Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 340 * 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 340 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -2 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 -83908.766 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 -83908.766

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 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 340 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 123908,6254.760,-1242.680,33,1.4,33,-11.8 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,-0.064

_SM_DEPTHo 1.63 KALMAN_X 468023.9,-489.0,958.7,-691187.0,6270.1

_SM_ANGLEo -59.5 KALMAN_Y 74132.4,-1600.2,151.9,78417.7,2169.0

GPS2 124432,6254.724,-1242.438,14,1.8,14,-11.8 MHEAD_RNG_PITCHd_Wd 266.1,20988,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 653

Post-dive calculations and measurements:

FINISH 0.8,1.027339 XPDR_PINGS 1

SM_CCo 14167,40.47,0.813,5,0,1655,300.00 ALTIM_TOP_PING 17.9,999.0

SM_GC 1.82,0.00,0.00,40.47,0.000,0.000,0.813,35,1887,1655,-11.32,-0.40,300.00 _24V_AH 23.2,68.691

IRIDIUM_FIX 6230.49,-1252.24,190497,080848 _10V_AH 10.1,33.181

TT8_MAMPS 0.026845 DATA_FILE_SIZE 34819,674

HUMID 2068 CFSIZE 260165632,238043136

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,5,0

TCM_TEMP 16.40 GPS 240108,164438,6252.159,-1243.686,31,1.3,31,-11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 85.29 SBE_CT 500 24 278.85

Roll_motor 123 66 191.58 SBE_O2 455 19 200.73

VBD_pump_during_apogee 344 1239 9909.23 WL_BB2F 418 105 1018.98

VBD_pump_during_surface 40 813 763.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 95.77 nil 0 0 0.00

Iridium_during_connect 34 160 127.50 nil 0 0 0.00

Iridium_during_xfer 138 223 715.56

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.22

TT8 1311 19 262.35

LPSleep 10562 2 233.63

TT8_Active 551 19 110.29

TT8_Sampling 1714 39 689.22

TT8_CF8 473 45 219.25

TT8_Kalman 33 81 27.57

Analog_circuits 1392 12 168.72

GPS_charging 0 0 0.00

Compass 1676 8 135.43

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.23 -146.6 0.0 0.0 0 106 0.00 0.00 -81.15 0.000 2 0.000 0.000 28 1882 3285

109 -1.23 -146.6 4.9 -4.8 4 132 11.65 2.60 -4.22 0.000 4 0.141 0.059 2223 3309 3476

210 -1.23 -146.6 21.9 -9.8 8 215 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1908 3476

528 -1.23 -146.6 59.4 -12.5 23 529 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1908 3476

836 -1.23 -146.6 90.0 -10.1 38 840 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3308 3476

900 -1.23 -146.6 96.0 -11.4 41 904 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1899 3476

1226 -1.23 -146.6 130.4 -8.8 57 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1899 3476

1535 -1.23 -146.6 158.3 -9.6 72 1539 0.00 2.55 0.00 0.000 4 0.000 0.047 2223 3314 3476

1664 -1.23 -146.6 172.0 -9.1 78 1668 0.00 2.53 0.00 0.000 6 0.000 0.042 2223 1899 3476

1990 -1.23 -146.6 197.9 -8.0 94 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3476

2300 -1.23 -146.6 228.1 -10.9 109 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3476

2609 -1.23 -146.6 266.1 -13.4 124 2613 0.00 2.55 0.00 0.000 4 0.000 0.048 2223 3311 3476

2698 -1.23 -146.6 278.0 -12.7 128 2702 0.00 2.55 0.00 0.000 6 0.000 0.044 2223 1893 3476

3019 -1.23 -146.6 315.4 -11.7 144 3020 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1893 3476

3329 -1.23 -146.6 351.0 -11.2 159 3333 0.00 2.58 0.00 0.000 4 0.000 0.050 2223 3312 3476

3400 -1.23 -146.6 358.8 -10.0 162 3404 0.00 2.55 0.00 0.000 6 0.000 0.045 2223 1896 3477

3716 -1.23 -146.6 392.0 -10.1 177 3720 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3308 3476

3771 -1.23 -146.6 397.5 -9.8 179 3777 0.00 2.53 0.00 0.000 6 0.000 0.046 2223 1901 3476

4086 -1.23 -146.6 428.3 -9.9 195 4087 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3476

4396 -1.23 -146.6 458.2 -9.5 210 4397 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3476

4705 -1.23 -146.6 486.9 -9.6 225 4709 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3307 3476

4804 -1.23 -146.6 497.0 -10.0 229 4811 0.00 2.55 0.00 0.000 6 0.000 0.047 2223 1895 3476

5120 -1.23 -146.6 528.4 -9.8 245 5125 0.00 2.58 0.00 0.000 4 0.000 0.053 2223 3306 3476

5227 -1.23 -146.6 538.7 -9.5 250 5232 0.00 2.55 0.00 0.000 6 0.000 0.048 2223 1899 3477

5555 -1.23 -146.6 568.8 -8.7 266 5559 0.00 2.58 0.00 0.000 4 0.000 0.055 2223 3308 3477

5649 -1.23 -146.6 576.7 -7.7 270 5654 0.00 2.55 0.00 0.000 6 0.000 0.051 2223 1901 3477

5965 -1.23 -146.6 601.9 -8.7 285 5969 0.00 2.60 0.00 0.000 4 0.000 0.061 2223 3304 3477

6049 -1.23 -146.6 609.9 -10.1 289 6054 0.00 2.58 0.00 0.000 6 0.000 0.056 2223 1896 3476

6375 -1.23 -146.6 640.6 -9.2 305 6379 0.00 2.62 0.00 0.000 4 0.000 0.064 2223 3304 3476

6464 -1.23 -146.6 648.9 -9.8 309 6468 0.00 2.60 0.00 0.000 6 0.000 0.058 2223 1897 3475

6513 end dive: TARGET_DEPTH_EXCEEDED

state 6514 begin apogee

6520 -0.36 0.0 653.0 8.3 312 6648 0.93 0.00 124.75 1.233 6 0.084 0.000 2418 2106 2879

6649 end apogee: CONTROL_FINISHED_OK

state 6649 begin climb

6651 1.23 146.6 657.9 0.0 318 6779 1.55 0.00 123.60 1.199 6 0.056 0.000 2761 2106 2280

7086 1.27 182.9 639.5 6.6 339 7127 0.00 2.67 31.12 1.226 4 0.000 0.067 2761 3498 2131

7295 1.27 182.9 621.8 9.5 348 7299 0.00 2.58 0.00 0.000 6 0.000 0.054 2761 2100 2130

7611 1.30 202.6 596.5 7.3 363 7633 0.00 2.72 17.15 1.239 4 0.000 0.064 2761 3498 2052

7770 1.31 212.6 585.0 7.6 370 7785 0.00 2.58 9.55 1.227 6 0.000 0.054 2761 2098 2011

8102 1.33 231.0 560.6 7.3 386 8125 0.10 2.72 16.40 1.239 4 0.063 0.063 2790 3499 1936

8378 1.33 231.0 536.5 10.5 398 8382 0.00 2.58 0.00 0.000 6 0.000 0.052 2789 2099 1935

8698 1.33 231.0 507.6 9.8 414 8702 0.00 2.60 0.00 0.000 4 0.000 0.058 2790 3499 1934

8904 1.33 231.0 485.1 10.3 423 8908 0.00 2.53 0.00 0.000 6 0.000 0.048 2790 2100 1933

9220 1.33 231.0 454.8 9.5 438 9221 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2100 1934

9529 1.33 231.0 426.7 8.7 453 9533 0.00 2.58 0.00 0.000 4 0.000 0.054 2790 3500 1934

9606 1.33 231.0 419.6 9.1 456 9613 0.00 2.53 0.00 0.000 6 0.000 0.045 2790 2098 1934

9922 1.33 231.0 390.4 9.5 472 9923 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2098 1934

10231 1.33 231.0 361.5 9.5 487 10235 0.00 2.58 0.00 0.000 4 0.000 0.053 2790 3507 1935

10338 1.33 231.0 351.1 9.5 492 10342 0.00 2.55 0.00 0.000 6 0.000 0.044 2789 2090 1935

10664 1.33 232.5 323.8 7.9 508 10668 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3501 1935

10809 1.33 232.5 311.6 8.0 514 10815 0.00 2.50 0.00 0.000 6 0.000 0.043 2790 2100 1935

11124 1.36 257.0 288.3 7.1 530 11153 0.00 2.62 22.02 1.035 4 0.000 0.051 2790 3500 1830

11221 1.36 257.0 280.5 9.0 534 11225 0.00 2.53 0.00 0.000 6 0.000 0.042 2790 2101 1830

11536 1.36 257.0 252.3 9.4 549 11541 0.00 2.55 0.00 0.000 4 0.000 0.050 2790 3501 1830

11602 1.36 257.0 245.8 10.0 552 11607 0.00 2.53 0.00 0.000 6 0.000 0.041 2790 2094 1830

11924 1.36 257.0 219.2 8.9 568 11928 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3508 1830

11996 1.36 257.0 213.5 8.9 571 12000 0.00 2.53 0.00 0.000 6 0.000 0.042 2790 2096 1830

12312 1.36 257.0 188.8 8.1 586 12313 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2096 1831

12622 1.36 257.0 161.8 9.1 601 12626 0.00 2.55 0.00 0.000 4 0.000 0.048 2790 3506 1831

12751 1.36 257.0 147.7 10.5 607 12755 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2093 1831

13077 1.36 257.0 120.3 9.6 623 13082 0.00 2.55 0.00 0.000 4 0.000 0.049 2790 3502 1831

13150 1.36 257.0 110.7 12.1 626 13154 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2094 1831

13465 1.36 257.0 74.0 11.1 641 13467 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2094 1831

13775 1.36 257.0 40.5 10.8 656 13779 0.00 2.55 0.00 0.000 4 0.000 0.049 2790 3502 1832

13882 1.36 257.0 27.3 12.9 661 13886 0.00 2.50 0.00 0.000 6 0.000 0.040 2790 2098 1832

14123 end climb: SURFACE_DEPTH_REACHED

state 14123 begin surface coast

14145 end surface coast: CONTROL_FINISHED_OK

state 14145 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	340	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-2	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	-83908.766	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	123908,6254.760,-1242.680,33,1.4,33,-11.8	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,-0.064
_SM_DEPTHo	1.63	KALMAN_X	468023.9,-489.0,958.7,-691187.0,6270.1
_SM_ANGLEo	-59.5	KALMAN_Y	74132.4,-1600.2,151.9,78417.7,2169.0
GPS2	124432,6254.724,-1242.438,14,1.8,14,-11.8	MHEAD_RNG_PITCHd_Wd	266.1,20988,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	653

FINISH	0.8,1.027339	XPDR_PINGS	1
SM_CCo	14167,40.47,0.813,5,0,1655,300.00	ALTIM_TOP_PING	17.9,999.0
SM_GC	1.82,0.00,0.00,40.47,0.000,0.000,0.813,35,1887,1655,-11.32,-0.40,300.00	_24V_AH	23.2,68.691
IRIDIUM_FIX	6230.49,-1252.24,190497,080848	_10V_AH	10.1,33.181
TT8_MAMPS	0.026845	DATA_FILE_SIZE	34819,674
HUMID	2068	CFSIZE	260165632,238043136
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,5,0
TCM_TEMP	16.40	GPS	240108,164438,6252.159,-1243.686,31,1.3,31,-11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	85.29	SBE_CT	500	24	278.85
Roll_motor	123	66	191.58	SBE_O2	455	19	200.73
VBD_pump_during_apogee	344	1239	9909.23	WL_BB2F	418	105	1018.98
VBD_pump_during_surface	40	813	763.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	95.77	nil	0	0	0.00
Iridium_during_connect	34	160	127.50	nil	0	0	0.00
Iridium_during_xfer	138	223	715.56
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.22
TT8	1311	19	262.35
LPSleep	10562	2	233.63
TT8_Active	551	19	110.29
TT8_Sampling	1714	39	689.22
TT8_CF8	473	45	219.25
TT8_Kalman	33	81	27.57
Analog_circuits	1392	12	168.72
GPS_charging	0	0	0.00
Compass	1676	8	135.43
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.23	-146.6	0.0	0.0	0	106	0.00	0.00	-81.15	0.000	2	0.000	0.000	28	1882	3285
109	-1.23	-146.6	4.9	-4.8	4	132	11.65	2.60	-4.22	0.000	4	0.141	0.059	2223	3309	3476
210	-1.23	-146.6	21.9	-9.8	8	215	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1908	3476
528	-1.23	-146.6	59.4	-12.5	23	529	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1908	3476
836	-1.23	-146.6	90.0	-10.1	38	840	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3308	3476
900	-1.23	-146.6	96.0	-11.4	41	904	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1899	3476
1226	-1.23	-146.6	130.4	-8.8	57	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1899	3476
1535	-1.23	-146.6	158.3	-9.6	72	1539	0.00	2.55	0.00	0.000	4	0.000	0.047	2223	3314	3476
1664	-1.23	-146.6	172.0	-9.1	78	1668	0.00	2.53	0.00	0.000	6	0.000	0.042	2223	1899	3476
1990	-1.23	-146.6	197.9	-8.0	94	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3476
2300	-1.23	-146.6	228.1	-10.9	109	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3476
2609	-1.23	-146.6	266.1	-13.4	124	2613	0.00	2.55	0.00	0.000	4	0.000	0.048	2223	3311	3476
2698	-1.23	-146.6	278.0	-12.7	128	2702	0.00	2.55	0.00	0.000	6	0.000	0.044	2223	1893	3476
3019	-1.23	-146.6	315.4	-11.7	144	3020	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1893	3476
3329	-1.23	-146.6	351.0	-11.2	159	3333	0.00	2.58	0.00	0.000	4	0.000	0.050	2223	3312	3476
3400	-1.23	-146.6	358.8	-10.0	162	3404	0.00	2.55	0.00	0.000	6	0.000	0.045	2223	1896	3477
3716	-1.23	-146.6	392.0	-10.1	177	3720	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3308	3476
3771	-1.23	-146.6	397.5	-9.8	179	3777	0.00	2.53	0.00	0.000	6	0.000	0.046	2223	1901	3476
4086	-1.23	-146.6	428.3	-9.9	195	4087	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3476
4396	-1.23	-146.6	458.2	-9.5	210	4397	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3476
4705	-1.23	-146.6	486.9	-9.6	225	4709	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3307	3476
4804	-1.23	-146.6	497.0	-10.0	229	4811	0.00	2.55	0.00	0.000	6	0.000	0.047	2223	1895	3476
5120	-1.23	-146.6	528.4	-9.8	245	5125	0.00	2.58	0.00	0.000	4	0.000	0.053	2223	3306	3476
5227	-1.23	-146.6	538.7	-9.5	250	5232	0.00	2.55	0.00	0.000	6	0.000	0.048	2223	1899	3477
5555	-1.23	-146.6	568.8	-8.7	266	5559	0.00	2.58	0.00	0.000	4	0.000	0.055	2223	3308	3477
5649	-1.23	-146.6	576.7	-7.7	270	5654	0.00	2.55	0.00	0.000	6	0.000	0.051	2223	1901	3477
5965	-1.23	-146.6	601.9	-8.7	285	5969	0.00	2.60	0.00	0.000	4	0.000	0.061	2223	3304	3477
6049	-1.23	-146.6	609.9	-10.1	289	6054	0.00	2.58	0.00	0.000	6	0.000	0.056	2223	1896	3476
6375	-1.23	-146.6	640.6	-9.2	305	6379	0.00	2.62	0.00	0.000	4	0.000	0.064	2223	3304	3476
6464	-1.23	-146.6	648.9	-9.8	309	6468	0.00	2.60	0.00	0.000	6	0.000	0.058	2223	1897	3475
6513	end dive: TARGET_DEPTH_EXCEEDED
state	6514	begin apogee
6520	-0.36	0.0	653.0	8.3	312	6648	0.93	0.00	124.75	1.233	6	0.084	0.000	2418	2106	2879
6649	end apogee: CONTROL_FINISHED_OK
state	6649	begin climb
6651	1.23	146.6	657.9	0.0	318	6779	1.55	0.00	123.60	1.199	6	0.056	0.000	2761	2106	2280
7086	1.27	182.9	639.5	6.6	339	7127	0.00	2.67	31.12	1.226	4	0.000	0.067	2761	3498	2131
7295	1.27	182.9	621.8	9.5	348	7299	0.00	2.58	0.00	0.000	6	0.000	0.054	2761	2100	2130
7611	1.30	202.6	596.5	7.3	363	7633	0.00	2.72	17.15	1.239	4	0.000	0.064	2761	3498	2052
7770	1.31	212.6	585.0	7.6	370	7785	0.00	2.58	9.55	1.227	6	0.000	0.054	2761	2098	2011
8102	1.33	231.0	560.6	7.3	386	8125	0.10	2.72	16.40	1.239	4	0.063	0.063	2790	3499	1936
8378	1.33	231.0	536.5	10.5	398	8382	0.00	2.58	0.00	0.000	6	0.000	0.052	2789	2099	1935
8698	1.33	231.0	507.6	9.8	414	8702	0.00	2.60	0.00	0.000	4	0.000	0.058	2790	3499	1934
8904	1.33	231.0	485.1	10.3	423	8908	0.00	2.53	0.00	0.000	6	0.000	0.048	2790	2100	1933
9220	1.33	231.0	454.8	9.5	438	9221	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2100	1934
9529	1.33	231.0	426.7	8.7	453	9533	0.00	2.58	0.00	0.000	4	0.000	0.054	2790	3500	1934
9606	1.33	231.0	419.6	9.1	456	9613	0.00	2.53	0.00	0.000	6	0.000	0.045	2790	2098	1934
9922	1.33	231.0	390.4	9.5	472	9923	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2098	1934
10231	1.33	231.0	361.5	9.5	487	10235	0.00	2.58	0.00	0.000	4	0.000	0.053	2790	3507	1935
10338	1.33	231.0	351.1	9.5	492	10342	0.00	2.55	0.00	0.000	6	0.000	0.044	2789	2090	1935
10664	1.33	232.5	323.8	7.9	508	10668	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3501	1935
10809	1.33	232.5	311.6	8.0	514	10815	0.00	2.50	0.00	0.000	6	0.000	0.043	2790	2100	1935
11124	1.36	257.0	288.3	7.1	530	11153	0.00	2.62	22.02	1.035	4	0.000	0.051	2790	3500	1830
11221	1.36	257.0	280.5	9.0	534	11225	0.00	2.53	0.00	0.000	6	0.000	0.042	2790	2101	1830
11536	1.36	257.0	252.3	9.4	549	11541	0.00	2.55	0.00	0.000	4	0.000	0.050	2790	3501	1830
11602	1.36	257.0	245.8	10.0	552	11607	0.00	2.53	0.00	0.000	6	0.000	0.041	2790	2094	1830
11924	1.36	257.0	219.2	8.9	568	11928	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3508	1830
11996	1.36	257.0	213.5	8.9	571	12000	0.00	2.53	0.00	0.000	6	0.000	0.042	2790	2096	1830
12312	1.36	257.0	188.8	8.1	586	12313	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2096	1831
12622	1.36	257.0	161.8	9.1	601	12626	0.00	2.55	0.00	0.000	4	0.000	0.048	2790	3506	1831
12751	1.36	257.0	147.7	10.5	607	12755	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2093	1831
13077	1.36	257.0	120.3	9.6	623	13082	0.00	2.55	0.00	0.000	4	0.000	0.049	2790	3502	1831
13150	1.36	257.0	110.7	12.1	626	13154	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2094	1831
13465	1.36	257.0	74.0	11.1	641	13467	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2094	1831
13775	1.36	257.0	40.5	10.8	656	13779	0.00	2.55	0.00	0.000	4	0.000	0.049	2790	3502	1832
13882	1.36	257.0	27.3	12.9	661	13886	0.00	2.50	0.00	0.000	6	0.000	0.040	2790	2098	1832
14123	end climb: SURFACE_DEPTH_REACHED
state	14123	begin surface coast
14145	end surface coast: CONTROL_FINISHED_OK
state	14145	begin surface