Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 232 * 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 232 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 571.30371 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 -1 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 -66730.062 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 1 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 571.30371

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 -66730.062

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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY -1

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 232 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 170945,6345.202,-1257.594,28,1.5,35,-12.3 TGT_NAME KW

_CALLS 2 TGT_LATLONG 6400.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.057,0.209

_SM_DEPTHo -0.67 KALMAN_X -277387.8,145.5,-1148.8,46067.8,618.8

_SM_ANGLEo -54.8 KALMAN_Y -188070.2,-1152.0,-1436.0,433492.2,4418.4

GPS2 171917,6345.122,-1257.860,12,2.8,31,-12.3 MHEAD_RNG_PITCHd_Wd 357.2,27610,-11.2,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 652

Post-dive calculations and measurements:

FINISH -0.6,1.027330 XPDR_PINGS 2

SM_CCo 16728,270.60,0.742,1,0,572,571.30 ALTIM_BOTTOM_PING 601.5,86.0

SM_GC -0.77,0.00,0.00,270.60,0.000,0.000,0.742,46,2892,572,-10.87,-0.23,571.30 _24V_AH 23.4,40.910

IRIDIUM_FIX 6322.64,-1254.94,261207,212136 _10V_AH 10.1,20.198

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41230,806

HUMID 1995 CFSIZE 260165632,244940800

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,1,0

TCM_TEMP 17.10 GPS 261207,220502,6347.188,-1301.717,43,1.4,43,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.04 SBE_CT 579 24 325.61

Roll_motor 122 95 275.55 SBE_O2 567 19 252.30

VBD_pump_during_apogee 312 1209 8855.51 WL_BB2F 513 105 1260.79

VBD_pump_during_surface 270 741 4696.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 190.64 nil 0 0 0.00

Iridium_during_connect 164 160 617.58 nil 0 0 0.00

Iridium_during_xfer 148 223 772.87

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.52

TT8 1461 19 292.24

LPSleep 12999 2 287.55

TT8_Active 749 19 149.79

TT8_Sampling 1769 39 711.47

TT8_CF8 611 45 282.64

TT8_Kalman 33 81 27.57

Analog_circuits 1625 12 197.00

GPS_charging 0 0 0.00

Compass 1726 8 139.47

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.11 -143.9 0.0 0.0 0 134 0.00 0.00 -110.25 0.000 6 0.000 0.000 44 2901 3490

136 -1.11 -146.6 2.1 -3.3 5 153 11.98 1.77 0.00 0.000 4 0.159 0.096 2164 3787 3491

405 -1.11 -146.6 36.9 -9.0 16 409 0.00 1.58 0.00 0.000 6 0.000 0.051 2163 2910 3492

731 -1.11 -146.6 67.4 -7.7 32 735 0.00 1.70 0.00 0.000 4 0.000 0.092 2163 3784 3492

837 -1.11 -146.6 76.2 -8.3 36 844 0.00 1.58 0.00 0.000 6 0.000 0.050 2163 2909 3492

1154 -1.11 -146.6 102.4 -8.3 52 1159 0.00 2.62 0.00 0.000 4 0.000 0.071 2163 1485 3492

1209 -1.11 -146.6 107.3 -8.5 54 1216 0.00 2.72 0.00 0.000 6 0.000 0.081 2163 2895 3492

1525 -1.11 -146.6 133.7 -7.0 70 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2895 3492

1834 -1.11 -146.6 153.2 -6.7 85 1835 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2895 3492

2143 -1.11 -146.6 186.8 -11.8 100 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2895 3492

2453 -1.11 -146.6 214.2 -8.1 115 2454 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2895 3492

2762 -1.11 -146.6 239.7 -8.3 130 2766 0.00 2.62 0.00 0.000 4 0.000 0.070 2163 1482 3492

2794 -1.11 -146.6 242.3 -7.5 131 2800 0.00 2.67 0.00 0.000 6 0.000 0.075 2164 2902 3492

3109 -1.11 -146.6 264.2 -7.3 147 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3492

3418 -1.11 -146.6 286.5 -7.8 162 3419 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3492

3728 -1.11 -146.6 310.2 -8.2 177 3732 0.00 2.62 0.00 0.000 4 0.000 0.069 2164 1483 3492

3789 -1.11 -146.6 315.1 -8.1 180 3793 0.00 2.67 0.00 0.000 6 0.000 0.076 2163 2901 3492

4115 -1.11 -146.6 339.9 -7.6 196 4116 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3492

4424 -1.11 -146.6 362.7 -7.2 211 4428 0.00 2.62 0.00 0.000 4 0.000 0.068 2164 1480 3492

4473 -1.11 -146.6 366.6 -7.8 213 4477 0.00 2.67 0.00 0.000 6 0.000 0.075 2163 2901 3492

4788 -1.11 -146.6 392.8 -8.8 228 4789 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3492

5097 -1.11 -146.6 420.1 -8.5 243 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3492

5407 -1.11 -146.6 447.6 -8.8 258 5408 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3492

5716 -1.11 -146.6 470.9 -7.1 273 5720 0.00 2.58 0.00 0.000 4 0.000 0.058 2164 1471 3492

5765 -1.11 -146.6 474.6 -7.4 275 5770 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2902 3492

6080 -1.11 -146.6 497.9 -7.4 290 6082 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3492

6389 -1.11 -146.6 521.0 -7.2 305 6394 0.00 2.55 0.00 0.000 4 0.000 0.054 2163 1479 3492

6467 -1.11 -146.6 527.0 -7.4 308 6473 0.00 2.60 0.00 0.000 6 0.000 0.062 2164 2903 3492

6785 -1.11 -146.6 550.4 -7.7 324 6789 0.00 2.55 0.00 0.000 4 0.000 0.052 2163 1477 3492

6817 -1.11 -146.6 553.1 -6.9 325 6824 0.00 2.62 0.00 0.000 6 0.000 0.062 2163 2893 3492

7133 -1.11 -146.6 574.8 -6.7 341 7134 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2893 3492

7442 -1.11 -146.6 598.2 -8.3 356 7443 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2893 3492

7752 -1.11 -146.6 620.4 -5.7 371 7756 0.00 2.50 0.00 0.000 4 0.000 0.047 2164 1474 3492

7829 -1.11 -146.6 624.6 -5.0 374 7835 0.00 2.58 0.00 0.000 6 0.000 0.058 2164 2899 3492

8145 -1.11 -146.6 640.1 -5.2 390 8149 0.00 2.53 0.00 0.000 4 0.000 0.045 2164 1467 3492

8171 -1.11 -146.6 641.8 -6.3 391 8175 0.00 2.60 0.00 0.000 6 0.000 0.058 2164 2900 3492

8346 end dive: TARGET_DEPTH_EXCEEDED

state 8346 begin apogee

8353 -0.42 0.0 652.3 6.3 400 8479 0.75 0.00 123.00 1.210 6 0.077 0.000 2319 2083 2901

8480 end apogee: CONTROL_FINISHED_OK

state 8480 begin climb

8482 1.11 146.6 656.4 0.0 406 8613 1.52 2.58 121.32 1.181 4 0.051 0.053 2650 708 2303

8867 1.21 223.6 643.4 3.8 423 8938 0.10 2.45 64.88 1.171 6 0.047 0.034 2688 2118 1989

9259 1.21 223.6 614.8 8.8 443 9263 0.00 2.58 0.00 0.000 4 0.000 0.052 2688 700 1987

9320 1.21 223.6 608.7 10.3 446 9325 0.00 2.42 0.00 0.000 6 0.000 0.034 2688 2098 1987

9646 1.21 223.6 580.6 7.7 462 9651 0.00 2.58 0.00 0.000 4 0.000 0.060 2688 3510 1987

9731 1.21 223.6 573.9 8.3 466 9736 0.00 2.45 0.00 0.000 6 0.000 0.033 2688 2091 1987

10057 1.21 223.6 547.0 8.8 482 10062 0.00 2.60 0.00 0.000 4 0.000 0.061 2688 3502 1986

10107 1.21 223.6 542.5 8.7 484 10111 0.00 2.42 0.00 0.000 6 0.000 0.033 2688 2099 1986

10428 1.21 223.6 513.1 9.7 500 10429 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2099 1985

10737 1.21 223.6 481.7 9.9 515 10738 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2099 1985

11046 1.21 223.6 455.9 7.3 530 11051 0.00 2.62 0.00 0.000 4 0.000 0.067 2688 3508 1985

11079 1.21 223.6 453.5 7.2 531 11085 0.00 2.45 0.00 0.000 6 0.000 0.038 2688 2106 1985

11395 1.21 226.6 434.4 5.9 547 11399 0.00 2.58 0.00 0.000 4 0.000 0.067 2688 3501 1985

11427 1.21 226.6 432.3 6.0 548 11433 0.00 2.45 0.00 0.000 6 0.000 0.041 2688 2100 1985

11742 1.21 226.6 412.8 6.6 564 11743 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2101 1985

12052 1.21 226.6 389.1 8.4 579 12056 0.00 2.62 0.00 0.000 4 0.000 0.072 2688 3501 1985

12091 1.21 226.6 385.6 9.0 581 12095 0.00 2.47 0.00 0.000 6 0.000 0.046 2688 2102 1985

12416 1.21 226.6 354.8 10.3 597 12422 0.00 0.00 3.67 0.670 6 0.000 0.000 2688 2102 1977

12726 1.21 226.6 324.6 9.4 612 12730 0.00 2.65 0.00 0.000 4 0.000 0.075 2688 3507 1977

12771 1.21 226.6 320.4 9.6 614 12775 0.00 2.53 0.00 0.000 6 0.000 0.046 2688 2091 1977

13090 1.21 226.6 292.3 8.6 630 13092 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2091 1978

13400 1.21 226.6 265.9 8.4 645 13404 0.00 2.65 0.00 0.000 4 0.000 0.076 2688 3500 1977

13443 1.21 226.6 262.1 9.3 647 13448 0.00 2.53 0.00 0.000 6 0.000 0.049 2688 2097 1978

13770 1.21 226.6 233.1 9.0 663 13771 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2097 1978

14079 1.21 226.6 206.7 8.9 678 14084 0.00 2.65 0.00 0.000 4 0.000 0.075 2688 3501 1977

14119 1.21 226.6 203.2 8.7 680 14123 0.00 2.50 0.00 0.000 6 0.000 0.049 2688 2095 1978

14445 1.21 226.6 177.0 7.7 696 14446 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2095 1978

14755 1.21 226.6 153.7 7.4 711 14759 0.00 2.65 0.00 0.000 4 0.000 0.075 2688 3501 1978

14798 1.21 226.6 150.1 8.5 713 14802 0.00 2.47 0.00 0.000 6 0.000 0.049 2688 2100 1978

15126 1.21 226.6 124.2 8.4 729 15130 0.00 2.65 0.00 0.000 4 0.000 0.074 2688 3504 1978

15169 1.21 226.6 120.1 8.7 731 15174 0.00 2.50 0.00 0.000 6 0.000 0.049 2688 2096 1978

15490 1.21 226.6 93.3 8.6 747 15491 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2096 1978

15800 1.21 226.6 69.7 7.4 762 15801 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2096 1978

16109 1.21 226.6 46.0 7.3 777 16114 0.00 2.67 0.00 0.000 4 0.000 0.077 2688 3508 1978

16158 1.21 226.6 42.1 7.7 779 16163 0.00 2.50 0.00 0.000 6 0.000 0.052 2688 2102 1978

16480 1.21 226.6 16.3 8.7 795 16481 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2101 1978

16684 end climb: SURFACE_DEPTH_REACHED

state 16684 begin surface coast

16706 end surface coast: CONTROL_FINISHED_OK

state 16706 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	232	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	571.30371	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	-1	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	-66730.062	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	1	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	170945,6345.202,-1257.594,28,1.5,35,-12.3	TGT_NAME	KW
_CALLS	2	TGT_LATLONG	6400.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.057,0.209
_SM_DEPTHo	-0.67	KALMAN_X	-277387.8,145.5,-1148.8,46067.8,618.8
_SM_ANGLEo	-54.8	KALMAN_Y	-188070.2,-1152.0,-1436.0,433492.2,4418.4
GPS2	171917,6345.122,-1257.860,12,2.8,31,-12.3	MHEAD_RNG_PITCHd_Wd	357.2,27610,-11.2,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	652

FINISH	-0.6,1.027330	XPDR_PINGS	2
SM_CCo	16728,270.60,0.742,1,0,572,571.30	ALTIM_BOTTOM_PING	601.5,86.0
SM_GC	-0.77,0.00,0.00,270.60,0.000,0.000,0.742,46,2892,572,-10.87,-0.23,571.30	_24V_AH	23.4,40.910
IRIDIUM_FIX	6322.64,-1254.94,261207,212136	_10V_AH	10.1,20.198
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41230,806
HUMID	1995	CFSIZE	260165632,244940800
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,1,0
TCM_TEMP	17.10	GPS	261207,220502,6347.188,-1301.717,43,1.4,43,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.04	SBE_CT	579	24	325.61
Roll_motor	122	95	275.55	SBE_O2	567	19	252.30
VBD_pump_during_apogee	312	1209	8855.51	WL_BB2F	513	105	1260.79
VBD_pump_during_surface	270	741	4696.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	190.64	nil	0	0	0.00
Iridium_during_connect	164	160	617.58	nil	0	0	0.00
Iridium_during_xfer	148	223	772.87
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.52
TT8	1461	19	292.24
LPSleep	12999	2	287.55
TT8_Active	749	19	149.79
TT8_Sampling	1769	39	711.47
TT8_CF8	611	45	282.64
TT8_Kalman	33	81	27.57
Analog_circuits	1625	12	197.00
GPS_charging	0	0	0.00
Compass	1726	8	139.47
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.11	-143.9	0.0	0.0	0	134	0.00	0.00	-110.25	0.000	6	0.000	0.000	44	2901	3490
136	-1.11	-146.6	2.1	-3.3	5	153	11.98	1.77	0.00	0.000	4	0.159	0.096	2164	3787	3491
405	-1.11	-146.6	36.9	-9.0	16	409	0.00	1.58	0.00	0.000	6	0.000	0.051	2163	2910	3492
731	-1.11	-146.6	67.4	-7.7	32	735	0.00	1.70	0.00	0.000	4	0.000	0.092	2163	3784	3492
837	-1.11	-146.6	76.2	-8.3	36	844	0.00	1.58	0.00	0.000	6	0.000	0.050	2163	2909	3492
1154	-1.11	-146.6	102.4	-8.3	52	1159	0.00	2.62	0.00	0.000	4	0.000	0.071	2163	1485	3492
1209	-1.11	-146.6	107.3	-8.5	54	1216	0.00	2.72	0.00	0.000	6	0.000	0.081	2163	2895	3492
1525	-1.11	-146.6	133.7	-7.0	70	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2895	3492
1834	-1.11	-146.6	153.2	-6.7	85	1835	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2895	3492
2143	-1.11	-146.6	186.8	-11.8	100	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2895	3492
2453	-1.11	-146.6	214.2	-8.1	115	2454	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2895	3492
2762	-1.11	-146.6	239.7	-8.3	130	2766	0.00	2.62	0.00	0.000	4	0.000	0.070	2163	1482	3492
2794	-1.11	-146.6	242.3	-7.5	131	2800	0.00	2.67	0.00	0.000	6	0.000	0.075	2164	2902	3492
3109	-1.11	-146.6	264.2	-7.3	147	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3492
3418	-1.11	-146.6	286.5	-7.8	162	3419	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3492
3728	-1.11	-146.6	310.2	-8.2	177	3732	0.00	2.62	0.00	0.000	4	0.000	0.069	2164	1483	3492
3789	-1.11	-146.6	315.1	-8.1	180	3793	0.00	2.67	0.00	0.000	6	0.000	0.076	2163	2901	3492
4115	-1.11	-146.6	339.9	-7.6	196	4116	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3492
4424	-1.11	-146.6	362.7	-7.2	211	4428	0.00	2.62	0.00	0.000	4	0.000	0.068	2164	1480	3492
4473	-1.11	-146.6	366.6	-7.8	213	4477	0.00	2.67	0.00	0.000	6	0.000	0.075	2163	2901	3492
4788	-1.11	-146.6	392.8	-8.8	228	4789	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3492
5097	-1.11	-146.6	420.1	-8.5	243	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3492
5407	-1.11	-146.6	447.6	-8.8	258	5408	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3492
5716	-1.11	-146.6	470.9	-7.1	273	5720	0.00	2.58	0.00	0.000	4	0.000	0.058	2164	1471	3492
5765	-1.11	-146.6	474.6	-7.4	275	5770	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2902	3492
6080	-1.11	-146.6	497.9	-7.4	290	6082	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3492
6389	-1.11	-146.6	521.0	-7.2	305	6394	0.00	2.55	0.00	0.000	4	0.000	0.054	2163	1479	3492
6467	-1.11	-146.6	527.0	-7.4	308	6473	0.00	2.60	0.00	0.000	6	0.000	0.062	2164	2903	3492
6785	-1.11	-146.6	550.4	-7.7	324	6789	0.00	2.55	0.00	0.000	4	0.000	0.052	2163	1477	3492
6817	-1.11	-146.6	553.1	-6.9	325	6824	0.00	2.62	0.00	0.000	6	0.000	0.062	2163	2893	3492
7133	-1.11	-146.6	574.8	-6.7	341	7134	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2893	3492
7442	-1.11	-146.6	598.2	-8.3	356	7443	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2893	3492
7752	-1.11	-146.6	620.4	-5.7	371	7756	0.00	2.50	0.00	0.000	4	0.000	0.047	2164	1474	3492
7829	-1.11	-146.6	624.6	-5.0	374	7835	0.00	2.58	0.00	0.000	6	0.000	0.058	2164	2899	3492
8145	-1.11	-146.6	640.1	-5.2	390	8149	0.00	2.53	0.00	0.000	4	0.000	0.045	2164	1467	3492
8171	-1.11	-146.6	641.8	-6.3	391	8175	0.00	2.60	0.00	0.000	6	0.000	0.058	2164	2900	3492
8346	end dive: TARGET_DEPTH_EXCEEDED
state	8346	begin apogee
8353	-0.42	0.0	652.3	6.3	400	8479	0.75	0.00	123.00	1.210	6	0.077	0.000	2319	2083	2901
8480	end apogee: CONTROL_FINISHED_OK
state	8480	begin climb
8482	1.11	146.6	656.4	0.0	406	8613	1.52	2.58	121.32	1.181	4	0.051	0.053	2650	708	2303
8867	1.21	223.6	643.4	3.8	423	8938	0.10	2.45	64.88	1.171	6	0.047	0.034	2688	2118	1989
9259	1.21	223.6	614.8	8.8	443	9263	0.00	2.58	0.00	0.000	4	0.000	0.052	2688	700	1987
9320	1.21	223.6	608.7	10.3	446	9325	0.00	2.42	0.00	0.000	6	0.000	0.034	2688	2098	1987
9646	1.21	223.6	580.6	7.7	462	9651	0.00	2.58	0.00	0.000	4	0.000	0.060	2688	3510	1987
9731	1.21	223.6	573.9	8.3	466	9736	0.00	2.45	0.00	0.000	6	0.000	0.033	2688	2091	1987
10057	1.21	223.6	547.0	8.8	482	10062	0.00	2.60	0.00	0.000	4	0.000	0.061	2688	3502	1986
10107	1.21	223.6	542.5	8.7	484	10111	0.00	2.42	0.00	0.000	6	0.000	0.033	2688	2099	1986
10428	1.21	223.6	513.1	9.7	500	10429	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2099	1985
10737	1.21	223.6	481.7	9.9	515	10738	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2099	1985
11046	1.21	223.6	455.9	7.3	530	11051	0.00	2.62	0.00	0.000	4	0.000	0.067	2688	3508	1985
11079	1.21	223.6	453.5	7.2	531	11085	0.00	2.45	0.00	0.000	6	0.000	0.038	2688	2106	1985
11395	1.21	226.6	434.4	5.9	547	11399	0.00	2.58	0.00	0.000	4	0.000	0.067	2688	3501	1985
11427	1.21	226.6	432.3	6.0	548	11433	0.00	2.45	0.00	0.000	6	0.000	0.041	2688	2100	1985
11742	1.21	226.6	412.8	6.6	564	11743	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2101	1985
12052	1.21	226.6	389.1	8.4	579	12056	0.00	2.62	0.00	0.000	4	0.000	0.072	2688	3501	1985
12091	1.21	226.6	385.6	9.0	581	12095	0.00	2.47	0.00	0.000	6	0.000	0.046	2688	2102	1985
12416	1.21	226.6	354.8	10.3	597	12422	0.00	0.00	3.67	0.670	6	0.000	0.000	2688	2102	1977
12726	1.21	226.6	324.6	9.4	612	12730	0.00	2.65	0.00	0.000	4	0.000	0.075	2688	3507	1977
12771	1.21	226.6	320.4	9.6	614	12775	0.00	2.53	0.00	0.000	6	0.000	0.046	2688	2091	1977
13090	1.21	226.6	292.3	8.6	630	13092	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2091	1978
13400	1.21	226.6	265.9	8.4	645	13404	0.00	2.65	0.00	0.000	4	0.000	0.076	2688	3500	1977
13443	1.21	226.6	262.1	9.3	647	13448	0.00	2.53	0.00	0.000	6	0.000	0.049	2688	2097	1978
13770	1.21	226.6	233.1	9.0	663	13771	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2097	1978
14079	1.21	226.6	206.7	8.9	678	14084	0.00	2.65	0.00	0.000	4	0.000	0.075	2688	3501	1977
14119	1.21	226.6	203.2	8.7	680	14123	0.00	2.50	0.00	0.000	6	0.000	0.049	2688	2095	1978
14445	1.21	226.6	177.0	7.7	696	14446	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2095	1978
14755	1.21	226.6	153.7	7.4	711	14759	0.00	2.65	0.00	0.000	4	0.000	0.075	2688	3501	1978
14798	1.21	226.6	150.1	8.5	713	14802	0.00	2.47	0.00	0.000	6	0.000	0.049	2688	2100	1978
15126	1.21	226.6	124.2	8.4	729	15130	0.00	2.65	0.00	0.000	4	0.000	0.074	2688	3504	1978
15169	1.21	226.6	120.1	8.7	731	15174	0.00	2.50	0.00	0.000	6	0.000	0.049	2688	2096	1978
15490	1.21	226.6	93.3	8.6	747	15491	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2096	1978
15800	1.21	226.6	69.7	7.4	762	15801	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2096	1978
16109	1.21	226.6	46.0	7.3	777	16114	0.00	2.67	0.00	0.000	4	0.000	0.077	2688	3508	1978
16158	1.21	226.6	42.1	7.7	779	16163	0.00	2.50	0.00	0.000	6	0.000	0.052	2688	2102	1978
16480	1.21	226.6	16.3	8.7	795	16481	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2101	1978
16684	end climb: SURFACE_DEPTH_REACHED
state	16684	begin surface coast
16706	end surface coast: CONTROL_FINISHED_OK
state	16706	begin surface