Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 226 * 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 226 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 23 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 -80452.219 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 -80452.219

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 23 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 226 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 225438,6313.802,-1259.238,33,2.0,33,-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 -0.193,0.079

_SM_DEPTHo 3.42 KALMAN_X 328279.8,-747.8,-27581.9,-537362.1,31393.8

_SM_ANGLEo -57.5 KALMAN_Y -45060.1,-273.7,12258.6,219208.6,-16111.9

GPS2 230353,6313.646,-1259.206,10,2.2,29,-12.1 MHEAD_RNG_PITCHd_Wd 304.4,13402,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19693,0.52,0.996,0,0,603,558.06 ALTIM_BOTTOM_PING 525.3,110.9

SM_GC 3.60,0.00,0.00,0.52,0.000,0.000,0.996,28,1899,603,-11.35,-0.03,558.06 _24V_AH 23.3,49.776

IRIDIUM_FIX 6249.28,-1310.06,020108,020238 _10V_AH 10.1,24.133

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47452,929

HUMID 2051 CFSIZE 260165632,244396032

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

TCM_TEMP 16.70 GPS 020108,043425,6313.193,-1301.408,50,1.3,50,-12.1

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 106 62.97 SBE_CT 683 24 382.29

Roll_motor 72 60 101.69 SBE_O2 628 19 278.14

VBD_pump_during_apogee 368 1196 10262.23 WL_BB2F 617 105 1509.72

VBD_pump_during_surface 122 995 2851.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 190.58 nil 0 0 0.00

Iridium_during_connect 143 160 534.25 nil 0 0 0.00

Iridium_during_xfer 145 223 758.06

Transponder_ping 5 420 48.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.24

TT8 1629 19 325.78

LPSleep 15449 2 341.73

TT8_Active 659 19 131.91

TT8_Sampling 1942 39 780.65

TT8_CF8 570 45 263.69

TT8_Kalman 33 81 27.58

Analog_circuits 1601 12 194.08

GPS_charging 0 0 0.00

Compass 1895 8 153.18

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.95 -146.6 0.0 0.0 0 46 0.00 0.00 -21.85 0.000 2 0.000 0.000 28 1884 1113

49 -0.95 -146.6 3.5 -0.0 1 220 11.18 0.00 -156.30 0.000 6 0.107 0.000 2288 1885 3476

523 -0.95 -146.6 25.7 -7.5 24 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1886 3475

832 -0.95 -146.6 47.9 -7.3 39 836 0.00 2.58 0.00 0.000 4 0.000 0.048 2288 3307 3476

916 -0.95 -146.6 54.0 -7.6 43 920 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1900 3476

1241 -0.95 -146.6 79.0 -7.7 59 1243 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

1551 -0.95 -146.6 102.1 -7.2 74 1552 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

1860 -0.95 -146.6 121.9 -6.2 89 1865 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3313 3475

1926 -0.95 -146.6 126.5 -7.2 92 1931 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1895 3475

2253 -0.95 -146.6 148.5 -6.9 108 2255 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3475

2563 -0.95 -146.6 169.7 -6.7 123 2564 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3475

2872 -0.95 -146.6 190.6 -6.9 138 2876 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3310 3475

2943 -0.95 -146.6 195.6 -6.9 141 2947 0.00 2.55 0.00 0.000 6 0.000 0.042 2288 1898 3475

3264 -0.95 -146.6 216.9 -6.8 157 3265 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3475

3573 -0.95 -146.6 239.0 -7.3 172 3577 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3311 3475

3639 -0.95 -146.6 244.1 -7.6 175 3643 0.00 2.53 0.00 0.000 6 0.000 0.042 2288 1898 3475

3966 -0.95 -146.6 268.2 -7.3 191 3967 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

4275 -0.95 -146.6 290.6 -7.2 206 4276 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

4584 -0.95 -146.6 311.5 -6.5 221 4588 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3310 3475

4669 -0.95 -146.6 317.0 -5.9 225 4673 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1900 3475

4995 -0.95 -146.6 335.4 -5.5 241 4996 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3476

5305 -0.95 -146.6 352.7 -6.1 256 5306 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

5614 -0.95 -146.6 371.5 -6.4 271 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

5923 -0.95 -146.6 392.6 -6.7 286 5924 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

6232 -0.95 -146.6 413.9 -6.7 301 6234 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

6541 -0.95 -146.6 434.1 -6.4 316 6542 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

6851 -0.95 -146.6 454.1 -6.4 331 6852 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

7160 -0.95 -146.6 472.7 -6.0 346 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

7470 -0.95 -146.6 491.0 -6.1 361 7471 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3473

7778 -0.95 -146.6 510.3 -6.0 376 7783 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3309 3474

7886 -0.95 -146.6 517.7 -7.1 381 7890 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1899 3474

8211 -0.95 -146.6 538.5 -6.6 397 8212 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3474

8521 -0.95 -146.6 559.9 -6.9 412 8525 0.00 2.58 0.00 0.000 4 0.000 0.054 2287 3309 3474

8614 -0.95 -146.6 566.7 -7.4 416 8619 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1901 3474

8936 -0.95 -146.6 587.6 -5.9 432 8937 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3474

9245 -0.95 -146.6 605.2 -5.7 447 9249 0.00 2.58 0.00 0.000 4 0.000 0.057 2287 3311 3473

9306 -0.95 -146.6 608.9 -5.8 450 9311 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1901 3473

9610 end dive: BOTTOM_OBSTACLE_DETECTED

state 9610 begin apogee

9616 -0.36 0.0 626.6 6.1 465 9741 0.60 0.00 122.65 1.197 6 0.070 0.000 2419 2110 2878

9742 end apogee: CONTROL_FINISHED_OK

state 9742 begin climb

9744 0.95 146.6 630.7 0.0 471 9873 1.27 0.00 121.72 1.165 6 0.051 0.000 2702 2111 2280

10184 0.96 160.2 611.1 5.6 493 10202 0.00 0.00 12.15 1.168 6 0.000 0.000 2702 2111 2224

10511 0.99 180.2 593.2 5.4 509 10536 0.00 2.67 17.38 1.180 4 0.000 0.061 2702 3496 2144

10626 1.02 208.4 587.1 5.2 514 10656 0.00 2.55 24.23 1.167 6 0.000 0.049 2702 2101 2028

10972 1.02 208.4 566.5 6.3 531 10973 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2101 2027

11281 1.02 208.4 546.7 6.1 546 11286 0.00 2.58 0.00 0.000 4 0.000 0.057 2702 3500 2026

11410 1.02 208.4 538.1 6.9 552 11415 0.00 2.53 0.00 0.000 6 0.000 0.046 2702 2097 2026

11736 1.02 208.4 516.6 6.8 568 11737 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2097 2025

12045 1.03 216.7 497.7 5.8 583 12055 0.00 0.00 7.75 1.157 6 0.000 0.000 2702 2097 1994

12354 1.05 232.5 480.4 5.5 598 12375 0.10 0.00 14.00 1.141 6 0.056 0.000 2740 2097 1929

12684 1.05 232.5 455.9 7.5 614 12685 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2096 1929

12992 1.05 232.5 431.1 8.3 629 12994 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1929

13302 1.05 232.5 407.1 7.5 644 13303 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2097 1929

13611 1.05 232.5 384.8 7.0 659 13612 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2097 1929

13920 1.05 232.5 365.2 6.3 674 13921 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2097 1930

14230 1.05 232.5 345.4 6.3 689 14234 0.00 2.58 0.00 0.000 4 0.000 0.051 2741 3503 1931

14291 1.05 232.5 341.3 6.9 692 14295 0.00 2.50 0.00 0.000 6 0.000 0.042 2740 2097 1930

14616 1.05 232.5 318.1 7.5 708 14617 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1930

14926 1.05 232.5 295.6 6.8 723 14927 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1930

15235 1.05 232.5 274.1 6.5 738 15239 0.00 2.55 0.00 0.000 4 0.000 0.051 2741 3500 1931

15410 1.05 232.5 261.0 6.6 746 15414 0.00 2.50 0.00 0.000 6 0.000 0.042 2741 2094 1931

15736 1.05 232.5 238.8 7.3 762 15737 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

16045 1.05 232.5 217.8 6.8 777 16046 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

16354 1.05 232.5 194.6 7.7 792 16355 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2094 1930

16664 1.05 232.5 169.6 7.9 807 16665 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

16973 1.05 232.5 145.7 7.5 822 16974 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1931

17282 1.05 232.5 122.5 7.5 837 17283 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2094 1931

17592 1.05 232.5 98.8 7.9 852 17593 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2094 1932

17902 1.05 232.5 75.7 7.8 867 17903 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2093 1932

18210 1.05 232.5 51.5 7.7 882 18211 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2094 1932

18520 1.05 232.5 28.2 7.5 897 18524 0.00 2.55 0.00 0.000 4 0.000 0.048 2740 3502 1932

18574 1.05 232.5 23.8 8.1 899 18581 0.00 2.50 0.00 0.000 6 0.000 0.040 2740 2101 1932

18890 1.13 291.5 2.8 4.2 915 18932 0.00 2.60 35.33 0.790 4 0.000 0.047 2740 3503 1687

19184 1.38 501.9 2.7 -0.3 928 19203 0.25 2.50 12.90 0.807 2 0.044 0.042 2803 2091 1593

19204 end climb: NO_VERTICAL_VELOCITY

state 19204 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	226	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	23	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	-80452.219	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	225438,6313.802,-1259.238,33,2.0,33,-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	-0.193,0.079
_SM_DEPTHo	3.42	KALMAN_X	328279.8,-747.8,-27581.9,-537362.1,31393.8
_SM_ANGLEo	-57.5	KALMAN_Y	-45060.1,-273.7,12258.6,219208.6,-16111.9
GPS2	230353,6313.646,-1259.206,10,2.2,29,-12.1	MHEAD_RNG_PITCHd_Wd	304.4,13402,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19693,0.52,0.996,0,0,603,558.06	ALTIM_BOTTOM_PING	525.3,110.9
SM_GC	3.60,0.00,0.00,0.52,0.000,0.000,0.996,28,1899,603,-11.35,-0.03,558.06	_24V_AH	23.3,49.776
IRIDIUM_FIX	6249.28,-1310.06,020108,020238	_10V_AH	10.1,24.133
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47452,929
HUMID	2051	CFSIZE	260165632,244396032
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.70	GPS	020108,043425,6313.193,-1301.408,50,1.3,50,-12.1
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	106	62.97	SBE_CT	683	24	382.29
Roll_motor	72	60	101.69	SBE_O2	628	19	278.14
VBD_pump_during_apogee	368	1196	10262.23	WL_BB2F	617	105	1509.72
VBD_pump_during_surface	122	995	2851.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	190.58	nil	0	0	0.00
Iridium_during_connect	143	160	534.25	nil	0	0	0.00
Iridium_during_xfer	145	223	758.06
Transponder_ping	5	420	48.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.24
TT8	1629	19	325.78
LPSleep	15449	2	341.73
TT8_Active	659	19	131.91
TT8_Sampling	1942	39	780.65
TT8_CF8	570	45	263.69
TT8_Kalman	33	81	27.58
Analog_circuits	1601	12	194.08
GPS_charging	0	0	0.00
Compass	1895	8	153.18
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.95	-146.6	0.0	0.0	0	46	0.00	0.00	-21.85	0.000	2	0.000	0.000	28	1884	1113
49	-0.95	-146.6	3.5	-0.0	1	220	11.18	0.00	-156.30	0.000	6	0.107	0.000	2288	1885	3476
523	-0.95	-146.6	25.7	-7.5	24	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1886	3475
832	-0.95	-146.6	47.9	-7.3	39	836	0.00	2.58	0.00	0.000	4	0.000	0.048	2288	3307	3476
916	-0.95	-146.6	54.0	-7.6	43	920	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1900	3476
1241	-0.95	-146.6	79.0	-7.7	59	1243	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
1551	-0.95	-146.6	102.1	-7.2	74	1552	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
1860	-0.95	-146.6	121.9	-6.2	89	1865	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3313	3475
1926	-0.95	-146.6	126.5	-7.2	92	1931	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1895	3475
2253	-0.95	-146.6	148.5	-6.9	108	2255	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3475
2563	-0.95	-146.6	169.7	-6.7	123	2564	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3475
2872	-0.95	-146.6	190.6	-6.9	138	2876	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3310	3475
2943	-0.95	-146.6	195.6	-6.9	141	2947	0.00	2.55	0.00	0.000	6	0.000	0.042	2288	1898	3475
3264	-0.95	-146.6	216.9	-6.8	157	3265	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3475
3573	-0.95	-146.6	239.0	-7.3	172	3577	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3311	3475
3639	-0.95	-146.6	244.1	-7.6	175	3643	0.00	2.53	0.00	0.000	6	0.000	0.042	2288	1898	3475
3966	-0.95	-146.6	268.2	-7.3	191	3967	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
4275	-0.95	-146.6	290.6	-7.2	206	4276	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
4584	-0.95	-146.6	311.5	-6.5	221	4588	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3310	3475
4669	-0.95	-146.6	317.0	-5.9	225	4673	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1900	3475
4995	-0.95	-146.6	335.4	-5.5	241	4996	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3476
5305	-0.95	-146.6	352.7	-6.1	256	5306	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
5614	-0.95	-146.6	371.5	-6.4	271	5615	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
5923	-0.95	-146.6	392.6	-6.7	286	5924	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
6232	-0.95	-146.6	413.9	-6.7	301	6234	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
6541	-0.95	-146.6	434.1	-6.4	316	6542	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
6851	-0.95	-146.6	454.1	-6.4	331	6852	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
7160	-0.95	-146.6	472.7	-6.0	346	7161	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
7470	-0.95	-146.6	491.0	-6.1	361	7471	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3473
7778	-0.95	-146.6	510.3	-6.0	376	7783	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3309	3474
7886	-0.95	-146.6	517.7	-7.1	381	7890	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1899	3474
8211	-0.95	-146.6	538.5	-6.6	397	8212	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3474
8521	-0.95	-146.6	559.9	-6.9	412	8525	0.00	2.58	0.00	0.000	4	0.000	0.054	2287	3309	3474
8614	-0.95	-146.6	566.7	-7.4	416	8619	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1901	3474
8936	-0.95	-146.6	587.6	-5.9	432	8937	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3474
9245	-0.95	-146.6	605.2	-5.7	447	9249	0.00	2.58	0.00	0.000	4	0.000	0.057	2287	3311	3473
9306	-0.95	-146.6	608.9	-5.8	450	9311	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1901	3473
9610	end dive: BOTTOM_OBSTACLE_DETECTED
state	9610	begin apogee
9616	-0.36	0.0	626.6	6.1	465	9741	0.60	0.00	122.65	1.197	6	0.070	0.000	2419	2110	2878
9742	end apogee: CONTROL_FINISHED_OK
state	9742	begin climb
9744	0.95	146.6	630.7	0.0	471	9873	1.27	0.00	121.72	1.165	6	0.051	0.000	2702	2111	2280
10184	0.96	160.2	611.1	5.6	493	10202	0.00	0.00	12.15	1.168	6	0.000	0.000	2702	2111	2224
10511	0.99	180.2	593.2	5.4	509	10536	0.00	2.67	17.38	1.180	4	0.000	0.061	2702	3496	2144
10626	1.02	208.4	587.1	5.2	514	10656	0.00	2.55	24.23	1.167	6	0.000	0.049	2702	2101	2028
10972	1.02	208.4	566.5	6.3	531	10973	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2101	2027
11281	1.02	208.4	546.7	6.1	546	11286	0.00	2.58	0.00	0.000	4	0.000	0.057	2702	3500	2026
11410	1.02	208.4	538.1	6.9	552	11415	0.00	2.53	0.00	0.000	6	0.000	0.046	2702	2097	2026
11736	1.02	208.4	516.6	6.8	568	11737	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2097	2025
12045	1.03	216.7	497.7	5.8	583	12055	0.00	0.00	7.75	1.157	6	0.000	0.000	2702	2097	1994
12354	1.05	232.5	480.4	5.5	598	12375	0.10	0.00	14.00	1.141	6	0.056	0.000	2740	2097	1929
12684	1.05	232.5	455.9	7.5	614	12685	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2096	1929
12992	1.05	232.5	431.1	8.3	629	12994	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1929
13302	1.05	232.5	407.1	7.5	644	13303	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2097	1929
13611	1.05	232.5	384.8	7.0	659	13612	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2097	1929
13920	1.05	232.5	365.2	6.3	674	13921	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2097	1930
14230	1.05	232.5	345.4	6.3	689	14234	0.00	2.58	0.00	0.000	4	0.000	0.051	2741	3503	1931
14291	1.05	232.5	341.3	6.9	692	14295	0.00	2.50	0.00	0.000	6	0.000	0.042	2740	2097	1930
14616	1.05	232.5	318.1	7.5	708	14617	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1930
14926	1.05	232.5	295.6	6.8	723	14927	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1930
15235	1.05	232.5	274.1	6.5	738	15239	0.00	2.55	0.00	0.000	4	0.000	0.051	2741	3500	1931
15410	1.05	232.5	261.0	6.6	746	15414	0.00	2.50	0.00	0.000	6	0.000	0.042	2741	2094	1931
15736	1.05	232.5	238.8	7.3	762	15737	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
16045	1.05	232.5	217.8	6.8	777	16046	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
16354	1.05	232.5	194.6	7.7	792	16355	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2094	1930
16664	1.05	232.5	169.6	7.9	807	16665	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
16973	1.05	232.5	145.7	7.5	822	16974	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1931
17282	1.05	232.5	122.5	7.5	837	17283	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2094	1931
17592	1.05	232.5	98.8	7.9	852	17593	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2094	1932
17902	1.05	232.5	75.7	7.8	867	17903	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2093	1932
18210	1.05	232.5	51.5	7.7	882	18211	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2094	1932
18520	1.05	232.5	28.2	7.5	897	18524	0.00	2.55	0.00	0.000	4	0.000	0.048	2740	3502	1932
18574	1.05	232.5	23.8	8.1	899	18581	0.00	2.50	0.00	0.000	6	0.000	0.040	2740	2101	1932
18890	1.13	291.5	2.8	4.2	915	18932	0.00	2.60	35.33	0.790	4	0.000	0.047	2740	3503	1687
19184	1.38	501.9	2.7	-0.3	928	19203	0.25	2.50	12.90	0.807	2	0.044	0.042	2803	2091	1593
19204	end climb: NO_VERTICAL_VELOCITY
state	19204	begin surface