Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 210 * 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 210 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -80122.227 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 -80122.227

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 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 210 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 073438,6254.659,-1250.786,29,1.4,29,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 3 KALMAN_CONTROL -0.157,0.138

_SM_DEPTHo 3.49 KALMAN_X 270997.6,-918.7,-12009.0,-488163.3,5970.0

_SM_ANGLEo -52.4 KALMAN_Y -57740.8,900.5,49086.1,158559.8,13925.6

GPS2 074145,6254.587,-1250.888,13,1.6,13,-11.9 MHEAD_RNG_PITCHd_Wd 323.2,42816,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19022,35.62,0.769,0,0,602,558.06 ALTIM_BOTTOM_PING 576.2,94.5

SM_GC 3.62,11.90,0.00,0.00,0.027,0.000,0.000,35,1890,603,-11.26,-0.25,558.06 _24V_AH 23.3,46.973

IRIDIUM_FIX 6230.49,-1245.54,291207,060630 _10V_AH 10.1,22.713

TT8_MAMPS 0.026078 DATA_FILE_SIZE 47519,921

HUMID 2057 CFSIZE 260165632,245334016

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.50 GPS 291207,130832,6257.003,-1253.876,39,1.4,39,-11.9

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 110 65.30 SBE_CT 685 24 383.57

Roll_motor 66 72 113.62 SBE_O2 621 19 275.20

VBD_pump_during_apogee 471 1255 13793.73 WL_BB2F 615 105 1505.55

VBD_pump_during_surface 35 768 637.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.95 nil 0 0 0.00

Iridium_during_connect 44 160 166.19 nil 0 0 0.00

Iridium_during_xfer 235 223 1223.34

Transponder_ping 5 420 51.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.63

TT8 1589 19 317.90

LPSleep 15344 2 339.40

TT8_Active 649 19 129.89

TT8_Sampling 1813 39 728.93

TT8_CF8 511 45 236.82

TT8_Kalman 33 81 27.56

Analog_circuits 1544 12 187.25

GPS_charging 0 0 0.00

Compass 1792 8 144.81

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

21 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.75 0.000 2 0.000 0.000 30 1878 1094

47 -0.95 -146.6 3.6 -0.0 1 201 11.27 2.58 -135.27 0.000 4 0.110 0.061 2289 3305 3477

359 -0.95 -146.6 18.9 -5.8 15 366 0.00 2.50 0.00 0.000 6 0.000 0.044 2290 1903 3477

675 -0.95 -146.6 47.3 -10.3 31 679 0.00 2.62 0.00 0.000 4 0.000 0.068 2289 493 3477

713 -0.95 -146.6 50.6 -8.4 33 718 0.00 2.47 0.00 0.000 6 0.000 0.041 2289 1907 3477

1040 -0.95 -146.6 71.7 -7.8 49 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1910 3477

1349 -0.95 -146.6 94.4 -9.3 64 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1910 3477

1660 -0.95 -146.6 115.4 -7.9 79 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1910 3477

1968 -0.95 -146.6 135.7 -8.4 94 1969 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1910 3476

2277 -0.95 -146.6 152.3 -4.2 109 2281 0.00 2.50 0.00 0.000 4 0.000 0.050 2289 3297 3477

2354 -0.95 -146.6 154.5 -2.8 112 2360 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1900 3477

2669 -0.95 -146.6 171.4 -6.9 128 2670 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3477

2979 -0.95 -146.6 199.1 -9.2 143 2980 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3477

3288 -0.95 -146.6 221.2 -7.9 158 3289 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3477

3597 -0.95 -146.6 242.9 -6.1 173 3598 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

3906 -0.95 -146.6 259.9 -6.0 188 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

4215 -0.95 -146.6 279.0 -6.4 203 4220 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3301 3476

4287 -0.95 -146.6 284.3 -8.5 206 4291 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1895 3476

4608 -0.95 -146.6 307.6 -6.4 222 4609 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

4917 -0.95 -146.6 333.5 -7.9 237 4921 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3300 3477

4989 -0.95 -146.6 338.7 -7.3 240 4993 0.00 2.53 0.00 0.000 6 0.000 0.045 2289 1895 3476

5316 -0.95 -146.6 361.3 -7.8 256 5318 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3477

5625 -0.95 -146.6 389.0 -9.4 271 5630 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3301 3476

5714 -0.95 -146.6 397.6 -9.1 275 5718 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1900 3476

6042 -0.95 -146.6 425.3 -7.8 291 6043 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

6350 -0.95 -146.6 448.0 -7.2 306 6354 0.00 2.53 0.00 0.000 4 0.000 0.051 2289 3298 3476

6434 -0.95 -146.6 454.4 -7.5 310 6438 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1899 3476

6761 -0.95 -146.6 475.6 -5.9 326 6763 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3476

7069 -0.95 -146.6 490.5 -4.0 341 7074 0.00 2.55 0.00 0.000 4 0.000 0.052 2289 3305 3475

7147 -0.95 -146.6 493.6 -4.2 344 7153 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1900 3475

7463 -0.95 -146.6 505.4 -3.7 360 7464 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

7772 -0.95 -146.6 517.7 -4.3 375 7773 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

8081 -0.95 -146.6 535.2 -6.4 390 8082 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

8390 -0.95 -146.6 556.9 -7.9 405 8391 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

8699 -0.95 -146.6 579.6 -7.4 420 8700 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

9009 -0.95 -146.6 598.2 -4.8 435 9010 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

9318 -0.95 -146.6 616.9 -6.7 450 9319 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3474

9627 -0.95 -146.6 642.9 -8.4 465 9628 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3474

9914 end dive: BOTTOM_OBSTACLE_DETECTED

state 9914 begin apogee

9920 -0.36 0.0 661.5 5.9 479 10046 0.60 0.00 122.62 1.256 6 0.071 0.000 2419 2093 2878

10046 end apogee: CONTROL_FINISHED_OK

state 10046 begin climb

10048 0.95 146.6 666.7 0.0 485 10179 1.27 2.70 122.43 1.203 4 0.050 0.065 2703 3499 2279

10226 1.01 193.7 666.1 4.6 494 10271 0.00 2.58 39.78 1.188 6 0.000 0.051 2703 2102 2088

10594 1.03 211.8 645.7 5.5 512 10613 0.00 0.00 15.90 1.202 6 0.000 0.000 2703 2102 2014

10922 1.03 211.8 623.4 7.0 528 10923 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2102 2013

11231 1.03 211.8 601.7 6.9 543 11232 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2102 2013

11540 1.03 211.8 577.7 8.7 558 11544 0.00 2.65 0.00 0.000 4 0.000 0.073 2703 688 2012

11602 1.03 211.8 572.2 9.4 561 11606 0.00 2.55 0.00 0.000 6 0.000 0.050 2703 2105 2012

11927 1.08 250.8 553.1 4.8 577 11969 0.12 2.65 32.38 1.206 4 0.048 0.060 2749 3496 1855

12025 1.08 250.8 545.5 8.3 581 12029 0.00 2.55 0.00 0.000 6 0.000 0.051 2749 2101 1855

12346 1.08 250.8 517.7 9.2 597 12347 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1854

12655 1.08 250.8 489.5 9.3 612 12656 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1855

12964 1.08 250.8 460.5 9.4 627 12965 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1854

13274 1.08 250.8 433.9 8.2 642 13275 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1855

13583 1.08 250.8 409.8 7.9 657 13584 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1855

13892 1.08 250.8 384.4 8.1 672 13893 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1855

14201 1.08 250.8 358.9 8.3 687 14202 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1855

14510 1.08 250.8 333.8 8.4 702 14511 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1856

14820 1.08 250.8 305.4 9.5 717 14821 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2100 1856

15129 1.08 250.8 277.8 8.8 732 15130 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1856

15438 1.08 250.8 248.8 9.9 747 15442 0.00 2.53 0.00 0.000 4 0.000 0.050 2749 3501 1857

15526 1.08 250.8 240.9 8.3 751 15530 0.00 2.50 0.00 0.000 6 0.000 0.042 2749 2087 1857

15853 1.08 250.8 215.5 8.2 767 15854 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2087 1857

16162 1.08 250.8 190.2 8.4 782 16163 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2086 1858

16471 1.08 250.8 166.2 8.3 797 16475 0.00 2.58 0.00 0.000 4 0.000 0.049 2749 3507 1858

16526 1.08 250.8 161.9 8.3 799 16533 0.00 2.47 0.00 0.000 6 0.000 0.041 2749 2101 1858

16842 1.08 250.8 139.6 7.0 815 16843 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1858

17151 1.12 286.8 121.8 4.9 830 17183 0.00 0.00 30.30 0.894 6 0.000 0.000 2749 2101 1707

17482 1.12 286.8 99.1 7.4 846 17483 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1707

17790 1.12 286.8 73.4 9.4 861 17791 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1707

18099 1.12 286.8 47.1 8.4 876 18100 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2101 1707

18408 1.12 286.8 23.4 6.5 891 18410 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2100 1707

18718 1.37 490.3 3.2 -0.1 906 18829 0.20 0.00 108.10 0.767 6 0.051 0.000 2800 2094 878

19018 end climb: NO_VERTICAL_VELOCITY

state 19019 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	210	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-80122.227	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	073438,6254.659,-1250.786,29,1.4,29,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	3	KALMAN_CONTROL	-0.157,0.138
_SM_DEPTHo	3.49	KALMAN_X	270997.6,-918.7,-12009.0,-488163.3,5970.0
_SM_ANGLEo	-52.4	KALMAN_Y	-57740.8,900.5,49086.1,158559.8,13925.6
GPS2	074145,6254.587,-1250.888,13,1.6,13,-11.9	MHEAD_RNG_PITCHd_Wd	323.2,42816,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19022,35.62,0.769,0,0,602,558.06	ALTIM_BOTTOM_PING	576.2,94.5
SM_GC	3.62,11.90,0.00,0.00,0.027,0.000,0.000,35,1890,603,-11.26,-0.25,558.06	_24V_AH	23.3,46.973
IRIDIUM_FIX	6230.49,-1245.54,291207,060630	_10V_AH	10.1,22.713
TT8_MAMPS	0.026078	DATA_FILE_SIZE	47519,921
HUMID	2057	CFSIZE	260165632,245334016
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.50	GPS	291207,130832,6257.003,-1253.876,39,1.4,39,-11.9
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	110	65.30	SBE_CT	685	24	383.57
Roll_motor	66	72	113.62	SBE_O2	621	19	275.20
VBD_pump_during_apogee	471	1255	13793.73	WL_BB2F	615	105	1505.55
VBD_pump_during_surface	35	768	637.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.95	nil	0	0	0.00
Iridium_during_connect	44	160	166.19	nil	0	0	0.00
Iridium_during_xfer	235	223	1223.34
Transponder_ping	5	420	51.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.63
TT8	1589	19	317.90
LPSleep	15344	2	339.40
TT8_Active	649	19	129.89
TT8_Sampling	1813	39	728.93
TT8_CF8	511	45	236.82
TT8_Kalman	33	81	27.56
Analog_circuits	1544	12	187.25
GPS_charging	0	0	0.00
Compass	1792	8	144.81
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
21	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.75	0.000	2	0.000	0.000	30	1878	1094
47	-0.95	-146.6	3.6	-0.0	1	201	11.27	2.58	-135.27	0.000	4	0.110	0.061	2289	3305	3477
359	-0.95	-146.6	18.9	-5.8	15	366	0.00	2.50	0.00	0.000	6	0.000	0.044	2290	1903	3477
675	-0.95	-146.6	47.3	-10.3	31	679	0.00	2.62	0.00	0.000	4	0.000	0.068	2289	493	3477
713	-0.95	-146.6	50.6	-8.4	33	718	0.00	2.47	0.00	0.000	6	0.000	0.041	2289	1907	3477
1040	-0.95	-146.6	71.7	-7.8	49	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1910	3477
1349	-0.95	-146.6	94.4	-9.3	64	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1910	3477
1660	-0.95	-146.6	115.4	-7.9	79	1661	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1910	3477
1968	-0.95	-146.6	135.7	-8.4	94	1969	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1910	3476
2277	-0.95	-146.6	152.3	-4.2	109	2281	0.00	2.50	0.00	0.000	4	0.000	0.050	2289	3297	3477
2354	-0.95	-146.6	154.5	-2.8	112	2360	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1900	3477
2669	-0.95	-146.6	171.4	-6.9	128	2670	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3477
2979	-0.95	-146.6	199.1	-9.2	143	2980	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3477
3288	-0.95	-146.6	221.2	-7.9	158	3289	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3477
3597	-0.95	-146.6	242.9	-6.1	173	3598	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
3906	-0.95	-146.6	259.9	-6.0	188	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
4215	-0.95	-146.6	279.0	-6.4	203	4220	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3301	3476
4287	-0.95	-146.6	284.3	-8.5	206	4291	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1895	3476
4608	-0.95	-146.6	307.6	-6.4	222	4609	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
4917	-0.95	-146.6	333.5	-7.9	237	4921	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3300	3477
4989	-0.95	-146.6	338.7	-7.3	240	4993	0.00	2.53	0.00	0.000	6	0.000	0.045	2289	1895	3476
5316	-0.95	-146.6	361.3	-7.8	256	5318	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3477
5625	-0.95	-146.6	389.0	-9.4	271	5630	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3301	3476
5714	-0.95	-146.6	397.6	-9.1	275	5718	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1900	3476
6042	-0.95	-146.6	425.3	-7.8	291	6043	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
6350	-0.95	-146.6	448.0	-7.2	306	6354	0.00	2.53	0.00	0.000	4	0.000	0.051	2289	3298	3476
6434	-0.95	-146.6	454.4	-7.5	310	6438	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1899	3476
6761	-0.95	-146.6	475.6	-5.9	326	6763	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3476
7069	-0.95	-146.6	490.5	-4.0	341	7074	0.00	2.55	0.00	0.000	4	0.000	0.052	2289	3305	3475
7147	-0.95	-146.6	493.6	-4.2	344	7153	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1900	3475
7463	-0.95	-146.6	505.4	-3.7	360	7464	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
7772	-0.95	-146.6	517.7	-4.3	375	7773	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
8081	-0.95	-146.6	535.2	-6.4	390	8082	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
8390	-0.95	-146.6	556.9	-7.9	405	8391	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
8699	-0.95	-146.6	579.6	-7.4	420	8700	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
9009	-0.95	-146.6	598.2	-4.8	435	9010	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
9318	-0.95	-146.6	616.9	-6.7	450	9319	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3474
9627	-0.95	-146.6	642.9	-8.4	465	9628	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3474
9914	end dive: BOTTOM_OBSTACLE_DETECTED
state	9914	begin apogee
9920	-0.36	0.0	661.5	5.9	479	10046	0.60	0.00	122.62	1.256	6	0.071	0.000	2419	2093	2878
10046	end apogee: CONTROL_FINISHED_OK
state	10046	begin climb
10048	0.95	146.6	666.7	0.0	485	10179	1.27	2.70	122.43	1.203	4	0.050	0.065	2703	3499	2279
10226	1.01	193.7	666.1	4.6	494	10271	0.00	2.58	39.78	1.188	6	0.000	0.051	2703	2102	2088
10594	1.03	211.8	645.7	5.5	512	10613	0.00	0.00	15.90	1.202	6	0.000	0.000	2703	2102	2014
10922	1.03	211.8	623.4	7.0	528	10923	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2102	2013
11231	1.03	211.8	601.7	6.9	543	11232	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2102	2013
11540	1.03	211.8	577.7	8.7	558	11544	0.00	2.65	0.00	0.000	4	0.000	0.073	2703	688	2012
11602	1.03	211.8	572.2	9.4	561	11606	0.00	2.55	0.00	0.000	6	0.000	0.050	2703	2105	2012
11927	1.08	250.8	553.1	4.8	577	11969	0.12	2.65	32.38	1.206	4	0.048	0.060	2749	3496	1855
12025	1.08	250.8	545.5	8.3	581	12029	0.00	2.55	0.00	0.000	6	0.000	0.051	2749	2101	1855
12346	1.08	250.8	517.7	9.2	597	12347	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1854
12655	1.08	250.8	489.5	9.3	612	12656	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1855
12964	1.08	250.8	460.5	9.4	627	12965	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1854
13274	1.08	250.8	433.9	8.2	642	13275	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1855
13583	1.08	250.8	409.8	7.9	657	13584	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1855
13892	1.08	250.8	384.4	8.1	672	13893	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1855
14201	1.08	250.8	358.9	8.3	687	14202	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1855
14510	1.08	250.8	333.8	8.4	702	14511	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1856
14820	1.08	250.8	305.4	9.5	717	14821	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2100	1856
15129	1.08	250.8	277.8	8.8	732	15130	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1856
15438	1.08	250.8	248.8	9.9	747	15442	0.00	2.53	0.00	0.000	4	0.000	0.050	2749	3501	1857
15526	1.08	250.8	240.9	8.3	751	15530	0.00	2.50	0.00	0.000	6	0.000	0.042	2749	2087	1857
15853	1.08	250.8	215.5	8.2	767	15854	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2087	1857
16162	1.08	250.8	190.2	8.4	782	16163	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2086	1858
16471	1.08	250.8	166.2	8.3	797	16475	0.00	2.58	0.00	0.000	4	0.000	0.049	2749	3507	1858
16526	1.08	250.8	161.9	8.3	799	16533	0.00	2.47	0.00	0.000	6	0.000	0.041	2749	2101	1858
16842	1.08	250.8	139.6	7.0	815	16843	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1858
17151	1.12	286.8	121.8	4.9	830	17183	0.00	0.00	30.30	0.894	6	0.000	0.000	2749	2101	1707
17482	1.12	286.8	99.1	7.4	846	17483	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1707
17790	1.12	286.8	73.4	9.4	861	17791	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1707
18099	1.12	286.8	47.1	8.4	876	18100	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2101	1707
18408	1.12	286.8	23.4	6.5	891	18410	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2100	1707
18718	1.37	490.3	3.2	-0.1	906	18829	0.20	0.00	108.10	0.767	6	0.051	0.000	2800	2094	878
19018	end climb: NO_VERTICAL_VELOCITY
state	19019	begin surface