Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 52 * 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 52 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 18 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 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 -77223.758 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 -77223.758

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 18 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 52 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 151537,6140.554,-854.662,34,1.1,34,-9.2 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.237,-0.021

_SM_DEPTHo 0.34 KALMAN_X 18080.1,336.1,522.5,-40597.3,-1676.9

_SM_ANGLEo -65.2 KALMAN_Y 132630.8,-730.2,-938.1,-117091.2,9551.2

GPS2 152026,6140.599,-854.586,13,1.2,13,-9.2 MHEAD_RNG_PITCHd_Wd 274.1,19664,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.027315 XPDR_PINGS 348

SM_CCo 17370,43.40,0.814,5,0,1655,300.00 ALTIM_BOTTOM_PING 750.8,109.9

SM_GC 0.21,0.00,0.00,43.40,0.000,0.000,0.814,34,1886,1655,-11.32,-0.40,300.00 _24V_AH 23.2,19.712

IRIDIUM_FIX 6112.75,-852.00,201107,131316 _10V_AH 10.1,8.127

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41148,841

HUMID 2055 CFSIZE 260165632,255496192

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,5,0

TCM_TEMP 16.80 GPS 201107,201308,6141.150,-900.289,34,1.2,34,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 143 87.02 SBE_CT 615 24 342.73

Roll_motor 93 78 170.02 SBE_O2 568 19 250.69

VBD_pump_during_apogee 339 1434 11280.40 WL_BB2F 469 105 1144.47

VBD_pump_during_surface 43 813 819.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.43 nil 0 0 0.00

Iridium_during_connect 31 160 116.81 nil 0 0 0.00

Iridium_during_xfer 132 223 687.32

Transponder_ping 93 420 911.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.61

TT8 1503 19 300.65

LPSleep 13645 2 301.82

TT8_Active 542 19 108.46

TT8_Sampling 1733 39 697.00

TT8_CF8 309 45 143.22

TT8_Kalman 33 81 27.55

Analog_circuits 1376 12 166.84

GPS_charging 0 0 0.00

Compass 1701 8 137.51

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 92 0.00 0.00 -72.07 0.000 2 0.000 0.000 30 1917 3191

94 -1.23 -146.6 3.2 -4.3 4 120 11.70 2.70 -6.78 0.000 4 0.143 0.078 2224 492 3476

160 -1.23 -146.6 15.1 -11.5 7 165 0.00 2.47 0.00 0.000 6 0.000 0.041 2224 1899 3476

486 -1.23 -146.6 48.6 -10.2 23 490 0.00 2.50 0.00 0.000 4 0.000 0.048 2224 3295 3477

534 -1.23 -146.6 54.6 -12.4 25 539 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1897 3477

856 -1.23 -146.6 95.2 -12.0 41 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3476

1165 -1.23 -146.6 131.6 -13.2 56 1166 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3477

1474 -1.23 -146.6 170.1 -11.5 71 1475 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

1783 -1.23 -146.6 203.3 -10.3 86 1788 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3296 3477

1838 -1.23 -146.6 208.8 -10.0 88 1845 0.00 2.53 0.00 0.000 6 0.000 0.043 2224 1905 3477

2153 -1.23 -146.6 239.5 -9.8 104 2154 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1905 3477

2462 -1.23 -146.6 269.4 -9.3 119 2464 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1905 3477

2772 -1.23 -146.6 296.9 -8.8 134 2776 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3304 3476

2854 -1.23 -146.6 304.7 -9.7 138 2858 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1900 3477

3180 -1.23 -146.6 336.2 -9.6 154 3181 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3477

3489 -1.23 -146.6 365.9 -9.4 169 3493 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3300 3477

3555 -1.23 -146.6 372.3 -10.2 172 3560 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1898 3477

3882 -1.23 -146.6 403.2 -9.4 188 3883 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3477

4191 -1.23 -146.6 432.4 -9.5 203 4195 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3297 3477

4261 -1.23 -146.6 439.2 -9.6 206 4266 0.00 2.55 0.00 0.000 6 0.000 0.047 2224 1898 3477

4583 -1.23 -146.6 470.1 -9.5 222 4584 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3477

4892 -1.23 -146.6 498.3 -9.1 237 4896 0.00 2.53 0.00 0.000 4 0.000 0.051 2224 3297 3477

4976 -1.23 -146.6 506.0 -9.0 241 4980 0.00 2.53 0.00 0.000 6 0.000 0.047 2224 1896 3477

5300 -1.23 -146.6 534.6 -8.5 257 5302 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3477

5610 -1.23 -146.6 559.6 -8.5 272 5611 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1895 3477

5919 -1.23 -146.6 585.5 -8.0 287 5921 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3477

6229 -1.23 -146.6 608.5 -7.2 302 6230 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1895 3477

6538 -1.23 -146.6 632.5 -7.9 317 6542 0.00 2.55 0.00 0.000 4 0.000 0.058 2224 3297 3477

6592 -1.23 -146.6 636.7 -6.9 319 6599 0.00 2.53 0.00 0.000 6 0.000 0.048 2224 1901 3477

6907 -1.23 -146.6 658.4 -7.4 335 6908 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3477

7217 -1.23 -146.6 685.1 -7.4 350 7221 0.00 2.55 0.00 0.000 4 0.000 0.057 2224 3297 3477

7304 -1.23 -146.6 691.3 -6.4 354 7309 0.00 2.58 0.00 0.000 6 0.000 0.051 2223 1898 3476

7631 -1.23 -146.6 710.6 -7.1 370 7635 0.00 2.58 0.00 0.000 4 0.000 0.061 2224 3297 3476

7696 -1.23 -146.6 715.2 -6.3 373 7701 0.00 2.55 0.00 0.000 6 0.000 0.054 2224 1902 3476

8023 -1.23 -146.6 738.2 -7.4 389 8024 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3476

8332 -1.23 -146.6 776.4 -17.8 404 8336 0.00 2.58 0.00 0.000 4 0.000 0.068 2224 3292 3476

8403 -1.23 -146.6 787.2 -12.6 407 8408 0.00 2.60 0.00 0.000 6 0.000 0.061 2224 1904 3475

8724 -1.23 -146.6 810.7 -6.8 423 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1904 3474

9033 -1.23 -146.6 834.5 -7.2 438 9034 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3472

9238 end dive: BOTTOM_OBSTACLE_DETECTED

state 9238 begin apogee

9243 -0.36 0.0 850.8 9.7 448 9371 0.93 0.00 124.90 1.434 6 0.096 0.000 2415 2340 2879

9372 end apogee: CONTROL_FINISHED_OK

state 9372 begin climb

9373 1.23 146.6 855.5 0.0 454 9503 1.58 0.00 124.25 1.382 6 0.055 0.000 2764 2339 2280

9825 1.36 252.7 827.2 4.0 476 9918 0.12 0.00 89.85 1.389 6 0.055 0.000 2798 2339 1847

10214 1.36 252.7 775.5 16.8 495 10216 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2341 1846

10523 1.36 252.7 740.1 11.1 510 10525 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2342 1845

10833 1.36 252.7 703.2 12.9 525 10834 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2342 1844

11142 1.36 252.7 667.7 11.2 540 11146 0.00 2.65 0.00 0.000 4 0.000 0.067 2798 3758 1843

11364 1.36 252.7 640.5 12.2 550 11369 0.00 2.60 0.00 0.000 6 0.000 0.050 2798 2348 1842

11692 1.36 252.7 606.0 11.5 566 11693 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1842

12001 1.36 252.7 573.4 9.9 581 12002 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1842

12310 1.36 252.7 542.8 10.2 596 12315 0.00 2.60 0.00 0.000 4 0.000 0.064 2798 941 1843

12400 1.36 252.7 533.6 9.7 600 12404 0.00 2.53 0.00 0.000 6 0.000 0.043 2798 2359 1843

12719 1.36 252.7 501.2 10.3 616 12720 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2360 1845

13028 1.36 252.7 468.1 10.6 631 13030 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2361 1846

13338 1.36 252.7 435.7 10.4 646 13342 0.00 2.62 0.00 0.000 4 0.000 0.060 2798 934 1846

13403 1.36 252.7 428.5 11.3 649 13408 0.00 2.53 0.00 0.000 6 0.000 0.042 2798 2348 1846

13729 1.36 252.7 392.5 11.0 665 13730 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2349 1847

14038 1.36 252.7 359.1 10.8 680 14043 0.00 2.60 0.00 0.000 4 0.000 0.061 2798 934 1848

14100 1.36 252.7 352.1 11.8 683 14104 0.00 2.53 0.00 0.000 6 0.000 0.042 2798 2355 1848

14425 1.36 252.7 316.7 10.9 699 14426 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2355 1849

14734 1.36 252.7 281.4 11.4 714 14735 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2355 1849

15043 1.36 252.7 246.8 11.2 729 15048 0.00 2.60 0.00 0.000 4 0.000 0.057 2798 932 1850

15137 1.36 252.7 236.0 11.2 733 15142 0.00 2.53 0.00 0.000 6 0.000 0.041 2798 2342 1850

15458 1.36 252.7 201.4 10.5 749 15459 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2342 1851

15767 1.36 252.7 167.9 10.6 764 15772 0.00 2.58 0.00 0.000 4 0.000 0.058 2798 934 1851

15822 1.36 252.7 161.8 10.5 766 15829 0.00 2.53 0.00 0.000 6 0.000 0.040 2798 2348 1851

16138 1.36 252.7 128.0 9.6 782 16139 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1851

16447 1.36 252.7 97.4 10.1 797 16448 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2348 1852

16756 1.36 252.7 63.2 10.8 812 16760 0.00 2.60 0.00 0.000 4 0.000 0.058 2797 939 1852

16840 1.36 252.7 53.7 12.2 816 16844 0.00 2.50 0.00 0.000 6 0.000 0.040 2798 2357 1852

17165 1.36 252.7 19.8 10.4 832 17166 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2358 1852

17329 end climb: SURFACE_DEPTH_REACHED

state 17329 begin surface coast

17351 end surface coast: CONTROL_FINISHED_OK

state 17351 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	52	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	18	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	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	-77223.758	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	151537,6140.554,-854.662,34,1.1,34,-9.2	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.237,-0.021
_SM_DEPTHo	0.34	KALMAN_X	18080.1,336.1,522.5,-40597.3,-1676.9
_SM_ANGLEo	-65.2	KALMAN_Y	132630.8,-730.2,-938.1,-117091.2,9551.2
GPS2	152026,6140.599,-854.586,13,1.2,13,-9.2	MHEAD_RNG_PITCHd_Wd	274.1,19664,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.1,1.027315	XPDR_PINGS	348
SM_CCo	17370,43.40,0.814,5,0,1655,300.00	ALTIM_BOTTOM_PING	750.8,109.9
SM_GC	0.21,0.00,0.00,43.40,0.000,0.000,0.814,34,1886,1655,-11.32,-0.40,300.00	_24V_AH	23.2,19.712
IRIDIUM_FIX	6112.75,-852.00,201107,131316	_10V_AH	10.1,8.127
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41148,841
HUMID	2055	CFSIZE	260165632,255496192
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
TCM_TEMP	16.80	GPS	201107,201308,6141.150,-900.289,34,1.2,34,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	143	87.02	SBE_CT	615	24	342.73
Roll_motor	93	78	170.02	SBE_O2	568	19	250.69
VBD_pump_during_apogee	339	1434	11280.40	WL_BB2F	469	105	1144.47
VBD_pump_during_surface	43	813	819.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.43	nil	0	0	0.00
Iridium_during_connect	31	160	116.81	nil	0	0	0.00
Iridium_during_xfer	132	223	687.32
Transponder_ping	93	420	911.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.61
TT8	1503	19	300.65
LPSleep	13645	2	301.82
TT8_Active	542	19	108.46
TT8_Sampling	1733	39	697.00
TT8_CF8	309	45	143.22
TT8_Kalman	33	81	27.55
Analog_circuits	1376	12	166.84
GPS_charging	0	0	0.00
Compass	1701	8	137.51
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	92	0.00	0.00	-72.07	0.000	2	0.000	0.000	30	1917	3191
94	-1.23	-146.6	3.2	-4.3	4	120	11.70	2.70	-6.78	0.000	4	0.143	0.078	2224	492	3476
160	-1.23	-146.6	15.1	-11.5	7	165	0.00	2.47	0.00	0.000	6	0.000	0.041	2224	1899	3476
486	-1.23	-146.6	48.6	-10.2	23	490	0.00	2.50	0.00	0.000	4	0.000	0.048	2224	3295	3477
534	-1.23	-146.6	54.6	-12.4	25	539	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1897	3477
856	-1.23	-146.6	95.2	-12.0	41	857	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3476
1165	-1.23	-146.6	131.6	-13.2	56	1166	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3477
1474	-1.23	-146.6	170.1	-11.5	71	1475	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
1783	-1.23	-146.6	203.3	-10.3	86	1788	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3296	3477
1838	-1.23	-146.6	208.8	-10.0	88	1845	0.00	2.53	0.00	0.000	6	0.000	0.043	2224	1905	3477
2153	-1.23	-146.6	239.5	-9.8	104	2154	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1905	3477
2462	-1.23	-146.6	269.4	-9.3	119	2464	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1905	3477
2772	-1.23	-146.6	296.9	-8.8	134	2776	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3304	3476
2854	-1.23	-146.6	304.7	-9.7	138	2858	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1900	3477
3180	-1.23	-146.6	336.2	-9.6	154	3181	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3477
3489	-1.23	-146.6	365.9	-9.4	169	3493	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3300	3477
3555	-1.23	-146.6	372.3	-10.2	172	3560	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1898	3477
3882	-1.23	-146.6	403.2	-9.4	188	3883	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3477
4191	-1.23	-146.6	432.4	-9.5	203	4195	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3297	3477
4261	-1.23	-146.6	439.2	-9.6	206	4266	0.00	2.55	0.00	0.000	6	0.000	0.047	2224	1898	3477
4583	-1.23	-146.6	470.1	-9.5	222	4584	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3477
4892	-1.23	-146.6	498.3	-9.1	237	4896	0.00	2.53	0.00	0.000	4	0.000	0.051	2224	3297	3477
4976	-1.23	-146.6	506.0	-9.0	241	4980	0.00	2.53	0.00	0.000	6	0.000	0.047	2224	1896	3477
5300	-1.23	-146.6	534.6	-8.5	257	5302	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3477
5610	-1.23	-146.6	559.6	-8.5	272	5611	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1895	3477
5919	-1.23	-146.6	585.5	-8.0	287	5921	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3477
6229	-1.23	-146.6	608.5	-7.2	302	6230	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1895	3477
6538	-1.23	-146.6	632.5	-7.9	317	6542	0.00	2.55	0.00	0.000	4	0.000	0.058	2224	3297	3477
6592	-1.23	-146.6	636.7	-6.9	319	6599	0.00	2.53	0.00	0.000	6	0.000	0.048	2224	1901	3477
6907	-1.23	-146.6	658.4	-7.4	335	6908	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3477
7217	-1.23	-146.6	685.1	-7.4	350	7221	0.00	2.55	0.00	0.000	4	0.000	0.057	2224	3297	3477
7304	-1.23	-146.6	691.3	-6.4	354	7309	0.00	2.58	0.00	0.000	6	0.000	0.051	2223	1898	3476
7631	-1.23	-146.6	710.6	-7.1	370	7635	0.00	2.58	0.00	0.000	4	0.000	0.061	2224	3297	3476
7696	-1.23	-146.6	715.2	-6.3	373	7701	0.00	2.55	0.00	0.000	6	0.000	0.054	2224	1902	3476
8023	-1.23	-146.6	738.2	-7.4	389	8024	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3476
8332	-1.23	-146.6	776.4	-17.8	404	8336	0.00	2.58	0.00	0.000	4	0.000	0.068	2224	3292	3476
8403	-1.23	-146.6	787.2	-12.6	407	8408	0.00	2.60	0.00	0.000	6	0.000	0.061	2224	1904	3475
8724	-1.23	-146.6	810.7	-6.8	423	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1904	3474
9033	-1.23	-146.6	834.5	-7.2	438	9034	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3472
9238	end dive: BOTTOM_OBSTACLE_DETECTED
state	9238	begin apogee
9243	-0.36	0.0	850.8	9.7	448	9371	0.93	0.00	124.90	1.434	6	0.096	0.000	2415	2340	2879
9372	end apogee: CONTROL_FINISHED_OK
state	9372	begin climb
9373	1.23	146.6	855.5	0.0	454	9503	1.58	0.00	124.25	1.382	6	0.055	0.000	2764	2339	2280
9825	1.36	252.7	827.2	4.0	476	9918	0.12	0.00	89.85	1.389	6	0.055	0.000	2798	2339	1847
10214	1.36	252.7	775.5	16.8	495	10216	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2341	1846
10523	1.36	252.7	740.1	11.1	510	10525	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2342	1845
10833	1.36	252.7	703.2	12.9	525	10834	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2342	1844
11142	1.36	252.7	667.7	11.2	540	11146	0.00	2.65	0.00	0.000	4	0.000	0.067	2798	3758	1843
11364	1.36	252.7	640.5	12.2	550	11369	0.00	2.60	0.00	0.000	6	0.000	0.050	2798	2348	1842
11692	1.36	252.7	606.0	11.5	566	11693	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1842
12001	1.36	252.7	573.4	9.9	581	12002	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1842
12310	1.36	252.7	542.8	10.2	596	12315	0.00	2.60	0.00	0.000	4	0.000	0.064	2798	941	1843
12400	1.36	252.7	533.6	9.7	600	12404	0.00	2.53	0.00	0.000	6	0.000	0.043	2798	2359	1843
12719	1.36	252.7	501.2	10.3	616	12720	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2360	1845
13028	1.36	252.7	468.1	10.6	631	13030	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2361	1846
13338	1.36	252.7	435.7	10.4	646	13342	0.00	2.62	0.00	0.000	4	0.000	0.060	2798	934	1846
13403	1.36	252.7	428.5	11.3	649	13408	0.00	2.53	0.00	0.000	6	0.000	0.042	2798	2348	1846
13729	1.36	252.7	392.5	11.0	665	13730	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2349	1847
14038	1.36	252.7	359.1	10.8	680	14043	0.00	2.60	0.00	0.000	4	0.000	0.061	2798	934	1848
14100	1.36	252.7	352.1	11.8	683	14104	0.00	2.53	0.00	0.000	6	0.000	0.042	2798	2355	1848
14425	1.36	252.7	316.7	10.9	699	14426	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2355	1849
14734	1.36	252.7	281.4	11.4	714	14735	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2355	1849
15043	1.36	252.7	246.8	11.2	729	15048	0.00	2.60	0.00	0.000	4	0.000	0.057	2798	932	1850
15137	1.36	252.7	236.0	11.2	733	15142	0.00	2.53	0.00	0.000	6	0.000	0.041	2798	2342	1850
15458	1.36	252.7	201.4	10.5	749	15459	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2342	1851
15767	1.36	252.7	167.9	10.6	764	15772	0.00	2.58	0.00	0.000	4	0.000	0.058	2798	934	1851
15822	1.36	252.7	161.8	10.5	766	15829	0.00	2.53	0.00	0.000	6	0.000	0.040	2798	2348	1851
16138	1.36	252.7	128.0	9.6	782	16139	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1851
16447	1.36	252.7	97.4	10.1	797	16448	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2348	1852
16756	1.36	252.7	63.2	10.8	812	16760	0.00	2.60	0.00	0.000	4	0.000	0.058	2797	939	1852
16840	1.36	252.7	53.7	12.2	816	16844	0.00	2.50	0.00	0.000	6	0.000	0.040	2798	2357	1852
17165	1.36	252.7	19.8	10.4	832	17166	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2358	1852
17329	end climb: SURFACE_DEPTH_REACHED
state	17329	begin surface coast
17351	end surface coast: CONTROL_FINISHED_OK
state	17351	begin surface