Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 49 * 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 49 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 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 26 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 120 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 -77178.938 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 300

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 412.5

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 -77178.938

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 2350 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 26 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 49 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 231538,6133.379,-835.198,34,1.1,34,-9.0 TGT_NAME BE

_CALLS 3 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235,0.036

_SM_DEPTHo 0.17 KALMAN_X 16964.0,635.5,127.5,-22275.3,-4085.1

_SM_ANGLEo -64.8 KALMAN_Y 124250.8,-1982.3,-1191.1,-120534.3,16605.5

GPS2 232757,6133.400,-835.184,11,1.5,11,-9.0 MHEAD_RNG_PITCHd_Wd 287.8,40984,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.5,1.026559 XPDR_PINGS 678

SM_CCo 17400,47.30,0.809,6,0,1655,300.00 ALTIM_BOTTOM_PING 776.1,96.8

SM_GC 0.16,0.00,0.00,47.30,0.000,0.000,0.809,32,1881,1655,-11.33,-0.51,300.00 _24V_AH 23.2,19.201

IRIDIUM_FIX 6112.75,-828.27,201107,030314 _10V_AH 10.1,7.885

TT8_MAMPS 0.027612 DATA_FILE_SIZE 41196,839

HUMID 2035 CFSIZE 260165632,255676416

INTERNAL_PRESSURE 9.2484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,6,0

TCM_TEMP 15.90 GPS 201107,042128,6136.309,-841.682,24,2.4,43,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 144 88.15 SBE_CT 620 24 345.45

Roll_motor 94 79 174.74 SBE_O2 567 19 250.32

VBD_pump_during_apogee 337 1423 11152.19 WL_BB2F 468 105 1140.29

VBD_pump_during_surface 47 809 887.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 277.73 nil 0 0 0.00

Iridium_during_connect 82 160 305.17 nil 0 0 0.00

Iridium_during_xfer 332 223 1722.14

Transponder_ping 176 420 1717.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.31

TT8 1516 19 303.27

LPSleep 13688 2 302.78

TT8_Active 556 19 111.38

TT8_Sampling 1818 39 730.88

TT8_CF8 646 45 299.16

TT8_Kalman 33 81 27.55

Analog_circuits 1436 12 174.12

GPS_charging 0 0 0.00

Compass 1784 8 144.22

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

16 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -1.23 -146.6 0.0 0.0 0 102 0.00 0.00 -81.88 0.000 2 0.000 0.000 29 1878 3410

104 -1.23 -146.6 4.7 -7.1 4 127 11.70 2.60 -1.35 0.000 4 0.144 0.057 2224 3298 3477

378 -1.23 -146.6 45.0 -11.5 16 383 0.00 2.50 0.00 0.000 6 0.000 0.043 2224 1909 3478

705 -1.23 -146.6 78.7 -10.2 32 706 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1907 3478

1014 -1.23 -146.6 111.4 -10.7 47 1018 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3307 3477

1076 -1.23 -146.6 117.8 -10.2 50 1080 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1900 3478

1401 -1.23 -146.6 153.0 -10.7 66 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3478

1710 -1.23 -146.6 186.0 -10.8 81 1714 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3307 3478

1758 -1.23 -146.6 191.4 -11.0 83 1763 0.00 2.55 0.00 0.000 6 0.000 0.043 2224 1900 3478

2079 -1.23 -146.6 223.3 -9.8 99 2080 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

2388 -1.23 -146.6 254.4 -9.9 114 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3478

2698 -1.23 -146.6 286.4 -10.7 129 2699 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3478

3007 -1.23 -146.6 319.9 -10.8 144 3008 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3478

3316 -1.23 -146.6 353.3 -10.8 159 3317 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3478

3626 -1.23 -146.6 386.3 -10.6 174 3630 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3305 3478

3680 -1.23 -146.6 391.9 -9.7 176 3687 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1903 3478

3995 -1.23 -146.6 422.0 -9.3 192 3996 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3478

4305 -1.23 -146.6 448.2 -8.4 207 4309 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3312 3478

4353 -1.23 -146.6 452.5 -8.7 209 4358 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1905 3478

4674 -1.23 -146.6 483.1 -9.8 225 4675 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1905 3478

4983 -1.23 -146.6 512.4 -9.3 240 4985 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1905 3478

5293 -1.23 -146.6 541.0 -9.4 255 5294 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1906 3478

5602 -1.23 -146.6 571.1 -9.8 270 5603 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1905 3478

5911 -1.23 -146.6 599.8 -9.3 285 5919 0.00 2.55 0.00 0.000 4 0.000 0.055 2225 3303 3478

5985 -1.23 -146.6 607.1 -9.7 288 5990 0.00 2.58 0.00 0.000 6 0.000 0.048 2224 1900 3477

6311 -1.23 -146.6 638.3 -9.4 304 6313 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

6621 -1.23 -146.6 665.5 -8.7 319 6622 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3478

6930 -1.23 -146.6 692.4 -9.4 334 6934 0.00 2.55 0.00 0.000 4 0.000 0.054 2224 3304 3478

7015 -1.23 -146.6 700.3 -10.3 338 7019 0.00 2.53 0.00 0.000 6 0.000 0.051 2224 1902 3478

7339 -1.23 -146.6 730.3 -8.8 354 7340 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1901 3477

7649 -1.23 -146.6 759.2 -9.4 369 7653 0.00 2.58 0.00 0.000 4 0.000 0.058 2225 3305 3477

7816 -1.23 -146.6 771.0 -5.2 376 7823 0.00 2.60 0.00 0.000 6 0.000 0.057 2224 1897 3478

8131 -1.23 -146.6 794.0 -7.7 392 8132 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

8441 -1.23 -146.6 815.8 -7.4 407 8442 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3476

8749 -1.23 -146.6 840.8 -10.0 422 8750 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1897 3475

9017 end dive: BOTTOM_OBSTACLE_DETECTED

state 9017 begin apogee

9021 -0.36 0.0 863.2 12.8 435 9151 0.95 0.00 125.65 1.424 6 0.116 0.000 2412 2344 2878

9151 end apogee: CONTROL_FINISHED_OK

state 9151 begin climb

9153 1.23 146.6 869.1 0.0 441 9285 1.60 2.80 123.70 1.379 4 0.064 0.080 2760 944 2280

9436 1.25 166.9 859.8 7.2 454 9461 0.00 2.65 18.30 1.384 6 0.000 0.061 2760 2346 2197

9778 1.36 249.4 826.4 4.9 471 9850 0.15 0.00 70.03 1.386 6 0.054 0.000 2798 2351 1861

10146 1.36 249.4 788.8 8.7 489 10151 0.00 2.70 0.00 0.000 4 0.000 0.079 2798 944 1860

10178 1.36 249.4 784.4 13.9 490 10186 0.00 2.65 0.00 0.000 6 0.000 0.061 2798 2350 1860

10494 1.36 249.4 751.6 10.5 506 10498 0.00 2.65 0.00 0.000 4 0.000 0.074 2798 3750 1858

10750 1.36 249.4 723.2 11.2 517 10757 0.00 2.60 0.00 0.000 6 0.000 0.057 2798 2352 1857

11065 1.36 249.4 689.5 11.5 533 11070 0.00 2.60 0.00 0.000 4 0.000 0.065 2798 3751 1856

11322 1.36 249.4 661.0 10.9 544 11329 0.00 2.58 0.00 0.000 6 0.000 0.050 2798 2348 1856

11638 1.36 249.4 625.8 10.9 560 11639 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1856

11947 1.36 249.4 591.5 11.7 575 11948 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1857

12256 1.36 249.4 557.6 11.0 590 12257 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1857

12565 1.36 249.4 521.3 12.0 605 12566 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1858

12875 1.36 249.4 486.6 11.1 620 12876 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1859

13184 1.36 249.4 452.6 10.9 635 13188 0.00 2.58 0.00 0.000 4 0.000 0.062 2798 940 1860

13233 1.36 249.4 447.3 10.8 637 13238 0.00 2.53 0.00 0.000 6 0.000 0.041 2798 2355 1860

13554 1.36 249.4 414.2 10.7 653 13555 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2356 1861

13863 1.36 249.4 379.6 11.2 668 13868 0.00 2.60 0.00 0.000 4 0.000 0.059 2798 937 1862

13912 1.36 249.4 373.7 11.4 670 13917 0.00 2.53 0.00 0.000 6 0.000 0.042 2798 2350 1861

14233 1.36 249.4 337.6 10.8 686 14235 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2351 1862

14543 1.36 249.4 301.7 11.8 701 14544 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2351 1862

14852 1.36 249.4 267.2 10.8 716 14856 0.00 2.60 0.00 0.000 4 0.000 0.059 2798 940 1863

14912 1.36 249.4 260.6 10.1 719 14916 0.00 2.50 0.00 0.000 6 0.000 0.041 2798 2357 1863

15238 1.36 249.4 228.4 10.0 735 15239 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2357 1864

15547 1.36 249.4 197.9 9.7 750 15548 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2358 1864

15856 1.36 249.4 166.3 10.3 765 15861 0.00 2.60 0.00 0.000 4 0.000 0.057 2798 934 1864

15918 1.36 249.4 159.7 11.0 768 15922 0.00 2.53 0.00 0.000 6 0.000 0.041 2798 2356 1865

16243 1.36 249.4 125.1 11.4 784 16244 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2356 1865

16552 1.36 249.4 90.8 11.8 799 16557 0.00 2.60 0.00 0.000 4 0.000 0.056 2798 939 1865

16646 1.36 249.4 79.7 11.1 803 16651 0.00 2.50 0.00 0.000 6 0.000 0.040 2798 2348 1864

16969 1.36 249.4 42.9 11.7 819 16970 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1865

17277 1.36 249.4 9.9 10.3 834 17281 0.00 2.60 0.00 0.000 4 0.000 0.057 2798 932 1866

17342 1.36 249.4 2.6 11.6 837 17347 0.00 2.55 0.00 0.000 6 0.000 0.041 2798 2350 1866

17351 end climb: SURFACE_DEPTH_REACHED

state 17351 begin surface coast

17380 end surface coast: CONTROL_FINISHED_OK

state 17381 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	49	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	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	26	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	120	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	-77178.938	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	231538,6133.379,-835.198,34,1.1,34,-9.0	TGT_NAME	BE
_CALLS	3	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235,0.036
_SM_DEPTHo	0.17	KALMAN_X	16964.0,635.5,127.5,-22275.3,-4085.1
_SM_ANGLEo	-64.8	KALMAN_Y	124250.8,-1982.3,-1191.1,-120534.3,16605.5
GPS2	232757,6133.400,-835.184,11,1.5,11,-9.0	MHEAD_RNG_PITCHd_Wd	287.8,40984,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.5,1.026559	XPDR_PINGS	678
SM_CCo	17400,47.30,0.809,6,0,1655,300.00	ALTIM_BOTTOM_PING	776.1,96.8
SM_GC	0.16,0.00,0.00,47.30,0.000,0.000,0.809,32,1881,1655,-11.33,-0.51,300.00	_24V_AH	23.2,19.201
IRIDIUM_FIX	6112.75,-828.27,201107,030314	_10V_AH	10.1,7.885
TT8_MAMPS	0.027612	DATA_FILE_SIZE	41196,839
HUMID	2035	CFSIZE	260165632,255676416
INTERNAL_PRESSURE	9.2484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,6,0
TCM_TEMP	15.90	GPS	201107,042128,6136.309,-841.682,24,2.4,43,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	144	88.15	SBE_CT	620	24	345.45
Roll_motor	94	79	174.74	SBE_O2	567	19	250.32
VBD_pump_during_apogee	337	1423	11152.19	WL_BB2F	468	105	1140.29
VBD_pump_during_surface	47	809	887.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	277.73	nil	0	0	0.00
Iridium_during_connect	82	160	305.17	nil	0	0	0.00
Iridium_during_xfer	332	223	1722.14
Transponder_ping	176	420	1717.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.31
TT8	1516	19	303.27
LPSleep	13688	2	302.78
TT8_Active	556	19	111.38
TT8_Sampling	1818	39	730.88
TT8_CF8	646	45	299.16
TT8_Kalman	33	81	27.55
Analog_circuits	1436	12	174.12
GPS_charging	0	0	0.00
Compass	1784	8	144.22
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
16	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-1.23	-146.6	0.0	0.0	0	102	0.00	0.00	-81.88	0.000	2	0.000	0.000	29	1878	3410
104	-1.23	-146.6	4.7	-7.1	4	127	11.70	2.60	-1.35	0.000	4	0.144	0.057	2224	3298	3477
378	-1.23	-146.6	45.0	-11.5	16	383	0.00	2.50	0.00	0.000	6	0.000	0.043	2224	1909	3478
705	-1.23	-146.6	78.7	-10.2	32	706	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1907	3478
1014	-1.23	-146.6	111.4	-10.7	47	1018	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3307	3477
1076	-1.23	-146.6	117.8	-10.2	50	1080	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1900	3478
1401	-1.23	-146.6	153.0	-10.7	66	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3478
1710	-1.23	-146.6	186.0	-10.8	81	1714	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3307	3478
1758	-1.23	-146.6	191.4	-11.0	83	1763	0.00	2.55	0.00	0.000	6	0.000	0.043	2224	1900	3478
2079	-1.23	-146.6	223.3	-9.8	99	2080	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
2388	-1.23	-146.6	254.4	-9.9	114	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3478
2698	-1.23	-146.6	286.4	-10.7	129	2699	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3478
3007	-1.23	-146.6	319.9	-10.8	144	3008	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3478
3316	-1.23	-146.6	353.3	-10.8	159	3317	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3478
3626	-1.23	-146.6	386.3	-10.6	174	3630	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3305	3478
3680	-1.23	-146.6	391.9	-9.7	176	3687	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1903	3478
3995	-1.23	-146.6	422.0	-9.3	192	3996	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3478
4305	-1.23	-146.6	448.2	-8.4	207	4309	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3312	3478
4353	-1.23	-146.6	452.5	-8.7	209	4358	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1905	3478
4674	-1.23	-146.6	483.1	-9.8	225	4675	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1905	3478
4983	-1.23	-146.6	512.4	-9.3	240	4985	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1905	3478
5293	-1.23	-146.6	541.0	-9.4	255	5294	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1906	3478
5602	-1.23	-146.6	571.1	-9.8	270	5603	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1905	3478
5911	-1.23	-146.6	599.8	-9.3	285	5919	0.00	2.55	0.00	0.000	4	0.000	0.055	2225	3303	3478
5985	-1.23	-146.6	607.1	-9.7	288	5990	0.00	2.58	0.00	0.000	6	0.000	0.048	2224	1900	3477
6311	-1.23	-146.6	638.3	-9.4	304	6313	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
6621	-1.23	-146.6	665.5	-8.7	319	6622	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3478
6930	-1.23	-146.6	692.4	-9.4	334	6934	0.00	2.55	0.00	0.000	4	0.000	0.054	2224	3304	3478
7015	-1.23	-146.6	700.3	-10.3	338	7019	0.00	2.53	0.00	0.000	6	0.000	0.051	2224	1902	3478
7339	-1.23	-146.6	730.3	-8.8	354	7340	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1901	3477
7649	-1.23	-146.6	759.2	-9.4	369	7653	0.00	2.58	0.00	0.000	4	0.000	0.058	2225	3305	3477
7816	-1.23	-146.6	771.0	-5.2	376	7823	0.00	2.60	0.00	0.000	6	0.000	0.057	2224	1897	3478
8131	-1.23	-146.6	794.0	-7.7	392	8132	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
8441	-1.23	-146.6	815.8	-7.4	407	8442	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3476
8749	-1.23	-146.6	840.8	-10.0	422	8750	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1897	3475
9017	end dive: BOTTOM_OBSTACLE_DETECTED
state	9017	begin apogee
9021	-0.36	0.0	863.2	12.8	435	9151	0.95	0.00	125.65	1.424	6	0.116	0.000	2412	2344	2878
9151	end apogee: CONTROL_FINISHED_OK
state	9151	begin climb
9153	1.23	146.6	869.1	0.0	441	9285	1.60	2.80	123.70	1.379	4	0.064	0.080	2760	944	2280
9436	1.25	166.9	859.8	7.2	454	9461	0.00	2.65	18.30	1.384	6	0.000	0.061	2760	2346	2197
9778	1.36	249.4	826.4	4.9	471	9850	0.15	0.00	70.03	1.386	6	0.054	0.000	2798	2351	1861
10146	1.36	249.4	788.8	8.7	489	10151	0.00	2.70	0.00	0.000	4	0.000	0.079	2798	944	1860
10178	1.36	249.4	784.4	13.9	490	10186	0.00	2.65	0.00	0.000	6	0.000	0.061	2798	2350	1860
10494	1.36	249.4	751.6	10.5	506	10498	0.00	2.65	0.00	0.000	4	0.000	0.074	2798	3750	1858
10750	1.36	249.4	723.2	11.2	517	10757	0.00	2.60	0.00	0.000	6	0.000	0.057	2798	2352	1857
11065	1.36	249.4	689.5	11.5	533	11070	0.00	2.60	0.00	0.000	4	0.000	0.065	2798	3751	1856
11322	1.36	249.4	661.0	10.9	544	11329	0.00	2.58	0.00	0.000	6	0.000	0.050	2798	2348	1856
11638	1.36	249.4	625.8	10.9	560	11639	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1856
11947	1.36	249.4	591.5	11.7	575	11948	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1857
12256	1.36	249.4	557.6	11.0	590	12257	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1857
12565	1.36	249.4	521.3	12.0	605	12566	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1858
12875	1.36	249.4	486.6	11.1	620	12876	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1859
13184	1.36	249.4	452.6	10.9	635	13188	0.00	2.58	0.00	0.000	4	0.000	0.062	2798	940	1860
13233	1.36	249.4	447.3	10.8	637	13238	0.00	2.53	0.00	0.000	6	0.000	0.041	2798	2355	1860
13554	1.36	249.4	414.2	10.7	653	13555	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2356	1861
13863	1.36	249.4	379.6	11.2	668	13868	0.00	2.60	0.00	0.000	4	0.000	0.059	2798	937	1862
13912	1.36	249.4	373.7	11.4	670	13917	0.00	2.53	0.00	0.000	6	0.000	0.042	2798	2350	1861
14233	1.36	249.4	337.6	10.8	686	14235	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2351	1862
14543	1.36	249.4	301.7	11.8	701	14544	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2351	1862
14852	1.36	249.4	267.2	10.8	716	14856	0.00	2.60	0.00	0.000	4	0.000	0.059	2798	940	1863
14912	1.36	249.4	260.6	10.1	719	14916	0.00	2.50	0.00	0.000	6	0.000	0.041	2798	2357	1863
15238	1.36	249.4	228.4	10.0	735	15239	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2357	1864
15547	1.36	249.4	197.9	9.7	750	15548	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2358	1864
15856	1.36	249.4	166.3	10.3	765	15861	0.00	2.60	0.00	0.000	4	0.000	0.057	2798	934	1864
15918	1.36	249.4	159.7	11.0	768	15922	0.00	2.53	0.00	0.000	6	0.000	0.041	2798	2356	1865
16243	1.36	249.4	125.1	11.4	784	16244	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2356	1865
16552	1.36	249.4	90.8	11.8	799	16557	0.00	2.60	0.00	0.000	4	0.000	0.056	2798	939	1865
16646	1.36	249.4	79.7	11.1	803	16651	0.00	2.50	0.00	0.000	6	0.000	0.040	2798	2348	1864
16969	1.36	249.4	42.9	11.7	819	16970	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1865
17277	1.36	249.4	9.9	10.3	834	17281	0.00	2.60	0.00	0.000	4	0.000	0.057	2798	932	1866
17342	1.36	249.4	2.6	11.6	837	17347	0.00	2.55	0.00	0.000	6	0.000	0.041	2798	2350	1866
17351	end climb: SURFACE_DEPTH_REACHED
state	17351	begin surface coast
17380	end surface coast: CONTROL_FINISHED_OK
state	17381	begin surface