Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 378 * 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 378 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 558.0575 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 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 -3 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 -86019.844 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 558.0575

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 -86019.844

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 27 USE_BATHY -3

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 378 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 184607,6226.075,-1050.494,36,1.4,41,-10.6 TGT_NAME DE

_CALLS 5 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.023,-0.237

_SM_DEPTHo 1.51 KALMAN_X 574942.2,-311.5,-305.5,-698174.2,6027.1

_SM_ANGLEo -44.1 KALMAN_Y 96938.0,568.8,370.9,-1029.6,-4875.5

GPS2 191709,6225.439,-1050.461,452,1.9,453,-10.6 MHEAD_RNG_PITCHd_Wd 185.1,23484,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 720

Post-dive calculations and measurements:

FINISH 1.1,1.027407 XPDR_PINGS 5

SM_CCo 14445,133.73,0.772,18,0,603,558.06 ALTIM_TOP_PING 17.3,999.0

SM_GC 1.35,0.00,0.00,133.73,0.000,0.000,0.772,28,1891,603,-11.34,-0.25,558.06 _24V_AH 23.1,74.766

IRIDIUM_FIX 6202.67,-1044.88,260497,191951 _10V_AH 10.1,36.215

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34827,693

HUMID 1990 CFSIZE 260165632,235798528

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,18,0

TCM_TEMP 16.50 GPS 310108,232511,6222.660,-1046.788,61,1.1,71,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 83.89 SBE_CT 514 24 285.35

Roll_motor 162 82 311.14 SBE_O2 466 19 204.63

VBD_pump_during_apogee 465 1256 13521.16 WL_BB2F 380 105 923.11

VBD_pump_during_surface 133 771 2383.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 185 103 441.18 nil 0 0 0.00

Iridium_during_connect 473 160 1750.57 nil 0 0 0.00

Iridium_during_xfer 396 223 2041.94

Transponder_ping 7 420 70.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 454 50 229.71

TT8 1329 19 265.81

LPSleep 10962 2 242.47

TT8_Active 804 19 160.82

TT8_Sampling 2119 39 851.82

TT8_CF8 1372 45 635.04

TT8_Kalman 33 81 27.58

Analog_circuits 1713 12 207.62

GPS_charging 0 0 0.00

Compass 1638 8 132.43

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 -146.6 0.0 0.0 0 127 0.00 0.00 -101.25 0.000 2 0.000 0.000 28 1889 3176

130 -1.23 -146.6 5.2 -3.2 5 155 11.52 2.65 -7.78 0.000 4 0.137 0.083 2222 499 3477

318 -1.23 -146.6 37.0 -10.5 13 322 0.00 2.47 0.00 0.000 6 0.000 0.042 2222 1919 3478

640 -1.23 -146.6 67.5 -13.6 29 644 0.00 2.47 0.00 0.000 4 0.000 0.046 2222 3298 3477

756 -1.23 -146.6 87.4 -17.6 34 761 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1905 3478

1073 -1.23 -146.6 143.1 -8.2 49 1077 0.00 2.62 0.00 0.000 4 0.000 0.069 2222 494 3477

1139 -1.23 -146.6 148.0 -5.8 52 1144 0.00 2.45 0.00 0.000 6 0.000 0.038 2222 1903 3477

1460 -1.23 -146.6 172.4 -8.4 68 1464 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3299 3477

1523 -1.23 -146.6 179.3 -10.6 71 1527 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1899 3477

1849 -1.23 -146.6 212.4 -12.3 87 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

2159 -1.23 -146.6 253.0 -12.7 102 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

2468 -1.23 -146.6 284.1 -8.9 117 2472 0.00 2.50 0.00 0.000 4 0.000 0.046 2222 3296 3477

2495 -1.23 -146.6 286.0 -7.1 118 2500 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

2811 -1.23 -146.6 310.6 -8.3 133 2812 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1898 3477

3120 -1.23 -146.6 334.5 -7.6 148 3124 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3301 3477

3188 -1.23 -146.6 340.2 -10.0 151 3193 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1900 3477

3510 -1.23 -146.6 368.9 -7.7 167 3511 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

3819 -1.23 -146.6 391.4 -8.4 182 3824 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3299 3477

3864 -1.23 -146.6 395.5 -8.3 184 3868 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1900 3477

4186 -1.23 -146.6 426.3 -9.6 200 4190 0.00 2.50 0.00 0.000 4 0.000 0.047 2222 3295 3477

4254 -1.23 -146.6 432.5 -7.5 203 4258 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1898 3477

4580 -1.23 -146.6 459.0 -8.3 219 4584 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3301 3477

4608 -1.23 -146.6 461.3 -8.2 220 4612 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1903 3477

4923 -1.23 -146.6 493.5 -11.7 235 4924 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1903 3477

5232 -1.23 -146.6 521.4 -9.1 250 5236 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3297 3477

5282 -1.23 -146.6 526.3 -9.2 252 5286 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1898 3477

5597 -1.23 -146.6 561.4 -10.9 267 5602 0.00 2.53 0.00 0.000 4 0.000 0.050 2222 3294 3477

5625 -1.23 -146.6 564.5 -11.3 268 5629 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

5941 -1.23 -146.6 597.2 -9.8 283 5942 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1898 3477

6250 -1.23 -146.6 628.0 -9.9 298 6254 0.00 2.55 0.00 0.000 4 0.000 0.051 2222 3299 3476

6316 -1.23 -146.6 634.8 -10.1 301 6320 0.00 2.47 0.00 0.000 6 0.000 0.046 2222 1899 3476

6643 -1.23 -146.6 666.2 -9.0 317 6647 0.00 2.62 0.00 0.000 4 0.000 0.071 2222 495 3476

6675 -1.23 -146.6 669.5 -10.0 318 6682 0.00 2.45 0.00 0.000 6 0.000 0.044 2222 1891 3476

6991 -1.23 -146.6 711.6 -14.7 334 6995 0.00 2.58 0.00 0.000 4 0.000 0.058 2222 3303 3477

7053 -1.23 -146.6 718.6 -9.3 337 7057 0.00 2.58 0.00 0.000 6 0.000 0.054 2222 1896 3477

7060 end dive: TARGET_DEPTH_EXCEEDED

state 7060 begin apogee

7067 -0.36 0.0 720.1 11.7 337 7196 0.90 0.00 125.93 1.256 6 0.083 0.000 2415 2110 2878

7197 end apogee: CONTROL_FINISHED_OK

state 7197 begin climb

7200 1.23 146.6 723.9 0.0 344 7333 1.55 2.62 123.10 1.234 4 0.054 0.061 2760 3495 2280

7589 1.23 146.6 692.7 8.6 362 7594 0.00 2.55 0.00 0.000 6 0.000 0.047 2760 2090 2279

7915 1.32 217.7 675.2 5.3 378 7981 0.00 2.67 59.83 1.230 4 0.000 0.059 2760 3497 1991

8063 1.33 226.9 665.4 7.6 385 8078 0.10 2.55 9.10 1.197 6 0.064 0.048 2788 2100 1952

8394 1.33 226.9 633.5 10.3 401 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2101 1951

8704 1.33 226.9 605.1 8.9 416 8708 0.00 2.58 0.00 0.000 4 0.000 0.054 2788 3497 1950

8766 1.33 226.9 599.3 8.8 419 8770 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2099 1950

9092 1.33 226.9 571.5 8.2 435 9096 0.00 2.55 0.00 0.000 4 0.000 0.053 2788 3497 1950

9131 1.33 226.9 568.4 8.9 437 9135 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2099 1950

9457 1.33 226.9 542.3 8.1 453 9462 0.00 2.58 0.00 0.000 4 0.000 0.051 2787 3504 1950

9501 1.33 226.9 538.0 9.4 455 9506 0.00 2.55 0.00 0.000 6 0.000 0.044 2788 2094 1950

9823 1.33 230.9 510.1 7.8 471 9832 0.00 2.58 3.95 1.095 4 0.000 0.051 2788 3497 1936

9856 1.33 230.9 507.3 8.4 472 9860 0.00 2.53 0.00 0.000 6 0.000 0.042 2788 2096 1936

10171 1.33 230.9 475.4 10.3 487 10176 0.00 2.55 0.00 0.000 4 0.000 0.051 2788 3498 1936

10278 1.33 230.9 466.2 8.4 492 10283 0.00 2.53 0.00 0.000 6 0.000 0.042 2788 2096 1936

10605 1.33 230.9 438.3 9.9 508 10609 0.00 2.55 0.00 0.000 4 0.000 0.051 2788 3498 1936

10660 1.33 230.9 430.9 13.8 510 10666 0.00 2.53 0.00 0.000 6 0.000 0.043 2788 2095 1937

10976 1.33 230.9 392.9 11.9 526 10980 0.00 2.55 0.00 0.000 4 0.000 0.050 2788 3498 1936

11065 1.33 230.9 381.5 12.9 530 11069 0.00 2.50 0.00 0.000 6 0.000 0.042 2788 2099 1937

11386 1.33 230.9 350.0 8.1 546 11390 0.00 2.53 0.00 0.000 4 0.000 0.050 2788 3498 1937

11458 1.33 230.9 344.4 8.1 549 11462 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2096 1937

11773 1.33 230.9 314.6 10.2 564 11777 0.00 2.55 0.00 0.000 4 0.000 0.048 2788 3501 1937

11828 1.33 230.9 308.8 9.3 566 11834 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2098 1937

12144 1.33 230.9 273.9 13.6 582 12148 0.00 2.55 0.00 0.000 4 0.000 0.049 2788 3503 1937

12199 1.33 230.9 267.6 11.0 584 12205 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2099 1937

12514 1.33 230.9 230.5 10.8 600 12518 0.00 2.53 0.00 0.000 4 0.000 0.051 2788 3498 1938

12541 1.56 414.6 229.9 1.0 601 12697 0.20 2.50 144.00 0.950 6 0.048 0.040 2843 2093 1186

13003 1.56 414.6 179.5 11.3 624 13008 0.00 2.60 0.00 0.000 4 0.000 0.069 2842 695 1186

13031 1.56 414.6 177.0 9.5 625 13036 0.00 2.47 0.00 0.000 6 0.000 0.038 2842 2102 1186

13346 1.56 414.6 156.3 10.1 640 13351 0.00 2.50 0.00 0.000 4 0.000 0.048 2842 3496 1186

13391 1.56 414.6 150.5 14.4 642 13395 0.00 2.50 0.00 0.000 6 0.000 0.041 2842 2100 1186

13712 1.56 414.6 105.8 19.1 658 13716 0.00 2.60 0.00 0.000 4 0.000 0.066 2842 694 1186

13745 1.56 414.6 100.9 14.4 659 13751 0.00 2.45 0.00 0.000 6 0.000 0.037 2842 2101 1187

14062 1.56 414.6 57.6 13.8 675 14066 0.00 2.62 0.00 0.000 4 0.000 0.067 2842 695 1186

14072 1.56 414.6 54.8 15.4 675 14078 0.00 2.47 0.00 0.000 6 0.000 0.038 2842 2107 1186

14389 1.56 414.6 6.5 17.2 691 14393 0.00 2.50 0.00 0.000 4 0.000 0.047 2842 3497 1187

14406 1.56 414.6 3.1 18.0 692 14410 0.00 2.47 0.00 0.000 6 0.000 0.039 2843 2097 1186

14413 end climb: SURFACE_DEPTH_REACHED

state 14414 begin surface coast

14422 end surface coast: CONTROL_FINISHED_OK

state 14422 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	378	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	558.0575	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	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	-3	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	-86019.844	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	184607,6226.075,-1050.494,36,1.4,41,-10.6	TGT_NAME	DE
_CALLS	5	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.023,-0.237
_SM_DEPTHo	1.51	KALMAN_X	574942.2,-311.5,-305.5,-698174.2,6027.1
_SM_ANGLEo	-44.1	KALMAN_Y	96938.0,568.8,370.9,-1029.6,-4875.5
GPS2	191709,6225.439,-1050.461,452,1.9,453,-10.6	MHEAD_RNG_PITCHd_Wd	185.1,23484,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	720

FINISH	1.1,1.027407	XPDR_PINGS	5
SM_CCo	14445,133.73,0.772,18,0,603,558.06	ALTIM_TOP_PING	17.3,999.0
SM_GC	1.35,0.00,0.00,133.73,0.000,0.000,0.772,28,1891,603,-11.34,-0.25,558.06	_24V_AH	23.1,74.766
IRIDIUM_FIX	6202.67,-1044.88,260497,191951	_10V_AH	10.1,36.215
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34827,693
HUMID	1990	CFSIZE	260165632,235798528
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,18,0
TCM_TEMP	16.50	GPS	310108,232511,6222.660,-1046.788,61,1.1,71,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	83.89	SBE_CT	514	24	285.35
Roll_motor	162	82	311.14	SBE_O2	466	19	204.63
VBD_pump_during_apogee	465	1256	13521.16	WL_BB2F	380	105	923.11
VBD_pump_during_surface	133	771	2383.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	185	103	441.18	nil	0	0	0.00
Iridium_during_connect	473	160	1750.57	nil	0	0	0.00
Iridium_during_xfer	396	223	2041.94
Transponder_ping	7	420	70.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	454	50	229.71
TT8	1329	19	265.81
LPSleep	10962	2	242.47
TT8_Active	804	19	160.82
TT8_Sampling	2119	39	851.82
TT8_CF8	1372	45	635.04
TT8_Kalman	33	81	27.58
Analog_circuits	1713	12	207.62
GPS_charging	0	0	0.00
Compass	1638	8	132.43
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	-146.6	0.0	0.0	0	127	0.00	0.00	-101.25	0.000	2	0.000	0.000	28	1889	3176
130	-1.23	-146.6	5.2	-3.2	5	155	11.52	2.65	-7.78	0.000	4	0.137	0.083	2222	499	3477
318	-1.23	-146.6	37.0	-10.5	13	322	0.00	2.47	0.00	0.000	6	0.000	0.042	2222	1919	3478
640	-1.23	-146.6	67.5	-13.6	29	644	0.00	2.47	0.00	0.000	4	0.000	0.046	2222	3298	3477
756	-1.23	-146.6	87.4	-17.6	34	761	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1905	3478
1073	-1.23	-146.6	143.1	-8.2	49	1077	0.00	2.62	0.00	0.000	4	0.000	0.069	2222	494	3477
1139	-1.23	-146.6	148.0	-5.8	52	1144	0.00	2.45	0.00	0.000	6	0.000	0.038	2222	1903	3477
1460	-1.23	-146.6	172.4	-8.4	68	1464	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3299	3477
1523	-1.23	-146.6	179.3	-10.6	71	1527	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1899	3477
1849	-1.23	-146.6	212.4	-12.3	87	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
2159	-1.23	-146.6	253.0	-12.7	102	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
2468	-1.23	-146.6	284.1	-8.9	117	2472	0.00	2.50	0.00	0.000	4	0.000	0.046	2222	3296	3477
2495	-1.23	-146.6	286.0	-7.1	118	2500	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
2811	-1.23	-146.6	310.6	-8.3	133	2812	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1898	3477
3120	-1.23	-146.6	334.5	-7.6	148	3124	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3301	3477
3188	-1.23	-146.6	340.2	-10.0	151	3193	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1900	3477
3510	-1.23	-146.6	368.9	-7.7	167	3511	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
3819	-1.23	-146.6	391.4	-8.4	182	3824	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3299	3477
3864	-1.23	-146.6	395.5	-8.3	184	3868	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1900	3477
4186	-1.23	-146.6	426.3	-9.6	200	4190	0.00	2.50	0.00	0.000	4	0.000	0.047	2222	3295	3477
4254	-1.23	-146.6	432.5	-7.5	203	4258	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1898	3477
4580	-1.23	-146.6	459.0	-8.3	219	4584	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3301	3477
4608	-1.23	-146.6	461.3	-8.2	220	4612	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1903	3477
4923	-1.23	-146.6	493.5	-11.7	235	4924	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1903	3477
5232	-1.23	-146.6	521.4	-9.1	250	5236	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3297	3477
5282	-1.23	-146.6	526.3	-9.2	252	5286	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1898	3477
5597	-1.23	-146.6	561.4	-10.9	267	5602	0.00	2.53	0.00	0.000	4	0.000	0.050	2222	3294	3477
5625	-1.23	-146.6	564.5	-11.3	268	5629	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
5941	-1.23	-146.6	597.2	-9.8	283	5942	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1898	3477
6250	-1.23	-146.6	628.0	-9.9	298	6254	0.00	2.55	0.00	0.000	4	0.000	0.051	2222	3299	3476
6316	-1.23	-146.6	634.8	-10.1	301	6320	0.00	2.47	0.00	0.000	6	0.000	0.046	2222	1899	3476
6643	-1.23	-146.6	666.2	-9.0	317	6647	0.00	2.62	0.00	0.000	4	0.000	0.071	2222	495	3476
6675	-1.23	-146.6	669.5	-10.0	318	6682	0.00	2.45	0.00	0.000	6	0.000	0.044	2222	1891	3476
6991	-1.23	-146.6	711.6	-14.7	334	6995	0.00	2.58	0.00	0.000	4	0.000	0.058	2222	3303	3477
7053	-1.23	-146.6	718.6	-9.3	337	7057	0.00	2.58	0.00	0.000	6	0.000	0.054	2222	1896	3477
7060	end dive: TARGET_DEPTH_EXCEEDED
state	7060	begin apogee
7067	-0.36	0.0	720.1	11.7	337	7196	0.90	0.00	125.93	1.256	6	0.083	0.000	2415	2110	2878
7197	end apogee: CONTROL_FINISHED_OK
state	7197	begin climb
7200	1.23	146.6	723.9	0.0	344	7333	1.55	2.62	123.10	1.234	4	0.054	0.061	2760	3495	2280
7589	1.23	146.6	692.7	8.6	362	7594	0.00	2.55	0.00	0.000	6	0.000	0.047	2760	2090	2279
7915	1.32	217.7	675.2	5.3	378	7981	0.00	2.67	59.83	1.230	4	0.000	0.059	2760	3497	1991
8063	1.33	226.9	665.4	7.6	385	8078	0.10	2.55	9.10	1.197	6	0.064	0.048	2788	2100	1952
8394	1.33	226.9	633.5	10.3	401	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2101	1951
8704	1.33	226.9	605.1	8.9	416	8708	0.00	2.58	0.00	0.000	4	0.000	0.054	2788	3497	1950
8766	1.33	226.9	599.3	8.8	419	8770	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2099	1950
9092	1.33	226.9	571.5	8.2	435	9096	0.00	2.55	0.00	0.000	4	0.000	0.053	2788	3497	1950
9131	1.33	226.9	568.4	8.9	437	9135	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2099	1950
9457	1.33	226.9	542.3	8.1	453	9462	0.00	2.58	0.00	0.000	4	0.000	0.051	2787	3504	1950
9501	1.33	226.9	538.0	9.4	455	9506	0.00	2.55	0.00	0.000	6	0.000	0.044	2788	2094	1950
9823	1.33	230.9	510.1	7.8	471	9832	0.00	2.58	3.95	1.095	4	0.000	0.051	2788	3497	1936
9856	1.33	230.9	507.3	8.4	472	9860	0.00	2.53	0.00	0.000	6	0.000	0.042	2788	2096	1936
10171	1.33	230.9	475.4	10.3	487	10176	0.00	2.55	0.00	0.000	4	0.000	0.051	2788	3498	1936
10278	1.33	230.9	466.2	8.4	492	10283	0.00	2.53	0.00	0.000	6	0.000	0.042	2788	2096	1936
10605	1.33	230.9	438.3	9.9	508	10609	0.00	2.55	0.00	0.000	4	0.000	0.051	2788	3498	1936
10660	1.33	230.9	430.9	13.8	510	10666	0.00	2.53	0.00	0.000	6	0.000	0.043	2788	2095	1937
10976	1.33	230.9	392.9	11.9	526	10980	0.00	2.55	0.00	0.000	4	0.000	0.050	2788	3498	1936
11065	1.33	230.9	381.5	12.9	530	11069	0.00	2.50	0.00	0.000	6	0.000	0.042	2788	2099	1937
11386	1.33	230.9	350.0	8.1	546	11390	0.00	2.53	0.00	0.000	4	0.000	0.050	2788	3498	1937
11458	1.33	230.9	344.4	8.1	549	11462	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2096	1937
11773	1.33	230.9	314.6	10.2	564	11777	0.00	2.55	0.00	0.000	4	0.000	0.048	2788	3501	1937
11828	1.33	230.9	308.8	9.3	566	11834	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2098	1937
12144	1.33	230.9	273.9	13.6	582	12148	0.00	2.55	0.00	0.000	4	0.000	0.049	2788	3503	1937
12199	1.33	230.9	267.6	11.0	584	12205	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2099	1937
12514	1.33	230.9	230.5	10.8	600	12518	0.00	2.53	0.00	0.000	4	0.000	0.051	2788	3498	1938
12541	1.56	414.6	229.9	1.0	601	12697	0.20	2.50	144.00	0.950	6	0.048	0.040	2843	2093	1186
13003	1.56	414.6	179.5	11.3	624	13008	0.00	2.60	0.00	0.000	4	0.000	0.069	2842	695	1186
13031	1.56	414.6	177.0	9.5	625	13036	0.00	2.47	0.00	0.000	6	0.000	0.038	2842	2102	1186
13346	1.56	414.6	156.3	10.1	640	13351	0.00	2.50	0.00	0.000	4	0.000	0.048	2842	3496	1186
13391	1.56	414.6	150.5	14.4	642	13395	0.00	2.50	0.00	0.000	6	0.000	0.041	2842	2100	1186
13712	1.56	414.6	105.8	19.1	658	13716	0.00	2.60	0.00	0.000	4	0.000	0.066	2842	694	1186
13745	1.56	414.6	100.9	14.4	659	13751	0.00	2.45	0.00	0.000	6	0.000	0.037	2842	2101	1187
14062	1.56	414.6	57.6	13.8	675	14066	0.00	2.62	0.00	0.000	4	0.000	0.067	2842	695	1186
14072	1.56	414.6	54.8	15.4	675	14078	0.00	2.47	0.00	0.000	6	0.000	0.038	2842	2107	1186
14389	1.56	414.6	6.5	17.2	691	14393	0.00	2.50	0.00	0.000	4	0.000	0.047	2842	3497	1187
14406	1.56	414.6	3.1	18.0	692	14410	0.00	2.47	0.00	0.000	6	0.000	0.039	2843	2097	1186
14413	end climb: SURFACE_DEPTH_REACHED
state	14414	begin surface coast
14422	end surface coast: CONTROL_FINISHED_OK
state	14422	begin surface