Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 468 * 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 468 HEADING 0 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -72624.711 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 -72624.711

CAPUPLOAD 0 HEADING 0 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 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 468 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 145008,6128.487,-912.576,51,1.0,51,-9.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6139.290,-912.489

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.17 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -57.6 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 145609,6128.490,-912.489,13,1.3,13,-9.3 MHEAD_RNG_PITCHd_Wd 9.3,20000,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 585

Post-dive calculations and measurements:

FINISH -0.6,1.027342 XPDR_PINGS 2

SM_CCo 15171,42.95,0.802,1,0,1678,300.00 _24V_AH 23.1,78.010

SM_GC -0.42,0.00,0.00,42.95,0.000,0.000,0.802,50,2903,1678,-10.86,0.06,300.00 _10V_AH 10.1,36.150

IRIDIUM_FIX 6059.36,-915.18,280497,101030 DATA_FILE_SIZE 34779,731

TT8_MAMPS 0.029146 CFSIZE 260165632,233422848

HUMID 2064 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,1,0

INTERNAL_PRESSURE 8.85776 GPS 020208,191137,6130.995,-910.426,39,1.5,39,-9.3

TCM_TEMP 17.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 97.02 SBE_CT 539 24 299.25

Roll_motor 126 78 228.07 SBE_O2 507 19 222.95

VBD_pump_during_apogee 334 1199 9255.30 WL_BB2F 460 105 1116.25

VBD_pump_during_surface 42 801 795.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.98 nil 0 0 0.00

Iridium_during_connect 55 160 204.51 nil 0 0 0.00

Iridium_during_xfer 148 223 766.08

Transponder_ping 5 420 48.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.85

TT8 1331 19 266.24

LPSleep 11677 2 258.29

TT8_Active 491 19 98.20

TT8_Sampling 1541 39 619.52

TT8_CF8 554 45 256.33

TT8_Kalman 0 81 0.00

Analog_circuits 1291 12 156.54

GPS_charging 0 0 0.00

Compass 1529 8 123.57

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.10 -146.6 0.0 0.0 0 98 0.00 0.00 -65.97 0.000 6 0.000 0.000 32 2883 3499

102 -1.10 -146.6 2.5 -5.9 3 124 12.15 2.60 0.00 0.000 4 0.160 0.060 2165 1491 3502

248 -1.10 -146.6 26.1 -11.7 9 252 0.00 2.67 0.00 0.000 6 0.000 0.071 2165 2904 3502

564 -1.10 -146.6 46.5 -4.8 24 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3502

873 -1.10 -146.6 75.8 -13.0 39 874 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3502

1183 -1.10 -146.6 105.0 -10.4 54 1184 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3502

1492 -1.10 -146.6 133.5 -12.5 69 1496 0.00 2.60 0.00 0.000 4 0.000 0.063 2165 1488 3502

1536 -1.10 -146.6 138.8 -10.9 71 1540 0.00 2.65 0.00 0.000 6 0.000 0.066 2166 2909 3502

1857 -1.10 -146.6 165.5 -8.1 87 1858 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3502

2166 -1.10 -146.6 188.2 -7.5 102 2171 0.00 2.60 0.00 0.000 4 0.000 0.061 2165 1483 3502

2206 -1.10 -146.6 191.4 -7.8 104 2211 0.00 2.65 0.00 0.000 6 0.000 0.068 2165 2906 3502

2533 -1.10 -146.6 215.5 -6.8 120 2534 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2906 3502

2842 -1.10 -146.6 238.6 -7.2 135 2846 0.00 2.60 0.00 0.000 4 0.000 0.059 2165 1480 3502

2909 -1.10 -146.6 243.5 -7.5 138 2913 0.00 2.65 0.00 0.000 6 0.000 0.067 2165 2909 3502

3230 -1.10 -146.6 266.1 -6.9 154 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3502

3539 -1.10 -146.6 283.0 -5.3 169 3543 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1487 3502

3572 -1.10 -146.6 284.6 -4.7 170 3579 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2900 3502

3889 -1.10 -146.6 299.1 -4.6 186 3893 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 1488 3502

3933 -1.10 -146.6 301.3 -4.5 188 3938 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2898 3502

4255 -1.10 -146.6 318.6 -5.1 204 4259 0.00 2.58 0.00 0.000 4 0.000 0.059 2165 1485 3502

4299 -1.10 -146.6 321.4 -6.0 206 4304 0.00 2.62 0.00 0.000 6 0.000 0.065 2165 2899 3502

4621 -1.10 -146.6 340.8 -5.9 222 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3502

4930 -1.10 -146.6 359.9 -7.6 237 4934 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1489 3502

4998 -1.10 -146.6 365.2 -7.4 240 5002 0.00 2.62 0.00 0.000 6 0.000 0.064 2165 2908 3502

5319 -1.10 -146.6 385.3 -5.6 256 5320 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2908 3502

5629 -1.10 -146.6 403.3 -5.5 271 5633 0.00 2.55 0.00 0.000 4 0.000 0.054 2165 1486 3502

5673 -1.10 -146.6 406.3 -6.5 273 5678 0.00 2.60 0.00 0.000 6 0.000 0.063 2165 2899 3502

5995 -1.10 -146.6 426.5 -7.3 289 5997 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3502

6304 -1.10 -146.6 447.4 -7.8 304 6305 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3502

6614 -1.10 -146.6 472.6 -8.3 319 6618 0.00 2.53 0.00 0.000 4 0.000 0.050 2165 1482 3502

6649 -1.10 -146.6 475.4 -8.5 320 6655 0.00 2.58 0.00 0.000 6 0.000 0.059 2165 2902 3502

6965 -1.10 -146.6 496.5 -6.0 336 6966 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2902 3502

7275 -1.10 -146.6 515.8 -6.3 351 7279 0.00 2.53 0.00 0.000 4 0.000 0.048 2165 1480 3502

7309 -1.10 -146.6 518.1 -7.0 352 7315 0.00 2.60 0.00 0.000 6 0.000 0.058 2165 2902 3502

7625 -1.10 -146.6 537.8 -6.2 368 7629 0.00 2.53 0.00 0.000 4 0.000 0.047 2165 1477 3502

7689 -1.10 -146.6 541.7 -6.4 371 7694 0.00 2.58 0.00 0.000 6 0.000 0.058 2165 2899 3502

8016 -1.10 -146.6 564.0 -6.9 387 8021 0.00 2.53 0.00 0.000 4 0.000 0.049 2165 1477 3502

8044 -1.10 -146.6 565.7 -6.1 388 8048 0.00 2.60 0.00 0.000 6 0.000 0.059 2165 2899 3502

8357 end dive: TARGET_DEPTH_EXCEEDED

state 8357 begin apogee

8366 -0.42 0.0 586.5 7.3 403 8500 0.75 0.00 126.28 1.200 6 0.091 0.000 2317 2084 2901

8500 end apogee: CONTROL_FINISHED_OK

state 8500 begin climb

8503 1.10 146.6 593.1 0.0 410 8635 1.55 2.58 122.07 1.162 4 0.058 0.050 2649 698 2303

8764 1.23 248.1 589.7 3.2 422 8856 0.12 2.45 85.65 1.143 6 0.041 0.031 2690 2118 1889

9166 1.23 248.1 559.9 8.7 441 9171 0.00 2.50 0.00 0.000 4 0.000 0.058 2690 3495 1887

9211 1.23 248.1 555.6 10.1 443 9215 0.00 2.42 0.00 0.000 6 0.000 0.031 2690 2090 1888

9537 1.23 248.1 523.1 9.8 459 9542 0.00 2.60 0.00 0.000 4 0.000 0.061 2691 3498 1887

9578 1.23 248.1 518.6 11.6 461 9582 0.00 2.42 0.00 0.000 6 0.000 0.035 2691 2102 1887

9905 1.23 248.1 485.7 8.7 477 9909 0.00 2.53 0.00 0.000 4 0.000 0.054 2691 699 1887

9954 1.23 248.1 481.4 9.0 479 9959 0.00 2.42 0.00 0.000 6 0.000 0.036 2691 2090 1887

10271 1.23 248.1 453.3 8.3 494 10275 0.00 2.62 0.00 0.000 4 0.000 0.067 2690 3511 1887

10315 1.23 248.1 449.1 9.9 496 10319 0.00 2.47 0.00 0.000 6 0.000 0.038 2691 2101 1886

10642 1.23 248.1 420.9 9.6 512 10646 0.00 2.55 0.00 0.000 4 0.000 0.058 2690 689 1887

10697 1.23 248.1 415.2 10.6 514 10704 0.00 2.47 0.00 0.000 6 0.000 0.040 2691 2099 1886

11014 1.23 248.1 386.3 8.6 530 11018 0.00 2.62 0.00 0.000 4 0.000 0.072 2691 3509 1886

11053 1.23 248.1 382.5 9.5 532 11058 0.00 2.47 0.00 0.000 6 0.000 0.043 2691 2105 1886

11381 1.23 248.1 350.3 9.6 548 11382 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2105 1887

11689 1.23 248.1 318.7 10.3 563 11691 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2105 1887

11999 1.23 248.1 288.3 9.6 578 12000 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2105 1887

12308 1.23 248.1 261.0 8.0 593 12312 0.00 2.65 0.00 0.000 4 0.000 0.077 2691 3508 1887

12348 1.23 248.1 257.9 7.9 595 12352 0.00 2.50 0.00 0.000 6 0.000 0.046 2691 2101 1887

12676 1.23 248.1 230.1 8.7 611 12677 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2101 1887

12984 1.23 248.1 200.8 9.9 626 12985 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2101 1887

13294 1.23 248.1 172.8 10.2 641 13295 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2100 1887

13603 1.23 248.1 145.3 7.8 656 13607 0.00 2.67 0.00 0.000 4 0.000 0.077 2691 3508 1887

13636 1.23 248.1 142.4 8.5 657 13642 0.00 2.50 0.00 0.000 6 0.000 0.048 2690 2101 1886

13953 1.23 248.1 109.7 10.1 673 13957 0.00 2.58 0.00 0.000 4 0.000 0.065 2691 691 1886

14008 1.23 248.1 104.4 8.7 675 14015 0.00 2.50 0.00 0.000 6 0.000 0.048 2691 2096 1886

14326 1.23 248.1 74.0 10.1 691 14331 0.00 2.67 0.00 0.000 4 0.000 0.078 2691 3516 1887

14371 1.23 248.1 69.5 9.1 693 14375 0.00 2.55 0.00 0.000 6 0.000 0.049 2691 2093 1886

14692 1.23 248.1 37.6 8.3 709 14693 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2093 1886

15001 1.23 248.1 12.5 7.2 724 15002 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2093 1887

15122 end climb: SURFACE_DEPTH_REACHED

state 15122 begin surface coast

15145 end surface coast: CONTROL_FINISHED_OK

state 15145 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	468	HEADING	0	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-72624.711	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	145008,6128.487,-912.576,51,1.0,51,-9.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6139.290,-912.489
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.17	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-57.6	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	145609,6128.490,-912.489,13,1.3,13,-9.3	MHEAD_RNG_PITCHd_Wd	9.3,20000,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	585

FINISH	-0.6,1.027342	XPDR_PINGS	2
SM_CCo	15171,42.95,0.802,1,0,1678,300.00	_24V_AH	23.1,78.010
SM_GC	-0.42,0.00,0.00,42.95,0.000,0.000,0.802,50,2903,1678,-10.86,0.06,300.00	_10V_AH	10.1,36.150
IRIDIUM_FIX	6059.36,-915.18,280497,101030	DATA_FILE_SIZE	34779,731
TT8_MAMPS	0.029146	CFSIZE	260165632,233422848
HUMID	2064	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,1,0
INTERNAL_PRESSURE	8.85776	GPS	020208,191137,6130.995,-910.426,39,1.5,39,-9.3
TCM_TEMP	17.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	97.02	SBE_CT	539	24	299.25
Roll_motor	126	78	228.07	SBE_O2	507	19	222.95
VBD_pump_during_apogee	334	1199	9255.30	WL_BB2F	460	105	1116.25
VBD_pump_during_surface	42	801	795.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.98	nil	0	0	0.00
Iridium_during_connect	55	160	204.51	nil	0	0	0.00
Iridium_during_xfer	148	223	766.08
Transponder_ping	5	420	48.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.85
TT8	1331	19	266.24
LPSleep	11677	2	258.29
TT8_Active	491	19	98.20
TT8_Sampling	1541	39	619.52
TT8_CF8	554	45	256.33
TT8_Kalman	0	81	0.00
Analog_circuits	1291	12	156.54
GPS_charging	0	0	0.00
Compass	1529	8	123.57
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.10	-146.6	0.0	0.0	0	98	0.00	0.00	-65.97	0.000	6	0.000	0.000	32	2883	3499
102	-1.10	-146.6	2.5	-5.9	3	124	12.15	2.60	0.00	0.000	4	0.160	0.060	2165	1491	3502
248	-1.10	-146.6	26.1	-11.7	9	252	0.00	2.67	0.00	0.000	6	0.000	0.071	2165	2904	3502
564	-1.10	-146.6	46.5	-4.8	24	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3502
873	-1.10	-146.6	75.8	-13.0	39	874	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3502
1183	-1.10	-146.6	105.0	-10.4	54	1184	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3502
1492	-1.10	-146.6	133.5	-12.5	69	1496	0.00	2.60	0.00	0.000	4	0.000	0.063	2165	1488	3502
1536	-1.10	-146.6	138.8	-10.9	71	1540	0.00	2.65	0.00	0.000	6	0.000	0.066	2166	2909	3502
1857	-1.10	-146.6	165.5	-8.1	87	1858	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3502
2166	-1.10	-146.6	188.2	-7.5	102	2171	0.00	2.60	0.00	0.000	4	0.000	0.061	2165	1483	3502
2206	-1.10	-146.6	191.4	-7.8	104	2211	0.00	2.65	0.00	0.000	6	0.000	0.068	2165	2906	3502
2533	-1.10	-146.6	215.5	-6.8	120	2534	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2906	3502
2842	-1.10	-146.6	238.6	-7.2	135	2846	0.00	2.60	0.00	0.000	4	0.000	0.059	2165	1480	3502
2909	-1.10	-146.6	243.5	-7.5	138	2913	0.00	2.65	0.00	0.000	6	0.000	0.067	2165	2909	3502
3230	-1.10	-146.6	266.1	-6.9	154	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3502
3539	-1.10	-146.6	283.0	-5.3	169	3543	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1487	3502
3572	-1.10	-146.6	284.6	-4.7	170	3579	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2900	3502
3889	-1.10	-146.6	299.1	-4.6	186	3893	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	1488	3502
3933	-1.10	-146.6	301.3	-4.5	188	3938	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2898	3502
4255	-1.10	-146.6	318.6	-5.1	204	4259	0.00	2.58	0.00	0.000	4	0.000	0.059	2165	1485	3502
4299	-1.10	-146.6	321.4	-6.0	206	4304	0.00	2.62	0.00	0.000	6	0.000	0.065	2165	2899	3502
4621	-1.10	-146.6	340.8	-5.9	222	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3502
4930	-1.10	-146.6	359.9	-7.6	237	4934	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1489	3502
4998	-1.10	-146.6	365.2	-7.4	240	5002	0.00	2.62	0.00	0.000	6	0.000	0.064	2165	2908	3502
5319	-1.10	-146.6	385.3	-5.6	256	5320	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2908	3502
5629	-1.10	-146.6	403.3	-5.5	271	5633	0.00	2.55	0.00	0.000	4	0.000	0.054	2165	1486	3502
5673	-1.10	-146.6	406.3	-6.5	273	5678	0.00	2.60	0.00	0.000	6	0.000	0.063	2165	2899	3502
5995	-1.10	-146.6	426.5	-7.3	289	5997	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3502
6304	-1.10	-146.6	447.4	-7.8	304	6305	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3502
6614	-1.10	-146.6	472.6	-8.3	319	6618	0.00	2.53	0.00	0.000	4	0.000	0.050	2165	1482	3502
6649	-1.10	-146.6	475.4	-8.5	320	6655	0.00	2.58	0.00	0.000	6	0.000	0.059	2165	2902	3502
6965	-1.10	-146.6	496.5	-6.0	336	6966	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2902	3502
7275	-1.10	-146.6	515.8	-6.3	351	7279	0.00	2.53	0.00	0.000	4	0.000	0.048	2165	1480	3502
7309	-1.10	-146.6	518.1	-7.0	352	7315	0.00	2.60	0.00	0.000	6	0.000	0.058	2165	2902	3502
7625	-1.10	-146.6	537.8	-6.2	368	7629	0.00	2.53	0.00	0.000	4	0.000	0.047	2165	1477	3502
7689	-1.10	-146.6	541.7	-6.4	371	7694	0.00	2.58	0.00	0.000	6	0.000	0.058	2165	2899	3502
8016	-1.10	-146.6	564.0	-6.9	387	8021	0.00	2.53	0.00	0.000	4	0.000	0.049	2165	1477	3502
8044	-1.10	-146.6	565.7	-6.1	388	8048	0.00	2.60	0.00	0.000	6	0.000	0.059	2165	2899	3502
8357	end dive: TARGET_DEPTH_EXCEEDED
state	8357	begin apogee
8366	-0.42	0.0	586.5	7.3	403	8500	0.75	0.00	126.28	1.200	6	0.091	0.000	2317	2084	2901
8500	end apogee: CONTROL_FINISHED_OK
state	8500	begin climb
8503	1.10	146.6	593.1	0.0	410	8635	1.55	2.58	122.07	1.162	4	0.058	0.050	2649	698	2303
8764	1.23	248.1	589.7	3.2	422	8856	0.12	2.45	85.65	1.143	6	0.041	0.031	2690	2118	1889
9166	1.23	248.1	559.9	8.7	441	9171	0.00	2.50	0.00	0.000	4	0.000	0.058	2690	3495	1887
9211	1.23	248.1	555.6	10.1	443	9215	0.00	2.42	0.00	0.000	6	0.000	0.031	2690	2090	1888
9537	1.23	248.1	523.1	9.8	459	9542	0.00	2.60	0.00	0.000	4	0.000	0.061	2691	3498	1887
9578	1.23	248.1	518.6	11.6	461	9582	0.00	2.42	0.00	0.000	6	0.000	0.035	2691	2102	1887
9905	1.23	248.1	485.7	8.7	477	9909	0.00	2.53	0.00	0.000	4	0.000	0.054	2691	699	1887
9954	1.23	248.1	481.4	9.0	479	9959	0.00	2.42	0.00	0.000	6	0.000	0.036	2691	2090	1887
10271	1.23	248.1	453.3	8.3	494	10275	0.00	2.62	0.00	0.000	4	0.000	0.067	2690	3511	1887
10315	1.23	248.1	449.1	9.9	496	10319	0.00	2.47	0.00	0.000	6	0.000	0.038	2691	2101	1886
10642	1.23	248.1	420.9	9.6	512	10646	0.00	2.55	0.00	0.000	4	0.000	0.058	2690	689	1887
10697	1.23	248.1	415.2	10.6	514	10704	0.00	2.47	0.00	0.000	6	0.000	0.040	2691	2099	1886
11014	1.23	248.1	386.3	8.6	530	11018	0.00	2.62	0.00	0.000	4	0.000	0.072	2691	3509	1886
11053	1.23	248.1	382.5	9.5	532	11058	0.00	2.47	0.00	0.000	6	0.000	0.043	2691	2105	1886
11381	1.23	248.1	350.3	9.6	548	11382	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2105	1887
11689	1.23	248.1	318.7	10.3	563	11691	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2105	1887
11999	1.23	248.1	288.3	9.6	578	12000	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2105	1887
12308	1.23	248.1	261.0	8.0	593	12312	0.00	2.65	0.00	0.000	4	0.000	0.077	2691	3508	1887
12348	1.23	248.1	257.9	7.9	595	12352	0.00	2.50	0.00	0.000	6	0.000	0.046	2691	2101	1887
12676	1.23	248.1	230.1	8.7	611	12677	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2101	1887
12984	1.23	248.1	200.8	9.9	626	12985	0.00	0.00	0.00	0.000	6	0.000	0.000	2690	2101	1887
13294	1.23	248.1	172.8	10.2	641	13295	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2100	1887
13603	1.23	248.1	145.3	7.8	656	13607	0.00	2.67	0.00	0.000	4	0.000	0.077	2691	3508	1887
13636	1.23	248.1	142.4	8.5	657	13642	0.00	2.50	0.00	0.000	6	0.000	0.048	2690	2101	1886
13953	1.23	248.1	109.7	10.1	673	13957	0.00	2.58	0.00	0.000	4	0.000	0.065	2691	691	1886
14008	1.23	248.1	104.4	8.7	675	14015	0.00	2.50	0.00	0.000	6	0.000	0.048	2691	2096	1886
14326	1.23	248.1	74.0	10.1	691	14331	0.00	2.67	0.00	0.000	4	0.000	0.078	2691	3516	1887
14371	1.23	248.1	69.5	9.1	693	14375	0.00	2.55	0.00	0.000	6	0.000	0.049	2691	2093	1886
14692	1.23	248.1	37.6	8.3	709	14693	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2093	1886
15001	1.23	248.1	12.5	7.2	724	15002	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2093	1887
15122	end climb: SURFACE_DEPTH_REACHED
state	15122	begin surface coast
15145	end surface coast: CONTROL_FINISHED_OK
state	15145	begin surface