Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 232 * 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 232 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 33 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 -80603.172 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 -80603.172

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 33 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 232 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 082832,6314.344,-1300.144,35,1.9,35,-12.1 TGT_NAME IW

_CALLS 4 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,0.099

_SM_DEPTHo 3.35 KALMAN_X 307526.4,919.3,9958.2,-556787.2,18694.5

_SM_ANGLEo -46.6 KALMAN_Y -43338.6,-295.1,-8152.7,239179.5,-15733.3

GPS2 084511,6314.339,-1300.292,11,2.1,30,-12.1 MHEAD_RNG_PITCHd_Wd 310.3,12322,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18549,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 550.1,98.0

SM_GC 3.66,0.00,0.00,0.00,0.000,0.000,0.000,32,1891,603,-11.33,-0.25,558.06 _24V_AH 23.3,50.782

IRIDIUM_FIX 6249.28,-1255.03,030108,121257 _10V_AH 10.1,24.671

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44222,876

HUMID 2059 CFSIZE 260165632,244027392

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 18.60 GPS 030108,135626,6315.552,-1305.616,37,1.2,37,-12.2

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 111 67.19 SBE_CT 640 24 357.92

Roll_motor 77 74 133.91 SBE_O2 590 19 261.52

VBD_pump_during_apogee 463 1204 13007.52 WL_BB2F 594 105 1455.59

VBD_pump_during_surface 38 752 681.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 355.37 nil 0 0 0.00

Iridium_during_connect 152 160 568.45 nil 0 0 0.00

Iridium_during_xfer 357 223 1856.59

Transponder_ping 6 420 63.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.78

TT8 1543 19 308.60

LPSleep 14623 2 323.46

TT8_Active 627 19 125.49

TT8_Sampling 1859 39 747.64

TT8_CF8 896 45 414.63

TT8_Kalman 33 81 27.56

Analog_circuits 1547 12 187.50

GPS_charging 0 0 0.00

Compass 1814 8 146.60

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

21 -0.95 -146.6 0.0 0.0 0 45 0.00 0.00 -21.92 0.000 2 0.000 0.000 32 1882 1113

48 -0.95 -146.6 3.4 -0.0 1 206 11.27 2.60 -139.55 0.000 4 0.112 0.074 2284 498 3476

463 -0.95 -146.6 28.7 -5.3 20 467 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1910 3477

789 -0.95 -146.6 50.3 -5.5 36 790 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3476

1100 -0.95 -146.6 70.8 -7.9 51 1101 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1914 3476

1407 -0.95 -146.6 94.3 -8.0 66 1408 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1914 3477

1716 -0.95 -146.6 118.4 -7.2 81 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3476

2026 -0.95 -146.6 140.1 -7.2 96 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3477

2335 -0.95 -146.6 161.0 -6.1 111 2336 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3476

2647 -0.95 -146.6 175.4 -4.8 126 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3476

2954 -0.95 -146.6 195.0 -6.9 141 2955 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1913 3476

3263 -0.95 -146.6 218.2 -7.1 156 3267 0.00 2.50 0.00 0.000 4 0.000 0.050 2284 3295 3476

3336 -0.95 -146.6 223.1 -5.9 159 3340 0.00 2.50 0.00 0.000 6 0.000 0.044 2284 1902 3476

3651 -0.95 -146.6 248.6 -8.0 174 3652 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1902 3476

3960 -0.95 -146.6 270.5 -6.5 189 3961 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1902 3476

4269 -0.95 -146.6 291.7 -7.0 204 4273 0.00 2.53 0.00 0.000 4 0.000 0.049 2284 3299 3476

4335 -0.95 -146.6 296.6 -7.0 207 4339 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1901 3476

4656 -0.95 -146.6 316.5 -6.1 223 4657 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

4965 -0.95 -146.6 336.0 -6.3 238 4969 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3300 3476

5033 -0.95 -146.6 340.4 -6.9 241 5037 0.00 2.50 0.00 0.000 6 0.000 0.045 2284 1901 3476

5352 -0.95 -146.6 362.0 -6.9 257 5354 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3476

5662 -0.95 -146.6 384.1 -7.4 272 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3476

5971 -0.95 -146.6 407.5 -7.5 287 5972 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3476

6280 -0.95 -146.6 430.5 -7.4 302 6285 0.00 2.53 0.00 0.000 4 0.000 0.051 2284 3298 3476

6335 -0.95 -146.6 434.7 -7.8 304 6342 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1897 3476

6651 -0.95 -146.6 457.2 -7.2 320 6652 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3476

6960 -0.95 -146.6 481.1 -7.9 335 6964 0.00 2.55 0.00 0.000 4 0.000 0.052 2284 3299 3476

7021 -0.95 -146.6 486.1 -8.5 338 7026 0.00 2.53 0.00 0.000 6 0.000 0.047 2284 1899 3475

7347 -0.95 -146.6 510.0 -6.7 354 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1899 3475

7656 -0.95 -146.6 529.3 -6.4 369 7661 0.00 2.55 0.00 0.000 4 0.000 0.052 2284 3300 3475

7734 -0.95 -146.6 534.7 -7.1 372 7740 0.00 2.53 0.00 0.000 6 0.000 0.048 2284 1901 3475

8049 -0.95 -146.6 555.4 -6.4 388 8050 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3475

8359 -0.95 -146.6 577.1 -7.3 403 8360 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3475

8668 -0.95 -146.6 597.6 -6.3 418 8672 0.00 2.53 0.00 0.000 4 0.000 0.055 2284 3297 3475

8757 -0.95 -146.6 603.0 -5.4 422 8761 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1897 3475

9078 -0.95 -146.6 619.4 -5.9 438 9083 0.00 2.55 0.00 0.000 4 0.000 0.057 2284 3297 3475

9163 -0.95 -146.6 625.1 -7.4 442 9167 0.00 2.55 0.00 0.000 6 0.000 0.050 2284 1894 3475

9383 end dive: BOTTOM_OBSTACLE_DETECTED

state 9383 begin apogee

9389 -0.36 0.0 639.3 6.4 453 9515 0.62 0.00 123.32 1.204 6 0.074 0.000 2420 2100 2878

9516 end apogee: CONTROL_FINISHED_OK

state 9516 begin climb

9518 0.95 146.6 643.6 0.0 459 9648 1.25 2.70 121.97 1.169 4 0.054 0.064 2700 3496 2280

9665 1.07 245.3 643.0 3.1 466 9753 0.12 2.58 81.60 1.152 6 0.051 0.050 2739 2099 1878

10068 1.07 247.8 619.5 5.9 486 10077 0.00 2.65 3.35 1.042 4 0.000 0.061 2738 3494 1867

10308 1.10 273.6 605.2 5.2 496 10336 0.00 2.53 22.15 1.179 6 0.000 0.049 2738 2102 1761

10644 1.10 273.6 583.3 8.9 513 10648 0.00 2.65 0.00 0.000 4 0.000 0.072 2738 691 1761

10693 1.10 273.6 578.2 9.7 515 10697 0.00 2.53 0.00 0.000 6 0.000 0.047 2739 2098 1761

11008 1.10 273.6 550.1 10.0 530 11010 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1760

11317 1.10 273.6 522.7 8.2 545 11319 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1760

11627 1.10 273.6 497.3 8.5 560 11628 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1760

11936 1.10 273.6 471.7 8.4 575 11937 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1760

12245 1.10 273.6 444.9 9.0 590 12246 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2099 1760

12554 1.10 273.6 417.6 8.5 605 12556 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1760

12864 1.10 273.6 390.3 8.8 620 12865 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1760

13173 1.10 273.6 365.0 7.9 635 13174 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2102 1760

13482 1.10 273.6 340.3 8.0 650 13487 0.00 2.62 0.00 0.000 4 0.000 0.064 2738 689 1760

13539 1.10 273.6 335.6 8.7 652 13545 0.00 2.50 0.00 0.000 6 0.000 0.041 2738 2105 1760

13854 1.10 273.6 310.3 7.8 668 13855 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2108 1761

14163 1.10 273.6 285.9 8.1 683 14164 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2108 1761

14472 1.10 273.6 261.0 8.0 698 14473 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2107 1761

14781 1.10 273.6 235.8 8.0 713 14786 0.00 2.62 0.00 0.000 4 0.000 0.063 2739 689 1761

14836 1.10 273.6 230.9 8.9 715 14843 0.00 2.53 0.00 0.000 6 0.000 0.041 2739 2104 1761

15152 1.10 273.6 205.1 8.1 731 15153 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2104 1762

15462 1.10 273.6 180.6 7.6 746 15463 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2103 1762

15771 1.10 273.6 154.9 8.5 761 15772 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2103 1762

16080 1.10 273.6 126.5 9.1 776 16081 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2104 1762

16389 1.10 273.6 100.8 9.1 791 16391 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2103 1762

16698 1.10 273.6 74.8 7.9 806 16700 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2103 1762

17008 1.10 273.6 46.2 7.8 821 17012 0.00 2.62 0.00 0.000 4 0.000 0.062 2739 684 1762

17073 1.10 273.6 39.3 10.6 824 17078 0.00 2.47 0.00 0.000 6 0.000 0.040 2739 2102 1762

17395 1.10 273.6 13.4 12.8 840 17396 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2105 1762

17704 1.35 472.3 2.8 0.1 855 17812 0.20 0.00 104.43 0.768 6 0.055 0.000 2794 2103 951

18133 1.60 680.3 2.9 -0.2 876 18143 0.20 0.00 6.78 0.812 2 0.051 0.000 2847 2106 906

18144 end climb: NO_VERTICAL_VELOCITY

state 18144 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	232	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	33	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	-80603.172	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	082832,6314.344,-1300.144,35,1.9,35,-12.1	TGT_NAME	IW
_CALLS	4	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,0.099
_SM_DEPTHo	3.35	KALMAN_X	307526.4,919.3,9958.2,-556787.2,18694.5
_SM_ANGLEo	-46.6	KALMAN_Y	-43338.6,-295.1,-8152.7,239179.5,-15733.3
GPS2	084511,6314.339,-1300.292,11,2.1,30,-12.1	MHEAD_RNG_PITCHd_Wd	310.3,12322,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18549,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	550.1,98.0
SM_GC	3.66,0.00,0.00,0.00,0.000,0.000,0.000,32,1891,603,-11.33,-0.25,558.06	_24V_AH	23.3,50.782
IRIDIUM_FIX	6249.28,-1255.03,030108,121257	_10V_AH	10.1,24.671
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44222,876
HUMID	2059	CFSIZE	260165632,244027392
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	18.60	GPS	030108,135626,6315.552,-1305.616,37,1.2,37,-12.2
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	111	67.19	SBE_CT	640	24	357.92
Roll_motor	77	74	133.91	SBE_O2	590	19	261.52
VBD_pump_during_apogee	463	1204	13007.52	WL_BB2F	594	105	1455.59
VBD_pump_during_surface	38	752	681.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	355.37	nil	0	0	0.00
Iridium_during_connect	152	160	568.45	nil	0	0	0.00
Iridium_during_xfer	357	223	1856.59
Transponder_ping	6	420	63.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.78
TT8	1543	19	308.60
LPSleep	14623	2	323.46
TT8_Active	627	19	125.49
TT8_Sampling	1859	39	747.64
TT8_CF8	896	45	414.63
TT8_Kalman	33	81	27.56
Analog_circuits	1547	12	187.50
GPS_charging	0	0	0.00
Compass	1814	8	146.60
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
21	-0.95	-146.6	0.0	0.0	0	45	0.00	0.00	-21.92	0.000	2	0.000	0.000	32	1882	1113
48	-0.95	-146.6	3.4	-0.0	1	206	11.27	2.60	-139.55	0.000	4	0.112	0.074	2284	498	3476
463	-0.95	-146.6	28.7	-5.3	20	467	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1910	3477
789	-0.95	-146.6	50.3	-5.5	36	790	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3476
1100	-0.95	-146.6	70.8	-7.9	51	1101	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1914	3476
1407	-0.95	-146.6	94.3	-8.0	66	1408	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1914	3477
1716	-0.95	-146.6	118.4	-7.2	81	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3476
2026	-0.95	-146.6	140.1	-7.2	96	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3477
2335	-0.95	-146.6	161.0	-6.1	111	2336	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3476
2647	-0.95	-146.6	175.4	-4.8	126	2648	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3476
2954	-0.95	-146.6	195.0	-6.9	141	2955	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1913	3476
3263	-0.95	-146.6	218.2	-7.1	156	3267	0.00	2.50	0.00	0.000	4	0.000	0.050	2284	3295	3476
3336	-0.95	-146.6	223.1	-5.9	159	3340	0.00	2.50	0.00	0.000	6	0.000	0.044	2284	1902	3476
3651	-0.95	-146.6	248.6	-8.0	174	3652	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1902	3476
3960	-0.95	-146.6	270.5	-6.5	189	3961	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1902	3476
4269	-0.95	-146.6	291.7	-7.0	204	4273	0.00	2.53	0.00	0.000	4	0.000	0.049	2284	3299	3476
4335	-0.95	-146.6	296.6	-7.0	207	4339	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1901	3476
4656	-0.95	-146.6	316.5	-6.1	223	4657	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
4965	-0.95	-146.6	336.0	-6.3	238	4969	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3300	3476
5033	-0.95	-146.6	340.4	-6.9	241	5037	0.00	2.50	0.00	0.000	6	0.000	0.045	2284	1901	3476
5352	-0.95	-146.6	362.0	-6.9	257	5354	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3476
5662	-0.95	-146.6	384.1	-7.4	272	5663	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3476
5971	-0.95	-146.6	407.5	-7.5	287	5972	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3476
6280	-0.95	-146.6	430.5	-7.4	302	6285	0.00	2.53	0.00	0.000	4	0.000	0.051	2284	3298	3476
6335	-0.95	-146.6	434.7	-7.8	304	6342	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1897	3476
6651	-0.95	-146.6	457.2	-7.2	320	6652	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3476
6960	-0.95	-146.6	481.1	-7.9	335	6964	0.00	2.55	0.00	0.000	4	0.000	0.052	2284	3299	3476
7021	-0.95	-146.6	486.1	-8.5	338	7026	0.00	2.53	0.00	0.000	6	0.000	0.047	2284	1899	3475
7347	-0.95	-146.6	510.0	-6.7	354	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1899	3475
7656	-0.95	-146.6	529.3	-6.4	369	7661	0.00	2.55	0.00	0.000	4	0.000	0.052	2284	3300	3475
7734	-0.95	-146.6	534.7	-7.1	372	7740	0.00	2.53	0.00	0.000	6	0.000	0.048	2284	1901	3475
8049	-0.95	-146.6	555.4	-6.4	388	8050	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3475
8359	-0.95	-146.6	577.1	-7.3	403	8360	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3475
8668	-0.95	-146.6	597.6	-6.3	418	8672	0.00	2.53	0.00	0.000	4	0.000	0.055	2284	3297	3475
8757	-0.95	-146.6	603.0	-5.4	422	8761	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1897	3475
9078	-0.95	-146.6	619.4	-5.9	438	9083	0.00	2.55	0.00	0.000	4	0.000	0.057	2284	3297	3475
9163	-0.95	-146.6	625.1	-7.4	442	9167	0.00	2.55	0.00	0.000	6	0.000	0.050	2284	1894	3475
9383	end dive: BOTTOM_OBSTACLE_DETECTED
state	9383	begin apogee
9389	-0.36	0.0	639.3	6.4	453	9515	0.62	0.00	123.32	1.204	6	0.074	0.000	2420	2100	2878
9516	end apogee: CONTROL_FINISHED_OK
state	9516	begin climb
9518	0.95	146.6	643.6	0.0	459	9648	1.25	2.70	121.97	1.169	4	0.054	0.064	2700	3496	2280
9665	1.07	245.3	643.0	3.1	466	9753	0.12	2.58	81.60	1.152	6	0.051	0.050	2739	2099	1878
10068	1.07	247.8	619.5	5.9	486	10077	0.00	2.65	3.35	1.042	4	0.000	0.061	2738	3494	1867
10308	1.10	273.6	605.2	5.2	496	10336	0.00	2.53	22.15	1.179	6	0.000	0.049	2738	2102	1761
10644	1.10	273.6	583.3	8.9	513	10648	0.00	2.65	0.00	0.000	4	0.000	0.072	2738	691	1761
10693	1.10	273.6	578.2	9.7	515	10697	0.00	2.53	0.00	0.000	6	0.000	0.047	2739	2098	1761
11008	1.10	273.6	550.1	10.0	530	11010	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1760
11317	1.10	273.6	522.7	8.2	545	11319	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1760
11627	1.10	273.6	497.3	8.5	560	11628	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1760
11936	1.10	273.6	471.7	8.4	575	11937	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1760
12245	1.10	273.6	444.9	9.0	590	12246	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2099	1760
12554	1.10	273.6	417.6	8.5	605	12556	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1760
12864	1.10	273.6	390.3	8.8	620	12865	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1760
13173	1.10	273.6	365.0	7.9	635	13174	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2102	1760
13482	1.10	273.6	340.3	8.0	650	13487	0.00	2.62	0.00	0.000	4	0.000	0.064	2738	689	1760
13539	1.10	273.6	335.6	8.7	652	13545	0.00	2.50	0.00	0.000	6	0.000	0.041	2738	2105	1760
13854	1.10	273.6	310.3	7.8	668	13855	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2108	1761
14163	1.10	273.6	285.9	8.1	683	14164	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2108	1761
14472	1.10	273.6	261.0	8.0	698	14473	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2107	1761
14781	1.10	273.6	235.8	8.0	713	14786	0.00	2.62	0.00	0.000	4	0.000	0.063	2739	689	1761
14836	1.10	273.6	230.9	8.9	715	14843	0.00	2.53	0.00	0.000	6	0.000	0.041	2739	2104	1761
15152	1.10	273.6	205.1	8.1	731	15153	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2104	1762
15462	1.10	273.6	180.6	7.6	746	15463	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2103	1762
15771	1.10	273.6	154.9	8.5	761	15772	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2103	1762
16080	1.10	273.6	126.5	9.1	776	16081	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2104	1762
16389	1.10	273.6	100.8	9.1	791	16391	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2103	1762
16698	1.10	273.6	74.8	7.9	806	16700	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2103	1762
17008	1.10	273.6	46.2	7.8	821	17012	0.00	2.62	0.00	0.000	4	0.000	0.062	2739	684	1762
17073	1.10	273.6	39.3	10.6	824	17078	0.00	2.47	0.00	0.000	6	0.000	0.040	2739	2102	1762
17395	1.10	273.6	13.4	12.8	840	17396	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2105	1762
17704	1.35	472.3	2.8	0.1	855	17812	0.20	0.00	104.43	0.768	6	0.055	0.000	2794	2103	951
18133	1.60	680.3	2.9	-0.2	876	18143	0.20	0.00	6.78	0.812	2	0.051	0.000	2847	2106	906
18144	end climb: NO_VERTICAL_VELOCITY
state	18144	begin surface