Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 228 * 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 228 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 25 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 -80485.805 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 -80485.805

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 25 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 228 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 102638,6313.221,-1255.555,32,1.3,32,-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 -0.187,0.092

_SM_DEPTHo 3.34 KALMAN_X 301997.1,279.7,5189.5,-541564.8,17891.5

_SM_ANGLEo -52.1 KALMAN_Y -37610.1,411.5,-4429.6,226886.0,-13892.7

GPS2 103621,6313.172,-1255.407,13,1.9,13,-12.1 MHEAD_RNG_PITCHd_Wd 308.3,16679,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18562,164.55,0.743,2,0,603,558.06 ALTIM_BOTTOM_PING 500.1,105.4

SM_GC 3.41,11.60,0.00,0.00,0.026,0.000,0.000,28,1881,604,-11.27,-0.57,558.06 _24V_AH 23.3,50.118

IRIDIUM_FIX 6244.56,-1258.61,020108,141434 _10V_AH 10.1,24.318

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44309,895

HUMID 2054 CFSIZE 260165632,244273152

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,2,0

TCM_TEMP 16.40 GPS 020108,155738,6313.955,-1255.833,29,1.1,29,-12.1

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 111 64.39 SBE_CT 662 24 370.21

Roll_motor 77 74 134.22 SBE_O2 604 19 267.82

VBD_pump_during_apogee 335 1176 9208.45 WL_BB2F 622 105 1522.30

VBD_pump_during_surface 164 743 2849.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 181.11 nil 0 0 0.00

Iridium_during_connect 71 160 267.05 nil 0 0 0.00

Iridium_during_xfer 257 223 1338.50

Transponder_ping 5 420 48.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.48

TT8 1594 19 318.81

LPSleep 14944 2 330.55

TT8_Active 691 19 138.31

TT8_Sampling 1888 39 759.25

TT8_CF8 625 45 289.50

TT8_Kalman 33 81 27.56

Analog_circuits 1605 12 194.57

GPS_charging 0 0 0.00

Compass 1871 8 151.26

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 -21.77 0.000 2 0.000 0.000 34 1886 1108

48 -0.95 -146.6 3.4 -0.0 1 220 11.25 2.60 -152.23 0.000 4 0.111 0.074 2285 489 3474

459 -0.95 -146.6 21.9 -7.6 20 463 0.00 2.47 0.00 0.000 6 0.000 0.039 2285 1906 3474

785 -0.95 -146.6 46.5 -5.7 36 786 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1908 3474

1096 -0.95 -146.6 71.5 -7.6 51 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

1404 -0.95 -146.6 96.0 -7.7 66 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

1712 -0.95 -146.6 115.4 -7.5 81 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

2022 -0.95 -146.6 137.2 -7.3 96 2023 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

2331 -0.95 -146.6 159.0 -7.2 111 2332 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

2640 -0.95 -146.6 180.7 -6.7 126 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

2950 -0.95 -146.6 202.2 -7.3 141 2951 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

3259 -0.95 -146.6 224.3 -7.0 156 3260 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1909 3474

3568 -0.95 -146.6 247.2 -7.7 171 3570 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

3878 -0.95 -146.6 269.7 -7.2 186 3879 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

4187 -0.95 -146.6 292.6 -7.3 201 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

4496 -0.95 -146.6 314.7 -7.0 216 4497 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

4806 -0.95 -146.6 336.0 -6.9 231 4807 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1909 3474

5114 -0.95 -146.6 358.4 -7.4 246 5119 0.00 2.50 0.00 0.000 4 0.000 0.051 2285 3293 3474

5192 -0.95 -146.6 363.9 -6.9 249 5198 0.00 2.50 0.00 0.000 6 0.000 0.045 2285 1901 3474

5508 -0.95 -146.6 385.6 -7.1 265 5509 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

5817 -0.95 -146.6 406.8 -6.8 280 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

6126 -0.95 -146.6 428.4 -7.4 295 6130 0.00 2.50 0.00 0.000 4 0.000 0.050 2285 3295 3474

6232 -0.95 -146.6 436.8 -7.9 299 6238 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1895 3474

6547 -0.95 -146.6 459.6 -7.5 315 6548 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

6856 -0.95 -146.6 480.6 -6.5 330 6857 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1891 3473

7166 -0.95 -146.6 501.5 -6.7 345 7170 0.00 2.55 0.00 0.000 4 0.000 0.052 2285 3297 3473

7282 -0.95 -146.6 509.7 -7.0 350 7286 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1897 3473

7604 -0.95 -146.6 532.1 -6.9 366 7608 0.00 2.55 0.00 0.000 4 0.000 0.053 2285 3295 3473

7687 -0.95 -146.6 538.0 -7.3 370 7692 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1899 3473

8014 -0.95 -146.6 559.7 -6.9 386 8018 0.00 2.55 0.00 0.000 4 0.000 0.055 2285 3295 3473

8091 -0.95 -146.6 565.3 -7.1 389 8097 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1894 3473

8406 -0.95 -146.6 585.0 -5.8 405 8407 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1894 3473

8590 end dive: BOTTOM_OBSTACLE_DETECTED

state 8590 begin apogee

8595 -0.36 0.0 595.8 5.7 414 8721 0.62 0.00 122.45 1.177 6 0.075 0.000 2420 2093 2879

8722 end apogee: CONTROL_FINISHED_OK

state 8722 begin climb

8724 0.95 146.6 599.3 0.0 420 8854 1.27 2.70 121.97 1.143 4 0.053 0.065 2703 688 2280

8927 0.95 146.6 595.1 6.0 430 8931 0.00 2.55 0.00 0.000 6 0.000 0.048 2703 2098 2280

9254 0.96 154.2 576.6 5.8 446 9264 0.00 0.00 7.43 1.141 6 0.000 0.000 2703 2098 2249

9563 0.96 158.8 558.6 5.9 461 9573 0.00 2.65 4.90 1.118 4 0.000 0.061 2703 3506 2230

9692 0.97 166.1 550.8 5.8 467 9706 0.00 2.55 7.12 1.157 6 0.000 0.050 2703 2102 2201

10022 0.97 166.1 531.2 6.4 483 10026 0.00 2.60 0.00 0.000 4 0.000 0.058 2703 3502 2200

10177 0.97 166.1 520.6 6.7 490 10181 0.00 2.55 0.00 0.000 6 0.000 0.049 2703 2096 2199

10505 0.98 171.5 500.4 5.8 506 10512 0.00 0.00 5.40 1.149 6 0.000 0.000 2703 2097 2178

10814 0.99 178.9 481.8 5.8 521 10828 0.00 2.65 7.30 1.151 4 0.000 0.056 2703 3500 2148

10997 0.99 178.9 470.0 6.0 529 11001 0.00 2.53 0.00 0.000 6 0.000 0.047 2703 2096 2147

11318 1.03 212.3 453.4 5.0 545 11348 0.00 0.00 28.25 1.128 6 0.000 0.000 2703 2096 2012

11648 1.03 212.3 433.4 6.3 561 11649 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2097 2012

11957 1.03 212.3 412.2 7.1 576 11961 0.00 2.58 0.00 0.000 4 0.000 0.054 2703 3505 2012

12022 1.03 212.3 407.4 7.4 579 12026 0.00 2.53 0.00 0.000 6 0.000 0.044 2703 2099 2012

12349 1.03 212.3 384.3 7.1 595 12350 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2012

12658 1.03 212.3 362.5 7.2 610 12659 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2012

12967 1.03 212.3 341.5 6.5 625 12969 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2012

13277 1.03 212.3 321.2 6.3 640 13278 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2013

13586 1.03 212.3 301.4 6.4 655 13587 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2013

13895 1.03 212.3 282.7 6.0 670 13896 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2013

14205 1.03 217.3 264.5 5.9 685 14216 0.00 2.60 5.72 1.009 4 0.000 0.064 2703 692 1991

14277 1.03 217.3 259.8 6.1 688 14281 0.00 2.50 0.00 0.000 6 0.000 0.041 2703 2114 1991

14598 1.03 217.3 239.7 6.4 704 14599 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2118 1991

14908 1.04 218.8 219.1 6.0 719 14909 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2118 1991

15217 1.04 224.2 199.9 5.8 734 15225 0.00 0.00 6.80 0.972 6 0.000 0.000 2703 2118 1964

15526 1.05 226.3 179.0 5.9 749 15535 0.00 2.67 3.20 0.925 4 0.000 0.061 2703 692 1955

15597 1.05 226.3 173.8 7.4 752 15601 0.00 2.50 0.00 0.000 6 0.000 0.041 2703 2105 1954

15923 1.05 228.1 153.8 5.9 768 15924 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2108 1954

16233 1.05 228.1 134.0 6.3 783 16234 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2108 1955

16543 1.05 232.8 115.5 5.9 798 16551 0.00 0.00 6.07 0.926 6 0.000 0.000 2703 2108 1929

16853 1.05 232.8 96.1 7.1 813 16857 0.00 2.62 0.00 0.000 4 0.000 0.062 2702 691 1929

16902 1.05 232.8 92.4 6.7 815 16906 0.00 2.50 0.00 0.000 6 0.000 0.041 2703 2106 1928

17219 1.05 233.1 73.0 6.0 830 17220 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2110 1929

17527 1.05 233.1 52.8 7.4 845 17528 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2110 1929

17836 1.05 233.1 28.7 8.0 860 17837 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2110 1929

18145 1.05 233.1 7.5 6.8 875 18149 0.00 2.62 0.00 0.000 4 0.000 0.062 2703 691 1929

18231 1.07 243.2 2.8 5.7 879 18245 0.10 2.47 9.27 0.860 6 0.067 0.042 2730 2102 1885

18559 end climb: NO_VERTICAL_VELOCITY

state 18559 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	228	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	25	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	-80485.805	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	102638,6313.221,-1255.555,32,1.3,32,-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	-0.187,0.092
_SM_DEPTHo	3.34	KALMAN_X	301997.1,279.7,5189.5,-541564.8,17891.5
_SM_ANGLEo	-52.1	KALMAN_Y	-37610.1,411.5,-4429.6,226886.0,-13892.7
GPS2	103621,6313.172,-1255.407,13,1.9,13,-12.1	MHEAD_RNG_PITCHd_Wd	308.3,16679,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18562,164.55,0.743,2,0,603,558.06	ALTIM_BOTTOM_PING	500.1,105.4
SM_GC	3.41,11.60,0.00,0.00,0.026,0.000,0.000,28,1881,604,-11.27,-0.57,558.06	_24V_AH	23.3,50.118
IRIDIUM_FIX	6244.56,-1258.61,020108,141434	_10V_AH	10.1,24.318
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44309,895
HUMID	2054	CFSIZE	260165632,244273152
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
TCM_TEMP	16.40	GPS	020108,155738,6313.955,-1255.833,29,1.1,29,-12.1
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	111	64.39	SBE_CT	662	24	370.21
Roll_motor	77	74	134.22	SBE_O2	604	19	267.82
VBD_pump_during_apogee	335	1176	9208.45	WL_BB2F	622	105	1522.30
VBD_pump_during_surface	164	743	2849.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	181.11	nil	0	0	0.00
Iridium_during_connect	71	160	267.05	nil	0	0	0.00
Iridium_during_xfer	257	223	1338.50
Transponder_ping	5	420	48.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.48
TT8	1594	19	318.81
LPSleep	14944	2	330.55
TT8_Active	691	19	138.31
TT8_Sampling	1888	39	759.25
TT8_CF8	625	45	289.50
TT8_Kalman	33	81	27.56
Analog_circuits	1605	12	194.57
GPS_charging	0	0	0.00
Compass	1871	8	151.26
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	-21.77	0.000	2	0.000	0.000	34	1886	1108
48	-0.95	-146.6	3.4	-0.0	1	220	11.25	2.60	-152.23	0.000	4	0.111	0.074	2285	489	3474
459	-0.95	-146.6	21.9	-7.6	20	463	0.00	2.47	0.00	0.000	6	0.000	0.039	2285	1906	3474
785	-0.95	-146.6	46.5	-5.7	36	786	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1908	3474
1096	-0.95	-146.6	71.5	-7.6	51	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
1404	-0.95	-146.6	96.0	-7.7	66	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
1712	-0.95	-146.6	115.4	-7.5	81	1714	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
2022	-0.95	-146.6	137.2	-7.3	96	2023	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
2331	-0.95	-146.6	159.0	-7.2	111	2332	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
2640	-0.95	-146.6	180.7	-6.7	126	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
2950	-0.95	-146.6	202.2	-7.3	141	2951	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
3259	-0.95	-146.6	224.3	-7.0	156	3260	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1909	3474
3568	-0.95	-146.6	247.2	-7.7	171	3570	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
3878	-0.95	-146.6	269.7	-7.2	186	3879	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
4187	-0.95	-146.6	292.6	-7.3	201	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
4496	-0.95	-146.6	314.7	-7.0	216	4497	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
4806	-0.95	-146.6	336.0	-6.9	231	4807	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1909	3474
5114	-0.95	-146.6	358.4	-7.4	246	5119	0.00	2.50	0.00	0.000	4	0.000	0.051	2285	3293	3474
5192	-0.95	-146.6	363.9	-6.9	249	5198	0.00	2.50	0.00	0.000	6	0.000	0.045	2285	1901	3474
5508	-0.95	-146.6	385.6	-7.1	265	5509	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
5817	-0.95	-146.6	406.8	-6.8	280	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
6126	-0.95	-146.6	428.4	-7.4	295	6130	0.00	2.50	0.00	0.000	4	0.000	0.050	2285	3295	3474
6232	-0.95	-146.6	436.8	-7.9	299	6238	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1895	3474
6547	-0.95	-146.6	459.6	-7.5	315	6548	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
6856	-0.95	-146.6	480.6	-6.5	330	6857	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1891	3473
7166	-0.95	-146.6	501.5	-6.7	345	7170	0.00	2.55	0.00	0.000	4	0.000	0.052	2285	3297	3473
7282	-0.95	-146.6	509.7	-7.0	350	7286	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1897	3473
7604	-0.95	-146.6	532.1	-6.9	366	7608	0.00	2.55	0.00	0.000	4	0.000	0.053	2285	3295	3473
7687	-0.95	-146.6	538.0	-7.3	370	7692	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1899	3473
8014	-0.95	-146.6	559.7	-6.9	386	8018	0.00	2.55	0.00	0.000	4	0.000	0.055	2285	3295	3473
8091	-0.95	-146.6	565.3	-7.1	389	8097	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1894	3473
8406	-0.95	-146.6	585.0	-5.8	405	8407	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1894	3473
8590	end dive: BOTTOM_OBSTACLE_DETECTED
state	8590	begin apogee
8595	-0.36	0.0	595.8	5.7	414	8721	0.62	0.00	122.45	1.177	6	0.075	0.000	2420	2093	2879
8722	end apogee: CONTROL_FINISHED_OK
state	8722	begin climb
8724	0.95	146.6	599.3	0.0	420	8854	1.27	2.70	121.97	1.143	4	0.053	0.065	2703	688	2280
8927	0.95	146.6	595.1	6.0	430	8931	0.00	2.55	0.00	0.000	6	0.000	0.048	2703	2098	2280
9254	0.96	154.2	576.6	5.8	446	9264	0.00	0.00	7.43	1.141	6	0.000	0.000	2703	2098	2249
9563	0.96	158.8	558.6	5.9	461	9573	0.00	2.65	4.90	1.118	4	0.000	0.061	2703	3506	2230
9692	0.97	166.1	550.8	5.8	467	9706	0.00	2.55	7.12	1.157	6	0.000	0.050	2703	2102	2201
10022	0.97	166.1	531.2	6.4	483	10026	0.00	2.60	0.00	0.000	4	0.000	0.058	2703	3502	2200
10177	0.97	166.1	520.6	6.7	490	10181	0.00	2.55	0.00	0.000	6	0.000	0.049	2703	2096	2199
10505	0.98	171.5	500.4	5.8	506	10512	0.00	0.00	5.40	1.149	6	0.000	0.000	2703	2097	2178
10814	0.99	178.9	481.8	5.8	521	10828	0.00	2.65	7.30	1.151	4	0.000	0.056	2703	3500	2148
10997	0.99	178.9	470.0	6.0	529	11001	0.00	2.53	0.00	0.000	6	0.000	0.047	2703	2096	2147
11318	1.03	212.3	453.4	5.0	545	11348	0.00	0.00	28.25	1.128	6	0.000	0.000	2703	2096	2012
11648	1.03	212.3	433.4	6.3	561	11649	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2097	2012
11957	1.03	212.3	412.2	7.1	576	11961	0.00	2.58	0.00	0.000	4	0.000	0.054	2703	3505	2012
12022	1.03	212.3	407.4	7.4	579	12026	0.00	2.53	0.00	0.000	6	0.000	0.044	2703	2099	2012
12349	1.03	212.3	384.3	7.1	595	12350	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2012
12658	1.03	212.3	362.5	7.2	610	12659	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2012
12967	1.03	212.3	341.5	6.5	625	12969	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2012
13277	1.03	212.3	321.2	6.3	640	13278	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2013
13586	1.03	212.3	301.4	6.4	655	13587	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2013
13895	1.03	212.3	282.7	6.0	670	13896	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2013
14205	1.03	217.3	264.5	5.9	685	14216	0.00	2.60	5.72	1.009	4	0.000	0.064	2703	692	1991
14277	1.03	217.3	259.8	6.1	688	14281	0.00	2.50	0.00	0.000	6	0.000	0.041	2703	2114	1991
14598	1.03	217.3	239.7	6.4	704	14599	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2118	1991
14908	1.04	218.8	219.1	6.0	719	14909	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2118	1991
15217	1.04	224.2	199.9	5.8	734	15225	0.00	0.00	6.80	0.972	6	0.000	0.000	2703	2118	1964
15526	1.05	226.3	179.0	5.9	749	15535	0.00	2.67	3.20	0.925	4	0.000	0.061	2703	692	1955
15597	1.05	226.3	173.8	7.4	752	15601	0.00	2.50	0.00	0.000	6	0.000	0.041	2703	2105	1954
15923	1.05	228.1	153.8	5.9	768	15924	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2108	1954
16233	1.05	228.1	134.0	6.3	783	16234	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2108	1955
16543	1.05	232.8	115.5	5.9	798	16551	0.00	0.00	6.07	0.926	6	0.000	0.000	2703	2108	1929
16853	1.05	232.8	96.1	7.1	813	16857	0.00	2.62	0.00	0.000	4	0.000	0.062	2702	691	1929
16902	1.05	232.8	92.4	6.7	815	16906	0.00	2.50	0.00	0.000	6	0.000	0.041	2703	2106	1928
17219	1.05	233.1	73.0	6.0	830	17220	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2110	1929
17527	1.05	233.1	52.8	7.4	845	17528	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2110	1929
17836	1.05	233.1	28.7	8.0	860	17837	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2110	1929
18145	1.05	233.1	7.5	6.8	875	18149	0.00	2.62	0.00	0.000	4	0.000	0.062	2703	691	1929
18231	1.07	243.2	2.8	5.7	879	18245	0.10	2.47	9.27	0.860	6	0.067	0.042	2730	2102	1885
18559	end climb: NO_VERTICAL_VELOCITY
state	18559	begin surface