Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 409 * 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 409 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 -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 -86621.844 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 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 -86621.844

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 31 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 409 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 151632,6144.787,-920.264,38,1.5,38,-9.5 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,-0.166

_SM_DEPTHo 1.78 KALMAN_X 594625.4,-998.6,-1556.5,-636428.4,5022.5

_SM_ANGLEo -59.7 KALMAN_Y 98114.9,-44.3,-1170.9,-75419.2,-923.5

GPS2 152202,6144.727,-920.377,12,1.4,12,-9.5 MHEAD_RNG_PITCHd_Wd 235.2,49243,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 793

Post-dive calculations and measurements:

FINISH 1.0,1.014034 XPDR_PINGS 1

SM_CCo 15114,0.00,0.000,0,0,1224,405.73 ALTIM_TOP_PING 17.7,999.0

SM_GC 1.75,12.15,0.00,0.00,0.031,0.000,0.000,34,1885,1224,-11.26,-0.40,405.73 _24V_AH 23.0,79.865

IRIDIUM_FIX 6126.23,-918.01,020597,111122 _10V_AH 10.1,38.637

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34861,723

HUMID 2086 CFSIZE 260165632,234012672

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.40 GPS 060208,193655,6140.995,-926.358,42,1.3,42,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 86.34 SBE_CT 535 24 295.68

Roll_motor 93 67 144.72 SBE_O2 487 19 212.90

VBD_pump_during_apogee 472 1337 14537.66 WL_BB2F 411 105 993.70

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 39 103 92.69 nil 0 0 0.00

Iridium_during_connect 37 160 139.00 nil 0 0 0.00

Iridium_during_xfer 135 223 697.51

Transponder_ping 7 420 67.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1326 19 265.29

LPSleep 11480 2 253.93

TT8_Active 551 19 110.30

TT8_Sampling 1633 39 656.53

TT8_CF8 502 45 232.62

TT8_Kalman 33 81 27.57

Analog_circuits 1385 12 167.93

GPS_charging 0 0 0.00

Compass 1597 8 129.11

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

26 -1.23 -146.6 0.0 0.0 0 107 0.00 0.00 -79.03 0.000 2 0.000 0.000 28 1883 3060

111 -1.23 -146.6 3.4 -2.6 4 141 11.68 2.62 -11.65 0.000 4 0.141 0.059 2221 3302 3477

366 -1.23 -146.6 38.5 -11.3 15 370 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1906 3477

684 -1.23 -146.6 69.3 -9.5 30 685 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1906 3477

992 -1.23 -146.6 100.4 -9.7 45 996 0.00 2.53 0.00 0.000 4 0.000 0.046 2221 3308 3477

1035 -1.23 -146.6 104.8 -9.3 47 1040 0.00 2.53 0.00 0.000 6 0.000 0.041 2221 1896 3477

1357 -1.23 -146.6 135.0 -9.9 63 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1896 3477

1666 -1.23 -146.6 167.5 -10.5 78 1671 0.00 2.55 0.00 0.000 4 0.000 0.046 2221 3309 3477

1733 -1.23 -146.6 174.5 -10.3 81 1737 0.00 2.53 0.00 0.000 6 0.000 0.041 2221 1896 3477

2059 -1.23 -146.6 207.7 -9.7 97 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1896 3477

2368 -1.23 -146.6 237.0 -9.5 112 2373 0.00 2.55 0.00 0.000 4 0.000 0.047 2221 3312 3477

2424 -1.23 -146.6 242.6 -9.6 114 2430 0.00 2.53 0.00 0.000 6 0.000 0.041 2221 1895 3477

2740 -1.23 -146.6 276.1 -11.2 130 2745 0.00 2.55 0.00 0.000 4 0.000 0.048 2221 3308 3477

2796 -1.23 -146.6 282.8 -11.7 132 2802 0.00 2.53 0.00 0.000 6 0.000 0.042 2221 1896 3477

3112 -1.23 -146.6 319.0 -11.5 148 3113 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1896 3477

3421 -1.23 -146.6 357.8 -12.8 163 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1896 3477

3731 -1.23 -146.6 395.3 -11.6 178 3735 0.00 2.55 0.00 0.000 4 0.000 0.048 2221 3311 3477

3820 -1.23 -146.6 405.1 -10.1 182 3824 0.00 2.53 0.00 0.000 6 0.000 0.043 2221 1897 3477

4141 -1.23 -146.6 436.2 -9.6 198 4145 0.00 2.55 0.00 0.000 4 0.000 0.049 2221 3308 3477

4203 -1.23 -146.6 442.7 -10.5 201 4207 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1902 3477

4529 -1.23 -146.6 477.4 -11.0 217 4533 0.00 2.55 0.00 0.000 4 0.000 0.049 2221 3312 3477

4580 -1.23 -146.6 483.1 -11.1 219 4585 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1899 3477

4896 -1.23 -146.6 519.3 -11.5 234 4897 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3477

5205 -1.23 -146.6 558.1 -13.5 249 5209 0.00 2.55 0.00 0.000 4 0.000 0.051 2221 3305 3477

5294 -1.23 -146.6 571.3 -14.4 253 5299 0.00 2.50 0.00 0.000 6 0.000 0.044 2221 1900 3477

5615 -1.23 -146.6 612.8 -10.8 269 5616 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3476

5925 -1.23 -146.6 632.3 -3.6 284 5926 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3476

6234 -1.23 -146.6 660.7 -12.8 299 6239 0.00 2.58 0.00 0.000 4 0.000 0.054 2221 3304 3477

6387 -1.23 -146.6 679.3 -11.2 306 6391 0.00 2.55 0.00 0.000 6 0.000 0.048 2221 1899 3476

6714 -1.23 -146.6 707.3 -8.2 322 6718 0.00 2.58 0.00 0.000 4 0.000 0.055 2221 3304 3476

6769 -1.23 -146.6 712.6 -9.6 324 6775 0.00 2.55 0.00 0.000 6 0.000 0.050 2220 1901 3476

7084 -1.23 -146.6 746.0 -9.1 340 7088 0.00 2.58 0.00 0.000 4 0.000 0.058 2221 3305 3476

7263 -1.23 -146.6 759.6 -6.9 348 7267 0.00 2.58 0.00 0.000 6 0.000 0.055 2221 1898 3476

7584 -1.23 -146.6 787.4 -14.7 364 7585 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1898 3476

7663 end dive: TARGET_DEPTH_EXCEEDED

state 7663 begin apogee

7671 -0.36 0.0 793.1 6.5 368 7806 0.93 0.00 127.80 1.338 6 0.081 0.000 2416 2108 2878

7807 end apogee: CONTROL_FINISHED_OK

state 7807 begin climb

7810 1.23 146.6 803.5 0.0 375 7946 1.58 2.72 126.15 1.305 4 0.056 0.067 2763 3498 2280

8056 1.23 146.6 803.0 8.1 386 8061 0.00 2.60 0.00 0.000 6 0.000 0.057 2763 2102 2278

8373 1.37 264.0 791.2 3.5 401 8479 0.15 2.72 100.10 1.328 4 0.056 0.067 2806 3499 1801

8649 1.37 264.0 764.3 13.7 414 8653 0.00 2.62 0.00 0.000 6 0.000 0.057 2806 2100 1801

8975 1.37 264.0 724.2 10.2 430 8979 0.00 2.65 0.00 0.000 4 0.000 0.064 2806 3504 1800

9015 1.37 264.0 720.4 10.3 432 9019 0.00 2.60 0.00 0.000 6 0.000 0.057 2806 2098 1800

9341 1.47 339.4 697.9 5.1 448 9411 0.00 2.70 63.05 1.337 4 0.000 0.059 2806 3497 1494

9545 1.47 339.4 682.8 9.3 457 9550 0.00 2.55 0.00 0.000 6 0.000 0.051 2806 2100 1493

9861 1.47 339.4 647.1 11.4 472 9862 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2100 1493

10170 1.47 339.4 612.3 12.9 487 10175 0.00 2.55 0.00 0.000 4 0.000 0.051 2806 3505 1493

10226 1.47 339.4 604.1 14.4 489 10233 0.00 2.58 0.00 0.000 6 0.000 0.047 2806 2092 1493

10542 1.47 339.4 558.8 13.8 505 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1493

10851 1.47 339.4 511.3 15.5 520 10852 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1494

11161 1.47 339.4 463.3 15.3 535 11162 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1494

11470 1.47 339.4 415.6 15.2 550 11471 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2093 1495

11779 1.47 339.4 370.9 13.7 565 11780 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1496

12089 1.47 339.4 331.3 12.6 580 12090 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1496

12397 1.47 339.4 297.2 10.3 595 12399 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1496

12707 1.47 339.4 267.8 8.9 610 12708 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1496

13017 1.51 371.5 244.5 6.8 625 13046 0.00 0.00 27.35 0.985 6 0.000 0.000 2806 2092 1363

13346 1.51 371.5 215.5 9.2 641 13347 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2092 1362

13655 1.55 405.5 188.5 6.7 656 13686 0.12 0.00 28.08 0.937 6 0.055 0.000 2844 2092 1225

13984 1.55 405.5 152.7 12.3 672 13986 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2092 1224

14294 1.55 405.5 107.8 15.4 687 14295 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2092 1224

14603 1.55 405.5 64.3 13.6 702 14604 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2091 1224

14913 1.55 405.5 14.6 14.5 717 14917 0.00 2.62 0.00 0.000 4 0.000 0.067 2844 688 1224

14952 1.55 405.5 8.1 16.6 719 14957 0.00 2.47 0.00 0.000 6 0.000 0.038 2844 2109 1225

15010 end climb: SURFACE_DEPTH_REACHED

state 15010 begin surface coast

15030 end surface coast: CONTROL_FINISHED_OK

state 15030 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	409	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	-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	-86621.844	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	151632,6144.787,-920.264,38,1.5,38,-9.5	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,-0.166
_SM_DEPTHo	1.78	KALMAN_X	594625.4,-998.6,-1556.5,-636428.4,5022.5
_SM_ANGLEo	-59.7	KALMAN_Y	98114.9,-44.3,-1170.9,-75419.2,-923.5
GPS2	152202,6144.727,-920.377,12,1.4,12,-9.5	MHEAD_RNG_PITCHd_Wd	235.2,49243,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	793

FINISH	1.0,1.014034	XPDR_PINGS	1
SM_CCo	15114,0.00,0.000,0,0,1224,405.73	ALTIM_TOP_PING	17.7,999.0
SM_GC	1.75,12.15,0.00,0.00,0.031,0.000,0.000,34,1885,1224,-11.26,-0.40,405.73	_24V_AH	23.0,79.865
IRIDIUM_FIX	6126.23,-918.01,020597,111122	_10V_AH	10.1,38.637
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34861,723
HUMID	2086	CFSIZE	260165632,234012672
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.40	GPS	060208,193655,6140.995,-926.358,42,1.3,42,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	86.34	SBE_CT	535	24	295.68
Roll_motor	93	67	144.72	SBE_O2	487	19	212.90
VBD_pump_during_apogee	472	1337	14537.66	WL_BB2F	411	105	993.70
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	39	103	92.69	nil	0	0	0.00
Iridium_during_connect	37	160	139.00	nil	0	0	0.00
Iridium_during_xfer	135	223	697.51
Transponder_ping	7	420	67.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1326	19	265.29
LPSleep	11480	2	253.93
TT8_Active	551	19	110.30
TT8_Sampling	1633	39	656.53
TT8_CF8	502	45	232.62
TT8_Kalman	33	81	27.57
Analog_circuits	1385	12	167.93
GPS_charging	0	0	0.00
Compass	1597	8	129.11
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
26	-1.23	-146.6	0.0	0.0	0	107	0.00	0.00	-79.03	0.000	2	0.000	0.000	28	1883	3060
111	-1.23	-146.6	3.4	-2.6	4	141	11.68	2.62	-11.65	0.000	4	0.141	0.059	2221	3302	3477
366	-1.23	-146.6	38.5	-11.3	15	370	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1906	3477
684	-1.23	-146.6	69.3	-9.5	30	685	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1906	3477
992	-1.23	-146.6	100.4	-9.7	45	996	0.00	2.53	0.00	0.000	4	0.000	0.046	2221	3308	3477
1035	-1.23	-146.6	104.8	-9.3	47	1040	0.00	2.53	0.00	0.000	6	0.000	0.041	2221	1896	3477
1357	-1.23	-146.6	135.0	-9.9	63	1358	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1896	3477
1666	-1.23	-146.6	167.5	-10.5	78	1671	0.00	2.55	0.00	0.000	4	0.000	0.046	2221	3309	3477
1733	-1.23	-146.6	174.5	-10.3	81	1737	0.00	2.53	0.00	0.000	6	0.000	0.041	2221	1896	3477
2059	-1.23	-146.6	207.7	-9.7	97	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1896	3477
2368	-1.23	-146.6	237.0	-9.5	112	2373	0.00	2.55	0.00	0.000	4	0.000	0.047	2221	3312	3477
2424	-1.23	-146.6	242.6	-9.6	114	2430	0.00	2.53	0.00	0.000	6	0.000	0.041	2221	1895	3477
2740	-1.23	-146.6	276.1	-11.2	130	2745	0.00	2.55	0.00	0.000	4	0.000	0.048	2221	3308	3477
2796	-1.23	-146.6	282.8	-11.7	132	2802	0.00	2.53	0.00	0.000	6	0.000	0.042	2221	1896	3477
3112	-1.23	-146.6	319.0	-11.5	148	3113	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1896	3477
3421	-1.23	-146.6	357.8	-12.8	163	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1896	3477
3731	-1.23	-146.6	395.3	-11.6	178	3735	0.00	2.55	0.00	0.000	4	0.000	0.048	2221	3311	3477
3820	-1.23	-146.6	405.1	-10.1	182	3824	0.00	2.53	0.00	0.000	6	0.000	0.043	2221	1897	3477
4141	-1.23	-146.6	436.2	-9.6	198	4145	0.00	2.55	0.00	0.000	4	0.000	0.049	2221	3308	3477
4203	-1.23	-146.6	442.7	-10.5	201	4207	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1902	3477
4529	-1.23	-146.6	477.4	-11.0	217	4533	0.00	2.55	0.00	0.000	4	0.000	0.049	2221	3312	3477
4580	-1.23	-146.6	483.1	-11.1	219	4585	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1899	3477
4896	-1.23	-146.6	519.3	-11.5	234	4897	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3477
5205	-1.23	-146.6	558.1	-13.5	249	5209	0.00	2.55	0.00	0.000	4	0.000	0.051	2221	3305	3477
5294	-1.23	-146.6	571.3	-14.4	253	5299	0.00	2.50	0.00	0.000	6	0.000	0.044	2221	1900	3477
5615	-1.23	-146.6	612.8	-10.8	269	5616	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3476
5925	-1.23	-146.6	632.3	-3.6	284	5926	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3476
6234	-1.23	-146.6	660.7	-12.8	299	6239	0.00	2.58	0.00	0.000	4	0.000	0.054	2221	3304	3477
6387	-1.23	-146.6	679.3	-11.2	306	6391	0.00	2.55	0.00	0.000	6	0.000	0.048	2221	1899	3476
6714	-1.23	-146.6	707.3	-8.2	322	6718	0.00	2.58	0.00	0.000	4	0.000	0.055	2221	3304	3476
6769	-1.23	-146.6	712.6	-9.6	324	6775	0.00	2.55	0.00	0.000	6	0.000	0.050	2220	1901	3476
7084	-1.23	-146.6	746.0	-9.1	340	7088	0.00	2.58	0.00	0.000	4	0.000	0.058	2221	3305	3476
7263	-1.23	-146.6	759.6	-6.9	348	7267	0.00	2.58	0.00	0.000	6	0.000	0.055	2221	1898	3476
7584	-1.23	-146.6	787.4	-14.7	364	7585	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1898	3476
7663	end dive: TARGET_DEPTH_EXCEEDED
state	7663	begin apogee
7671	-0.36	0.0	793.1	6.5	368	7806	0.93	0.00	127.80	1.338	6	0.081	0.000	2416	2108	2878
7807	end apogee: CONTROL_FINISHED_OK
state	7807	begin climb
7810	1.23	146.6	803.5	0.0	375	7946	1.58	2.72	126.15	1.305	4	0.056	0.067	2763	3498	2280
8056	1.23	146.6	803.0	8.1	386	8061	0.00	2.60	0.00	0.000	6	0.000	0.057	2763	2102	2278
8373	1.37	264.0	791.2	3.5	401	8479	0.15	2.72	100.10	1.328	4	0.056	0.067	2806	3499	1801
8649	1.37	264.0	764.3	13.7	414	8653	0.00	2.62	0.00	0.000	6	0.000	0.057	2806	2100	1801
8975	1.37	264.0	724.2	10.2	430	8979	0.00	2.65	0.00	0.000	4	0.000	0.064	2806	3504	1800
9015	1.37	264.0	720.4	10.3	432	9019	0.00	2.60	0.00	0.000	6	0.000	0.057	2806	2098	1800
9341	1.47	339.4	697.9	5.1	448	9411	0.00	2.70	63.05	1.337	4	0.000	0.059	2806	3497	1494
9545	1.47	339.4	682.8	9.3	457	9550	0.00	2.55	0.00	0.000	6	0.000	0.051	2806	2100	1493
9861	1.47	339.4	647.1	11.4	472	9862	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2100	1493
10170	1.47	339.4	612.3	12.9	487	10175	0.00	2.55	0.00	0.000	4	0.000	0.051	2806	3505	1493
10226	1.47	339.4	604.1	14.4	489	10233	0.00	2.58	0.00	0.000	6	0.000	0.047	2806	2092	1493
10542	1.47	339.4	558.8	13.8	505	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1493
10851	1.47	339.4	511.3	15.5	520	10852	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1494
11161	1.47	339.4	463.3	15.3	535	11162	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1494
11470	1.47	339.4	415.6	15.2	550	11471	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2093	1495
11779	1.47	339.4	370.9	13.7	565	11780	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1496
12089	1.47	339.4	331.3	12.6	580	12090	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1496
12397	1.47	339.4	297.2	10.3	595	12399	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1496
12707	1.47	339.4	267.8	8.9	610	12708	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1496
13017	1.51	371.5	244.5	6.8	625	13046	0.00	0.00	27.35	0.985	6	0.000	0.000	2806	2092	1363
13346	1.51	371.5	215.5	9.2	641	13347	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2092	1362
13655	1.55	405.5	188.5	6.7	656	13686	0.12	0.00	28.08	0.937	6	0.055	0.000	2844	2092	1225
13984	1.55	405.5	152.7	12.3	672	13986	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2092	1224
14294	1.55	405.5	107.8	15.4	687	14295	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2092	1224
14603	1.55	405.5	64.3	13.6	702	14604	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2091	1224
14913	1.55	405.5	14.6	14.5	717	14917	0.00	2.62	0.00	0.000	4	0.000	0.067	2844	688	1224
14952	1.55	405.5	8.1	16.6	719	14957	0.00	2.47	0.00	0.000	6	0.000	0.038	2844	2109	1225
15010	end climb: SURFACE_DEPTH_REACHED
state	15010	begin surface coast
15030	end surface coast: CONTROL_FINISHED_OK
state	15030	begin surface