Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 154 * 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 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 154 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 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 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 0 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 -79052.195 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

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 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 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 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 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 550

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 -79052.195

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 2

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 34 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 154 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 042808,6235.752,-1120.660,42,1.1,42,-10.9 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.209,0.007

_SM_DEPTHo 4.27 KALMAN_X 183057.9,251.6,-3413.4,-330393.8,5058.1

_SM_ANGLEo -50.7 KALMAN_Y 135139.6,609.9,-4849.3,-14904.2,-1387.0

GPS2 043344,6235.770,-1120.645,13,1.4,13,-10.9 MHEAD_RNG_PITCHd_Wd 282.9,19701,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19884,109.40,0.752,0,0,603,558.06 ALTIM_BOTTOM_PING 625.5,75.1

SM_GC 4.10,11.73,0.00,0.00,0.028,0.000,0.000,28,1893,603,-11.26,-0.20,558.06 _24V_AH 23.3,36.801

IRIDIUM_FIX 6211.90,-1117.68,141207,020217 _10V_AH 10.1,17.096

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47352,961

HUMID 2045 CFSIZE 260165632,249147392

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.60 GPS 141207,101608,6235.215,-1126.026,41,1.6,41,-11.0

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 105 61.41 SBE_CT 704 24 393.69

Roll_motor 82 77 148.60 SBE_O2 649 19 287.35

VBD_pump_during_apogee 398 1265 11736.69 WL_BB2F 608 105 1489.38

VBD_pump_during_surface 109 751 1916.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.58 nil 0 0 0.00

Iridium_during_connect 39 160 149.07 nil 0 0 0.00

Iridium_during_xfer 156 223 812.01

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.59

TT8 1678 19 335.66

LPSleep 16034 2 354.67

TT8_Active 664 19 132.79

TT8_Sampling 1964 39 789.56

TT8_CF8 411 45 190.20

TT8_Kalman 33 81 27.56

Analog_circuits 1632 12 197.84

GPS_charging 0 0 0.00

Compass 1935 8 156.40

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -20.90 0.000 2 0.000 0.000 28 1873 1097

46 -0.95 -146.6 4.3 -0.0 1 211 11.18 2.55 -146.60 0.000 4 0.106 0.077 2293 508 3475

325 -0.95 -146.6 17.6 -12.3 14 330 0.00 2.45 0.00 0.000 6 0.000 0.041 2292 1904 3475

651 -0.95 -146.6 41.2 -7.2 30 652 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1906 3475

960 -0.95 -146.6 65.6 -6.0 45 961 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1906 3475

1269 -0.95 -146.6 87.2 -9.0 60 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1906 3475

1578 -0.95 -146.6 111.5 -7.2 75 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1906 3475

1888 -0.95 -146.6 135.2 -8.6 90 1892 0.00 2.50 0.00 0.000 4 0.000 0.048 2293 3295 3475

1953 -0.95 -146.6 140.7 -8.0 93 1958 0.00 2.50 0.00 0.000 6 0.000 0.044 2293 1918 3475

2280 -0.95 -146.6 161.8 -6.5 109 2281 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1918 3475

2590 -0.95 -146.6 182.7 -7.0 124 2591 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1918 3475

2898 -0.95 -146.6 204.6 -7.1 139 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1918 3475

3208 -0.95 -146.6 225.0 -6.3 154 3210 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1918 3475

3517 -0.95 -146.6 245.6 -7.1 169 3518 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1918 3474

3826 -0.95 -146.6 266.6 -6.9 184 3830 0.00 2.50 0.00 0.000 4 0.000 0.048 2293 3304 3475

3891 -0.95 -146.6 271.4 -7.5 187 3896 0.00 2.55 0.00 0.000 6 0.000 0.043 2293 1899 3475

4218 -0.95 -146.6 295.4 -7.7 203 4219 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3475

4527 -0.95 -146.6 318.9 -7.6 218 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1899 3474

4837 -0.95 -146.6 340.7 -6.9 233 4841 0.00 2.53 0.00 0.000 4 0.000 0.048 2292 3299 3474

4891 -0.95 -146.6 344.7 -7.5 235 4899 0.00 2.53 0.00 0.000 6 0.000 0.044 2293 1904 3475

5207 -0.95 -146.6 365.3 -6.1 251 5208 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1904 3474

5517 -0.95 -146.6 383.7 -5.9 266 5518 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1904 3474

5827 -0.95 -146.6 402.5 -6.0 281 5831 0.00 2.53 0.00 0.000 4 0.000 0.049 2293 3300 3474

5892 -0.95 -146.6 406.9 -6.3 284 5897 0.00 2.55 0.00 0.000 6 0.000 0.046 2293 1898 3474

6219 -0.95 -146.6 428.9 -7.3 300 6220 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3474

6529 -0.95 -146.6 452.7 -7.7 315 6530 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3474

6838 -0.95 -146.6 474.5 -6.9 330 6839 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3474

7147 -0.95 -146.6 496.2 -7.4 345 7151 0.00 2.53 0.00 0.000 4 0.000 0.051 2293 3301 3474

7280 -0.95 -146.6 506.0 -7.8 351 7284 0.00 2.55 0.00 0.000 6 0.000 0.046 2292 1898 3474

7606 -0.95 -146.6 530.0 -7.7 367 7607 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3474

7916 -0.95 -146.6 552.2 -6.9 382 7920 0.00 2.53 0.00 0.000 4 0.000 0.053 2293 3301 3474

7976 -0.95 -146.6 556.4 -6.7 385 7981 0.00 2.53 0.00 0.000 6 0.000 0.047 2293 1900 3474

8303 -0.95 -146.6 574.1 -4.9 401 8304 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1900 3473

8613 -0.95 -146.6 587.0 -4.0 416 8617 0.00 2.55 0.00 0.000 4 0.000 0.055 2293 3299 3474

8729 -0.95 -146.6 592.5 -4.8 421 8733 0.00 2.53 0.00 0.000 6 0.000 0.049 2293 1901 3474

9050 -0.95 -146.6 608.5 -5.2 437 9051 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1901 3474

9362 -0.95 -146.6 625.5 -5.5 452 9363 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1901 3473

9668 -0.95 -146.6 642.5 -5.4 467 9670 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1902 3473

9978 -0.95 -146.6 658.2 -4.8 482 9982 0.00 2.55 0.00 0.000 4 0.000 0.060 2292 3295 3472

10073 -0.95 -146.6 663.6 -5.9 486 10078 0.00 2.55 0.00 0.000 6 0.000 0.054 2293 1897 3472

10388 -0.95 -146.6 681.5 -6.1 501 10389 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3472

10551 end dive: BOTTOM_OBSTACLE_DETECTED

state 10551 begin apogee

10556 -0.36 0.0 691.2 5.8 509 10683 0.57 0.00 123.12 1.266 6 0.074 0.000 2417 2093 2878

10683 end apogee: CONTROL_FINISHED_OK

state 10683 begin climb

10685 0.95 146.6 695.0 0.0 515 10816 1.27 2.75 122.32 1.226 4 0.049 0.071 2703 690 2280

10924 0.98 170.4 689.3 5.3 526 10950 0.00 2.58 20.77 1.216 6 0.000 0.051 2703 2098 2183

11266 0.99 180.2 670.3 5.7 543 11277 0.00 0.00 9.30 1.224 6 0.000 0.000 2703 2098 2142

11574 1.04 224.6 654.3 4.7 558 11619 0.00 2.67 37.28 1.237 4 0.000 0.062 2703 3496 1962

11663 1.04 225.8 649.1 6.0 562 11668 0.00 2.60 0.00 0.000 6 0.000 0.053 2703 2076 1962

11990 1.11 282.6 633.2 4.3 578 12042 0.15 0.00 48.95 1.233 6 0.042 0.000 2757 2076 1725

12339 1.11 282.6 608.5 8.0 595 12340 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2076 1724

12648 1.11 282.6 584.4 7.7 610 12653 0.00 2.62 0.00 0.000 4 0.000 0.058 2757 3504 1723

12736 1.11 282.6 576.5 9.5 614 12741 0.00 2.60 0.00 0.000 6 0.000 0.052 2756 2100 1723

13063 1.11 282.6 548.0 8.7 630 13064 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2100 1723

13372 1.11 282.6 519.3 9.8 645 13373 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2101 1723

13682 1.11 282.6 489.0 9.3 660 13683 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2101 1723

13991 1.11 282.6 461.2 8.3 675 13992 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2100 1723

14300 1.11 282.6 437.8 7.6 690 14301 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2100 1723

14609 1.11 282.6 412.6 8.6 705 14611 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2100 1723

14918 1.11 282.6 384.2 9.5 720 14920 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2100 1724

15228 1.11 282.6 353.7 10.1 735 15229 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2100 1724

15537 1.11 282.6 323.6 9.2 750 15538 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2100 1725

15846 1.11 282.6 293.9 9.9 765 15851 0.00 2.62 0.00 0.000 4 0.000 0.067 2757 687 1725

15902 1.11 282.6 288.3 9.7 767 15908 0.00 2.53 0.00 0.000 6 0.000 0.041 2757 2115 1725

16217 1.11 282.6 261.6 7.6 783 16218 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2119 1725

16526 1.11 282.6 238.7 7.3 798 16530 0.00 2.50 0.00 0.000 4 0.000 0.051 2757 3501 1726

16647 1.11 282.6 227.7 10.5 803 16654 0.00 2.53 0.00 0.000 6 0.000 0.043 2757 2097 1726

16963 1.11 282.6 203.9 7.4 819 16964 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2097 1726

17272 1.11 282.6 181.2 7.2 834 17273 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2097 1726

17581 1.11 282.6 160.3 6.3 849 17582 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2097 1726

17891 1.11 282.6 142.2 6.0 864 17896 0.00 2.58 0.00 0.000 4 0.000 0.063 2757 693 1726

17946 1.11 282.6 138.1 7.5 866 17953 0.00 2.47 0.00 0.000 6 0.000 0.039 2757 2100 1727

18262 1.11 282.6 114.6 8.7 882 18263 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2103 1727

18571 1.11 282.6 88.3 9.3 897 18572 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2103 1727

18880 1.11 282.6 60.9 7.5 912 18881 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2103 1727

19189 1.11 282.6 33.6 9.1 927 19194 0.00 2.60 0.00 0.000 4 0.000 0.061 2757 693 1727

19229 1.11 282.6 29.7 9.6 929 19233 0.00 2.45 0.00 0.000 6 0.000 0.041 2757 2107 1727

19555 1.19 341.3 3.7 4.2 945 19595 0.00 0.00 36.28 0.805 6 0.000 0.000 2757 2113 1486

19882 end climb: NO_VERTICAL_VELOCITY

state 19882 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	154	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	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	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	0	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	-79052.195	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
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	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	042808,6235.752,-1120.660,42,1.1,42,-10.9	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.209,0.007
_SM_DEPTHo	4.27	KALMAN_X	183057.9,251.6,-3413.4,-330393.8,5058.1
_SM_ANGLEo	-50.7	KALMAN_Y	135139.6,609.9,-4849.3,-14904.2,-1387.0
GPS2	043344,6235.770,-1120.645,13,1.4,13,-10.9	MHEAD_RNG_PITCHd_Wd	282.9,19701,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19884,109.40,0.752,0,0,603,558.06	ALTIM_BOTTOM_PING	625.5,75.1
SM_GC	4.10,11.73,0.00,0.00,0.028,0.000,0.000,28,1893,603,-11.26,-0.20,558.06	_24V_AH	23.3,36.801
IRIDIUM_FIX	6211.90,-1117.68,141207,020217	_10V_AH	10.1,17.096
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47352,961
HUMID	2045	CFSIZE	260165632,249147392
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.60	GPS	141207,101608,6235.215,-1126.026,41,1.6,41,-11.0
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	105	61.41	SBE_CT	704	24	393.69
Roll_motor	82	77	148.60	SBE_O2	649	19	287.35
VBD_pump_during_apogee	398	1265	11736.69	WL_BB2F	608	105	1489.38
VBD_pump_during_surface	109	751	1916.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.58	nil	0	0	0.00
Iridium_during_connect	39	160	149.07	nil	0	0	0.00
Iridium_during_xfer	156	223	812.01
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.59
TT8	1678	19	335.66
LPSleep	16034	2	354.67
TT8_Active	664	19	132.79
TT8_Sampling	1964	39	789.56
TT8_CF8	411	45	190.20
TT8_Kalman	33	81	27.56
Analog_circuits	1632	12	197.84
GPS_charging	0	0	0.00
Compass	1935	8	156.40
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-20.90	0.000	2	0.000	0.000	28	1873	1097
46	-0.95	-146.6	4.3	-0.0	1	211	11.18	2.55	-146.60	0.000	4	0.106	0.077	2293	508	3475
325	-0.95	-146.6	17.6	-12.3	14	330	0.00	2.45	0.00	0.000	6	0.000	0.041	2292	1904	3475
651	-0.95	-146.6	41.2	-7.2	30	652	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1906	3475
960	-0.95	-146.6	65.6	-6.0	45	961	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1906	3475
1269	-0.95	-146.6	87.2	-9.0	60	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1906	3475
1578	-0.95	-146.6	111.5	-7.2	75	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1906	3475
1888	-0.95	-146.6	135.2	-8.6	90	1892	0.00	2.50	0.00	0.000	4	0.000	0.048	2293	3295	3475
1953	-0.95	-146.6	140.7	-8.0	93	1958	0.00	2.50	0.00	0.000	6	0.000	0.044	2293	1918	3475
2280	-0.95	-146.6	161.8	-6.5	109	2281	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1918	3475
2590	-0.95	-146.6	182.7	-7.0	124	2591	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1918	3475
2898	-0.95	-146.6	204.6	-7.1	139	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1918	3475
3208	-0.95	-146.6	225.0	-6.3	154	3210	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1918	3475
3517	-0.95	-146.6	245.6	-7.1	169	3518	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1918	3474
3826	-0.95	-146.6	266.6	-6.9	184	3830	0.00	2.50	0.00	0.000	4	0.000	0.048	2293	3304	3475
3891	-0.95	-146.6	271.4	-7.5	187	3896	0.00	2.55	0.00	0.000	6	0.000	0.043	2293	1899	3475
4218	-0.95	-146.6	295.4	-7.7	203	4219	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3475
4527	-0.95	-146.6	318.9	-7.6	218	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1899	3474
4837	-0.95	-146.6	340.7	-6.9	233	4841	0.00	2.53	0.00	0.000	4	0.000	0.048	2292	3299	3474
4891	-0.95	-146.6	344.7	-7.5	235	4899	0.00	2.53	0.00	0.000	6	0.000	0.044	2293	1904	3475
5207	-0.95	-146.6	365.3	-6.1	251	5208	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1904	3474
5517	-0.95	-146.6	383.7	-5.9	266	5518	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1904	3474
5827	-0.95	-146.6	402.5	-6.0	281	5831	0.00	2.53	0.00	0.000	4	0.000	0.049	2293	3300	3474
5892	-0.95	-146.6	406.9	-6.3	284	5897	0.00	2.55	0.00	0.000	6	0.000	0.046	2293	1898	3474
6219	-0.95	-146.6	428.9	-7.3	300	6220	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3474
6529	-0.95	-146.6	452.7	-7.7	315	6530	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3474
6838	-0.95	-146.6	474.5	-6.9	330	6839	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3474
7147	-0.95	-146.6	496.2	-7.4	345	7151	0.00	2.53	0.00	0.000	4	0.000	0.051	2293	3301	3474
7280	-0.95	-146.6	506.0	-7.8	351	7284	0.00	2.55	0.00	0.000	6	0.000	0.046	2292	1898	3474
7606	-0.95	-146.6	530.0	-7.7	367	7607	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3474
7916	-0.95	-146.6	552.2	-6.9	382	7920	0.00	2.53	0.00	0.000	4	0.000	0.053	2293	3301	3474
7976	-0.95	-146.6	556.4	-6.7	385	7981	0.00	2.53	0.00	0.000	6	0.000	0.047	2293	1900	3474
8303	-0.95	-146.6	574.1	-4.9	401	8304	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1900	3473
8613	-0.95	-146.6	587.0	-4.0	416	8617	0.00	2.55	0.00	0.000	4	0.000	0.055	2293	3299	3474
8729	-0.95	-146.6	592.5	-4.8	421	8733	0.00	2.53	0.00	0.000	6	0.000	0.049	2293	1901	3474
9050	-0.95	-146.6	608.5	-5.2	437	9051	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1901	3474
9362	-0.95	-146.6	625.5	-5.5	452	9363	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1901	3473
9668	-0.95	-146.6	642.5	-5.4	467	9670	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1902	3473
9978	-0.95	-146.6	658.2	-4.8	482	9982	0.00	2.55	0.00	0.000	4	0.000	0.060	2292	3295	3472
10073	-0.95	-146.6	663.6	-5.9	486	10078	0.00	2.55	0.00	0.000	6	0.000	0.054	2293	1897	3472
10388	-0.95	-146.6	681.5	-6.1	501	10389	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3472
10551	end dive: BOTTOM_OBSTACLE_DETECTED
state	10551	begin apogee
10556	-0.36	0.0	691.2	5.8	509	10683	0.57	0.00	123.12	1.266	6	0.074	0.000	2417	2093	2878
10683	end apogee: CONTROL_FINISHED_OK
state	10683	begin climb
10685	0.95	146.6	695.0	0.0	515	10816	1.27	2.75	122.32	1.226	4	0.049	0.071	2703	690	2280
10924	0.98	170.4	689.3	5.3	526	10950	0.00	2.58	20.77	1.216	6	0.000	0.051	2703	2098	2183
11266	0.99	180.2	670.3	5.7	543	11277	0.00	0.00	9.30	1.224	6	0.000	0.000	2703	2098	2142
11574	1.04	224.6	654.3	4.7	558	11619	0.00	2.67	37.28	1.237	4	0.000	0.062	2703	3496	1962
11663	1.04	225.8	649.1	6.0	562	11668	0.00	2.60	0.00	0.000	6	0.000	0.053	2703	2076	1962
11990	1.11	282.6	633.2	4.3	578	12042	0.15	0.00	48.95	1.233	6	0.042	0.000	2757	2076	1725
12339	1.11	282.6	608.5	8.0	595	12340	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2076	1724
12648	1.11	282.6	584.4	7.7	610	12653	0.00	2.62	0.00	0.000	4	0.000	0.058	2757	3504	1723
12736	1.11	282.6	576.5	9.5	614	12741	0.00	2.60	0.00	0.000	6	0.000	0.052	2756	2100	1723
13063	1.11	282.6	548.0	8.7	630	13064	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2100	1723
13372	1.11	282.6	519.3	9.8	645	13373	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2101	1723
13682	1.11	282.6	489.0	9.3	660	13683	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2101	1723
13991	1.11	282.6	461.2	8.3	675	13992	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2100	1723
14300	1.11	282.6	437.8	7.6	690	14301	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2100	1723
14609	1.11	282.6	412.6	8.6	705	14611	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2100	1723
14918	1.11	282.6	384.2	9.5	720	14920	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2100	1724
15228	1.11	282.6	353.7	10.1	735	15229	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2100	1724
15537	1.11	282.6	323.6	9.2	750	15538	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2100	1725
15846	1.11	282.6	293.9	9.9	765	15851	0.00	2.62	0.00	0.000	4	0.000	0.067	2757	687	1725
15902	1.11	282.6	288.3	9.7	767	15908	0.00	2.53	0.00	0.000	6	0.000	0.041	2757	2115	1725
16217	1.11	282.6	261.6	7.6	783	16218	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2119	1725
16526	1.11	282.6	238.7	7.3	798	16530	0.00	2.50	0.00	0.000	4	0.000	0.051	2757	3501	1726
16647	1.11	282.6	227.7	10.5	803	16654	0.00	2.53	0.00	0.000	6	0.000	0.043	2757	2097	1726
16963	1.11	282.6	203.9	7.4	819	16964	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2097	1726
17272	1.11	282.6	181.2	7.2	834	17273	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2097	1726
17581	1.11	282.6	160.3	6.3	849	17582	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2097	1726
17891	1.11	282.6	142.2	6.0	864	17896	0.00	2.58	0.00	0.000	4	0.000	0.063	2757	693	1726
17946	1.11	282.6	138.1	7.5	866	17953	0.00	2.47	0.00	0.000	6	0.000	0.039	2757	2100	1727
18262	1.11	282.6	114.6	8.7	882	18263	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2103	1727
18571	1.11	282.6	88.3	9.3	897	18572	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2103	1727
18880	1.11	282.6	60.9	7.5	912	18881	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2103	1727
19189	1.11	282.6	33.6	9.1	927	19194	0.00	2.60	0.00	0.000	4	0.000	0.061	2757	693	1727
19229	1.11	282.6	29.7	9.6	929	19233	0.00	2.45	0.00	0.000	6	0.000	0.041	2757	2107	1727
19555	1.19	341.3	3.7	4.2	945	19595	0.00	0.00	36.28	0.805	6	0.000	0.000	2757	2113	1486
19882	end climb: NO_VERTICAL_VELOCITY
state	19882	begin surface