Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 53 * 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 53 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -77238.297 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 -77238.297

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 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 53 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 201308,6141.150,-900.289,34,1.2,34,-9.3 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.236,-0.026

_SM_DEPTHo 0.23 KALMAN_X 19645.3,422.9,-37.1,-46677.2,410.6

_SM_ANGLEo -65.0 KALMAN_Y 133895.7,-1403.7,-645.9,-116928.0,8500.6

GPS2 201744,6141.168,-900.237,12,1.3,12,-9.3 MHEAD_RNG_PITCHd_Wd 273.1,14759,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.4,1.027308 XPDR_PINGS 447

SM_CCo 16876,50.55,0.798,6,0,1655,300.00 ALTIM_BOTTOM_PING 751.2,82.5

SM_GC 0.32,0.00,0.00,50.55,0.000,0.000,0.798,35,1885,1655,-11.32,-0.42,300.00 _24V_AH 23.3,19.874

IRIDIUM_FIX 6112.75,-856.47,201107,191920 _10V_AH 10.1,8.201

TT8_MAMPS 0.026078 DATA_FILE_SIZE 41127,815

HUMID 2033 CFSIZE 260165632,255442944

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,6,0

TCM_TEMP 16.80 GPS 211107,010226,6140.758,-905.694,36,1.9,36,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 143 87.56 SBE_CT 598 24 334.67

Roll_motor 94 75 167.15 SBE_O2 550 19 243.73

VBD_pump_during_apogee 334 1384 10781.21 WL_BB2F 462 105 1132.59

VBD_pump_during_surface 50 798 940.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.95 nil 0 0 0.00

Iridium_during_connect 27 160 102.43 nil 0 0 0.00

Iridium_during_xfer 128 223 665.49

Transponder_ping 118 420 1159.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.03

TT8 1459 19 291.82

LPSleep 13197 2 291.92

TT8_Active 559 19 111.79

TT8_Sampling 1724 39 693.33

TT8_CF8 301 45 139.45

TT8_Kalman 33 81 27.55

Analog_circuits 1395 12 169.16

GPS_charging 0 0 0.00

Compass 1692 8 136.79

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 16 begin dive

18 -1.23 -146.6 0.0 0.0 0 102 0.00 0.00 -82.03 0.000 6 0.000 0.000 34 1886 3477

104 -1.23 -146.6 5.1 -7.3 4 117 11.65 0.00 0.00 0.000 6 0.143 0.000 2221 1886 3478

434 -1.23 -146.6 53.4 -12.1 20 435 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1886 3479

743 -1.23 -146.6 84.2 -11.2 35 747 0.00 2.55 0.00 0.000 4 0.000 0.048 2221 3303 3479

809 -1.23 -146.6 92.0 -10.3 38 813 0.00 2.55 0.00 0.000 6 0.000 0.043 2221 1901 3479

1137 -1.23 -146.6 128.8 -9.5 54 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1901 3479

1445 -1.23 -146.6 160.1 -9.9 69 1446 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3480

1754 -1.23 -146.6 191.3 -10.0 84 1758 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3311 3480

1814 -1.23 -146.6 197.1 -10.4 86 1821 0.00 2.55 0.00 0.000 6 0.000 0.042 2221 1903 3480

2129 -1.23 -146.6 227.8 -9.5 102 2130 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1902 3480

2438 -1.23 -146.6 257.7 -9.4 117 2439 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1902 3480

2748 -1.23 -146.6 287.5 -9.6 132 2752 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3304 3480

2802 -1.23 -146.6 292.6 -9.1 134 2809 0.00 2.55 0.00 0.000 6 0.000 0.044 2220 1902 3480

3117 -1.23 -146.6 322.4 -9.6 150 3118 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1902 3480

3427 -1.23 -146.6 352.4 -9.7 165 3428 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1902 3480

3736 -1.23 -146.6 382.1 -10.0 180 3740 0.00 2.53 0.00 0.000 4 0.000 0.050 2221 3305 3480

3792 -1.23 -146.6 387.8 -10.4 182 3798 0.00 2.53 0.00 0.000 6 0.000 0.045 2221 1901 3480

4106 -1.23 -146.6 418.1 -9.8 198 4107 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3480

4415 -1.23 -146.6 446.7 -9.1 213 4416 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3480

4724 -1.23 -146.6 474.5 -9.1 228 4726 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1901 3480

5034 -1.23 -146.6 502.9 -9.2 243 5038 0.00 2.55 0.00 0.000 4 0.000 0.051 2220 3306 3480

5088 -1.23 -146.6 508.1 -9.7 245 5095 0.00 2.55 0.00 0.000 6 0.000 0.046 2221 1906 3480

5404 -1.23 -146.6 538.8 -9.7 261 5408 0.00 2.55 0.00 0.000 4 0.000 0.053 2221 3311 3480

5474 -1.23 -146.6 545.9 -9.6 264 5479 0.00 2.58 0.00 0.000 6 0.000 0.045 2221 1897 3479

5796 -1.23 -146.6 576.8 -9.3 280 5797 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1897 3480

6105 -1.23 -146.6 605.2 -9.6 295 6109 0.00 2.58 0.00 0.000 4 0.000 0.055 2221 3305 3480

6188 -1.23 -146.6 613.2 -9.8 299 6192 0.00 2.55 0.00 0.000 6 0.000 0.050 2221 1902 3480

6513 -1.23 -146.6 642.0 -8.4 315 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 1902 3480

6822 -1.23 -146.6 666.1 -7.9 330 6827 0.00 2.58 0.00 0.000 4 0.000 0.056 2221 3310 3480

6944 -1.23 -146.6 676.6 -9.4 335 6952 0.00 2.58 0.00 0.000 6 0.000 0.050 2221 1905 3480

7260 -1.23 -146.6 704.3 -8.6 351 7261 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1905 3480

7569 -1.23 -146.6 739.6 -15.3 366 7571 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1905 3480

7879 -1.23 -146.6 762.0 -0.4 381 7883 0.00 2.60 0.00 0.000 4 0.000 0.064 2220 3302 3480

7950 -1.23 -146.6 764.0 -4.0 384 7954 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 1902 3480

8271 -1.23 -146.6 793.8 -14.4 400 8272 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1902 3479

8475 end dive: BOTTOM_OBSTACLE_DETECTED

state 8476 begin apogee

8480 -0.36 0.0 823.7 11.3 410 8609 0.98 0.00 125.32 1.384 6 0.117 0.000 2412 2346 2878

8610 end apogee: CONTROL_FINISHED_OK

state 8610 begin climb

8611 1.23 146.6 824.4 0.0 416 8743 1.58 2.75 123.60 1.332 4 0.051 0.076 2765 943 2280

8859 1.23 146.6 810.5 8.5 428 8867 0.00 2.62 0.00 0.000 6 0.000 0.058 2765 2340 2279

9175 1.25 160.4 781.9 7.5 444 9189 0.00 0.00 12.40 1.348 6 0.000 0.000 2765 2341 2224

9484 1.25 160.4 755.2 8.4 459 9485 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2340 2223

9793 1.25 160.4 732.8 9.3 474 9794 0.00 0.00 0.00 0.000 6 0.000 0.000 2765 2341 2221

10102 1.25 160.4 697.8 9.4 489 10107 0.00 2.67 0.00 0.000 4 0.000 0.075 2765 931 2220

10358 1.33 229.7 678.1 5.4 500 10421 0.00 2.62 57.40 1.348 6 0.000 0.054 2765 2350 1941

10730 1.35 243.3 656.2 7.5 518 10752 0.10 2.75 12.40 1.335 4 0.061 0.070 2796 945 1885

10879 1.35 243.3 641.6 11.1 524 10887 0.00 2.58 0.00 0.000 6 0.000 0.049 2795 2347 1885

11195 1.35 243.3 603.5 12.2 540 11196 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2348 1885

11504 1.35 243.3 567.5 12.1 555 11505 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2349 1886

11813 1.35 243.3 533.2 11.1 570 11815 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2349 1887

12123 1.35 243.3 498.5 11.2 585 12124 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2350 1887

12432 1.35 243.3 465.3 10.8 600 12433 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2350 1888

12741 1.35 243.3 433.7 9.9 615 12746 0.00 2.60 0.00 0.000 4 0.000 0.061 2796 939 1888

12813 1.35 243.3 425.8 10.8 618 12817 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2348 1888

13134 1.35 243.3 392.3 10.7 634 13135 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2349 1889

13443 1.35 243.3 360.7 10.2 649 13447 0.00 2.60 0.00 0.000 4 0.000 0.060 2796 938 1890

13491 1.35 243.3 355.6 10.6 651 13496 0.00 2.53 0.00 0.000 6 0.000 0.041 2795 2350 1889

13812 1.35 243.3 322.7 10.2 667 13813 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2350 1890

14122 1.35 243.3 291.1 10.3 682 14126 0.00 2.60 0.00 0.000 4 0.000 0.059 2795 932 1891

14205 1.35 243.3 281.9 11.1 686 14210 0.00 2.53 0.00 0.000 6 0.000 0.041 2796 2350 1891

14530 1.35 243.3 248.6 10.6 702 14532 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2349 1892

14840 1.35 243.3 214.6 11.2 717 14841 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2350 1893

15149 1.35 243.3 182.4 10.5 732 15153 0.00 2.60 0.00 0.000 4 0.000 0.058 2796 930 1893

15237 1.35 243.3 172.8 10.7 736 15242 0.00 2.53 0.00 0.000 6 0.000 0.040 2796 2349 1893

15564 1.35 243.3 139.0 9.8 752 15566 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2349 1893

15874 1.35 243.3 106.6 10.2 767 15878 0.00 2.60 0.00 0.000 4 0.000 0.057 2796 935 1893

15934 1.35 243.3 99.4 12.5 770 15939 0.00 2.53 0.00 0.000 6 0.000 0.040 2796 2359 1893

16260 1.35 243.3 62.8 11.0 786 16261 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2359 1894

16569 1.35 243.3 28.9 10.4 801 16573 0.00 2.62 0.00 0.000 4 0.000 0.058 2796 933 1894

16640 1.35 243.3 21.1 10.0 804 16652 0.00 2.53 3.10 0.856 6 0.000 0.040 2796 2353 1885

16836 end climb: SURFACE_DEPTH_REACHED

state 16836 begin surface coast

16857 end surface coast: CONTROL_FINISHED_OK

state 16857 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	53	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-77238.297	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	201308,6141.150,-900.289,34,1.2,34,-9.3	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.236,-0.026
_SM_DEPTHo	0.23	KALMAN_X	19645.3,422.9,-37.1,-46677.2,410.6
_SM_ANGLEo	-65.0	KALMAN_Y	133895.7,-1403.7,-645.9,-116928.0,8500.6
GPS2	201744,6141.168,-900.237,12,1.3,12,-9.3	MHEAD_RNG_PITCHd_Wd	273.1,14759,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.4,1.027308	XPDR_PINGS	447
SM_CCo	16876,50.55,0.798,6,0,1655,300.00	ALTIM_BOTTOM_PING	751.2,82.5
SM_GC	0.32,0.00,0.00,50.55,0.000,0.000,0.798,35,1885,1655,-11.32,-0.42,300.00	_24V_AH	23.3,19.874
IRIDIUM_FIX	6112.75,-856.47,201107,191920	_10V_AH	10.1,8.201
TT8_MAMPS	0.026078	DATA_FILE_SIZE	41127,815
HUMID	2033	CFSIZE	260165632,255442944
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,6,0
TCM_TEMP	16.80	GPS	211107,010226,6140.758,-905.694,36,1.9,36,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	143	87.56	SBE_CT	598	24	334.67
Roll_motor	94	75	167.15	SBE_O2	550	19	243.73
VBD_pump_during_apogee	334	1384	10781.21	WL_BB2F	462	105	1132.59
VBD_pump_during_surface	50	798	940.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.95	nil	0	0	0.00
Iridium_during_connect	27	160	102.43	nil	0	0	0.00
Iridium_during_xfer	128	223	665.49
Transponder_ping	118	420	1159.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.03
TT8	1459	19	291.82
LPSleep	13197	2	291.92
TT8_Active	559	19	111.79
TT8_Sampling	1724	39	693.33
TT8_CF8	301	45	139.45
TT8_Kalman	33	81	27.55
Analog_circuits	1395	12	169.16
GPS_charging	0	0	0.00
Compass	1692	8	136.79
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	16	begin dive
18	-1.23	-146.6	0.0	0.0	0	102	0.00	0.00	-82.03	0.000	6	0.000	0.000	34	1886	3477
104	-1.23	-146.6	5.1	-7.3	4	117	11.65	0.00	0.00	0.000	6	0.143	0.000	2221	1886	3478
434	-1.23	-146.6	53.4	-12.1	20	435	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1886	3479
743	-1.23	-146.6	84.2	-11.2	35	747	0.00	2.55	0.00	0.000	4	0.000	0.048	2221	3303	3479
809	-1.23	-146.6	92.0	-10.3	38	813	0.00	2.55	0.00	0.000	6	0.000	0.043	2221	1901	3479
1137	-1.23	-146.6	128.8	-9.5	54	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1901	3479
1445	-1.23	-146.6	160.1	-9.9	69	1446	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3480
1754	-1.23	-146.6	191.3	-10.0	84	1758	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3311	3480
1814	-1.23	-146.6	197.1	-10.4	86	1821	0.00	2.55	0.00	0.000	6	0.000	0.042	2221	1903	3480
2129	-1.23	-146.6	227.8	-9.5	102	2130	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1902	3480
2438	-1.23	-146.6	257.7	-9.4	117	2439	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1902	3480
2748	-1.23	-146.6	287.5	-9.6	132	2752	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3304	3480
2802	-1.23	-146.6	292.6	-9.1	134	2809	0.00	2.55	0.00	0.000	6	0.000	0.044	2220	1902	3480
3117	-1.23	-146.6	322.4	-9.6	150	3118	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1902	3480
3427	-1.23	-146.6	352.4	-9.7	165	3428	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1902	3480
3736	-1.23	-146.6	382.1	-10.0	180	3740	0.00	2.53	0.00	0.000	4	0.000	0.050	2221	3305	3480
3792	-1.23	-146.6	387.8	-10.4	182	3798	0.00	2.53	0.00	0.000	6	0.000	0.045	2221	1901	3480
4106	-1.23	-146.6	418.1	-9.8	198	4107	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3480
4415	-1.23	-146.6	446.7	-9.1	213	4416	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3480
4724	-1.23	-146.6	474.5	-9.1	228	4726	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1901	3480
5034	-1.23	-146.6	502.9	-9.2	243	5038	0.00	2.55	0.00	0.000	4	0.000	0.051	2220	3306	3480
5088	-1.23	-146.6	508.1	-9.7	245	5095	0.00	2.55	0.00	0.000	6	0.000	0.046	2221	1906	3480
5404	-1.23	-146.6	538.8	-9.7	261	5408	0.00	2.55	0.00	0.000	4	0.000	0.053	2221	3311	3480
5474	-1.23	-146.6	545.9	-9.6	264	5479	0.00	2.58	0.00	0.000	6	0.000	0.045	2221	1897	3479
5796	-1.23	-146.6	576.8	-9.3	280	5797	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1897	3480
6105	-1.23	-146.6	605.2	-9.6	295	6109	0.00	2.58	0.00	0.000	4	0.000	0.055	2221	3305	3480
6188	-1.23	-146.6	613.2	-9.8	299	6192	0.00	2.55	0.00	0.000	6	0.000	0.050	2221	1902	3480
6513	-1.23	-146.6	642.0	-8.4	315	6514	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	1902	3480
6822	-1.23	-146.6	666.1	-7.9	330	6827	0.00	2.58	0.00	0.000	4	0.000	0.056	2221	3310	3480
6944	-1.23	-146.6	676.6	-9.4	335	6952	0.00	2.58	0.00	0.000	6	0.000	0.050	2221	1905	3480
7260	-1.23	-146.6	704.3	-8.6	351	7261	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1905	3480
7569	-1.23	-146.6	739.6	-15.3	366	7571	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1905	3480
7879	-1.23	-146.6	762.0	-0.4	381	7883	0.00	2.60	0.00	0.000	4	0.000	0.064	2220	3302	3480
7950	-1.23	-146.6	764.0	-4.0	384	7954	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	1902	3480
8271	-1.23	-146.6	793.8	-14.4	400	8272	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1902	3479
8475	end dive: BOTTOM_OBSTACLE_DETECTED
state	8476	begin apogee
8480	-0.36	0.0	823.7	11.3	410	8609	0.98	0.00	125.32	1.384	6	0.117	0.000	2412	2346	2878
8610	end apogee: CONTROL_FINISHED_OK
state	8610	begin climb
8611	1.23	146.6	824.4	0.0	416	8743	1.58	2.75	123.60	1.332	4	0.051	0.076	2765	943	2280
8859	1.23	146.6	810.5	8.5	428	8867	0.00	2.62	0.00	0.000	6	0.000	0.058	2765	2340	2279
9175	1.25	160.4	781.9	7.5	444	9189	0.00	0.00	12.40	1.348	6	0.000	0.000	2765	2341	2224
9484	1.25	160.4	755.2	8.4	459	9485	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2340	2223
9793	1.25	160.4	732.8	9.3	474	9794	0.00	0.00	0.00	0.000	6	0.000	0.000	2765	2341	2221
10102	1.25	160.4	697.8	9.4	489	10107	0.00	2.67	0.00	0.000	4	0.000	0.075	2765	931	2220
10358	1.33	229.7	678.1	5.4	500	10421	0.00	2.62	57.40	1.348	6	0.000	0.054	2765	2350	1941
10730	1.35	243.3	656.2	7.5	518	10752	0.10	2.75	12.40	1.335	4	0.061	0.070	2796	945	1885
10879	1.35	243.3	641.6	11.1	524	10887	0.00	2.58	0.00	0.000	6	0.000	0.049	2795	2347	1885
11195	1.35	243.3	603.5	12.2	540	11196	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2348	1885
11504	1.35	243.3	567.5	12.1	555	11505	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2349	1886
11813	1.35	243.3	533.2	11.1	570	11815	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2349	1887
12123	1.35	243.3	498.5	11.2	585	12124	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2350	1887
12432	1.35	243.3	465.3	10.8	600	12433	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2350	1888
12741	1.35	243.3	433.7	9.9	615	12746	0.00	2.60	0.00	0.000	4	0.000	0.061	2796	939	1888
12813	1.35	243.3	425.8	10.8	618	12817	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2348	1888
13134	1.35	243.3	392.3	10.7	634	13135	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2349	1889
13443	1.35	243.3	360.7	10.2	649	13447	0.00	2.60	0.00	0.000	4	0.000	0.060	2796	938	1890
13491	1.35	243.3	355.6	10.6	651	13496	0.00	2.53	0.00	0.000	6	0.000	0.041	2795	2350	1889
13812	1.35	243.3	322.7	10.2	667	13813	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2350	1890
14122	1.35	243.3	291.1	10.3	682	14126	0.00	2.60	0.00	0.000	4	0.000	0.059	2795	932	1891
14205	1.35	243.3	281.9	11.1	686	14210	0.00	2.53	0.00	0.000	6	0.000	0.041	2796	2350	1891
14530	1.35	243.3	248.6	10.6	702	14532	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2349	1892
14840	1.35	243.3	214.6	11.2	717	14841	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2350	1893
15149	1.35	243.3	182.4	10.5	732	15153	0.00	2.60	0.00	0.000	4	0.000	0.058	2796	930	1893
15237	1.35	243.3	172.8	10.7	736	15242	0.00	2.53	0.00	0.000	6	0.000	0.040	2796	2349	1893
15564	1.35	243.3	139.0	9.8	752	15566	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2349	1893
15874	1.35	243.3	106.6	10.2	767	15878	0.00	2.60	0.00	0.000	4	0.000	0.057	2796	935	1893
15934	1.35	243.3	99.4	12.5	770	15939	0.00	2.53	0.00	0.000	6	0.000	0.040	2796	2359	1893
16260	1.35	243.3	62.8	11.0	786	16261	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2359	1894
16569	1.35	243.3	28.9	10.4	801	16573	0.00	2.62	0.00	0.000	4	0.000	0.058	2796	933	1894
16640	1.35	243.3	21.1	10.0	804	16652	0.00	2.53	3.10	0.856	6	0.000	0.040	2796	2353	1885
16836	end climb: SURFACE_DEPTH_REACHED
state	16836	begin surface coast
16857	end surface coast: CONTROL_FINISHED_OK
state	16857	begin surface