Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 212 * 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 212 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 16 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 -80151.336 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 -80151.336

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 16 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 212 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 184333,6256.783,-1249.421,40,3.2,76,-11.9 TGT_NAME IW

_CALLS 4 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.047,0.203

_SM_DEPTHo 3.61 KALMAN_X 257490.7,-520.2,897.1,-486845.3,5180.2

_SM_ANGLEo -55.9 KALMAN_Y -18404.5,931.0,9261.6,162817.6,-16958.8

GPS2 190032,6256.654,-1249.636,11,1.3,11,-11.9 MHEAD_RNG_PITCHd_Wd 25.0,40018,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18394,56.95,0.752,0,0,602,558.06 ALTIM_BOTTOM_PING 551.3,95.2

SM_GC 3.70,11.77,0.00,0.00,0.024,0.000,0.000,31,1893,603,-11.25,-0.20,558.06 _24V_AH 23.3,47.327

IRIDIUM_FIX 6230.49,-1252.24,291207,222228 _10V_AH 10.1,22.894

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44189,891

HUMID 2052 CFSIZE 260165632,245202944

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.40 GPS 301207,001708,6258.701,-1248.487,35,1.9,35,-11.9

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 59.99 SBE_CT 651 24 364.10

Roll_motor 87 72 148.43 SBE_O2 601 19 266.14

VBD_pump_during_apogee 436 1230 12506.65 WL_BB2F 603 105 1476.30

VBD_pump_during_surface 56 752 998.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 156 103 374.86 nil 0 0 0.00

Iridium_during_connect 333 160 1243.15 nil 0 0 0.00

Iridium_during_xfer 235 223 1223.02

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.59

TT8 1563 19 312.62

LPSleep 14910 2 329.80

TT8_Active 629 19 125.87

TT8_Sampling 1865 39 749.94

TT8_CF8 925 45 428.05

TT8_Kalman 33 81 27.55

Analog_circuits 1573 12 190.70

GPS_charging 0 0 0.00

Compass 1839 8 148.62

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

20 -0.95 -146.6 0.0 0.0 0 29 0.00 0.00 -6.90 0.000 2 0.000 0.000 27 1895 770

32 -0.95 -146.6 3.6 -0.0 1 224 11.12 2.62 -171.57 0.000 4 0.103 0.073 2290 486 3475

285 -0.95 -146.6 8.0 -8.1 13 289 0.00 2.47 0.00 0.000 6 0.000 0.041 2290 1904 3475

612 -0.95 -146.6 26.5 -5.0 29 613 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1906 3475

921 -0.95 -146.6 50.4 -6.7 44 922 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3475

1230 -0.95 -146.6 76.4 -9.5 59 1232 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3475

1541 -0.95 -146.6 110.8 -8.3 74 1545 0.00 2.50 0.00 0.000 4 0.000 0.049 2291 3293 3475

1580 -0.95 -146.6 113.9 -7.2 76 1584 0.00 2.53 0.00 0.000 6 0.000 0.044 2291 1892 3475

1906 -0.95 -146.6 139.2 -6.9 92 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1892 3475

2214 -0.95 -146.6 162.3 -10.3 107 2216 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1892 3475

2524 -0.95 -146.6 188.9 -8.6 122 2528 0.00 2.55 0.00 0.000 4 0.000 0.049 2290 3298 3475

2562 -0.95 -146.6 192.3 -9.1 124 2567 0.00 2.53 0.00 0.000 6 0.000 0.044 2290 1895 3475

2888 -0.95 -146.6 215.2 -7.6 140 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3475

3197 -0.95 -146.6 236.4 -6.7 155 3202 0.00 2.53 0.00 0.000 4 0.000 0.048 2291 3295 3475

3241 -0.95 -146.6 239.5 -7.6 157 3246 0.00 2.50 0.00 0.000 6 0.000 0.044 2291 1897 3475

3568 -0.95 -146.6 263.8 -7.0 173 3569 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

3877 -0.95 -146.6 288.8 -8.0 188 3878 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

4187 -0.95 -146.6 312.9 -7.6 203 4188 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

4495 -0.95 -146.6 338.2 -8.1 218 4497 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

4805 -0.95 -146.6 361.5 -7.2 233 4806 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

5114 -0.95 -146.6 384.1 -7.4 248 5118 0.00 2.55 0.00 0.000 4 0.000 0.051 2290 3302 3475

5163 -0.95 -146.6 387.8 -6.9 250 5167 0.00 2.53 0.00 0.000 6 0.000 0.045 2290 1901 3475

5484 -0.95 -146.6 410.1 -6.8 266 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1902 3475

5794 -0.95 -146.6 430.6 -6.7 281 5795 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

6103 -0.95 -146.6 452.6 -7.4 296 6104 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1902 3475

6413 -0.95 -146.6 473.2 -5.1 311 6417 0.00 2.55 0.00 0.000 4 0.000 0.052 2290 3300 3474

6474 -0.95 -146.6 476.3 -5.6 314 6479 0.00 2.53 0.00 0.000 6 0.000 0.047 2290 1901 3474

6800 -0.95 -146.6 497.8 -7.0 330 6801 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3474

7110 -0.95 -146.6 516.1 -5.7 345 7111 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3474

7419 -0.95 -146.6 537.9 -7.3 360 7423 0.00 2.60 0.00 0.000 4 0.000 0.069 2290 497 3474

7496 -0.95 -146.6 544.6 -8.9 363 7502 0.00 2.47 0.00 0.000 6 0.000 0.046 2290 1895 3473

7812 -0.95 -146.6 564.7 -4.9 379 7813 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3474

8121 -0.95 -146.6 582.9 -5.8 394 8125 0.00 2.58 0.00 0.000 4 0.000 0.060 2290 3295 3474

8182 -0.95 -146.6 586.6 -6.0 397 8186 0.00 2.55 0.00 0.000 6 0.000 0.052 2290 1899 3474

8508 -0.95 -146.6 606.1 -6.6 413 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3473

8817 -0.95 -146.6 624.2 -5.9 428 8821 0.00 2.58 0.00 0.000 4 0.000 0.062 2290 3300 3473

8901 -0.95 -146.6 629.4 -4.9 432 8905 0.00 2.55 0.00 0.000 6 0.000 0.055 2290 1897 3473

9039 end dive: BOTTOM_OBSTACLE_DETECTED

state 9039 begin apogee

9044 -0.36 0.0 637.3 5.5 439 9170 0.60 0.00 122.62 1.230 6 0.074 0.000 2420 2104 2878

9171 end apogee: CONTROL_FINISHED_OK

state 9171 begin climb

9173 0.95 146.6 639.5 0.0 445 9304 1.27 2.70 121.85 1.187 4 0.061 0.065 2700 3496 2279

9524 0.95 146.6 630.0 7.0 461 9529 0.00 2.55 0.00 0.000 6 0.000 0.051 2700 2101 2279

9845 0.97 162.1 612.7 5.5 477 9867 0.00 2.67 13.60 1.213 4 0.000 0.062 2700 3496 2217

9935 0.99 179.0 607.4 5.5 481 9957 0.00 2.55 14.98 1.206 6 0.000 0.051 2700 2100 2148

10265 1.07 246.7 590.6 4.0 497 10326 0.12 0.00 56.78 1.198 6 0.050 0.000 2742 2100 1872

10635 1.07 246.7 560.9 9.0 515 10636 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1871

10944 1.07 246.7 533.8 8.7 530 10948 0.00 2.58 0.00 0.000 4 0.000 0.058 2742 3498 1871

11004 1.07 246.7 528.6 8.3 533 11009 0.00 2.55 0.00 0.000 6 0.000 0.050 2742 2098 1871

11331 1.07 246.7 499.9 8.5 549 11335 0.00 2.62 0.00 0.000 4 0.000 0.073 2741 692 1871

11391 1.07 246.7 494.6 8.7 552 11396 0.00 2.53 0.00 0.000 6 0.000 0.047 2742 2105 1871

11717 1.07 246.7 468.5 8.2 568 11719 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2106 1871

12027 1.07 246.7 443.1 8.2 583 12028 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2107 1871

12336 1.07 246.7 416.4 8.7 598 12337 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2109 1871

12645 1.07 246.7 390.9 8.3 613 12650 0.00 2.65 0.00 0.000 4 0.000 0.067 2742 690 1871

12717 1.07 246.7 384.8 8.1 616 12721 0.00 2.47 0.00 0.000 6 0.000 0.043 2742 2101 1871

13032 1.07 246.7 359.4 8.2 631 13036 0.00 2.55 0.00 0.000 4 0.000 0.054 2742 3501 1871

13120 1.07 246.7 351.6 9.2 635 13124 0.00 2.50 0.00 0.000 6 0.000 0.045 2742 2098 1871

13448 1.07 246.7 325.0 8.2 651 13449 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1871

13757 1.07 246.7 302.4 7.3 666 13758 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1871

14066 1.07 246.7 281.1 6.3 681 14067 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1872

14375 1.07 246.7 259.2 7.3 696 14376 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1872

14684 1.07 246.7 239.2 6.2 711 14686 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1872

14994 1.07 246.7 218.9 6.8 726 14995 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1873

15303 1.07 246.7 197.1 6.8 741 15304 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2097 1873

15612 1.07 246.7 175.0 7.4 756 15613 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1873

15921 1.07 246.7 153.2 7.1 771 15923 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1874

16231 1.07 246.7 130.9 7.0 786 16232 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1874

16540 1.07 246.7 109.2 7.0 801 16541 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1874

16851 1.07 246.7 88.0 6.5 816 16852 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1874

17159 1.07 246.7 67.6 6.1 831 17163 0.00 2.55 0.00 0.000 4 0.000 0.050 2742 3500 1875

17207 1.07 246.7 64.2 7.2 833 17212 0.00 2.47 0.00 0.000 6 0.000 0.041 2741 2097 1874

17529 1.07 246.7 39.9 7.9 849 17530 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2097 1874

17839 1.07 246.7 16.4 8.0 864 17843 0.00 2.55 0.00 0.000 4 0.000 0.049 2742 3501 1875

17901 1.07 246.7 11.3 8.8 867 17905 0.00 2.50 0.00 0.000 6 0.000 0.041 2741 2098 1875

18227 1.32 448.3 3.1 -0.0 883 18337 0.15 0.00 106.47 0.779 6 0.060 0.000 2783 2093 1050

18391 end climb: NO_VERTICAL_VELOCITY

state 18391 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	212	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	16	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	-80151.336	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	184333,6256.783,-1249.421,40,3.2,76,-11.9	TGT_NAME	IW
_CALLS	4	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.047,0.203
_SM_DEPTHo	3.61	KALMAN_X	257490.7,-520.2,897.1,-486845.3,5180.2
_SM_ANGLEo	-55.9	KALMAN_Y	-18404.5,931.0,9261.6,162817.6,-16958.8
GPS2	190032,6256.654,-1249.636,11,1.3,11,-11.9	MHEAD_RNG_PITCHd_Wd	25.0,40018,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18394,56.95,0.752,0,0,602,558.06	ALTIM_BOTTOM_PING	551.3,95.2
SM_GC	3.70,11.77,0.00,0.00,0.024,0.000,0.000,31,1893,603,-11.25,-0.20,558.06	_24V_AH	23.3,47.327
IRIDIUM_FIX	6230.49,-1252.24,291207,222228	_10V_AH	10.1,22.894
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44189,891
HUMID	2052	CFSIZE	260165632,245202944
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.40	GPS	301207,001708,6258.701,-1248.487,35,1.9,35,-11.9
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	59.99	SBE_CT	651	24	364.10
Roll_motor	87	72	148.43	SBE_O2	601	19	266.14
VBD_pump_during_apogee	436	1230	12506.65	WL_BB2F	603	105	1476.30
VBD_pump_during_surface	56	752	998.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	156	103	374.86	nil	0	0	0.00
Iridium_during_connect	333	160	1243.15	nil	0	0	0.00
Iridium_during_xfer	235	223	1223.02
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.59
TT8	1563	19	312.62
LPSleep	14910	2	329.80
TT8_Active	629	19	125.87
TT8_Sampling	1865	39	749.94
TT8_CF8	925	45	428.05
TT8_Kalman	33	81	27.55
Analog_circuits	1573	12	190.70
GPS_charging	0	0	0.00
Compass	1839	8	148.62
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
20	-0.95	-146.6	0.0	0.0	0	29	0.00	0.00	-6.90	0.000	2	0.000	0.000	27	1895	770
32	-0.95	-146.6	3.6	-0.0	1	224	11.12	2.62	-171.57	0.000	4	0.103	0.073	2290	486	3475
285	-0.95	-146.6	8.0	-8.1	13	289	0.00	2.47	0.00	0.000	6	0.000	0.041	2290	1904	3475
612	-0.95	-146.6	26.5	-5.0	29	613	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1906	3475
921	-0.95	-146.6	50.4	-6.7	44	922	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3475
1230	-0.95	-146.6	76.4	-9.5	59	1232	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3475
1541	-0.95	-146.6	110.8	-8.3	74	1545	0.00	2.50	0.00	0.000	4	0.000	0.049	2291	3293	3475
1580	-0.95	-146.6	113.9	-7.2	76	1584	0.00	2.53	0.00	0.000	6	0.000	0.044	2291	1892	3475
1906	-0.95	-146.6	139.2	-6.9	92	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1892	3475
2214	-0.95	-146.6	162.3	-10.3	107	2216	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1892	3475
2524	-0.95	-146.6	188.9	-8.6	122	2528	0.00	2.55	0.00	0.000	4	0.000	0.049	2290	3298	3475
2562	-0.95	-146.6	192.3	-9.1	124	2567	0.00	2.53	0.00	0.000	6	0.000	0.044	2290	1895	3475
2888	-0.95	-146.6	215.2	-7.6	140	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3475
3197	-0.95	-146.6	236.4	-6.7	155	3202	0.00	2.53	0.00	0.000	4	0.000	0.048	2291	3295	3475
3241	-0.95	-146.6	239.5	-7.6	157	3246	0.00	2.50	0.00	0.000	6	0.000	0.044	2291	1897	3475
3568	-0.95	-146.6	263.8	-7.0	173	3569	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
3877	-0.95	-146.6	288.8	-8.0	188	3878	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
4187	-0.95	-146.6	312.9	-7.6	203	4188	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
4495	-0.95	-146.6	338.2	-8.1	218	4497	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
4805	-0.95	-146.6	361.5	-7.2	233	4806	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
5114	-0.95	-146.6	384.1	-7.4	248	5118	0.00	2.55	0.00	0.000	4	0.000	0.051	2290	3302	3475
5163	-0.95	-146.6	387.8	-6.9	250	5167	0.00	2.53	0.00	0.000	6	0.000	0.045	2290	1901	3475
5484	-0.95	-146.6	410.1	-6.8	266	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1902	3475
5794	-0.95	-146.6	430.6	-6.7	281	5795	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
6103	-0.95	-146.6	452.6	-7.4	296	6104	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1902	3475
6413	-0.95	-146.6	473.2	-5.1	311	6417	0.00	2.55	0.00	0.000	4	0.000	0.052	2290	3300	3474
6474	-0.95	-146.6	476.3	-5.6	314	6479	0.00	2.53	0.00	0.000	6	0.000	0.047	2290	1901	3474
6800	-0.95	-146.6	497.8	-7.0	330	6801	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3474
7110	-0.95	-146.6	516.1	-5.7	345	7111	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3474
7419	-0.95	-146.6	537.9	-7.3	360	7423	0.00	2.60	0.00	0.000	4	0.000	0.069	2290	497	3474
7496	-0.95	-146.6	544.6	-8.9	363	7502	0.00	2.47	0.00	0.000	6	0.000	0.046	2290	1895	3473
7812	-0.95	-146.6	564.7	-4.9	379	7813	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3474
8121	-0.95	-146.6	582.9	-5.8	394	8125	0.00	2.58	0.00	0.000	4	0.000	0.060	2290	3295	3474
8182	-0.95	-146.6	586.6	-6.0	397	8186	0.00	2.55	0.00	0.000	6	0.000	0.052	2290	1899	3474
8508	-0.95	-146.6	606.1	-6.6	413	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3473
8817	-0.95	-146.6	624.2	-5.9	428	8821	0.00	2.58	0.00	0.000	4	0.000	0.062	2290	3300	3473
8901	-0.95	-146.6	629.4	-4.9	432	8905	0.00	2.55	0.00	0.000	6	0.000	0.055	2290	1897	3473
9039	end dive: BOTTOM_OBSTACLE_DETECTED
state	9039	begin apogee
9044	-0.36	0.0	637.3	5.5	439	9170	0.60	0.00	122.62	1.230	6	0.074	0.000	2420	2104	2878
9171	end apogee: CONTROL_FINISHED_OK
state	9171	begin climb
9173	0.95	146.6	639.5	0.0	445	9304	1.27	2.70	121.85	1.187	4	0.061	0.065	2700	3496	2279
9524	0.95	146.6	630.0	7.0	461	9529	0.00	2.55	0.00	0.000	6	0.000	0.051	2700	2101	2279
9845	0.97	162.1	612.7	5.5	477	9867	0.00	2.67	13.60	1.213	4	0.000	0.062	2700	3496	2217
9935	0.99	179.0	607.4	5.5	481	9957	0.00	2.55	14.98	1.206	6	0.000	0.051	2700	2100	2148
10265	1.07	246.7	590.6	4.0	497	10326	0.12	0.00	56.78	1.198	6	0.050	0.000	2742	2100	1872
10635	1.07	246.7	560.9	9.0	515	10636	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1871
10944	1.07	246.7	533.8	8.7	530	10948	0.00	2.58	0.00	0.000	4	0.000	0.058	2742	3498	1871
11004	1.07	246.7	528.6	8.3	533	11009	0.00	2.55	0.00	0.000	6	0.000	0.050	2742	2098	1871
11331	1.07	246.7	499.9	8.5	549	11335	0.00	2.62	0.00	0.000	4	0.000	0.073	2741	692	1871
11391	1.07	246.7	494.6	8.7	552	11396	0.00	2.53	0.00	0.000	6	0.000	0.047	2742	2105	1871
11717	1.07	246.7	468.5	8.2	568	11719	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2106	1871
12027	1.07	246.7	443.1	8.2	583	12028	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2107	1871
12336	1.07	246.7	416.4	8.7	598	12337	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2109	1871
12645	1.07	246.7	390.9	8.3	613	12650	0.00	2.65	0.00	0.000	4	0.000	0.067	2742	690	1871
12717	1.07	246.7	384.8	8.1	616	12721	0.00	2.47	0.00	0.000	6	0.000	0.043	2742	2101	1871
13032	1.07	246.7	359.4	8.2	631	13036	0.00	2.55	0.00	0.000	4	0.000	0.054	2742	3501	1871
13120	1.07	246.7	351.6	9.2	635	13124	0.00	2.50	0.00	0.000	6	0.000	0.045	2742	2098	1871
13448	1.07	246.7	325.0	8.2	651	13449	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1871
13757	1.07	246.7	302.4	7.3	666	13758	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1871
14066	1.07	246.7	281.1	6.3	681	14067	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1872
14375	1.07	246.7	259.2	7.3	696	14376	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1872
14684	1.07	246.7	239.2	6.2	711	14686	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1872
14994	1.07	246.7	218.9	6.8	726	14995	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1873
15303	1.07	246.7	197.1	6.8	741	15304	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2097	1873
15612	1.07	246.7	175.0	7.4	756	15613	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1873
15921	1.07	246.7	153.2	7.1	771	15923	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1874
16231	1.07	246.7	130.9	7.0	786	16232	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1874
16540	1.07	246.7	109.2	7.0	801	16541	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1874
16851	1.07	246.7	88.0	6.5	816	16852	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1874
17159	1.07	246.7	67.6	6.1	831	17163	0.00	2.55	0.00	0.000	4	0.000	0.050	2742	3500	1875
17207	1.07	246.7	64.2	7.2	833	17212	0.00	2.47	0.00	0.000	6	0.000	0.041	2741	2097	1874
17529	1.07	246.7	39.9	7.9	849	17530	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2097	1874
17839	1.07	246.7	16.4	8.0	864	17843	0.00	2.55	0.00	0.000	4	0.000	0.049	2742	3501	1875
17901	1.07	246.7	11.3	8.8	867	17905	0.00	2.50	0.00	0.000	6	0.000	0.041	2741	2098	1875
18227	1.32	448.3	3.1	-0.0	883	18337	0.15	0.00	106.47	0.779	6	0.060	0.000	2783	2093	1050
18391	end climb: NO_VERTICAL_VELOCITY
state	18391	begin surface