Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 355 * 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 355 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 25 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 -84202.352 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 -84202.352

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 25 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 355 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 115107,6237.436,-1144.530,23,1.5,23,-11.1 TGT_NAME FE

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.007,-0.238

_SM_DEPTHo 1.74 KALMAN_X 509826.0,157.8,-53.1,-681109.5,4148.5

_SM_ANGLEo -55.2 KALMAN_Y 77256.8,-316.3,341.8,41991.7,4043.2

GPS2 120414,6237.538,-1144.102,13,1.4,13,-11.1 MHEAD_RNG_PITCHd_Wd 192.8,14394,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 716

Post-dive calculations and measurements:

FINISH 1.1,1.027401 XPDR_PINGS 3

SM_CCo 15669,0.00,0.000,0,0,1652,300.25 ALTIM_TOP_PING 19.7,999.0

SM_GC 1.93,11.95,0.00,0.00,0.031,0.000,0.000,35,1877,1652,-11.25,-0.65,300.25 _24V_AH 23.1,71.132

IRIDIUM_FIX 6211.90,-1141.52,220497,121220 _10V_AH 10.1,34.409

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37977,750

HUMID 2077 CFSIZE 260165632,237096960

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.60 GPS 270108,162808,6235.938,-1138.282,24,1.3,24,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 81.46 SBE_CT 552 24 306.44

Roll_motor 164 75 288.02 SBE_O2 507 19 222.90

VBD_pump_during_apogee 375 1278 11098.67 WL_BB2F 450 105 1093.56

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 112 103 268.27 nil 0 0 0.00

Iridium_during_connect 184 160 682.55 nil 0 0 0.00

Iridium_during_xfer 227 223 1172.96

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 1445 19 289.09

LPSleep 11883 2 262.85

TT8_Active 500 19 100.06

TT8_Sampling 1826 39 734.36

TT8_CF8 852 45 394.49

TT8_Kalman 33 81 27.57

Analog_circuits 1438 12 174.37

GPS_charging 0 0 0.00

Compass 1787 8 144.45

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 21 begin dive

24 -1.23 -146.6 0.0 0.0 0 86 0.00 0.00 -60.83 0.000 2 0.000 0.000 33 1885 2858

89 -1.23 -146.6 3.2 -3.4 3 126 11.50 2.58 -18.88 0.000 4 0.136 0.058 2224 3304 3476

277 -1.23 -146.6 27.1 -9.0 10 284 0.00 2.53 0.00 0.000 6 0.000 0.042 2225 1903 3477

594 -1.23 -146.6 57.2 -9.6 26 599 0.00 2.53 0.00 0.000 4 0.000 0.046 2225 3307 3476

638 -1.23 -146.6 61.7 -10.4 28 643 0.00 2.53 0.00 0.000 6 0.000 0.041 2225 1898 3476

961 -1.23 -146.6 94.3 -10.1 44 962 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3477

1269 -1.23 -146.6 125.3 -10.4 59 1273 0.00 2.55 0.00 0.000 4 0.000 0.046 2225 3313 3477

1336 -1.23 -146.6 132.4 -10.9 62 1340 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1901 3476

1657 -1.23 -146.6 164.4 -10.7 78 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1901 3477

1966 -1.23 -146.6 193.7 -9.2 93 1970 0.00 2.53 0.00 0.000 4 0.000 0.046 2225 3306 3477

2032 -1.23 -146.6 200.2 -9.7 96 2037 0.00 2.50 0.00 0.000 6 0.000 0.042 2225 1901 3477

2354 -1.23 -146.6 230.0 -9.1 112 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1901 3477

2662 -1.23 -146.6 258.3 -9.3 127 2667 0.00 2.53 0.00 0.000 4 0.000 0.047 2225 3307 3477

2707 -1.23 -146.6 262.9 -9.8 129 2711 0.00 2.53 0.00 0.000 6 0.000 0.043 2225 1895 3477

3028 -1.23 -146.6 294.5 -9.8 145 3032 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3476

3085 -1.23 -146.6 300.1 -9.9 147 3091 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1900 3476

3400 -1.23 -146.6 331.1 -9.9 163 3405 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3306 3477

3467 -1.23 -146.6 337.8 -10.1 166 3472 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1895 3477

3788 -1.23 -146.6 370.1 -9.9 182 3793 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3305 3476

3815 -1.23 -146.6 373.0 -10.0 183 3820 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1899 3477

4131 -1.23 -146.6 404.1 -10.1 198 4136 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3477

4159 -1.23 -146.6 406.9 -10.0 199 4163 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1899 3476

4480 -1.23 -146.6 438.1 -9.5 215 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3477

4790 -1.23 -146.6 468.7 -10.2 230 4794 0.00 2.55 0.00 0.000 4 0.000 0.050 2224 3305 3476

4839 -1.23 -146.6 474.0 -10.8 232 4843 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1899 3477

5161 -1.23 -146.6 506.3 -9.7 248 5165 0.00 2.55 0.00 0.000 4 0.000 0.050 2225 3307 3477

5245 -1.23 -146.6 514.7 -10.2 252 5250 0.00 2.53 0.00 0.000 6 0.000 0.046 2225 1900 3477

5572 -1.23 -146.6 545.1 -9.0 268 5576 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3307 3476

5604 -1.23 -146.6 548.0 -8.5 269 5610 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1900 3476

5921 -1.23 -146.6 576.1 -9.1 285 5922 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

6229 -1.23 -146.6 605.4 -9.4 300 6233 0.00 2.58 0.00 0.000 4 0.000 0.054 2224 3308 3476

6306 -1.23 -146.6 612.3 -8.2 303 6312 0.00 2.55 0.00 0.000 6 0.000 0.048 2224 1900 3476

6623 -1.23 -146.6 636.5 -7.5 319 6627 0.00 2.58 0.00 0.000 4 0.000 0.058 2225 3303 3476

6689 -1.23 -146.6 642.4 -9.3 322 6693 0.00 2.55 0.00 0.000 6 0.000 0.051 2224 1903 3477

7012 -1.23 -146.6 675.7 -10.3 338 7016 0.00 2.58 0.00 0.000 4 0.000 0.058 2225 3303 3476

7074 -1.23 -146.6 682.0 -10.2 341 7078 0.00 2.58 0.00 0.000 6 0.000 0.053 2225 1898 3476

7400 -1.23 -146.6 710.1 -7.6 357 7404 0.00 2.60 0.00 0.000 4 0.000 0.063 2224 3303 3475

7657 -1.23 -146.6 710.2 0.1 368 7664 0.00 2.55 0.00 0.000 6 0.000 0.057 2224 1905 3475

7723 end dive: NO_VERTICAL_VELOCITY

state 7723 begin apogee

7729 -0.36 0.0 710.1 0.0 372 7858 0.88 0.00 125.25 1.279 6 0.061 0.000 2420 2105 2878

7859 end apogee: CONTROL_FINISHED_OK

state 7859 begin climb

7862 1.23 146.6 709.8 0.0 378 7994 1.55 2.78 123.50 1.232 4 0.058 0.076 2761 689 2280

8098 1.23 146.6 699.3 8.1 389 8103 0.00 2.55 0.00 0.000 6 0.000 0.048 2761 2093 2280

8419 1.28 191.4 679.2 6.3 405 8464 0.00 2.72 38.55 1.243 4 0.000 0.062 2761 3501 2097

8629 1.28 191.4 661.4 9.6 414 8633 0.00 2.60 0.00 0.000 6 0.000 0.053 2761 2095 2096

8944 1.28 191.4 633.9 9.1 429 8949 0.00 2.62 0.00 0.000 4 0.000 0.060 2761 3502 2095

8977 1.28 191.4 630.7 8.9 430 8984 0.00 2.55 0.00 0.000 6 0.000 0.051 2761 2100 2096

9293 1.28 191.4 602.3 8.9 446 9295 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2101 2094

9602 1.28 191.4 575.7 8.4 461 9607 0.00 2.58 0.00 0.000 4 0.000 0.058 2761 3504 2094

9710 1.28 191.4 566.6 8.2 466 9714 0.00 2.55 0.00 0.000 6 0.000 0.048 2761 2098 2094

10036 1.28 191.4 540.6 8.6 482 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2098 2094

10345 1.31 208.5 515.8 7.3 497 10367 0.00 2.65 14.43 1.207 4 0.000 0.055 2761 3507 2027

10435 1.31 208.5 509.0 8.1 501 10440 0.00 2.55 0.00 0.000 6 0.000 0.047 2761 2100 2027

10762 1.33 225.8 486.0 7.3 517 10782 0.10 0.00 15.35 1.183 6 0.060 0.000 2791 2100 1957

11091 1.33 225.8 456.2 9.1 533 11095 0.00 2.58 0.00 0.000 4 0.000 0.053 2791 3507 1957

11220 1.33 225.8 443.2 10.7 539 11224 0.00 2.55 0.00 0.000 6 0.000 0.044 2791 2098 1957

11546 1.33 225.8 409.7 10.0 555 11550 0.00 2.58 0.00 0.000 4 0.000 0.051 2791 3505 1957

11640 1.33 225.8 399.7 10.5 559 11644 0.00 2.55 0.00 0.000 6 0.000 0.044 2791 2093 1957

11956 1.33 225.8 368.0 9.9 574 11960 0.00 2.58 0.00 0.000 4 0.000 0.052 2791 3508 1957

11977 1.33 225.8 365.6 10.7 575 11981 0.00 2.53 0.00 0.000 6 0.000 0.043 2791 2093 1957

12298 1.33 225.8 332.0 10.6 591 12302 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3511 1958

12319 1.33 225.8 329.5 11.5 592 12323 0.00 2.53 0.00 0.000 6 0.000 0.042 2791 2101 1957

12640 1.33 225.8 295.0 10.8 608 12644 0.00 2.55 0.00 0.000 4 0.000 0.051 2791 3504 1958

12702 1.33 225.8 288.2 10.8 611 12706 0.00 2.53 0.00 0.000 6 0.000 0.041 2791 2094 1958

13028 1.33 225.8 255.2 9.6 627 13032 0.00 2.58 0.00 0.000 4 0.000 0.051 2791 3508 1958

13078 1.33 225.8 250.1 10.3 629 13082 0.00 2.53 0.00 0.000 6 0.000 0.041 2791 2094 1959

13393 1.33 225.8 221.5 8.8 644 13398 0.00 2.58 0.00 0.000 4 0.000 0.050 2791 3508 1959

13443 1.33 225.8 216.7 9.8 646 13448 0.00 2.50 0.00 0.000 6 0.000 0.041 2791 2098 1959

13759 1.33 225.8 188.2 9.2 661 13764 0.00 2.55 0.00 0.000 4 0.000 0.049 2791 3505 1959

13803 1.33 225.8 183.7 10.1 663 13808 0.00 2.50 0.00 0.000 6 0.000 0.040 2791 2100 1959

14125 1.33 225.8 153.3 9.8 679 14129 0.00 2.55 0.00 0.000 4 0.000 0.049 2791 3505 1959

14164 1.33 225.8 149.2 10.6 681 14169 0.00 2.50 0.00 0.000 6 0.000 0.039 2791 2096 1960

14491 1.33 225.8 113.8 11.9 697 14496 0.00 2.58 0.00 0.000 4 0.000 0.050 2791 3512 1960

14555 1.33 225.8 105.5 12.8 700 14559 0.00 2.50 0.00 0.000 6 0.000 0.040 2791 2097 1960

14881 1.33 225.8 71.1 9.3 716 14883 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2097 1960

15192 1.42 299.8 43.4 5.2 731 15258 0.00 2.62 58.70 0.828 4 0.000 0.049 2791 3499 1655

15322 1.42 299.8 27.2 12.9 737 15326 0.00 2.53 0.00 0.000 6 0.000 0.041 2791 2099 1655

15564 end climb: SURFACE_DEPTH_REACHED

state 15564 begin surface coast

15585 end surface coast: CONTROL_FINISHED_OK

state 15585 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	355	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	25	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	-84202.352	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	115107,6237.436,-1144.530,23,1.5,23,-11.1	TGT_NAME	FE
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.007,-0.238
_SM_DEPTHo	1.74	KALMAN_X	509826.0,157.8,-53.1,-681109.5,4148.5
_SM_ANGLEo	-55.2	KALMAN_Y	77256.8,-316.3,341.8,41991.7,4043.2
GPS2	120414,6237.538,-1144.102,13,1.4,13,-11.1	MHEAD_RNG_PITCHd_Wd	192.8,14394,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	716

FINISH	1.1,1.027401	XPDR_PINGS	3
SM_CCo	15669,0.00,0.000,0,0,1652,300.25	ALTIM_TOP_PING	19.7,999.0
SM_GC	1.93,11.95,0.00,0.00,0.031,0.000,0.000,35,1877,1652,-11.25,-0.65,300.25	_24V_AH	23.1,71.132
IRIDIUM_FIX	6211.90,-1141.52,220497,121220	_10V_AH	10.1,34.409
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37977,750
HUMID	2077	CFSIZE	260165632,237096960
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.60	GPS	270108,162808,6235.938,-1138.282,24,1.3,24,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	81.46	SBE_CT	552	24	306.44
Roll_motor	164	75	288.02	SBE_O2	507	19	222.90
VBD_pump_during_apogee	375	1278	11098.67	WL_BB2F	450	105	1093.56
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	112	103	268.27	nil	0	0	0.00
Iridium_during_connect	184	160	682.55	nil	0	0	0.00
Iridium_during_xfer	227	223	1172.96
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	1445	19	289.09
LPSleep	11883	2	262.85
TT8_Active	500	19	100.06
TT8_Sampling	1826	39	734.36
TT8_CF8	852	45	394.49
TT8_Kalman	33	81	27.57
Analog_circuits	1438	12	174.37
GPS_charging	0	0	0.00
Compass	1787	8	144.45
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	21	begin dive
24	-1.23	-146.6	0.0	0.0	0	86	0.00	0.00	-60.83	0.000	2	0.000	0.000	33	1885	2858
89	-1.23	-146.6	3.2	-3.4	3	126	11.50	2.58	-18.88	0.000	4	0.136	0.058	2224	3304	3476
277	-1.23	-146.6	27.1	-9.0	10	284	0.00	2.53	0.00	0.000	6	0.000	0.042	2225	1903	3477
594	-1.23	-146.6	57.2	-9.6	26	599	0.00	2.53	0.00	0.000	4	0.000	0.046	2225	3307	3476
638	-1.23	-146.6	61.7	-10.4	28	643	0.00	2.53	0.00	0.000	6	0.000	0.041	2225	1898	3476
961	-1.23	-146.6	94.3	-10.1	44	962	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3477
1269	-1.23	-146.6	125.3	-10.4	59	1273	0.00	2.55	0.00	0.000	4	0.000	0.046	2225	3313	3477
1336	-1.23	-146.6	132.4	-10.9	62	1340	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1901	3476
1657	-1.23	-146.6	164.4	-10.7	78	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1901	3477
1966	-1.23	-146.6	193.7	-9.2	93	1970	0.00	2.53	0.00	0.000	4	0.000	0.046	2225	3306	3477
2032	-1.23	-146.6	200.2	-9.7	96	2037	0.00	2.50	0.00	0.000	6	0.000	0.042	2225	1901	3477
2354	-1.23	-146.6	230.0	-9.1	112	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1901	3477
2662	-1.23	-146.6	258.3	-9.3	127	2667	0.00	2.53	0.00	0.000	4	0.000	0.047	2225	3307	3477
2707	-1.23	-146.6	262.9	-9.8	129	2711	0.00	2.53	0.00	0.000	6	0.000	0.043	2225	1895	3477
3028	-1.23	-146.6	294.5	-9.8	145	3032	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3476
3085	-1.23	-146.6	300.1	-9.9	147	3091	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1900	3476
3400	-1.23	-146.6	331.1	-9.9	163	3405	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3306	3477
3467	-1.23	-146.6	337.8	-10.1	166	3472	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1895	3477
3788	-1.23	-146.6	370.1	-9.9	182	3793	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3305	3476
3815	-1.23	-146.6	373.0	-10.0	183	3820	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1899	3477
4131	-1.23	-146.6	404.1	-10.1	198	4136	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3477
4159	-1.23	-146.6	406.9	-10.0	199	4163	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1899	3476
4480	-1.23	-146.6	438.1	-9.5	215	4481	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3477
4790	-1.23	-146.6	468.7	-10.2	230	4794	0.00	2.55	0.00	0.000	4	0.000	0.050	2224	3305	3476
4839	-1.23	-146.6	474.0	-10.8	232	4843	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1899	3477
5161	-1.23	-146.6	506.3	-9.7	248	5165	0.00	2.55	0.00	0.000	4	0.000	0.050	2225	3307	3477
5245	-1.23	-146.6	514.7	-10.2	252	5250	0.00	2.53	0.00	0.000	6	0.000	0.046	2225	1900	3477
5572	-1.23	-146.6	545.1	-9.0	268	5576	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3307	3476
5604	-1.23	-146.6	548.0	-8.5	269	5610	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1900	3476
5921	-1.23	-146.6	576.1	-9.1	285	5922	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
6229	-1.23	-146.6	605.4	-9.4	300	6233	0.00	2.58	0.00	0.000	4	0.000	0.054	2224	3308	3476
6306	-1.23	-146.6	612.3	-8.2	303	6312	0.00	2.55	0.00	0.000	6	0.000	0.048	2224	1900	3476
6623	-1.23	-146.6	636.5	-7.5	319	6627	0.00	2.58	0.00	0.000	4	0.000	0.058	2225	3303	3476
6689	-1.23	-146.6	642.4	-9.3	322	6693	0.00	2.55	0.00	0.000	6	0.000	0.051	2224	1903	3477
7012	-1.23	-146.6	675.7	-10.3	338	7016	0.00	2.58	0.00	0.000	4	0.000	0.058	2225	3303	3476
7074	-1.23	-146.6	682.0	-10.2	341	7078	0.00	2.58	0.00	0.000	6	0.000	0.053	2225	1898	3476
7400	-1.23	-146.6	710.1	-7.6	357	7404	0.00	2.60	0.00	0.000	4	0.000	0.063	2224	3303	3475
7657	-1.23	-146.6	710.2	0.1	368	7664	0.00	2.55	0.00	0.000	6	0.000	0.057	2224	1905	3475
7723	end dive: NO_VERTICAL_VELOCITY
state	7723	begin apogee
7729	-0.36	0.0	710.1	0.0	372	7858	0.88	0.00	125.25	1.279	6	0.061	0.000	2420	2105	2878
7859	end apogee: CONTROL_FINISHED_OK
state	7859	begin climb
7862	1.23	146.6	709.8	0.0	378	7994	1.55	2.78	123.50	1.232	4	0.058	0.076	2761	689	2280
8098	1.23	146.6	699.3	8.1	389	8103	0.00	2.55	0.00	0.000	6	0.000	0.048	2761	2093	2280
8419	1.28	191.4	679.2	6.3	405	8464	0.00	2.72	38.55	1.243	4	0.000	0.062	2761	3501	2097
8629	1.28	191.4	661.4	9.6	414	8633	0.00	2.60	0.00	0.000	6	0.000	0.053	2761	2095	2096
8944	1.28	191.4	633.9	9.1	429	8949	0.00	2.62	0.00	0.000	4	0.000	0.060	2761	3502	2095
8977	1.28	191.4	630.7	8.9	430	8984	0.00	2.55	0.00	0.000	6	0.000	0.051	2761	2100	2096
9293	1.28	191.4	602.3	8.9	446	9295	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2101	2094
9602	1.28	191.4	575.7	8.4	461	9607	0.00	2.58	0.00	0.000	4	0.000	0.058	2761	3504	2094
9710	1.28	191.4	566.6	8.2	466	9714	0.00	2.55	0.00	0.000	6	0.000	0.048	2761	2098	2094
10036	1.28	191.4	540.6	8.6	482	10037	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2098	2094
10345	1.31	208.5	515.8	7.3	497	10367	0.00	2.65	14.43	1.207	4	0.000	0.055	2761	3507	2027
10435	1.31	208.5	509.0	8.1	501	10440	0.00	2.55	0.00	0.000	6	0.000	0.047	2761	2100	2027
10762	1.33	225.8	486.0	7.3	517	10782	0.10	0.00	15.35	1.183	6	0.060	0.000	2791	2100	1957
11091	1.33	225.8	456.2	9.1	533	11095	0.00	2.58	0.00	0.000	4	0.000	0.053	2791	3507	1957
11220	1.33	225.8	443.2	10.7	539	11224	0.00	2.55	0.00	0.000	6	0.000	0.044	2791	2098	1957
11546	1.33	225.8	409.7	10.0	555	11550	0.00	2.58	0.00	0.000	4	0.000	0.051	2791	3505	1957
11640	1.33	225.8	399.7	10.5	559	11644	0.00	2.55	0.00	0.000	6	0.000	0.044	2791	2093	1957
11956	1.33	225.8	368.0	9.9	574	11960	0.00	2.58	0.00	0.000	4	0.000	0.052	2791	3508	1957
11977	1.33	225.8	365.6	10.7	575	11981	0.00	2.53	0.00	0.000	6	0.000	0.043	2791	2093	1957
12298	1.33	225.8	332.0	10.6	591	12302	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3511	1958
12319	1.33	225.8	329.5	11.5	592	12323	0.00	2.53	0.00	0.000	6	0.000	0.042	2791	2101	1957
12640	1.33	225.8	295.0	10.8	608	12644	0.00	2.55	0.00	0.000	4	0.000	0.051	2791	3504	1958
12702	1.33	225.8	288.2	10.8	611	12706	0.00	2.53	0.00	0.000	6	0.000	0.041	2791	2094	1958
13028	1.33	225.8	255.2	9.6	627	13032	0.00	2.58	0.00	0.000	4	0.000	0.051	2791	3508	1958
13078	1.33	225.8	250.1	10.3	629	13082	0.00	2.53	0.00	0.000	6	0.000	0.041	2791	2094	1959
13393	1.33	225.8	221.5	8.8	644	13398	0.00	2.58	0.00	0.000	4	0.000	0.050	2791	3508	1959
13443	1.33	225.8	216.7	9.8	646	13448	0.00	2.50	0.00	0.000	6	0.000	0.041	2791	2098	1959
13759	1.33	225.8	188.2	9.2	661	13764	0.00	2.55	0.00	0.000	4	0.000	0.049	2791	3505	1959
13803	1.33	225.8	183.7	10.1	663	13808	0.00	2.50	0.00	0.000	6	0.000	0.040	2791	2100	1959
14125	1.33	225.8	153.3	9.8	679	14129	0.00	2.55	0.00	0.000	4	0.000	0.049	2791	3505	1959
14164	1.33	225.8	149.2	10.6	681	14169	0.00	2.50	0.00	0.000	6	0.000	0.039	2791	2096	1960
14491	1.33	225.8	113.8	11.9	697	14496	0.00	2.58	0.00	0.000	4	0.000	0.050	2791	3512	1960
14555	1.33	225.8	105.5	12.8	700	14559	0.00	2.50	0.00	0.000	6	0.000	0.040	2791	2097	1960
14881	1.33	225.8	71.1	9.3	716	14883	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2097	1960
15192	1.42	299.8	43.4	5.2	731	15258	0.00	2.62	58.70	0.828	4	0.000	0.049	2791	3499	1655
15322	1.42	299.8	27.2	12.9	737	15326	0.00	2.53	0.00	0.000	6	0.000	0.041	2791	2099	1655
15564	end climb: SURFACE_DEPTH_REACHED
state	15564	begin surface coast
15585	end surface coast: CONTROL_FINISHED_OK
state	15585	begin surface