Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 366 * 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 366 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -84425.242 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 -84425.242

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 31 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 366 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 161532,6234.383,-1107.018,40,1.1,40,-10.8 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.122,-0.204

_SM_DEPTHo 1.74 KALMAN_X 534740.3,-906.5,579.6,-672835.8,3011.2

_SM_ANGLEo -58.7 KALMAN_Y 83735.7,661.2,1122.4,27982.4,807.0

GPS2 162057,6234.447,-1106.964,12,1.2,12,-10.8 MHEAD_RNG_PITCHd_Wd 221.8,18487,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 679

Post-dive calculations and measurements:

FINISH 0.9,1.014301 XPDR_PINGS 1

SM_CCo 14476,49.33,0.811,6,0,1655,300.00 ALTIM_TOP_PING 20.0,999.0

SM_GC 1.92,0.00,0.00,49.33,0.000,0.000,0.811,29,1877,1655,-11.34,-0.65,300.00 _24V_AH 23.1,72.830

IRIDIUM_FIX 6207.28,-1102.12,240497,121239 _10V_AH 10.1,35.292

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34796,695

HUMID 2072 CFSIZE 260165632,236457984

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,6,0

TCM_TEMP 16.50 GPS 290108,202631,6233.840,-1107.088,36,1.6,36,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 83.40 SBE_CT 508 24 282.17

Roll_motor 153 76 272.23 SBE_O2 469 19 206.17

VBD_pump_during_apogee 332 1257 9674.54 WL_BB2F 423 105 1027.08

VBD_pump_during_surface 49 811 924.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.41 nil 0 0 0.00

Iridium_during_connect 35 160 132.18 nil 0 0 0.00

Iridium_during_xfer 136 223 702.71

Transponder_ping 6 420 58.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.93

TT8 1347 19 269.40

LPSleep 10798 2 238.86

TT8_Active 543 19 108.62

TT8_Sampling 1746 39 702.21

TT8_CF8 500 45 231.31

TT8_Kalman 33 81 27.58

Analog_circuits 1433 12 173.75

GPS_charging 0 0 0.00

Compass 1710 8 138.17

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.23 -146.6 0.0 0.0 0 86 0.00 0.00 -60.70 0.000 2 0.000 0.000 29 1876 2842

90 -1.23 -146.6 3.0 -3.1 3 132 11.57 2.62 -21.33 0.000 4 0.138 0.061 2225 3299 3477

385 -1.23 -146.6 36.5 -9.7 16 389 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1904 3477

706 -1.23 -146.6 67.3 -9.5 32 707 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1904 3477

1017 -1.23 -146.6 96.6 -9.8 47 1021 0.00 2.53 0.00 0.000 4 0.000 0.047 2225 3306 3477

1080 -1.23 -146.6 102.6 -9.0 50 1085 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1894 3477

1407 -1.23 -146.6 132.1 -8.6 66 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1894 3478

1717 -1.23 -146.6 158.8 -8.4 81 1721 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3308 3477

1760 -1.23 -146.6 162.6 -8.7 83 1765 0.00 2.53 0.00 0.000 6 0.000 0.042 2225 1896 3477

2081 -1.23 -146.6 192.4 -9.0 99 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1896 3477

2391 -1.23 -146.6 222.2 -10.2 114 2395 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3312 3477

2441 -1.23 -146.6 227.4 -10.0 116 2446 0.00 2.53 0.00 0.000 6 0.000 0.042 2225 1897 3477

2757 -1.23 -146.6 258.8 -10.6 131 2758 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3477

3067 -1.23 -146.6 289.6 -9.9 146 3071 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3309 3477

3128 -1.23 -146.6 295.8 -10.1 149 3132 0.00 2.53 0.00 0.000 6 0.000 0.043 2225 1900 3476

3454 -1.23 -146.6 328.2 -9.8 165 3455 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

3764 -1.23 -146.6 357.2 -9.0 180 3768 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3307 3477

3818 -1.23 -146.6 362.2 -9.0 182 3825 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1897 3477

4134 -1.23 -146.6 389.9 -8.8 198 4138 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3477

4178 -1.23 -146.6 394.0 -9.1 200 4182 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1899 3477

4499 -1.23 -146.6 423.0 -9.1 216 4503 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3307 3477

4538 -1.23 -146.6 426.6 -8.9 218 4542 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1901 3477

4864 -1.23 -146.6 457.5 -9.4 234 4868 0.00 2.55 0.00 0.000 4 0.000 0.049 2224 3308 3477

4908 -1.23 -146.6 461.9 -9.5 236 4912 0.00 2.53 0.00 0.000 6 0.000 0.045 2225 1899 3477

5229 -1.23 -146.6 491.4 -9.2 252 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3477

5538 -1.23 -146.6 519.4 -9.0 267 5543 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3306 3477

5616 -1.23 -146.6 526.4 -8.6 270 5623 0.00 2.55 0.00 0.000 6 0.000 0.046 2225 1894 3477

5933 -1.23 -146.6 554.0 -9.2 286 5937 0.00 2.55 0.00 0.000 4 0.000 0.052 2225 3307 3477

6055 -1.23 -146.6 565.5 -9.3 291 6061 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1900 3477

6370 -1.23 -146.6 592.1 -8.7 307 6375 0.00 2.62 0.00 0.000 4 0.000 0.074 2225 493 3476

6426 -1.23 -146.6 597.2 -9.0 309 6432 0.00 2.50 0.00 0.000 6 0.000 0.043 2224 1910 3477

6741 -1.23 -146.6 624.5 -8.2 325 6749 0.00 2.55 0.00 0.000 4 0.000 0.058 2224 3304 3476

6904 -1.23 -146.6 637.9 -7.1 332 6908 0.00 2.55 0.00 0.000 6 0.000 0.052 2224 1903 3476

7230 -1.23 -146.6 663.7 -7.4 348 7235 0.00 2.55 0.00 0.000 4 0.000 0.059 2224 3299 3476

7280 -1.23 -146.6 668.2 -9.8 350 7284 0.00 2.58 0.00 0.000 6 0.000 0.054 2224 1894 3476

7408 end dive: TARGET_DEPTH_EXCEEDED

state 7408 begin apogee

7415 -0.36 0.0 680.1 9.3 356 7544 0.93 0.00 125.12 1.258 6 0.087 0.000 2418 2112 2878

7544 end apogee: CONTROL_FINISHED_OK

state 7544 begin climb

7547 1.23 146.6 682.8 0.0 362 7679 1.55 2.75 123.68 1.213 4 0.055 0.073 2761 693 2280

7937 1.35 247.0 681.2 4.2 380 8027 0.12 2.53 84.15 1.221 6 0.049 0.047 2797 2095 1870

8349 1.35 247.0 643.1 9.8 400 8353 0.00 2.70 0.00 0.000 4 0.000 0.077 2797 692 1870

8493 1.35 247.0 627.8 10.5 406 8499 0.00 2.53 0.00 0.000 6 0.000 0.048 2797 2100 1870

8809 1.35 247.0 597.7 9.2 422 8813 0.00 2.60 0.00 0.000 4 0.000 0.062 2797 3503 1869

8894 1.35 247.0 589.5 10.5 426 8899 0.00 2.58 0.00 0.000 6 0.000 0.053 2797 2099 1869

9220 1.35 247.0 555.9 10.8 442 9221 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2098 1868

9530 1.35 247.0 524.1 10.0 457 9534 0.00 2.58 0.00 0.000 4 0.000 0.056 2797 3502 1867

9579 1.35 247.0 518.8 10.7 459 9583 0.00 2.55 0.00 0.000 6 0.000 0.048 2797 2091 1867

9894 1.35 247.0 486.0 10.5 474 9899 0.00 2.60 0.00 0.000 4 0.000 0.054 2797 3506 1867

9961 1.35 247.0 478.4 10.9 477 9966 0.00 2.55 0.00 0.000 6 0.000 0.047 2797 2098 1867

10282 1.35 247.0 444.2 10.4 493 10287 0.00 2.55 0.00 0.000 4 0.000 0.053 2797 3502 1867

10371 1.35 247.0 434.3 10.8 497 10376 0.00 2.53 0.00 0.000 6 0.000 0.045 2798 2094 1867

10693 1.35 247.0 400.5 10.6 513 10697 0.00 2.55 0.00 0.000 4 0.000 0.052 2797 3502 1867

10765 1.35 247.0 392.3 11.0 516 10769 0.00 2.50 0.00 0.000 6 0.000 0.044 2797 2099 1867

11085 1.35 247.0 359.1 10.2 532 11089 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3508 1867

11129 1.35 247.0 354.3 11.2 534 11134 0.00 2.53 0.00 0.000 6 0.000 0.042 2797 2097 1867

11449 1.35 247.0 321.5 10.1 550 11454 0.00 2.58 0.00 0.000 4 0.000 0.051 2798 3508 1868

11511 1.35 247.0 315.2 10.5 553 11516 0.00 2.53 0.00 0.000 6 0.000 0.042 2797 2089 1867

11838 1.35 247.0 283.9 9.8 569 11842 0.00 2.58 0.00 0.000 4 0.000 0.051 2797 3504 1868

11899 1.35 247.0 277.6 9.8 572 11904 0.00 2.53 0.00 0.000 6 0.000 0.041 2798 2093 1868

12226 1.35 247.0 246.5 9.3 588 12231 0.00 2.58 0.00 0.000 4 0.000 0.051 2798 3505 1869

12270 1.35 247.0 242.1 9.6 590 12275 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2099 1869

12592 1.35 247.0 210.3 10.1 606 12596 0.00 2.55 0.00 0.000 4 0.000 0.050 2797 3504 1869

12641 1.35 247.0 205.1 9.8 608 12646 0.00 2.50 0.00 0.000 6 0.000 0.040 2798 2098 1869

12957 1.35 247.0 174.8 9.4 623 12961 0.00 2.55 0.00 0.000 4 0.000 0.050 2798 3504 1870

13019 1.35 247.0 168.4 10.8 626 13023 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2100 1870

13346 1.35 247.0 136.2 11.1 642 13350 0.00 2.55 0.00 0.000 4 0.000 0.050 2798 3506 1870

13408 1.35 247.0 128.9 11.7 645 13412 0.00 2.53 0.00 0.000 6 0.000 0.041 2798 2092 1870

13734 1.35 247.0 88.7 13.0 661 13739 0.00 2.58 0.00 0.000 4 0.000 0.050 2798 3508 1870

13807 1.35 247.0 80.2 11.4 664 13811 0.00 2.50 0.00 0.000 6 0.000 0.039 2797 2098 1870

14123 1.35 247.0 39.3 14.1 679 14127 0.00 2.55 0.00 0.000 4 0.000 0.049 2798 3505 1871

14177 1.35 247.0 31.2 15.5 681 14184 0.00 2.50 0.00 0.000 6 0.000 0.040 2797 2098 1871

14429 end climb: SURFACE_DEPTH_REACHED

state 14429 begin surface coast

14452 end surface coast: CONTROL_FINISHED_OK

state 14453 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	366	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-84425.242	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	161532,6234.383,-1107.018,40,1.1,40,-10.8	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.122,-0.204
_SM_DEPTHo	1.74	KALMAN_X	534740.3,-906.5,579.6,-672835.8,3011.2
_SM_ANGLEo	-58.7	KALMAN_Y	83735.7,661.2,1122.4,27982.4,807.0
GPS2	162057,6234.447,-1106.964,12,1.2,12,-10.8	MHEAD_RNG_PITCHd_Wd	221.8,18487,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	679

FINISH	0.9,1.014301	XPDR_PINGS	1
SM_CCo	14476,49.33,0.811,6,0,1655,300.00	ALTIM_TOP_PING	20.0,999.0
SM_GC	1.92,0.00,0.00,49.33,0.000,0.000,0.811,29,1877,1655,-11.34,-0.65,300.00	_24V_AH	23.1,72.830
IRIDIUM_FIX	6207.28,-1102.12,240497,121239	_10V_AH	10.1,35.292
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34796,695
HUMID	2072	CFSIZE	260165632,236457984
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,6,0
TCM_TEMP	16.50	GPS	290108,202631,6233.840,-1107.088,36,1.6,36,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	83.40	SBE_CT	508	24	282.17
Roll_motor	153	76	272.23	SBE_O2	469	19	206.17
VBD_pump_during_apogee	332	1257	9674.54	WL_BB2F	423	105	1027.08
VBD_pump_during_surface	49	811	924.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.41	nil	0	0	0.00
Iridium_during_connect	35	160	132.18	nil	0	0	0.00
Iridium_during_xfer	136	223	702.71
Transponder_ping	6	420	58.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.93
TT8	1347	19	269.40
LPSleep	10798	2	238.86
TT8_Active	543	19	108.62
TT8_Sampling	1746	39	702.21
TT8_CF8	500	45	231.31
TT8_Kalman	33	81	27.58
Analog_circuits	1433	12	173.75
GPS_charging	0	0	0.00
Compass	1710	8	138.17
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.23	-146.6	0.0	0.0	0	86	0.00	0.00	-60.70	0.000	2	0.000	0.000	29	1876	2842
90	-1.23	-146.6	3.0	-3.1	3	132	11.57	2.62	-21.33	0.000	4	0.138	0.061	2225	3299	3477
385	-1.23	-146.6	36.5	-9.7	16	389	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1904	3477
706	-1.23	-146.6	67.3	-9.5	32	707	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1904	3477
1017	-1.23	-146.6	96.6	-9.8	47	1021	0.00	2.53	0.00	0.000	4	0.000	0.047	2225	3306	3477
1080	-1.23	-146.6	102.6	-9.0	50	1085	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1894	3477
1407	-1.23	-146.6	132.1	-8.6	66	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1894	3478
1717	-1.23	-146.6	158.8	-8.4	81	1721	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3308	3477
1760	-1.23	-146.6	162.6	-8.7	83	1765	0.00	2.53	0.00	0.000	6	0.000	0.042	2225	1896	3477
2081	-1.23	-146.6	192.4	-9.0	99	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1896	3477
2391	-1.23	-146.6	222.2	-10.2	114	2395	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3312	3477
2441	-1.23	-146.6	227.4	-10.0	116	2446	0.00	2.53	0.00	0.000	6	0.000	0.042	2225	1897	3477
2757	-1.23	-146.6	258.8	-10.6	131	2758	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3477
3067	-1.23	-146.6	289.6	-9.9	146	3071	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3309	3477
3128	-1.23	-146.6	295.8	-10.1	149	3132	0.00	2.53	0.00	0.000	6	0.000	0.043	2225	1900	3476
3454	-1.23	-146.6	328.2	-9.8	165	3455	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
3764	-1.23	-146.6	357.2	-9.0	180	3768	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3307	3477
3818	-1.23	-146.6	362.2	-9.0	182	3825	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1897	3477
4134	-1.23	-146.6	389.9	-8.8	198	4138	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3477
4178	-1.23	-146.6	394.0	-9.1	200	4182	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1899	3477
4499	-1.23	-146.6	423.0	-9.1	216	4503	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3307	3477
4538	-1.23	-146.6	426.6	-8.9	218	4542	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1901	3477
4864	-1.23	-146.6	457.5	-9.4	234	4868	0.00	2.55	0.00	0.000	4	0.000	0.049	2224	3308	3477
4908	-1.23	-146.6	461.9	-9.5	236	4912	0.00	2.53	0.00	0.000	6	0.000	0.045	2225	1899	3477
5229	-1.23	-146.6	491.4	-9.2	252	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3477
5538	-1.23	-146.6	519.4	-9.0	267	5543	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3306	3477
5616	-1.23	-146.6	526.4	-8.6	270	5623	0.00	2.55	0.00	0.000	6	0.000	0.046	2225	1894	3477
5933	-1.23	-146.6	554.0	-9.2	286	5937	0.00	2.55	0.00	0.000	4	0.000	0.052	2225	3307	3477
6055	-1.23	-146.6	565.5	-9.3	291	6061	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1900	3477
6370	-1.23	-146.6	592.1	-8.7	307	6375	0.00	2.62	0.00	0.000	4	0.000	0.074	2225	493	3476
6426	-1.23	-146.6	597.2	-9.0	309	6432	0.00	2.50	0.00	0.000	6	0.000	0.043	2224	1910	3477
6741	-1.23	-146.6	624.5	-8.2	325	6749	0.00	2.55	0.00	0.000	4	0.000	0.058	2224	3304	3476
6904	-1.23	-146.6	637.9	-7.1	332	6908	0.00	2.55	0.00	0.000	6	0.000	0.052	2224	1903	3476
7230	-1.23	-146.6	663.7	-7.4	348	7235	0.00	2.55	0.00	0.000	4	0.000	0.059	2224	3299	3476
7280	-1.23	-146.6	668.2	-9.8	350	7284	0.00	2.58	0.00	0.000	6	0.000	0.054	2224	1894	3476
7408	end dive: TARGET_DEPTH_EXCEEDED
state	7408	begin apogee
7415	-0.36	0.0	680.1	9.3	356	7544	0.93	0.00	125.12	1.258	6	0.087	0.000	2418	2112	2878
7544	end apogee: CONTROL_FINISHED_OK
state	7544	begin climb
7547	1.23	146.6	682.8	0.0	362	7679	1.55	2.75	123.68	1.213	4	0.055	0.073	2761	693	2280
7937	1.35	247.0	681.2	4.2	380	8027	0.12	2.53	84.15	1.221	6	0.049	0.047	2797	2095	1870
8349	1.35	247.0	643.1	9.8	400	8353	0.00	2.70	0.00	0.000	4	0.000	0.077	2797	692	1870
8493	1.35	247.0	627.8	10.5	406	8499	0.00	2.53	0.00	0.000	6	0.000	0.048	2797	2100	1870
8809	1.35	247.0	597.7	9.2	422	8813	0.00	2.60	0.00	0.000	4	0.000	0.062	2797	3503	1869
8894	1.35	247.0	589.5	10.5	426	8899	0.00	2.58	0.00	0.000	6	0.000	0.053	2797	2099	1869
9220	1.35	247.0	555.9	10.8	442	9221	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2098	1868
9530	1.35	247.0	524.1	10.0	457	9534	0.00	2.58	0.00	0.000	4	0.000	0.056	2797	3502	1867
9579	1.35	247.0	518.8	10.7	459	9583	0.00	2.55	0.00	0.000	6	0.000	0.048	2797	2091	1867
9894	1.35	247.0	486.0	10.5	474	9899	0.00	2.60	0.00	0.000	4	0.000	0.054	2797	3506	1867
9961	1.35	247.0	478.4	10.9	477	9966	0.00	2.55	0.00	0.000	6	0.000	0.047	2797	2098	1867
10282	1.35	247.0	444.2	10.4	493	10287	0.00	2.55	0.00	0.000	4	0.000	0.053	2797	3502	1867
10371	1.35	247.0	434.3	10.8	497	10376	0.00	2.53	0.00	0.000	6	0.000	0.045	2798	2094	1867
10693	1.35	247.0	400.5	10.6	513	10697	0.00	2.55	0.00	0.000	4	0.000	0.052	2797	3502	1867
10765	1.35	247.0	392.3	11.0	516	10769	0.00	2.50	0.00	0.000	6	0.000	0.044	2797	2099	1867
11085	1.35	247.0	359.1	10.2	532	11089	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3508	1867
11129	1.35	247.0	354.3	11.2	534	11134	0.00	2.53	0.00	0.000	6	0.000	0.042	2797	2097	1867
11449	1.35	247.0	321.5	10.1	550	11454	0.00	2.58	0.00	0.000	4	0.000	0.051	2798	3508	1868
11511	1.35	247.0	315.2	10.5	553	11516	0.00	2.53	0.00	0.000	6	0.000	0.042	2797	2089	1867
11838	1.35	247.0	283.9	9.8	569	11842	0.00	2.58	0.00	0.000	4	0.000	0.051	2797	3504	1868
11899	1.35	247.0	277.6	9.8	572	11904	0.00	2.53	0.00	0.000	6	0.000	0.041	2798	2093	1868
12226	1.35	247.0	246.5	9.3	588	12231	0.00	2.58	0.00	0.000	4	0.000	0.051	2798	3505	1869
12270	1.35	247.0	242.1	9.6	590	12275	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2099	1869
12592	1.35	247.0	210.3	10.1	606	12596	0.00	2.55	0.00	0.000	4	0.000	0.050	2797	3504	1869
12641	1.35	247.0	205.1	9.8	608	12646	0.00	2.50	0.00	0.000	6	0.000	0.040	2798	2098	1869
12957	1.35	247.0	174.8	9.4	623	12961	0.00	2.55	0.00	0.000	4	0.000	0.050	2798	3504	1870
13019	1.35	247.0	168.4	10.8	626	13023	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2100	1870
13346	1.35	247.0	136.2	11.1	642	13350	0.00	2.55	0.00	0.000	4	0.000	0.050	2798	3506	1870
13408	1.35	247.0	128.9	11.7	645	13412	0.00	2.53	0.00	0.000	6	0.000	0.041	2798	2092	1870
13734	1.35	247.0	88.7	13.0	661	13739	0.00	2.58	0.00	0.000	4	0.000	0.050	2798	3508	1870
13807	1.35	247.0	80.2	11.4	664	13811	0.00	2.50	0.00	0.000	6	0.000	0.039	2797	2098	1870
14123	1.35	247.0	39.3	14.1	679	14127	0.00	2.55	0.00	0.000	4	0.000	0.049	2798	3505	1871
14177	1.35	247.0	31.2	15.5	681	14184	0.00	2.50	0.00	0.000	6	0.000	0.040	2797	2098	1871
14429	end climb: SURFACE_DEPTH_REACHED
state	14429	begin surface coast
14452	end surface coast: CONTROL_FINISHED_OK
state	14453	begin surface