Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 233 * 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 233 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 21 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 -80619.984 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 -80619.984

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 21 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 233 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 135626,6315.552,-1305.616,37,1.2,37,-12.2 TGT_NAME IW

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.185,0.097

_SM_DEPTHo 3.35 KALMAN_X 306222.9,-1130.8,11854.9,-559986.5,9785.9

_SM_ANGLEo -50.9 KALMAN_Y -43162.8,1652.2,-8718.7,239968.5,-10593.2

GPS2 140927,6315.632,-1305.640,14,1.8,14,-12.2 MHEAD_RNG_PITCHd_Wd 309.8,7889,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19651,95.07,0.739,0,0,602,558.06 ALTIM_BOTTOM_PING 625.9,53.5

SM_GC 3.57,11.85,0.00,0.00,0.028,0.000,0.000,32,1881,603,-11.25,-0.54,558.06 _24V_AH 23.3,50.955

IRIDIUM_FIX 6249.28,-1310.06,030108,181850 _10V_AH 10.1,24.762

TT8_MAMPS 0.026078 DATA_FILE_SIZE 47443,949

HUMID 2033 CFSIZE 260165632,243961856

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

TCM_TEMP 18.70 GPS 030108,194758,6317.658,-1308.017,34,2.4,53,-12.2

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 91 52.69 SBE_CT 702 24 392.73

Roll_motor 67 74 116.27 SBE_O2 641 19 283.91

VBD_pump_during_apogee 398 1224 11356.86 WL_BB2F 627 105 1535.19

VBD_pump_during_surface 95 738 1636.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 274.62 nil 0 0 0.00

Iridium_during_connect 113 160 422.79 nil 0 0 0.00

Iridium_during_xfer 307 223 1595.61

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.17

TT8 1643 19 328.60

LPSleep 16018 2 354.32

TT8_Active 615 19 123.12

TT8_Sampling 1911 39 768.44

TT8_CF8 762 45 352.87

TT8_Kalman 33 81 27.56

Analog_circuits 1565 12 189.70

GPS_charging 0 0 0.00

Compass 1884 8 152.25

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -3.70 0.000 2 0.000 0.000 30 1885 695

29 -0.95 -146.6 3.3 -0.0 0 203 10.82 2.65 -154.57 0.000 4 0.091 0.074 2291 486 3476

411 -0.95 -146.6 22.4 -13.1 18 416 0.00 2.47 0.00 0.000 6 0.000 0.041 2291 1904 3476

733 -0.95 -146.6 54.3 -8.2 34 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3475

1043 -0.95 -146.6 71.7 -4.5 49 1044 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

1352 -0.95 -146.6 94.7 -8.9 64 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1905 3476

1661 -0.95 -146.6 116.5 -6.1 79 1662 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

1972 -0.95 -146.6 138.2 -7.7 94 1973 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

2279 -0.95 -146.6 160.3 -8.0 109 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

2588 -0.95 -146.6 185.1 -7.3 124 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

2898 -0.95 -146.6 206.5 -6.8 139 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3476

3207 -0.95 -146.6 227.1 -6.9 154 3211 0.00 2.50 0.00 0.000 4 0.000 0.049 2291 3293 3475

3261 -0.95 -146.6 231.3 -8.2 156 3268 0.00 2.50 0.00 0.000 6 0.000 0.044 2291 1899 3476

3577 -0.95 -146.6 255.4 -8.2 172 3578 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

3886 -0.95 -146.6 280.2 -7.5 187 3887 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

4195 -0.95 -146.6 303.5 -7.3 202 4197 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

4504 -0.95 -146.6 323.6 -6.1 217 4506 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

4814 -0.95 -146.6 342.5 -6.4 232 4815 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

5123 -0.95 -146.6 362.6 -6.1 247 5124 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3476

5432 -0.95 -146.6 384.5 -7.6 262 5436 0.00 2.53 0.00 0.000 4 0.000 0.050 2292 3294 3476

5498 -0.95 -146.6 389.8 -7.8 265 5503 0.00 2.53 0.00 0.000 6 0.000 0.044 2291 1905 3476

5826 -0.95 -146.6 414.4 -7.4 281 5827 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1905 3475

6135 -0.95 -146.6 437.3 -7.5 296 6136 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1905 3476

6444 -0.95 -146.6 460.4 -7.8 311 6445 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1905 3475

6754 -0.95 -146.6 481.7 -6.5 326 6755 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1903 3474

7063 -0.95 -146.6 501.6 -6.5 341 7067 0.00 2.53 0.00 0.000 4 0.000 0.051 2291 3296 3474

7128 -0.95 -146.6 506.1 -6.8 344 7132 0.00 2.53 0.00 0.000 6 0.000 0.045 2291 1894 3474

7455 -0.95 -146.6 526.9 -6.5 360 7456 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1894 3474

7764 -0.95 -146.6 547.6 -6.9 375 7765 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1894 3474

8073 -0.95 -146.6 568.6 -6.5 390 8074 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1894 3474

8383 -0.95 -146.6 588.3 -6.4 405 8387 0.00 2.58 0.00 0.000 4 0.000 0.055 2291 3302 3474

8454 -0.95 -146.6 593.4 -7.2 408 8458 0.00 2.53 0.00 0.000 6 0.000 0.048 2291 1901 3474

8775 -0.95 -146.6 614.0 -6.3 424 8779 0.00 2.55 0.00 0.000 4 0.000 0.055 2291 3294 3474

8847 -0.95 -146.6 618.9 -7.0 427 8852 0.00 2.53 0.00 0.000 6 0.000 0.048 2291 1899 3474

9163 -0.95 -146.6 638.4 -5.9 442 9164 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3474

9472 -0.95 -146.6 657.5 -6.4 457 9476 0.00 2.55 0.00 0.000 4 0.000 0.058 2291 3293 3474

9521 -0.95 -146.6 660.8 -6.4 459 9525 0.00 2.53 0.00 0.000 6 0.000 0.050 2291 1899 3474

9675 end dive: BOTTOM_OBSTACLE_DETECTED

state 9675 begin apogee

9681 -0.36 0.0 669.8 5.5 467 9807 0.57 0.00 123.07 1.224 6 0.076 0.000 2415 2095 2878

9807 end apogee: CONTROL_FINISHED_OK

state 9808 begin climb

9810 0.95 146.6 670.9 0.0 473 9941 1.27 2.75 121.53 1.188 4 0.052 0.068 2702 688 2280

10002 0.96 157.4 663.5 5.7 482 10019 0.00 2.55 10.02 1.170 6 0.000 0.049 2702 2101 2236

10328 1.03 211.4 650.0 4.4 498 10379 0.00 2.67 45.22 1.205 4 0.000 0.062 2702 3505 2015

10469 1.03 215.3 642.0 5.9 504 10479 0.00 2.60 4.43 1.124 6 0.000 0.053 2702 2099 2000

10806 1.03 215.3 620.9 7.8 521 10807 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2099 1999

11115 1.03 215.3 597.4 7.1 536 11116 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2099 1999

11424 1.03 215.3 576.4 6.3 551 11426 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2099 1998

11734 1.03 215.3 555.8 7.2 566 11735 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2099 1997

12043 1.03 215.3 533.5 7.0 581 12044 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2100 1998

12353 1.05 231.6 514.8 5.5 596 12373 0.10 0.00 13.73 1.196 6 0.058 0.000 2739 2099 1934

12681 1.05 231.6 491.2 8.3 612 12683 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1934

12990 1.05 231.6 468.5 7.4 627 12995 0.00 2.58 0.00 0.000 4 0.000 0.052 2739 3505 1934

13079 1.05 231.6 461.7 7.4 631 13083 0.00 2.53 0.00 0.000 6 0.000 0.044 2739 2098 1934

13406 1.05 231.6 439.1 6.8 647 13407 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1934

13715 1.05 231.6 416.7 7.3 662 13716 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1934

14024 1.05 231.6 391.7 8.7 677 14025 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1934

14334 1.05 231.6 364.6 8.6 692 14338 0.00 2.58 0.00 0.000 4 0.000 0.051 2739 3506 1934

14405 1.05 231.6 358.2 8.7 695 14409 0.00 2.50 0.00 0.000 6 0.000 0.042 2739 2098 1934

14726 1.05 231.6 332.4 7.6 711 14728 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1935

15036 1.05 231.6 308.4 8.0 726 15037 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1935

15345 1.05 231.6 284.4 7.8 741 15346 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1935

15654 1.05 231.6 261.9 7.2 756 15655 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1935

15964 1.05 231.6 241.3 6.4 771 15965 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1936

16273 1.05 231.6 221.0 7.3 786 16274 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1936

16582 1.05 231.6 196.9 8.4 801 16586 0.00 2.55 0.00 0.000 4 0.000 0.050 2739 3505 1936

16666 1.05 231.6 190.3 7.9 805 16670 0.00 2.50 0.00 0.000 6 0.000 0.041 2739 2095 1936

16992 1.05 231.6 165.8 8.6 821 16993 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1936

17303 1.05 231.6 141.4 8.7 836 17304 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1936

17611 1.07 245.4 120.2 5.6 851 17625 0.00 0.00 12.38 0.945 6 0.000 0.000 2739 2095 1877

17921 1.07 245.4 98.8 6.6 866 17926 0.00 2.58 0.00 0.000 4 0.000 0.049 2739 3506 1876

18021 1.07 245.4 91.5 7.5 870 18028 0.00 2.53 0.00 0.000 6 0.000 0.040 2739 2095 1877

18337 1.07 245.4 65.4 8.8 886 18338 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2095 1876

18646 1.07 245.4 36.9 9.7 901 18647 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1877

18956 1.07 245.4 21.5 7.0 916 18957 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1877

19265 1.07 245.4 3.3 6.3 931 19266 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1877

19576 1.31 444.3 2.8 0.1 946 19647 0.15 0.00 67.80 0.783 2 0.054 0.000 2786 2090 1364

19647 end climb: NO_VERTICAL_VELOCITY

state 19648 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	233	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	21	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	-80619.984	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	135626,6315.552,-1305.616,37,1.2,37,-12.2	TGT_NAME	IW
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.185,0.097
_SM_DEPTHo	3.35	KALMAN_X	306222.9,-1130.8,11854.9,-559986.5,9785.9
_SM_ANGLEo	-50.9	KALMAN_Y	-43162.8,1652.2,-8718.7,239968.5,-10593.2
GPS2	140927,6315.632,-1305.640,14,1.8,14,-12.2	MHEAD_RNG_PITCHd_Wd	309.8,7889,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19651,95.07,0.739,0,0,602,558.06	ALTIM_BOTTOM_PING	625.9,53.5
SM_GC	3.57,11.85,0.00,0.00,0.028,0.000,0.000,32,1881,603,-11.25,-0.54,558.06	_24V_AH	23.3,50.955
IRIDIUM_FIX	6249.28,-1310.06,030108,181850	_10V_AH	10.1,24.762
TT8_MAMPS	0.026078	DATA_FILE_SIZE	47443,949
HUMID	2033	CFSIZE	260165632,243961856
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.70	GPS	030108,194758,6317.658,-1308.017,34,2.4,53,-12.2
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	91	52.69	SBE_CT	702	24	392.73
Roll_motor	67	74	116.27	SBE_O2	641	19	283.91
VBD_pump_during_apogee	398	1224	11356.86	WL_BB2F	627	105	1535.19
VBD_pump_during_surface	95	738	1636.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	274.62	nil	0	0	0.00
Iridium_during_connect	113	160	422.79	nil	0	0	0.00
Iridium_during_xfer	307	223	1595.61
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.17
TT8	1643	19	328.60
LPSleep	16018	2	354.32
TT8_Active	615	19	123.12
TT8_Sampling	1911	39	768.44
TT8_CF8	762	45	352.87
TT8_Kalman	33	81	27.56
Analog_circuits	1565	12	189.70
GPS_charging	0	0	0.00
Compass	1884	8	152.25
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-3.70	0.000	2	0.000	0.000	30	1885	695
29	-0.95	-146.6	3.3	-0.0	0	203	10.82	2.65	-154.57	0.000	4	0.091	0.074	2291	486	3476
411	-0.95	-146.6	22.4	-13.1	18	416	0.00	2.47	0.00	0.000	6	0.000	0.041	2291	1904	3476
733	-0.95	-146.6	54.3	-8.2	34	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3475
1043	-0.95	-146.6	71.7	-4.5	49	1044	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
1352	-0.95	-146.6	94.7	-8.9	64	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1905	3476
1661	-0.95	-146.6	116.5	-6.1	79	1662	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
1972	-0.95	-146.6	138.2	-7.7	94	1973	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
2279	-0.95	-146.6	160.3	-8.0	109	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
2588	-0.95	-146.6	185.1	-7.3	124	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
2898	-0.95	-146.6	206.5	-6.8	139	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3476
3207	-0.95	-146.6	227.1	-6.9	154	3211	0.00	2.50	0.00	0.000	4	0.000	0.049	2291	3293	3475
3261	-0.95	-146.6	231.3	-8.2	156	3268	0.00	2.50	0.00	0.000	6	0.000	0.044	2291	1899	3476
3577	-0.95	-146.6	255.4	-8.2	172	3578	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
3886	-0.95	-146.6	280.2	-7.5	187	3887	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
4195	-0.95	-146.6	303.5	-7.3	202	4197	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
4504	-0.95	-146.6	323.6	-6.1	217	4506	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
4814	-0.95	-146.6	342.5	-6.4	232	4815	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
5123	-0.95	-146.6	362.6	-6.1	247	5124	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3476
5432	-0.95	-146.6	384.5	-7.6	262	5436	0.00	2.53	0.00	0.000	4	0.000	0.050	2292	3294	3476
5498	-0.95	-146.6	389.8	-7.8	265	5503	0.00	2.53	0.00	0.000	6	0.000	0.044	2291	1905	3476
5826	-0.95	-146.6	414.4	-7.4	281	5827	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1905	3475
6135	-0.95	-146.6	437.3	-7.5	296	6136	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1905	3476
6444	-0.95	-146.6	460.4	-7.8	311	6445	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1905	3475
6754	-0.95	-146.6	481.7	-6.5	326	6755	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1903	3474
7063	-0.95	-146.6	501.6	-6.5	341	7067	0.00	2.53	0.00	0.000	4	0.000	0.051	2291	3296	3474
7128	-0.95	-146.6	506.1	-6.8	344	7132	0.00	2.53	0.00	0.000	6	0.000	0.045	2291	1894	3474
7455	-0.95	-146.6	526.9	-6.5	360	7456	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1894	3474
7764	-0.95	-146.6	547.6	-6.9	375	7765	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1894	3474
8073	-0.95	-146.6	568.6	-6.5	390	8074	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1894	3474
8383	-0.95	-146.6	588.3	-6.4	405	8387	0.00	2.58	0.00	0.000	4	0.000	0.055	2291	3302	3474
8454	-0.95	-146.6	593.4	-7.2	408	8458	0.00	2.53	0.00	0.000	6	0.000	0.048	2291	1901	3474
8775	-0.95	-146.6	614.0	-6.3	424	8779	0.00	2.55	0.00	0.000	4	0.000	0.055	2291	3294	3474
8847	-0.95	-146.6	618.9	-7.0	427	8852	0.00	2.53	0.00	0.000	6	0.000	0.048	2291	1899	3474
9163	-0.95	-146.6	638.4	-5.9	442	9164	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3474
9472	-0.95	-146.6	657.5	-6.4	457	9476	0.00	2.55	0.00	0.000	4	0.000	0.058	2291	3293	3474
9521	-0.95	-146.6	660.8	-6.4	459	9525	0.00	2.53	0.00	0.000	6	0.000	0.050	2291	1899	3474
9675	end dive: BOTTOM_OBSTACLE_DETECTED
state	9675	begin apogee
9681	-0.36	0.0	669.8	5.5	467	9807	0.57	0.00	123.07	1.224	6	0.076	0.000	2415	2095	2878
9807	end apogee: CONTROL_FINISHED_OK
state	9808	begin climb
9810	0.95	146.6	670.9	0.0	473	9941	1.27	2.75	121.53	1.188	4	0.052	0.068	2702	688	2280
10002	0.96	157.4	663.5	5.7	482	10019	0.00	2.55	10.02	1.170	6	0.000	0.049	2702	2101	2236
10328	1.03	211.4	650.0	4.4	498	10379	0.00	2.67	45.22	1.205	4	0.000	0.062	2702	3505	2015
10469	1.03	215.3	642.0	5.9	504	10479	0.00	2.60	4.43	1.124	6	0.000	0.053	2702	2099	2000
10806	1.03	215.3	620.9	7.8	521	10807	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2099	1999
11115	1.03	215.3	597.4	7.1	536	11116	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2099	1999
11424	1.03	215.3	576.4	6.3	551	11426	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2099	1998
11734	1.03	215.3	555.8	7.2	566	11735	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2099	1997
12043	1.03	215.3	533.5	7.0	581	12044	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2100	1998
12353	1.05	231.6	514.8	5.5	596	12373	0.10	0.00	13.73	1.196	6	0.058	0.000	2739	2099	1934
12681	1.05	231.6	491.2	8.3	612	12683	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1934
12990	1.05	231.6	468.5	7.4	627	12995	0.00	2.58	0.00	0.000	4	0.000	0.052	2739	3505	1934
13079	1.05	231.6	461.7	7.4	631	13083	0.00	2.53	0.00	0.000	6	0.000	0.044	2739	2098	1934
13406	1.05	231.6	439.1	6.8	647	13407	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1934
13715	1.05	231.6	416.7	7.3	662	13716	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1934
14024	1.05	231.6	391.7	8.7	677	14025	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1934
14334	1.05	231.6	364.6	8.6	692	14338	0.00	2.58	0.00	0.000	4	0.000	0.051	2739	3506	1934
14405	1.05	231.6	358.2	8.7	695	14409	0.00	2.50	0.00	0.000	6	0.000	0.042	2739	2098	1934
14726	1.05	231.6	332.4	7.6	711	14728	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1935
15036	1.05	231.6	308.4	8.0	726	15037	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1935
15345	1.05	231.6	284.4	7.8	741	15346	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1935
15654	1.05	231.6	261.9	7.2	756	15655	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1935
15964	1.05	231.6	241.3	6.4	771	15965	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1936
16273	1.05	231.6	221.0	7.3	786	16274	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1936
16582	1.05	231.6	196.9	8.4	801	16586	0.00	2.55	0.00	0.000	4	0.000	0.050	2739	3505	1936
16666	1.05	231.6	190.3	7.9	805	16670	0.00	2.50	0.00	0.000	6	0.000	0.041	2739	2095	1936
16992	1.05	231.6	165.8	8.6	821	16993	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1936
17303	1.05	231.6	141.4	8.7	836	17304	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1936
17611	1.07	245.4	120.2	5.6	851	17625	0.00	0.00	12.38	0.945	6	0.000	0.000	2739	2095	1877
17921	1.07	245.4	98.8	6.6	866	17926	0.00	2.58	0.00	0.000	4	0.000	0.049	2739	3506	1876
18021	1.07	245.4	91.5	7.5	870	18028	0.00	2.53	0.00	0.000	6	0.000	0.040	2739	2095	1877
18337	1.07	245.4	65.4	8.8	886	18338	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2095	1876
18646	1.07	245.4	36.9	9.7	901	18647	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1877
18956	1.07	245.4	21.5	7.0	916	18957	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1877
19265	1.07	245.4	3.3	6.3	931	19266	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1877
19576	1.31	444.3	2.8	0.1	946	19647	0.15	0.00	67.80	0.783	2	0.054	0.000	2786	2090	1364
19647	end climb: NO_VERTICAL_VELOCITY
state	19648	begin surface