Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 110 * 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 110 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -78318.148 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 -78318.148

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 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 110 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 024732,6203.822,-933.195,37,1.9,37,-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 -0.204,-0.046

_SM_DEPTHo 2.84 KALMAN_X 65571.0,-1865.6,79.3,-119299.2,24613.2

_SM_ANGLEo -49.7 KALMAN_Y 127541.1,-1104.4,-108.6,-69465.4,11022.5

GPS2 025303,6203.831,-933.039,14,1.3,14,-9.7 MHEAD_RNG_PITCHd_Wd 267.1,14865,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17179,18.90,0.770,0,0,603,558.30 ALTIM_BOTTOM_PING 526.2,88.2

SM_GC 2.96,11.98,0.00,0.00,0.031,0.000,0.000,34,1898,603,-11.25,-0.06,558.06 _24V_AH 23.4,28.971

IRIDIUM_FIX 6139.81,-926.98,031207,010105 _10V_AH 10.1,12.953

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41110,829

HUMID 2045 CFSIZE 260165632,251973632

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.70 GPS 031207,074838,6203.539,-930.952,28,1.6,28,-9.7

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 96 56.87 SBE_CT 605 24 340.17

Roll_motor 75 69 122.48 SBE_O2 559 19 248.89

VBD_pump_during_apogee 492 1194 13753.00 WL_BB2F 559 105 1373.52

VBD_pump_during_surface 18 770 340.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.62 nil 0 0 0.00

Iridium_during_connect 37 160 140.37 nil 0 0 0.00

Iridium_during_xfer 158 223 825.85

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.00

TT8 1465 19 293.16

LPSleep 13658 2 302.11

TT8_Active 616 19 123.38

TT8_Sampling 1841 39 740.33

TT8_CF8 372 45 172.54

TT8_Kalman 33 81 27.57

Analog_circuits 1555 12 188.48

GPS_charging 0 0 0.00

Compass 1810 8 146.30

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 24 0.00 0.00 -3.78 0.000 2 0.000 0.000 32 1905 697

26 -0.95 -146.6 3.0 -0.0 0 219 10.93 2.50 -172.70 0.000 4 0.097 0.056 2285 3302 3476

471 -0.95 -146.6 26.8 -6.2 20 475 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1897 3476

797 -0.95 -146.6 54.3 -10.2 36 798 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

1106 -0.95 -146.6 80.7 -8.2 51 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

1416 -0.95 -146.6 104.5 -7.5 66 1420 0.00 2.50 0.00 0.000 4 0.000 0.045 2285 3297 3476

1477 -0.95 -146.6 109.5 -8.3 69 1482 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1891 3476

1803 -0.95 -146.6 134.2 -7.5 85 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1891 3476

2112 -0.95 -146.6 157.2 -7.6 100 2113 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1891 3476

2421 -0.95 -146.6 180.5 -7.6 115 2426 0.00 2.53 0.00 0.000 4 0.000 0.046 2285 3299 3475

2487 -0.95 -146.6 186.0 -7.8 118 2492 0.00 2.53 0.00 0.000 6 0.000 0.042 2285 1898 3476

2814 -0.95 -146.6 211.4 -7.6 134 2815 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3475

3123 -0.95 -146.6 234.9 -7.7 149 3124 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

3432 -0.95 -146.6 256.9 -6.9 164 3433 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

3742 -0.95 -146.6 278.2 -6.7 179 3746 0.00 2.50 0.00 0.000 4 0.000 0.046 2285 3295 3476

3819 -0.95 -146.6 283.6 -6.7 182 3825 0.00 2.50 0.00 0.000 6 0.000 0.042 2285 1907 3475

4134 -0.95 -146.6 304.2 -6.6 198 4135 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3476

4443 -0.95 -146.6 324.9 -6.6 213 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3475

4753 -0.95 -146.6 344.6 -6.1 228 4754 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3476

5062 -0.95 -146.6 361.7 -5.1 243 5063 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3476

5372 -0.95 -146.6 378.4 -5.6 258 5373 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3475

5681 -0.95 -146.6 399.0 -7.3 273 5685 0.00 2.50 0.00 0.000 4 0.000 0.049 2285 3295 3475

5752 -0.95 -146.6 404.1 -7.5 276 5757 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1902 3475

6075 -0.95 -146.6 425.8 -6.8 292 6076 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6382 -0.95 -146.6 445.6 -6.9 307 6387 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3301 3475

6482 -0.95 -146.6 452.5 -7.1 311 6489 0.00 2.55 0.00 0.000 6 0.000 0.046 2285 1897 3475

6797 -0.95 -146.6 470.5 -5.5 327 6802 0.00 2.50 0.00 0.000 4 0.000 0.051 2285 3295 3475

6859 -0.95 -146.6 474.2 -5.9 330 6863 0.00 2.50 0.00 0.000 6 0.000 0.045 2285 1899 3475

7185 -0.95 -146.6 494.4 -6.7 346 7186 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

7494 -0.95 -146.6 515.6 -6.9 361 7498 0.00 2.60 0.00 0.000 4 0.000 0.069 2285 495 3475

7564 -0.95 -146.6 521.1 -7.8 364 7569 0.00 2.50 0.00 0.000 6 0.000 0.045 2285 1895 3475

7885 -0.95 -146.6 544.1 -7.0 380 7890 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3301 3474

7992 -0.95 -146.6 553.1 -8.7 385 7996 0.00 2.53 0.00 0.000 6 0.000 0.049 2285 1902 3474

8317 -0.95 -146.6 579.1 -7.5 401 8318 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3474

8627 -0.95 -146.6 597.6 -4.9 416 8631 0.00 2.58 0.00 0.000 4 0.000 0.059 2285 3304 3474

8713 end dive: BOTTOM_OBSTACLE_DETECTED

state 8713 begin apogee

8719 -0.36 0.0 604.7 7.7 420 8844 0.60 0.00 121.03 1.194 6 0.080 0.000 2416 2100 2878

8844 end apogee: CONTROL_FINISHED_OK

state 8844 begin climb

8846 0.95 146.6 608.3 0.0 426 8974 1.27 2.67 119.62 1.160 4 0.057 0.059 2700 3500 2280

9227 1.08 250.9 601.0 2.9 443 9318 0.12 2.55 85.20 1.159 6 0.052 0.050 2740 2102 1856

9644 1.08 250.9 566.4 11.3 464 9648 0.00 2.58 0.00 0.000 4 0.000 0.058 2739 3503 1855

9783 1.08 250.9 551.3 10.4 470 9787 0.00 2.58 0.00 0.000 6 0.000 0.049 2739 2100 1854

10105 1.08 250.9 522.2 8.5 486 10106 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1853

10414 1.08 250.9 495.3 8.9 501 10415 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1852

10723 1.08 250.9 466.6 9.3 516 10724 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2100 1852

11032 1.08 250.9 439.1 8.5 531 11034 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1851

11341 1.08 250.9 413.8 8.2 546 11346 0.00 2.53 0.00 0.000 4 0.000 0.050 2740 3500 1852

11413 1.08 250.9 407.4 8.5 549 11417 0.00 2.53 0.00 0.000 6 0.000 0.044 2739 2101 1851

11734 1.08 250.9 382.4 7.5 565 11735 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2101 1851

12043 1.08 250.9 360.1 7.4 580 12044 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1851

12352 1.08 250.9 337.3 7.3 595 12353 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1852

12662 1.08 250.9 315.6 6.8 610 12663 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1852

12971 1.08 250.9 294.8 6.4 625 12972 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1852

13280 1.08 254.7 276.3 5.9 640 13286 0.00 0.00 3.92 0.994 6 0.000 0.000 2740 2101 1840

13590 1.08 254.7 256.7 6.7 655 13591 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1840

13899 1.08 254.7 234.4 7.4 670 13902 0.00 2.47 0.00 0.000 4 0.000 0.046 2740 3500 1840

13959 1.08 254.7 229.5 7.5 672 13966 0.00 2.50 0.00 0.000 6 0.000 0.039 2739 2095 1840

14274 1.08 254.7 206.2 7.4 688 14276 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1840

14583 1.08 254.7 182.4 7.7 703 14585 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1841

14893 1.08 254.7 159.0 7.7 718 14894 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1841

15203 1.08 254.7 134.3 8.4 733 15204 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2095 1841

15512 1.08 254.7 106.8 9.8 748 15513 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2095 1841

15821 1.08 254.7 76.4 9.8 763 15822 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2095 1842

16130 1.08 254.7 48.6 8.4 778 16135 0.00 2.53 0.00 0.000 4 0.000 0.046 2740 3502 1842

16192 1.08 254.7 43.0 8.8 781 16196 0.00 2.47 0.00 0.000 6 0.000 0.039 2739 2094 1842

16518 1.17 327.5 24.7 3.8 797 16579 0.00 0.00 56.75 0.808 6 0.000 0.000 2739 2094 1541

16890 1.41 523.4 2.3 0.2 815 16999 0.25 0.00 105.62 0.752 6 0.048 0.000 2805 2089 744

17177 end climb: NO_VERTICAL_VELOCITY

state 17177 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	110	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-78318.148	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	024732,6203.822,-933.195,37,1.9,37,-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	-0.204,-0.046
_SM_DEPTHo	2.84	KALMAN_X	65571.0,-1865.6,79.3,-119299.2,24613.2
_SM_ANGLEo	-49.7	KALMAN_Y	127541.1,-1104.4,-108.6,-69465.4,11022.5
GPS2	025303,6203.831,-933.039,14,1.3,14,-9.7	MHEAD_RNG_PITCHd_Wd	267.1,14865,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17179,18.90,0.770,0,0,603,558.30	ALTIM_BOTTOM_PING	526.2,88.2
SM_GC	2.96,11.98,0.00,0.00,0.031,0.000,0.000,34,1898,603,-11.25,-0.06,558.06	_24V_AH	23.4,28.971
IRIDIUM_FIX	6139.81,-926.98,031207,010105	_10V_AH	10.1,12.953
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41110,829
HUMID	2045	CFSIZE	260165632,251973632
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.70	GPS	031207,074838,6203.539,-930.952,28,1.6,28,-9.7
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	96	56.87	SBE_CT	605	24	340.17
Roll_motor	75	69	122.48	SBE_O2	559	19	248.89
VBD_pump_during_apogee	492	1194	13753.00	WL_BB2F	559	105	1373.52
VBD_pump_during_surface	18	770	340.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.62	nil	0	0	0.00
Iridium_during_connect	37	160	140.37	nil	0	0	0.00
Iridium_during_xfer	158	223	825.85
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.00
TT8	1465	19	293.16
LPSleep	13658	2	302.11
TT8_Active	616	19	123.38
TT8_Sampling	1841	39	740.33
TT8_CF8	372	45	172.54
TT8_Kalman	33	81	27.57
Analog_circuits	1555	12	188.48
GPS_charging	0	0	0.00
Compass	1810	8	146.30
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	24	0.00	0.00	-3.78	0.000	2	0.000	0.000	32	1905	697
26	-0.95	-146.6	3.0	-0.0	0	219	10.93	2.50	-172.70	0.000	4	0.097	0.056	2285	3302	3476
471	-0.95	-146.6	26.8	-6.2	20	475	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1897	3476
797	-0.95	-146.6	54.3	-10.2	36	798	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
1106	-0.95	-146.6	80.7	-8.2	51	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
1416	-0.95	-146.6	104.5	-7.5	66	1420	0.00	2.50	0.00	0.000	4	0.000	0.045	2285	3297	3476
1477	-0.95	-146.6	109.5	-8.3	69	1482	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1891	3476
1803	-0.95	-146.6	134.2	-7.5	85	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1891	3476
2112	-0.95	-146.6	157.2	-7.6	100	2113	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1891	3476
2421	-0.95	-146.6	180.5	-7.6	115	2426	0.00	2.53	0.00	0.000	4	0.000	0.046	2285	3299	3475
2487	-0.95	-146.6	186.0	-7.8	118	2492	0.00	2.53	0.00	0.000	6	0.000	0.042	2285	1898	3476
2814	-0.95	-146.6	211.4	-7.6	134	2815	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3475
3123	-0.95	-146.6	234.9	-7.7	149	3124	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
3432	-0.95	-146.6	256.9	-6.9	164	3433	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
3742	-0.95	-146.6	278.2	-6.7	179	3746	0.00	2.50	0.00	0.000	4	0.000	0.046	2285	3295	3476
3819	-0.95	-146.6	283.6	-6.7	182	3825	0.00	2.50	0.00	0.000	6	0.000	0.042	2285	1907	3475
4134	-0.95	-146.6	304.2	-6.6	198	4135	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3476
4443	-0.95	-146.6	324.9	-6.6	213	4444	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3475
4753	-0.95	-146.6	344.6	-6.1	228	4754	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3476
5062	-0.95	-146.6	361.7	-5.1	243	5063	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3476
5372	-0.95	-146.6	378.4	-5.6	258	5373	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3475
5681	-0.95	-146.6	399.0	-7.3	273	5685	0.00	2.50	0.00	0.000	4	0.000	0.049	2285	3295	3475
5752	-0.95	-146.6	404.1	-7.5	276	5757	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1902	3475
6075	-0.95	-146.6	425.8	-6.8	292	6076	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6382	-0.95	-146.6	445.6	-6.9	307	6387	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3301	3475
6482	-0.95	-146.6	452.5	-7.1	311	6489	0.00	2.55	0.00	0.000	6	0.000	0.046	2285	1897	3475
6797	-0.95	-146.6	470.5	-5.5	327	6802	0.00	2.50	0.00	0.000	4	0.000	0.051	2285	3295	3475
6859	-0.95	-146.6	474.2	-5.9	330	6863	0.00	2.50	0.00	0.000	6	0.000	0.045	2285	1899	3475
7185	-0.95	-146.6	494.4	-6.7	346	7186	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
7494	-0.95	-146.6	515.6	-6.9	361	7498	0.00	2.60	0.00	0.000	4	0.000	0.069	2285	495	3475
7564	-0.95	-146.6	521.1	-7.8	364	7569	0.00	2.50	0.00	0.000	6	0.000	0.045	2285	1895	3475
7885	-0.95	-146.6	544.1	-7.0	380	7890	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3301	3474
7992	-0.95	-146.6	553.1	-8.7	385	7996	0.00	2.53	0.00	0.000	6	0.000	0.049	2285	1902	3474
8317	-0.95	-146.6	579.1	-7.5	401	8318	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3474
8627	-0.95	-146.6	597.6	-4.9	416	8631	0.00	2.58	0.00	0.000	4	0.000	0.059	2285	3304	3474
8713	end dive: BOTTOM_OBSTACLE_DETECTED
state	8713	begin apogee
8719	-0.36	0.0	604.7	7.7	420	8844	0.60	0.00	121.03	1.194	6	0.080	0.000	2416	2100	2878
8844	end apogee: CONTROL_FINISHED_OK
state	8844	begin climb
8846	0.95	146.6	608.3	0.0	426	8974	1.27	2.67	119.62	1.160	4	0.057	0.059	2700	3500	2280
9227	1.08	250.9	601.0	2.9	443	9318	0.12	2.55	85.20	1.159	6	0.052	0.050	2740	2102	1856
9644	1.08	250.9	566.4	11.3	464	9648	0.00	2.58	0.00	0.000	4	0.000	0.058	2739	3503	1855
9783	1.08	250.9	551.3	10.4	470	9787	0.00	2.58	0.00	0.000	6	0.000	0.049	2739	2100	1854
10105	1.08	250.9	522.2	8.5	486	10106	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1853
10414	1.08	250.9	495.3	8.9	501	10415	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1852
10723	1.08	250.9	466.6	9.3	516	10724	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2100	1852
11032	1.08	250.9	439.1	8.5	531	11034	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1851
11341	1.08	250.9	413.8	8.2	546	11346	0.00	2.53	0.00	0.000	4	0.000	0.050	2740	3500	1852
11413	1.08	250.9	407.4	8.5	549	11417	0.00	2.53	0.00	0.000	6	0.000	0.044	2739	2101	1851
11734	1.08	250.9	382.4	7.5	565	11735	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2101	1851
12043	1.08	250.9	360.1	7.4	580	12044	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1851
12352	1.08	250.9	337.3	7.3	595	12353	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1852
12662	1.08	250.9	315.6	6.8	610	12663	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1852
12971	1.08	250.9	294.8	6.4	625	12972	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1852
13280	1.08	254.7	276.3	5.9	640	13286	0.00	0.00	3.92	0.994	6	0.000	0.000	2740	2101	1840
13590	1.08	254.7	256.7	6.7	655	13591	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1840
13899	1.08	254.7	234.4	7.4	670	13902	0.00	2.47	0.00	0.000	4	0.000	0.046	2740	3500	1840
13959	1.08	254.7	229.5	7.5	672	13966	0.00	2.50	0.00	0.000	6	0.000	0.039	2739	2095	1840
14274	1.08	254.7	206.2	7.4	688	14276	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1840
14583	1.08	254.7	182.4	7.7	703	14585	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1841
14893	1.08	254.7	159.0	7.7	718	14894	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1841
15203	1.08	254.7	134.3	8.4	733	15204	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2095	1841
15512	1.08	254.7	106.8	9.8	748	15513	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2095	1841
15821	1.08	254.7	76.4	9.8	763	15822	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2095	1842
16130	1.08	254.7	48.6	8.4	778	16135	0.00	2.53	0.00	0.000	4	0.000	0.046	2740	3502	1842
16192	1.08	254.7	43.0	8.8	781	16196	0.00	2.47	0.00	0.000	6	0.000	0.039	2739	2094	1842
16518	1.17	327.5	24.7	3.8	797	16579	0.00	0.00	56.75	0.808	6	0.000	0.000	2739	2094	1541
16890	1.41	523.4	2.3	0.2	815	16999	0.25	0.00	105.62	0.752	6	0.048	0.000	2805	2089	744
17177	end climb: NO_VERTICAL_VELOCITY
state	17177	begin surface