Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 217 * 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 217 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 37 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -80228.656 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 -80228.656

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 37 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 217 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 194608,6308.615,-1253.563,38,1.8,38,-12.0 TGT_NAME IW

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.190,0.087

_SM_DEPTHo 3.30 KALMAN_X 263936.8,-524.6,192.3,-496414.5,9509.0

_SM_ANGLEo -40.7 KALMAN_Y -9854.4,-113.4,254.3,186577.6,-4914.6

GPS2 200332,6308.643,-1253.977,13,2.0,13,-12.0 MHEAD_RNG_PITCHd_Wd 306.5,21112,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17319,26.80,0.743,0,0,603,558.06 ALTIM_BOTTOM_PING 500.3,111.0

SM_GC 3.53,11.95,0.00,0.00,0.029,0.000,0.000,29,1898,603,-11.26,-0.03,558.06 _24V_AH 23.3,48.182

IRIDIUM_FIX 6239.86,-1251.84,301207,232345 _10V_AH 10.1,23.303

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41203,837

HUMID 2040 CFSIZE 260165632,244928512

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.50 GPS 311207,010138,6308.684,-1300.106,26,1.2,26,-12.1

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 111 66.60 SBE_CT 619 24 346.39

Roll_motor 97 75 172.15 SBE_O2 563 19 249.62

VBD_pump_during_apogee 478 1211 13489.84 WL_BB2F 588 105 1439.37

VBD_pump_during_surface 26 743 464.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 181 103 434.53 nil 0 0 0.00

Iridium_during_connect 252 160 942.45 nil 0 0 0.00

Iridium_during_xfer 247 223 1284.84

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.12

TT8 1510 19 302.12

LPSleep 13897 2 307.40

TT8_Active 653 19 130.72

TT8_Sampling 1867 39 750.65

TT8_CF8 891 45 412.40

TT8_Kalman 33 81 27.57

Analog_circuits 1584 12 192.04

GPS_charging 0 0 0.00

Compass 1837 8 148.48

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 -21.45 0.000 2 0.000 0.000 28 1885 1088

47 -0.95 -146.6 3.4 -0.0 1 195 11.30 2.58 -129.12 0.000 4 0.112 0.076 2284 513 3477

348 -0.95 -146.6 27.6 -5.8 15 352 0.00 2.45 0.00 0.000 6 0.000 0.039 2284 1910 3477

674 -0.95 -146.6 56.5 -8.9 31 678 0.00 2.62 0.00 0.000 4 0.000 0.067 2284 510 3477

759 -0.95 -146.6 64.2 -9.7 35 764 0.00 2.45 0.00 0.000 6 0.000 0.041 2284 1902 3477

1086 -0.95 -146.6 72.2 -3.8 51 1087 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3477

1396 -0.95 -146.6 92.4 -6.5 66 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3477

1705 -0.95 -146.6 110.3 -7.8 81 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3476

2014 -0.95 -146.6 127.5 -5.6 96 2018 0.00 2.53 0.00 0.000 4 0.000 0.049 2284 3301 3476

2102 -0.95 -146.6 134.9 -9.5 100 2107 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1915 3476

2429 -0.95 -146.6 164.8 -8.9 116 2430 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1915 3476

2738 -0.95 -146.6 190.2 -7.4 131 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1915 3476

3047 -0.95 -146.6 213.4 -8.2 146 3049 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1915 3476

3357 -0.95 -146.6 236.4 -7.2 161 3361 0.00 2.50 0.00 0.000 4 0.000 0.048 2284 3300 3476

3434 -0.95 -146.6 242.1 -6.5 164 3440 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1894 3476

3749 -0.95 -146.6 262.2 -6.3 180 3750 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1894 3476

4059 -0.95 -146.6 280.6 -5.9 195 4063 0.00 2.53 0.00 0.000 4 0.000 0.049 2284 3297 3476

4130 -0.95 -146.6 285.3 -7.0 198 4134 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1894 3475

4451 -0.95 -146.6 307.3 -7.5 214 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1894 3476

4761 -0.95 -146.6 330.6 -7.3 229 4762 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1894 3476

5070 -0.95 -146.6 353.1 -7.1 244 5074 0.00 2.55 0.00 0.000 4 0.000 0.050 2284 3301 3475

5146 -0.95 -146.6 358.8 -7.4 247 5153 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1900 3476

5462 -0.95 -146.6 383.1 -7.8 263 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3476

5772 -0.95 -146.6 404.0 -5.7 278 5773 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3475

6081 -0.95 -146.6 427.5 -7.3 293 6085 0.00 2.53 0.00 0.000 4 0.000 0.051 2284 3298 3476

6169 -0.95 -146.6 432.1 -4.5 297 6173 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1899 3475

6495 -0.95 -146.6 449.2 -6.5 313 6500 0.00 2.50 0.00 0.000 4 0.000 0.051 2284 3296 3475

6580 -0.95 -146.6 456.7 -10.1 317 6584 0.00 2.50 0.00 0.000 6 0.000 0.046 2284 1898 3476

6905 -0.95 -146.6 484.1 -6.1 333 6906 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1895 3475

7215 -0.95 -146.6 497.5 -4.9 348 7219 0.00 2.55 0.00 0.000 4 0.000 0.051 2284 3301 3474

7270 -0.95 -146.6 501.0 -6.7 350 7276 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1897 3475

7585 -0.95 -146.6 525.7 -8.1 366 7587 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3474

7895 -0.95 -146.6 546.7 -7.4 381 7899 0.00 2.53 0.00 0.000 4 0.000 0.054 2283 3294 3475

7994 -0.95 -146.6 554.5 -7.5 385 8001 0.00 2.55 0.00 0.000 6 0.000 0.048 2284 1901 3474

8310 -0.95 -146.6 574.1 -5.5 401 8314 0.00 2.55 0.00 0.000 4 0.000 0.056 2283 3297 3475

8410 -0.95 -146.6 579.9 -6.0 405 8417 0.00 2.53 0.00 0.000 6 0.000 0.051 2284 1901 3475

8726 -0.95 -146.6 598.8 -6.2 421 8727 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1902 3474

8765 end dive: BOTTOM_OBSTACLE_DETECTED

state 8765 begin apogee

8770 -0.36 0.0 601.7 7.0 423 8895 0.62 0.00 122.00 1.211 6 0.081 0.000 2416 2097 2878

8896 end apogee: CONTROL_FINISHED_OK

state 8896 begin climb

8899 0.95 146.6 606.1 0.0 429 9028 1.30 0.00 121.50 1.167 6 0.055 0.000 2702 2097 2280

9337 0.95 146.6 584.8 6.2 451 9341 0.00 2.60 0.00 0.000 4 0.000 0.062 2702 3496 2280

9425 0.95 146.6 578.4 7.0 455 9429 0.00 2.55 0.00 0.000 6 0.000 0.051 2702 2099 2279

9753 1.05 228.3 564.1 3.6 471 9828 0.10 2.70 67.35 1.174 4 0.058 0.061 2739 3497 1946

10018 1.05 228.3 545.6 9.3 483 10023 0.00 2.55 0.00 0.000 6 0.000 0.051 2739 2102 1946

10345 1.05 228.3 519.2 7.7 499 10346 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2102 1945

10654 1.05 228.3 494.7 7.5 514 10655 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2102 1945

10964 1.05 228.3 471.0 7.3 529 10965 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2102 1944

11273 1.05 228.3 447.1 8.3 544 11277 0.00 2.58 0.00 0.000 4 0.000 0.052 2739 3503 1944

11378 1.05 228.3 436.9 9.8 549 11383 0.00 2.53 0.00 0.000 6 0.000 0.046 2739 2092 1944

11704 1.05 228.3 409.6 8.0 565 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2092 1944

12013 1.05 228.3 384.6 7.9 580 12014 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2092 1945

12322 1.05 228.3 359.9 7.8 595 12323 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2092 1945

12632 1.05 228.3 334.9 8.0 610 12636 0.00 2.60 0.00 0.000 4 0.000 0.052 2739 3506 1945

12719 1.05 228.3 327.0 8.6 614 12724 0.00 2.53 0.00 0.000 6 0.000 0.044 2738 2093 1945

13046 1.05 228.3 298.0 8.8 630 13047 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2093 1945

13356 1.05 228.3 272.5 7.3 645 13357 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2092 1945

13665 1.05 228.3 247.5 8.6 660 13669 0.00 2.58 0.00 0.000 4 0.000 0.052 2739 3506 1946

13770 1.05 228.3 238.5 8.6 665 13775 0.00 2.50 0.00 0.000 6 0.000 0.042 2739 2098 1946

14097 1.05 228.3 215.0 7.0 681 14098 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1946

14406 1.05 228.3 194.6 6.7 696 14407 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1945

14716 1.05 228.3 173.5 6.9 711 14720 0.00 2.55 0.00 0.000 4 0.000 0.049 2738 3501 1946

14828 1.05 228.3 165.1 8.8 716 14832 0.00 2.50 0.00 0.000 6 0.000 0.041 2739 2096 1946

15148 1.05 228.3 140.8 6.4 732 15149 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2096 1946

15458 1.05 228.3 119.6 8.5 747 15459 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2097 1947

15767 1.05 228.3 97.3 6.5 762 15771 0.00 2.55 0.00 0.000 4 0.000 0.049 2739 3501 1947

15905 1.05 228.3 86.5 7.6 768 15909 0.00 2.47 0.00 0.000 6 0.000 0.040 2739 2095 1947

16229 1.12 289.8 67.2 4.2 784 16280 0.00 0.00 49.03 0.846 6 0.000 0.000 2739 2095 1696

16578 1.14 301.5 38.1 5.7 801 16590 0.00 0.00 10.12 0.858 6 0.000 0.000 2738 2095 1648

16886 1.14 301.5 7.0 10.5 816 16888 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2094 1647

17194 1.39 507.3 2.9 -0.1 831 17311 0.25 2.67 108.05 0.761 4 0.068 0.050 2798 3502 808

17315 end climb: NO_VERTICAL_VELOCITY

state 17317 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	217	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	37	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-80228.656	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	194608,6308.615,-1253.563,38,1.8,38,-12.0	TGT_NAME	IW
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.190,0.087
_SM_DEPTHo	3.30	KALMAN_X	263936.8,-524.6,192.3,-496414.5,9509.0
_SM_ANGLEo	-40.7	KALMAN_Y	-9854.4,-113.4,254.3,186577.6,-4914.6
GPS2	200332,6308.643,-1253.977,13,2.0,13,-12.0	MHEAD_RNG_PITCHd_Wd	306.5,21112,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17319,26.80,0.743,0,0,603,558.06	ALTIM_BOTTOM_PING	500.3,111.0
SM_GC	3.53,11.95,0.00,0.00,0.029,0.000,0.000,29,1898,603,-11.26,-0.03,558.06	_24V_AH	23.3,48.182
IRIDIUM_FIX	6239.86,-1251.84,301207,232345	_10V_AH	10.1,23.303
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41203,837
HUMID	2040	CFSIZE	260165632,244928512
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.50	GPS	311207,010138,6308.684,-1300.106,26,1.2,26,-12.1
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	111	66.60	SBE_CT	619	24	346.39
Roll_motor	97	75	172.15	SBE_O2	563	19	249.62
VBD_pump_during_apogee	478	1211	13489.84	WL_BB2F	588	105	1439.37
VBD_pump_during_surface	26	743	464.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	181	103	434.53	nil	0	0	0.00
Iridium_during_connect	252	160	942.45	nil	0	0	0.00
Iridium_during_xfer	247	223	1284.84
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.12
TT8	1510	19	302.12
LPSleep	13897	2	307.40
TT8_Active	653	19	130.72
TT8_Sampling	1867	39	750.65
TT8_CF8	891	45	412.40
TT8_Kalman	33	81	27.57
Analog_circuits	1584	12	192.04
GPS_charging	0	0	0.00
Compass	1837	8	148.48
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	-21.45	0.000	2	0.000	0.000	28	1885	1088
47	-0.95	-146.6	3.4	-0.0	1	195	11.30	2.58	-129.12	0.000	4	0.112	0.076	2284	513	3477
348	-0.95	-146.6	27.6	-5.8	15	352	0.00	2.45	0.00	0.000	6	0.000	0.039	2284	1910	3477
674	-0.95	-146.6	56.5	-8.9	31	678	0.00	2.62	0.00	0.000	4	0.000	0.067	2284	510	3477
759	-0.95	-146.6	64.2	-9.7	35	764	0.00	2.45	0.00	0.000	6	0.000	0.041	2284	1902	3477
1086	-0.95	-146.6	72.2	-3.8	51	1087	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3477
1396	-0.95	-146.6	92.4	-6.5	66	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3477
1705	-0.95	-146.6	110.3	-7.8	81	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3476
2014	-0.95	-146.6	127.5	-5.6	96	2018	0.00	2.53	0.00	0.000	4	0.000	0.049	2284	3301	3476
2102	-0.95	-146.6	134.9	-9.5	100	2107	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1915	3476
2429	-0.95	-146.6	164.8	-8.9	116	2430	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1915	3476
2738	-0.95	-146.6	190.2	-7.4	131	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1915	3476
3047	-0.95	-146.6	213.4	-8.2	146	3049	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1915	3476
3357	-0.95	-146.6	236.4	-7.2	161	3361	0.00	2.50	0.00	0.000	4	0.000	0.048	2284	3300	3476
3434	-0.95	-146.6	242.1	-6.5	164	3440	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1894	3476
3749	-0.95	-146.6	262.2	-6.3	180	3750	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1894	3476
4059	-0.95	-146.6	280.6	-5.9	195	4063	0.00	2.53	0.00	0.000	4	0.000	0.049	2284	3297	3476
4130	-0.95	-146.6	285.3	-7.0	198	4134	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1894	3475
4451	-0.95	-146.6	307.3	-7.5	214	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1894	3476
4761	-0.95	-146.6	330.6	-7.3	229	4762	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1894	3476
5070	-0.95	-146.6	353.1	-7.1	244	5074	0.00	2.55	0.00	0.000	4	0.000	0.050	2284	3301	3475
5146	-0.95	-146.6	358.8	-7.4	247	5153	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1900	3476
5462	-0.95	-146.6	383.1	-7.8	263	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3476
5772	-0.95	-146.6	404.0	-5.7	278	5773	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3475
6081	-0.95	-146.6	427.5	-7.3	293	6085	0.00	2.53	0.00	0.000	4	0.000	0.051	2284	3298	3476
6169	-0.95	-146.6	432.1	-4.5	297	6173	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1899	3475
6495	-0.95	-146.6	449.2	-6.5	313	6500	0.00	2.50	0.00	0.000	4	0.000	0.051	2284	3296	3475
6580	-0.95	-146.6	456.7	-10.1	317	6584	0.00	2.50	0.00	0.000	6	0.000	0.046	2284	1898	3476
6905	-0.95	-146.6	484.1	-6.1	333	6906	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1895	3475
7215	-0.95	-146.6	497.5	-4.9	348	7219	0.00	2.55	0.00	0.000	4	0.000	0.051	2284	3301	3474
7270	-0.95	-146.6	501.0	-6.7	350	7276	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1897	3475
7585	-0.95	-146.6	525.7	-8.1	366	7587	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3474
7895	-0.95	-146.6	546.7	-7.4	381	7899	0.00	2.53	0.00	0.000	4	0.000	0.054	2283	3294	3475
7994	-0.95	-146.6	554.5	-7.5	385	8001	0.00	2.55	0.00	0.000	6	0.000	0.048	2284	1901	3474
8310	-0.95	-146.6	574.1	-5.5	401	8314	0.00	2.55	0.00	0.000	4	0.000	0.056	2283	3297	3475
8410	-0.95	-146.6	579.9	-6.0	405	8417	0.00	2.53	0.00	0.000	6	0.000	0.051	2284	1901	3475
8726	-0.95	-146.6	598.8	-6.2	421	8727	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1902	3474
8765	end dive: BOTTOM_OBSTACLE_DETECTED
state	8765	begin apogee
8770	-0.36	0.0	601.7	7.0	423	8895	0.62	0.00	122.00	1.211	6	0.081	0.000	2416	2097	2878
8896	end apogee: CONTROL_FINISHED_OK
state	8896	begin climb
8899	0.95	146.6	606.1	0.0	429	9028	1.30	0.00	121.50	1.167	6	0.055	0.000	2702	2097	2280
9337	0.95	146.6	584.8	6.2	451	9341	0.00	2.60	0.00	0.000	4	0.000	0.062	2702	3496	2280
9425	0.95	146.6	578.4	7.0	455	9429	0.00	2.55	0.00	0.000	6	0.000	0.051	2702	2099	2279
9753	1.05	228.3	564.1	3.6	471	9828	0.10	2.70	67.35	1.174	4	0.058	0.061	2739	3497	1946
10018	1.05	228.3	545.6	9.3	483	10023	0.00	2.55	0.00	0.000	6	0.000	0.051	2739	2102	1946
10345	1.05	228.3	519.2	7.7	499	10346	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2102	1945
10654	1.05	228.3	494.7	7.5	514	10655	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2102	1945
10964	1.05	228.3	471.0	7.3	529	10965	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2102	1944
11273	1.05	228.3	447.1	8.3	544	11277	0.00	2.58	0.00	0.000	4	0.000	0.052	2739	3503	1944
11378	1.05	228.3	436.9	9.8	549	11383	0.00	2.53	0.00	0.000	6	0.000	0.046	2739	2092	1944
11704	1.05	228.3	409.6	8.0	565	11705	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2092	1944
12013	1.05	228.3	384.6	7.9	580	12014	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2092	1945
12322	1.05	228.3	359.9	7.8	595	12323	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2092	1945
12632	1.05	228.3	334.9	8.0	610	12636	0.00	2.60	0.00	0.000	4	0.000	0.052	2739	3506	1945
12719	1.05	228.3	327.0	8.6	614	12724	0.00	2.53	0.00	0.000	6	0.000	0.044	2738	2093	1945
13046	1.05	228.3	298.0	8.8	630	13047	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2093	1945
13356	1.05	228.3	272.5	7.3	645	13357	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2092	1945
13665	1.05	228.3	247.5	8.6	660	13669	0.00	2.58	0.00	0.000	4	0.000	0.052	2739	3506	1946
13770	1.05	228.3	238.5	8.6	665	13775	0.00	2.50	0.00	0.000	6	0.000	0.042	2739	2098	1946
14097	1.05	228.3	215.0	7.0	681	14098	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1946
14406	1.05	228.3	194.6	6.7	696	14407	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1945
14716	1.05	228.3	173.5	6.9	711	14720	0.00	2.55	0.00	0.000	4	0.000	0.049	2738	3501	1946
14828	1.05	228.3	165.1	8.8	716	14832	0.00	2.50	0.00	0.000	6	0.000	0.041	2739	2096	1946
15148	1.05	228.3	140.8	6.4	732	15149	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2096	1946
15458	1.05	228.3	119.6	8.5	747	15459	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2097	1947
15767	1.05	228.3	97.3	6.5	762	15771	0.00	2.55	0.00	0.000	4	0.000	0.049	2739	3501	1947
15905	1.05	228.3	86.5	7.6	768	15909	0.00	2.47	0.00	0.000	6	0.000	0.040	2739	2095	1947
16229	1.12	289.8	67.2	4.2	784	16280	0.00	0.00	49.03	0.846	6	0.000	0.000	2739	2095	1696
16578	1.14	301.5	38.1	5.7	801	16590	0.00	0.00	10.12	0.858	6	0.000	0.000	2738	2095	1648
16886	1.14	301.5	7.0	10.5	816	16888	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2094	1647
17194	1.39	507.3	2.9	-0.1	831	17311	0.25	2.67	108.05	0.761	4	0.068	0.050	2798	3502	808
17315	end climb: NO_VERTICAL_VELOCITY
state	17317	begin surface