Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 218 * 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 218 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -80245.547 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 -80245.547

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 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 218 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 010138,6308.684,-1300.106,26,1.2,26,-12.1 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.156,0.139

_SM_DEPTHo 3.40 KALMAN_X 263862.0,-442.5,-98.0,-501346.3,6647.7

_SM_ANGLEo -47.8 KALMAN_Y -12202.7,574.2,-549.8,189102.2,-5891.3

GPS2 011251,6308.676,-1259.897,14,1.2,14,-12.1 MHEAD_RNG_PITCHd_Wd 323.7,17194,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18347,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 526.1,110.2

SM_GC 3.63,0.00,0.00,0.00,0.000,0.000,0.000,30,1883,603,-11.34,-0.45,558.06 _24V_AH 23.3,48.354

IRIDIUM_FIX 6244.56,-1311.44,311207,050541 _10V_AH 10.1,23.390

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44372,865

HUMID 2038 CFSIZE 260165632,244883456

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 16.70 GPS 311207,062038,6309.964,-1302.449,30,1.6,30,-12.1

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 100 58.76 SBE_CT 639 24 357.84

Roll_motor 77 72 130.77 SBE_O2 582 19 258.08

VBD_pump_during_apogee 449 1207 12653.18 WL_BB2F 588 105 1439.40

VBD_pump_during_surface 45 762 811.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 192.30 nil 0 0 0.00

Iridium_during_connect 79 160 297.89 nil 0 0 0.00

Iridium_during_xfer 338 223 1756.57

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.21

TT8 1540 19 308.01

LPSleep 14297 2 316.26

TT8_Active 620 19 124.01

TT8_Sampling 1869 39 751.48

TT8_CF8 697 45 322.68

TT8_Kalman 33 81 27.58

Analog_circuits 1549 12 187.86

GPS_charging 0 0 0.00

Compass 1836 8 148.43

RAFOS 0 0 0.00

Guidance and control:

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.95 -146.6 0.0 0.0 0 45 0.00 0.00 -21.55 0.000 2 0.000 0.000 28 1897 1098

48 -0.95 -146.6 3.3 -0.0 1 194 11.02 2.65 -127.93 0.000 4 0.100 0.073 2285 489 3477

441 -0.95 -146.6 29.6 -6.2 19 446 0.00 2.50 0.00 0.000 6 0.000 0.040 2285 1918 3476

768 -0.95 -146.6 58.6 -9.0 35 769 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3476

1077 -0.95 -146.6 85.4 -10.2 50 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1922 3476

1386 -0.95 -146.6 110.9 -6.3 65 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3477

1697 -0.95 -146.6 133.9 -8.0 80 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3476

2005 -0.95 -146.6 152.7 -5.4 95 2006 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3476

2316 -0.95 -146.6 175.4 -9.1 110 2317 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3476

2623 -0.95 -146.6 203.9 -9.0 125 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1921 3476

2932 -0.95 -146.6 223.2 -6.7 140 2936 0.00 2.47 0.00 0.000 4 0.000 0.050 2285 3293 3476

2996 -0.95 -146.6 226.8 -5.7 143 3000 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1898 3476

3322 -0.95 -146.6 251.3 -7.8 159 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

3631 -0.95 -146.6 275.5 -7.9 174 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

3942 -0.95 -146.6 300.6 -7.3 189 3946 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3295 3477

3997 -0.95 -146.6 305.0 -8.2 191 4003 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1900 3476

4313 -0.95 -146.6 326.5 -6.9 207 4314 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

4621 -0.95 -146.6 347.5 -6.6 222 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

4931 -0.95 -146.6 369.1 -7.4 237 4935 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3298 3476

4985 -0.95 -146.6 373.4 -7.8 239 4991 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1895 3476

5303 -0.95 -146.6 401.0 -9.2 255 5304 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

5610 -0.95 -146.6 427.1 -7.8 270 5611 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

5919 -0.95 -146.6 449.7 -7.4 285 5920 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

6228 -0.95 -146.6 474.6 -8.8 300 6236 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3299 3475

6291 -0.95 -146.6 480.2 -9.0 302 6298 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1896 3475

6607 -0.95 -146.6 503.4 -6.4 318 6608 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1896 3475

6916 -0.95 -146.6 524.6 -6.8 333 6917 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1896 3475

7225 -0.95 -146.6 547.6 -7.6 348 7230 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3301 3474

7291 -0.95 -146.6 552.8 -8.3 351 7296 0.00 2.53 0.00 0.000 6 0.000 0.048 2284 1902 3475

7618 -0.95 -146.6 575.3 -6.3 367 7619 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

7928 -0.95 -146.6 592.9 -5.7 382 7932 0.00 2.53 0.00 0.000 4 0.000 0.057 2285 3293 3475

8012 -0.95 -146.6 598.5 -6.6 386 8016 0.00 2.53 0.00 0.000 6 0.000 0.049 2284 1900 3475

8338 -0.95 -146.6 618.7 -5.8 402 8339 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3474

8459 end dive: BOTTOM_OBSTACLE_DETECTED

state 8459 begin apogee

8465 -0.36 0.0 626.6 6.1 408 8591 0.62 0.00 122.80 1.207 6 0.071 0.000 2420 2094 2877

8591 end apogee: CONTROL_FINISHED_OK

state 8592 begin climb

8594 0.95 146.6 629.5 0.0 414 8724 1.25 2.72 120.97 1.172 4 0.055 0.064 2701 3497 2280

8979 0.95 146.6 612.7 6.1 431 8986 0.00 2.55 0.00 0.000 6 0.000 0.051 2701 2099 2279

9294 0.99 181.4 595.9 5.0 447 9326 0.00 0.00 29.58 1.197 6 0.000 0.000 2701 2099 2138

9623 1.04 224.3 578.4 4.7 463 9665 0.00 2.67 36.20 1.187 4 0.000 0.059 2701 3497 1963

9737 1.04 224.3 571.0 7.9 468 9742 0.00 2.55 0.00 0.000 6 0.000 0.050 2701 2102 1961

10064 1.04 224.3 549.0 6.3 484 10065 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2102 1961

10373 1.04 224.3 529.0 6.7 499 10378 0.00 2.58 0.00 0.000 4 0.000 0.056 2701 3499 1961

10475 1.04 224.3 522.1 6.9 503 10481 0.00 2.55 0.00 0.000 6 0.000 0.048 2701 2098 1961

10790 1.05 233.3 504.3 5.7 519 10800 0.10 0.00 7.88 1.179 6 0.058 0.000 2736 2098 1927

11099 1.05 233.3 481.7 7.6 534 11100 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2098 1926

11408 1.05 233.3 458.2 7.4 549 11409 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2098 1926

11717 1.05 233.3 434.4 8.1 564 11718 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2098 1926

12027 1.05 233.3 407.5 8.6 579 12031 0.00 2.55 0.00 0.000 4 0.000 0.052 2736 3500 1926

12128 1.05 233.3 398.6 9.2 583 12134 0.00 2.53 0.00 0.000 6 0.000 0.044 2736 2094 1927

12443 1.05 233.3 374.3 6.7 599 12444 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2094 1927

12752 1.05 233.3 352.9 6.9 614 12753 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2094 1928

13061 1.05 233.3 330.4 7.7 629 13063 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2094 1928

13370 1.05 233.3 307.2 7.0 644 13372 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2094 1928

13680 1.05 233.3 285.3 7.4 659 13684 0.00 2.58 0.00 0.000 4 0.000 0.051 2736 3508 1928

13773 1.05 233.3 277.4 8.4 663 13778 0.00 2.50 0.00 0.000 6 0.000 0.041 2736 2099 1928

14094 1.05 233.3 251.1 8.9 679 14095 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2099 1929

14404 1.05 233.3 225.2 8.4 694 14405 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2099 1929

14713 1.05 233.3 203.0 6.3 709 14717 0.00 2.55 0.00 0.000 4 0.000 0.050 2736 3501 1930

14819 1.05 233.3 195.8 6.2 714 14823 0.00 2.50 0.00 0.000 6 0.000 0.041 2736 2094 1930

15144 1.05 233.3 172.5 7.5 730 15146 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2094 1929

15453 1.05 233.3 151.2 8.0 745 15458 0.00 2.58 0.00 0.000 4 0.000 0.051 2736 3505 1930

15538 1.05 233.3 142.7 10.9 749 15542 0.00 2.50 0.00 0.000 6 0.000 0.041 2736 2095 1931

15864 1.05 233.3 110.5 9.3 765 15865 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2095 1931

16173 1.06 234.5 87.4 6.0 780 16178 0.00 0.00 3.30 0.884 6 0.000 0.000 2736 2095 1920

16484 1.06 234.5 64.6 8.9 795 16488 0.00 2.55 0.00 0.000 4 0.000 0.049 2736 3500 1920

16617 1.06 234.5 52.3 9.1 801 16621 0.00 2.47 0.00 0.000 6 0.000 0.040 2736 2099 1920

16944 1.06 234.5 27.6 9.0 817 16945 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2098 1920

17253 1.10 267.4 5.4 5.0 832 17281 0.00 0.00 26.23 0.818 6 0.000 0.000 2736 2098 1786

17584 1.34 469.8 3.0 -0.0 848 17690 0.20 0.00 102.88 0.762 6 0.058 0.000 2794 2093 962

17935 end climb: NO_VERTICAL_VELOCITY

state 17935 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	218	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-80245.547	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	010138,6308.684,-1300.106,26,1.2,26,-12.1	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.156,0.139
_SM_DEPTHo	3.40	KALMAN_X	263862.0,-442.5,-98.0,-501346.3,6647.7
_SM_ANGLEo	-47.8	KALMAN_Y	-12202.7,574.2,-549.8,189102.2,-5891.3
GPS2	011251,6308.676,-1259.897,14,1.2,14,-12.1	MHEAD_RNG_PITCHd_Wd	323.7,17194,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18347,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	526.1,110.2
SM_GC	3.63,0.00,0.00,0.00,0.000,0.000,0.000,30,1883,603,-11.34,-0.45,558.06	_24V_AH	23.3,48.354
IRIDIUM_FIX	6244.56,-1311.44,311207,050541	_10V_AH	10.1,23.390
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44372,865
HUMID	2038	CFSIZE	260165632,244883456
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.70	GPS	311207,062038,6309.964,-1302.449,30,1.6,30,-12.1
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	100	58.76	SBE_CT	639	24	357.84
Roll_motor	77	72	130.77	SBE_O2	582	19	258.08
VBD_pump_during_apogee	449	1207	12653.18	WL_BB2F	588	105	1439.40
VBD_pump_during_surface	45	762	811.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	192.30	nil	0	0	0.00
Iridium_during_connect	79	160	297.89	nil	0	0	0.00
Iridium_during_xfer	338	223	1756.57
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.21
TT8	1540	19	308.01
LPSleep	14297	2	316.26
TT8_Active	620	19	124.01
TT8_Sampling	1869	39	751.48
TT8_CF8	697	45	322.68
TT8_Kalman	33	81	27.58
Analog_circuits	1549	12	187.86
GPS_charging	0	0	0.00
Compass	1836	8	148.43
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.95	-146.6	0.0	0.0	0	45	0.00	0.00	-21.55	0.000	2	0.000	0.000	28	1897	1098
48	-0.95	-146.6	3.3	-0.0	1	194	11.02	2.65	-127.93	0.000	4	0.100	0.073	2285	489	3477
441	-0.95	-146.6	29.6	-6.2	19	446	0.00	2.50	0.00	0.000	6	0.000	0.040	2285	1918	3476
768	-0.95	-146.6	58.6	-9.0	35	769	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3476
1077	-0.95	-146.6	85.4	-10.2	50	1078	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1922	3476
1386	-0.95	-146.6	110.9	-6.3	65	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3477
1697	-0.95	-146.6	133.9	-8.0	80	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3476
2005	-0.95	-146.6	152.7	-5.4	95	2006	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3476
2316	-0.95	-146.6	175.4	-9.1	110	2317	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3476
2623	-0.95	-146.6	203.9	-9.0	125	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1921	3476
2932	-0.95	-146.6	223.2	-6.7	140	2936	0.00	2.47	0.00	0.000	4	0.000	0.050	2285	3293	3476
2996	-0.95	-146.6	226.8	-5.7	143	3000	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1898	3476
3322	-0.95	-146.6	251.3	-7.8	159	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
3631	-0.95	-146.6	275.5	-7.9	174	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
3942	-0.95	-146.6	300.6	-7.3	189	3946	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3295	3477
3997	-0.95	-146.6	305.0	-8.2	191	4003	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1900	3476
4313	-0.95	-146.6	326.5	-6.9	207	4314	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
4621	-0.95	-146.6	347.5	-6.6	222	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
4931	-0.95	-146.6	369.1	-7.4	237	4935	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3298	3476
4985	-0.95	-146.6	373.4	-7.8	239	4991	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1895	3476
5303	-0.95	-146.6	401.0	-9.2	255	5304	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
5610	-0.95	-146.6	427.1	-7.8	270	5611	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
5919	-0.95	-146.6	449.7	-7.4	285	5920	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
6228	-0.95	-146.6	474.6	-8.8	300	6236	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3299	3475
6291	-0.95	-146.6	480.2	-9.0	302	6298	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1896	3475
6607	-0.95	-146.6	503.4	-6.4	318	6608	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1896	3475
6916	-0.95	-146.6	524.6	-6.8	333	6917	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1896	3475
7225	-0.95	-146.6	547.6	-7.6	348	7230	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3301	3474
7291	-0.95	-146.6	552.8	-8.3	351	7296	0.00	2.53	0.00	0.000	6	0.000	0.048	2284	1902	3475
7618	-0.95	-146.6	575.3	-6.3	367	7619	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
7928	-0.95	-146.6	592.9	-5.7	382	7932	0.00	2.53	0.00	0.000	4	0.000	0.057	2285	3293	3475
8012	-0.95	-146.6	598.5	-6.6	386	8016	0.00	2.53	0.00	0.000	6	0.000	0.049	2284	1900	3475
8338	-0.95	-146.6	618.7	-5.8	402	8339	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3474
8459	end dive: BOTTOM_OBSTACLE_DETECTED
state	8459	begin apogee
8465	-0.36	0.0	626.6	6.1	408	8591	0.62	0.00	122.80	1.207	6	0.071	0.000	2420	2094	2877
8591	end apogee: CONTROL_FINISHED_OK
state	8592	begin climb
8594	0.95	146.6	629.5	0.0	414	8724	1.25	2.72	120.97	1.172	4	0.055	0.064	2701	3497	2280
8979	0.95	146.6	612.7	6.1	431	8986	0.00	2.55	0.00	0.000	6	0.000	0.051	2701	2099	2279
9294	0.99	181.4	595.9	5.0	447	9326	0.00	0.00	29.58	1.197	6	0.000	0.000	2701	2099	2138
9623	1.04	224.3	578.4	4.7	463	9665	0.00	2.67	36.20	1.187	4	0.000	0.059	2701	3497	1963
9737	1.04	224.3	571.0	7.9	468	9742	0.00	2.55	0.00	0.000	6	0.000	0.050	2701	2102	1961
10064	1.04	224.3	549.0	6.3	484	10065	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2102	1961
10373	1.04	224.3	529.0	6.7	499	10378	0.00	2.58	0.00	0.000	4	0.000	0.056	2701	3499	1961
10475	1.04	224.3	522.1	6.9	503	10481	0.00	2.55	0.00	0.000	6	0.000	0.048	2701	2098	1961
10790	1.05	233.3	504.3	5.7	519	10800	0.10	0.00	7.88	1.179	6	0.058	0.000	2736	2098	1927
11099	1.05	233.3	481.7	7.6	534	11100	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2098	1926
11408	1.05	233.3	458.2	7.4	549	11409	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2098	1926
11717	1.05	233.3	434.4	8.1	564	11718	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2098	1926
12027	1.05	233.3	407.5	8.6	579	12031	0.00	2.55	0.00	0.000	4	0.000	0.052	2736	3500	1926
12128	1.05	233.3	398.6	9.2	583	12134	0.00	2.53	0.00	0.000	6	0.000	0.044	2736	2094	1927
12443	1.05	233.3	374.3	6.7	599	12444	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2094	1927
12752	1.05	233.3	352.9	6.9	614	12753	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2094	1928
13061	1.05	233.3	330.4	7.7	629	13063	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2094	1928
13370	1.05	233.3	307.2	7.0	644	13372	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2094	1928
13680	1.05	233.3	285.3	7.4	659	13684	0.00	2.58	0.00	0.000	4	0.000	0.051	2736	3508	1928
13773	1.05	233.3	277.4	8.4	663	13778	0.00	2.50	0.00	0.000	6	0.000	0.041	2736	2099	1928
14094	1.05	233.3	251.1	8.9	679	14095	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2099	1929
14404	1.05	233.3	225.2	8.4	694	14405	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2099	1929
14713	1.05	233.3	203.0	6.3	709	14717	0.00	2.55	0.00	0.000	4	0.000	0.050	2736	3501	1930
14819	1.05	233.3	195.8	6.2	714	14823	0.00	2.50	0.00	0.000	6	0.000	0.041	2736	2094	1930
15144	1.05	233.3	172.5	7.5	730	15146	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2094	1929
15453	1.05	233.3	151.2	8.0	745	15458	0.00	2.58	0.00	0.000	4	0.000	0.051	2736	3505	1930
15538	1.05	233.3	142.7	10.9	749	15542	0.00	2.50	0.00	0.000	6	0.000	0.041	2736	2095	1931
15864	1.05	233.3	110.5	9.3	765	15865	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2095	1931
16173	1.06	234.5	87.4	6.0	780	16178	0.00	0.00	3.30	0.884	6	0.000	0.000	2736	2095	1920
16484	1.06	234.5	64.6	8.9	795	16488	0.00	2.55	0.00	0.000	4	0.000	0.049	2736	3500	1920
16617	1.06	234.5	52.3	9.1	801	16621	0.00	2.47	0.00	0.000	6	0.000	0.040	2736	2099	1920
16944	1.06	234.5	27.6	9.0	817	16945	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2098	1920
17253	1.10	267.4	5.4	5.0	832	17281	0.00	0.00	26.23	0.818	6	0.000	0.000	2736	2098	1786
17584	1.34	469.8	3.0	-0.0	848	17690	0.20	0.00	102.88	0.762	6	0.058	0.000	2794	2093	962
17935	end climb: NO_VERTICAL_VELOCITY
state	17935	begin surface