Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 215 * 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 215 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -80195.969 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 -80195.969

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 34 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 215 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 100708,6304.906,-1252.907,24,1.3,24,-12.0 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.027,0.207

_SM_DEPTHo 3.45 KALMAN_X 257767.7,-361.4,2474.6,-491785.0,3081.0

_SM_ANGLEo -46.5 KALMAN_Y -10550.9,1049.0,493.1,179018.2,-10621.8

GPS2 101233,6304.956,-1252.948,14,1.2,14,-12.0 MHEAD_RNG_PITCHd_Wd 19.4,26152,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17547,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 500.9,68.0

SM_GC 3.46,12.12,0.00,0.00,0.031,0.000,0.000,29,1894,603,-11.27,-0.11,558.06 _24V_AH 23.3,47.825

IRIDIUM_FIX 6239.86,-1245.10,301207,090939 _10V_AH 10.1,23.135

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41053,826

HUMID 2066 CFSIZE 260165632,245051392

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.30 GPS 301207,150740,6308.120,-1248.294,70,1.6,72,-12.0

XPDR_PINGS 17

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 95 56.56 SBE_CT 609 24 340.71

Roll_motor 77 74 134.09 SBE_O2 556 19 246.34

VBD_pump_during_apogee 493 1185 13632.70 WL_BB2F 578 105 1414.62

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.51 nil 0 0 0.00

Iridium_during_connect 37 160 139.10 nil 0 0 0.00

Iridium_during_xfer 149 223 775.68

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.28

TT8 1462 19 292.49

LPSleep 13607 2 300.99

TT8_Active 598 19 119.72

TT8_Sampling 1797 39 722.56

TT8_CF8 410 45 189.87

TT8_Kalman 33 81 27.56

Analog_circuits 1506 12 182.53

GPS_charging 0 0 0.00

Compass 1772 8 143.25

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 44 0.00 0.00 -21.70 0.000 2 0.000 0.000 34 1878 1107

47 -0.95 -146.6 3.4 -0.0 1 200 10.90 2.55 -135.07 0.000 4 0.095 0.074 2286 503 3476

453 -0.95 -146.6 27.7 -9.6 19 460 0.00 2.47 0.00 0.000 6 0.000 0.042 2286 1896 3476

769 -0.95 -146.6 49.2 -7.7 35 773 0.00 2.60 0.00 0.000 4 0.000 0.067 2286 505 3476

954 -0.95 -146.6 62.6 -5.7 43 958 0.00 2.45 0.00 0.000 6 0.000 0.041 2286 1902 3476

1269 -0.95 -146.6 80.9 -6.9 58 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

1579 -0.95 -146.6 101.8 -6.7 73 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

1889 -0.95 -146.6 123.3 -7.2 88 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

2197 -0.95 -146.6 144.1 -6.8 103 2198 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2506 -0.95 -146.6 164.1 -6.8 118 2507 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2815 -0.95 -146.6 188.2 -7.0 133 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

3124 -0.95 -146.6 211.8 -7.4 148 3128 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3300 3476

3167 -0.95 -146.6 216.4 -10.6 150 3172 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1908 3476

3495 -0.95 -146.6 240.3 -6.7 166 3496 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

3804 -0.95 -146.6 259.3 -5.7 181 3805 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

4113 -0.95 -146.6 280.0 -6.8 196 4115 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

4422 -0.95 -146.6 302.5 -7.9 211 4423 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

4732 -0.95 -146.6 325.4 -6.6 226 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

5041 -0.95 -146.6 347.0 -6.9 241 5045 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3298 3476

5090 -0.95 -146.6 350.7 -7.7 243 5094 0.00 2.50 0.00 0.000 6 0.000 0.046 2286 1901 3476

5410 -0.95 -146.6 373.7 -7.7 259 5415 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3295 3477

5449 -0.95 -146.6 376.9 -8.2 261 5454 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1896 3476

5776 -0.95 -146.6 403.2 -8.1 277 5777 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

6085 -0.95 -146.6 424.4 -6.0 292 6086 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

6395 -0.95 -146.6 439.8 -4.0 307 6396 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

6704 -0.95 -146.6 450.8 -3.0 322 6705 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

7012 -0.95 -146.6 464.4 -6.4 337 7014 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

7322 -0.95 -146.6 488.9 -8.3 352 7323 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

7631 -0.95 -146.6 512.7 -6.8 367 7632 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3475

7941 -0.95 -146.6 529.6 -5.1 382 7945 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3295 3475

8025 -0.95 -146.6 534.0 -5.5 386 8029 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1900 3475

8351 -0.95 -146.6 555.8 -7.5 402 8355 0.00 2.62 0.00 0.000 4 0.000 0.074 2286 495 3475

8392 end dive: BOTTOM_OBSTACLE_DETECTED

state 8393 begin apogee

8401 -0.36 0.0 559.5 8.4 404 8526 0.57 0.00 122.07 1.186 6 0.073 0.000 2414 2093 2878

8527 end apogee: CONTROL_FINISHED_OK

state 8527 begin climb

8529 0.95 146.6 564.6 0.0 410 8659 1.33 2.67 120.45 1.149 4 0.058 0.064 2703 3500 2280

8759 0.95 146.6 558.4 6.7 421 8764 0.00 2.58 0.00 0.000 6 0.000 0.050 2703 2106 2280

9080 0.95 146.6 538.3 6.3 437 9081 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 2279

9389 0.95 146.6 518.6 6.5 452 9390 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 2278

9699 0.95 152.8 500.4 5.8 467 9710 0.00 2.65 6.18 1.164 4 0.000 0.058 2703 3506 2253

9810 0.98 171.7 493.9 5.4 472 9832 0.00 2.55 16.08 1.175 6 0.000 0.050 2703 2098 2178

10152 1.00 191.2 476.0 5.4 489 10176 0.00 2.70 17.15 1.179 4 0.000 0.059 2703 3504 2099

10216 1.00 191.2 472.1 6.2 492 10221 0.00 2.58 0.00 0.000 6 0.000 0.050 2703 2098 2098

10542 1.00 191.2 452.3 6.6 508 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2098

10851 1.00 191.2 433.0 6.2 523 10853 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2097

11161 1.02 203.9 414.4 5.6 538 11175 0.00 0.00 11.40 1.148 6 0.000 0.000 2703 2098 2046

11470 1.03 214.0 396.3 5.7 553 11482 0.00 0.00 9.65 1.124 6 0.000 0.000 2704 2098 2005

11780 1.06 235.4 380.0 5.4 568 11800 0.00 0.00 18.33 1.108 6 0.000 0.000 2703 2098 1918

12109 1.06 235.4 360.4 6.6 584 12110 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 1917

12418 1.06 235.4 339.3 7.2 599 12419 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 1918

12727 1.06 235.4 316.3 7.3 614 12731 0.00 2.58 0.00 0.000 4 0.000 0.065 2703 691 1917

12782 1.06 235.4 311.9 8.1 616 12788 0.00 2.50 0.00 0.000 6 0.000 0.042 2703 2111 1918

13097 1.06 235.4 288.3 7.8 632 13098 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2116 1917

13406 1.06 235.4 264.9 7.4 647 13410 0.00 2.62 0.00 0.000 4 0.000 0.062 2703 690 1918

13455 1.06 235.4 260.7 7.9 649 13460 0.00 2.50 0.00 0.000 6 0.000 0.041 2703 2103 1918

13770 1.06 235.4 233.0 9.4 664 13771 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 1919

14079 1.06 235.4 205.5 8.1 679 14080 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 1919

14389 1.06 235.4 182.6 6.9 694 14393 0.00 2.62 0.00 0.000 4 0.000 0.062 2703 688 1919

14460 1.06 235.4 177.8 6.5 697 14464 0.00 2.50 0.00 0.000 6 0.000 0.041 2703 2103 1919

14781 1.06 236.6 159.1 6.0 713 14783 0.10 0.00 0.00 0.000 6 0.052 0.000 2747 2107 1919

15091 1.06 236.6 129.0 10.5 728 15093 0.12 0.00 0.00 0.000 6 0.084 0.000 2721 2106 1920

15400 1.06 236.6 96.9 10.6 743 15401 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2106 1920

15710 1.06 236.6 66.1 9.1 758 15714 0.00 2.53 0.00 0.000 4 0.000 0.051 2722 3500 1920

15772 1.06 236.6 59.6 10.8 761 15776 0.00 2.50 0.00 0.000 6 0.000 0.041 2721 2087 1921

16097 1.06 236.6 28.5 12.4 777 16099 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2087 1921

16409 1.24 386.8 3.9 1.5 792 16500 0.17 2.62 85.05 0.805 4 0.043 0.049 2779 3500 1300

16753 1.51 602.5 2.9 -0.4 807 16846 0.20 2.53 87.07 0.772 6 0.042 0.042 2833 2096 602

17124 end climb: NO_VERTICAL_VELOCITY

state 17124 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	215	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-80195.969	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	100708,6304.906,-1252.907,24,1.3,24,-12.0	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.027,0.207
_SM_DEPTHo	3.45	KALMAN_X	257767.7,-361.4,2474.6,-491785.0,3081.0
_SM_ANGLEo	-46.5	KALMAN_Y	-10550.9,1049.0,493.1,179018.2,-10621.8
GPS2	101233,6304.956,-1252.948,14,1.2,14,-12.0	MHEAD_RNG_PITCHd_Wd	19.4,26152,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17547,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	500.9,68.0
SM_GC	3.46,12.12,0.00,0.00,0.031,0.000,0.000,29,1894,603,-11.27,-0.11,558.06	_24V_AH	23.3,47.825
IRIDIUM_FIX	6239.86,-1245.10,301207,090939	_10V_AH	10.1,23.135
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41053,826
HUMID	2066	CFSIZE	260165632,245051392
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.30	GPS	301207,150740,6308.120,-1248.294,70,1.6,72,-12.0
XPDR_PINGS	17

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	95	56.56	SBE_CT	609	24	340.71
Roll_motor	77	74	134.09	SBE_O2	556	19	246.34
VBD_pump_during_apogee	493	1185	13632.70	WL_BB2F	578	105	1414.62
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.51	nil	0	0	0.00
Iridium_during_connect	37	160	139.10	nil	0	0	0.00
Iridium_during_xfer	149	223	775.68
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.28
TT8	1462	19	292.49
LPSleep	13607	2	300.99
TT8_Active	598	19	119.72
TT8_Sampling	1797	39	722.56
TT8_CF8	410	45	189.87
TT8_Kalman	33	81	27.56
Analog_circuits	1506	12	182.53
GPS_charging	0	0	0.00
Compass	1772	8	143.25
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	44	0.00	0.00	-21.70	0.000	2	0.000	0.000	34	1878	1107
47	-0.95	-146.6	3.4	-0.0	1	200	10.90	2.55	-135.07	0.000	4	0.095	0.074	2286	503	3476
453	-0.95	-146.6	27.7	-9.6	19	460	0.00	2.47	0.00	0.000	6	0.000	0.042	2286	1896	3476
769	-0.95	-146.6	49.2	-7.7	35	773	0.00	2.60	0.00	0.000	4	0.000	0.067	2286	505	3476
954	-0.95	-146.6	62.6	-5.7	43	958	0.00	2.45	0.00	0.000	6	0.000	0.041	2286	1902	3476
1269	-0.95	-146.6	80.9	-6.9	58	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
1579	-0.95	-146.6	101.8	-6.7	73	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
1889	-0.95	-146.6	123.3	-7.2	88	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
2197	-0.95	-146.6	144.1	-6.8	103	2198	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2506	-0.95	-146.6	164.1	-6.8	118	2507	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2815	-0.95	-146.6	188.2	-7.0	133	2816	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
3124	-0.95	-146.6	211.8	-7.4	148	3128	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3300	3476
3167	-0.95	-146.6	216.4	-10.6	150	3172	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1908	3476
3495	-0.95	-146.6	240.3	-6.7	166	3496	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
3804	-0.95	-146.6	259.3	-5.7	181	3805	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
4113	-0.95	-146.6	280.0	-6.8	196	4115	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
4422	-0.95	-146.6	302.5	-7.9	211	4423	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
4732	-0.95	-146.6	325.4	-6.6	226	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
5041	-0.95	-146.6	347.0	-6.9	241	5045	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3298	3476
5090	-0.95	-146.6	350.7	-7.7	243	5094	0.00	2.50	0.00	0.000	6	0.000	0.046	2286	1901	3476
5410	-0.95	-146.6	373.7	-7.7	259	5415	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3295	3477
5449	-0.95	-146.6	376.9	-8.2	261	5454	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1896	3476
5776	-0.95	-146.6	403.2	-8.1	277	5777	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
6085	-0.95	-146.6	424.4	-6.0	292	6086	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
6395	-0.95	-146.6	439.8	-4.0	307	6396	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
6704	-0.95	-146.6	450.8	-3.0	322	6705	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
7012	-0.95	-146.6	464.4	-6.4	337	7014	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
7322	-0.95	-146.6	488.9	-8.3	352	7323	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
7631	-0.95	-146.6	512.7	-6.8	367	7632	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3475
7941	-0.95	-146.6	529.6	-5.1	382	7945	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3295	3475
8025	-0.95	-146.6	534.0	-5.5	386	8029	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1900	3475
8351	-0.95	-146.6	555.8	-7.5	402	8355	0.00	2.62	0.00	0.000	4	0.000	0.074	2286	495	3475
8392	end dive: BOTTOM_OBSTACLE_DETECTED
state	8393	begin apogee
8401	-0.36	0.0	559.5	8.4	404	8526	0.57	0.00	122.07	1.186	6	0.073	0.000	2414	2093	2878
8527	end apogee: CONTROL_FINISHED_OK
state	8527	begin climb
8529	0.95	146.6	564.6	0.0	410	8659	1.33	2.67	120.45	1.149	4	0.058	0.064	2703	3500	2280
8759	0.95	146.6	558.4	6.7	421	8764	0.00	2.58	0.00	0.000	6	0.000	0.050	2703	2106	2280
9080	0.95	146.6	538.3	6.3	437	9081	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	2279
9389	0.95	146.6	518.6	6.5	452	9390	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	2278
9699	0.95	152.8	500.4	5.8	467	9710	0.00	2.65	6.18	1.164	4	0.000	0.058	2703	3506	2253
9810	0.98	171.7	493.9	5.4	472	9832	0.00	2.55	16.08	1.175	6	0.000	0.050	2703	2098	2178
10152	1.00	191.2	476.0	5.4	489	10176	0.00	2.70	17.15	1.179	4	0.000	0.059	2703	3504	2099
10216	1.00	191.2	472.1	6.2	492	10221	0.00	2.58	0.00	0.000	6	0.000	0.050	2703	2098	2098
10542	1.00	191.2	452.3	6.6	508	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2098
10851	1.00	191.2	433.0	6.2	523	10853	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2097
11161	1.02	203.9	414.4	5.6	538	11175	0.00	0.00	11.40	1.148	6	0.000	0.000	2703	2098	2046
11470	1.03	214.0	396.3	5.7	553	11482	0.00	0.00	9.65	1.124	6	0.000	0.000	2704	2098	2005
11780	1.06	235.4	380.0	5.4	568	11800	0.00	0.00	18.33	1.108	6	0.000	0.000	2703	2098	1918
12109	1.06	235.4	360.4	6.6	584	12110	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	1917
12418	1.06	235.4	339.3	7.2	599	12419	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	1918
12727	1.06	235.4	316.3	7.3	614	12731	0.00	2.58	0.00	0.000	4	0.000	0.065	2703	691	1917
12782	1.06	235.4	311.9	8.1	616	12788	0.00	2.50	0.00	0.000	6	0.000	0.042	2703	2111	1918
13097	1.06	235.4	288.3	7.8	632	13098	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2116	1917
13406	1.06	235.4	264.9	7.4	647	13410	0.00	2.62	0.00	0.000	4	0.000	0.062	2703	690	1918
13455	1.06	235.4	260.7	7.9	649	13460	0.00	2.50	0.00	0.000	6	0.000	0.041	2703	2103	1918
13770	1.06	235.4	233.0	9.4	664	13771	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	1919
14079	1.06	235.4	205.5	8.1	679	14080	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	1919
14389	1.06	235.4	182.6	6.9	694	14393	0.00	2.62	0.00	0.000	4	0.000	0.062	2703	688	1919
14460	1.06	235.4	177.8	6.5	697	14464	0.00	2.50	0.00	0.000	6	0.000	0.041	2703	2103	1919
14781	1.06	236.6	159.1	6.0	713	14783	0.10	0.00	0.00	0.000	6	0.052	0.000	2747	2107	1919
15091	1.06	236.6	129.0	10.5	728	15093	0.12	0.00	0.00	0.000	6	0.084	0.000	2721	2106	1920
15400	1.06	236.6	96.9	10.6	743	15401	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2106	1920
15710	1.06	236.6	66.1	9.1	758	15714	0.00	2.53	0.00	0.000	4	0.000	0.051	2722	3500	1920
15772	1.06	236.6	59.6	10.8	761	15776	0.00	2.50	0.00	0.000	6	0.000	0.041	2721	2087	1921
16097	1.06	236.6	28.5	12.4	777	16099	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2087	1921
16409	1.24	386.8	3.9	1.5	792	16500	0.17	2.62	85.05	0.805	4	0.043	0.049	2779	3500	1300
16753	1.51	602.5	2.9	-0.4	807	16846	0.20	2.53	87.07	0.772	6	0.042	0.042	2833	2096	602
17124	end climb: NO_VERTICAL_VELOCITY
state	17124	begin surface