Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 243 * 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 243 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -80849.82 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 -80849.82

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 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 243 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 034738,6333.724,-1308.845,34,0.8,34,-12.3 TGT_NAME JW

_CALLS 3 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,0.115

_SM_DEPTHo 2.94 KALMAN_X 314514.0,630.3,-468.7,-560721.6,3868.8

_SM_ANGLEo -60.3 KALMAN_Y -31988.0,826.2,-557.5,255006.2,-2946.0

GPS2 040039,6333.699,-1308.919,12,1.2,12,-12.3 MHEAD_RNG_PITCHd_Wd 315.7,5559,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16942,75.50,0.769,0,0,603,558.06 ALTIM_BOTTOM_PING 626.2,74.8

SM_GC 2.93,11.80,0.00,0.00,0.029,0.000,0.000,34,1891,602,-11.25,-0.25,558.30 _24V_AH 23.3,52.759

IRIDIUM_FIX 6308.26,-1304.75,060108,070704 _10V_AH 10.1,25.743

TT8_MAMPS 0.026078 DATA_FILE_SIZE 41147,817

HUMID 2049 CFSIZE 260165632,243281920

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.70 GPS 060108,085326,6336.701,-1310.450,39,1.1,39,-12.4

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 115 68.27 SBE_CT 603 24 337.72

Roll_motor 103 74 179.11 SBE_O2 550 19 243.68

VBD_pump_during_apogee 452 1237 13051.89 WL_BB2F 555 105 1358.77

VBD_pump_during_surface 75 768 1351.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 272.33 nil 0 0 0.00

Iridium_during_connect 200 160 747.64 nil 0 0 0.00

Iridium_during_xfer 228 223 1185.26

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.83

TT8 1461 19 292.23

LPSleep 13516 2 298.97

TT8_Active 672 19 134.53

TT8_Sampling 1818 39 731.16

TT8_CF8 752 45 348.19

TT8_Kalman 33 81 27.57

Analog_circuits 1611 12 195.26

GPS_charging 0 0 0.00

Compass 1786 8 144.31

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 -21.73 0.000 2 0.000 0.000 27 1886 1096

49 -0.95 -146.6 3.1 -0.0 1 239 11.40 2.62 -170.07 0.000 4 0.116 0.061 2288 3317 3475

347 -0.95 -146.6 10.1 -7.1 15 351 0.00 2.55 0.00 0.000 6 0.000 0.044 2288 1898 3476

672 -0.95 -146.6 33.4 -7.2 31 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3475

982 -0.95 -146.6 56.4 -8.2 46 986 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3304 3475

1047 -0.95 -146.6 61.2 -7.6 49 1052 0.00 2.53 0.00 0.000 6 0.000 0.042 2288 1895 3475

1369 -0.95 -146.6 80.6 -6.2 65 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

1678 -0.95 -146.6 99.3 -6.3 80 1682 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3305 3475

1739 -0.95 -146.6 103.4 -6.7 83 1744 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1899 3475

2068 -0.95 -146.6 125.5 -7.0 99 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3475

2375 -0.95 -146.6 147.3 -7.2 114 2376 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3475

2684 -0.95 -146.6 170.9 -8.1 129 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

2993 -0.95 -146.6 197.1 -8.5 144 2997 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3307 3475

3064 -0.95 -146.6 203.7 -9.2 147 3068 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1900 3475

3386 -0.95 -146.6 229.6 -7.6 163 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

3695 -0.95 -146.6 252.2 -7.3 178 3696 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

4004 -0.95 -146.6 274.0 -7.0 193 4008 0.00 2.55 0.00 0.000 4 0.000 0.049 2288 3306 3475

4075 -0.95 -146.6 279.2 -6.9 196 4079 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1901 3475

4391 -0.95 -146.6 300.4 -6.7 211 4393 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

4700 -0.95 -146.6 324.4 -8.6 226 4701 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

5010 -0.95 -146.6 349.3 -7.8 241 5011 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

5318 -0.95 -146.6 371.1 -6.7 256 5323 0.00 2.55 0.00 0.000 4 0.000 0.050 2289 3310 3475

5380 -0.95 -146.6 375.5 -7.9 259 5384 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1901 3475

5706 -0.95 -146.6 395.2 -5.9 275 5707 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

6015 -0.95 -146.6 415.9 -7.2 290 6019 0.00 2.55 0.00 0.000 4 0.000 0.051 2288 3307 3475

6080 -0.95 -146.6 421.6 -9.1 293 6085 0.00 2.55 0.00 0.000 6 0.000 0.045 2288 1904 3475

6408 -0.95 -146.6 450.8 -8.7 309 6409 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3475

6716 -0.95 -146.6 477.0 -8.0 324 6717 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

7026 -0.95 -146.6 499.8 -7.4 339 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

7335 -0.95 -146.6 523.2 -7.9 354 7336 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

7644 -0.95 -146.6 547.5 -7.7 369 7645 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

7953 -0.95 -146.6 570.4 -7.3 384 7955 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

8263 -0.95 -146.6 592.7 -7.3 399 8267 0.00 2.55 0.00 0.000 4 0.000 0.055 2288 3302 3474

8340 -0.95 -146.6 598.7 -7.7 402 8346 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1903 3474

8655 -0.95 -146.6 623.5 -6.8 418 8656 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3474

8965 -0.95 -146.6 644.0 -6.5 433 8966 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3474

9274 -0.95 -146.6 664.5 -6.5 448 9278 0.00 2.58 0.00 0.000 4 0.000 0.059 2288 3304 3474

9368 -0.95 -146.6 671.1 -7.7 452 9372 0.00 2.55 0.00 0.000 6 0.000 0.051 2288 1901 3474

9640 end dive: BOTTOM_OBSTACLE_DETECTED

state 9640 begin apogee

9645 -0.36 0.0 691.8 8.8 465 9772 0.60 0.00 123.95 1.238 6 0.067 0.000 2421 2103 2878

9773 end apogee: CONTROL_FINISHED_OK

state 9773 begin climb

9775 0.95 146.6 697.1 0.0 471 9908 1.25 2.78 122.80 1.201 4 0.055 0.074 2700 696 2280

10160 1.20 356.0 700.9 -0.2 489 10343 0.25 2.53 172.70 1.203 6 0.037 0.048 2768 2101 1425

10664 1.20 356.0 644.0 13.9 514 10668 0.00 2.67 0.00 0.000 4 0.000 0.073 2769 693 1426

10718 1.20 356.0 638.1 10.4 516 10725 0.00 2.53 0.00 0.000 6 0.000 0.048 2768 2099 1425

11034 1.20 356.0 600.2 12.4 532 11035 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2103 1425

11343 1.20 356.0 564.8 10.8 547 11347 0.00 2.65 0.00 0.000 4 0.000 0.070 2769 692 1424

11392 1.20 356.0 559.3 10.7 549 11396 0.00 2.53 0.00 0.000 6 0.000 0.045 2769 2109 1424

11707 1.20 356.0 523.8 11.5 564 11708 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2113 1424

12016 1.20 356.0 487.3 12.5 579 12021 0.00 2.65 0.00 0.000 4 0.000 0.067 2769 692 1424

12083 1.20 356.0 478.9 13.1 582 12087 0.00 2.50 0.00 0.000 6 0.000 0.043 2769 2106 1423

12409 1.20 356.0 439.4 12.2 598 12413 0.00 2.65 0.00 0.000 4 0.000 0.067 2769 691 1424

12452 1.20 356.0 433.9 12.0 600 12456 0.00 2.50 0.00 0.000 6 0.000 0.042 2769 2100 1424

12780 1.20 356.0 399.8 9.7 616 12781 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2104 1424

13089 1.20 356.0 369.2 10.1 631 13093 0.00 2.65 0.00 0.000 4 0.000 0.066 2769 690 1424

13137 1.20 356.0 363.8 10.8 633 13141 0.00 2.50 0.00 0.000 6 0.000 0.042 2769 2106 1424

13459 1.20 356.0 330.5 10.4 649 13460 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2111 1424

13768 1.20 356.0 299.8 9.7 664 13772 0.00 2.62 0.00 0.000 4 0.000 0.066 2769 691 1424

13833 1.20 356.0 292.7 10.4 667 13838 0.00 2.53 0.00 0.000 6 0.000 0.041 2769 2096 1424

14160 1.20 356.0 258.4 10.7 683 14161 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2100 1425

14469 1.20 356.0 224.7 11.1 698 14474 0.00 2.62 0.00 0.000 4 0.000 0.064 2769 688 1425

14541 1.20 356.0 216.4 11.3 701 14546 0.00 2.50 0.00 0.000 6 0.000 0.041 2769 2111 1425

14857 1.20 356.0 183.5 10.1 716 14858 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2116 1425

15166 1.20 356.0 151.5 10.7 731 15170 0.00 2.65 0.00 0.000 4 0.000 0.063 2769 685 1425

15237 1.20 356.0 143.6 10.7 734 15242 0.00 2.47 0.00 0.000 6 0.000 0.041 2769 2105 1425

15559 1.20 356.0 110.5 10.4 750 15561 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2109 1425

15868 1.20 356.0 78.0 10.3 765 15872 0.00 2.62 0.00 0.000 4 0.000 0.063 2769 691 1425

15934 1.20 356.0 70.5 11.1 768 15938 0.00 2.47 0.00 0.000 6 0.000 0.040 2769 2098 1425

16263 1.20 356.0 37.1 10.5 784 16264 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2103 1425

16570 1.20 356.0 5.2 10.5 799 16575 0.00 2.62 0.00 0.000 4 0.000 0.064 2769 687 1426

16610 1.27 409.6 2.4 4.4 801 16653 0.00 2.50 33.05 0.808 6 0.000 0.042 2769 2103 1207

16939 end climb: NO_VERTICAL_VELOCITY

state 16939 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	243	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-80849.82	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	034738,6333.724,-1308.845,34,0.8,34,-12.3	TGT_NAME	JW
_CALLS	3	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,0.115
_SM_DEPTHo	2.94	KALMAN_X	314514.0,630.3,-468.7,-560721.6,3868.8
_SM_ANGLEo	-60.3	KALMAN_Y	-31988.0,826.2,-557.5,255006.2,-2946.0
GPS2	040039,6333.699,-1308.919,12,1.2,12,-12.3	MHEAD_RNG_PITCHd_Wd	315.7,5559,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16942,75.50,0.769,0,0,603,558.06	ALTIM_BOTTOM_PING	626.2,74.8
SM_GC	2.93,11.80,0.00,0.00,0.029,0.000,0.000,34,1891,602,-11.25,-0.25,558.30	_24V_AH	23.3,52.759
IRIDIUM_FIX	6308.26,-1304.75,060108,070704	_10V_AH	10.1,25.743
TT8_MAMPS	0.026078	DATA_FILE_SIZE	41147,817
HUMID	2049	CFSIZE	260165632,243281920
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.70	GPS	060108,085326,6336.701,-1310.450,39,1.1,39,-12.4
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	115	68.27	SBE_CT	603	24	337.72
Roll_motor	103	74	179.11	SBE_O2	550	19	243.68
VBD_pump_during_apogee	452	1237	13051.89	WL_BB2F	555	105	1358.77
VBD_pump_during_surface	75	768	1351.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	272.33	nil	0	0	0.00
Iridium_during_connect	200	160	747.64	nil	0	0	0.00
Iridium_during_xfer	228	223	1185.26
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.83
TT8	1461	19	292.23
LPSleep	13516	2	298.97
TT8_Active	672	19	134.53
TT8_Sampling	1818	39	731.16
TT8_CF8	752	45	348.19
TT8_Kalman	33	81	27.57
Analog_circuits	1611	12	195.26
GPS_charging	0	0	0.00
Compass	1786	8	144.31
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	-21.73	0.000	2	0.000	0.000	27	1886	1096
49	-0.95	-146.6	3.1	-0.0	1	239	11.40	2.62	-170.07	0.000	4	0.116	0.061	2288	3317	3475
347	-0.95	-146.6	10.1	-7.1	15	351	0.00	2.55	0.00	0.000	6	0.000	0.044	2288	1898	3476
672	-0.95	-146.6	33.4	-7.2	31	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3475
982	-0.95	-146.6	56.4	-8.2	46	986	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3304	3475
1047	-0.95	-146.6	61.2	-7.6	49	1052	0.00	2.53	0.00	0.000	6	0.000	0.042	2288	1895	3475
1369	-0.95	-146.6	80.6	-6.2	65	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
1678	-0.95	-146.6	99.3	-6.3	80	1682	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3305	3475
1739	-0.95	-146.6	103.4	-6.7	83	1744	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1899	3475
2068	-0.95	-146.6	125.5	-7.0	99	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3475
2375	-0.95	-146.6	147.3	-7.2	114	2376	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3475
2684	-0.95	-146.6	170.9	-8.1	129	2685	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
2993	-0.95	-146.6	197.1	-8.5	144	2997	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3307	3475
3064	-0.95	-146.6	203.7	-9.2	147	3068	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1900	3475
3386	-0.95	-146.6	229.6	-7.6	163	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
3695	-0.95	-146.6	252.2	-7.3	178	3696	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
4004	-0.95	-146.6	274.0	-7.0	193	4008	0.00	2.55	0.00	0.000	4	0.000	0.049	2288	3306	3475
4075	-0.95	-146.6	279.2	-6.9	196	4079	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1901	3475
4391	-0.95	-146.6	300.4	-6.7	211	4393	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
4700	-0.95	-146.6	324.4	-8.6	226	4701	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
5010	-0.95	-146.6	349.3	-7.8	241	5011	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
5318	-0.95	-146.6	371.1	-6.7	256	5323	0.00	2.55	0.00	0.000	4	0.000	0.050	2289	3310	3475
5380	-0.95	-146.6	375.5	-7.9	259	5384	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1901	3475
5706	-0.95	-146.6	395.2	-5.9	275	5707	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
6015	-0.95	-146.6	415.9	-7.2	290	6019	0.00	2.55	0.00	0.000	4	0.000	0.051	2288	3307	3475
6080	-0.95	-146.6	421.6	-9.1	293	6085	0.00	2.55	0.00	0.000	6	0.000	0.045	2288	1904	3475
6408	-0.95	-146.6	450.8	-8.7	309	6409	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3475
6716	-0.95	-146.6	477.0	-8.0	324	6717	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
7026	-0.95	-146.6	499.8	-7.4	339	7027	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
7335	-0.95	-146.6	523.2	-7.9	354	7336	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
7644	-0.95	-146.6	547.5	-7.7	369	7645	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
7953	-0.95	-146.6	570.4	-7.3	384	7955	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
8263	-0.95	-146.6	592.7	-7.3	399	8267	0.00	2.55	0.00	0.000	4	0.000	0.055	2288	3302	3474
8340	-0.95	-146.6	598.7	-7.7	402	8346	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1903	3474
8655	-0.95	-146.6	623.5	-6.8	418	8656	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3474
8965	-0.95	-146.6	644.0	-6.5	433	8966	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3474
9274	-0.95	-146.6	664.5	-6.5	448	9278	0.00	2.58	0.00	0.000	4	0.000	0.059	2288	3304	3474
9368	-0.95	-146.6	671.1	-7.7	452	9372	0.00	2.55	0.00	0.000	6	0.000	0.051	2288	1901	3474
9640	end dive: BOTTOM_OBSTACLE_DETECTED
state	9640	begin apogee
9645	-0.36	0.0	691.8	8.8	465	9772	0.60	0.00	123.95	1.238	6	0.067	0.000	2421	2103	2878
9773	end apogee: CONTROL_FINISHED_OK
state	9773	begin climb
9775	0.95	146.6	697.1	0.0	471	9908	1.25	2.78	122.80	1.201	4	0.055	0.074	2700	696	2280
10160	1.20	356.0	700.9	-0.2	489	10343	0.25	2.53	172.70	1.203	6	0.037	0.048	2768	2101	1425
10664	1.20	356.0	644.0	13.9	514	10668	0.00	2.67	0.00	0.000	4	0.000	0.073	2769	693	1426
10718	1.20	356.0	638.1	10.4	516	10725	0.00	2.53	0.00	0.000	6	0.000	0.048	2768	2099	1425
11034	1.20	356.0	600.2	12.4	532	11035	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2103	1425
11343	1.20	356.0	564.8	10.8	547	11347	0.00	2.65	0.00	0.000	4	0.000	0.070	2769	692	1424
11392	1.20	356.0	559.3	10.7	549	11396	0.00	2.53	0.00	0.000	6	0.000	0.045	2769	2109	1424
11707	1.20	356.0	523.8	11.5	564	11708	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2113	1424
12016	1.20	356.0	487.3	12.5	579	12021	0.00	2.65	0.00	0.000	4	0.000	0.067	2769	692	1424
12083	1.20	356.0	478.9	13.1	582	12087	0.00	2.50	0.00	0.000	6	0.000	0.043	2769	2106	1423
12409	1.20	356.0	439.4	12.2	598	12413	0.00	2.65	0.00	0.000	4	0.000	0.067	2769	691	1424
12452	1.20	356.0	433.9	12.0	600	12456	0.00	2.50	0.00	0.000	6	0.000	0.042	2769	2100	1424
12780	1.20	356.0	399.8	9.7	616	12781	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2104	1424
13089	1.20	356.0	369.2	10.1	631	13093	0.00	2.65	0.00	0.000	4	0.000	0.066	2769	690	1424
13137	1.20	356.0	363.8	10.8	633	13141	0.00	2.50	0.00	0.000	6	0.000	0.042	2769	2106	1424
13459	1.20	356.0	330.5	10.4	649	13460	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2111	1424
13768	1.20	356.0	299.8	9.7	664	13772	0.00	2.62	0.00	0.000	4	0.000	0.066	2769	691	1424
13833	1.20	356.0	292.7	10.4	667	13838	0.00	2.53	0.00	0.000	6	0.000	0.041	2769	2096	1424
14160	1.20	356.0	258.4	10.7	683	14161	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2100	1425
14469	1.20	356.0	224.7	11.1	698	14474	0.00	2.62	0.00	0.000	4	0.000	0.064	2769	688	1425
14541	1.20	356.0	216.4	11.3	701	14546	0.00	2.50	0.00	0.000	6	0.000	0.041	2769	2111	1425
14857	1.20	356.0	183.5	10.1	716	14858	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2116	1425
15166	1.20	356.0	151.5	10.7	731	15170	0.00	2.65	0.00	0.000	4	0.000	0.063	2769	685	1425
15237	1.20	356.0	143.6	10.7	734	15242	0.00	2.47	0.00	0.000	6	0.000	0.041	2769	2105	1425
15559	1.20	356.0	110.5	10.4	750	15561	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2109	1425
15868	1.20	356.0	78.0	10.3	765	15872	0.00	2.62	0.00	0.000	4	0.000	0.063	2769	691	1425
15934	1.20	356.0	70.5	11.1	768	15938	0.00	2.47	0.00	0.000	6	0.000	0.040	2769	2098	1425
16263	1.20	356.0	37.1	10.5	784	16264	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2103	1425
16570	1.20	356.0	5.2	10.5	799	16575	0.00	2.62	0.00	0.000	4	0.000	0.064	2769	687	1426
16610	1.27	409.6	2.4	4.4	801	16653	0.00	2.50	33.05	0.808	6	0.000	0.042	2769	2103	1207
16939	end climb: NO_VERTICAL_VELOCITY
state	16939	begin surface