Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 370 * 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 370 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -69696.32 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 -69696.32

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 24 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 370 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 122601,6322.130,-1244.555,41,1.3,41,-12.0 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.29 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -53.3 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 123144,6322.167,-1244.464,10,1.4,10,-12.0 MHEAD_RNG_PITCHd_Wd 236.3,18545,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 529

Post-dive calculations and measurements:

FINISH 0.3,1.027421 XPDR_PINGS 2

SM_CCo 15104,21.20,0.716,2,0,1678,300.00 ALTIM_BOTTOM_PING 450.1,76.8

SM_GC -0.10,0.00,0.00,21.20,0.000,0.000,0.716,46,2898,1678,-10.87,-0.06,300.00 _24V_AH 23.3,62.504

IRIDIUM_FIX 6258.74,-1239.54,140108,121243 _10V_AH 10.1,28.432

TT8_MAMPS 0.029146 DATA_FILE_SIZE 38052,727

HUMID 2079 CFSIZE 260165632,239001600

INTERNAL_PRESSURE 8.80893 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,2,0

TCM_TEMP 16.80 GPS 140108,164538,6320.170,-1243.084,31,1.0,31,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.92 SBE_CT 534 24 299.02

Roll_motor 163 89 342.13 SBE_O2 500 19 221.77

VBD_pump_during_apogee 360 1195 10040.42 WL_BB2F 503 105 1231.84

VBD_pump_during_surface 21 716 353.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.58 nil 0 0 0.00

Iridium_during_connect 33 160 123.59 nil 0 0 0.00

Iridium_during_xfer 148 223 771.83

Transponder_ping 4 420 39.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.56

TT8 1377 19 275.50

LPSleep 11388 2 251.91

TT8_Active 514 19 102.90

TT8_Sampling 1705 39 685.62

TT8_CF8 505 45 233.96

TT8_Kalman 0 81 0.00

Analog_circuits 1399 12 169.62

GPS_charging 0 0 0.00

Compass 1678 8 135.62

RAFOS 0 0 0.00

Guidance and control:

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.10 -146.6 0.0 0.0 0 91 0.00 0.00 -65.70 0.000 6 0.000 0.000 51 2895 3500

95 -1.10 -146.6 2.1 -5.3 3 116 11.95 2.60 0.00 0.000 4 0.159 0.058 2166 1492 3503

212 -1.10 -146.6 22.9 -6.5 8 216 0.00 2.70 0.00 0.000 6 0.000 0.077 2166 2903 3503

534 -1.10 -146.6 47.6 -8.4 24 538 0.00 2.62 0.00 0.000 4 0.000 0.068 2166 1492 3503

556 -1.10 -146.6 49.6 -8.2 25 561 0.00 2.70 0.00 0.000 6 0.000 0.075 2166 2909 3503

878 -1.10 -146.6 74.3 -6.3 41 882 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1491 3503

905 -1.10 -146.6 76.5 -7.1 42 909 0.00 2.65 0.00 0.000 6 0.000 0.073 2166 2899 3503

1222 -1.10 -146.6 100.4 -8.3 57 1226 0.00 2.60 0.00 0.000 4 0.000 0.062 2166 1485 3504

1249 -1.10 -146.6 103.1 -9.4 58 1254 0.00 2.67 0.00 0.000 6 0.000 0.071 2166 2904 3504

1565 -1.10 -146.6 128.2 -7.8 73 1566 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2904 3504

1875 -1.10 -146.6 150.8 -7.1 88 1879 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1491 3504

1907 -1.10 -146.6 153.3 -6.8 89 1914 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2907 3504

2223 -1.10 -146.6 177.4 -8.0 105 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2906 3504

2532 -1.10 -146.6 201.6 -8.2 120 2536 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 1491 3504

2581 -1.10 -146.6 206.1 -8.3 122 2585 0.00 2.62 0.00 0.000 6 0.000 0.071 2166 2906 3504

2903 -1.10 -146.6 235.0 -9.4 138 2904 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2906 3504

3212 -1.10 -146.6 263.8 -9.7 153 3216 0.00 2.58 0.00 0.000 4 0.000 0.058 2166 1484 3504

3278 -1.10 -146.6 270.2 -9.0 156 3282 0.00 2.65 0.00 0.000 6 0.000 0.069 2166 2909 3504

3599 -1.10 -146.6 297.0 -8.7 172 3600 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2909 3504

3908 -1.10 -146.6 316.7 -6.3 187 3912 0.00 2.60 0.00 0.000 4 0.000 0.063 2166 1489 3504

3934 -1.10 -146.6 318.5 -6.2 188 3939 0.00 2.62 0.00 0.000 6 0.000 0.069 2166 2901 3504

4250 -1.10 -146.6 338.6 -6.6 203 4254 0.00 2.58 0.00 0.000 4 0.000 0.063 2166 1484 3504

4289 -1.10 -146.6 341.1 -6.7 205 4294 0.00 2.62 0.00 0.000 6 0.000 0.068 2166 2904 3504

4616 -1.10 -146.6 361.9 -7.0 221 4620 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 1491 3504

4638 -1.10 -146.6 363.4 -6.7 222 4643 0.00 2.65 0.00 0.000 6 0.000 0.070 2165 2910 3504

4959 -1.10 -146.6 386.4 -7.4 238 4960 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2910 3504

5268 -1.10 -146.6 410.3 -7.3 253 5272 0.00 1.65 0.00 0.000 4 0.000 0.090 2166 3783 3504

5347 -1.10 -146.6 416.1 -6.9 256 5351 0.00 1.55 0.00 0.000 6 0.000 0.041 2166 2897 3504

5668 -1.10 -146.6 436.6 -6.1 272 5672 0.00 2.55 0.00 0.000 4 0.000 0.064 2166 1491 3504

5723 -1.10 -146.6 439.8 -5.7 274 5729 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2902 3504

6039 -1.10 -146.6 456.5 -5.3 290 6040 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3504

6348 -1.10 -146.6 472.9 -5.8 305 6352 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 1492 3504

6403 -1.10 -146.6 476.3 -5.9 307 6409 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2902 3504

6719 -1.10 -146.6 494.9 -6.0 323 6720 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2903 3504

7028 -1.10 -146.6 516.2 -7.1 338 7032 0.00 2.53 0.00 0.000 4 0.000 0.062 2166 1495 3504

7036 end dive: BOTTOM_OBSTACLE_DETECTED

state 7036 begin apogee

7044 -0.42 0.0 517.1 7.4 338 7172 0.75 0.00 125.20 1.196 6 0.100 0.000 2316 2112 2901

7173 end apogee: CONTROL_FINISHED_OK

state 7173 begin climb

7175 1.10 146.6 521.3 0.0 345 7304 1.55 2.65 120.18 1.163 4 0.058 0.058 2648 701 2303

7545 1.15 184.5 507.9 5.0 362 7587 0.00 2.45 32.78 1.142 6 0.000 0.038 2648 2102 2148

7896 1.15 184.5 487.6 6.0 379 7900 0.00 2.60 0.00 0.000 4 0.000 0.069 2648 3504 2146

8003 1.15 184.5 481.1 6.4 384 8007 0.00 2.47 0.00 0.000 6 0.000 0.040 2648 2099 2146

8329 1.15 184.5 461.1 6.1 400 8333 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3503 2145

8368 1.15 184.5 458.6 6.7 402 8372 0.00 2.47 0.00 0.000 6 0.000 0.042 2648 2100 2145

8694 1.16 192.9 438.9 5.8 418 8708 0.00 2.70 8.12 1.034 4 0.000 0.073 2648 3498 2114

8762 1.16 192.9 434.9 6.3 421 8766 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2094 2114

9088 1.16 192.9 412.4 6.7 437 9092 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3506 2113

9165 1.16 192.9 407.4 6.0 440 9172 0.00 2.47 0.00 0.000 6 0.000 0.045 2648 2102 2113

9481 1.16 192.9 388.2 6.3 456 9486 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3504 2112

9577 1.16 192.9 382.1 6.3 460 9581 0.00 2.50 0.00 0.000 6 0.000 0.045 2648 2097 2112

9892 1.16 192.9 363.2 6.4 475 9896 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3502 2112

10003 1.16 192.9 355.5 7.5 480 10007 0.00 2.47 0.00 0.000 6 0.000 0.044 2648 2100 2112

10324 1.17 204.7 334.9 5.7 496 10337 0.00 0.00 11.27 1.029 6 0.000 0.000 2648 2100 2066

10633 1.17 204.7 315.1 6.9 511 10638 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3510 2066

10679 1.17 204.7 312.1 7.3 513 10683 0.00 2.53 0.00 0.000 6 0.000 0.044 2648 2093 2066

10999 1.17 204.7 290.8 7.0 529 11003 0.00 2.65 0.00 0.000 4 0.000 0.069 2648 3508 2066

11061 1.17 204.7 286.3 7.1 532 11065 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2098 2066

11387 1.17 204.7 261.2 7.4 548 11391 0.00 2.62 0.00 0.000 4 0.000 0.069 2648 3504 2066

11426 1.17 204.7 258.4 7.4 550 11430 0.00 2.50 0.00 0.000 6 0.000 0.045 2648 2092 2066

11752 1.17 204.7 234.9 6.1 566 11757 0.00 2.65 0.00 0.000 4 0.000 0.070 2648 3508 2067

11792 1.17 204.7 232.2 6.7 568 11796 0.00 2.50 0.00 0.000 6 0.000 0.045 2648 2096 2067

12118 1.17 204.7 210.0 7.5 584 12122 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3502 2066

12162 1.17 204.7 206.7 7.2 586 12166 0.00 2.47 0.00 0.000 6 0.000 0.045 2648 2101 2067

12483 1.19 214.8 187.3 5.7 602 12495 0.00 0.00 10.02 0.899 6 0.000 0.000 2648 2101 2025

12792 1.19 214.8 166.0 7.4 617 12796 0.00 2.60 0.00 0.000 4 0.000 0.069 2648 3502 2025

12847 1.19 214.8 161.6 8.0 619 12853 0.00 2.47 0.00 0.000 6 0.000 0.044 2648 2098 2025

13163 1.19 214.8 138.0 7.5 635 13167 0.00 2.65 0.00 0.000 4 0.000 0.071 2648 3509 2025

13218 1.19 214.8 133.2 8.2 637 13224 0.00 2.47 0.00 0.000 6 0.000 0.045 2648 2097 2025

13535 1.19 214.8 111.9 6.2 653 13539 0.00 2.65 0.00 0.000 4 0.000 0.072 2648 3505 2025

13584 1.19 214.8 108.5 6.7 655 13589 0.00 2.50 0.00 0.000 6 0.000 0.047 2648 2100 2025

13900 1.19 220.7 87.9 5.8 670 13914 0.00 2.67 6.65 0.783 4 0.000 0.073 2648 3502 2001

13944 1.19 220.7 85.2 6.1 672 13948 0.00 2.50 0.00 0.000 6 0.000 0.047 2648 2094 2001

14278 1.26 277.6 69.5 4.4 688 14330 0.15 2.72 46.15 0.887 4 0.043 0.071 2698 3504 1768

14382 1.26 277.6 62.0 8.6 693 14386 0.00 2.55 0.00 0.000 6 0.000 0.051 2698 2097 1768

14709 1.26 277.6 30.3 8.7 709 14713 0.00 2.58 0.00 0.000 4 0.000 0.065 2698 692 1768

14786 1.26 277.6 23.6 8.8 712 14793 0.00 2.47 0.00 0.000 6 0.000 0.046 2698 2098 1768

15058 end climb: SURFACE_DEPTH_REACHED

state 15058 begin surface coast

15080 end surface coast: CONTROL_FINISHED_OK

state 15080 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	370	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-69696.32	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	122601,6322.130,-1244.555,41,1.3,41,-12.0	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.29	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-53.3	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	123144,6322.167,-1244.464,10,1.4,10,-12.0	MHEAD_RNG_PITCHd_Wd	236.3,18545,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	529

FINISH	0.3,1.027421	XPDR_PINGS	2
SM_CCo	15104,21.20,0.716,2,0,1678,300.00	ALTIM_BOTTOM_PING	450.1,76.8
SM_GC	-0.10,0.00,0.00,21.20,0.000,0.000,0.716,46,2898,1678,-10.87,-0.06,300.00	_24V_AH	23.3,62.504
IRIDIUM_FIX	6258.74,-1239.54,140108,121243	_10V_AH	10.1,28.432
TT8_MAMPS	0.029146	DATA_FILE_SIZE	38052,727
HUMID	2079	CFSIZE	260165632,239001600
INTERNAL_PRESSURE	8.80893	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
TCM_TEMP	16.80	GPS	140108,164538,6320.170,-1243.084,31,1.0,31,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.92	SBE_CT	534	24	299.02
Roll_motor	163	89	342.13	SBE_O2	500	19	221.77
VBD_pump_during_apogee	360	1195	10040.42	WL_BB2F	503	105	1231.84
VBD_pump_during_surface	21	716	353.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.58	nil	0	0	0.00
Iridium_during_connect	33	160	123.59	nil	0	0	0.00
Iridium_during_xfer	148	223	771.83
Transponder_ping	4	420	39.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.56
TT8	1377	19	275.50
LPSleep	11388	2	251.91
TT8_Active	514	19	102.90
TT8_Sampling	1705	39	685.62
TT8_CF8	505	45	233.96
TT8_Kalman	0	81	0.00
Analog_circuits	1399	12	169.62
GPS_charging	0	0	0.00
Compass	1678	8	135.62
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.10	-146.6	0.0	0.0	0	91	0.00	0.00	-65.70	0.000	6	0.000	0.000	51	2895	3500
95	-1.10	-146.6	2.1	-5.3	3	116	11.95	2.60	0.00	0.000	4	0.159	0.058	2166	1492	3503
212	-1.10	-146.6	22.9	-6.5	8	216	0.00	2.70	0.00	0.000	6	0.000	0.077	2166	2903	3503
534	-1.10	-146.6	47.6	-8.4	24	538	0.00	2.62	0.00	0.000	4	0.000	0.068	2166	1492	3503
556	-1.10	-146.6	49.6	-8.2	25	561	0.00	2.70	0.00	0.000	6	0.000	0.075	2166	2909	3503
878	-1.10	-146.6	74.3	-6.3	41	882	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1491	3503
905	-1.10	-146.6	76.5	-7.1	42	909	0.00	2.65	0.00	0.000	6	0.000	0.073	2166	2899	3503
1222	-1.10	-146.6	100.4	-8.3	57	1226	0.00	2.60	0.00	0.000	4	0.000	0.062	2166	1485	3504
1249	-1.10	-146.6	103.1	-9.4	58	1254	0.00	2.67	0.00	0.000	6	0.000	0.071	2166	2904	3504
1565	-1.10	-146.6	128.2	-7.8	73	1566	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2904	3504
1875	-1.10	-146.6	150.8	-7.1	88	1879	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1491	3504
1907	-1.10	-146.6	153.3	-6.8	89	1914	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2907	3504
2223	-1.10	-146.6	177.4	-8.0	105	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2906	3504
2532	-1.10	-146.6	201.6	-8.2	120	2536	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	1491	3504
2581	-1.10	-146.6	206.1	-8.3	122	2585	0.00	2.62	0.00	0.000	6	0.000	0.071	2166	2906	3504
2903	-1.10	-146.6	235.0	-9.4	138	2904	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2906	3504
3212	-1.10	-146.6	263.8	-9.7	153	3216	0.00	2.58	0.00	0.000	4	0.000	0.058	2166	1484	3504
3278	-1.10	-146.6	270.2	-9.0	156	3282	0.00	2.65	0.00	0.000	6	0.000	0.069	2166	2909	3504
3599	-1.10	-146.6	297.0	-8.7	172	3600	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2909	3504
3908	-1.10	-146.6	316.7	-6.3	187	3912	0.00	2.60	0.00	0.000	4	0.000	0.063	2166	1489	3504
3934	-1.10	-146.6	318.5	-6.2	188	3939	0.00	2.62	0.00	0.000	6	0.000	0.069	2166	2901	3504
4250	-1.10	-146.6	338.6	-6.6	203	4254	0.00	2.58	0.00	0.000	4	0.000	0.063	2166	1484	3504
4289	-1.10	-146.6	341.1	-6.7	205	4294	0.00	2.62	0.00	0.000	6	0.000	0.068	2166	2904	3504
4616	-1.10	-146.6	361.9	-7.0	221	4620	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	1491	3504
4638	-1.10	-146.6	363.4	-6.7	222	4643	0.00	2.65	0.00	0.000	6	0.000	0.070	2165	2910	3504
4959	-1.10	-146.6	386.4	-7.4	238	4960	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2910	3504
5268	-1.10	-146.6	410.3	-7.3	253	5272	0.00	1.65	0.00	0.000	4	0.000	0.090	2166	3783	3504
5347	-1.10	-146.6	416.1	-6.9	256	5351	0.00	1.55	0.00	0.000	6	0.000	0.041	2166	2897	3504
5668	-1.10	-146.6	436.6	-6.1	272	5672	0.00	2.55	0.00	0.000	4	0.000	0.064	2166	1491	3504
5723	-1.10	-146.6	439.8	-5.7	274	5729	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2902	3504
6039	-1.10	-146.6	456.5	-5.3	290	6040	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3504
6348	-1.10	-146.6	472.9	-5.8	305	6352	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	1492	3504
6403	-1.10	-146.6	476.3	-5.9	307	6409	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2902	3504
6719	-1.10	-146.6	494.9	-6.0	323	6720	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2903	3504
7028	-1.10	-146.6	516.2	-7.1	338	7032	0.00	2.53	0.00	0.000	4	0.000	0.062	2166	1495	3504
7036	end dive: BOTTOM_OBSTACLE_DETECTED
state	7036	begin apogee
7044	-0.42	0.0	517.1	7.4	338	7172	0.75	0.00	125.20	1.196	6	0.100	0.000	2316	2112	2901
7173	end apogee: CONTROL_FINISHED_OK
state	7173	begin climb
7175	1.10	146.6	521.3	0.0	345	7304	1.55	2.65	120.18	1.163	4	0.058	0.058	2648	701	2303
7545	1.15	184.5	507.9	5.0	362	7587	0.00	2.45	32.78	1.142	6	0.000	0.038	2648	2102	2148
7896	1.15	184.5	487.6	6.0	379	7900	0.00	2.60	0.00	0.000	4	0.000	0.069	2648	3504	2146
8003	1.15	184.5	481.1	6.4	384	8007	0.00	2.47	0.00	0.000	6	0.000	0.040	2648	2099	2146
8329	1.15	184.5	461.1	6.1	400	8333	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3503	2145
8368	1.15	184.5	458.6	6.7	402	8372	0.00	2.47	0.00	0.000	6	0.000	0.042	2648	2100	2145
8694	1.16	192.9	438.9	5.8	418	8708	0.00	2.70	8.12	1.034	4	0.000	0.073	2648	3498	2114
8762	1.16	192.9	434.9	6.3	421	8766	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2094	2114
9088	1.16	192.9	412.4	6.7	437	9092	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3506	2113
9165	1.16	192.9	407.4	6.0	440	9172	0.00	2.47	0.00	0.000	6	0.000	0.045	2648	2102	2113
9481	1.16	192.9	388.2	6.3	456	9486	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3504	2112
9577	1.16	192.9	382.1	6.3	460	9581	0.00	2.50	0.00	0.000	6	0.000	0.045	2648	2097	2112
9892	1.16	192.9	363.2	6.4	475	9896	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3502	2112
10003	1.16	192.9	355.5	7.5	480	10007	0.00	2.47	0.00	0.000	6	0.000	0.044	2648	2100	2112
10324	1.17	204.7	334.9	5.7	496	10337	0.00	0.00	11.27	1.029	6	0.000	0.000	2648	2100	2066
10633	1.17	204.7	315.1	6.9	511	10638	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3510	2066
10679	1.17	204.7	312.1	7.3	513	10683	0.00	2.53	0.00	0.000	6	0.000	0.044	2648	2093	2066
10999	1.17	204.7	290.8	7.0	529	11003	0.00	2.65	0.00	0.000	4	0.000	0.069	2648	3508	2066
11061	1.17	204.7	286.3	7.1	532	11065	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2098	2066
11387	1.17	204.7	261.2	7.4	548	11391	0.00	2.62	0.00	0.000	4	0.000	0.069	2648	3504	2066
11426	1.17	204.7	258.4	7.4	550	11430	0.00	2.50	0.00	0.000	6	0.000	0.045	2648	2092	2066
11752	1.17	204.7	234.9	6.1	566	11757	0.00	2.65	0.00	0.000	4	0.000	0.070	2648	3508	2067
11792	1.17	204.7	232.2	6.7	568	11796	0.00	2.50	0.00	0.000	6	0.000	0.045	2648	2096	2067
12118	1.17	204.7	210.0	7.5	584	12122	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3502	2066
12162	1.17	204.7	206.7	7.2	586	12166	0.00	2.47	0.00	0.000	6	0.000	0.045	2648	2101	2067
12483	1.19	214.8	187.3	5.7	602	12495	0.00	0.00	10.02	0.899	6	0.000	0.000	2648	2101	2025
12792	1.19	214.8	166.0	7.4	617	12796	0.00	2.60	0.00	0.000	4	0.000	0.069	2648	3502	2025
12847	1.19	214.8	161.6	8.0	619	12853	0.00	2.47	0.00	0.000	6	0.000	0.044	2648	2098	2025
13163	1.19	214.8	138.0	7.5	635	13167	0.00	2.65	0.00	0.000	4	0.000	0.071	2648	3509	2025
13218	1.19	214.8	133.2	8.2	637	13224	0.00	2.47	0.00	0.000	6	0.000	0.045	2648	2097	2025
13535	1.19	214.8	111.9	6.2	653	13539	0.00	2.65	0.00	0.000	4	0.000	0.072	2648	3505	2025
13584	1.19	214.8	108.5	6.7	655	13589	0.00	2.50	0.00	0.000	6	0.000	0.047	2648	2100	2025
13900	1.19	220.7	87.9	5.8	670	13914	0.00	2.67	6.65	0.783	4	0.000	0.073	2648	3502	2001
13944	1.19	220.7	85.2	6.1	672	13948	0.00	2.50	0.00	0.000	6	0.000	0.047	2648	2094	2001
14278	1.26	277.6	69.5	4.4	688	14330	0.15	2.72	46.15	0.887	4	0.043	0.071	2698	3504	1768
14382	1.26	277.6	62.0	8.6	693	14386	0.00	2.55	0.00	0.000	6	0.000	0.051	2698	2097	1768
14709	1.26	277.6	30.3	8.7	709	14713	0.00	2.58	0.00	0.000	4	0.000	0.065	2698	692	1768
14786	1.26	277.6	23.6	8.8	712	14793	0.00	2.47	0.00	0.000	6	0.000	0.046	2698	2098	1768
15058	end climb: SURFACE_DEPTH_REACHED
state	15058	begin surface coast
15080	end surface coast: CONTROL_FINISHED_OK
state	15080	begin surface