Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 61 * 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 61 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 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 120 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 -77400.273 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 300

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 412.5

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 -77400.273

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 2350 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 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 61 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 084626,6133.992,-902.239,41,1.4,41,-9.3 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,-0.118

_SM_DEPTHo 0.83 KALMAN_X 35675.8,-877.5,-229.5,-62899.5,4866.3

_SM_ANGLEo -54.8 KALMAN_Y 145849.6,-799.9,-434.1,-143110.6,6170.2

GPS2 085303,6133.937,-902.195,10,1.5,10,-9.3 MHEAD_RNG_PITCHd_Wd 249.5,25885,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027248 XPDR_PINGS 389

SM_CCo 15872,49.10,0.789,6,0,1655,300.00 ALTIM_BOTTOM_PING 651.7,88.9

SM_GC 0.88,0.00,0.00,49.10,0.000,0.000,0.789,35,1875,1655,-11.32,-0.71,300.00 _24V_AH 23.4,21.288

IRIDIUM_FIX 6112.75,-900.24,221107,070758 _10V_AH 10.1,8.791

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37993,767

HUMID 2038 CFSIZE 260165632,255012864

INTERNAL_PRESSURE 9.25817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,6,0

TCM_TEMP 17.00 GPS 221107,132107,6131.455,-908.869,39,1.6,44,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 144 89.13 SBE_CT 559 24 314.44

Roll_motor 93 62 137.68 SBE_O2 517 19 230.26

VBD_pump_during_apogee 329 1253 9656.55 WL_BB2F 447 105 1099.44

VBD_pump_during_surface 49 789 906.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 68 103 164.33 nil 0 0 0.00

Iridium_during_connect 56 160 210.21 nil 0 0 0.00

Iridium_during_xfer 128 223 672.37

Transponder_ping 102 420 1009.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.24

TT8 1384 19 276.92

LPSleep 12431 2 274.98

TT8_Active 545 19 109.10

TT8_Sampling 1634 39 657.17

TT8_CF8 359 45 166.09

TT8_Kalman 33 81 27.56

Analog_circuits 1344 12 162.95

GPS_charging 0 0 0.00

Compass 1608 8 129.97

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.23 -146.5 0.0 0.0 0 102 0.00 0.00 -81.90 0.000 3 0.000 0.000 28 1885 3478

104 -1.23 -146.5 5.8 -8.0 4 126 11.75 2.60 0.00 0.000 4 0.145 0.044 2225 3311 3479

377 -1.23 -146.5 55.6 -14.8 16 382 0.00 2.55 0.00 0.000 6 0.000 0.041 2225 1903 3479

704 -1.23 -146.5 92.0 -10.8 32 708 0.00 2.53 0.00 0.000 4 0.000 0.047 2225 3303 3479

877 -1.23 -146.5 108.8 -10.2 40 882 0.00 2.50 0.00 0.000 6 0.000 0.042 2225 1898 3479

1203 -1.23 -146.6 138.1 -7.5 56 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3479

1513 -1.23 -146.6 155.0 -6.0 71 1517 0.00 2.53 0.00 0.000 4 0.000 0.046 2225 3305 3480

1619 -1.23 -146.6 162.3 -7.6 76 1623 0.00 2.53 0.00 0.000 6 0.000 0.043 2225 1897 3480

1944 -1.23 -146.6 189.0 -8.7 92 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1896 3480

2253 -1.23 -146.6 220.4 -10.7 107 2257 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3305 3479

2324 -1.23 -146.6 227.7 -9.3 110 2329 0.00 2.55 0.00 0.000 6 0.000 0.044 2225 1902 3479

2646 -1.23 -146.6 260.5 -10.5 126 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

2955 -1.23 -146.6 293.7 -10.7 141 2956 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

3265 -1.23 -146.6 326.7 -10.2 156 3269 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3304 3479

3326 -1.23 -146.6 332.7 -9.6 159 3330 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1898 3479

3651 -1.23 -146.6 368.3 -11.2 175 3652 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3480

3961 -1.23 -146.6 400.9 -9.7 190 3965 0.00 2.53 0.00 0.000 4 0.000 0.049 2225 3302 3479

4009 -1.23 -146.6 405.7 -9.6 192 4014 0.00 2.55 0.00 0.000 6 0.000 0.045 2225 1902 3479

4330 -1.23 -146.6 436.7 -9.2 208 4331 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

4639 -1.23 -146.6 461.9 -8.9 223 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3480

4949 -1.23 -146.6 490.9 -8.3 238 4950 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

5258 -1.23 -146.6 510.3 -5.9 253 5260 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

5569 -1.23 -146.6 525.5 -5.8 268 5570 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3479

5877 -1.23 -146.6 545.0 -6.3 283 5881 0.00 2.55 0.00 0.000 4 0.000 0.054 2225 3302 3479

5983 -1.23 -146.6 551.7 -5.8 288 5987 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1901 3479

6308 -1.23 -146.6 574.4 -8.0 304 6312 0.00 2.55 0.00 0.000 4 0.000 0.054 2225 3307 3479

6385 -1.23 -146.6 580.0 -6.8 307 6391 0.00 2.55 0.00 0.000 6 0.000 0.048 2225 1897 3479

6700 -1.23 -146.6 603.3 -7.9 323 6704 0.00 2.58 0.00 0.000 4 0.000 0.055 2225 3308 3479

6754 -1.23 -146.6 607.9 -8.8 325 6761 0.00 2.58 0.00 0.000 6 0.000 0.050 2225 1903 3480

7069 -1.23 -146.6 635.5 -9.6 341 7074 0.00 2.55 0.00 0.000 4 0.000 0.057 2225 3301 3479

7118 -1.23 -146.6 640.6 -9.8 343 7123 0.00 2.58 0.00 0.000 6 0.000 0.051 2225 1897 3479

7439 -1.23 -146.6 672.2 -10.0 359 7443 0.00 2.55 0.00 0.000 4 0.000 0.054 2224 3302 3478

7510 -1.23 -146.6 679.5 -10.7 362 7516 0.00 2.55 0.00 0.000 6 0.000 0.048 2225 1905 3478

7831 -1.23 -146.6 710.6 -9.7 378 7833 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1905 3478

8036 end dive: BOTTOM_OBSTACLE_DETECTED

state 8037 begin apogee

8042 -0.36 0.0 730.9 9.6 388 8168 0.93 0.00 123.32 1.253 6 0.098 0.000 2415 2345 2878

8169 end apogee: CONTROL_FINISHED_OK

state 8169 begin climb

8170 1.23 146.6 735.5 0.0 394 8301 1.58 2.70 121.70 1.217 4 0.055 0.061 2765 947 2280

8407 1.25 166.0 727.9 7.3 405 8429 0.00 2.53 16.70 1.206 6 0.000 0.046 2765 2346 2201

8749 1.25 166.0 701.7 8.6 422 8753 0.00 2.62 0.00 0.000 4 0.000 0.063 2765 940 2201

8792 1.28 191.6 698.1 7.0 424 8819 0.00 2.55 22.02 1.226 6 0.000 0.045 2765 2358 2096

9134 1.28 191.6 671.9 8.7 441 9135 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2358 2096

9443 1.30 206.8 645.6 7.4 456 9463 0.00 0.00 13.55 1.220 6 0.000 0.000 2765 2358 2034

9771 1.31 208.2 619.5 7.9 472 9773 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2358 2034

10080 1.31 208.2 590.0 11.2 487 10084 0.00 2.60 0.00 0.000 4 0.000 0.059 2765 935 2033

10118 1.31 208.2 586.0 10.3 488 10125 0.00 2.55 0.00 0.000 6 0.000 0.042 2765 2351 2034

10433 1.31 208.2 555.0 10.0 504 10435 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2351 2033

10743 1.31 208.2 522.9 10.4 519 10744 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2352 2033

11052 1.31 208.2 491.5 10.0 534 11053 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2352 2033

11361 1.31 208.2 460.8 9.9 549 11362 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2352 2034

11670 1.31 208.2 430.6 8.8 564 11674 0.00 2.58 0.00 0.000 4 0.000 0.058 2764 934 2033

11715 1.31 208.2 426.8 8.2 566 11720 0.00 2.53 0.00 0.000 6 0.000 0.041 2765 2361 2033

12041 1.35 245.9 404.4 6.6 582 12076 0.10 0.00 31.98 1.073 6 0.059 0.000 2797 2361 1874

12369 1.35 245.9 373.2 10.2 598 12371 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2362 1875

12679 1.35 245.9 337.8 11.9 613 12680 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2361 1875

12988 1.35 245.9 303.8 10.6 628 12993 0.00 2.60 0.00 0.000 4 0.000 0.057 2797 935 1875

13059 1.35 245.9 295.7 11.4 631 13064 0.00 2.53 0.00 0.000 6 0.000 0.040 2797 2351 1875

13380 1.35 245.9 262.4 10.7 647 13382 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2351 1875

13690 1.35 245.9 229.6 10.5 662 13694 0.00 2.58 0.00 0.000 4 0.000 0.057 2797 938 1875

13744 1.35 245.9 223.7 10.4 664 13751 0.00 2.50 0.00 0.000 6 0.000 0.039 2797 2344 1875

14059 1.35 245.9 190.3 10.9 680 14060 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2344 1875

14368 1.35 245.9 157.1 10.7 695 14373 0.00 2.55 0.00 0.000 4 0.000 0.057 2797 942 1875

14424 1.35 245.9 150.7 11.2 697 14430 0.00 2.50 0.00 0.000 6 0.000 0.039 2797 2360 1875

14739 1.35 245.9 114.5 11.4 713 14740 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2360 1875

15048 1.35 245.9 82.5 10.6 728 15049 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2360 1876

15357 1.35 245.9 52.5 8.2 743 15358 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2360 1876

15667 1.35 245.9 16.8 11.3 758 15668 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2360 1876

15830 end climb: SURFACE_DEPTH_REACHED

state 15831 begin surface coast

15852 end surface coast: CONTROL_FINISHED_OK

state 15852 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	61	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	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	120	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	-77400.273	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	084626,6133.992,-902.239,41,1.4,41,-9.3	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,-0.118
_SM_DEPTHo	0.83	KALMAN_X	35675.8,-877.5,-229.5,-62899.5,4866.3
_SM_ANGLEo	-54.8	KALMAN_Y	145849.6,-799.9,-434.1,-143110.6,6170.2
GPS2	085303,6133.937,-902.195,10,1.5,10,-9.3	MHEAD_RNG_PITCHd_Wd	249.5,25885,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	0.3,1.027248	XPDR_PINGS	389
SM_CCo	15872,49.10,0.789,6,0,1655,300.00	ALTIM_BOTTOM_PING	651.7,88.9
SM_GC	0.88,0.00,0.00,49.10,0.000,0.000,0.789,35,1875,1655,-11.32,-0.71,300.00	_24V_AH	23.4,21.288
IRIDIUM_FIX	6112.75,-900.24,221107,070758	_10V_AH	10.1,8.791
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37993,767
HUMID	2038	CFSIZE	260165632,255012864
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,6,0
TCM_TEMP	17.00	GPS	221107,132107,6131.455,-908.869,39,1.6,44,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	144	89.13	SBE_CT	559	24	314.44
Roll_motor	93	62	137.68	SBE_O2	517	19	230.26
VBD_pump_during_apogee	329	1253	9656.55	WL_BB2F	447	105	1099.44
VBD_pump_during_surface	49	789	906.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	68	103	164.33	nil	0	0	0.00
Iridium_during_connect	56	160	210.21	nil	0	0	0.00
Iridium_during_xfer	128	223	672.37
Transponder_ping	102	420	1009.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.24
TT8	1384	19	276.92
LPSleep	12431	2	274.98
TT8_Active	545	19	109.10
TT8_Sampling	1634	39	657.17
TT8_CF8	359	45	166.09
TT8_Kalman	33	81	27.56
Analog_circuits	1344	12	162.95
GPS_charging	0	0	0.00
Compass	1608	8	129.97
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.23	-146.5	0.0	0.0	0	102	0.00	0.00	-81.90	0.000	3	0.000	0.000	28	1885	3478
104	-1.23	-146.5	5.8	-8.0	4	126	11.75	2.60	0.00	0.000	4	0.145	0.044	2225	3311	3479
377	-1.23	-146.5	55.6	-14.8	16	382	0.00	2.55	0.00	0.000	6	0.000	0.041	2225	1903	3479
704	-1.23	-146.5	92.0	-10.8	32	708	0.00	2.53	0.00	0.000	4	0.000	0.047	2225	3303	3479
877	-1.23	-146.5	108.8	-10.2	40	882	0.00	2.50	0.00	0.000	6	0.000	0.042	2225	1898	3479
1203	-1.23	-146.6	138.1	-7.5	56	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3479
1513	-1.23	-146.6	155.0	-6.0	71	1517	0.00	2.53	0.00	0.000	4	0.000	0.046	2225	3305	3480
1619	-1.23	-146.6	162.3	-7.6	76	1623	0.00	2.53	0.00	0.000	6	0.000	0.043	2225	1897	3480
1944	-1.23	-146.6	189.0	-8.7	92	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1896	3480
2253	-1.23	-146.6	220.4	-10.7	107	2257	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3305	3479
2324	-1.23	-146.6	227.7	-9.3	110	2329	0.00	2.55	0.00	0.000	6	0.000	0.044	2225	1902	3479
2646	-1.23	-146.6	260.5	-10.5	126	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
2955	-1.23	-146.6	293.7	-10.7	141	2956	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
3265	-1.23	-146.6	326.7	-10.2	156	3269	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3304	3479
3326	-1.23	-146.6	332.7	-9.6	159	3330	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1898	3479
3651	-1.23	-146.6	368.3	-11.2	175	3652	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3480
3961	-1.23	-146.6	400.9	-9.7	190	3965	0.00	2.53	0.00	0.000	4	0.000	0.049	2225	3302	3479
4009	-1.23	-146.6	405.7	-9.6	192	4014	0.00	2.55	0.00	0.000	6	0.000	0.045	2225	1902	3479
4330	-1.23	-146.6	436.7	-9.2	208	4331	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
4639	-1.23	-146.6	461.9	-8.9	223	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3480
4949	-1.23	-146.6	490.9	-8.3	238	4950	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
5258	-1.23	-146.6	510.3	-5.9	253	5260	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
5569	-1.23	-146.6	525.5	-5.8	268	5570	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3479
5877	-1.23	-146.6	545.0	-6.3	283	5881	0.00	2.55	0.00	0.000	4	0.000	0.054	2225	3302	3479
5983	-1.23	-146.6	551.7	-5.8	288	5987	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1901	3479
6308	-1.23	-146.6	574.4	-8.0	304	6312	0.00	2.55	0.00	0.000	4	0.000	0.054	2225	3307	3479
6385	-1.23	-146.6	580.0	-6.8	307	6391	0.00	2.55	0.00	0.000	6	0.000	0.048	2225	1897	3479
6700	-1.23	-146.6	603.3	-7.9	323	6704	0.00	2.58	0.00	0.000	4	0.000	0.055	2225	3308	3479
6754	-1.23	-146.6	607.9	-8.8	325	6761	0.00	2.58	0.00	0.000	6	0.000	0.050	2225	1903	3480
7069	-1.23	-146.6	635.5	-9.6	341	7074	0.00	2.55	0.00	0.000	4	0.000	0.057	2225	3301	3479
7118	-1.23	-146.6	640.6	-9.8	343	7123	0.00	2.58	0.00	0.000	6	0.000	0.051	2225	1897	3479
7439	-1.23	-146.6	672.2	-10.0	359	7443	0.00	2.55	0.00	0.000	4	0.000	0.054	2224	3302	3478
7510	-1.23	-146.6	679.5	-10.7	362	7516	0.00	2.55	0.00	0.000	6	0.000	0.048	2225	1905	3478
7831	-1.23	-146.6	710.6	-9.7	378	7833	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1905	3478
8036	end dive: BOTTOM_OBSTACLE_DETECTED
state	8037	begin apogee
8042	-0.36	0.0	730.9	9.6	388	8168	0.93	0.00	123.32	1.253	6	0.098	0.000	2415	2345	2878
8169	end apogee: CONTROL_FINISHED_OK
state	8169	begin climb
8170	1.23	146.6	735.5	0.0	394	8301	1.58	2.70	121.70	1.217	4	0.055	0.061	2765	947	2280
8407	1.25	166.0	727.9	7.3	405	8429	0.00	2.53	16.70	1.206	6	0.000	0.046	2765	2346	2201
8749	1.25	166.0	701.7	8.6	422	8753	0.00	2.62	0.00	0.000	4	0.000	0.063	2765	940	2201
8792	1.28	191.6	698.1	7.0	424	8819	0.00	2.55	22.02	1.226	6	0.000	0.045	2765	2358	2096
9134	1.28	191.6	671.9	8.7	441	9135	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2358	2096
9443	1.30	206.8	645.6	7.4	456	9463	0.00	0.00	13.55	1.220	6	0.000	0.000	2765	2358	2034
9771	1.31	208.2	619.5	7.9	472	9773	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2358	2034
10080	1.31	208.2	590.0	11.2	487	10084	0.00	2.60	0.00	0.000	4	0.000	0.059	2765	935	2033
10118	1.31	208.2	586.0	10.3	488	10125	0.00	2.55	0.00	0.000	6	0.000	0.042	2765	2351	2034
10433	1.31	208.2	555.0	10.0	504	10435	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2351	2033
10743	1.31	208.2	522.9	10.4	519	10744	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2352	2033
11052	1.31	208.2	491.5	10.0	534	11053	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2352	2033
11361	1.31	208.2	460.8	9.9	549	11362	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2352	2034
11670	1.31	208.2	430.6	8.8	564	11674	0.00	2.58	0.00	0.000	4	0.000	0.058	2764	934	2033
11715	1.31	208.2	426.8	8.2	566	11720	0.00	2.53	0.00	0.000	6	0.000	0.041	2765	2361	2033
12041	1.35	245.9	404.4	6.6	582	12076	0.10	0.00	31.98	1.073	6	0.059	0.000	2797	2361	1874
12369	1.35	245.9	373.2	10.2	598	12371	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2362	1875
12679	1.35	245.9	337.8	11.9	613	12680	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2361	1875
12988	1.35	245.9	303.8	10.6	628	12993	0.00	2.60	0.00	0.000	4	0.000	0.057	2797	935	1875
13059	1.35	245.9	295.7	11.4	631	13064	0.00	2.53	0.00	0.000	6	0.000	0.040	2797	2351	1875
13380	1.35	245.9	262.4	10.7	647	13382	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2351	1875
13690	1.35	245.9	229.6	10.5	662	13694	0.00	2.58	0.00	0.000	4	0.000	0.057	2797	938	1875
13744	1.35	245.9	223.7	10.4	664	13751	0.00	2.50	0.00	0.000	6	0.000	0.039	2797	2344	1875
14059	1.35	245.9	190.3	10.9	680	14060	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2344	1875
14368	1.35	245.9	157.1	10.7	695	14373	0.00	2.55	0.00	0.000	4	0.000	0.057	2797	942	1875
14424	1.35	245.9	150.7	11.2	697	14430	0.00	2.50	0.00	0.000	6	0.000	0.039	2797	2360	1875
14739	1.35	245.9	114.5	11.4	713	14740	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2360	1875
15048	1.35	245.9	82.5	10.6	728	15049	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2360	1876
15357	1.35	245.9	52.5	8.2	743	15358	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2360	1876
15667	1.35	245.9	16.8	11.3	758	15668	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2360	1876
15830	end climb: SURFACE_DEPTH_REACHED
state	15831	begin surface coast
15852	end surface coast: CONTROL_FINISHED_OK
state	15852	begin surface