Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 231 * 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 231 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 22 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 -80569.305 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 -80569.305

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 22 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 231 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 025752,6312.970,-1303.714,38,2.7,57,-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 -0.021,0.208

_SM_DEPTHo 3.28 KALMAN_X 302781.2,-2017.6,14286.6,-556472.7,9251.9

_SM_ANGLEo -50.8 KALMAN_Y -39272.2,663.8,-9219.7,232706.2,-10095.3

GPS2 030904,6312.989,-1303.807,28,2.3,47,-12.1 MHEAD_RNG_PITCHd_Wd 6.4,10046,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19047,0.00,0.000,0,0,602,558.30 ALTIM_BOTTOM_PING 550.8,85.2

SM_GC 3.47,12.27,0.00,0.00,0.034,0.000,0.000,33,1887,602,-11.26,-0.37,558.30 _24V_AH 23.3,50.600

IRIDIUM_FIX 6249.28,-1323.99,030108,070700 _10V_AH 10.1,24.581

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44224,902

HUMID 2052 CFSIZE 260165632,244092928

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

TCM_TEMP 16.50 GPS 030108,082832,6314.344,-1300.144,35,1.9,35,-12.1

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 106 64.40 SBE_CT 659 24 368.57

Roll_motor 93 71 154.57 SBE_O2 607 19 268.94

VBD_pump_during_apogee 515 1188 14285.69 WL_BB2F 639 105 1564.18

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 68 103 165.16 nil 0 0 0.00

Iridium_during_connect 104 160 388.83 nil 0 0 0.00

Iridium_during_xfer 285 223 1484.50

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 50 50 25.36

TT8 1564 19 312.83

LPSleep 14920 2 330.03

TT8_Active 639 19 127.83

TT8_Sampling 1919 39 771.76

TT8_CF8 675 45 312.30

TT8_Kalman 33 81 27.57

Analog_circuits 1605 12 194.62

GPS_charging 0 0 0.00

Compass 1855 8 149.95

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 -21.52 0.000 2 0.000 0.000 27 1882 1105

49 -0.95 -146.6 3.3 -0.0 1 222 11.20 2.62 -153.30 0.000 4 0.107 0.061 2287 3304 3476

229 -0.95 -146.6 3.0 -1.6 9 235 0.00 2.53 0.00 0.000 6 0.000 0.040 2287 1895 3476

544 -0.95 -146.6 24.4 -6.4 25 548 0.00 2.55 0.00 0.000 4 0.000 0.048 2287 3302 3476

711 -0.95 -146.6 36.4 -7.5 32 718 0.00 2.55 0.00 0.000 6 0.000 0.042 2287 1899 3476

1027 -0.95 -146.6 58.4 -6.6 48 1028 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

1336 -0.95 -146.6 79.4 -6.6 63 1340 0.00 2.55 0.00 0.000 4 0.000 0.048 2287 3307 3476

1379 -0.95 -146.6 82.5 -6.5 65 1383 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1902 3476

1706 -0.95 -146.6 104.3 -6.8 81 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

2017 -0.95 -146.6 124.7 -6.5 96 2018 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

2325 -0.95 -146.6 145.1 -6.6 111 2329 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3300 3476

2391 -0.95 -146.6 149.8 -7.6 114 2395 0.00 2.53 0.00 0.000 6 0.000 0.043 2287 1894 3476

2717 -0.95 -146.6 171.5 -6.7 130 2718 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

3026 -0.95 -146.6 192.6 -6.8 145 3027 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

3336 -0.95 -146.6 214.1 -6.9 160 3340 0.00 2.55 0.00 0.000 4 0.000 0.048 2287 3303 3476

3397 -0.95 -146.6 218.2 -6.7 163 3402 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3476

3723 -0.95 -146.6 238.8 -6.3 179 3724 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

4033 -0.95 -146.6 260.6 -7.5 194 4034 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3475

4342 -0.95 -146.6 282.3 -6.6 209 4343 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

4651 -0.95 -146.6 304.0 -7.7 224 4652 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

4960 -0.95 -146.6 326.7 -7.3 239 4962 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

5270 -0.95 -146.6 349.4 -7.2 254 5274 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3300 3475

5331 -0.95 -146.6 353.8 -7.3 257 5335 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1899 3476

5656 -0.95 -146.6 376.6 -7.0 273 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

5965 -0.95 -146.6 398.8 -7.1 288 5970 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3301 3475

6009 -0.95 -146.6 402.0 -7.6 290 6014 0.00 2.53 0.00 0.000 6 0.000 0.046 2287 1897 3475

6331 -0.95 -146.6 425.0 -7.3 306 6332 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

6640 -0.95 -146.6 448.0 -7.4 321 6641 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

6949 -0.95 -146.6 470.9 -8.2 336 6953 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3299 3475

6992 -0.95 -146.6 474.7 -8.8 338 6997 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1900 3475

7319 -0.95 -146.6 502.3 -8.4 354 7320 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3474

7627 -0.95 -146.6 524.7 -7.1 369 7629 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3474

7937 -0.95 -146.6 545.6 -6.6 384 7938 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3474

8246 -0.95 -146.6 565.2 -6.2 399 8251 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3307 3474

8301 -0.95 -146.6 568.6 -6.7 401 8308 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1894 3474

8617 -0.95 -146.6 588.0 -8.1 417 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3474

8926 -0.95 -146.6 611.1 -7.3 432 8927 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3474

9110 end dive: BOTTOM_OBSTACLE_DETECTED

state 9110 begin apogee

9116 -0.36 0.0 628.2 10.7 441 9242 0.60 0.00 122.95 1.189 6 0.071 0.000 2418 2104 2878

9243 end apogee: CONTROL_FINISHED_OK

state 9243 begin climb

9245 0.95 146.6 637.6 0.0 447 9376 1.25 2.72 121.25 1.160 4 0.054 0.062 2700 3502 2280

9456 1.00 186.1 634.6 4.8 457 9498 0.00 2.58 33.53 1.149 6 0.000 0.051 2700 2103 2118

9807 1.00 186.1 608.3 7.8 474 9811 0.00 2.60 0.00 0.000 4 0.000 0.058 2701 3497 2118

9895 1.00 186.1 603.1 7.0 478 9899 0.00 2.55 0.00 0.000 6 0.000 0.049 2700 2098 2118

10222 1.05 229.5 587.8 4.7 494 10265 0.10 2.67 36.20 1.167 4 0.060 0.058 2734 3500 1942

10388 1.05 229.5 575.7 8.7 501 10392 0.00 2.55 0.00 0.000 6 0.000 0.049 2734 2098 1941

10709 1.05 229.5 549.3 8.4 517 10713 0.00 2.65 0.00 0.000 4 0.000 0.071 2734 687 1941

10752 1.05 229.5 544.9 9.8 519 10757 0.00 2.50 0.00 0.000 6 0.000 0.046 2734 2095 1941

11073 1.05 229.5 516.2 8.9 535 11074 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2095 1940

11382 1.05 229.5 491.3 7.8 550 11387 0.00 2.62 0.00 0.000 4 0.000 0.066 2734 689 1940

11425 1.05 229.5 487.7 8.6 552 11430 0.00 2.50 0.00 0.000 6 0.000 0.044 2734 2105 1939

11746 1.05 229.5 461.7 8.1 568 11747 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2106 1939

12055 1.05 229.5 436.0 8.3 583 12056 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2108 1939

12364 1.05 229.5 411.1 7.9 598 12366 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2109 1940

12674 1.05 229.5 387.9 7.8 613 12675 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2109 1939

12983 1.05 229.5 364.7 7.5 628 12984 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2109 1940

13292 1.05 229.5 340.9 7.7 643 13293 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2109 1939

13601 1.05 229.5 317.3 7.7 658 13606 0.00 2.65 0.00 0.000 4 0.000 0.064 2734 685 1939

13650 1.05 229.5 313.2 8.8 660 13655 0.00 2.50 0.00 0.000 6 0.000 0.041 2734 2106 1939

13973 1.05 229.5 287.5 8.1 676 13974 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2110 1940

14281 1.05 229.5 261.9 7.8 691 14283 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2110 1940

14591 1.05 229.5 242.5 6.4 706 14592 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2110 1940

14900 1.05 229.5 223.3 6.1 721 14901 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2110 1940

15210 1.08 252.8 204.5 5.3 736 15230 0.00 0.00 19.00 0.953 6 0.000 0.000 2734 2110 1846

15538 1.08 252.8 185.0 6.8 752 15539 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2110 1846

15847 1.08 252.8 165.2 6.4 767 15852 0.00 2.62 0.00 0.000 4 0.000 0.062 2734 691 1846

15902 1.08 252.8 160.9 7.9 769 15909 0.00 2.47 0.00 0.000 6 0.000 0.040 2734 2103 1847

16218 1.08 252.8 137.2 7.0 785 16219 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2106 1846

16529 1.08 252.8 111.4 8.8 800 16530 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2106 1847

16837 1.08 258.3 90.7 5.8 815 16848 0.00 2.65 5.95 0.904 4 0.000 0.060 2734 687 1824

16899 1.08 258.3 85.8 8.2 818 16903 0.00 2.50 0.00 0.000 6 0.000 0.040 2734 2100 1824

17226 1.08 258.3 60.9 8.2 834 17227 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2103 1824

17535 1.16 322.5 44.0 4.1 849 17587 0.00 0.00 50.40 0.818 6 0.000 0.000 2734 2103 1563

17886 1.16 322.5 14.1 9.6 866 17887 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2103 1561

18194 1.41 524.0 2.8 -0.0 881 18309 0.28 2.62 107.82 0.755 4 0.044 0.052 2808 3504 740

18331 1.67 731.9 2.7 -0.2 887 18359 0.22 2.55 18.62 0.755 6 0.064 0.044 2857 2098 602

18624 end climb: NO_VERTICAL_VELOCITY

state 18624 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	231	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	22	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	-80569.305	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	025752,6312.970,-1303.714,38,2.7,57,-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	-0.021,0.208
_SM_DEPTHo	3.28	KALMAN_X	302781.2,-2017.6,14286.6,-556472.7,9251.9
_SM_ANGLEo	-50.8	KALMAN_Y	-39272.2,663.8,-9219.7,232706.2,-10095.3
GPS2	030904,6312.989,-1303.807,28,2.3,47,-12.1	MHEAD_RNG_PITCHd_Wd	6.4,10046,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19047,0.00,0.000,0,0,602,558.30	ALTIM_BOTTOM_PING	550.8,85.2
SM_GC	3.47,12.27,0.00,0.00,0.034,0.000,0.000,33,1887,602,-11.26,-0.37,558.30	_24V_AH	23.3,50.600
IRIDIUM_FIX	6249.28,-1323.99,030108,070700	_10V_AH	10.1,24.581
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44224,902
HUMID	2052	CFSIZE	260165632,244092928
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.50	GPS	030108,082832,6314.344,-1300.144,35,1.9,35,-12.1
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	106	64.40	SBE_CT	659	24	368.57
Roll_motor	93	71	154.57	SBE_O2	607	19	268.94
VBD_pump_during_apogee	515	1188	14285.69	WL_BB2F	639	105	1564.18
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	68	103	165.16	nil	0	0	0.00
Iridium_during_connect	104	160	388.83	nil	0	0	0.00
Iridium_during_xfer	285	223	1484.50
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	50	50	25.36
TT8	1564	19	312.83
LPSleep	14920	2	330.03
TT8_Active	639	19	127.83
TT8_Sampling	1919	39	771.76
TT8_CF8	675	45	312.30
TT8_Kalman	33	81	27.57
Analog_circuits	1605	12	194.62
GPS_charging	0	0	0.00
Compass	1855	8	149.95
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	-21.52	0.000	2	0.000	0.000	27	1882	1105
49	-0.95	-146.6	3.3	-0.0	1	222	11.20	2.62	-153.30	0.000	4	0.107	0.061	2287	3304	3476
229	-0.95	-146.6	3.0	-1.6	9	235	0.00	2.53	0.00	0.000	6	0.000	0.040	2287	1895	3476
544	-0.95	-146.6	24.4	-6.4	25	548	0.00	2.55	0.00	0.000	4	0.000	0.048	2287	3302	3476
711	-0.95	-146.6	36.4	-7.5	32	718	0.00	2.55	0.00	0.000	6	0.000	0.042	2287	1899	3476
1027	-0.95	-146.6	58.4	-6.6	48	1028	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
1336	-0.95	-146.6	79.4	-6.6	63	1340	0.00	2.55	0.00	0.000	4	0.000	0.048	2287	3307	3476
1379	-0.95	-146.6	82.5	-6.5	65	1383	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1902	3476
1706	-0.95	-146.6	104.3	-6.8	81	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
2017	-0.95	-146.6	124.7	-6.5	96	2018	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
2325	-0.95	-146.6	145.1	-6.6	111	2329	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3300	3476
2391	-0.95	-146.6	149.8	-7.6	114	2395	0.00	2.53	0.00	0.000	6	0.000	0.043	2287	1894	3476
2717	-0.95	-146.6	171.5	-6.7	130	2718	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
3026	-0.95	-146.6	192.6	-6.8	145	3027	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
3336	-0.95	-146.6	214.1	-6.9	160	3340	0.00	2.55	0.00	0.000	4	0.000	0.048	2287	3303	3476
3397	-0.95	-146.6	218.2	-6.7	163	3402	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3476
3723	-0.95	-146.6	238.8	-6.3	179	3724	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
4033	-0.95	-146.6	260.6	-7.5	194	4034	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3475
4342	-0.95	-146.6	282.3	-6.6	209	4343	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
4651	-0.95	-146.6	304.0	-7.7	224	4652	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
4960	-0.95	-146.6	326.7	-7.3	239	4962	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
5270	-0.95	-146.6	349.4	-7.2	254	5274	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3300	3475
5331	-0.95	-146.6	353.8	-7.3	257	5335	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1899	3476
5656	-0.95	-146.6	376.6	-7.0	273	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
5965	-0.95	-146.6	398.8	-7.1	288	5970	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3301	3475
6009	-0.95	-146.6	402.0	-7.6	290	6014	0.00	2.53	0.00	0.000	6	0.000	0.046	2287	1897	3475
6331	-0.95	-146.6	425.0	-7.3	306	6332	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
6640	-0.95	-146.6	448.0	-7.4	321	6641	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
6949	-0.95	-146.6	470.9	-8.2	336	6953	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3299	3475
6992	-0.95	-146.6	474.7	-8.8	338	6997	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1900	3475
7319	-0.95	-146.6	502.3	-8.4	354	7320	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3474
7627	-0.95	-146.6	524.7	-7.1	369	7629	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3474
7937	-0.95	-146.6	545.6	-6.6	384	7938	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3474
8246	-0.95	-146.6	565.2	-6.2	399	8251	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3307	3474
8301	-0.95	-146.6	568.6	-6.7	401	8308	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1894	3474
8617	-0.95	-146.6	588.0	-8.1	417	8618	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3474
8926	-0.95	-146.6	611.1	-7.3	432	8927	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3474
9110	end dive: BOTTOM_OBSTACLE_DETECTED
state	9110	begin apogee
9116	-0.36	0.0	628.2	10.7	441	9242	0.60	0.00	122.95	1.189	6	0.071	0.000	2418	2104	2878
9243	end apogee: CONTROL_FINISHED_OK
state	9243	begin climb
9245	0.95	146.6	637.6	0.0	447	9376	1.25	2.72	121.25	1.160	4	0.054	0.062	2700	3502	2280
9456	1.00	186.1	634.6	4.8	457	9498	0.00	2.58	33.53	1.149	6	0.000	0.051	2700	2103	2118
9807	1.00	186.1	608.3	7.8	474	9811	0.00	2.60	0.00	0.000	4	0.000	0.058	2701	3497	2118
9895	1.00	186.1	603.1	7.0	478	9899	0.00	2.55	0.00	0.000	6	0.000	0.049	2700	2098	2118
10222	1.05	229.5	587.8	4.7	494	10265	0.10	2.67	36.20	1.167	4	0.060	0.058	2734	3500	1942
10388	1.05	229.5	575.7	8.7	501	10392	0.00	2.55	0.00	0.000	6	0.000	0.049	2734	2098	1941
10709	1.05	229.5	549.3	8.4	517	10713	0.00	2.65	0.00	0.000	4	0.000	0.071	2734	687	1941
10752	1.05	229.5	544.9	9.8	519	10757	0.00	2.50	0.00	0.000	6	0.000	0.046	2734	2095	1941
11073	1.05	229.5	516.2	8.9	535	11074	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2095	1940
11382	1.05	229.5	491.3	7.8	550	11387	0.00	2.62	0.00	0.000	4	0.000	0.066	2734	689	1940
11425	1.05	229.5	487.7	8.6	552	11430	0.00	2.50	0.00	0.000	6	0.000	0.044	2734	2105	1939
11746	1.05	229.5	461.7	8.1	568	11747	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2106	1939
12055	1.05	229.5	436.0	8.3	583	12056	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2108	1939
12364	1.05	229.5	411.1	7.9	598	12366	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2109	1940
12674	1.05	229.5	387.9	7.8	613	12675	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2109	1939
12983	1.05	229.5	364.7	7.5	628	12984	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2109	1940
13292	1.05	229.5	340.9	7.7	643	13293	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2109	1939
13601	1.05	229.5	317.3	7.7	658	13606	0.00	2.65	0.00	0.000	4	0.000	0.064	2734	685	1939
13650	1.05	229.5	313.2	8.8	660	13655	0.00	2.50	0.00	0.000	6	0.000	0.041	2734	2106	1939
13973	1.05	229.5	287.5	8.1	676	13974	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2110	1940
14281	1.05	229.5	261.9	7.8	691	14283	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2110	1940
14591	1.05	229.5	242.5	6.4	706	14592	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2110	1940
14900	1.05	229.5	223.3	6.1	721	14901	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2110	1940
15210	1.08	252.8	204.5	5.3	736	15230	0.00	0.00	19.00	0.953	6	0.000	0.000	2734	2110	1846
15538	1.08	252.8	185.0	6.8	752	15539	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2110	1846
15847	1.08	252.8	165.2	6.4	767	15852	0.00	2.62	0.00	0.000	4	0.000	0.062	2734	691	1846
15902	1.08	252.8	160.9	7.9	769	15909	0.00	2.47	0.00	0.000	6	0.000	0.040	2734	2103	1847
16218	1.08	252.8	137.2	7.0	785	16219	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2106	1846
16529	1.08	252.8	111.4	8.8	800	16530	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2106	1847
16837	1.08	258.3	90.7	5.8	815	16848	0.00	2.65	5.95	0.904	4	0.000	0.060	2734	687	1824
16899	1.08	258.3	85.8	8.2	818	16903	0.00	2.50	0.00	0.000	6	0.000	0.040	2734	2100	1824
17226	1.08	258.3	60.9	8.2	834	17227	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2103	1824
17535	1.16	322.5	44.0	4.1	849	17587	0.00	0.00	50.40	0.818	6	0.000	0.000	2734	2103	1563
17886	1.16	322.5	14.1	9.6	866	17887	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2103	1561
18194	1.41	524.0	2.8	-0.0	881	18309	0.28	2.62	107.82	0.755	4	0.044	0.052	2808	3504	740
18331	1.67	731.9	2.7	-0.2	887	18359	0.22	2.55	18.62	0.755	6	0.064	0.044	2857	2098	602
18624	end climb: NO_VERTICAL_VELOCITY
state	18624	begin surface