Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 519 * 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 519 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 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -3 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 -73649.484 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 2 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 300

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 -73649.484

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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 16 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 519 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 112838,6146.959,-849.617,29,1.5,29,-9.2 TGT_NAME FB_DS

_CALLS 1 TGT_LATLONG 6127.000,-840.000

_XMS_NAKs 0 TGT_RADIUS 3704.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.09 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -56.6 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 113509,6147.104,-849.558,16,1.5,16,-9.2 MHEAD_RNG_PITCHd_Wd 176.4,38183,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 666

Post-dive calculations and measurements:

FINISH -0.1,1.026935 XPDR_PINGS 2

SM_CCo 15961,26.08,0.798,1,0,1678,300.00 ALTIM_BOTTOM_PING 501.1,71.8

SM_GC 0.33,0.00,0.00,26.08,0.000,0.000,0.798,50,2896,1678,-10.86,-0.11,300.00 _24V_AH 22.8,86.632

IRIDIUM_FIX 6121.73,-848.91,080597,060645 _10V_AH 10.1,40.181

TT8_MAMPS 0.029913 DATA_FILE_SIZE 37956,766

HUMID 2070 CFSIZE 260165632,230506496

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,1,0

TCM_TEMP 17.00 GPS 120208,160332,6149.582,-850.076,40,1.4,40,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 96.49 SBE_CT 565 24 309.51

Roll_motor 140 92 297.40 SBE_O2 527 19 228.71

VBD_pump_during_apogee 358 1248 10207.85 WL_BB2F 513 105 1228.72

VBD_pump_during_surface 26 797 474.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 78.32 nil 0 0 0.00

Iridium_during_connect 36 160 132.44 nil 0 0 0.00

Iridium_during_xfer 176 223 896.20

Transponder_ping 4 420 43.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.10

TT8 1424 19 284.91

LPSleep 12119 2 268.08

TT8_Active 510 19 102.07

TT8_Sampling 1728 39 694.65

TT8_CF8 609 45 282.09

TT8_Kalman 0 81 0.00

Analog_circuits 1388 12 168.31

GPS_charging 0 0 0.00

Compass 1700 8 137.38

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.10 -146.6 0.0 0.0 0 101 0.00 0.00 -71.60 0.000 6 0.000 0.000 47 2903 3500

105 -1.10 -146.6 2.2 -5.5 3 126 12.10 1.73 0.00 0.000 4 0.161 0.084 2163 3783 3502

379 -1.10 -146.6 35.6 -7.8 15 383 0.00 1.60 0.00 0.000 6 0.000 0.055 2163 2900 3502

707 -1.10 -146.6 58.8 -7.3 31 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

1018 -1.10 -146.6 82.4 -7.6 46 1022 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1476 3502

1058 -1.10 -146.6 85.3 -6.9 48 1063 0.00 2.67 0.00 0.000 6 0.000 0.069 2163 2902 3502

1386 -1.10 -146.6 108.3 -7.1 64 1387 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3502

1696 -1.10 -146.6 131.1 -7.1 79 1700 0.00 2.62 0.00 0.000 4 0.000 0.066 2163 1483 3503

1746 -1.10 -146.6 135.1 -7.8 81 1750 0.00 2.67 0.00 0.000 6 0.000 0.070 2163 2904 3502

2062 -1.10 -146.6 159.0 -7.7 96 2063 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2905 3503

2372 -1.10 -146.6 182.7 -7.7 111 2376 0.00 2.62 0.00 0.000 4 0.000 0.063 2163 1478 3503

2434 -1.10 -146.6 187.3 -7.2 114 2439 0.00 2.67 0.00 0.000 6 0.000 0.068 2163 2912 3502

2762 -1.10 -146.6 211.8 -7.4 130 2766 0.00 2.62 0.00 0.000 4 0.000 0.064 2163 1486 3503

2806 -1.10 -146.6 215.4 -8.1 132 2811 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2898 3503

3128 -1.10 -146.6 240.0 -7.6 148 3132 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1480 3503

3151 -1.10 -146.6 241.6 -7.3 149 3155 0.00 2.65 0.00 0.000 6 0.000 0.068 2163 2900 3502

3472 -1.10 -146.6 265.2 -7.4 165 3474 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

3781 -1.10 -146.6 287.3 -7.3 180 3786 0.00 2.60 0.00 0.000 4 0.000 0.061 2163 1480 3503

3826 -1.10 -146.6 290.6 -6.8 182 3831 0.00 2.67 0.00 0.000 6 0.000 0.069 2163 2907 3502

4147 -1.10 -146.6 312.3 -6.9 198 4149 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2907 3503

4457 -1.10 -146.6 332.1 -5.6 213 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2907 3502

4766 -1.10 -146.6 349.1 -5.5 228 4770 0.00 2.55 0.00 0.000 4 0.000 0.054 2163 1482 3502

4856 -1.10 -146.6 353.8 -4.8 232 4860 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2904 3503

5178 -1.10 -146.6 370.5 -5.1 248 5182 0.00 2.58 0.00 0.000 4 0.000 0.058 2163 1477 3503

5223 -1.10 -146.6 372.8 -5.4 250 5227 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2900 3502

5545 -1.10 -146.6 389.9 -5.9 266 5546 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

5854 -1.10 -146.6 406.8 -5.2 281 5858 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1481 3502

5877 -1.10 -146.6 407.9 -4.9 282 5881 0.00 2.65 0.00 0.000 6 0.000 0.066 2163 2907 3502

6198 -1.10 -146.6 423.1 -5.4 298 6199 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3502

6507 -1.10 -146.6 443.7 -8.5 313 6510 0.00 1.67 0.00 0.000 4 0.000 0.093 2163 3780 3503

6598 -1.10 -146.6 452.4 -9.9 317 6602 0.00 1.55 0.00 0.000 6 0.000 0.041 2163 2893 3502

6931 -1.10 -146.6 479.4 -5.8 333 6935 0.00 1.73 0.00 0.000 4 0.000 0.091 2163 3787 3502

6988 -1.10 -146.6 483.3 -6.9 335 6991 0.00 1.58 0.00 0.000 6 0.000 0.043 2163 2879 3502

7310 -1.10 -146.6 503.9 -7.1 351 7314 0.00 2.47 0.00 0.000 4 0.000 0.057 2163 1495 3502

7399 -1.10 -146.6 509.1 -6.4 355 7404 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2898 3502

7722 -1.10 -146.6 518.1 -3.3 371 7725 0.00 1.70 0.00 0.000 4 0.000 0.093 2163 3784 3502

7800 -1.10 -146.6 526.0 -11.3 374 7804 0.00 1.55 0.00 0.000 6 0.000 0.040 2163 2901 3502

8122 -1.10 -146.6 552.2 -7.0 390 8126 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1492 3502

8172 -1.10 -146.6 554.0 0.2 392 8177 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2898 3502

8341 end dive: BOTTOM_OBSTACLE_DETECTED

state 8341 begin apogee

8350 -0.42 0.0 563.0 7.9 400 8484 0.80 0.00 127.53 1.249 6 0.103 0.000 2320 2102 2901

8484 end apogee: CONTROL_FINISHED_OK

state 8485 begin climb

8488 1.10 146.6 569.5 0.0 407 8620 1.58 2.65 123.72 1.205 4 0.068 0.059 2647 691 2303

8630 1.16 195.3 559.6 4.7 414 8680 0.00 2.55 43.00 1.153 6 0.000 0.037 2647 2126 2104

9005 1.20 226.8 541.7 5.1 432 9040 0.12 2.67 27.42 1.166 4 0.042 0.071 2687 3494 1977

9294 1.20 226.8 522.2 8.8 445 9299 0.00 2.47 0.00 0.000 6 0.000 0.041 2687 2090 1975

9622 1.20 226.8 493.3 7.3 461 9627 0.00 2.67 0.00 0.000 4 0.000 0.072 2687 3502 1974

9656 1.20 226.8 490.7 7.2 462 9662 0.00 2.50 0.00 0.000 6 0.000 0.043 2687 2102 1974

9973 1.20 226.8 464.6 7.8 478 9974 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2102 1974

10282 1.20 226.8 442.0 6.9 493 10286 0.00 2.62 0.00 0.000 4 0.000 0.072 2687 3503 1973

10359 1.20 226.8 436.0 8.5 496 10365 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2094 1973

10675 1.20 226.8 412.0 7.4 512 10680 0.00 2.62 0.00 0.000 4 0.000 0.072 2687 3503 1972

10765 1.20 226.8 404.3 9.2 516 10770 0.00 2.50 0.00 0.000 6 0.000 0.045 2688 2096 1972

11086 1.20 226.8 377.9 8.0 532 11091 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3504 1972

11113 1.20 226.8 375.6 8.5 533 11118 0.00 2.50 0.00 0.000 6 0.000 0.044 2688 2101 1972

11430 1.20 226.8 350.9 7.6 548 11431 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2101 1972

11739 1.20 226.8 326.4 8.0 563 11743 0.00 2.62 0.00 0.000 4 0.000 0.072 2687 3500 1972

11789 1.20 226.8 322.2 9.0 565 11793 0.00 2.50 0.00 0.000 6 0.000 0.045 2687 2100 1972

12105 1.20 226.8 297.3 7.8 580 12106 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1973

12414 1.20 226.8 273.8 7.5 595 12418 0.00 2.62 0.00 0.000 4 0.000 0.073 2688 3498 1973

12449 1.20 226.8 270.9 9.0 596 12455 0.00 2.50 0.00 0.000 6 0.000 0.045 2688 2094 1973

12765 1.20 226.8 244.4 7.9 612 12769 0.00 2.55 0.00 0.000 4 0.000 0.063 2687 694 1974

12792 1.20 226.8 242.0 8.5 613 12797 0.00 2.47 0.00 0.000 6 0.000 0.043 2688 2090 1974

13108 1.20 226.8 216.3 8.2 628 13113 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3511 1975

13149 1.20 226.8 213.1 7.4 630 13154 0.00 2.50 0.00 0.000 6 0.000 0.046 2688 2104 1975

13476 1.20 227.2 188.3 6.0 646 13481 0.00 2.58 0.00 0.000 4 0.000 0.061 2687 684 1975

13499 1.20 227.2 186.7 6.5 647 13503 0.00 2.50 0.00 0.000 6 0.000 0.041 2688 2100 1975

13821 1.20 227.2 163.8 7.2 663 13822 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1975

14130 1.26 270.5 143.4 4.8 678 14169 0.00 0.00 36.88 0.940 6 0.000 0.000 2687 2100 1798

14481 1.26 270.5 120.7 7.7 695 14485 0.00 2.67 0.00 0.000 4 0.000 0.079 2687 3508 1797

14514 1.26 270.5 117.5 8.8 696 14520 0.00 2.53 0.00 0.000 6 0.000 0.047 2687 2097 1797

14832 1.26 270.5 94.6 7.1 712 14833 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2097 1797

15140 1.26 270.5 69.7 8.7 727 15141 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2097 1797

15450 1.26 270.5 43.1 9.0 742 15454 0.00 2.67 0.00 0.000 4 0.000 0.076 2687 3511 1797

15471 1.26 270.5 40.8 9.9 743 15475 0.00 2.55 0.00 0.000 6 0.000 0.050 2687 2097 1797

15793 1.26 270.5 11.8 9.8 759 15794 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2097 1797

15913 end climb: SURFACE_DEPTH_REACHED

state 15913 begin surface coast

15935 end surface coast: CONTROL_FINISHED_OK

state 15935 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	519	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	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-3	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	-73649.484	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	2	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	112838,6146.959,-849.617,29,1.5,29,-9.2	TGT_NAME	FB_DS
_CALLS	1	TGT_LATLONG	6127.000,-840.000
_XMS_NAKs	0	TGT_RADIUS	3704.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.09	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-56.6	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	113509,6147.104,-849.558,16,1.5,16,-9.2	MHEAD_RNG_PITCHd_Wd	176.4,38183,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	666

FINISH	-0.1,1.026935	XPDR_PINGS	2
SM_CCo	15961,26.08,0.798,1,0,1678,300.00	ALTIM_BOTTOM_PING	501.1,71.8
SM_GC	0.33,0.00,0.00,26.08,0.000,0.000,0.798,50,2896,1678,-10.86,-0.11,300.00	_24V_AH	22.8,86.632
IRIDIUM_FIX	6121.73,-848.91,080597,060645	_10V_AH	10.1,40.181
TT8_MAMPS	0.029913	DATA_FILE_SIZE	37956,766
HUMID	2070	CFSIZE	260165632,230506496
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
TCM_TEMP	17.00	GPS	120208,160332,6149.582,-850.076,40,1.4,40,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	96.49	SBE_CT	565	24	309.51
Roll_motor	140	92	297.40	SBE_O2	527	19	228.71
VBD_pump_during_apogee	358	1248	10207.85	WL_BB2F	513	105	1228.72
VBD_pump_during_surface	26	797	474.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	78.32	nil	0	0	0.00
Iridium_during_connect	36	160	132.44	nil	0	0	0.00
Iridium_during_xfer	176	223	896.20
Transponder_ping	4	420	43.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.10
TT8	1424	19	284.91
LPSleep	12119	2	268.08
TT8_Active	510	19	102.07
TT8_Sampling	1728	39	694.65
TT8_CF8	609	45	282.09
TT8_Kalman	0	81	0.00
Analog_circuits	1388	12	168.31
GPS_charging	0	0	0.00
Compass	1700	8	137.38
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.10	-146.6	0.0	0.0	0	101	0.00	0.00	-71.60	0.000	6	0.000	0.000	47	2903	3500
105	-1.10	-146.6	2.2	-5.5	3	126	12.10	1.73	0.00	0.000	4	0.161	0.084	2163	3783	3502
379	-1.10	-146.6	35.6	-7.8	15	383	0.00	1.60	0.00	0.000	6	0.000	0.055	2163	2900	3502
707	-1.10	-146.6	58.8	-7.3	31	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
1018	-1.10	-146.6	82.4	-7.6	46	1022	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1476	3502
1058	-1.10	-146.6	85.3	-6.9	48	1063	0.00	2.67	0.00	0.000	6	0.000	0.069	2163	2902	3502
1386	-1.10	-146.6	108.3	-7.1	64	1387	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3502
1696	-1.10	-146.6	131.1	-7.1	79	1700	0.00	2.62	0.00	0.000	4	0.000	0.066	2163	1483	3503
1746	-1.10	-146.6	135.1	-7.8	81	1750	0.00	2.67	0.00	0.000	6	0.000	0.070	2163	2904	3502
2062	-1.10	-146.6	159.0	-7.7	96	2063	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2905	3503
2372	-1.10	-146.6	182.7	-7.7	111	2376	0.00	2.62	0.00	0.000	4	0.000	0.063	2163	1478	3503
2434	-1.10	-146.6	187.3	-7.2	114	2439	0.00	2.67	0.00	0.000	6	0.000	0.068	2163	2912	3502
2762	-1.10	-146.6	211.8	-7.4	130	2766	0.00	2.62	0.00	0.000	4	0.000	0.064	2163	1486	3503
2806	-1.10	-146.6	215.4	-8.1	132	2811	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2898	3503
3128	-1.10	-146.6	240.0	-7.6	148	3132	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1480	3503
3151	-1.10	-146.6	241.6	-7.3	149	3155	0.00	2.65	0.00	0.000	6	0.000	0.068	2163	2900	3502
3472	-1.10	-146.6	265.2	-7.4	165	3474	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
3781	-1.10	-146.6	287.3	-7.3	180	3786	0.00	2.60	0.00	0.000	4	0.000	0.061	2163	1480	3503
3826	-1.10	-146.6	290.6	-6.8	182	3831	0.00	2.67	0.00	0.000	6	0.000	0.069	2163	2907	3502
4147	-1.10	-146.6	312.3	-6.9	198	4149	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2907	3503
4457	-1.10	-146.6	332.1	-5.6	213	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2907	3502
4766	-1.10	-146.6	349.1	-5.5	228	4770	0.00	2.55	0.00	0.000	4	0.000	0.054	2163	1482	3502
4856	-1.10	-146.6	353.8	-4.8	232	4860	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2904	3503
5178	-1.10	-146.6	370.5	-5.1	248	5182	0.00	2.58	0.00	0.000	4	0.000	0.058	2163	1477	3503
5223	-1.10	-146.6	372.8	-5.4	250	5227	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2900	3502
5545	-1.10	-146.6	389.9	-5.9	266	5546	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
5854	-1.10	-146.6	406.8	-5.2	281	5858	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1481	3502
5877	-1.10	-146.6	407.9	-4.9	282	5881	0.00	2.65	0.00	0.000	6	0.000	0.066	2163	2907	3502
6198	-1.10	-146.6	423.1	-5.4	298	6199	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3502
6507	-1.10	-146.6	443.7	-8.5	313	6510	0.00	1.67	0.00	0.000	4	0.000	0.093	2163	3780	3503
6598	-1.10	-146.6	452.4	-9.9	317	6602	0.00	1.55	0.00	0.000	6	0.000	0.041	2163	2893	3502
6931	-1.10	-146.6	479.4	-5.8	333	6935	0.00	1.73	0.00	0.000	4	0.000	0.091	2163	3787	3502
6988	-1.10	-146.6	483.3	-6.9	335	6991	0.00	1.58	0.00	0.000	6	0.000	0.043	2163	2879	3502
7310	-1.10	-146.6	503.9	-7.1	351	7314	0.00	2.47	0.00	0.000	4	0.000	0.057	2163	1495	3502
7399	-1.10	-146.6	509.1	-6.4	355	7404	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2898	3502
7722	-1.10	-146.6	518.1	-3.3	371	7725	0.00	1.70	0.00	0.000	4	0.000	0.093	2163	3784	3502
7800	-1.10	-146.6	526.0	-11.3	374	7804	0.00	1.55	0.00	0.000	6	0.000	0.040	2163	2901	3502
8122	-1.10	-146.6	552.2	-7.0	390	8126	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1492	3502
8172	-1.10	-146.6	554.0	0.2	392	8177	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2898	3502
8341	end dive: BOTTOM_OBSTACLE_DETECTED
state	8341	begin apogee
8350	-0.42	0.0	563.0	7.9	400	8484	0.80	0.00	127.53	1.249	6	0.103	0.000	2320	2102	2901
8484	end apogee: CONTROL_FINISHED_OK
state	8485	begin climb
8488	1.10	146.6	569.5	0.0	407	8620	1.58	2.65	123.72	1.205	4	0.068	0.059	2647	691	2303
8630	1.16	195.3	559.6	4.7	414	8680	0.00	2.55	43.00	1.153	6	0.000	0.037	2647	2126	2104
9005	1.20	226.8	541.7	5.1	432	9040	0.12	2.67	27.42	1.166	4	0.042	0.071	2687	3494	1977
9294	1.20	226.8	522.2	8.8	445	9299	0.00	2.47	0.00	0.000	6	0.000	0.041	2687	2090	1975
9622	1.20	226.8	493.3	7.3	461	9627	0.00	2.67	0.00	0.000	4	0.000	0.072	2687	3502	1974
9656	1.20	226.8	490.7	7.2	462	9662	0.00	2.50	0.00	0.000	6	0.000	0.043	2687	2102	1974
9973	1.20	226.8	464.6	7.8	478	9974	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2102	1974
10282	1.20	226.8	442.0	6.9	493	10286	0.00	2.62	0.00	0.000	4	0.000	0.072	2687	3503	1973
10359	1.20	226.8	436.0	8.5	496	10365	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2094	1973
10675	1.20	226.8	412.0	7.4	512	10680	0.00	2.62	0.00	0.000	4	0.000	0.072	2687	3503	1972
10765	1.20	226.8	404.3	9.2	516	10770	0.00	2.50	0.00	0.000	6	0.000	0.045	2688	2096	1972
11086	1.20	226.8	377.9	8.0	532	11091	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3504	1972
11113	1.20	226.8	375.6	8.5	533	11118	0.00	2.50	0.00	0.000	6	0.000	0.044	2688	2101	1972
11430	1.20	226.8	350.9	7.6	548	11431	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2101	1972
11739	1.20	226.8	326.4	8.0	563	11743	0.00	2.62	0.00	0.000	4	0.000	0.072	2687	3500	1972
11789	1.20	226.8	322.2	9.0	565	11793	0.00	2.50	0.00	0.000	6	0.000	0.045	2687	2100	1972
12105	1.20	226.8	297.3	7.8	580	12106	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1973
12414	1.20	226.8	273.8	7.5	595	12418	0.00	2.62	0.00	0.000	4	0.000	0.073	2688	3498	1973
12449	1.20	226.8	270.9	9.0	596	12455	0.00	2.50	0.00	0.000	6	0.000	0.045	2688	2094	1973
12765	1.20	226.8	244.4	7.9	612	12769	0.00	2.55	0.00	0.000	4	0.000	0.063	2687	694	1974
12792	1.20	226.8	242.0	8.5	613	12797	0.00	2.47	0.00	0.000	6	0.000	0.043	2688	2090	1974
13108	1.20	226.8	216.3	8.2	628	13113	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3511	1975
13149	1.20	226.8	213.1	7.4	630	13154	0.00	2.50	0.00	0.000	6	0.000	0.046	2688	2104	1975
13476	1.20	227.2	188.3	6.0	646	13481	0.00	2.58	0.00	0.000	4	0.000	0.061	2687	684	1975
13499	1.20	227.2	186.7	6.5	647	13503	0.00	2.50	0.00	0.000	6	0.000	0.041	2688	2100	1975
13821	1.20	227.2	163.8	7.2	663	13822	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1975
14130	1.26	270.5	143.4	4.8	678	14169	0.00	0.00	36.88	0.940	6	0.000	0.000	2687	2100	1798
14481	1.26	270.5	120.7	7.7	695	14485	0.00	2.67	0.00	0.000	4	0.000	0.079	2687	3508	1797
14514	1.26	270.5	117.5	8.8	696	14520	0.00	2.53	0.00	0.000	6	0.000	0.047	2687	2097	1797
14832	1.26	270.5	94.6	7.1	712	14833	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2097	1797
15140	1.26	270.5	69.7	8.7	727	15141	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2097	1797
15450	1.26	270.5	43.1	9.0	742	15454	0.00	2.67	0.00	0.000	4	0.000	0.076	2687	3511	1797
15471	1.26	270.5	40.8	9.9	743	15475	0.00	2.55	0.00	0.000	6	0.000	0.050	2687	2097	1797
15793	1.26	270.5	11.8	9.8	759	15794	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2097	1797
15913	end climb: SURFACE_DEPTH_REACHED
state	15913	begin surface coast
15935	end surface coast: CONTROL_FINISHED_OK
state	15935	begin surface