Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 191 * 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 191 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 558.0575 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -79758.672 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 558.0575

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 -79758.672

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 191 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 071338,6252.075,-1246.966,30,0.9,30,-11.8 TGT_NAME HW

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.015

_SM_DEPTHo 3.75 KALMAN_X 246474.2,-199.0,-3553.4,-469176.3,7651.7

_SM_ANGLEo -51.0 KALMAN_Y 61869.9,-193.8,2413.7,82094.3,-297.2

GPS2 072245,6252.072,-1246.743,11,1.3,11,-11.8 MHEAD_RNG_PITCHd_Wd 285.8,15907,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20532,0.17,1.534,0,0,603,558.06 ALTIM_BOTTOM_PING 601.0,112.2

SM_GC 4.14,0.00,0.00,0.17,0.000,0.000,1.534,27,1882,603,-11.35,-0.48,558.06 _24V_AH 23.3,43.567

IRIDIUM_FIX 6225.82,-1244.50,241207,111138 _10V_AH 10.1,20.844

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50645,976

HUMID 2060 CFSIZE 260165632,246603776

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.50 GPS 241207,130707,6251.882,-1251.473,39,0.9,39,-11.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.00 SBE_CT 725 24 405.90

Roll_motor 76 65 117.96 SBE_O2 658 19 291.66

VBD_pump_during_apogee 499 1287 14963.87 WL_BB2F 596 105 1460.08

VBD_pump_during_surface 22 1534 797.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 187.06 nil 0 0 0.00

Iridium_during_connect 69 160 260.23 nil 0 0 0.00

Iridium_during_xfer 224 223 1167.74

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.66

TT8 1697 19 339.39

LPSleep 16175 2 357.79

TT8_Active 686 19 137.26

TT8_Sampling 1940 39 779.92

TT8_CF8 581 45 268.82

TT8_Kalman 33 81 27.57

Analog_circuits 1652 12 200.27

GPS_charging 0 0 0.00

Compass 1918 8 155.05

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -4.28 0.000 2 0.000 0.000 28 1912 705

29 -0.95 -146.6 3.7 -0.0 0 226 11.15 0.00 -181.70 0.000 6 0.105 0.000 2288 1914 3475

534 -0.95 -146.6 26.8 -7.0 25 539 0.00 2.50 0.00 0.000 4 0.000 0.048 2288 3300 3476

584 -0.95 -146.6 31.1 -7.2 27 588 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1897 3476

905 -0.95 -146.6 54.8 -7.8 43 906 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1897 3476

1215 -0.95 -146.6 80.0 -8.3 58 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

1524 -0.95 -146.6 105.2 -6.2 73 1525 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1897 3476

1833 -0.95 -146.6 131.7 -8.1 88 1837 0.00 2.53 0.00 0.000 4 0.000 0.047 2288 3302 3476

1927 -0.95 -146.6 139.8 -8.7 92 1931 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1898 3475

2248 -0.95 -146.6 162.3 -5.6 108 2252 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3304 3476

2320 -0.95 -146.6 167.6 -8.0 111 2324 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1901 3476

2641 -0.95 -146.6 194.1 -8.3 127 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

2950 -0.95 -146.6 216.1 -6.0 142 2955 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3304 3476

3016 -0.95 -146.6 220.1 -6.2 145 3021 0.00 2.50 0.00 0.000 6 0.000 0.043 2288 1901 3475

3343 -0.95 -146.6 238.3 -6.0 161 3345 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

3653 -0.95 -146.6 256.6 -5.7 176 3655 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

3964 -0.95 -146.6 276.3 -6.7 191 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

4272 -0.95 -146.6 299.1 -7.8 206 4276 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3302 3476

4355 -0.95 -146.6 306.0 -8.4 210 4359 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1900 3476

4681 -0.95 -146.6 330.9 -7.4 226 4683 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

4991 -0.95 -146.6 352.7 -7.3 241 4992 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5303 -0.95 -146.6 375.4 -7.1 256 5304 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

5610 -0.95 -146.6 395.0 -6.1 271 5614 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3295 3476

5664 -0.95 -146.6 398.6 -7.0 273 5670 0.00 2.50 0.00 0.000 6 0.000 0.045 2288 1902 3475

5979 -0.95 -146.6 419.8 -7.2 289 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

6288 -0.95 -146.6 441.2 -6.7 304 6290 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

6598 -0.95 -146.6 460.8 -6.4 319 6599 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

6908 -0.95 -146.6 479.7 -5.8 334 6909 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

7216 -0.95 -146.6 499.9 -6.7 349 7217 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3474

7526 -0.95 -146.6 519.9 -6.1 364 7530 0.00 2.53 0.00 0.000 4 0.000 0.052 2288 3295 3473

7598 -0.95 -146.6 524.2 -5.7 367 7602 0.00 2.47 0.00 0.000 6 0.000 0.046 2287 1900 3473

7918 -0.95 -146.6 542.9 -6.0 383 7919 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

8228 -0.95 -146.6 564.5 -7.5 398 8229 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

8537 -0.95 -146.6 583.2 -4.8 413 8541 0.00 2.55 0.00 0.000 4 0.000 0.057 2287 3301 3473

8614 -0.95 -146.6 587.1 -4.9 416 8621 0.00 2.53 0.00 0.000 6 0.000 0.049 2287 1901 3473

8930 -0.95 -146.6 603.4 -5.8 432 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3473

9238 -0.95 -146.6 622.0 -6.4 447 9240 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3473

9548 -0.95 -146.6 643.0 -7.3 462 9552 0.00 2.55 0.00 0.000 4 0.000 0.061 2288 3294 3473

9596 -0.95 -146.6 646.8 -7.9 464 9601 0.00 2.53 0.00 0.000 6 0.000 0.051 2287 1897 3473

9918 -0.95 -146.6 666.4 -5.5 480 9919 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3472

10227 -0.95 -146.6 685.3 -6.8 495 10228 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3472

10514 end dive: BOTTOM_OBSTACLE_DETECTED

state 10514 begin apogee

10519 -0.36 0.0 703.3 6.5 509 10646 0.60 0.00 123.82 1.287 6 0.068 0.000 2419 2091 2878

10647 end apogee: CONTROL_FINISHED_OK

state 10647 begin climb

10649 0.95 146.6 707.4 0.0 515 10777 1.30 0.00 123.60 1.247 6 0.053 0.000 2706 2091 2280

11086 0.95 148.4 686.8 5.9 537 11087 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2091 2279

11394 0.97 163.9 668.9 5.5 552 11415 0.00 0.00 15.40 1.272 6 0.000 0.000 2706 2091 2208

11724 0.97 165.7 649.1 5.9 568 11728 0.00 2.62 0.00 0.000 4 0.000 0.066 2706 3499 2208

11913 1.01 193.6 637.8 5.2 576 11944 0.00 2.58 25.48 1.285 6 0.000 0.056 2706 2098 2088

12264 1.01 193.6 616.2 6.5 594 12269 0.00 2.62 0.00 0.000 4 0.000 0.063 2706 3501 2087

12330 1.01 193.6 611.2 7.2 597 12335 0.00 2.58 0.00 0.000 6 0.000 0.054 2706 2097 2086

12657 1.01 193.6 587.6 8.1 613 12658 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2097 2086

12966 1.01 193.6 562.6 8.0 628 12970 0.00 2.60 0.00 0.000 4 0.000 0.061 2706 3505 2085

13122 1.01 193.6 550.6 7.4 635 13126 0.00 2.55 0.00 0.000 6 0.000 0.051 2706 2099 2085

13449 1.02 203.7 532.4 5.7 651 13462 0.00 0.00 8.98 1.233 6 0.000 0.000 2706 2099 2047

13779 1.02 203.7 505.8 8.3 667 13780 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2099 2047

14088 1.02 203.7 480.9 7.0 682 14089 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2099 2047

14397 1.09 260.5 464.7 4.3 697 14448 0.12 0.00 47.83 1.144 6 0.048 0.000 2750 2099 1815

14747 1.09 260.5 437.5 8.9 714 14748 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1815

15056 1.09 260.5 409.3 9.1 729 15057 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2099 1815

15365 1.09 260.5 381.8 8.5 744 15369 0.00 2.55 0.00 0.000 4 0.000 0.051 2750 3507 1816

15426 1.09 260.5 376.6 8.7 747 15431 0.00 2.53 0.00 0.000 6 0.000 0.044 2750 2097 1816

15751 1.09 260.5 350.0 8.5 763 15752 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1816

16061 1.09 260.5 322.9 8.9 778 16062 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1817

16370 1.09 260.5 295.8 8.6 793 16371 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1818

16679 1.09 260.5 269.1 8.5 808 16680 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1818

16989 1.09 260.5 244.0 7.6 823 16990 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2096 1818

17297 1.09 260.5 221.7 6.3 838 17299 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1819

17607 1.09 260.5 202.1 6.6 853 17608 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1818

17916 1.09 260.5 178.0 9.4 868 17917 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1819

18226 1.11 281.0 152.6 5.4 883 18246 0.00 0.00 17.85 0.930 6 0.000 0.000 2750 2097 1732

18555 1.11 281.0 121.2 9.2 899 18556 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2097 1732

18866 1.11 281.0 86.5 10.6 914 18871 0.00 2.55 0.00 0.000 4 0.000 0.048 2750 3503 1732

18938 1.11 281.0 78.4 11.6 917 18943 0.00 2.50 0.00 0.000 6 0.000 0.040 2750 2086 1732

19260 1.16 319.1 54.5 4.9 933 19292 0.00 0.00 30.85 0.849 6 0.000 0.000 2750 2087 1576

19591 1.16 319.1 20.1 9.8 949 19595 0.00 2.58 0.00 0.000 4 0.000 0.049 2750 3503 1576

19633 1.16 319.1 14.8 10.5 951 19638 0.00 2.47 0.00 0.000 6 0.000 0.039 2750 2103 1576

19961 1.40 516.8 3.2 0.1 967 20070 0.20 0.00 105.20 0.769 6 0.067 0.000 2798 2098 770

20145 end climb: NO_VERTICAL_VELOCITY

state 20145 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	191	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	558.0575	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-79758.672	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	071338,6252.075,-1246.966,30,0.9,30,-11.8	TGT_NAME	HW
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.015
_SM_DEPTHo	3.75	KALMAN_X	246474.2,-199.0,-3553.4,-469176.3,7651.7
_SM_ANGLEo	-51.0	KALMAN_Y	61869.9,-193.8,2413.7,82094.3,-297.2
GPS2	072245,6252.072,-1246.743,11,1.3,11,-11.8	MHEAD_RNG_PITCHd_Wd	285.8,15907,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20532,0.17,1.534,0,0,603,558.06	ALTIM_BOTTOM_PING	601.0,112.2
SM_GC	4.14,0.00,0.00,0.17,0.000,0.000,1.534,27,1882,603,-11.35,-0.48,558.06	_24V_AH	23.3,43.567
IRIDIUM_FIX	6225.82,-1244.50,241207,111138	_10V_AH	10.1,20.844
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50645,976
HUMID	2060	CFSIZE	260165632,246603776
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.50	GPS	241207,130707,6251.882,-1251.473,39,0.9,39,-11.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.00	SBE_CT	725	24	405.90
Roll_motor	76	65	117.96	SBE_O2	658	19	291.66
VBD_pump_during_apogee	499	1287	14963.87	WL_BB2F	596	105	1460.08
VBD_pump_during_surface	22	1534	797.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	187.06	nil	0	0	0.00
Iridium_during_connect	69	160	260.23	nil	0	0	0.00
Iridium_during_xfer	224	223	1167.74
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.66
TT8	1697	19	339.39
LPSleep	16175	2	357.79
TT8_Active	686	19	137.26
TT8_Sampling	1940	39	779.92
TT8_CF8	581	45	268.82
TT8_Kalman	33	81	27.57
Analog_circuits	1652	12	200.27
GPS_charging	0	0	0.00
Compass	1918	8	155.05
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-4.28	0.000	2	0.000	0.000	28	1912	705
29	-0.95	-146.6	3.7	-0.0	0	226	11.15	0.00	-181.70	0.000	6	0.105	0.000	2288	1914	3475
534	-0.95	-146.6	26.8	-7.0	25	539	0.00	2.50	0.00	0.000	4	0.000	0.048	2288	3300	3476
584	-0.95	-146.6	31.1	-7.2	27	588	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1897	3476
905	-0.95	-146.6	54.8	-7.8	43	906	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1897	3476
1215	-0.95	-146.6	80.0	-8.3	58	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
1524	-0.95	-146.6	105.2	-6.2	73	1525	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1897	3476
1833	-0.95	-146.6	131.7	-8.1	88	1837	0.00	2.53	0.00	0.000	4	0.000	0.047	2288	3302	3476
1927	-0.95	-146.6	139.8	-8.7	92	1931	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1898	3475
2248	-0.95	-146.6	162.3	-5.6	108	2252	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3304	3476
2320	-0.95	-146.6	167.6	-8.0	111	2324	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1901	3476
2641	-0.95	-146.6	194.1	-8.3	127	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
2950	-0.95	-146.6	216.1	-6.0	142	2955	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3304	3476
3016	-0.95	-146.6	220.1	-6.2	145	3021	0.00	2.50	0.00	0.000	6	0.000	0.043	2288	1901	3475
3343	-0.95	-146.6	238.3	-6.0	161	3345	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
3653	-0.95	-146.6	256.6	-5.7	176	3655	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
3964	-0.95	-146.6	276.3	-6.7	191	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
4272	-0.95	-146.6	299.1	-7.8	206	4276	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3302	3476
4355	-0.95	-146.6	306.0	-8.4	210	4359	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1900	3476
4681	-0.95	-146.6	330.9	-7.4	226	4683	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
4991	-0.95	-146.6	352.7	-7.3	241	4992	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5303	-0.95	-146.6	375.4	-7.1	256	5304	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
5610	-0.95	-146.6	395.0	-6.1	271	5614	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3295	3476
5664	-0.95	-146.6	398.6	-7.0	273	5670	0.00	2.50	0.00	0.000	6	0.000	0.045	2288	1902	3475
5979	-0.95	-146.6	419.8	-7.2	289	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
6288	-0.95	-146.6	441.2	-6.7	304	6290	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
6598	-0.95	-146.6	460.8	-6.4	319	6599	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
6908	-0.95	-146.6	479.7	-5.8	334	6909	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
7216	-0.95	-146.6	499.9	-6.7	349	7217	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3474
7526	-0.95	-146.6	519.9	-6.1	364	7530	0.00	2.53	0.00	0.000	4	0.000	0.052	2288	3295	3473
7598	-0.95	-146.6	524.2	-5.7	367	7602	0.00	2.47	0.00	0.000	6	0.000	0.046	2287	1900	3473
7918	-0.95	-146.6	542.9	-6.0	383	7919	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
8228	-0.95	-146.6	564.5	-7.5	398	8229	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
8537	-0.95	-146.6	583.2	-4.8	413	8541	0.00	2.55	0.00	0.000	4	0.000	0.057	2287	3301	3473
8614	-0.95	-146.6	587.1	-4.9	416	8621	0.00	2.53	0.00	0.000	6	0.000	0.049	2287	1901	3473
8930	-0.95	-146.6	603.4	-5.8	432	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3473
9238	-0.95	-146.6	622.0	-6.4	447	9240	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3473
9548	-0.95	-146.6	643.0	-7.3	462	9552	0.00	2.55	0.00	0.000	4	0.000	0.061	2288	3294	3473
9596	-0.95	-146.6	646.8	-7.9	464	9601	0.00	2.53	0.00	0.000	6	0.000	0.051	2287	1897	3473
9918	-0.95	-146.6	666.4	-5.5	480	9919	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3472
10227	-0.95	-146.6	685.3	-6.8	495	10228	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3472
10514	end dive: BOTTOM_OBSTACLE_DETECTED
state	10514	begin apogee
10519	-0.36	0.0	703.3	6.5	509	10646	0.60	0.00	123.82	1.287	6	0.068	0.000	2419	2091	2878
10647	end apogee: CONTROL_FINISHED_OK
state	10647	begin climb
10649	0.95	146.6	707.4	0.0	515	10777	1.30	0.00	123.60	1.247	6	0.053	0.000	2706	2091	2280
11086	0.95	148.4	686.8	5.9	537	11087	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2091	2279
11394	0.97	163.9	668.9	5.5	552	11415	0.00	0.00	15.40	1.272	6	0.000	0.000	2706	2091	2208
11724	0.97	165.7	649.1	5.9	568	11728	0.00	2.62	0.00	0.000	4	0.000	0.066	2706	3499	2208
11913	1.01	193.6	637.8	5.2	576	11944	0.00	2.58	25.48	1.285	6	0.000	0.056	2706	2098	2088
12264	1.01	193.6	616.2	6.5	594	12269	0.00	2.62	0.00	0.000	4	0.000	0.063	2706	3501	2087
12330	1.01	193.6	611.2	7.2	597	12335	0.00	2.58	0.00	0.000	6	0.000	0.054	2706	2097	2086
12657	1.01	193.6	587.6	8.1	613	12658	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2097	2086
12966	1.01	193.6	562.6	8.0	628	12970	0.00	2.60	0.00	0.000	4	0.000	0.061	2706	3505	2085
13122	1.01	193.6	550.6	7.4	635	13126	0.00	2.55	0.00	0.000	6	0.000	0.051	2706	2099	2085
13449	1.02	203.7	532.4	5.7	651	13462	0.00	0.00	8.98	1.233	6	0.000	0.000	2706	2099	2047
13779	1.02	203.7	505.8	8.3	667	13780	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2099	2047
14088	1.02	203.7	480.9	7.0	682	14089	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2099	2047
14397	1.09	260.5	464.7	4.3	697	14448	0.12	0.00	47.83	1.144	6	0.048	0.000	2750	2099	1815
14747	1.09	260.5	437.5	8.9	714	14748	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1815
15056	1.09	260.5	409.3	9.1	729	15057	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2099	1815
15365	1.09	260.5	381.8	8.5	744	15369	0.00	2.55	0.00	0.000	4	0.000	0.051	2750	3507	1816
15426	1.09	260.5	376.6	8.7	747	15431	0.00	2.53	0.00	0.000	6	0.000	0.044	2750	2097	1816
15751	1.09	260.5	350.0	8.5	763	15752	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1816
16061	1.09	260.5	322.9	8.9	778	16062	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1817
16370	1.09	260.5	295.8	8.6	793	16371	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1818
16679	1.09	260.5	269.1	8.5	808	16680	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1818
16989	1.09	260.5	244.0	7.6	823	16990	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2096	1818
17297	1.09	260.5	221.7	6.3	838	17299	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1819
17607	1.09	260.5	202.1	6.6	853	17608	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1818
17916	1.09	260.5	178.0	9.4	868	17917	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1819
18226	1.11	281.0	152.6	5.4	883	18246	0.00	0.00	17.85	0.930	6	0.000	0.000	2750	2097	1732
18555	1.11	281.0	121.2	9.2	899	18556	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2097	1732
18866	1.11	281.0	86.5	10.6	914	18871	0.00	2.55	0.00	0.000	4	0.000	0.048	2750	3503	1732
18938	1.11	281.0	78.4	11.6	917	18943	0.00	2.50	0.00	0.000	6	0.000	0.040	2750	2086	1732
19260	1.16	319.1	54.5	4.9	933	19292	0.00	0.00	30.85	0.849	6	0.000	0.000	2750	2087	1576
19591	1.16	319.1	20.1	9.8	949	19595	0.00	2.58	0.00	0.000	4	0.000	0.049	2750	3503	1576
19633	1.16	319.1	14.8	10.5	951	19638	0.00	2.47	0.00	0.000	6	0.000	0.039	2750	2103	1576
19961	1.40	516.8	3.2	0.1	967	20070	0.20	0.00	105.20	0.769	6	0.067	0.000	2798	2098	770
20145	end climb: NO_VERTICAL_VELOCITY
state	20145	begin surface