Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 341 * 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 341 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 27 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 -83925.516 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 -83925.516

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 -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 341 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 164438,6252.159,-1243.686,31,1.3,31,-11.8 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.146,-0.187

_SM_DEPTHo 1.67 KALMAN_X 473075.3,-735.2,-1175.3,-694801.2,9353.2

_SM_ANGLEo -59.4 KALMAN_Y 72115.3,-1641.4,-1768.3,77573.0,4650.5

GPS2 165012,6252.102,-1243.574,14,1.6,14,-11.8 MHEAD_RNG_PITCHd_Wd 229.8,18531,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 690

Post-dive calculations and measurements:

FINISH 0.8,1.001556 XPDR_PINGS 1

SM_CCo 14649,13.98,0.843,1,0,1655,300.00 ALTIM_TOP_PING 19.1,999.0

SM_GC 1.24,0.00,0.00,13.98,0.000,0.000,0.843,30,1885,1655,-11.34,-0.42,300.00 _24V_AH 23.2,68.833

IRIDIUM_FIX 6230.49,-1245.54,190497,121244 _10V_AH 10.1,33.253

TT8_MAMPS 0.027612 DATA_FILE_SIZE 34837,700

HUMID 2064 CFSIZE 260165632,237985792

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,1,0

TCM_TEMP 16.50 GPS 240108,205738,6248.460,-1240.473,36,1.3,36,-11.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 84.75 SBE_CT 522 24 291.05

Roll_motor 148 72 248.22 SBE_O2 473 19 208.52

VBD_pump_during_apogee 366 1266 10773.85 WL_BB2F 438 105 1068.98

VBD_pump_during_surface 13 842 273.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.90 nil 0 0 0.00

Iridium_during_connect 34 160 126.50 nil 0 0 0.00

Iridium_during_xfer 149 223 770.87

Transponder_ping 6 420 58.46

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 1351 19 270.26

LPSleep 10992 2 243.14

TT8_Active 509 19 101.91

TT8_Sampling 1709 39 687.07

TT8_CF8 496 45 229.71

TT8_Kalman 33 81 27.56

Analog_circuits 1392 12 168.80

GPS_charging 0 0 0.00

Compass 1671 8 135.08

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.23 -146.6 0.0 0.0 0 88 0.00 0.00 -61.65 0.000 2 0.000 0.000 36 1885 2856

91 -1.23 -146.6 3.4 -4.1 3 129 11.60 2.58 -19.10 0.000 4 0.140 0.061 2223 3301 3476

249 -1.23 -146.6 19.1 -7.9 9 253 0.00 2.50 0.00 0.000 6 0.000 0.043 2223 1908 3476

569 -1.23 -146.6 62.0 -11.9 25 573 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3304 3476

631 -1.23 -146.6 68.7 -10.4 28 636 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1897 3476

958 -1.23 -146.6 98.7 -8.4 44 960 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1897 3476

1269 -1.23 -146.6 129.7 -8.1 59 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3476

1576 -1.23 -146.6 161.9 -11.3 74 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3476

1886 -1.23 -146.6 193.6 -9.7 89 1890 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3304 3476

1974 -1.23 -146.6 201.7 -8.8 93 1978 0.00 2.53 0.00 0.000 6 0.000 0.043 2224 1893 3477

2296 -1.23 -146.6 230.0 -8.5 109 2300 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3305 3476

2345 -1.23 -146.6 234.7 -10.5 111 2349 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1896 3476

2661 -1.23 -146.6 263.6 -11.8 126 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1896 3476

2970 -1.23 -146.6 299.1 -12.8 141 2975 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3304 3476

3048 -1.23 -146.6 310.2 -13.3 144 3054 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1895 3476

3364 -1.23 -146.6 351.1 -13.0 160 3365 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1895 3476

3673 -1.23 -146.6 387.5 -11.1 175 3677 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3304 3477

3767 -1.23 -146.6 397.2 -10.0 179 3771 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1898 3476

4083 -1.23 -146.6 428.9 -10.4 194 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3476

4392 -1.23 -146.6 462.2 -10.8 209 4396 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3306 3476

4469 -1.23 -146.6 470.7 -10.5 212 4475 0.00 2.53 0.00 0.000 6 0.000 0.046 2223 1901 3476

4785 -1.23 -146.6 503.8 -10.7 228 4786 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3476

5094 -1.23 -146.6 535.0 -10.1 243 5098 0.00 2.62 0.00 0.000 4 0.000 0.072 2223 497 3476

5126 -1.23 -146.6 538.7 -11.7 244 5132 0.00 2.47 0.00 0.000 6 0.000 0.042 2224 1913 3476

5442 -1.23 -146.6 570.4 -9.1 260 5446 0.00 2.50 0.00 0.000 4 0.000 0.054 2223 3298 3476

5564 -1.23 -146.6 581.2 -8.5 265 5571 0.00 2.53 0.00 0.000 6 0.000 0.049 2223 1903 3476

5880 -1.23 -146.6 608.0 -8.2 281 5885 0.00 2.55 0.00 0.000 4 0.000 0.054 2223 3299 3476

6043 -1.23 -146.6 623.0 -9.5 288 6047 0.00 2.55 0.00 0.000 6 0.000 0.051 2223 1895 3476

6360 -1.23 -146.6 650.6 -8.5 303 6365 0.00 2.58 0.00 0.000 4 0.000 0.058 2224 3297 3476

6427 -1.23 -146.6 656.2 -8.7 306 6431 0.00 2.55 0.00 0.000 6 0.000 0.053 2223 1898 3476

6748 -1.23 -146.6 679.9 -7.5 322 6749 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1897 3476

6869 end dive: TARGET_DEPTH_EXCEEDED

state 6869 begin apogee

6875 -0.36 0.0 690.3 8.6 328 7003 0.90 0.00 125.00 1.266 6 0.082 0.000 2414 2095 2878

7004 end apogee: CONTROL_FINISHED_OK

state 7004 begin climb

7007 1.23 146.6 693.8 0.0 334 7138 1.58 2.70 122.95 1.231 4 0.057 0.066 2763 3499 2280

7202 1.30 201.3 688.7 5.9 343 7254 0.00 2.58 46.45 1.217 6 0.000 0.053 2763 2101 2057

7565 1.33 226.8 663.4 7.0 361 7594 0.00 2.70 22.27 1.233 4 0.000 0.062 2763 3492 1953

7623 1.33 231.9 658.7 7.8 363 7635 0.05 2.55 5.55 1.146 6 0.056 0.054 2786 2105 1932

7956 1.33 231.9 626.5 10.6 380 7961 0.00 2.60 0.00 0.000 4 0.000 0.061 2786 3497 1931

8063 1.33 231.9 613.6 10.6 385 8068 0.00 2.58 0.00 0.000 6 0.000 0.054 2785 2096 1930

8390 1.33 231.9 578.4 10.4 401 8394 0.00 2.60 0.00 0.000 4 0.000 0.059 2785 3499 1930

8529 1.33 231.9 563.0 10.7 407 8533 0.00 2.53 0.00 0.000 6 0.000 0.049 2786 2102 1929

8844 1.33 231.9 531.5 10.1 422 8849 0.00 2.58 0.00 0.000 4 0.000 0.057 2786 3498 1928

8907 1.33 231.9 525.2 9.6 425 8911 0.00 2.53 0.00 0.000 6 0.000 0.048 2785 2093 1928

9233 1.33 231.9 494.3 9.1 441 9237 0.00 2.58 0.00 0.000 4 0.000 0.055 2786 3499 1928

9317 1.33 231.9 486.4 9.6 445 9321 0.00 2.53 0.00 0.000 6 0.000 0.046 2786 2097 1928

9644 1.33 231.9 458.0 8.7 461 9648 0.00 2.58 0.00 0.000 4 0.000 0.054 2786 3501 1928

9705 1.33 231.9 452.3 9.4 464 9709 0.00 2.53 0.00 0.000 6 0.000 0.045 2786 2095 1928

10031 1.33 231.9 422.3 8.9 480 10036 0.00 2.58 0.00 0.000 4 0.000 0.053 2786 3499 1927

10087 1.33 231.9 417.0 9.9 482 10093 0.00 2.50 0.00 0.000 6 0.000 0.044 2786 2099 1928

10402 1.33 231.9 388.1 9.1 498 10406 0.00 2.55 0.00 0.000 4 0.000 0.052 2786 3500 1928

10496 1.33 231.9 378.8 10.3 502 10501 0.00 2.50 0.00 0.000 6 0.000 0.043 2786 2099 1929

10812 1.33 231.9 349.4 9.4 517 10816 0.00 2.55 0.00 0.000 4 0.000 0.052 2786 3505 1929

10866 1.33 231.9 344.0 9.6 519 10873 0.00 2.53 0.00 0.000 6 0.000 0.043 2785 2097 1929

11182 1.33 231.9 315.4 8.8 535 11186 0.00 2.55 0.00 0.000 4 0.000 0.051 2786 3506 1929

11254 1.33 231.9 308.0 10.4 538 11259 0.00 2.53 0.00 0.000 6 0.000 0.042 2786 2093 1930

11570 1.33 231.9 279.3 8.8 553 11574 0.00 2.58 0.00 0.000 4 0.000 0.052 2786 3505 1930

11625 1.33 231.9 274.0 9.7 555 11631 0.00 2.50 0.00 0.000 6 0.000 0.041 2786 2100 1930

11940 1.33 231.9 246.1 8.4 571 11945 0.00 2.55 0.00 0.000 4 0.000 0.051 2786 3502 1930

11980 1.33 231.9 242.5 9.7 573 11984 0.00 2.50 0.00 0.000 6 0.000 0.041 2786 2092 1930

12306 1.36 255.8 220.4 7.1 589 12331 0.00 2.60 19.80 0.983 4 0.000 0.051 2786 3498 1835

12366 1.36 255.8 215.0 9.0 592 12370 0.00 2.53 0.00 0.000 6 0.000 0.041 2786 2098 1835

12692 1.36 255.8 181.0 11.2 608 12696 0.00 2.55 0.00 0.000 4 0.000 0.051 2786 3499 1835

12786 1.36 255.8 170.2 11.4 612 12790 0.00 2.50 0.00 0.000 6 0.000 0.041 2786 2098 1835

13103 1.36 255.8 144.3 8.2 627 13107 0.00 2.55 0.00 0.000 4 0.000 0.050 2786 3500 1835

13153 1.36 255.8 138.8 10.7 629 13157 0.00 2.50 0.00 0.000 6 0.000 0.041 2785 2096 1835

13470 1.38 268.8 111.5 7.5 644 13491 0.00 2.62 11.48 0.922 4 0.000 0.049 2786 3499 1781

13537 1.38 268.8 105.7 8.2 647 13542 0.00 2.50 0.00 0.000 6 0.000 0.040 2786 2094 1781

13865 1.38 268.8 71.2 12.3 663 13866 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2094 1781

14175 1.38 268.8 42.0 8.9 678 14179 0.00 2.55 0.00 0.000 4 0.000 0.049 2786 3499 1781

14215 1.40 284.1 38.7 7.4 680 14236 0.00 2.50 13.23 0.871 6 0.000 0.040 2786 2100 1718

14546 1.40 284.1 7.4 9.0 696 14547 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2100 1718

14605 end climb: SURFACE_DEPTH_REACHED

state 14605 begin surface coast

14627 end surface coast: CONTROL_FINISHED_OK

state 14627 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	341	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	27	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	-83925.516	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	164438,6252.159,-1243.686,31,1.3,31,-11.8	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.146,-0.187
_SM_DEPTHo	1.67	KALMAN_X	473075.3,-735.2,-1175.3,-694801.2,9353.2
_SM_ANGLEo	-59.4	KALMAN_Y	72115.3,-1641.4,-1768.3,77573.0,4650.5
GPS2	165012,6252.102,-1243.574,14,1.6,14,-11.8	MHEAD_RNG_PITCHd_Wd	229.8,18531,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	690

FINISH	0.8,1.001556	XPDR_PINGS	1
SM_CCo	14649,13.98,0.843,1,0,1655,300.00	ALTIM_TOP_PING	19.1,999.0
SM_GC	1.24,0.00,0.00,13.98,0.000,0.000,0.843,30,1885,1655,-11.34,-0.42,300.00	_24V_AH	23.2,68.833
IRIDIUM_FIX	6230.49,-1245.54,190497,121244	_10V_AH	10.1,33.253
TT8_MAMPS	0.027612	DATA_FILE_SIZE	34837,700
HUMID	2064	CFSIZE	260165632,237985792
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,1,0
TCM_TEMP	16.50	GPS	240108,205738,6248.460,-1240.473,36,1.3,36,-11.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	84.75	SBE_CT	522	24	291.05
Roll_motor	148	72	248.22	SBE_O2	473	19	208.52
VBD_pump_during_apogee	366	1266	10773.85	WL_BB2F	438	105	1068.98
VBD_pump_during_surface	13	842	273.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.90	nil	0	0	0.00
Iridium_during_connect	34	160	126.50	nil	0	0	0.00
Iridium_during_xfer	149	223	770.87
Transponder_ping	6	420	58.46
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	1351	19	270.26
LPSleep	10992	2	243.14
TT8_Active	509	19	101.91
TT8_Sampling	1709	39	687.07
TT8_CF8	496	45	229.71
TT8_Kalman	33	81	27.56
Analog_circuits	1392	12	168.80
GPS_charging	0	0	0.00
Compass	1671	8	135.08
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.23	-146.6	0.0	0.0	0	88	0.00	0.00	-61.65	0.000	2	0.000	0.000	36	1885	2856
91	-1.23	-146.6	3.4	-4.1	3	129	11.60	2.58	-19.10	0.000	4	0.140	0.061	2223	3301	3476
249	-1.23	-146.6	19.1	-7.9	9	253	0.00	2.50	0.00	0.000	6	0.000	0.043	2223	1908	3476
569	-1.23	-146.6	62.0	-11.9	25	573	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3304	3476
631	-1.23	-146.6	68.7	-10.4	28	636	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1897	3476
958	-1.23	-146.6	98.7	-8.4	44	960	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1897	3476
1269	-1.23	-146.6	129.7	-8.1	59	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3476
1576	-1.23	-146.6	161.9	-11.3	74	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3476
1886	-1.23	-146.6	193.6	-9.7	89	1890	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3304	3476
1974	-1.23	-146.6	201.7	-8.8	93	1978	0.00	2.53	0.00	0.000	6	0.000	0.043	2224	1893	3477
2296	-1.23	-146.6	230.0	-8.5	109	2300	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3305	3476
2345	-1.23	-146.6	234.7	-10.5	111	2349	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1896	3476
2661	-1.23	-146.6	263.6	-11.8	126	2662	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1896	3476
2970	-1.23	-146.6	299.1	-12.8	141	2975	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3304	3476
3048	-1.23	-146.6	310.2	-13.3	144	3054	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1895	3476
3364	-1.23	-146.6	351.1	-13.0	160	3365	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1895	3476
3673	-1.23	-146.6	387.5	-11.1	175	3677	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3304	3477
3767	-1.23	-146.6	397.2	-10.0	179	3771	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1898	3476
4083	-1.23	-146.6	428.9	-10.4	194	4084	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3476
4392	-1.23	-146.6	462.2	-10.8	209	4396	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3306	3476
4469	-1.23	-146.6	470.7	-10.5	212	4475	0.00	2.53	0.00	0.000	6	0.000	0.046	2223	1901	3476
4785	-1.23	-146.6	503.8	-10.7	228	4786	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3476
5094	-1.23	-146.6	535.0	-10.1	243	5098	0.00	2.62	0.00	0.000	4	0.000	0.072	2223	497	3476
5126	-1.23	-146.6	538.7	-11.7	244	5132	0.00	2.47	0.00	0.000	6	0.000	0.042	2224	1913	3476
5442	-1.23	-146.6	570.4	-9.1	260	5446	0.00	2.50	0.00	0.000	4	0.000	0.054	2223	3298	3476
5564	-1.23	-146.6	581.2	-8.5	265	5571	0.00	2.53	0.00	0.000	6	0.000	0.049	2223	1903	3476
5880	-1.23	-146.6	608.0	-8.2	281	5885	0.00	2.55	0.00	0.000	4	0.000	0.054	2223	3299	3476
6043	-1.23	-146.6	623.0	-9.5	288	6047	0.00	2.55	0.00	0.000	6	0.000	0.051	2223	1895	3476
6360	-1.23	-146.6	650.6	-8.5	303	6365	0.00	2.58	0.00	0.000	4	0.000	0.058	2224	3297	3476
6427	-1.23	-146.6	656.2	-8.7	306	6431	0.00	2.55	0.00	0.000	6	0.000	0.053	2223	1898	3476
6748	-1.23	-146.6	679.9	-7.5	322	6749	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1897	3476
6869	end dive: TARGET_DEPTH_EXCEEDED
state	6869	begin apogee
6875	-0.36	0.0	690.3	8.6	328	7003	0.90	0.00	125.00	1.266	6	0.082	0.000	2414	2095	2878
7004	end apogee: CONTROL_FINISHED_OK
state	7004	begin climb
7007	1.23	146.6	693.8	0.0	334	7138	1.58	2.70	122.95	1.231	4	0.057	0.066	2763	3499	2280
7202	1.30	201.3	688.7	5.9	343	7254	0.00	2.58	46.45	1.217	6	0.000	0.053	2763	2101	2057
7565	1.33	226.8	663.4	7.0	361	7594	0.00	2.70	22.27	1.233	4	0.000	0.062	2763	3492	1953
7623	1.33	231.9	658.7	7.8	363	7635	0.05	2.55	5.55	1.146	6	0.056	0.054	2786	2105	1932
7956	1.33	231.9	626.5	10.6	380	7961	0.00	2.60	0.00	0.000	4	0.000	0.061	2786	3497	1931
8063	1.33	231.9	613.6	10.6	385	8068	0.00	2.58	0.00	0.000	6	0.000	0.054	2785	2096	1930
8390	1.33	231.9	578.4	10.4	401	8394	0.00	2.60	0.00	0.000	4	0.000	0.059	2785	3499	1930
8529	1.33	231.9	563.0	10.7	407	8533	0.00	2.53	0.00	0.000	6	0.000	0.049	2786	2102	1929
8844	1.33	231.9	531.5	10.1	422	8849	0.00	2.58	0.00	0.000	4	0.000	0.057	2786	3498	1928
8907	1.33	231.9	525.2	9.6	425	8911	0.00	2.53	0.00	0.000	6	0.000	0.048	2785	2093	1928
9233	1.33	231.9	494.3	9.1	441	9237	0.00	2.58	0.00	0.000	4	0.000	0.055	2786	3499	1928
9317	1.33	231.9	486.4	9.6	445	9321	0.00	2.53	0.00	0.000	6	0.000	0.046	2786	2097	1928
9644	1.33	231.9	458.0	8.7	461	9648	0.00	2.58	0.00	0.000	4	0.000	0.054	2786	3501	1928
9705	1.33	231.9	452.3	9.4	464	9709	0.00	2.53	0.00	0.000	6	0.000	0.045	2786	2095	1928
10031	1.33	231.9	422.3	8.9	480	10036	0.00	2.58	0.00	0.000	4	0.000	0.053	2786	3499	1927
10087	1.33	231.9	417.0	9.9	482	10093	0.00	2.50	0.00	0.000	6	0.000	0.044	2786	2099	1928
10402	1.33	231.9	388.1	9.1	498	10406	0.00	2.55	0.00	0.000	4	0.000	0.052	2786	3500	1928
10496	1.33	231.9	378.8	10.3	502	10501	0.00	2.50	0.00	0.000	6	0.000	0.043	2786	2099	1929
10812	1.33	231.9	349.4	9.4	517	10816	0.00	2.55	0.00	0.000	4	0.000	0.052	2786	3505	1929
10866	1.33	231.9	344.0	9.6	519	10873	0.00	2.53	0.00	0.000	6	0.000	0.043	2785	2097	1929
11182	1.33	231.9	315.4	8.8	535	11186	0.00	2.55	0.00	0.000	4	0.000	0.051	2786	3506	1929
11254	1.33	231.9	308.0	10.4	538	11259	0.00	2.53	0.00	0.000	6	0.000	0.042	2786	2093	1930
11570	1.33	231.9	279.3	8.8	553	11574	0.00	2.58	0.00	0.000	4	0.000	0.052	2786	3505	1930
11625	1.33	231.9	274.0	9.7	555	11631	0.00	2.50	0.00	0.000	6	0.000	0.041	2786	2100	1930
11940	1.33	231.9	246.1	8.4	571	11945	0.00	2.55	0.00	0.000	4	0.000	0.051	2786	3502	1930
11980	1.33	231.9	242.5	9.7	573	11984	0.00	2.50	0.00	0.000	6	0.000	0.041	2786	2092	1930
12306	1.36	255.8	220.4	7.1	589	12331	0.00	2.60	19.80	0.983	4	0.000	0.051	2786	3498	1835
12366	1.36	255.8	215.0	9.0	592	12370	0.00	2.53	0.00	0.000	6	0.000	0.041	2786	2098	1835
12692	1.36	255.8	181.0	11.2	608	12696	0.00	2.55	0.00	0.000	4	0.000	0.051	2786	3499	1835
12786	1.36	255.8	170.2	11.4	612	12790	0.00	2.50	0.00	0.000	6	0.000	0.041	2786	2098	1835
13103	1.36	255.8	144.3	8.2	627	13107	0.00	2.55	0.00	0.000	4	0.000	0.050	2786	3500	1835
13153	1.36	255.8	138.8	10.7	629	13157	0.00	2.50	0.00	0.000	6	0.000	0.041	2785	2096	1835
13470	1.38	268.8	111.5	7.5	644	13491	0.00	2.62	11.48	0.922	4	0.000	0.049	2786	3499	1781
13537	1.38	268.8	105.7	8.2	647	13542	0.00	2.50	0.00	0.000	6	0.000	0.040	2786	2094	1781
13865	1.38	268.8	71.2	12.3	663	13866	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2094	1781
14175	1.38	268.8	42.0	8.9	678	14179	0.00	2.55	0.00	0.000	4	0.000	0.049	2786	3499	1781
14215	1.40	284.1	38.7	7.4	680	14236	0.00	2.50	13.23	0.871	6	0.000	0.040	2786	2100	1718
14546	1.40	284.1	7.4	9.0	696	14547	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2100	1718
14605	end climb: SURFACE_DEPTH_REACHED
state	14605	begin surface coast
14627	end surface coast: CONTROL_FINISHED_OK
state	14627	begin surface