Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 109 * 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 109 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 2100 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 26 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 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 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 300 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 -78301.68 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 550

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 -78301.68

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 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 2100 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 26 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 109 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 214126,6203.473,-932.409,42,1.0,42,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.207,-0.030

_SM_DEPTHo 2.86 KALMAN_X 60080.0,-1951.6,864.0,-113994.7,20885.5

_SM_ANGLEo -51.6 KALMAN_Y 125518.1,-1703.1,1534.4,-69151.2,8024.9

GPS2 214632,6203.485,-932.438,12,1.0,12,-9.7 MHEAD_RNG_PITCHd_Wd 271.5,15484,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17469,44.60,0.755,0,0,603,558.06 ALTIM_BOTTOM_PING 575.4,59.7

SM_GC 2.88,11.85,0.00,0.00,0.026,0.000,0.000,33,1905,604,-11.26,0.14,557.57 _24V_AH 23.4,28.810

IRIDIUM_FIX 6139.81,-936.80,021207,202016 _10V_AH 10.1,12.873

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41090,843

HUMID 2040 CFSIZE 260165632,252026880

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.90 GPS 031207,024732,6203.822,-933.195,37,1.9,37,-9.7

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 121 72.98 SBE_CT 618 24 347.34

Roll_motor 86 69 141.77 SBE_O2 569 19 253.05

VBD_pump_during_apogee 452 1221 12927.09 WL_BB2F 588 105 1444.79

VBD_pump_during_surface 44 755 788.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.57 nil 0 0 0.00

Iridium_during_connect 35 160 134.22 nil 0 0 0.00

Iridium_during_xfer 142 223 743.77

Transponder_ping 6 420 66.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1505 19 301.12

LPSleep 13853 2 306.42

TT8_Active 649 19 129.87

TT8_Sampling 1883 39 757.16

TT8_CF8 355 45 164.33

TT8_Kalman 33 81 27.57

Analog_circuits 1581 12 191.67

GPS_charging 0 0 0.00

Compass 1852 8 149.67

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 87 0.00 0.00 -66.70 0.000 2 0.000 0.000 33 1881 1992

90 -0.95 -146.6 3.3 -0.7 4 209 11.50 2.55 -100.55 0.000 4 0.122 0.058 2290 3295 3475

370 -0.95 -146.6 15.8 -7.7 16 375 0.00 2.53 0.00 0.000 6 0.000 0.041 2290 1901 3475

697 -0.95 -146.6 39.8 -7.1 32 702 0.00 2.60 0.00 0.000 4 0.000 0.064 2290 498 3475

763 -0.95 -146.6 44.6 -7.7 35 768 0.00 2.50 0.00 0.000 6 0.000 0.039 2290 1905 3475

1092 -0.95 -146.6 66.7 -7.3 51 1093 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1907 3475

1400 -0.95 -146.6 90.4 -7.2 66 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1907 3475

1709 -0.95 -146.6 111.3 -6.9 81 1713 0.00 2.50 0.00 0.000 4 0.000 0.046 2290 3301 3475

1774 -0.95 -146.6 115.9 -7.0 84 1779 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1902 3475

2101 -0.95 -146.6 139.1 -8.0 100 2102 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1903 3475

2410 -0.95 -146.6 161.8 -7.2 115 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1903 3475

2719 -0.95 -146.6 183.6 -6.9 130 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1902 3475

3028 -0.95 -146.6 203.9 -6.3 145 3033 0.00 2.50 0.00 0.000 4 0.000 0.045 2290 3296 3475

3106 -0.95 -146.6 209.1 -6.6 148 3112 0.00 2.53 0.00 0.000 6 0.000 0.041 2290 1897 3475

3421 -0.95 -146.6 230.2 -6.9 164 3422 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

3730 -0.95 -146.6 252.5 -7.3 179 3734 0.00 2.50 0.00 0.000 4 0.000 0.046 2290 3296 3475

3785 -0.95 -146.6 256.5 -7.3 181 3789 0.00 2.53 0.00 0.000 6 0.000 0.042 2290 1899 3475

4106 -0.95 -146.6 283.6 -8.1 197 4107 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3475

4415 -0.95 -146.6 311.3 -9.7 212 4416 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3475

4724 -0.95 -146.6 341.7 -9.7 227 4726 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3475

5033 -0.95 -146.6 369.6 -9.2 242 5038 0.00 2.53 0.00 0.000 4 0.000 0.048 2290 3302 3475

5118 -0.95 -146.6 377.9 -10.1 246 5122 0.00 2.53 0.00 0.000 6 0.000 0.044 2290 1896 3474

5443 -0.95 -146.6 412.9 -11.1 262 5444 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3475

5752 -0.95 -146.6 443.8 -9.1 277 5753 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

6061 -0.95 -146.6 471.8 -9.3 292 6065 0.00 2.50 0.00 0.000 4 0.000 0.050 2290 3294 3475

6122 -0.95 -146.6 477.4 -9.6 295 6126 0.00 2.50 0.00 0.000 6 0.000 0.045 2290 1896 3475

6447 -0.95 -146.6 503.9 -7.9 311 6449 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1896 3475

6759 -0.95 -146.6 525.7 -6.8 326 6760 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

7066 -0.95 -146.6 547.8 -7.2 341 7067 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3474

7375 -0.95 -146.6 573.5 -8.8 356 7379 0.00 2.53 0.00 0.000 4 0.000 0.055 2291 3293 3474

7535 -0.95 -146.6 587.5 -7.0 363 7540 0.00 2.55 0.00 0.000 6 0.000 0.048 2290 1899 3474

7857 -0.95 -146.6 609.3 -6.3 379 7858 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3474

8123 end dive: BOTTOM_OBSTACLE_DETECTED

state 8124 begin apogee

8128 -0.36 0.0 625.8 6.3 392 8252 0.60 0.00 120.90 1.221 6 0.076 0.000 2420 2095 2878

8253 end apogee: CONTROL_FINISHED_OK

state 8253 begin climb

8255 0.95 146.6 629.6 0.0 398 8382 1.27 2.70 119.50 1.186 4 0.061 0.067 2699 691 2280

8596 0.95 146.6 613.7 7.0 414 8601 0.00 2.53 0.00 0.000 6 0.000 0.048 2699 2097 2280

8922 0.95 146.6 592.6 8.4 430 8926 0.00 2.62 0.00 0.000 4 0.000 0.063 2698 3509 2279

9178 0.95 146.6 564.7 9.6 441 9185 0.00 2.58 0.00 0.000 6 0.000 0.048 2699 2105 2278

9494 0.95 146.6 542.1 6.9 457 9498 0.00 2.58 0.00 0.000 4 0.000 0.058 2699 3511 2276

9638 0.95 146.6 532.3 6.6 463 9645 0.00 2.55 0.00 0.000 6 0.000 0.046 2699 2106 2276

9953 1.06 241.6 520.4 3.2 479 10035 0.12 0.00 77.38 1.180 6 0.051 0.000 2741 2106 1892

10343 1.08 256.4 498.1 5.6 498 10364 0.00 2.65 13.15 1.164 4 0.000 0.052 2740 3506 1832

10415 1.09 264.2 493.7 5.8 501 10431 0.00 2.58 7.25 1.133 6 0.000 0.045 2740 2095 1801

10739 1.09 264.2 471.2 7.3 517 10740 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1801

11049 1.09 264.2 447.8 7.0 532 11053 0.00 2.62 0.00 0.000 4 0.000 0.070 2741 688 1801

11119 1.09 264.2 442.5 6.9 535 11124 0.00 2.53 0.00 0.000 6 0.000 0.042 2741 2104 1801

11442 1.10 268.0 423.0 5.9 551 11448 0.00 0.00 4.40 1.100 6 0.000 0.000 2741 2108 1784

11751 1.10 268.5 404.0 6.0 566 11752 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1785

12059 1.10 268.5 384.6 6.4 581 12061 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1785

12369 1.10 268.5 364.2 6.6 596 12370 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2108 1785

12678 1.10 268.5 342.1 7.2 611 12679 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1786

12987 1.10 268.5 319.0 7.7 626 12988 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1786

13297 1.10 268.5 296.9 7.5 641 13298 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1787

13606 1.10 268.5 273.4 7.3 656 13610 0.00 2.62 0.00 0.000 4 0.000 0.062 2741 687 1787

13660 1.10 268.5 268.9 8.2 658 13667 0.00 2.53 0.00 0.000 6 0.000 0.039 2741 2104 1787

13975 1.10 268.5 243.7 7.8 674 13976 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1788

14285 1.10 268.5 218.5 8.0 689 14286 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1787

14594 1.10 268.5 194.6 7.6 704 14595 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1787

14903 1.10 268.5 171.4 7.8 719 14904 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1788

15213 1.10 268.5 147.5 7.5 734 15217 0.00 2.62 0.00 0.000 4 0.000 0.061 2740 685 1788

15261 1.10 268.5 143.5 8.3 736 15266 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2105 1788

15583 1.10 268.5 118.9 8.1 752 15584 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1789

15892 1.10 268.5 95.2 7.7 767 15893 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2108 1789

16201 1.10 268.5 70.4 7.3 782 16202 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2108 1789

16511 1.10 271.7 48.2 5.9 797 16520 0.00 2.60 4.75 0.890 4 0.000 0.061 2741 691 1770

16559 1.10 271.7 44.3 8.1 799 16563 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 2100 1770

16880 1.10 271.7 16.4 6.9 815 16881 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2104 1770

17189 1.35 471.6 2.3 0.0 830 17301 0.22 2.67 105.10 0.765 4 0.054 0.061 2796 686 955

17466 end climb: NO_VERTICAL_VELOCITY

state 17466 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	109	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	2100	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	26	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	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	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	300	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	-78301.68	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	214126,6203.473,-932.409,42,1.0,42,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.207,-0.030
_SM_DEPTHo	2.86	KALMAN_X	60080.0,-1951.6,864.0,-113994.7,20885.5
_SM_ANGLEo	-51.6	KALMAN_Y	125518.1,-1703.1,1534.4,-69151.2,8024.9
GPS2	214632,6203.485,-932.438,12,1.0,12,-9.7	MHEAD_RNG_PITCHd_Wd	271.5,15484,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17469,44.60,0.755,0,0,603,558.06	ALTIM_BOTTOM_PING	575.4,59.7
SM_GC	2.88,11.85,0.00,0.00,0.026,0.000,0.000,33,1905,604,-11.26,0.14,557.57	_24V_AH	23.4,28.810
IRIDIUM_FIX	6139.81,-936.80,021207,202016	_10V_AH	10.1,12.873
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41090,843
HUMID	2040	CFSIZE	260165632,252026880
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.90	GPS	031207,024732,6203.822,-933.195,37,1.9,37,-9.7
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	121	72.98	SBE_CT	618	24	347.34
Roll_motor	86	69	141.77	SBE_O2	569	19	253.05
VBD_pump_during_apogee	452	1221	12927.09	WL_BB2F	588	105	1444.79
VBD_pump_during_surface	44	755	788.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.57	nil	0	0	0.00
Iridium_during_connect	35	160	134.22	nil	0	0	0.00
Iridium_during_xfer	142	223	743.77
Transponder_ping	6	420	66.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1505	19	301.12
LPSleep	13853	2	306.42
TT8_Active	649	19	129.87
TT8_Sampling	1883	39	757.16
TT8_CF8	355	45	164.33
TT8_Kalman	33	81	27.57
Analog_circuits	1581	12	191.67
GPS_charging	0	0	0.00
Compass	1852	8	149.67
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	87	0.00	0.00	-66.70	0.000	2	0.000	0.000	33	1881	1992
90	-0.95	-146.6	3.3	-0.7	4	209	11.50	2.55	-100.55	0.000	4	0.122	0.058	2290	3295	3475
370	-0.95	-146.6	15.8	-7.7	16	375	0.00	2.53	0.00	0.000	6	0.000	0.041	2290	1901	3475
697	-0.95	-146.6	39.8	-7.1	32	702	0.00	2.60	0.00	0.000	4	0.000	0.064	2290	498	3475
763	-0.95	-146.6	44.6	-7.7	35	768	0.00	2.50	0.00	0.000	6	0.000	0.039	2290	1905	3475
1092	-0.95	-146.6	66.7	-7.3	51	1093	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1907	3475
1400	-0.95	-146.6	90.4	-7.2	66	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1907	3475
1709	-0.95	-146.6	111.3	-6.9	81	1713	0.00	2.50	0.00	0.000	4	0.000	0.046	2290	3301	3475
1774	-0.95	-146.6	115.9	-7.0	84	1779	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1902	3475
2101	-0.95	-146.6	139.1	-8.0	100	2102	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1903	3475
2410	-0.95	-146.6	161.8	-7.2	115	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1903	3475
2719	-0.95	-146.6	183.6	-6.9	130	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1902	3475
3028	-0.95	-146.6	203.9	-6.3	145	3033	0.00	2.50	0.00	0.000	4	0.000	0.045	2290	3296	3475
3106	-0.95	-146.6	209.1	-6.6	148	3112	0.00	2.53	0.00	0.000	6	0.000	0.041	2290	1897	3475
3421	-0.95	-146.6	230.2	-6.9	164	3422	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
3730	-0.95	-146.6	252.5	-7.3	179	3734	0.00	2.50	0.00	0.000	4	0.000	0.046	2290	3296	3475
3785	-0.95	-146.6	256.5	-7.3	181	3789	0.00	2.53	0.00	0.000	6	0.000	0.042	2290	1899	3475
4106	-0.95	-146.6	283.6	-8.1	197	4107	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3475
4415	-0.95	-146.6	311.3	-9.7	212	4416	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3475
4724	-0.95	-146.6	341.7	-9.7	227	4726	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3475
5033	-0.95	-146.6	369.6	-9.2	242	5038	0.00	2.53	0.00	0.000	4	0.000	0.048	2290	3302	3475
5118	-0.95	-146.6	377.9	-10.1	246	5122	0.00	2.53	0.00	0.000	6	0.000	0.044	2290	1896	3474
5443	-0.95	-146.6	412.9	-11.1	262	5444	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3475
5752	-0.95	-146.6	443.8	-9.1	277	5753	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
6061	-0.95	-146.6	471.8	-9.3	292	6065	0.00	2.50	0.00	0.000	4	0.000	0.050	2290	3294	3475
6122	-0.95	-146.6	477.4	-9.6	295	6126	0.00	2.50	0.00	0.000	6	0.000	0.045	2290	1896	3475
6447	-0.95	-146.6	503.9	-7.9	311	6449	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1896	3475
6759	-0.95	-146.6	525.7	-6.8	326	6760	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
7066	-0.95	-146.6	547.8	-7.2	341	7067	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3474
7375	-0.95	-146.6	573.5	-8.8	356	7379	0.00	2.53	0.00	0.000	4	0.000	0.055	2291	3293	3474
7535	-0.95	-146.6	587.5	-7.0	363	7540	0.00	2.55	0.00	0.000	6	0.000	0.048	2290	1899	3474
7857	-0.95	-146.6	609.3	-6.3	379	7858	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3474
8123	end dive: BOTTOM_OBSTACLE_DETECTED
state	8124	begin apogee
8128	-0.36	0.0	625.8	6.3	392	8252	0.60	0.00	120.90	1.221	6	0.076	0.000	2420	2095	2878
8253	end apogee: CONTROL_FINISHED_OK
state	8253	begin climb
8255	0.95	146.6	629.6	0.0	398	8382	1.27	2.70	119.50	1.186	4	0.061	0.067	2699	691	2280
8596	0.95	146.6	613.7	7.0	414	8601	0.00	2.53	0.00	0.000	6	0.000	0.048	2699	2097	2280
8922	0.95	146.6	592.6	8.4	430	8926	0.00	2.62	0.00	0.000	4	0.000	0.063	2698	3509	2279
9178	0.95	146.6	564.7	9.6	441	9185	0.00	2.58	0.00	0.000	6	0.000	0.048	2699	2105	2278
9494	0.95	146.6	542.1	6.9	457	9498	0.00	2.58	0.00	0.000	4	0.000	0.058	2699	3511	2276
9638	0.95	146.6	532.3	6.6	463	9645	0.00	2.55	0.00	0.000	6	0.000	0.046	2699	2106	2276
9953	1.06	241.6	520.4	3.2	479	10035	0.12	0.00	77.38	1.180	6	0.051	0.000	2741	2106	1892
10343	1.08	256.4	498.1	5.6	498	10364	0.00	2.65	13.15	1.164	4	0.000	0.052	2740	3506	1832
10415	1.09	264.2	493.7	5.8	501	10431	0.00	2.58	7.25	1.133	6	0.000	0.045	2740	2095	1801
10739	1.09	264.2	471.2	7.3	517	10740	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1801
11049	1.09	264.2	447.8	7.0	532	11053	0.00	2.62	0.00	0.000	4	0.000	0.070	2741	688	1801
11119	1.09	264.2	442.5	6.9	535	11124	0.00	2.53	0.00	0.000	6	0.000	0.042	2741	2104	1801
11442	1.10	268.0	423.0	5.9	551	11448	0.00	0.00	4.40	1.100	6	0.000	0.000	2741	2108	1784
11751	1.10	268.5	404.0	6.0	566	11752	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1785
12059	1.10	268.5	384.6	6.4	581	12061	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1785
12369	1.10	268.5	364.2	6.6	596	12370	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2108	1785
12678	1.10	268.5	342.1	7.2	611	12679	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1786
12987	1.10	268.5	319.0	7.7	626	12988	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1786
13297	1.10	268.5	296.9	7.5	641	13298	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1787
13606	1.10	268.5	273.4	7.3	656	13610	0.00	2.62	0.00	0.000	4	0.000	0.062	2741	687	1787
13660	1.10	268.5	268.9	8.2	658	13667	0.00	2.53	0.00	0.000	6	0.000	0.039	2741	2104	1787
13975	1.10	268.5	243.7	7.8	674	13976	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1788
14285	1.10	268.5	218.5	8.0	689	14286	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1787
14594	1.10	268.5	194.6	7.6	704	14595	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1787
14903	1.10	268.5	171.4	7.8	719	14904	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1788
15213	1.10	268.5	147.5	7.5	734	15217	0.00	2.62	0.00	0.000	4	0.000	0.061	2740	685	1788
15261	1.10	268.5	143.5	8.3	736	15266	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2105	1788
15583	1.10	268.5	118.9	8.1	752	15584	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1789
15892	1.10	268.5	95.2	7.7	767	15893	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2108	1789
16201	1.10	268.5	70.4	7.3	782	16202	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2108	1789
16511	1.10	271.7	48.2	5.9	797	16520	0.00	2.60	4.75	0.890	4	0.000	0.061	2741	691	1770
16559	1.10	271.7	44.3	8.1	799	16563	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	2100	1770
16880	1.10	271.7	16.4	6.9	815	16881	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2104	1770
17189	1.35	471.6	2.3	0.0	830	17301	0.22	2.67	105.10	0.765	4	0.054	0.061	2796	686	955
17466	end climb: NO_VERTICAL_VELOCITY
state	17466	begin surface