Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 235 * 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 235 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -80668.789 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 -80668.789

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 32 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 235 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 015831,6317.718,-1316.128,36,1.9,41,-12.3 TGT_NAME IW

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161,0.079

_SM_DEPTHo 3.26 KALMAN_X 305221.6,-274.7,13384.4,-570859.2,6458.8

_SM_ANGLEo -46.5 KALMAN_Y -39413.2,-221.0,-7883.7,241441.3,-7886.8

GPS2 021146,6317.865,-1316.359,11,1.3,12,-12.3 MHEAD_RNG_PITCHd_Wd 308.4,5426,-13.8,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18596,13.18,0.798,0,0,602,558.06 ALTIM_BOTTOM_PING 725.9,91.6

SM_GC 3.27,12.18,0.00,0.00,0.028,0.000,0.000,28,1894,602,-11.27,-0.17,558.30 _24V_AH 23.2,51.319

IRIDIUM_FIX 6249.28,-1320.45,040108,060659 _10V_AH 10.1,24.952

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44196,896

HUMID 2048 CFSIZE 260165632,243826688

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

TCM_TEMP 15.40 GPS 040108,073108,6321.763,-1323.484,42,1.1,42,-12.4

XPDR_PINGS 14

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 64.34 SBE_CT 657 24 366.13

Roll_motor 117 72 199.39 SBE_O2 603 19 266.19

VBD_pump_during_apogee 482 1320 14770.80 WL_BB2F 576 105 1403.40

VBD_pump_during_surface 13 797 243.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 270.19 nil 0 0 0.00

Iridium_during_connect 134 160 500.18 nil 0 0 0.00

Iridium_during_xfer 300 223 1553.73

Transponder_ping 9 420 95.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.82

TT8 1646 19 329.24

LPSleep 14587 2 322.67

TT8_Active 632 19 126.42

TT8_Sampling 2176 39 875.09

TT8_CF8 783 45 362.53

TT8_Kalman 33 81 27.56

Analog_circuits 1720 12 208.49

GPS_charging 0 0 0.00

Compass 2134 8 172.43

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.11 -98.9 0.0 0.0 0 28 0.00 0.00 -3.85 0.000 2 0.000 0.000 30 1876 697

31 -1.17 -146.6 3.3 -0.0 0 214 10.93 2.55 -163.18 0.000 4 0.107 0.073 2240 504 3476

469 -1.17 -146.6 29.4 -8.7 21 473 0.00 2.45 0.00 0.000 6 0.000 0.041 2240 1898 3476

795 -1.17 -146.6 62.1 -9.4 37 796 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1902 3476

1105 -1.17 -146.6 91.5 -9.0 52 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1901 3476

1413 -1.17 -146.6 117.4 -9.1 67 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1902 3476

1723 -1.17 -146.6 143.6 -7.0 82 1724 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1902 3475

2031 -1.17 -146.6 168.5 -8.4 97 2035 0.00 2.53 0.00 0.000 4 0.000 0.049 2240 3298 3476

2111 -1.17 -146.6 175.2 -8.4 100 2118 0.00 2.50 0.00 0.000 6 0.000 0.044 2240 1902 3476

2427 -1.17 -146.6 203.1 -9.3 116 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1903 3476

2736 -1.17 -146.6 231.0 -8.5 131 2737 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1903 3476

3045 -1.17 -146.6 258.6 -9.0 146 3046 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1903 3476

3354 -1.17 -146.6 286.5 -8.8 161 3355 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1903 3476

3663 -1.17 -146.6 312.5 -8.4 176 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1903 3476

3973 -1.17 -146.6 337.6 -8.4 191 3977 0.00 2.53 0.00 0.000 4 0.000 0.048 2239 3300 3476

4044 -1.17 -146.6 343.9 -9.1 194 4049 0.00 2.53 0.00 0.000 6 0.000 0.044 2240 1895 3476

4359 -1.17 -146.6 370.6 -8.6 209 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 2241 1895 3476

4669 -1.17 -146.6 396.0 -8.3 224 4670 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1895 3476

4978 -1.17 -146.6 421.3 -8.2 239 4980 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1895 3476

5287 -1.17 -146.6 446.4 -8.2 254 5288 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1895 3476

5597 -1.17 -146.6 470.3 -7.4 269 5598 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1892 3475

5907 -1.17 -146.6 490.3 -5.7 284 5911 0.00 2.55 0.00 0.000 4 0.000 0.050 2240 3301 3475

5955 -1.17 -146.6 493.6 -7.1 286 5959 0.00 2.53 0.00 0.000 6 0.000 0.045 2240 1899 3475

6277 -1.17 -146.6 512.1 -5.7 302 6278 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1899 3475

6586 -1.17 -146.6 534.3 -7.8 317 6587 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1899 3475

6895 -1.17 -146.6 563.4 -9.6 332 6899 0.00 2.55 0.00 0.000 4 0.000 0.052 2240 3300 3475

6961 -1.17 -146.6 569.7 -9.8 335 6965 0.00 2.53 0.00 0.000 6 0.000 0.047 2240 1899 3474

7288 -1.17 -146.6 595.0 -6.7 351 7289 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1899 3474

7597 -1.17 -146.6 620.3 -10.1 366 7598 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1900 3474

7906 -1.17 -146.6 656.8 -11.6 381 7911 0.00 2.55 0.00 0.000 4 0.000 0.056 2240 3295 3474

7978 -1.17 -146.6 665.3 -11.7 384 7982 0.00 2.50 0.00 0.000 6 0.000 0.049 2240 1902 3474

8299 -1.17 -146.6 693.7 -8.0 400 8304 0.00 2.55 0.00 0.000 4 0.000 0.057 2240 3303 3474

8388 -1.17 -146.6 700.4 -7.3 404 8392 0.00 2.55 0.00 0.000 6 0.000 0.050 2240 1899 3474

8709 -1.17 -146.6 724.2 -8.5 420 8710 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1899 3474

9018 -1.17 -146.6 756.1 -10.8 435 9022 0.00 2.58 0.00 0.000 4 0.000 0.058 2240 3304 3474

9125 -1.17 -146.6 766.3 -9.3 440 9129 0.00 2.55 0.00 0.000 6 0.000 0.052 2240 1898 3474

9451 -1.17 -146.6 783.9 -3.6 456 9452 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1898 3474

9760 -1.17 -146.6 807.3 -8.0 471 9761 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 1897 3473

9778 end dive: BOTTOM_OBSTACLE_DETECTED

state 9778 begin apogee

9784 -0.36 0.0 808.4 8.4 472 9912 0.82 0.00 125.32 1.320 6 0.076 0.000 2418 2099 2878

9913 end apogee: CONTROL_FINISHED_OK

state 9913 begin climb

9915 1.17 146.6 811.7 0.0 478 10047 1.50 2.75 124.05 1.289 4 0.055 0.073 2750 693 2280

10125 1.29 245.2 805.0 1.8 489 10216 0.12 2.58 82.62 1.276 6 0.051 0.054 2786 2096 1878

10537 1.29 245.2 756.1 18.0 509 10542 0.00 2.62 0.00 0.000 4 0.000 0.063 2786 3505 1876

10794 1.29 245.2 711.2 18.5 520 10801 0.00 2.58 0.00 0.000 6 0.000 0.052 2787 2110 1875

11111 1.29 245.2 649.7 20.1 536 11115 0.00 2.55 0.00 0.000 4 0.000 0.056 2786 3508 1875

11288 1.29 245.2 617.4 15.3 544 11293 0.00 2.55 0.00 0.000 6 0.000 0.048 2786 2099 1875

11615 1.29 245.2 588.9 9.1 560 11620 0.00 2.58 0.00 0.000 4 0.000 0.054 2786 3511 1875

11754 1.29 245.2 574.9 9.6 566 11758 0.00 2.53 0.00 0.000 6 0.000 0.045 2786 2096 1875

12075 1.29 245.2 544.5 8.6 582 12079 0.00 2.58 0.00 0.000 4 0.000 0.054 2786 3506 1875

12208 1.29 245.2 531.5 9.5 588 12212 0.00 2.53 0.00 0.000 6 0.000 0.045 2786 2095 1875

12534 1.29 245.2 500.8 9.4 604 12539 0.00 2.58 0.00 0.000 4 0.000 0.052 2786 3506 1875

12619 1.29 245.2 492.4 10.0 608 12623 0.00 2.53 0.00 0.000 6 0.000 0.044 2786 2098 1875

12944 1.29 245.2 461.2 9.7 624 12948 0.00 2.58 0.00 0.000 4 0.000 0.051 2786 3506 1875

13056 1.29 245.2 449.6 10.0 629 13060 0.00 2.55 0.00 0.000 6 0.000 0.044 2786 2091 1875

13376 1.29 245.2 420.3 8.0 645 13381 0.00 2.60 0.00 0.000 4 0.000 0.051 2786 3512 1875

13460 1.29 245.2 413.4 7.8 649 13465 0.00 2.53 0.00 0.000 6 0.000 0.042 2787 2096 1875

13787 1.29 245.2 387.5 8.3 665 13791 0.00 2.58 0.00 0.000 4 0.000 0.051 2786 3506 1875

13858 1.29 245.2 380.9 9.1 668 13862 0.00 2.50 0.00 0.000 6 0.000 0.044 2787 2101 1875

14179 1.29 245.2 352.3 8.6 684 14183 0.00 2.55 0.00 0.000 4 0.000 0.051 2786 3508 1875

14250 1.29 245.2 345.4 9.2 687 14254 0.00 2.50 0.00 0.000 6 0.000 0.044 2787 2096 1876

14571 1.29 245.2 314.7 10.1 703 14572 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2096 1876

14880 1.29 245.2 284.5 9.9 718 14885 0.00 2.58 0.00 0.000 4 0.000 0.051 2786 3506 1876

15020 1.29 245.2 270.1 11.3 724 15024 0.00 2.50 0.00 0.000 6 0.000 0.042 2786 2099 1876

15335 1.29 245.2 239.1 9.7 739 15336 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2099 1876

15644 1.29 245.2 208.6 10.3 754 15648 0.00 2.58 0.00 0.000 4 0.000 0.050 2786 3510 1876

15744 1.29 245.2 198.7 9.3 758 15750 0.00 2.50 0.00 0.000 6 0.000 0.041 2786 2098 1876

16059 1.29 245.2 171.6 8.2 774 16060 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 2098 1876

16369 1.29 245.2 144.4 9.7 789 16370 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2098 1877

16678 1.29 245.2 111.3 11.0 804 16682 0.00 2.55 0.00 0.000 4 0.000 0.048 2787 3506 1877

16829 1.29 245.2 90.1 15.3 811 16834 0.00 2.50 0.00 0.000 6 0.000 0.041 2786 2094 1877

17156 1.29 245.2 46.5 12.3 827 17157 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2093 1877

17467 1.29 245.2 16.9 8.2 842 17471 0.00 2.58 0.00 0.000 4 0.000 0.049 2787 3510 1877

17550 1.29 245.2 7.9 10.3 846 17555 0.00 2.50 0.00 0.000 6 0.000 0.039 2786 2094 1877

17877 1.46 383.5 2.7 0.1 862 17959 0.12 2.62 73.80 0.781 4 0.066 0.049 2818 3507 1313

18211 1.65 535.7 2.9 -0.5 877 18294 0.15 2.55 76.53 0.753 6 0.059 0.043 2858 2088 694

18593 end climb: NO_VERTICAL_VELOCITY

state 18593 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	235	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-80668.789	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	015831,6317.718,-1316.128,36,1.9,41,-12.3	TGT_NAME	IW
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161,0.079
_SM_DEPTHo	3.26	KALMAN_X	305221.6,-274.7,13384.4,-570859.2,6458.8
_SM_ANGLEo	-46.5	KALMAN_Y	-39413.2,-221.0,-7883.7,241441.3,-7886.8
GPS2	021146,6317.865,-1316.359,11,1.3,12,-12.3	MHEAD_RNG_PITCHd_Wd	308.4,5426,-13.8,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18596,13.18,0.798,0,0,602,558.06	ALTIM_BOTTOM_PING	725.9,91.6
SM_GC	3.27,12.18,0.00,0.00,0.028,0.000,0.000,28,1894,602,-11.27,-0.17,558.30	_24V_AH	23.2,51.319
IRIDIUM_FIX	6249.28,-1320.45,040108,060659	_10V_AH	10.1,24.952
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44196,896
HUMID	2048	CFSIZE	260165632,243826688
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
TCM_TEMP	15.40	GPS	040108,073108,6321.763,-1323.484,42,1.1,42,-12.4
XPDR_PINGS	14

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	64.34	SBE_CT	657	24	366.13
Roll_motor	117	72	199.39	SBE_O2	603	19	266.19
VBD_pump_during_apogee	482	1320	14770.80	WL_BB2F	576	105	1403.40
VBD_pump_during_surface	13	797	243.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	270.19	nil	0	0	0.00
Iridium_during_connect	134	160	500.18	nil	0	0	0.00
Iridium_during_xfer	300	223	1553.73
Transponder_ping	9	420	95.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.82
TT8	1646	19	329.24
LPSleep	14587	2	322.67
TT8_Active	632	19	126.42
TT8_Sampling	2176	39	875.09
TT8_CF8	783	45	362.53
TT8_Kalman	33	81	27.56
Analog_circuits	1720	12	208.49
GPS_charging	0	0	0.00
Compass	2134	8	172.43
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.11	-98.9	0.0	0.0	0	28	0.00	0.00	-3.85	0.000	2	0.000	0.000	30	1876	697
31	-1.17	-146.6	3.3	-0.0	0	214	10.93	2.55	-163.18	0.000	4	0.107	0.073	2240	504	3476
469	-1.17	-146.6	29.4	-8.7	21	473	0.00	2.45	0.00	0.000	6	0.000	0.041	2240	1898	3476
795	-1.17	-146.6	62.1	-9.4	37	796	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1902	3476
1105	-1.17	-146.6	91.5	-9.0	52	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1901	3476
1413	-1.17	-146.6	117.4	-9.1	67	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1902	3476
1723	-1.17	-146.6	143.6	-7.0	82	1724	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1902	3475
2031	-1.17	-146.6	168.5	-8.4	97	2035	0.00	2.53	0.00	0.000	4	0.000	0.049	2240	3298	3476
2111	-1.17	-146.6	175.2	-8.4	100	2118	0.00	2.50	0.00	0.000	6	0.000	0.044	2240	1902	3476
2427	-1.17	-146.6	203.1	-9.3	116	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1903	3476
2736	-1.17	-146.6	231.0	-8.5	131	2737	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1903	3476
3045	-1.17	-146.6	258.6	-9.0	146	3046	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1903	3476
3354	-1.17	-146.6	286.5	-8.8	161	3355	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1903	3476
3663	-1.17	-146.6	312.5	-8.4	176	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1903	3476
3973	-1.17	-146.6	337.6	-8.4	191	3977	0.00	2.53	0.00	0.000	4	0.000	0.048	2239	3300	3476
4044	-1.17	-146.6	343.9	-9.1	194	4049	0.00	2.53	0.00	0.000	6	0.000	0.044	2240	1895	3476
4359	-1.17	-146.6	370.6	-8.6	209	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	2241	1895	3476
4669	-1.17	-146.6	396.0	-8.3	224	4670	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1895	3476
4978	-1.17	-146.6	421.3	-8.2	239	4980	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1895	3476
5287	-1.17	-146.6	446.4	-8.2	254	5288	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1895	3476
5597	-1.17	-146.6	470.3	-7.4	269	5598	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1892	3475
5907	-1.17	-146.6	490.3	-5.7	284	5911	0.00	2.55	0.00	0.000	4	0.000	0.050	2240	3301	3475
5955	-1.17	-146.6	493.6	-7.1	286	5959	0.00	2.53	0.00	0.000	6	0.000	0.045	2240	1899	3475
6277	-1.17	-146.6	512.1	-5.7	302	6278	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1899	3475
6586	-1.17	-146.6	534.3	-7.8	317	6587	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1899	3475
6895	-1.17	-146.6	563.4	-9.6	332	6899	0.00	2.55	0.00	0.000	4	0.000	0.052	2240	3300	3475
6961	-1.17	-146.6	569.7	-9.8	335	6965	0.00	2.53	0.00	0.000	6	0.000	0.047	2240	1899	3474
7288	-1.17	-146.6	595.0	-6.7	351	7289	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1899	3474
7597	-1.17	-146.6	620.3	-10.1	366	7598	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1900	3474
7906	-1.17	-146.6	656.8	-11.6	381	7911	0.00	2.55	0.00	0.000	4	0.000	0.056	2240	3295	3474
7978	-1.17	-146.6	665.3	-11.7	384	7982	0.00	2.50	0.00	0.000	6	0.000	0.049	2240	1902	3474
8299	-1.17	-146.6	693.7	-8.0	400	8304	0.00	2.55	0.00	0.000	4	0.000	0.057	2240	3303	3474
8388	-1.17	-146.6	700.4	-7.3	404	8392	0.00	2.55	0.00	0.000	6	0.000	0.050	2240	1899	3474
8709	-1.17	-146.6	724.2	-8.5	420	8710	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1899	3474
9018	-1.17	-146.6	756.1	-10.8	435	9022	0.00	2.58	0.00	0.000	4	0.000	0.058	2240	3304	3474
9125	-1.17	-146.6	766.3	-9.3	440	9129	0.00	2.55	0.00	0.000	6	0.000	0.052	2240	1898	3474
9451	-1.17	-146.6	783.9	-3.6	456	9452	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1898	3474
9760	-1.17	-146.6	807.3	-8.0	471	9761	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	1897	3473
9778	end dive: BOTTOM_OBSTACLE_DETECTED
state	9778	begin apogee
9784	-0.36	0.0	808.4	8.4	472	9912	0.82	0.00	125.32	1.320	6	0.076	0.000	2418	2099	2878
9913	end apogee: CONTROL_FINISHED_OK
state	9913	begin climb
9915	1.17	146.6	811.7	0.0	478	10047	1.50	2.75	124.05	1.289	4	0.055	0.073	2750	693	2280
10125	1.29	245.2	805.0	1.8	489	10216	0.12	2.58	82.62	1.276	6	0.051	0.054	2786	2096	1878
10537	1.29	245.2	756.1	18.0	509	10542	0.00	2.62	0.00	0.000	4	0.000	0.063	2786	3505	1876
10794	1.29	245.2	711.2	18.5	520	10801	0.00	2.58	0.00	0.000	6	0.000	0.052	2787	2110	1875
11111	1.29	245.2	649.7	20.1	536	11115	0.00	2.55	0.00	0.000	4	0.000	0.056	2786	3508	1875
11288	1.29	245.2	617.4	15.3	544	11293	0.00	2.55	0.00	0.000	6	0.000	0.048	2786	2099	1875
11615	1.29	245.2	588.9	9.1	560	11620	0.00	2.58	0.00	0.000	4	0.000	0.054	2786	3511	1875
11754	1.29	245.2	574.9	9.6	566	11758	0.00	2.53	0.00	0.000	6	0.000	0.045	2786	2096	1875
12075	1.29	245.2	544.5	8.6	582	12079	0.00	2.58	0.00	0.000	4	0.000	0.054	2786	3506	1875
12208	1.29	245.2	531.5	9.5	588	12212	0.00	2.53	0.00	0.000	6	0.000	0.045	2786	2095	1875
12534	1.29	245.2	500.8	9.4	604	12539	0.00	2.58	0.00	0.000	4	0.000	0.052	2786	3506	1875
12619	1.29	245.2	492.4	10.0	608	12623	0.00	2.53	0.00	0.000	6	0.000	0.044	2786	2098	1875
12944	1.29	245.2	461.2	9.7	624	12948	0.00	2.58	0.00	0.000	4	0.000	0.051	2786	3506	1875
13056	1.29	245.2	449.6	10.0	629	13060	0.00	2.55	0.00	0.000	6	0.000	0.044	2786	2091	1875
13376	1.29	245.2	420.3	8.0	645	13381	0.00	2.60	0.00	0.000	4	0.000	0.051	2786	3512	1875
13460	1.29	245.2	413.4	7.8	649	13465	0.00	2.53	0.00	0.000	6	0.000	0.042	2787	2096	1875
13787	1.29	245.2	387.5	8.3	665	13791	0.00	2.58	0.00	0.000	4	0.000	0.051	2786	3506	1875
13858	1.29	245.2	380.9	9.1	668	13862	0.00	2.50	0.00	0.000	6	0.000	0.044	2787	2101	1875
14179	1.29	245.2	352.3	8.6	684	14183	0.00	2.55	0.00	0.000	4	0.000	0.051	2786	3508	1875
14250	1.29	245.2	345.4	9.2	687	14254	0.00	2.50	0.00	0.000	6	0.000	0.044	2787	2096	1876
14571	1.29	245.2	314.7	10.1	703	14572	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2096	1876
14880	1.29	245.2	284.5	9.9	718	14885	0.00	2.58	0.00	0.000	4	0.000	0.051	2786	3506	1876
15020	1.29	245.2	270.1	11.3	724	15024	0.00	2.50	0.00	0.000	6	0.000	0.042	2786	2099	1876
15335	1.29	245.2	239.1	9.7	739	15336	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2099	1876
15644	1.29	245.2	208.6	10.3	754	15648	0.00	2.58	0.00	0.000	4	0.000	0.050	2786	3510	1876
15744	1.29	245.2	198.7	9.3	758	15750	0.00	2.50	0.00	0.000	6	0.000	0.041	2786	2098	1876
16059	1.29	245.2	171.6	8.2	774	16060	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	2098	1876
16369	1.29	245.2	144.4	9.7	789	16370	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2098	1877
16678	1.29	245.2	111.3	11.0	804	16682	0.00	2.55	0.00	0.000	4	0.000	0.048	2787	3506	1877
16829	1.29	245.2	90.1	15.3	811	16834	0.00	2.50	0.00	0.000	6	0.000	0.041	2786	2094	1877
17156	1.29	245.2	46.5	12.3	827	17157	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	2093	1877
17467	1.29	245.2	16.9	8.2	842	17471	0.00	2.58	0.00	0.000	4	0.000	0.049	2787	3510	1877
17550	1.29	245.2	7.9	10.3	846	17555	0.00	2.50	0.00	0.000	6	0.000	0.039	2786	2094	1877
17877	1.46	383.5	2.7	0.1	862	17959	0.12	2.62	73.80	0.781	4	0.066	0.049	2818	3507	1313
18211	1.65	535.7	2.9	-0.5	877	18294	0.15	2.55	76.53	0.753	6	0.059	0.043	2858	2088	694
18593	end climb: NO_VERTICAL_VELOCITY
state	18593	begin surface