Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 224 * 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 224 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -80406.297 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 -80406.297

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 33 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 224 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 111902,6314.858,-1305.297,69,1.4,69,-12.2 TGT_NAME IW

_CALLS 4 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.111,0.176

_SM_DEPTHo 3.39 KALMAN_X 290256.2,-305.3,-5193.5,-527450.3,11071.4

_SM_ANGLEo -45.3 KALMAN_Y -25025.3,510.8,493.9,212518.4,-5948.8

GPS2 113632,6314.927,-1305.183,34,1.6,35,-12.2 MHEAD_RNG_PITCHd_Wd 339.9,8185,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20658,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 601.0,65.1

SM_GC 3.60,0.00,0.00,0.00,0.000,0.000,0.000,34,1886,603,-11.32,-0.42,558.06 _24V_AH 23.3,49.454

IRIDIUM_FIX 6249.28,-1310.06,010108,151516 _10V_AH 10.1,23.955

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47438,979

HUMID 2045 CFSIZE 260165632,244510720

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 16.60 GPS 010108,172301,6316.636,-1258.957,42,1.7,42,-12.1

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 60.61 SBE_CT 724 24 405.10

Roll_motor 46 76 83.15 SBE_O2 661 19 292.95

VBD_pump_during_apogee 484 1221 13794.49 WL_BB2F 653 105 1598.41

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 153 103 367.64 nil 0 0 0.00

Iridium_during_connect 147 160 548.14 nil 0 0 0.00

Iridium_during_xfer 413 223 2146.61

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.48

TT8 1659 19 331.93

LPSleep 16626 2 367.76

TT8_Active 588 19 117.75

TT8_Sampling 1894 39 761.36

TT8_CF8 940 45 435.15

TT8_Kalman 33 81 27.56

Analog_circuits 1509 12 182.95

GPS_charging 0 0 0.00

Compass 1848 8 149.35

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -0.95 -146.6 0.0 0.0 0 47 0.00 0.00 -22.02 0.000 2 0.000 0.000 28 1884 1113

50 -0.95 -146.6 3.4 -0.0 1 198 11.07 2.58 -130.15 0.000 4 0.102 0.077 2288 500 3476

450 -0.95 -146.6 29.6 -5.9 19 455 0.00 2.47 0.00 0.000 6 0.000 0.041 2287 1906 3476

767 -0.95 -146.6 55.5 -7.0 34 771 0.00 2.62 0.00 0.000 4 0.000 0.065 2288 500 3476

806 -0.95 -146.6 58.0 -6.0 36 810 0.00 2.47 0.00 0.000 6 0.000 0.041 2288 1907 3476

1132 -0.95 -146.6 81.0 -7.9 52 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

1441 -0.95 -146.6 100.8 -6.6 67 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

1750 -0.95 -146.6 123.5 -9.5 82 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

2060 -0.95 -146.6 148.6 -7.8 97 2061 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

2369 -0.95 -146.6 172.6 -5.2 112 2370 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

2678 -0.95 -146.6 192.4 -6.9 127 2679 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

2987 -0.95 -146.6 213.5 -6.8 142 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

3296 -0.95 -146.6 233.2 -6.4 157 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

3605 -0.95 -146.6 252.8 -6.7 172 3607 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

3915 -0.95 -146.6 274.2 -7.2 187 3916 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1909 3476

4224 -0.95 -146.6 297.1 -7.4 202 4225 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

4533 -0.95 -146.6 320.2 -7.1 217 4534 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

4843 -0.95 -146.6 341.5 -6.8 232 4844 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1909 3476

5152 -0.95 -146.6 362.1 -6.7 247 5153 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1909 3476

5461 -0.95 -146.6 383.6 -7.2 262 5462 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

5771 -0.95 -146.6 406.8 -7.5 277 5772 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

6080 -0.95 -146.6 429.4 -7.2 292 6081 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1909 3476

6390 -0.95 -146.6 451.4 -7.0 307 6391 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

6699 -0.95 -146.6 472.5 -7.1 322 6700 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1909 3476

7007 -0.95 -146.6 493.2 -6.4 337 7012 0.00 2.60 0.00 0.000 4 0.000 0.067 2288 507 3475

7057 -0.95 -146.6 496.3 -5.7 339 7061 0.00 2.45 0.00 0.000 6 0.000 0.043 2288 1909 3475

7372 -0.95 -146.6 516.3 -6.4 354 7374 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1912 3475

7681 -0.95 -146.6 537.5 -7.1 369 7686 0.00 2.60 0.00 0.000 4 0.000 0.066 2288 507 3475

7736 -0.95 -146.6 541.8 -8.0 371 7743 0.00 2.42 0.00 0.000 6 0.000 0.044 2287 1902 3475

8052 -0.95 -146.6 565.0 -6.9 387 8053 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

8361 -0.95 -146.6 584.9 -6.2 402 8362 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

8671 -0.95 -146.6 603.3 -6.0 417 8672 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

8980 -0.95 -146.6 620.1 -5.1 432 8984 0.00 2.55 0.00 0.000 4 0.000 0.059 2288 3291 3475

9052 -0.95 -146.6 624.1 -5.6 435 9056 0.00 2.50 0.00 0.000 6 0.000 0.051 2287 1914 3474

9367 -0.95 -146.6 641.8 -5.8 450 9369 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1914 3474

9592 end dive: BOTTOM_OBSTACLE_DETECTED

state 9592 begin apogee

9598 -0.36 0.0 656.5 6.9 461 9724 0.60 0.00 122.90 1.222 6 0.074 0.000 2418 2095 2878

9725 end apogee: CONTROL_FINISHED_OK

state 9725 begin climb

9727 0.95 146.6 659.9 0.0 467 9853 1.25 0.00 122.62 1.183 6 0.050 0.000 2699 2094 2280

10159 0.95 146.9 642.1 6.0 488 10160 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2094 2279

10466 0.95 146.9 623.3 6.1 503 10467 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2094 2278

10776 0.99 177.8 606.5 5.1 518 10809 0.00 2.67 26.33 1.208 4 0.000 0.058 2699 3503 2152

10899 1.01 200.5 600.2 5.3 523 10926 0.00 2.58 20.00 1.196 6 0.000 0.051 2699 2096 2060

11234 1.01 200.5 579.5 6.5 540 11235 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 2059

11544 1.01 200.5 558.9 6.7 555 11545 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 2058

11853 1.01 200.5 539.7 6.2 570 11854 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 2058

12162 1.03 217.5 522.2 5.5 585 12183 0.00 0.00 14.85 1.178 6 0.000 0.000 2699 2096 1991

12492 1.03 217.5 501.8 6.6 601 12493 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 1990

12801 1.03 217.5 481.8 6.5 616 12802 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 1990

13111 1.04 222.0 463.1 5.9 631 13118 0.10 0.00 4.90 1.112 6 0.059 0.000 2736 2096 1972

13420 1.04 222.0 440.7 7.6 646 13424 0.00 2.60 0.00 0.000 4 0.000 0.066 2736 691 1972

13508 1.04 222.0 433.4 8.3 650 13512 0.00 2.50 0.00 0.000 6 0.000 0.041 2735 2109 1972

13835 1.04 222.0 408.0 7.6 666 13836 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2110 1972

14144 1.04 222.0 384.3 7.6 681 14145 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2110 1972

14454 1.04 222.0 361.1 8.0 696 14455 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2113 1973

14763 1.04 222.0 335.6 8.0 711 14764 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2113 1973

15072 1.04 222.0 312.2 6.8 726 15073 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2113 1973

15381 1.04 222.0 291.3 6.6 741 15386 0.00 2.62 0.00 0.000 4 0.000 0.061 2736 687 1973

15443 1.04 222.0 286.9 6.8 744 15447 0.00 2.50 0.00 0.000 6 0.000 0.041 2736 2105 1973

15768 1.04 222.0 265.6 6.3 760 15770 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2109 1974

16077 1.04 222.0 247.3 6.1 775 16078 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1974

16387 1.04 222.0 226.8 6.6 790 16388 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1974

16696 1.04 222.0 206.6 6.4 805 16697 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1974

17005 1.04 222.0 185.5 7.1 820 17006 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

17315 1.04 222.0 163.7 7.0 835 17316 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

17624 1.04 222.0 142.3 6.5 850 17625 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

17933 1.04 222.0 122.0 6.5 865 17935 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

18243 1.04 222.0 102.7 6.3 880 18244 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

18554 1.04 222.0 82.6 7.0 895 18555 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

18861 1.04 222.0 60.4 7.5 910 18863 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

19170 1.04 222.0 34.4 7.2 925 19172 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

19480 1.04 222.0 12.8 8.4 940 19481 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2108 1975

19789 1.29 428.7 2.9 -0.2 955 19903 0.15 2.58 107.18 0.762 4 0.064 0.046 2777 3502 1129

19915 1.54 629.8 2.6 0.0 961 19987 0.25 2.55 65.78 0.738 6 0.068 0.042 2830 2084 603

20297 end climb: NO_VERTICAL_VELOCITY

state 20297 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	224	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-80406.297	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	111902,6314.858,-1305.297,69,1.4,69,-12.2	TGT_NAME	IW
_CALLS	4	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.111,0.176
_SM_DEPTHo	3.39	KALMAN_X	290256.2,-305.3,-5193.5,-527450.3,11071.4
_SM_ANGLEo	-45.3	KALMAN_Y	-25025.3,510.8,493.9,212518.4,-5948.8
GPS2	113632,6314.927,-1305.183,34,1.6,35,-12.2	MHEAD_RNG_PITCHd_Wd	339.9,8185,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20658,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	601.0,65.1
SM_GC	3.60,0.00,0.00,0.00,0.000,0.000,0.000,34,1886,603,-11.32,-0.42,558.06	_24V_AH	23.3,49.454
IRIDIUM_FIX	6249.28,-1310.06,010108,151516	_10V_AH	10.1,23.955
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47438,979
HUMID	2045	CFSIZE	260165632,244510720
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	16.60	GPS	010108,172301,6316.636,-1258.957,42,1.7,42,-12.1
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	60.61	SBE_CT	724	24	405.10
Roll_motor	46	76	83.15	SBE_O2	661	19	292.95
VBD_pump_during_apogee	484	1221	13794.49	WL_BB2F	653	105	1598.41
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	153	103	367.64	nil	0	0	0.00
Iridium_during_connect	147	160	548.14	nil	0	0	0.00
Iridium_during_xfer	413	223	2146.61
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.48
TT8	1659	19	331.93
LPSleep	16626	2	367.76
TT8_Active	588	19	117.75
TT8_Sampling	1894	39	761.36
TT8_CF8	940	45	435.15
TT8_Kalman	33	81	27.56
Analog_circuits	1509	12	182.95
GPS_charging	0	0	0.00
Compass	1848	8	149.35
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-0.95	-146.6	0.0	0.0	0	47	0.00	0.00	-22.02	0.000	2	0.000	0.000	28	1884	1113
50	-0.95	-146.6	3.4	-0.0	1	198	11.07	2.58	-130.15	0.000	4	0.102	0.077	2288	500	3476
450	-0.95	-146.6	29.6	-5.9	19	455	0.00	2.47	0.00	0.000	6	0.000	0.041	2287	1906	3476
767	-0.95	-146.6	55.5	-7.0	34	771	0.00	2.62	0.00	0.000	4	0.000	0.065	2288	500	3476
806	-0.95	-146.6	58.0	-6.0	36	810	0.00	2.47	0.00	0.000	6	0.000	0.041	2288	1907	3476
1132	-0.95	-146.6	81.0	-7.9	52	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
1441	-0.95	-146.6	100.8	-6.6	67	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
1750	-0.95	-146.6	123.5	-9.5	82	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
2060	-0.95	-146.6	148.6	-7.8	97	2061	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
2369	-0.95	-146.6	172.6	-5.2	112	2370	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
2678	-0.95	-146.6	192.4	-6.9	127	2679	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
2987	-0.95	-146.6	213.5	-6.8	142	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
3296	-0.95	-146.6	233.2	-6.4	157	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
3605	-0.95	-146.6	252.8	-6.7	172	3607	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
3915	-0.95	-146.6	274.2	-7.2	187	3916	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1909	3476
4224	-0.95	-146.6	297.1	-7.4	202	4225	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
4533	-0.95	-146.6	320.2	-7.1	217	4534	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
4843	-0.95	-146.6	341.5	-6.8	232	4844	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1909	3476
5152	-0.95	-146.6	362.1	-6.7	247	5153	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1909	3476
5461	-0.95	-146.6	383.6	-7.2	262	5462	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
5771	-0.95	-146.6	406.8	-7.5	277	5772	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
6080	-0.95	-146.6	429.4	-7.2	292	6081	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1909	3476
6390	-0.95	-146.6	451.4	-7.0	307	6391	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
6699	-0.95	-146.6	472.5	-7.1	322	6700	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1909	3476
7007	-0.95	-146.6	493.2	-6.4	337	7012	0.00	2.60	0.00	0.000	4	0.000	0.067	2288	507	3475
7057	-0.95	-146.6	496.3	-5.7	339	7061	0.00	2.45	0.00	0.000	6	0.000	0.043	2288	1909	3475
7372	-0.95	-146.6	516.3	-6.4	354	7374	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1912	3475
7681	-0.95	-146.6	537.5	-7.1	369	7686	0.00	2.60	0.00	0.000	4	0.000	0.066	2288	507	3475
7736	-0.95	-146.6	541.8	-8.0	371	7743	0.00	2.42	0.00	0.000	6	0.000	0.044	2287	1902	3475
8052	-0.95	-146.6	565.0	-6.9	387	8053	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
8361	-0.95	-146.6	584.9	-6.2	402	8362	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
8671	-0.95	-146.6	603.3	-6.0	417	8672	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
8980	-0.95	-146.6	620.1	-5.1	432	8984	0.00	2.55	0.00	0.000	4	0.000	0.059	2288	3291	3475
9052	-0.95	-146.6	624.1	-5.6	435	9056	0.00	2.50	0.00	0.000	6	0.000	0.051	2287	1914	3474
9367	-0.95	-146.6	641.8	-5.8	450	9369	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1914	3474
9592	end dive: BOTTOM_OBSTACLE_DETECTED
state	9592	begin apogee
9598	-0.36	0.0	656.5	6.9	461	9724	0.60	0.00	122.90	1.222	6	0.074	0.000	2418	2095	2878
9725	end apogee: CONTROL_FINISHED_OK
state	9725	begin climb
9727	0.95	146.6	659.9	0.0	467	9853	1.25	0.00	122.62	1.183	6	0.050	0.000	2699	2094	2280
10159	0.95	146.9	642.1	6.0	488	10160	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2094	2279
10466	0.95	146.9	623.3	6.1	503	10467	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2094	2278
10776	0.99	177.8	606.5	5.1	518	10809	0.00	2.67	26.33	1.208	4	0.000	0.058	2699	3503	2152
10899	1.01	200.5	600.2	5.3	523	10926	0.00	2.58	20.00	1.196	6	0.000	0.051	2699	2096	2060
11234	1.01	200.5	579.5	6.5	540	11235	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	2059
11544	1.01	200.5	558.9	6.7	555	11545	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	2058
11853	1.01	200.5	539.7	6.2	570	11854	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	2058
12162	1.03	217.5	522.2	5.5	585	12183	0.00	0.00	14.85	1.178	6	0.000	0.000	2699	2096	1991
12492	1.03	217.5	501.8	6.6	601	12493	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	1990
12801	1.03	217.5	481.8	6.5	616	12802	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	1990
13111	1.04	222.0	463.1	5.9	631	13118	0.10	0.00	4.90	1.112	6	0.059	0.000	2736	2096	1972
13420	1.04	222.0	440.7	7.6	646	13424	0.00	2.60	0.00	0.000	4	0.000	0.066	2736	691	1972
13508	1.04	222.0	433.4	8.3	650	13512	0.00	2.50	0.00	0.000	6	0.000	0.041	2735	2109	1972
13835	1.04	222.0	408.0	7.6	666	13836	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2110	1972
14144	1.04	222.0	384.3	7.6	681	14145	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2110	1972
14454	1.04	222.0	361.1	8.0	696	14455	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2113	1973
14763	1.04	222.0	335.6	8.0	711	14764	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2113	1973
15072	1.04	222.0	312.2	6.8	726	15073	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2113	1973
15381	1.04	222.0	291.3	6.6	741	15386	0.00	2.62	0.00	0.000	4	0.000	0.061	2736	687	1973
15443	1.04	222.0	286.9	6.8	744	15447	0.00	2.50	0.00	0.000	6	0.000	0.041	2736	2105	1973
15768	1.04	222.0	265.6	6.3	760	15770	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2109	1974
16077	1.04	222.0	247.3	6.1	775	16078	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1974
16387	1.04	222.0	226.8	6.6	790	16388	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1974
16696	1.04	222.0	206.6	6.4	805	16697	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1974
17005	1.04	222.0	185.5	7.1	820	17006	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
17315	1.04	222.0	163.7	7.0	835	17316	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
17624	1.04	222.0	142.3	6.5	850	17625	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
17933	1.04	222.0	122.0	6.5	865	17935	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
18243	1.04	222.0	102.7	6.3	880	18244	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
18554	1.04	222.0	82.6	7.0	895	18555	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
18861	1.04	222.0	60.4	7.5	910	18863	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
19170	1.04	222.0	34.4	7.2	925	19172	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
19480	1.04	222.0	12.8	8.4	940	19481	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2108	1975
19789	1.29	428.7	2.9	-0.2	955	19903	0.15	2.58	107.18	0.762	4	0.064	0.046	2777	3502	1129
19915	1.54	629.8	2.6	0.0	961	19987	0.25	2.55	65.78	0.738	6	0.068	0.042	2830	2084	603
20297	end climb: NO_VERTICAL_VELOCITY
state	20297	begin surface