Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 428 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 428 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -70776.781 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -70776.781

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 14 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 428 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 080608,6153.282,-926.862,28,1.1,28,-9.6 TGT_NAME AE

_CALLS 2 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.26 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -52.1 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 081538,6153.319,-926.712,10,1.9,10,-9.6 MHEAD_RNG_PITCHd_Wd 102.9,10239,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 625

Post-dive calculations and measurements:

FINISH -0.4,1.027360 XPDR_PINGS 2

SM_CCo 16274,0.00,0.000,0,0,1643,308.59 ALTIM_BOTTOM_PING 550.9,83.2

SM_GC -0.12,11.60,0.00,0.00,0.026,0.000,0.000,28,2901,1643,-10.81,0.03,308.59 _24V_AH 23.2,71.404

IRIDIUM_FIX 6130.75,-928.49,210497,080802 _10V_AH 10.1,33.144

TT8_MAMPS 0.028379 DATA_FILE_SIZE 37929,777

HUMID 2070 CFSIZE 260165632,235495424

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 15.60 GPS 260108,124838,6154.836,-920.446,40,1.7,40,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 97.25 SBE_CT 572 24 318.86

Roll_motor 133 94 292.41 SBE_O2 537 19 236.73

VBD_pump_during_apogee 389 1296 11714.00 WL_BB2F 458 105 1117.13

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 78 103 186.95 nil 0 0 0.00

Iridium_during_connect 70 160 262.19 nil 0 0 0.00

Iridium_during_xfer 233 223 1206.76

Transponder_ping 5 420 48.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.53

TT8 1431 19 286.18

LPSleep 12435 2 275.06

TT8_Active 491 19 98.35

TT8_Sampling 1778 39 714.92

TT8_CF8 718 45 332.28

TT8_Kalman 0 81 0.00

Analog_circuits 1410 12 171.00

GPS_charging 0 0 0.00

Compass 1757 8 142.00

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.10 -146.6 0.0 0.0 0 99 0.00 0.00 -64.80 0.000 6 0.000 0.000 44 2899 3500

102 -1.10 -146.6 5.4 -8.2 4 118 12.05 1.73 0.00 0.000 4 0.160 0.084 2164 3783 3500

371 -1.10 -146.6 46.8 -14.5 15 375 0.00 1.58 0.00 0.000 6 0.000 0.053 2164 2900 3502

698 -1.10 -146.6 76.9 -7.2 31 702 0.00 1.73 0.00 0.000 4 0.000 0.094 2164 3782 3502

904 -1.10 -146.6 95.5 -8.6 40 907 0.00 1.58 0.00 0.000 6 0.000 0.054 2164 2898 3501

1237 -1.10 -146.6 122.6 -6.8 56 1241 0.00 2.58 0.00 0.000 4 0.000 0.062 2164 1479 3501

1281 -1.10 -146.6 126.1 -7.8 58 1285 0.00 2.65 0.00 0.000 6 0.000 0.069 2164 2897 3502

1602 -1.10 -146.6 153.4 -8.3 74 1606 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1488 3501

1634 -1.10 -146.6 156.3 -8.4 75 1641 0.00 2.65 0.00 0.000 6 0.000 0.072 2164 2904 3501

1951 -1.10 -146.6 183.5 -8.8 91 1952 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3501

2260 -1.10 -146.6 206.1 -7.4 106 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3502

2569 -1.10 -146.6 230.9 -8.4 121 2574 0.00 2.60 0.00 0.000 4 0.000 0.061 2164 1483 3501

2614 -1.10 -146.6 234.5 -8.2 123 2618 0.00 2.67 0.00 0.000 6 0.000 0.073 2164 2904 3502

2934 -1.10 -146.6 259.7 -7.5 139 2935 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3502

3244 -1.10 -146.6 284.5 -8.1 154 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3502

3553 -1.10 -146.6 309.8 -7.8 169 3557 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1486 3501

3602 -1.10 -146.6 313.3 -7.3 171 3607 0.00 2.65 0.00 0.000 6 0.000 0.067 2164 2907 3502

3919 -1.10 -146.6 337.4 -7.9 186 3920 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2907 3501

4228 -1.10 -146.6 361.5 -8.0 201 4229 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2908 3501

4537 -1.10 -146.6 386.0 -7.3 216 4538 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2908 3502

4847 -1.10 -146.6 407.5 -6.6 231 4851 0.00 2.58 0.00 0.000 4 0.000 0.055 2164 1481 3501

4897 -1.10 -146.6 409.3 -2.0 233 4901 0.00 2.62 0.00 0.000 6 0.000 0.064 2164 2902 3501

5213 -1.10 -146.6 426.9 -5.3 248 5214 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3501

5521 -1.10 -146.6 447.5 -7.1 263 5526 0.00 2.53 0.00 0.000 4 0.000 0.049 2164 1479 3501

5555 -1.10 -146.6 450.3 -8.5 264 5562 0.00 2.60 0.00 0.000 6 0.000 0.057 2164 2908 3501

5871 -1.10 -146.6 471.6 -6.8 280 5872 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2908 3502

6181 -1.10 -146.6 493.7 -7.8 295 6185 0.00 2.53 0.00 0.000 4 0.000 0.047 2164 1478 3501

6213 -1.10 -146.6 496.5 -8.3 296 6219 0.00 2.60 0.00 0.000 6 0.000 0.058 2164 2902 3501

6529 -1.10 -146.6 515.2 -4.9 312 6533 0.00 1.65 0.00 0.000 4 0.000 0.084 2164 3783 3501

6580 -1.10 -146.6 518.6 -7.2 314 6583 0.00 1.55 0.00 0.000 6 0.000 0.034 2164 2885 3501

6907 -1.10 -146.6 529.4 -3.2 330 6911 0.00 2.42 0.00 0.000 4 0.000 0.045 2164 1491 3501

6947 -1.10 -146.6 530.4 -2.9 332 6951 0.00 2.55 0.00 0.000 6 0.000 0.058 2164 2902 3501

7274 -1.10 -146.6 542.9 -3.8 348 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3502

7582 -1.10 -146.6 562.5 -6.9 363 7586 0.00 2.47 0.00 0.000 4 0.000 0.044 2164 1484 3502

7615 -1.10 -146.6 565.9 -10.7 364 7622 0.00 2.55 0.00 0.000 6 0.000 0.058 2164 2896 3501

7931 -1.10 -146.6 595.0 -7.7 380 7935 0.00 2.47 0.00 0.000 4 0.000 0.045 2164 1482 3501

7992 -1.10 -146.6 599.5 -6.3 382 7998 0.00 2.60 0.00 0.000 6 0.000 0.059 2164 2903 3501

8308 -1.10 -146.6 621.9 -5.8 398 8311 0.00 1.65 0.00 0.000 4 0.000 0.081 2164 3792 3501

8409 -1.10 -146.6 622.4 -0.1 402 8413 0.00 1.55 0.00 0.000 6 0.000 0.040 2164 2904 3501

8727 end dive: NO_VERTICAL_VELOCITY

state 8727 begin apogee

8735 -0.42 0.0 621.8 0.0 418 8869 0.80 0.00 125.88 1.296 6 0.113 0.000 2318 2096 2901

8869 end apogee: CONTROL_FINISHED_OK

state 8870 begin climb

8873 1.10 146.6 621.4 0.0 425 9004 1.52 2.70 122.80 1.245 4 0.044 0.060 2654 3514 2303

9257 1.13 169.5 606.9 5.4 442 9284 0.00 2.50 20.92 1.192 6 0.000 0.038 2654 2093 2209

9593 1.13 169.5 585.2 7.1 459 9598 0.00 2.60 0.00 0.000 4 0.000 0.059 2654 3516 2207

9751 1.21 236.7 577.2 4.1 466 9815 0.00 2.50 56.75 1.255 6 0.000 0.038 2654 2096 1936

10140 1.21 236.7 546.6 9.0 485 10144 0.00 2.62 0.00 0.000 4 0.000 0.064 2654 3515 1935

10167 1.21 236.7 543.7 9.5 486 10171 0.00 2.50 0.00 0.000 6 0.000 0.038 2654 2103 1934

10483 1.21 236.7 516.6 6.5 501 10487 0.00 2.62 0.00 0.000 4 0.000 0.066 2654 3516 1934

10538 1.21 236.7 512.0 8.1 503 10544 0.00 2.53 0.00 0.000 6 0.000 0.044 2654 2102 1933

10854 1.21 236.7 483.8 9.5 519 10858 0.00 2.55 0.00 0.000 4 0.000 0.060 2655 697 1931

10909 1.21 236.7 478.2 10.5 521 10915 0.00 2.47 0.00 0.000 6 0.000 0.038 2654 2109 1931

11225 1.21 236.7 447.5 9.3 537 11226 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2109 1931

11534 1.21 236.7 419.9 8.4 552 11539 0.00 2.58 0.00 0.000 4 0.000 0.067 2654 3505 1931

11567 1.21 236.7 417.1 8.4 553 11573 0.00 2.50 0.00 0.000 6 0.000 0.042 2654 2094 1931

11883 1.21 236.7 393.1 7.5 569 11884 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2094 1931

12192 1.21 236.7 372.2 6.6 584 12197 0.00 2.62 0.00 0.000 4 0.000 0.067 2654 3509 1931

12220 1.21 236.7 370.2 7.2 585 12224 0.00 2.47 0.00 0.000 6 0.000 0.043 2654 2101 1931

12536 1.21 236.7 348.1 6.6 600 12537 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2102 1932

12845 1.22 238.3 328.6 6.0 615 12846 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2101 1933

13154 1.22 238.3 301.8 9.6 630 13159 0.00 2.55 0.00 0.000 4 0.000 0.062 2654 698 1933

13182 1.22 238.3 298.7 10.9 631 13186 0.00 2.45 0.00 0.000 6 0.000 0.041 2654 2098 1934

13503 1.22 238.3 270.7 8.3 647 13507 0.00 2.60 0.00 0.000 4 0.000 0.068 2654 3509 1934

13547 1.29 300.1 268.4 4.3 649 13608 0.17 2.50 52.90 1.022 6 0.039 0.042 2699 2094 1677

13935 1.29 300.1 229.1 11.5 668 13939 0.00 2.55 0.00 0.000 4 0.000 0.062 2700 698 1676

14080 1.29 300.1 215.6 10.1 674 14086 0.00 2.50 0.00 0.000 6 0.000 0.044 2700 2097 1676

14396 1.29 300.1 180.2 13.0 690 14397 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2097 1676

14706 1.29 302.8 153.2 5.9 705 14715 0.00 2.60 4.03 0.667 4 0.000 0.063 2700 704 1666

14783 1.30 308.2 148.2 5.9 708 14795 0.00 2.50 6.25 0.782 6 0.000 0.044 2700 2109 1644

15106 1.30 308.2 112.3 10.7 724 15107 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2109 1643

15414 1.30 308.2 76.3 9.7 739 15418 0.00 2.60 0.00 0.000 4 0.000 0.062 2700 698 1644

15469 1.30 308.2 72.5 7.9 741 15475 0.00 2.47 0.00 0.000 6 0.000 0.046 2700 2097 1644

15785 1.30 308.2 41.2 11.5 757 15786 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 1644

16095 1.30 308.2 8.8 14.1 772 16099 0.00 2.53 0.00 0.000 4 0.000 0.051 2700 693 1644

16112 1.30 308.2 7.4 10.4 773 16116 0.00 2.55 0.00 0.000 6 0.000 0.057 2700 2104 1645

16168 end climb: SURFACE_DEPTH_REACHED

state 16168 begin surface coast

16190 end surface coast: CONTROL_FINISHED_OK

state 16190 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	428	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-70776.781	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	080608,6153.282,-926.862,28,1.1,28,-9.6	TGT_NAME	AE
_CALLS	2	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.26	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-52.1	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	081538,6153.319,-926.712,10,1.9,10,-9.6	MHEAD_RNG_PITCHd_Wd	102.9,10239,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	625

FINISH	-0.4,1.027360	XPDR_PINGS	2
SM_CCo	16274,0.00,0.000,0,0,1643,308.59	ALTIM_BOTTOM_PING	550.9,83.2
SM_GC	-0.12,11.60,0.00,0.00,0.026,0.000,0.000,28,2901,1643,-10.81,0.03,308.59	_24V_AH	23.2,71.404
IRIDIUM_FIX	6130.75,-928.49,210497,080802	_10V_AH	10.1,33.144
TT8_MAMPS	0.028379	DATA_FILE_SIZE	37929,777
HUMID	2070	CFSIZE	260165632,235495424
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	15.60	GPS	260108,124838,6154.836,-920.446,40,1.7,40,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	97.25	SBE_CT	572	24	318.86
Roll_motor	133	94	292.41	SBE_O2	537	19	236.73
VBD_pump_during_apogee	389	1296	11714.00	WL_BB2F	458	105	1117.13
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	78	103	186.95	nil	0	0	0.00
Iridium_during_connect	70	160	262.19	nil	0	0	0.00
Iridium_during_xfer	233	223	1206.76
Transponder_ping	5	420	48.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.53
TT8	1431	19	286.18
LPSleep	12435	2	275.06
TT8_Active	491	19	98.35
TT8_Sampling	1778	39	714.92
TT8_CF8	718	45	332.28
TT8_Kalman	0	81	0.00
Analog_circuits	1410	12	171.00
GPS_charging	0	0	0.00
Compass	1757	8	142.00
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.10	-146.6	0.0	0.0	0	99	0.00	0.00	-64.80	0.000	6	0.000	0.000	44	2899	3500
102	-1.10	-146.6	5.4	-8.2	4	118	12.05	1.73	0.00	0.000	4	0.160	0.084	2164	3783	3500
371	-1.10	-146.6	46.8	-14.5	15	375	0.00	1.58	0.00	0.000	6	0.000	0.053	2164	2900	3502
698	-1.10	-146.6	76.9	-7.2	31	702	0.00	1.73	0.00	0.000	4	0.000	0.094	2164	3782	3502
904	-1.10	-146.6	95.5	-8.6	40	907	0.00	1.58	0.00	0.000	6	0.000	0.054	2164	2898	3501
1237	-1.10	-146.6	122.6	-6.8	56	1241	0.00	2.58	0.00	0.000	4	0.000	0.062	2164	1479	3501
1281	-1.10	-146.6	126.1	-7.8	58	1285	0.00	2.65	0.00	0.000	6	0.000	0.069	2164	2897	3502
1602	-1.10	-146.6	153.4	-8.3	74	1606	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1488	3501
1634	-1.10	-146.6	156.3	-8.4	75	1641	0.00	2.65	0.00	0.000	6	0.000	0.072	2164	2904	3501
1951	-1.10	-146.6	183.5	-8.8	91	1952	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3501
2260	-1.10	-146.6	206.1	-7.4	106	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3502
2569	-1.10	-146.6	230.9	-8.4	121	2574	0.00	2.60	0.00	0.000	4	0.000	0.061	2164	1483	3501
2614	-1.10	-146.6	234.5	-8.2	123	2618	0.00	2.67	0.00	0.000	6	0.000	0.073	2164	2904	3502
2934	-1.10	-146.6	259.7	-7.5	139	2935	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3502
3244	-1.10	-146.6	284.5	-8.1	154	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3502
3553	-1.10	-146.6	309.8	-7.8	169	3557	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1486	3501
3602	-1.10	-146.6	313.3	-7.3	171	3607	0.00	2.65	0.00	0.000	6	0.000	0.067	2164	2907	3502
3919	-1.10	-146.6	337.4	-7.9	186	3920	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2907	3501
4228	-1.10	-146.6	361.5	-8.0	201	4229	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2908	3501
4537	-1.10	-146.6	386.0	-7.3	216	4538	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2908	3502
4847	-1.10	-146.6	407.5	-6.6	231	4851	0.00	2.58	0.00	0.000	4	0.000	0.055	2164	1481	3501
4897	-1.10	-146.6	409.3	-2.0	233	4901	0.00	2.62	0.00	0.000	6	0.000	0.064	2164	2902	3501
5213	-1.10	-146.6	426.9	-5.3	248	5214	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3501
5521	-1.10	-146.6	447.5	-7.1	263	5526	0.00	2.53	0.00	0.000	4	0.000	0.049	2164	1479	3501
5555	-1.10	-146.6	450.3	-8.5	264	5562	0.00	2.60	0.00	0.000	6	0.000	0.057	2164	2908	3501
5871	-1.10	-146.6	471.6	-6.8	280	5872	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2908	3502
6181	-1.10	-146.6	493.7	-7.8	295	6185	0.00	2.53	0.00	0.000	4	0.000	0.047	2164	1478	3501
6213	-1.10	-146.6	496.5	-8.3	296	6219	0.00	2.60	0.00	0.000	6	0.000	0.058	2164	2902	3501
6529	-1.10	-146.6	515.2	-4.9	312	6533	0.00	1.65	0.00	0.000	4	0.000	0.084	2164	3783	3501
6580	-1.10	-146.6	518.6	-7.2	314	6583	0.00	1.55	0.00	0.000	6	0.000	0.034	2164	2885	3501
6907	-1.10	-146.6	529.4	-3.2	330	6911	0.00	2.42	0.00	0.000	4	0.000	0.045	2164	1491	3501
6947	-1.10	-146.6	530.4	-2.9	332	6951	0.00	2.55	0.00	0.000	6	0.000	0.058	2164	2902	3501
7274	-1.10	-146.6	542.9	-3.8	348	7275	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3502
7582	-1.10	-146.6	562.5	-6.9	363	7586	0.00	2.47	0.00	0.000	4	0.000	0.044	2164	1484	3502
7615	-1.10	-146.6	565.9	-10.7	364	7622	0.00	2.55	0.00	0.000	6	0.000	0.058	2164	2896	3501
7931	-1.10	-146.6	595.0	-7.7	380	7935	0.00	2.47	0.00	0.000	4	0.000	0.045	2164	1482	3501
7992	-1.10	-146.6	599.5	-6.3	382	7998	0.00	2.60	0.00	0.000	6	0.000	0.059	2164	2903	3501
8308	-1.10	-146.6	621.9	-5.8	398	8311	0.00	1.65	0.00	0.000	4	0.000	0.081	2164	3792	3501
8409	-1.10	-146.6	622.4	-0.1	402	8413	0.00	1.55	0.00	0.000	6	0.000	0.040	2164	2904	3501
8727	end dive: NO_VERTICAL_VELOCITY
state	8727	begin apogee
8735	-0.42	0.0	621.8	0.0	418	8869	0.80	0.00	125.88	1.296	6	0.113	0.000	2318	2096	2901
8869	end apogee: CONTROL_FINISHED_OK
state	8870	begin climb
8873	1.10	146.6	621.4	0.0	425	9004	1.52	2.70	122.80	1.245	4	0.044	0.060	2654	3514	2303
9257	1.13	169.5	606.9	5.4	442	9284	0.00	2.50	20.92	1.192	6	0.000	0.038	2654	2093	2209
9593	1.13	169.5	585.2	7.1	459	9598	0.00	2.60	0.00	0.000	4	0.000	0.059	2654	3516	2207
9751	1.21	236.7	577.2	4.1	466	9815	0.00	2.50	56.75	1.255	6	0.000	0.038	2654	2096	1936
10140	1.21	236.7	546.6	9.0	485	10144	0.00	2.62	0.00	0.000	4	0.000	0.064	2654	3515	1935
10167	1.21	236.7	543.7	9.5	486	10171	0.00	2.50	0.00	0.000	6	0.000	0.038	2654	2103	1934
10483	1.21	236.7	516.6	6.5	501	10487	0.00	2.62	0.00	0.000	4	0.000	0.066	2654	3516	1934
10538	1.21	236.7	512.0	8.1	503	10544	0.00	2.53	0.00	0.000	6	0.000	0.044	2654	2102	1933
10854	1.21	236.7	483.8	9.5	519	10858	0.00	2.55	0.00	0.000	4	0.000	0.060	2655	697	1931
10909	1.21	236.7	478.2	10.5	521	10915	0.00	2.47	0.00	0.000	6	0.000	0.038	2654	2109	1931
11225	1.21	236.7	447.5	9.3	537	11226	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2109	1931
11534	1.21	236.7	419.9	8.4	552	11539	0.00	2.58	0.00	0.000	4	0.000	0.067	2654	3505	1931
11567	1.21	236.7	417.1	8.4	553	11573	0.00	2.50	0.00	0.000	6	0.000	0.042	2654	2094	1931
11883	1.21	236.7	393.1	7.5	569	11884	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2094	1931
12192	1.21	236.7	372.2	6.6	584	12197	0.00	2.62	0.00	0.000	4	0.000	0.067	2654	3509	1931
12220	1.21	236.7	370.2	7.2	585	12224	0.00	2.47	0.00	0.000	6	0.000	0.043	2654	2101	1931
12536	1.21	236.7	348.1	6.6	600	12537	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2102	1932
12845	1.22	238.3	328.6	6.0	615	12846	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2101	1933
13154	1.22	238.3	301.8	9.6	630	13159	0.00	2.55	0.00	0.000	4	0.000	0.062	2654	698	1933
13182	1.22	238.3	298.7	10.9	631	13186	0.00	2.45	0.00	0.000	6	0.000	0.041	2654	2098	1934
13503	1.22	238.3	270.7	8.3	647	13507	0.00	2.60	0.00	0.000	4	0.000	0.068	2654	3509	1934
13547	1.29	300.1	268.4	4.3	649	13608	0.17	2.50	52.90	1.022	6	0.039	0.042	2699	2094	1677
13935	1.29	300.1	229.1	11.5	668	13939	0.00	2.55	0.00	0.000	4	0.000	0.062	2700	698	1676
14080	1.29	300.1	215.6	10.1	674	14086	0.00	2.50	0.00	0.000	6	0.000	0.044	2700	2097	1676
14396	1.29	300.1	180.2	13.0	690	14397	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2097	1676
14706	1.29	302.8	153.2	5.9	705	14715	0.00	2.60	4.03	0.667	4	0.000	0.063	2700	704	1666
14783	1.30	308.2	148.2	5.9	708	14795	0.00	2.50	6.25	0.782	6	0.000	0.044	2700	2109	1644
15106	1.30	308.2	112.3	10.7	724	15107	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2109	1643
15414	1.30	308.2	76.3	9.7	739	15418	0.00	2.60	0.00	0.000	4	0.000	0.062	2700	698	1644
15469	1.30	308.2	72.5	7.9	741	15475	0.00	2.47	0.00	0.000	6	0.000	0.046	2700	2097	1644
15785	1.30	308.2	41.2	11.5	757	15786	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	1644
16095	1.30	308.2	8.8	14.1	772	16099	0.00	2.53	0.00	0.000	4	0.000	0.051	2700	693	1644
16112	1.30	308.2	7.4	10.4	773	16116	0.00	2.55	0.00	0.000	6	0.000	0.057	2700	2104	1645
16168	end climb: SURFACE_DEPTH_REACHED
state	16168	begin surface coast
16190	end surface coast: CONTROL_FINISHED_OK
state	16190	begin surface