504	1871
10750	1.35	247.0	373.0	11.2	520	10755	0.00	2.53	0.00	0.000	6	0.000	0.046	2801	2100	1872
11078	1.35	247.0	338.4	10.4	536	11082	0.00	2.58	0.00	0.000	4	0.000	0.053	2801	3504	1872
11149	1.35	247.0	330.3	11.2	539	11154	0.00	2.53	0.00	0.000	6	0.000	0.045	2801	2097	1872
11465	1.35	247.0	297.2	10.9	554	11469	0.00	2.58	0.00	0.000	4	0.000	0.053	2801	3504	1873
11542	1.35	247.0	288.5	10.2	557	11548	0.00	2.53	0.00	0.000	6	0.000	0.044	2802	2098	1873
11857	1.35	247.0	256.4	10.1	573	11862	0.00	2.58	0.00	0.000	4	0.000	0.052	2802	3508	1873
11920	1.35	247.0	250.1	10.1	576	11924	0.00	2.55	0.00	0.000	6	0.000	0.044	2801	2091	1873
12246	1.35	247.0	219.1	9.2	592	12250	0.00	2.58	0.00	0.000	4	0.000	0.052	2802	3510	1874
12312	1.35	247.0	212.6	9.9	595	12316	0.00	2.50	0.00	0.000	6	0.000	0.043	2801	2100	1874
12633	1.35	247.0	181.1	9.6	611	12637	0.00	2.55	0.00	0.000	4	0.000	0.051	2801	3509	1874
12684	1.35	247.0	176.1	9.9	613	12688	0.00	2.53	0.00	0.000	6	0.000	0.042	2801	2095	1874
12999	1.35	247.0	147.1	9.5	628	13003	0.00	2.58	0.00	0.000	4	0.000	0.051	2801	3510	1875
13076	1.35	247.0	139.3	9.8	631	13083	0.00	2.53	0.00	0.000	6	0.000	0.042	2802	2102	1875
13393	1.35	247.0	109.7	9.9	647	13397	0.00	2.55	0.00	0.000	4	0.000	0.050	2802	3505	1875
13459	1.35	247.0	101.5	12.0	650	13463	0.00	2.50	0.00	0.000	6	0.000	0.041	2801	2094	1875
13780	1.35	247.0	74.5	9.1	666	13785	0.00	2.58	0.00	0.000	4	0.000	0.051	2802	3509	1875
13892	1.35	247.0	62.2	11.0	671	13896	0.00	2.50	0.00	0.000	6	0.000	0.041	2801	2093	1876
14213	1.35	247.0	25.0	13.8	687	14217	0.00	2.58	0.00	0.000	4	0.000	0.051	2801	3510	1876
14240	1.35	247.0	21.3	12.6	688	14244	0.00	2.53	0.00	0.000	6	0.000	0.041	2801	2090	1876
14388	end climb: SURFACE_DEPTH_REACHED
state	14388	begin surface coast
14410	end surface coast: CONTROL_FINISHED_OK
state	14410	begin surface