Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 219 * 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 219 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -80262.234 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 -80262.234

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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 219 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 062038,6309.964,-1302.449,30,1.6,30,-12.1 TGT_NAME IW

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.157,0.137

_SM_DEPTHo 3.52 KALMAN_X 266360.0,-690.2,-26.2,-505957.4,8556.5

_SM_ANGLEo -52.6 KALMAN_Y -14513.2,178.4,375.6,193167.6,-7401.0

GPS2 063302,6309.913,-1302.469,14,1.9,14,-12.1 MHEAD_RNG_PITCHd_Wd 323.2,14067,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17463,108.40,0.752,0,0,602,558.06 ALTIM_BOTTOM_PING 550.8,110.7

SM_GC 3.65,11.93,0.00,0.00,0.028,0.000,0.000,28,1891,603,-11.27,-0.28,558.06 _24V_AH 23.3,48.534

IRIDIUM_FIX 6244.56,-1302.17,311207,101044 _10V_AH 10.1,23.473

TT8_MAMPS 0.026078 DATA_FILE_SIZE 41114,845

HUMID 2048 CFSIZE 260165632,244830208

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 18.70 GPS 311207,113502,6311.287,-1305.806,38,1.7,38,-12.1

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 60.35 SBE_CT 624 24 348.98

Roll_motor 77 76 137.70 SBE_O2 570 19 252.35

VBD_pump_during_apogee 403 1224 11503.03 WL_BB2F 558 105 1367.42

VBD_pump_during_surface 108 752 1900.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 280.28 nil 0 0 0.00

Iridium_during_connect 167 160 622.87 nil 0 0 0.00

Iridium_during_xfer 225 223 1170.02

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.11

TT8 1486 19 297.18

LPSleep 14170 2 313.44

TT8_Active 657 19 131.48

TT8_Sampling 1726 39 693.98

TT8_CF8 700 45 323.98

TT8_Kalman 33 81 27.57

Analog_circuits 1524 12 184.72

GPS_charging 0 0 0.00

Compass 1696 8 137.07

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 -21.58 0.000 2 0.000 0.000 29 1876 1102

47 -0.95 -146.6 3.5 -0.0 1 205 11.10 2.58 -137.55 0.000 4 0.103 0.077 2289 503 3476

295 -0.95 -146.6 13.4 -12.3 12 302 0.00 2.50 0.00 0.000 6 0.000 0.041 2289 1911 3476

611 -0.95 -146.6 41.9 -7.1 28 612 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1912 3476

922 -0.95 -146.6 60.1 -6.1 43 923 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1912 3477

1230 -0.95 -146.6 75.5 -5.4 58 1231 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1912 3476

1539 -0.95 -146.6 99.7 -8.3 73 1540 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1912 3476

1848 -0.95 -146.6 123.5 -7.4 88 1849 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1911 3476

2157 -0.95 -146.6 146.9 -7.0 103 2158 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1911 3476

2466 -0.95 -146.6 166.4 -7.3 118 2471 0.00 2.50 0.00 0.000 4 0.000 0.049 2289 3295 3476

2528 -0.95 -146.6 170.9 -7.6 121 2533 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1906 3476

2854 -0.95 -146.6 194.5 -7.0 137 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3476

3164 -0.95 -146.6 213.4 -5.6 152 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3476

3473 -0.95 -146.6 231.4 -5.9 167 3477 0.00 2.50 0.00 0.000 4 0.000 0.048 2289 3297 3476

3557 -0.95 -146.6 237.0 -6.7 171 3561 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1899 3476

3883 -0.95 -146.6 256.8 -6.2 187 3884 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

4191 -0.95 -146.6 277.7 -6.9 202 4193 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3476

4501 -0.95 -146.6 299.5 -7.3 217 4502 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3476

4810 -0.95 -146.6 319.8 -6.4 232 4814 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3301 3476

4895 -0.95 -146.6 325.5 -7.2 236 4899 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1897 3476

5220 -0.95 -146.6 347.5 -7.0 252 5221 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

5529 -0.95 -146.6 369.1 -7.2 267 5533 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3299 3476

5584 -0.95 -146.6 373.4 -7.9 269 5591 0.00 2.53 0.00 0.000 6 0.000 0.045 2289 1896 3476

5900 -0.95 -146.6 396.3 -6.9 285 5901 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

6209 -0.95 -146.6 415.9 -6.3 300 6210 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

6518 -0.95 -146.6 436.4 -6.7 315 6519 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3475

6828 -0.95 -146.6 454.7 -5.0 330 6829 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

7137 -0.95 -146.6 471.6 -6.1 345 7141 0.00 2.53 0.00 0.000 4 0.000 0.051 2289 3295 3476

7202 -0.95 -146.6 476.5 -7.7 348 7206 0.00 2.53 0.00 0.000 6 0.000 0.046 2288 1895 3476

7529 -0.95 -146.6 503.1 -8.9 364 7530 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1891 3475

7838 -0.95 -146.6 528.8 -7.6 379 7842 0.00 2.55 0.00 0.000 4 0.000 0.052 2288 3301 3474

7954 -0.95 -146.6 537.5 -7.2 384 7958 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1899 3475

8276 -0.95 -146.6 555.2 -5.4 400 8277 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3474

8584 -0.95 -146.6 577.9 -8.1 415 8586 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3474

8894 -0.95 -146.6 599.1 -6.3 430 8898 0.00 2.55 0.00 0.000 4 0.000 0.055 2289 3296 3474

8937 -0.95 -146.6 601.1 -4.6 432 8942 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1897 3474

9258 -0.95 -146.6 620.5 -6.1 448 9262 0.00 2.55 0.00 0.000 4 0.000 0.058 2289 3294 3474

9319 -0.95 -146.6 624.4 -5.8 451 9324 0.00 2.53 0.00 0.000 6 0.000 0.050 2289 1901 3474

9646 -0.95 -146.6 644.8 -6.4 467 9647 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3474

9747 end dive: BOTTOM_OBSTACLE_DETECTED

state 9747 begin apogee

9752 -0.36 0.0 652.3 7.5 472 9878 0.60 0.00 123.00 1.224 6 0.070 0.000 2420 2095 2878

9879 end apogee: CONTROL_FINISHED_OK

state 9879 begin climb

9881 0.95 146.6 656.0 0.0 478 10007 1.27 0.00 121.93 1.187 6 0.054 0.000 2703 2094 2280

10313 0.98 172.6 636.2 5.2 499 10338 0.00 0.00 22.55 1.199 6 0.000 0.000 2704 2094 2174

10641 1.12 287.1 621.9 2.6 515 10744 0.15 2.67 94.32 1.190 4 0.047 0.063 2755 3497 1707

10901 1.12 287.1 592.6 7.7 527 10906 0.00 2.58 0.00 0.000 6 0.000 0.052 2755 2098 1706

11227 1.12 287.1 567.8 8.3 543 11228 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1706

11536 1.12 287.1 539.0 9.4 558 11537 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2097 1706

11845 1.12 287.1 513.3 8.8 573 11847 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1705

12155 1.12 287.1 481.1 10.5 588 12156 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1704

12464 1.12 287.1 448.1 10.9 603 12465 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1704

12773 1.12 287.1 415.0 10.3 618 12774 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1704

13083 1.12 287.1 385.2 9.5 633 13084 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2098 1705

13392 1.12 287.1 358.1 8.2 648 13396 0.00 2.60 0.00 0.000 4 0.000 0.065 2755 690 1706

13457 1.12 287.1 351.7 10.0 651 13462 0.00 2.50 0.00 0.000 6 0.000 0.041 2755 2103 1705

13784 1.12 287.1 322.3 8.7 667 13785 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2106 1706

14093 1.12 287.1 294.1 9.0 682 14097 0.00 2.65 0.00 0.000 4 0.000 0.064 2755 684 1706

14142 1.12 287.1 289.5 9.0 684 14146 0.00 2.50 0.00 0.000 6 0.000 0.041 2755 2107 1706

14463 1.12 287.1 259.9 9.3 700 14464 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2112 1706

14772 1.12 287.1 232.2 9.0 715 14773 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2112 1706

15081 1.12 287.1 202.5 10.0 730 15086 0.00 2.65 0.00 0.000 4 0.000 0.062 2755 684 1707

15136 1.12 287.1 196.7 10.8 732 15143 0.00 2.47 0.00 0.000 6 0.000 0.040 2755 2101 1706

15452 1.12 287.1 162.4 11.3 748 15453 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2105 1707

15762 1.12 287.1 125.6 11.7 763 15763 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2105 1707

16071 1.12 287.1 96.2 10.5 778 16075 0.00 2.62 0.00 0.000 4 0.000 0.062 2755 685 1707

16125 1.12 287.1 90.7 10.3 780 16132 0.00 2.50 0.00 0.000 6 0.000 0.040 2755 2103 1707

16441 1.12 287.1 59.3 7.6 796 16442 0.00 0.00 0.00 0.000 6 0.000 0.000 2755 2105 1707

16751 1.14 304.1 41.3 5.5 811 16771 0.00 0.00 14.40 0.875 6 0.000 0.000 2755 2105 1637

17081 1.14 304.1 5.6 10.7 827 17085 0.00 2.62 0.00 0.000 4 0.000 0.062 2755 690 1637

17107 1.14 304.1 3.3 9.4 828 17111 0.00 2.50 0.00 0.000 6 0.000 0.041 2755 2101 1637

17429 1.38 498.9 2.9 0.2 844 17459 0.15 0.00 27.10 0.818 2 0.066 0.000 2795 2106 1471

17460 end climb: NO_VERTICAL_VELOCITY

state 17460 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	219	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-80262.234	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	062038,6309.964,-1302.449,30,1.6,30,-12.1	TGT_NAME	IW
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.157,0.137
_SM_DEPTHo	3.52	KALMAN_X	266360.0,-690.2,-26.2,-505957.4,8556.5
_SM_ANGLEo	-52.6	KALMAN_Y	-14513.2,178.4,375.6,193167.6,-7401.0
GPS2	063302,6309.913,-1302.469,14,1.9,14,-12.1	MHEAD_RNG_PITCHd_Wd	323.2,14067,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17463,108.40,0.752,0,0,602,558.06	ALTIM_BOTTOM_PING	550.8,110.7
SM_GC	3.65,11.93,0.00,0.00,0.028,0.000,0.000,28,1891,603,-11.27,-0.28,558.06	_24V_AH	23.3,48.534
IRIDIUM_FIX	6244.56,-1302.17,311207,101044	_10V_AH	10.1,23.473
TT8_MAMPS	0.026078	DATA_FILE_SIZE	41114,845
HUMID	2048	CFSIZE	260165632,244830208
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.70	GPS	311207,113502,6311.287,-1305.806,38,1.7,38,-12.1
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	60.35	SBE_CT	624	24	348.98
Roll_motor	77	76	137.70	SBE_O2	570	19	252.35
VBD_pump_during_apogee	403	1224	11503.03	WL_BB2F	558	105	1367.42
VBD_pump_during_surface	108	752	1900.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	280.28	nil	0	0	0.00
Iridium_during_connect	167	160	622.87	nil	0	0	0.00
Iridium_during_xfer	225	223	1170.02
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.11
TT8	1486	19	297.18
LPSleep	14170	2	313.44
TT8_Active	657	19	131.48
TT8_Sampling	1726	39	693.98
TT8_CF8	700	45	323.98
TT8_Kalman	33	81	27.57
Analog_circuits	1524	12	184.72
GPS_charging	0	0	0.00
Compass	1696	8	137.07
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	-21.58	0.000	2	0.000	0.000	29	1876	1102
47	-0.95	-146.6	3.5	-0.0	1	205	11.10	2.58	-137.55	0.000	4	0.103	0.077	2289	503	3476
295	-0.95	-146.6	13.4	-12.3	12	302	0.00	2.50	0.00	0.000	6	0.000	0.041	2289	1911	3476
611	-0.95	-146.6	41.9	-7.1	28	612	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1912	3476
922	-0.95	-146.6	60.1	-6.1	43	923	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1912	3477
1230	-0.95	-146.6	75.5	-5.4	58	1231	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1912	3476
1539	-0.95	-146.6	99.7	-8.3	73	1540	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1912	3476
1848	-0.95	-146.6	123.5	-7.4	88	1849	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1911	3476
2157	-0.95	-146.6	146.9	-7.0	103	2158	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1911	3476
2466	-0.95	-146.6	166.4	-7.3	118	2471	0.00	2.50	0.00	0.000	4	0.000	0.049	2289	3295	3476
2528	-0.95	-146.6	170.9	-7.6	121	2533	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1906	3476
2854	-0.95	-146.6	194.5	-7.0	137	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3476
3164	-0.95	-146.6	213.4	-5.6	152	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3476
3473	-0.95	-146.6	231.4	-5.9	167	3477	0.00	2.50	0.00	0.000	4	0.000	0.048	2289	3297	3476
3557	-0.95	-146.6	237.0	-6.7	171	3561	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1899	3476
3883	-0.95	-146.6	256.8	-6.2	187	3884	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
4191	-0.95	-146.6	277.7	-6.9	202	4193	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3476
4501	-0.95	-146.6	299.5	-7.3	217	4502	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3476
4810	-0.95	-146.6	319.8	-6.4	232	4814	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3301	3476
4895	-0.95	-146.6	325.5	-7.2	236	4899	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1897	3476
5220	-0.95	-146.6	347.5	-7.0	252	5221	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
5529	-0.95	-146.6	369.1	-7.2	267	5533	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3299	3476
5584	-0.95	-146.6	373.4	-7.9	269	5591	0.00	2.53	0.00	0.000	6	0.000	0.045	2289	1896	3476
5900	-0.95	-146.6	396.3	-6.9	285	5901	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
6209	-0.95	-146.6	415.9	-6.3	300	6210	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
6518	-0.95	-146.6	436.4	-6.7	315	6519	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3475
6828	-0.95	-146.6	454.7	-5.0	330	6829	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
7137	-0.95	-146.6	471.6	-6.1	345	7141	0.00	2.53	0.00	0.000	4	0.000	0.051	2289	3295	3476
7202	-0.95	-146.6	476.5	-7.7	348	7206	0.00	2.53	0.00	0.000	6	0.000	0.046	2288	1895	3476
7529	-0.95	-146.6	503.1	-8.9	364	7530	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1891	3475
7838	-0.95	-146.6	528.8	-7.6	379	7842	0.00	2.55	0.00	0.000	4	0.000	0.052	2288	3301	3474
7954	-0.95	-146.6	537.5	-7.2	384	7958	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1899	3475
8276	-0.95	-146.6	555.2	-5.4	400	8277	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3474
8584	-0.95	-146.6	577.9	-8.1	415	8586	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3474
8894	-0.95	-146.6	599.1	-6.3	430	8898	0.00	2.55	0.00	0.000	4	0.000	0.055	2289	3296	3474
8937	-0.95	-146.6	601.1	-4.6	432	8942	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1897	3474
9258	-0.95	-146.6	620.5	-6.1	448	9262	0.00	2.55	0.00	0.000	4	0.000	0.058	2289	3294	3474
9319	-0.95	-146.6	624.4	-5.8	451	9324	0.00	2.53	0.00	0.000	6	0.000	0.050	2289	1901	3474
9646	-0.95	-146.6	644.8	-6.4	467	9647	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3474
9747	end dive: BOTTOM_OBSTACLE_DETECTED
state	9747	begin apogee
9752	-0.36	0.0	652.3	7.5	472	9878	0.60	0.00	123.00	1.224	6	0.070	0.000	2420	2095	2878
9879	end apogee: CONTROL_FINISHED_OK
state	9879	begin climb
9881	0.95	146.6	656.0	0.0	478	10007	1.27	0.00	121.93	1.187	6	0.054	0.000	2703	2094	2280
10313	0.98	172.6	636.2	5.2	499	10338	0.00	0.00	22.55	1.199	6	0.000	0.000	2704	2094	2174
10641	1.12	287.1	621.9	2.6	515	10744	0.15	2.67	94.32	1.190	4	0.047	0.063	2755	3497	1707
10901	1.12	287.1	592.6	7.7	527	10906	0.00	2.58	0.00	0.000	6	0.000	0.052	2755	2098	1706
11227	1.12	287.1	567.8	8.3	543	11228	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1706
11536	1.12	287.1	539.0	9.4	558	11537	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2097	1706
11845	1.12	287.1	513.3	8.8	573	11847	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1705
12155	1.12	287.1	481.1	10.5	588	12156	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1704
12464	1.12	287.1	448.1	10.9	603	12465	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1704
12773	1.12	287.1	415.0	10.3	618	12774	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1704
13083	1.12	287.1	385.2	9.5	633	13084	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2098	1705
13392	1.12	287.1	358.1	8.2	648	13396	0.00	2.60	0.00	0.000	4	0.000	0.065	2755	690	1706
13457	1.12	287.1	351.7	10.0	651	13462	0.00	2.50	0.00	0.000	6	0.000	0.041	2755	2103	1705
13784	1.12	287.1	322.3	8.7	667	13785	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2106	1706
14093	1.12	287.1	294.1	9.0	682	14097	0.00	2.65	0.00	0.000	4	0.000	0.064	2755	684	1706
14142	1.12	287.1	289.5	9.0	684	14146	0.00	2.50	0.00	0.000	6	0.000	0.041	2755	2107	1706
14463	1.12	287.1	259.9	9.3	700	14464	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2112	1706
14772	1.12	287.1	232.2	9.0	715	14773	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2112	1706
15081	1.12	287.1	202.5	10.0	730	15086	0.00	2.65	0.00	0.000	4	0.000	0.062	2755	684	1707
15136	1.12	287.1	196.7	10.8	732	15143	0.00	2.47	0.00	0.000	6	0.000	0.040	2755	2101	1706
15452	1.12	287.1	162.4	11.3	748	15453	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2105	1707
15762	1.12	287.1	125.6	11.7	763	15763	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2105	1707
16071	1.12	287.1	96.2	10.5	778	16075	0.00	2.62	0.00	0.000	4	0.000	0.062	2755	685	1707
16125	1.12	287.1	90.7	10.3	780	16132	0.00	2.50	0.00	0.000	6	0.000	0.040	2755	2103	1707
16441	1.12	287.1	59.3	7.6	796	16442	0.00	0.00	0.00	0.000	6	0.000	0.000	2755	2105	1707
16751	1.14	304.1	41.3	5.5	811	16771	0.00	0.00	14.40	0.875	6	0.000	0.000	2755	2105	1637
17081	1.14	304.1	5.6	10.7	827	17085	0.00	2.62	0.00	0.000	4	0.000	0.062	2755	690	1637
17107	1.14	304.1	3.3	9.4	828	17111	0.00	2.50	0.00	0.000	6	0.000	0.041	2755	2101	1637
17429	1.38	498.9	2.9	0.2	844	17459	0.15	0.00	27.10	0.818	2	0.066	0.000	2795	2106	1471
17460	end climb: NO_VERTICAL_VELOCITY
state	17460	begin surface