Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 119 * 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 119 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -78465.391 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 -78465.391

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 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 119 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 052338,6210.864,-940.681,28,1.2,28,-9.8 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.112

_SM_DEPTHo 3.11 KALMAN_X 104633.9,-998.9,-3896.4,-161738.3,13307.5

_SM_ANGLEo -57.7 KALMAN_Y 126725.4,-0.7,5065.8,-61601.9,2642.4

GPS2 053309,6211.038,-940.378,12,1.8,12,-9.8 MHEAD_RNG_PITCHd_Wd 247.5,13952,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16776,22.23,0.746,0,0,603,558.06 ALTIM_BOTTOM_PING 601.7,76.9

SM_GC 3.34,11.95,0.00,0.00,0.027,0.000,0.000,26,1891,604,-11.27,-0.25,557.81 _24V_AH 23.4,30.447

IRIDIUM_FIX 6144.36,-951.95,051207,090931 _10V_AH 10.1,13.743

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41128,813

HUMID 2073 CFSIZE 260165632,251432960

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 16.70 GPS 051207,102208,6211.247,-938.072,31,1.3,31,-9.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 116 70.18 SBE_CT 590 24 331.68

Roll_motor 81 74 141.54 SBE_O2 549 19 244.14

VBD_pump_during_apogee 492 1244 14326.41 WL_BB2F 533 105 1309.88

VBD_pump_during_surface 22 745 387.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 191.00 nil 0 0 0.00

Iridium_during_connect 82 160 309.97 nil 0 0 0.00

Iridium_during_xfer 243 223 1271.93

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.28

TT8 1423 19 284.65

LPSleep 13472 2 298.01

TT8_Active 682 19 136.41

TT8_Sampling 1667 39 670.35

TT8_CF8 547 45 253.39

TT8_Kalman 33 81 27.56

Analog_circuits 1527 12 185.19

GPS_charging 0 0 0.00

Compass 1638 8 132.36

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 64 0.00 0.00 -42.80 0.000 2 0.000 0.000 26 1877 1517

66 -0.95 -146.6 3.1 -0.6 2 233 11.52 2.58 -146.98 0.000 4 0.117 0.074 2286 495 3475

316 -0.95 -146.6 10.5 -8.6 14 321 0.00 2.50 0.00 0.000 6 0.000 0.039 2286 1906 3476

645 -0.95 -146.6 35.9 -7.8 30 647 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

953 -0.95 -146.6 61.0 -8.0 45 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

1262 -0.95 -146.6 85.0 -7.6 60 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

1572 -0.95 -146.6 108.3 -7.4 75 1573 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

1881 -0.95 -146.6 131.5 -7.2 90 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

2190 -0.95 -146.6 155.9 -7.8 105 2194 0.00 2.50 0.00 0.000 4 0.000 0.047 2286 3301 3476

2251 -0.95 -146.6 160.9 -8.4 108 2255 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1900 3476

2576 -0.95 -146.6 186.4 -7.9 124 2577 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

2885 -0.95 -146.6 211.3 -8.1 139 2886 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

3195 -0.95 -146.6 236.5 -8.0 154 3199 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3295 3475

3266 -0.95 -146.6 242.7 -8.6 157 3270 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1905 3475

3587 -0.95 -146.6 267.7 -7.6 173 3588 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

3896 -0.95 -146.6 289.6 -7.0 188 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3475

4205 -0.95 -146.6 311.2 -6.9 203 4207 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4515 -0.95 -146.6 333.1 -7.0 218 4516 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4824 -0.95 -146.6 353.7 -6.5 233 4828 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3297 3475

4879 -0.95 -146.6 357.3 -6.6 235 4886 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1903 3475

5195 -0.95 -146.6 374.9 -5.0 251 5196 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

5505 -0.95 -146.6 387.5 -3.8 266 5506 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3475

5814 -0.95 -146.6 398.6 -3.8 281 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

6123 -0.95 -146.6 411.9 -4.7 296 6127 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3295 3475

6199 -0.95 -146.6 415.6 -5.2 299 6206 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1897 3475

6515 -0.95 -146.6 431.9 -5.5 315 6516 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

6825 -0.95 -146.6 450.6 -6.7 330 6826 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

7133 -0.95 -146.6 471.7 -7.0 345 7134 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3474

7442 -0.95 -146.6 494.9 -7.7 360 7443 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3474

7752 -0.95 -146.6 518.2 -7.1 375 7756 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3294 3474

7800 -0.95 -146.6 521.5 -6.7 377 7805 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1902 3474

8121 -0.95 -146.6 537.5 -4.6 393 8123 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3474

8431 -0.95 -146.6 547.4 -2.3 408 8435 0.00 2.53 0.00 0.000 4 0.000 0.053 2286 3295 3474

8479 -0.95 -146.6 548.7 -2.6 410 8484 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1893 3474

8801 -0.95 -146.6 557.2 -3.0 426 8802 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3474

9110 -0.95 -146.6 565.8 -2.7 441 9112 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3473

9419 -0.95 -146.6 577.5 -5.7 456 9424 0.00 2.55 0.00 0.000 4 0.000 0.055 2287 3293 3473

9503 -0.95 -146.6 583.8 -7.5 460 9507 0.00 2.53 0.00 0.000 6 0.000 0.049 2287 1897 3473

9829 -0.95 -146.6 620.5 -13.8 476 9833 0.00 2.62 0.00 0.000 4 0.000 0.074 2286 492 3473

9877 -0.95 -146.6 627.5 -14.4 478 9882 0.00 2.47 0.00 0.000 6 0.000 0.048 2286 1885 3473

10198 -0.95 -146.6 663.4 -10.4 494 10202 0.00 2.60 0.00 0.000 4 0.000 0.062 2286 3302 3473

10240 end dive: BOTTOM_OBSTACLE_DETECTED

state 10240 begin apogee

10247 -0.36 0.0 668.6 12.1 496 10372 0.60 0.00 121.93 1.244 6 0.083 0.000 2416 2101 2878

10373 end apogee: CONTROL_FINISHED_OK

state 10373 begin climb

10374 0.95 146.6 676.4 0.0 502 10500 1.27 0.00 121.68 1.201 6 0.055 0.000 2699 2097 2280

10805 1.01 196.3 660.9 4.5 523 10849 0.00 0.00 41.97 1.209 6 0.000 0.000 2699 2097 2077

11153 1.01 196.3 637.9 9.7 540 11155 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2076

11463 1.01 196.3 617.3 6.7 555 11464 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2096 2076

11772 1.04 219.9 597.7 5.3 570 11798 0.00 2.65 20.10 1.239 4 0.000 0.061 2699 3500 1981

11876 1.17 325.2 593.5 2.9 575 11969 0.22 2.58 85.80 1.198 6 0.038 0.053 2763 2097 1552

12283 1.17 325.2 566.1 10.0 595 12284 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2097 1551

12593 1.17 325.2 516.2 16.9 610 12594 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2097 1551

12902 1.17 325.2 460.1 17.9 625 12903 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2097 1551

13211 1.17 325.2 407.7 16.4 640 13215 0.00 2.62 0.00 0.000 4 0.000 0.068 2762 690 1551

13288 1.17 325.2 394.8 16.0 643 13295 0.00 2.50 0.00 0.000 6 0.000 0.042 2762 2095 1551

13604 1.17 325.2 346.8 15.1 659 13605 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2098 1551

13913 1.17 325.2 300.4 14.7 674 13917 0.00 2.62 0.00 0.000 4 0.000 0.064 2762 687 1551

13967 1.17 325.2 292.2 14.2 676 13974 0.00 2.50 0.00 0.000 6 0.000 0.041 2762 2099 1551

14282 1.17 325.2 247.0 14.1 692 14284 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2099 1552

14592 1.17 325.2 205.5 13.2 707 14596 0.00 2.60 0.00 0.000 4 0.000 0.061 2762 690 1552

14658 1.17 325.2 196.6 12.6 710 14662 0.00 2.47 0.00 0.000 6 0.000 0.040 2762 2110 1552

14985 1.17 325.2 157.1 11.8 726 14986 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2114 1553

15294 1.17 325.2 120.9 11.8 741 15298 0.00 2.62 0.00 0.000 4 0.000 0.061 2762 690 1553

15355 1.17 325.2 113.6 12.0 744 15359 0.00 2.47 0.00 0.000 6 0.000 0.039 2762 2102 1554

15680 1.17 325.2 74.3 11.9 760 15682 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2105 1554

15989 1.17 325.2 41.4 10.0 775 15994 0.00 2.60 0.00 0.000 4 0.000 0.061 2762 689 1555

16038 1.17 325.2 36.0 10.5 777 16043 0.00 2.50 0.00 0.000 6 0.000 0.039 2762 2099 1554

16360 1.17 325.2 4.4 9.7 793 16361 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2102 1554

16669 1.42 532.3 2.5 -0.2 808 16773 0.15 0.00 100.65 0.772 2 0.051 0.000 2809 2104 771

16774 end climb: NO_VERTICAL_VELOCITY

state 16774 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	119	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-78465.391	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	052338,6210.864,-940.681,28,1.2,28,-9.8	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.112
_SM_DEPTHo	3.11	KALMAN_X	104633.9,-998.9,-3896.4,-161738.3,13307.5
_SM_ANGLEo	-57.7	KALMAN_Y	126725.4,-0.7,5065.8,-61601.9,2642.4
GPS2	053309,6211.038,-940.378,12,1.8,12,-9.8	MHEAD_RNG_PITCHd_Wd	247.5,13952,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16776,22.23,0.746,0,0,603,558.06	ALTIM_BOTTOM_PING	601.7,76.9
SM_GC	3.34,11.95,0.00,0.00,0.027,0.000,0.000,26,1891,604,-11.27,-0.25,557.81	_24V_AH	23.4,30.447
IRIDIUM_FIX	6144.36,-951.95,051207,090931	_10V_AH	10.1,13.743
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41128,813
HUMID	2073	CFSIZE	260165632,251432960
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	16.70	GPS	051207,102208,6211.247,-938.072,31,1.3,31,-9.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	116	70.18	SBE_CT	590	24	331.68
Roll_motor	81	74	141.54	SBE_O2	549	19	244.14
VBD_pump_during_apogee	492	1244	14326.41	WL_BB2F	533	105	1309.88
VBD_pump_during_surface	22	745	387.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	191.00	nil	0	0	0.00
Iridium_during_connect	82	160	309.97	nil	0	0	0.00
Iridium_during_xfer	243	223	1271.93
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.28
TT8	1423	19	284.65
LPSleep	13472	2	298.01
TT8_Active	682	19	136.41
TT8_Sampling	1667	39	670.35
TT8_CF8	547	45	253.39
TT8_Kalman	33	81	27.56
Analog_circuits	1527	12	185.19
GPS_charging	0	0	0.00
Compass	1638	8	132.36
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	64	0.00	0.00	-42.80	0.000	2	0.000	0.000	26	1877	1517
66	-0.95	-146.6	3.1	-0.6	2	233	11.52	2.58	-146.98	0.000	4	0.117	0.074	2286	495	3475
316	-0.95	-146.6	10.5	-8.6	14	321	0.00	2.50	0.00	0.000	6	0.000	0.039	2286	1906	3476
645	-0.95	-146.6	35.9	-7.8	30	647	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
953	-0.95	-146.6	61.0	-8.0	45	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
1262	-0.95	-146.6	85.0	-7.6	60	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
1572	-0.95	-146.6	108.3	-7.4	75	1573	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
1881	-0.95	-146.6	131.5	-7.2	90	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
2190	-0.95	-146.6	155.9	-7.8	105	2194	0.00	2.50	0.00	0.000	4	0.000	0.047	2286	3301	3476
2251	-0.95	-146.6	160.9	-8.4	108	2255	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1900	3476
2576	-0.95	-146.6	186.4	-7.9	124	2577	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
2885	-0.95	-146.6	211.3	-8.1	139	2886	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
3195	-0.95	-146.6	236.5	-8.0	154	3199	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3295	3475
3266	-0.95	-146.6	242.7	-8.6	157	3270	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1905	3475
3587	-0.95	-146.6	267.7	-7.6	173	3588	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
3896	-0.95	-146.6	289.6	-7.0	188	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3475
4205	-0.95	-146.6	311.2	-6.9	203	4207	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4515	-0.95	-146.6	333.1	-7.0	218	4516	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4824	-0.95	-146.6	353.7	-6.5	233	4828	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3297	3475
4879	-0.95	-146.6	357.3	-6.6	235	4886	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1903	3475
5195	-0.95	-146.6	374.9	-5.0	251	5196	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
5505	-0.95	-146.6	387.5	-3.8	266	5506	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3475
5814	-0.95	-146.6	398.6	-3.8	281	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
6123	-0.95	-146.6	411.9	-4.7	296	6127	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3295	3475
6199	-0.95	-146.6	415.6	-5.2	299	6206	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1897	3475
6515	-0.95	-146.6	431.9	-5.5	315	6516	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
6825	-0.95	-146.6	450.6	-6.7	330	6826	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
7133	-0.95	-146.6	471.7	-7.0	345	7134	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3474
7442	-0.95	-146.6	494.9	-7.7	360	7443	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3474
7752	-0.95	-146.6	518.2	-7.1	375	7756	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3294	3474
7800	-0.95	-146.6	521.5	-6.7	377	7805	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1902	3474
8121	-0.95	-146.6	537.5	-4.6	393	8123	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3474
8431	-0.95	-146.6	547.4	-2.3	408	8435	0.00	2.53	0.00	0.000	4	0.000	0.053	2286	3295	3474
8479	-0.95	-146.6	548.7	-2.6	410	8484	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1893	3474
8801	-0.95	-146.6	557.2	-3.0	426	8802	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3474
9110	-0.95	-146.6	565.8	-2.7	441	9112	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3473
9419	-0.95	-146.6	577.5	-5.7	456	9424	0.00	2.55	0.00	0.000	4	0.000	0.055	2287	3293	3473
9503	-0.95	-146.6	583.8	-7.5	460	9507	0.00	2.53	0.00	0.000	6	0.000	0.049	2287	1897	3473
9829	-0.95	-146.6	620.5	-13.8	476	9833	0.00	2.62	0.00	0.000	4	0.000	0.074	2286	492	3473
9877	-0.95	-146.6	627.5	-14.4	478	9882	0.00	2.47	0.00	0.000	6	0.000	0.048	2286	1885	3473
10198	-0.95	-146.6	663.4	-10.4	494	10202	0.00	2.60	0.00	0.000	4	0.000	0.062	2286	3302	3473
10240	end dive: BOTTOM_OBSTACLE_DETECTED
state	10240	begin apogee
10247	-0.36	0.0	668.6	12.1	496	10372	0.60	0.00	121.93	1.244	6	0.083	0.000	2416	2101	2878
10373	end apogee: CONTROL_FINISHED_OK
state	10373	begin climb
10374	0.95	146.6	676.4	0.0	502	10500	1.27	0.00	121.68	1.201	6	0.055	0.000	2699	2097	2280
10805	1.01	196.3	660.9	4.5	523	10849	0.00	0.00	41.97	1.209	6	0.000	0.000	2699	2097	2077
11153	1.01	196.3	637.9	9.7	540	11155	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2076
11463	1.01	196.3	617.3	6.7	555	11464	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2096	2076
11772	1.04	219.9	597.7	5.3	570	11798	0.00	2.65	20.10	1.239	4	0.000	0.061	2699	3500	1981
11876	1.17	325.2	593.5	2.9	575	11969	0.22	2.58	85.80	1.198	6	0.038	0.053	2763	2097	1552
12283	1.17	325.2	566.1	10.0	595	12284	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2097	1551
12593	1.17	325.2	516.2	16.9	610	12594	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2097	1551
12902	1.17	325.2	460.1	17.9	625	12903	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2097	1551
13211	1.17	325.2	407.7	16.4	640	13215	0.00	2.62	0.00	0.000	4	0.000	0.068	2762	690	1551
13288	1.17	325.2	394.8	16.0	643	13295	0.00	2.50	0.00	0.000	6	0.000	0.042	2762	2095	1551
13604	1.17	325.2	346.8	15.1	659	13605	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2098	1551
13913	1.17	325.2	300.4	14.7	674	13917	0.00	2.62	0.00	0.000	4	0.000	0.064	2762	687	1551
13967	1.17	325.2	292.2	14.2	676	13974	0.00	2.50	0.00	0.000	6	0.000	0.041	2762	2099	1551
14282	1.17	325.2	247.0	14.1	692	14284	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2099	1552
14592	1.17	325.2	205.5	13.2	707	14596	0.00	2.60	0.00	0.000	4	0.000	0.061	2762	690	1552
14658	1.17	325.2	196.6	12.6	710	14662	0.00	2.47	0.00	0.000	6	0.000	0.040	2762	2110	1552
14985	1.17	325.2	157.1	11.8	726	14986	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2114	1553
15294	1.17	325.2	120.9	11.8	741	15298	0.00	2.62	0.00	0.000	4	0.000	0.061	2762	690	1553
15355	1.17	325.2	113.6	12.0	744	15359	0.00	2.47	0.00	0.000	6	0.000	0.039	2762	2102	1554
15680	1.17	325.2	74.3	11.9	760	15682	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2105	1554
15989	1.17	325.2	41.4	10.0	775	15994	0.00	2.60	0.00	0.000	4	0.000	0.061	2762	689	1555
16038	1.17	325.2	36.0	10.5	777	16043	0.00	2.50	0.00	0.000	6	0.000	0.039	2762	2099	1554
16360	1.17	325.2	4.4	9.7	793	16361	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2102	1554
16669	1.42	532.3	2.5	-0.2	808	16773	0.15	0.00	100.65	0.772	2	0.051	0.000	2809	2104	771
16774	end climb: NO_VERTICAL_VELOCITY
state	16774	begin surface