Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 225 * 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 225 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -80419.438 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 -80419.438

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 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 225 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 172301,6316.636,-1258.957,42,1.7,42,-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 -0.206,0.032

_SM_DEPTHo 3.34 KALMAN_X 305425.0,-136.3,-11182.7,-531065.0,14753.6

_SM_ANGLEo -50.9 KALMAN_Y -33074.9,395.8,6028.1,218219.9,-7401.9

GPS2 173215,6316.584,-1258.653,11,2.0,11,-12.1 MHEAD_RNG_PITCHd_Wd 290.8,13938,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19218,0.08,2.399,0,0,603,558.06 ALTIM_BOTTOM_PING 525.4,100.1

SM_GC 3.72,0.00,0.00,0.08,0.000,0.000,2.399,28,1887,603,-11.35,-0.37,558.06 _24V_AH 23.3,49.616

IRIDIUM_FIX 6249.28,-1256.09,010108,212157 _10V_AH 10.1,24.043

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44172,908

HUMID 2062 CFSIZE 260165632,244461568

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 16.60 GPS 010108,225438,6313.802,-1259.238,33,2.0,33,-12.1

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 100 58.76 SBE_CT 669 24 374.45

Roll_motor 97 74 168.67 SBE_O2 613 19 271.56

VBD_pump_during_apogee 426 1193 11862.65 WL_BB2F 612 105 1497.36

VBD_pump_during_surface 62 2399 3504.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 190.21 nil 0 0 0.00

Iridium_during_connect 68 160 256.31 nil 0 0 0.00

Iridium_during_xfer 238 223 1240.78

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.32

TT8 1616 19 323.20

LPSleep 14974 2 331.22

TT8_Active 655 19 131.17

TT8_Sampling 1940 39 780.06

TT8_CF8 590 45 273.07

TT8_Kalman 33 81 27.57

Analog_circuits 1624 12 196.87

GPS_charging 0 0 0.00

Compass 1910 8 154.40

RAFOS 0 0 0.00

Guidance and control:

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -20.40 0.000 2 0.000 0.000 34 1883 1075

47 -0.95 -146.6 3.4 -0.0 1 220 11.00 2.60 -153.75 0.000 4 0.100 0.074 2286 499 3476

338 -0.95 -146.6 14.8 -9.5 14 345 0.00 2.50 0.00 0.000 6 0.000 0.040 2286 1907 3476

654 -0.95 -146.6 34.6 -7.4 30 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

963 -0.95 -146.6 58.8 -7.8 45 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3477

1273 -0.95 -146.6 81.0 -6.4 60 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

1584 -0.95 -146.6 101.6 -6.7 75 1585 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

1891 -0.95 -146.6 124.6 -7.1 90 1896 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3295 3476

1953 -0.95 -146.6 129.0 -7.1 93 1958 0.00 2.47 0.00 0.000 6 0.000 0.043 2286 1905 3476

2279 -0.95 -146.6 152.9 -7.2 109 2281 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

2588 -0.95 -146.6 174.5 -7.1 124 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

2898 -0.95 -146.6 196.5 -7.4 139 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3207 -0.95 -146.6 219.1 -6.9 154 3208 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

3516 -0.95 -146.6 240.1 -6.4 169 3520 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3296 3476

3578 -0.95 -146.6 244.3 -6.7 172 3582 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1898 3476

3903 -0.95 -146.6 266.8 -6.8 188 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3476

4212 -0.95 -146.6 290.3 -7.9 203 4217 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3299 3476

4274 -0.95 -146.6 295.4 -8.3 206 4279 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

4600 -0.95 -146.6 321.7 -8.4 222 4602 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

4909 -0.95 -146.6 346.9 -8.1 237 4914 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3300 3476

4982 -0.95 -146.6 352.7 -8.3 240 4986 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

5297 -0.95 -146.6 374.4 -6.4 255 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5606 -0.95 -146.6 392.3 -5.7 270 5607 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5916 -0.95 -146.6 409.2 -5.4 285 5920 0.00 2.50 0.00 0.000 4 0.000 0.049 2286 3295 3476

5987 -0.95 -146.6 413.4 -6.0 288 5991 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

6308 -0.95 -146.6 431.8 -5.9 304 6310 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

6618 -0.95 -146.6 451.8 -6.5 319 6622 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3297 3476

6701 -0.95 -146.6 457.8 -7.3 323 6705 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1894 3476

7026 -0.95 -146.6 481.1 -7.4 339 7031 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3298 3476

7093 -0.95 -146.6 486.0 -7.6 342 7097 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1895 3475

7419 -0.95 -146.6 509.3 -7.1 358 7420 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3474

7729 -0.95 -146.6 529.1 -6.1 373 7733 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3298 3474

7839 -0.95 -146.6 536.0 -6.2 378 7844 0.00 2.55 0.00 0.000 6 0.000 0.047 2286 1897 3474

8166 -0.95 -146.6 552.6 -4.7 394 8167 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

8475 -0.95 -146.6 570.2 -6.3 409 8477 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

8784 -0.95 -146.6 590.3 -6.8 424 8789 0.00 2.58 0.00 0.000 4 0.000 0.057 2286 3302 3474

8862 -0.95 -146.6 595.6 -6.3 427 8868 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1900 3474

9176 end dive: BOTTOM_OBSTACLE_DETECTED

state 9176 begin apogee

9181 -0.36 0.0 615.8 6.8 443 9307 0.60 0.00 122.60 1.193 6 0.075 0.000 2416 2096 2878

9308 end apogee: CONTROL_FINISHED_OK

state 9308 begin climb

9310 0.95 146.6 619.7 0.0 449 9440 1.30 2.70 120.80 1.168 4 0.054 0.069 2702 692 2280

9501 0.97 167.1 614.8 5.4 458 9528 0.00 2.53 17.88 1.147 6 0.000 0.047 2702 2094 2195

9837 1.02 201.7 596.9 5.0 475 9871 0.00 2.67 29.25 1.180 4 0.000 0.062 2702 3508 2055

9992 1.02 201.7 588.1 6.2 482 9997 0.00 2.58 0.00 0.000 6 0.000 0.051 2702 2104 2054

10317 1.02 201.7 566.2 6.7 498 10318 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2053

10627 1.02 201.7 548.6 6.1 513 10631 0.00 2.58 0.00 0.000 4 0.000 0.057 2702 3502 2052

10743 1.02 201.7 540.7 7.0 518 10747 0.00 2.55 0.00 0.000 6 0.000 0.048 2702 2089 2052

11064 1.02 201.7 517.0 7.6 534 11065 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2088 2052

11374 1.02 201.7 495.9 6.3 549 11378 0.00 2.60 0.00 0.000 4 0.000 0.056 2702 3509 2051

11484 1.02 201.7 488.2 6.9 554 11488 0.00 2.53 0.00 0.000 6 0.000 0.045 2702 2099 2051

11811 1.02 201.7 467.9 6.8 570 11812 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2099 2051

12121 1.02 202.2 447.6 6.0 585 12122 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2099 2051

12429 1.02 202.2 428.8 6.2 600 12434 0.00 2.55 0.00 0.000 4 0.000 0.053 2702 3504 2051

12500 1.02 202.2 423.5 7.5 603 12505 0.00 2.50 0.00 0.000 6 0.000 0.044 2702 2098 2050

12822 1.02 202.2 401.3 7.1 619 12823 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2051

13131 1.02 202.2 380.0 6.7 634 13132 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2051

13440 1.02 202.2 360.0 6.5 649 13444 0.00 2.58 0.00 0.000 4 0.000 0.052 2702 3510 2051

13528 1.02 202.2 353.9 6.7 653 13532 0.00 2.53 0.00 0.000 6 0.000 0.041 2702 2091 2051

13855 1.02 202.2 334.1 6.0 669 13856 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2091 2052

14164 1.04 221.0 317.1 5.4 684 14186 0.00 2.65 16.00 1.032 4 0.000 0.051 2702 3505 1976

14259 1.04 225.2 311.5 5.9 688 14268 0.00 2.53 4.60 0.998 6 0.000 0.041 2702 2094 1960

14584 1.06 239.2 293.1 5.6 704 14599 0.10 0.00 12.48 1.013 6 0.058 0.000 2739 2094 1902

14894 1.06 239.2 271.4 7.2 719 14898 0.00 2.58 0.00 0.000 4 0.000 0.051 2739 3504 1901

14965 1.06 239.2 265.8 7.7 722 14969 0.00 2.50 0.00 0.000 6 0.000 0.042 2739 2101 1901

15286 1.06 239.2 242.1 7.1 738 15287 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

15595 1.06 239.2 219.1 7.4 753 15596 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

15904 1.06 239.2 195.2 7.8 768 15905 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

16214 1.06 239.2 171.4 7.5 783 16215 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

16524 1.06 239.2 147.3 7.8 798 16525 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

16833 1.06 239.2 123.6 7.7 813 16834 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

17142 1.06 239.2 100.2 7.6 828 17143 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1902

17451 1.06 239.2 76.9 7.8 843 17453 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1903

17760 1.06 239.2 52.9 7.2 858 17762 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1903

18071 1.06 239.2 30.0 7.6 873 18075 0.00 2.55 0.00 0.000 4 0.000 0.048 2739 3506 1903

18171 1.06 239.2 21.7 8.5 877 18178 0.00 2.50 0.00 0.000 6 0.000 0.039 2739 2101 1903

18486 1.30 435.7 2.8 0.1 893 18592 0.17 0.00 103.00 0.762 6 0.067 0.000 2780 2095 1101

18791 end climb: NO_VERTICAL_VELOCITY

state 18791 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	225	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-80419.438	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	172301,6316.636,-1258.957,42,1.7,42,-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	-0.206,0.032
_SM_DEPTHo	3.34	KALMAN_X	305425.0,-136.3,-11182.7,-531065.0,14753.6
_SM_ANGLEo	-50.9	KALMAN_Y	-33074.9,395.8,6028.1,218219.9,-7401.9
GPS2	173215,6316.584,-1258.653,11,2.0,11,-12.1	MHEAD_RNG_PITCHd_Wd	290.8,13938,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19218,0.08,2.399,0,0,603,558.06	ALTIM_BOTTOM_PING	525.4,100.1
SM_GC	3.72,0.00,0.00,0.08,0.000,0.000,2.399,28,1887,603,-11.35,-0.37,558.06	_24V_AH	23.3,49.616
IRIDIUM_FIX	6249.28,-1256.09,010108,212157	_10V_AH	10.1,24.043
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44172,908
HUMID	2062	CFSIZE	260165632,244461568
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	16.60	GPS	010108,225438,6313.802,-1259.238,33,2.0,33,-12.1
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	100	58.76	SBE_CT	669	24	374.45
Roll_motor	97	74	168.67	SBE_O2	613	19	271.56
VBD_pump_during_apogee	426	1193	11862.65	WL_BB2F	612	105	1497.36
VBD_pump_during_surface	62	2399	3504.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	190.21	nil	0	0	0.00
Iridium_during_connect	68	160	256.31	nil	0	0	0.00
Iridium_during_xfer	238	223	1240.78
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.32
TT8	1616	19	323.20
LPSleep	14974	2	331.22
TT8_Active	655	19	131.17
TT8_Sampling	1940	39	780.06
TT8_CF8	590	45	273.07
TT8_Kalman	33	81	27.57
Analog_circuits	1624	12	196.87
GPS_charging	0	0	0.00
Compass	1910	8	154.40
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-20.40	0.000	2	0.000	0.000	34	1883	1075
47	-0.95	-146.6	3.4	-0.0	1	220	11.00	2.60	-153.75	0.000	4	0.100	0.074	2286	499	3476
338	-0.95	-146.6	14.8	-9.5	14	345	0.00	2.50	0.00	0.000	6	0.000	0.040	2286	1907	3476
654	-0.95	-146.6	34.6	-7.4	30	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
963	-0.95	-146.6	58.8	-7.8	45	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3477
1273	-0.95	-146.6	81.0	-6.4	60	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
1584	-0.95	-146.6	101.6	-6.7	75	1585	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
1891	-0.95	-146.6	124.6	-7.1	90	1896	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3295	3476
1953	-0.95	-146.6	129.0	-7.1	93	1958	0.00	2.47	0.00	0.000	6	0.000	0.043	2286	1905	3476
2279	-0.95	-146.6	152.9	-7.2	109	2281	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
2588	-0.95	-146.6	174.5	-7.1	124	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
2898	-0.95	-146.6	196.5	-7.4	139	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3207	-0.95	-146.6	219.1	-6.9	154	3208	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
3516	-0.95	-146.6	240.1	-6.4	169	3520	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3296	3476
3578	-0.95	-146.6	244.3	-6.7	172	3582	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1898	3476
3903	-0.95	-146.6	266.8	-6.8	188	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3476
4212	-0.95	-146.6	290.3	-7.9	203	4217	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3299	3476
4274	-0.95	-146.6	295.4	-8.3	206	4279	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
4600	-0.95	-146.6	321.7	-8.4	222	4602	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
4909	-0.95	-146.6	346.9	-8.1	237	4914	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3300	3476
4982	-0.95	-146.6	352.7	-8.3	240	4986	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
5297	-0.95	-146.6	374.4	-6.4	255	5298	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5606	-0.95	-146.6	392.3	-5.7	270	5607	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5916	-0.95	-146.6	409.2	-5.4	285	5920	0.00	2.50	0.00	0.000	4	0.000	0.049	2286	3295	3476
5987	-0.95	-146.6	413.4	-6.0	288	5991	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
6308	-0.95	-146.6	431.8	-5.9	304	6310	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
6618	-0.95	-146.6	451.8	-6.5	319	6622	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3297	3476
6701	-0.95	-146.6	457.8	-7.3	323	6705	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1894	3476
7026	-0.95	-146.6	481.1	-7.4	339	7031	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3298	3476
7093	-0.95	-146.6	486.0	-7.6	342	7097	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1895	3475
7419	-0.95	-146.6	509.3	-7.1	358	7420	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3474
7729	-0.95	-146.6	529.1	-6.1	373	7733	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3298	3474
7839	-0.95	-146.6	536.0	-6.2	378	7844	0.00	2.55	0.00	0.000	6	0.000	0.047	2286	1897	3474
8166	-0.95	-146.6	552.6	-4.7	394	8167	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
8475	-0.95	-146.6	570.2	-6.3	409	8477	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
8784	-0.95	-146.6	590.3	-6.8	424	8789	0.00	2.58	0.00	0.000	4	0.000	0.057	2286	3302	3474
8862	-0.95	-146.6	595.6	-6.3	427	8868	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1900	3474
9176	end dive: BOTTOM_OBSTACLE_DETECTED
state	9176	begin apogee
9181	-0.36	0.0	615.8	6.8	443	9307	0.60	0.00	122.60	1.193	6	0.075	0.000	2416	2096	2878
9308	end apogee: CONTROL_FINISHED_OK
state	9308	begin climb
9310	0.95	146.6	619.7	0.0	449	9440	1.30	2.70	120.80	1.168	4	0.054	0.069	2702	692	2280
9501	0.97	167.1	614.8	5.4	458	9528	0.00	2.53	17.88	1.147	6	0.000	0.047	2702	2094	2195
9837	1.02	201.7	596.9	5.0	475	9871	0.00	2.67	29.25	1.180	4	0.000	0.062	2702	3508	2055
9992	1.02	201.7	588.1	6.2	482	9997	0.00	2.58	0.00	0.000	6	0.000	0.051	2702	2104	2054
10317	1.02	201.7	566.2	6.7	498	10318	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2053
10627	1.02	201.7	548.6	6.1	513	10631	0.00	2.58	0.00	0.000	4	0.000	0.057	2702	3502	2052
10743	1.02	201.7	540.7	7.0	518	10747	0.00	2.55	0.00	0.000	6	0.000	0.048	2702	2089	2052
11064	1.02	201.7	517.0	7.6	534	11065	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2088	2052
11374	1.02	201.7	495.9	6.3	549	11378	0.00	2.60	0.00	0.000	4	0.000	0.056	2702	3509	2051
11484	1.02	201.7	488.2	6.9	554	11488	0.00	2.53	0.00	0.000	6	0.000	0.045	2702	2099	2051
11811	1.02	201.7	467.9	6.8	570	11812	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2099	2051
12121	1.02	202.2	447.6	6.0	585	12122	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2099	2051
12429	1.02	202.2	428.8	6.2	600	12434	0.00	2.55	0.00	0.000	4	0.000	0.053	2702	3504	2051
12500	1.02	202.2	423.5	7.5	603	12505	0.00	2.50	0.00	0.000	6	0.000	0.044	2702	2098	2050
12822	1.02	202.2	401.3	7.1	619	12823	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2051
13131	1.02	202.2	380.0	6.7	634	13132	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2051
13440	1.02	202.2	360.0	6.5	649	13444	0.00	2.58	0.00	0.000	4	0.000	0.052	2702	3510	2051
13528	1.02	202.2	353.9	6.7	653	13532	0.00	2.53	0.00	0.000	6	0.000	0.041	2702	2091	2051
13855	1.02	202.2	334.1	6.0	669	13856	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2091	2052
14164	1.04	221.0	317.1	5.4	684	14186	0.00	2.65	16.00	1.032	4	0.000	0.051	2702	3505	1976
14259	1.04	225.2	311.5	5.9	688	14268	0.00	2.53	4.60	0.998	6	0.000	0.041	2702	2094	1960
14584	1.06	239.2	293.1	5.6	704	14599	0.10	0.00	12.48	1.013	6	0.058	0.000	2739	2094	1902
14894	1.06	239.2	271.4	7.2	719	14898	0.00	2.58	0.00	0.000	4	0.000	0.051	2739	3504	1901
14965	1.06	239.2	265.8	7.7	722	14969	0.00	2.50	0.00	0.000	6	0.000	0.042	2739	2101	1901
15286	1.06	239.2	242.1	7.1	738	15287	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
15595	1.06	239.2	219.1	7.4	753	15596	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
15904	1.06	239.2	195.2	7.8	768	15905	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
16214	1.06	239.2	171.4	7.5	783	16215	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
16524	1.06	239.2	147.3	7.8	798	16525	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
16833	1.06	239.2	123.6	7.7	813	16834	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
17142	1.06	239.2	100.2	7.6	828	17143	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1902
17451	1.06	239.2	76.9	7.8	843	17453	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1903
17760	1.06	239.2	52.9	7.2	858	17762	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1903
18071	1.06	239.2	30.0	7.6	873	18075	0.00	2.55	0.00	0.000	4	0.000	0.048	2739	3506	1903
18171	1.06	239.2	21.7	8.5	877	18178	0.00	2.50	0.00	0.000	6	0.000	0.039	2739	2101	1903
18486	1.30	435.7	2.8	0.1	893	18592	0.17	0.00	103.00	0.762	6	0.067	0.000	2780	2095	1101
18791	end climb: NO_VERTICAL_VELOCITY
state	18791	begin surface