Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 259 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 259 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 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 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 571.30371 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -67252.82 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 12 SM_CC 571.30371

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 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 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -67252.82

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 22 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 259 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 002008,6400.027,-1231.124,41,1.9,41,-12.2 TGT_NAME KW

_CALLS 5 TGT_LATLONG 6400.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,-0.005

_SM_DEPTHo -0.36 KALMAN_X -191354.0,-416.0,-1643.3,-14881.7,10240.9

_SM_ANGLEo -42.6 KALMAN_Y -224228.0,5.3,-526.1,495627.2,210.5

GPS2 004040,6400.254,-1230.683,12,5.8,31,-12.1 MHEAD_RNG_PITCHd_Wd 280.7,23806,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 509

Post-dive calculations and measurements:

FINISH -0.9,1.027351 XPDR_PINGS 2

SM_CCo 12931,258.40,0.770,2,0,572,571.30 ALTIM_BOTTOM_PING 425.7,91.1

SM_GC -0.47,0.00,0.00,258.40,0.000,0.000,0.770,30,2898,572,-10.95,-0.06,571.30 _24V_AH 23.4,45.941

IRIDIUM_FIX 6332.30,-1236.52,010108,040425 _10V_AH 10.1,22.330

TT8_MAMPS 0.028379 DATA_FILE_SIZE 31696,624

HUMID 2000 CFSIZE 260165632,243425280

INTERNAL_PRESSURE 8.76987 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,2,0

TCM_TEMP 17.10 GPS 010108,042301,6401.040,-1229.411,37,1.6,43,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 95.67 SBE_CT 452 24 254.28

Roll_motor 131 102 314.55 SBE_O2 435 19 193.65

VBD_pump_during_apogee 323 1126 8520.61 WL_BB2F 436 105 1072.25

VBD_pump_during_surface 258 770 4656.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 194 103 468.81 nil 0 0 0.00

Iridium_during_connect 194 160 729.50 nil 0 0 0.00

Iridium_during_xfer 433 223 2263.85

Transponder_ping 3 420 36.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.12

TT8 1166 19 233.25

LPSleep 10002 2 221.23

TT8_Active 753 19 150.77

TT8_Sampling 1450 39 583.20

TT8_CF8 1075 45 497.30

TT8_Kalman 33 81 27.58

Analog_circuits 1500 12 181.81

GPS_charging 0 0 0.00

Compass 1409 8 113.93

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.10 -146.6 0.0 0.0 0 125 0.00 0.00 -101.38 0.000 2 0.000 0.000 44 2891 3398

128 -1.10 -146.6 3.8 -4.8 5 150 11.95 2.60 -1.77 0.000 4 0.158 0.075 2164 1494 3501

369 -1.10 -146.6 39.9 -14.1 15 375 0.00 2.65 0.00 0.000 6 0.000 0.075 2164 2904 3501

684 -1.10 -146.6 69.1 -6.4 31 689 0.00 2.65 0.00 0.000 4 0.000 0.070 2165 1485 3501

724 -1.10 -146.6 72.1 -7.4 33 728 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2901 3501

1050 -1.10 -146.6 98.6 -8.0 49 1055 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1492 3501

1077 -1.10 -146.6 100.8 -7.8 50 1081 0.00 2.65 0.00 0.000 6 0.000 0.073 2165 2902 3502

1399 -1.10 -146.6 118.1 -5.9 66 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3501

1708 -1.10 -146.6 139.4 -8.2 81 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3501

2017 -1.10 -146.6 169.0 -8.7 96 2021 0.00 2.62 0.00 0.000 4 0.000 0.067 2164 1486 3501

2043 -1.10 -146.6 171.3 -8.4 97 2048 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2900 3501

2365 -1.10 -146.6 196.2 -8.4 113 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3501

2674 -1.10 -146.6 227.4 -9.2 128 2678 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1490 3501

2717 -1.10 -146.6 231.0 -7.5 130 2721 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2904 3501

3045 -1.10 -146.6 247.5 -5.9 146 3048 0.00 1.70 0.00 0.000 4 0.000 0.100 2165 3784 3501

3105 -1.10 -146.6 251.7 -7.2 148 3112 0.00 1.58 0.00 0.000 6 0.000 0.051 2165 2907 3501

3421 -1.10 -146.6 270.7 -7.4 164 3425 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1486 3501

3476 -1.10 -146.6 274.0 -5.7 166 3482 0.00 2.65 0.00 0.000 6 0.000 0.068 2165 2905 3501

3791 -1.10 -146.6 293.7 -6.9 182 3792 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2905 3501

4100 -1.10 -146.6 314.9 -7.0 197 4104 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1481 3501

4143 -1.10 -146.6 317.9 -6.3 199 4148 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2900 3501

4464 -1.10 -146.6 339.1 -7.8 215 4468 0.00 1.73 0.00 0.000 4 0.000 0.098 2164 3782 3501

4519 -1.10 -146.6 342.7 -7.2 217 4523 0.00 1.58 0.00 0.000 6 0.000 0.050 2165 2894 3501

4841 -1.10 -146.6 363.1 -6.1 233 4845 0.00 2.55 0.00 0.000 4 0.000 0.066 2165 1487 3501

4895 -1.10 -146.6 366.7 -6.8 235 4902 0.00 2.62 0.00 0.000 6 0.000 0.072 2165 2900 3502

5211 -1.10 -146.6 386.0 -6.2 251 5215 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1484 3501

5243 -1.10 -146.6 388.3 -6.8 252 5249 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2902 3501

5558 -1.10 -146.6 411.7 -7.9 268 5563 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 1486 3501

5602 -1.10 -146.6 415.0 -7.9 270 5607 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2908 3501

5924 -1.10 -146.6 434.8 -6.5 286 5925 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3501

6233 -1.10 -146.6 455.7 -6.2 301 6236 0.00 1.67 0.00 0.000 4 0.000 0.096 2165 3786 3502

6440 -1.10 -146.6 470.1 -8.3 310 6444 0.00 1.55 0.00 0.000 6 0.000 0.044 2165 2900 3501

6767 -1.10 -146.6 499.0 -9.2 326 6771 0.00 2.50 0.00 0.000 4 0.000 0.054 2165 1486 3501

6810 -1.10 -146.6 502.6 -7.7 328 6814 0.00 2.58 0.00 0.000 6 0.000 0.061 2165 2904 3501

6887 end dive: BOTTOM_OBSTACLE_DETECTED

state 6887 begin apogee

6895 -0.42 0.0 507.9 6.6 332 7021 0.75 0.00 123.45 1.127 6 0.082 0.000 2317 2091 2901

7022 end apogee: CONTROL_FINISHED_OK

state 7022 begin climb

7024 1.10 146.6 512.1 0.0 338 7152 1.52 2.67 119.40 1.101 4 0.054 0.058 2648 3516 2303

7226 1.10 146.6 508.0 7.7 347 7232 0.00 2.47 0.00 0.000 6 0.000 0.034 2648 2093 2303

7542 1.12 161.6 488.1 5.6 363 7561 0.00 0.00 14.00 1.009 6 0.000 0.000 2648 2093 2242

7871 1.22 242.6 473.0 3.8 379 7945 0.12 2.75 66.32 1.112 4 0.042 0.068 2689 3518 1911

7979 1.22 242.6 466.1 7.6 384 7983 0.00 2.50 0.00 0.000 6 0.000 0.039 2689 2100 1910

8305 1.22 242.6 434.6 9.9 400 8310 0.00 2.65 0.00 0.000 4 0.000 0.068 2689 3514 1910

8361 1.22 242.6 428.9 10.5 402 8367 0.00 2.50 0.00 0.000 6 0.000 0.043 2689 2100 1909

8676 1.22 242.6 400.5 8.9 418 8680 0.00 2.65 0.00 0.000 4 0.000 0.071 2689 3516 1909

8725 1.22 242.6 395.9 9.3 420 8729 0.00 2.53 0.00 0.000 6 0.000 0.045 2689 2093 1909

9040 1.22 242.6 367.2 9.2 435 9044 0.00 2.53 0.00 0.000 4 0.000 0.058 2689 695 1909

9090 1.22 242.6 362.1 9.6 437 9094 0.00 2.47 0.00 0.000 6 0.000 0.041 2689 2105 1909

9411 1.22 242.6 334.1 9.3 453 9415 0.00 2.62 0.00 0.000 4 0.000 0.074 2689 3510 1909

9443 1.22 242.6 330.9 9.6 454 9449 0.00 2.50 0.00 0.000 6 0.000 0.047 2689 2100 1908

9758 1.22 242.6 302.7 9.4 470 9759 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2100 1909

10067 1.22 242.6 273.4 9.1 485 10069 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2100 1909

10377 1.22 242.6 243.6 10.0 500 10381 0.00 2.67 0.00 0.000 4 0.000 0.074 2689 3515 1909

10409 1.22 242.6 240.3 8.9 501 10415 0.00 2.53 0.00 0.000 6 0.000 0.048 2690 2096 1909

10724 1.22 242.6 208.1 10.2 517 10729 0.00 2.53 0.00 0.000 4 0.000 0.060 2689 689 1909

10745 1.22 242.6 205.8 10.6 518 10750 0.00 2.47 0.00 0.000 6 0.000 0.044 2689 2099 1909

11073 1.22 242.6 173.2 9.5 534 11074 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2099 1909

11382 1.22 242.6 146.1 8.9 549 11386 0.00 2.65 0.00 0.000 4 0.000 0.076 2689 3511 1909

11421 1.22 242.6 142.7 9.4 551 11425 0.00 2.50 0.00 0.000 6 0.000 0.048 2689 2097 1909

11747 1.22 242.6 116.5 8.8 567 11748 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2097 1909

12056 1.22 242.6 83.6 11.8 582 12061 0.00 2.67 0.00 0.000 4 0.000 0.076 2689 3509 1908

12100 1.22 242.6 78.4 12.1 584 12104 0.00 2.50 0.00 0.000 6 0.000 0.051 2689 2100 1909

12421 1.22 242.6 42.7 10.7 600 12425 0.00 2.53 0.00 0.000 4 0.000 0.060 2689 695 1909

12475 1.22 242.6 38.0 8.3 602 12483 0.00 2.50 0.00 0.000 6 0.000 0.044 2689 2096 1909

12791 1.22 242.6 8.3 11.0 618 12795 0.00 2.58 0.00 0.000 4 0.000 0.064 2689 699 1909

12830 1.22 242.6 4.9 7.4 620 12835 0.00 2.47 0.00 0.000 6 0.000 0.046 2689 2110 1909

12887 end climb: SURFACE_DEPTH_REACHED

state 12887 begin surface coast

12909 end surface coast: CONTROL_FINISHED_OK

state 12909 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	259	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	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	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	571.30371	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-67252.82	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	002008,6400.027,-1231.124,41,1.9,41,-12.2	TGT_NAME	KW
_CALLS	5	TGT_LATLONG	6400.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,-0.005
_SM_DEPTHo	-0.36	KALMAN_X	-191354.0,-416.0,-1643.3,-14881.7,10240.9
_SM_ANGLEo	-42.6	KALMAN_Y	-224228.0,5.3,-526.1,495627.2,210.5
GPS2	004040,6400.254,-1230.683,12,5.8,31,-12.1	MHEAD_RNG_PITCHd_Wd	280.7,23806,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	509

FINISH	-0.9,1.027351	XPDR_PINGS	2
SM_CCo	12931,258.40,0.770,2,0,572,571.30	ALTIM_BOTTOM_PING	425.7,91.1
SM_GC	-0.47,0.00,0.00,258.40,0.000,0.000,0.770,30,2898,572,-10.95,-0.06,571.30	_24V_AH	23.4,45.941
IRIDIUM_FIX	6332.30,-1236.52,010108,040425	_10V_AH	10.1,22.330
TT8_MAMPS	0.028379	DATA_FILE_SIZE	31696,624
HUMID	2000	CFSIZE	260165632,243425280
INTERNAL_PRESSURE	8.76987	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
TCM_TEMP	17.10	GPS	010108,042301,6401.040,-1229.411,37,1.6,43,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	95.67	SBE_CT	452	24	254.28
Roll_motor	131	102	314.55	SBE_O2	435	19	193.65
VBD_pump_during_apogee	323	1126	8520.61	WL_BB2F	436	105	1072.25
VBD_pump_during_surface	258	770	4656.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	194	103	468.81	nil	0	0	0.00
Iridium_during_connect	194	160	729.50	nil	0	0	0.00
Iridium_during_xfer	433	223	2263.85
Transponder_ping	3	420	36.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.12
TT8	1166	19	233.25
LPSleep	10002	2	221.23
TT8_Active	753	19	150.77
TT8_Sampling	1450	39	583.20
TT8_CF8	1075	45	497.30
TT8_Kalman	33	81	27.58
Analog_circuits	1500	12	181.81
GPS_charging	0	0	0.00
Compass	1409	8	113.93
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.10	-146.6	0.0	0.0	0	125	0.00	0.00	-101.38	0.000	2	0.000	0.000	44	2891	3398
128	-1.10	-146.6	3.8	-4.8	5	150	11.95	2.60	-1.77	0.000	4	0.158	0.075	2164	1494	3501
369	-1.10	-146.6	39.9	-14.1	15	375	0.00	2.65	0.00	0.000	6	0.000	0.075	2164	2904	3501
684	-1.10	-146.6	69.1	-6.4	31	689	0.00	2.65	0.00	0.000	4	0.000	0.070	2165	1485	3501
724	-1.10	-146.6	72.1	-7.4	33	728	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2901	3501
1050	-1.10	-146.6	98.6	-8.0	49	1055	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1492	3501
1077	-1.10	-146.6	100.8	-7.8	50	1081	0.00	2.65	0.00	0.000	6	0.000	0.073	2165	2902	3502
1399	-1.10	-146.6	118.1	-5.9	66	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3501
1708	-1.10	-146.6	139.4	-8.2	81	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3501
2017	-1.10	-146.6	169.0	-8.7	96	2021	0.00	2.62	0.00	0.000	4	0.000	0.067	2164	1486	3501
2043	-1.10	-146.6	171.3	-8.4	97	2048	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2900	3501
2365	-1.10	-146.6	196.2	-8.4	113	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3501
2674	-1.10	-146.6	227.4	-9.2	128	2678	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1490	3501
2717	-1.10	-146.6	231.0	-7.5	130	2721	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2904	3501
3045	-1.10	-146.6	247.5	-5.9	146	3048	0.00	1.70	0.00	0.000	4	0.000	0.100	2165	3784	3501
3105	-1.10	-146.6	251.7	-7.2	148	3112	0.00	1.58	0.00	0.000	6	0.000	0.051	2165	2907	3501
3421	-1.10	-146.6	270.7	-7.4	164	3425	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1486	3501
3476	-1.10	-146.6	274.0	-5.7	166	3482	0.00	2.65	0.00	0.000	6	0.000	0.068	2165	2905	3501
3791	-1.10	-146.6	293.7	-6.9	182	3792	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2905	3501
4100	-1.10	-146.6	314.9	-7.0	197	4104	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1481	3501
4143	-1.10	-146.6	317.9	-6.3	199	4148	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2900	3501
4464	-1.10	-146.6	339.1	-7.8	215	4468	0.00	1.73	0.00	0.000	4	0.000	0.098	2164	3782	3501
4519	-1.10	-146.6	342.7	-7.2	217	4523	0.00	1.58	0.00	0.000	6	0.000	0.050	2165	2894	3501
4841	-1.10	-146.6	363.1	-6.1	233	4845	0.00	2.55	0.00	0.000	4	0.000	0.066	2165	1487	3501
4895	-1.10	-146.6	366.7	-6.8	235	4902	0.00	2.62	0.00	0.000	6	0.000	0.072	2165	2900	3502
5211	-1.10	-146.6	386.0	-6.2	251	5215	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1484	3501
5243	-1.10	-146.6	388.3	-6.8	252	5249	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2902	3501
5558	-1.10	-146.6	411.7	-7.9	268	5563	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	1486	3501
5602	-1.10	-146.6	415.0	-7.9	270	5607	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2908	3501
5924	-1.10	-146.6	434.8	-6.5	286	5925	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3501
6233	-1.10	-146.6	455.7	-6.2	301	6236	0.00	1.67	0.00	0.000	4	0.000	0.096	2165	3786	3502
6440	-1.10	-146.6	470.1	-8.3	310	6444	0.00	1.55	0.00	0.000	6	0.000	0.044	2165	2900	3501
6767	-1.10	-146.6	499.0	-9.2	326	6771	0.00	2.50	0.00	0.000	4	0.000	0.054	2165	1486	3501
6810	-1.10	-146.6	502.6	-7.7	328	6814	0.00	2.58	0.00	0.000	6	0.000	0.061	2165	2904	3501
6887	end dive: BOTTOM_OBSTACLE_DETECTED
state	6887	begin apogee
6895	-0.42	0.0	507.9	6.6	332	7021	0.75	0.00	123.45	1.127	6	0.082	0.000	2317	2091	2901
7022	end apogee: CONTROL_FINISHED_OK
state	7022	begin climb
7024	1.10	146.6	512.1	0.0	338	7152	1.52	2.67	119.40	1.101	4	0.054	0.058	2648	3516	2303
7226	1.10	146.6	508.0	7.7	347	7232	0.00	2.47	0.00	0.000	6	0.000	0.034	2648	2093	2303
7542	1.12	161.6	488.1	5.6	363	7561	0.00	0.00	14.00	1.009	6	0.000	0.000	2648	2093	2242
7871	1.22	242.6	473.0	3.8	379	7945	0.12	2.75	66.32	1.112	4	0.042	0.068	2689	3518	1911
7979	1.22	242.6	466.1	7.6	384	7983	0.00	2.50	0.00	0.000	6	0.000	0.039	2689	2100	1910
8305	1.22	242.6	434.6	9.9	400	8310	0.00	2.65	0.00	0.000	4	0.000	0.068	2689	3514	1910
8361	1.22	242.6	428.9	10.5	402	8367	0.00	2.50	0.00	0.000	6	0.000	0.043	2689	2100	1909
8676	1.22	242.6	400.5	8.9	418	8680	0.00	2.65	0.00	0.000	4	0.000	0.071	2689	3516	1909
8725	1.22	242.6	395.9	9.3	420	8729	0.00	2.53	0.00	0.000	6	0.000	0.045	2689	2093	1909
9040	1.22	242.6	367.2	9.2	435	9044	0.00	2.53	0.00	0.000	4	0.000	0.058	2689	695	1909
9090	1.22	242.6	362.1	9.6	437	9094	0.00	2.47	0.00	0.000	6	0.000	0.041	2689	2105	1909
9411	1.22	242.6	334.1	9.3	453	9415	0.00	2.62	0.00	0.000	4	0.000	0.074	2689	3510	1909
9443	1.22	242.6	330.9	9.6	454	9449	0.00	2.50	0.00	0.000	6	0.000	0.047	2689	2100	1908
9758	1.22	242.6	302.7	9.4	470	9759	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2100	1909
10067	1.22	242.6	273.4	9.1	485	10069	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2100	1909
10377	1.22	242.6	243.6	10.0	500	10381	0.00	2.67	0.00	0.000	4	0.000	0.074	2689	3515	1909
10409	1.22	242.6	240.3	8.9	501	10415	0.00	2.53	0.00	0.000	6	0.000	0.048	2690	2096	1909
10724	1.22	242.6	208.1	10.2	517	10729	0.00	2.53	0.00	0.000	4	0.000	0.060	2689	689	1909
10745	1.22	242.6	205.8	10.6	518	10750	0.00	2.47	0.00	0.000	6	0.000	0.044	2689	2099	1909
11073	1.22	242.6	173.2	9.5	534	11074	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2099	1909
11382	1.22	242.6	146.1	8.9	549	11386	0.00	2.65	0.00	0.000	4	0.000	0.076	2689	3511	1909
11421	1.22	242.6	142.7	9.4	551	11425	0.00	2.50	0.00	0.000	6	0.000	0.048	2689	2097	1909
11747	1.22	242.6	116.5	8.8	567	11748	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2097	1909
12056	1.22	242.6	83.6	11.8	582	12061	0.00	2.67	0.00	0.000	4	0.000	0.076	2689	3509	1908
12100	1.22	242.6	78.4	12.1	584	12104	0.00	2.50	0.00	0.000	6	0.000	0.051	2689	2100	1909
12421	1.22	242.6	42.7	10.7	600	12425	0.00	2.53	0.00	0.000	4	0.000	0.060	2689	695	1909
12475	1.22	242.6	38.0	8.3	602	12483	0.00	2.50	0.00	0.000	6	0.000	0.044	2689	2096	1909
12791	1.22	242.6	8.3	11.0	618	12795	0.00	2.58	0.00	0.000	4	0.000	0.064	2689	699	1909
12830	1.22	242.6	4.9	7.4	620	12835	0.00	2.47	0.00	0.000	6	0.000	0.046	2689	2110	1909
12887	end climb: SURFACE_DEPTH_REACHED
state	12887	begin surface coast
12909	end surface coast: CONTROL_FINISHED_OK
state	12909	begin surface