Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 120 * 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 120 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 23 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 -78482.055 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 -78482.055

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 23 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 120 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 102208,6211.247,-938.072,31,1.3,31,-9.8 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.182,-0.101

_SM_DEPTHo 3.08 KALMAN_X 118864.1,-430.6,-11093.0,-167233.3,31654.2

_SM_ANGLEo -57.7 KALMAN_Y 132670.9,-35.0,3382.8,-65377.0,11878.2

GPS2 102703,6211.286,-937.961,13,1.3,13,-9.8 MHEAD_RNG_PITCHd_Wd 250.7,15637,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16478,0.00,0.000,0,0,602,558.30 ALTIM_BOTTOM_PING 600.8,90.5

SM_GC 3.25,12.18,0.00,0.00,0.031,0.000,0.000,29,1886,602,-11.27,-0.40,558.30 _24V_AH 23.4,30.651

IRIDIUM_FIX 6148.92,-943.65,051207,090915 _10V_AH 10.1,13.821

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37947,776

HUMID 2077 CFSIZE 260165632,251383808

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 15.90 GPS 051207,150338,6211.015,-938.938,31,1.2,31,-9.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 115 70.73 SBE_CT 569 24 319.58

Roll_motor 113 74 197.16 SBE_O2 522 19 232.34

VBD_pump_during_apogee 577 1261 17057.57 WL_BB2F 509 105 1250.84

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.35 nil 0 0 0.00

Iridium_during_connect 37 160 139.36 nil 0 0 0.00

Iridium_during_xfer 132 223 692.06

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.10

TT8 1410 19 282.14

LPSleep 12445 2 275.28

TT8_Active 710 19 142.06

TT8_Sampling 1863 39 748.89

TT8_CF8 348 45 161.10

TT8_Kalman 33 81 27.56

Analog_circuits 1695 12 205.51

GPS_charging 0 0 0.00

Compass 1823 8 147.38

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 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 64 0.00 0.00 -42.05 0.000 2 0.000 0.000 25 1885 1498

66 -0.95 -146.6 3.0 -0.2 2 233 11.40 0.00 -152.30 0.000 6 0.116 0.000 2286 1885 3475

554 -0.95 -146.6 24.6 -6.8 26 558 0.00 2.53 0.00 0.000 4 0.000 0.045 2285 3297 3476

616 -0.95 -146.6 29.2 -6.9 29 620 0.00 2.50 0.00 0.000 6 0.000 0.042 2285 1897 3476

943 -0.95 -146.6 51.8 -7.5 45 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

1251 -0.95 -146.6 75.7 -7.9 60 1256 0.00 2.53 0.00 0.000 4 0.000 0.045 2286 3302 3476

1313 -0.95 -146.6 81.0 -8.7 63 1317 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1900 3476

1638 -0.95 -146.6 107.4 -8.0 79 1639 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

1948 -0.95 -146.6 132.5 -8.2 94 1949 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

2256 -0.95 -146.6 157.7 -8.1 109 2260 0.00 2.50 0.00 0.000 4 0.000 0.044 2285 3298 3476

2311 -0.95 -146.6 162.3 -8.7 111 2318 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1897 3476

2626 -0.95 -146.6 190.6 -9.0 127 2628 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

2936 -0.95 -146.6 220.7 -10.1 142 2937 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

3245 -0.95 -146.6 253.7 -10.9 157 3246 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

3554 -0.95 -146.6 289.0 -11.8 172 3555 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

3864 -0.95 -146.6 325.5 -11.9 187 3868 0.00 2.53 0.00 0.000 4 0.000 0.046 2286 3304 3476

3943 -0.95 -146.6 334.9 -11.9 190 3949 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3476

4257 -0.95 -146.6 370.2 -10.9 206 4259 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

4566 -0.95 -146.6 402.7 -10.1 221 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

4876 -0.95 -146.6 430.9 -8.8 236 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5186 -0.95 -146.6 455.5 -7.3 251 5190 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3296 3476

5235 -0.95 -146.6 459.1 -7.1 253 5240 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1898 3476

5550 -0.95 -146.6 476.4 -4.8 268 5551 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

5859 -0.95 -146.6 488.8 -3.2 283 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3476

6168 -0.95 -146.6 496.3 -1.9 298 6173 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3295 3476

6231 -0.95 -146.6 497.4 -2.0 301 6235 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1902 3476

6556 -0.95 -146.6 503.3 -3.0 317 6557 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

6865 -0.95 -146.6 520.5 -7.1 332 6866 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

7174 -0.95 -146.6 546.2 -8.5 347 7176 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

7483 -0.95 -146.6 573.8 -8.9 362 7488 0.00 2.53 0.00 0.000 4 0.000 0.054 2286 3295 3475

7567 -0.95 -146.6 580.6 -7.8 366 7572 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1897 3475

7893 -0.95 -146.6 608.6 -9.6 382 7894 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

8202 -0.95 -146.6 633.1 -5.8 397 8207 0.00 2.58 0.00 0.000 4 0.000 0.059 2286 3294 3475

8279 -0.95 -146.6 637.9 -6.2 400 8287 0.00 2.55 0.00 0.000 6 0.000 0.051 2285 1910 3474

8596 -0.95 -146.6 656.7 -5.4 416 8597 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1909 3474

8905 -0.95 -146.6 672.0 -5.6 431 8909 0.00 2.55 0.00 0.000 4 0.000 0.061 2286 3294 3473

8970 -0.95 -146.6 676.4 -7.3 434 8975 0.00 2.58 0.00 0.000 6 0.000 0.054 2285 1903 3473

9047 end dive: BOTTOM_OBSTACLE_DETECTED

state 9047 begin apogee

9052 -0.36 0.0 681.7 6.7 438 9178 0.62 0.00 122.30 1.262 6 0.074 0.000 2421 2098 2879

9178 end apogee: CONTROL_FINISHED_OK

state 9178 begin climb

9180 0.95 146.6 686.5 0.0 444 9313 1.27 2.70 121.25 1.215 4 0.054 0.064 2702 3498 2280

9335 0.98 174.8 683.6 5.2 452 9365 0.00 2.58 24.10 1.198 6 0.000 0.051 2702 2098 2165

9686 0.98 174.8 661.7 6.9 469 9687 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2098 2165

9995 0.98 174.8 635.9 10.4 484 9996 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2098 2164

10305 0.98 174.8 607.7 8.8 499 10306 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2098 2163

10614 0.98 174.8 578.9 11.0 514 10618 0.00 2.60 0.00 0.000 4 0.000 0.059 2701 3506 2162

10781 0.98 174.8 558.5 12.4 521 10787 0.00 2.55 0.00 0.000 6 0.000 0.051 2701 2099 2162

11096 1.43 541.2 552.2 -4.9 537 11403 0.43 2.65 295.40 1.160 4 0.032 0.053 2816 3511 671

11453 1.43 541.2 534.8 12.7 554 11457 0.00 2.60 0.00 0.000 6 0.000 0.052 2816 2103 671

11773 1.43 541.2 497.7 11.0 570 11777 0.00 2.67 0.00 0.000 4 0.000 0.074 2816 690 671

11912 1.43 541.2 476.8 15.3 576 11917 0.00 2.53 0.00 0.000 6 0.000 0.044 2816 2103 671

12233 1.43 541.2 436.5 12.5 592 12237 0.00 2.67 0.00 0.000 4 0.000 0.072 2816 690 671

12355 1.43 541.2 419.3 13.9 597 12361 0.00 2.50 0.00 0.000 6 0.000 0.043 2816 2098 671

12670 1.43 541.2 380.7 12.0 613 12674 0.00 2.65 0.00 0.000 4 0.000 0.070 2816 690 672

12786 1.43 541.2 364.2 14.4 618 12790 0.00 2.47 0.00 0.000 6 0.000 0.041 2816 2103 672

13107 1.43 541.2 323.7 12.7 634 13111 0.00 2.65 0.00 0.000 4 0.000 0.069 2816 690 672

13217 1.43 541.2 308.3 13.9 639 13222 0.00 2.53 0.00 0.000 6 0.000 0.041 2816 2103 672

13544 1.43 541.2 269.1 11.6 655 13548 0.00 2.65 0.00 0.000 4 0.000 0.069 2816 690 672

13660 1.43 541.2 254.0 12.6 660 13664 0.00 2.47 0.00 0.000 6 0.000 0.041 2816 2101 672

13981 1.43 541.2 217.2 11.6 676 13985 0.00 2.65 0.00 0.000 4 0.000 0.067 2815 684 673

14102 1.43 541.2 201.1 12.5 681 14109 0.00 2.50 0.00 0.000 6 0.000 0.041 2816 2102 673

14418 1.43 541.2 166.1 10.6 697 14422 0.00 2.62 0.00 0.000 4 0.000 0.067 2816 690 673

14523 1.43 541.2 153.6 11.7 702 14528 0.00 2.47 0.00 0.000 6 0.000 0.040 2816 2103 673

14851 1.43 541.2 116.8 11.5 718 14855 0.00 2.65 0.00 0.000 4 0.000 0.067 2816 684 673

14972 1.43 541.2 100.9 12.5 723 14980 0.00 2.47 0.00 0.000 6 0.000 0.040 2816 2093 674

15290 1.43 541.2 62.4 12.2 739 15294 0.00 2.62 0.00 0.000 4 0.000 0.067 2816 680 674

15388 1.43 541.2 48.2 14.1 743 15396 0.00 2.50 0.00 0.000 6 0.000 0.040 2816 2095 674

15704 1.43 541.2 6.7 13.5 759 15709 0.00 2.62 0.00 0.000 4 0.000 0.065 2816 680 674

15798 1.68 740.9 2.4 0.0 763 15819 0.20 2.50 14.70 0.848 6 0.079 0.040 2857 2110 602

16056 end climb: NO_VERTICAL_VELOCITY

state 16056 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	120	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	23	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	-78482.055	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	102208,6211.247,-938.072,31,1.3,31,-9.8	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.182,-0.101
_SM_DEPTHo	3.08	KALMAN_X	118864.1,-430.6,-11093.0,-167233.3,31654.2
_SM_ANGLEo	-57.7	KALMAN_Y	132670.9,-35.0,3382.8,-65377.0,11878.2
GPS2	102703,6211.286,-937.961,13,1.3,13,-9.8	MHEAD_RNG_PITCHd_Wd	250.7,15637,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16478,0.00,0.000,0,0,602,558.30	ALTIM_BOTTOM_PING	600.8,90.5
SM_GC	3.25,12.18,0.00,0.00,0.031,0.000,0.000,29,1886,602,-11.27,-0.40,558.30	_24V_AH	23.4,30.651
IRIDIUM_FIX	6148.92,-943.65,051207,090915	_10V_AH	10.1,13.821
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37947,776
HUMID	2077	CFSIZE	260165632,251383808
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	15.90	GPS	051207,150338,6211.015,-938.938,31,1.2,31,-9.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	115	70.73	SBE_CT	569	24	319.58
Roll_motor	113	74	197.16	SBE_O2	522	19	232.34
VBD_pump_during_apogee	577	1261	17057.57	WL_BB2F	509	105	1250.84
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.35	nil	0	0	0.00
Iridium_during_connect	37	160	139.36	nil	0	0	0.00
Iridium_during_xfer	132	223	692.06
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.10
TT8	1410	19	282.14
LPSleep	12445	2	275.28
TT8_Active	710	19	142.06
TT8_Sampling	1863	39	748.89
TT8_CF8	348	45	161.10
TT8_Kalman	33	81	27.56
Analog_circuits	1695	12	205.51
GPS_charging	0	0	0.00
Compass	1823	8	147.38
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	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	64	0.00	0.00	-42.05	0.000	2	0.000	0.000	25	1885	1498
66	-0.95	-146.6	3.0	-0.2	2	233	11.40	0.00	-152.30	0.000	6	0.116	0.000	2286	1885	3475
554	-0.95	-146.6	24.6	-6.8	26	558	0.00	2.53	0.00	0.000	4	0.000	0.045	2285	3297	3476
616	-0.95	-146.6	29.2	-6.9	29	620	0.00	2.50	0.00	0.000	6	0.000	0.042	2285	1897	3476
943	-0.95	-146.6	51.8	-7.5	45	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
1251	-0.95	-146.6	75.7	-7.9	60	1256	0.00	2.53	0.00	0.000	4	0.000	0.045	2286	3302	3476
1313	-0.95	-146.6	81.0	-8.7	63	1317	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1900	3476
1638	-0.95	-146.6	107.4	-8.0	79	1639	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
1948	-0.95	-146.6	132.5	-8.2	94	1949	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
2256	-0.95	-146.6	157.7	-8.1	109	2260	0.00	2.50	0.00	0.000	4	0.000	0.044	2285	3298	3476
2311	-0.95	-146.6	162.3	-8.7	111	2318	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1897	3476
2626	-0.95	-146.6	190.6	-9.0	127	2628	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
2936	-0.95	-146.6	220.7	-10.1	142	2937	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
3245	-0.95	-146.6	253.7	-10.9	157	3246	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
3554	-0.95	-146.6	289.0	-11.8	172	3555	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
3864	-0.95	-146.6	325.5	-11.9	187	3868	0.00	2.53	0.00	0.000	4	0.000	0.046	2286	3304	3476
3943	-0.95	-146.6	334.9	-11.9	190	3949	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3476
4257	-0.95	-146.6	370.2	-10.9	206	4259	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
4566	-0.95	-146.6	402.7	-10.1	221	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
4876	-0.95	-146.6	430.9	-8.8	236	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5186	-0.95	-146.6	455.5	-7.3	251	5190	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3296	3476
5235	-0.95	-146.6	459.1	-7.1	253	5240	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1898	3476
5550	-0.95	-146.6	476.4	-4.8	268	5551	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
5859	-0.95	-146.6	488.8	-3.2	283	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3476
6168	-0.95	-146.6	496.3	-1.9	298	6173	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3295	3476
6231	-0.95	-146.6	497.4	-2.0	301	6235	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1902	3476
6556	-0.95	-146.6	503.3	-3.0	317	6557	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
6865	-0.95	-146.6	520.5	-7.1	332	6866	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
7174	-0.95	-146.6	546.2	-8.5	347	7176	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
7483	-0.95	-146.6	573.8	-8.9	362	7488	0.00	2.53	0.00	0.000	4	0.000	0.054	2286	3295	3475
7567	-0.95	-146.6	580.6	-7.8	366	7572	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1897	3475
7893	-0.95	-146.6	608.6	-9.6	382	7894	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
8202	-0.95	-146.6	633.1	-5.8	397	8207	0.00	2.58	0.00	0.000	4	0.000	0.059	2286	3294	3475
8279	-0.95	-146.6	637.9	-6.2	400	8287	0.00	2.55	0.00	0.000	6	0.000	0.051	2285	1910	3474
8596	-0.95	-146.6	656.7	-5.4	416	8597	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1909	3474
8905	-0.95	-146.6	672.0	-5.6	431	8909	0.00	2.55	0.00	0.000	4	0.000	0.061	2286	3294	3473
8970	-0.95	-146.6	676.4	-7.3	434	8975	0.00	2.58	0.00	0.000	6	0.000	0.054	2285	1903	3473
9047	end dive: BOTTOM_OBSTACLE_DETECTED
state	9047	begin apogee
9052	-0.36	0.0	681.7	6.7	438	9178	0.62	0.00	122.30	1.262	6	0.074	0.000	2421	2098	2879
9178	end apogee: CONTROL_FINISHED_OK
state	9178	begin climb
9180	0.95	146.6	686.5	0.0	444	9313	1.27	2.70	121.25	1.215	4	0.054	0.064	2702	3498	2280
9335	0.98	174.8	683.6	5.2	452	9365	0.00	2.58	24.10	1.198	6	0.000	0.051	2702	2098	2165
9686	0.98	174.8	661.7	6.9	469	9687	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2098	2165
9995	0.98	174.8	635.9	10.4	484	9996	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2098	2164
10305	0.98	174.8	607.7	8.8	499	10306	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2098	2163
10614	0.98	174.8	578.9	11.0	514	10618	0.00	2.60	0.00	0.000	4	0.000	0.059	2701	3506	2162
10781	0.98	174.8	558.5	12.4	521	10787	0.00	2.55	0.00	0.000	6	0.000	0.051	2701	2099	2162
11096	1.43	541.2	552.2	-4.9	537	11403	0.43	2.65	295.40	1.160	4	0.032	0.053	2816	3511	671
11453	1.43	541.2	534.8	12.7	554	11457	0.00	2.60	0.00	0.000	6	0.000	0.052	2816	2103	671
11773	1.43	541.2	497.7	11.0	570	11777	0.00	2.67	0.00	0.000	4	0.000	0.074	2816	690	671
11912	1.43	541.2	476.8	15.3	576	11917	0.00	2.53	0.00	0.000	6	0.000	0.044	2816	2103	671
12233	1.43	541.2	436.5	12.5	592	12237	0.00	2.67	0.00	0.000	4	0.000	0.072	2816	690	671
12355	1.43	541.2	419.3	13.9	597	12361	0.00	2.50	0.00	0.000	6	0.000	0.043	2816	2098	671
12670	1.43	541.2	380.7	12.0	613	12674	0.00	2.65	0.00	0.000	4	0.000	0.070	2816	690	672
12786	1.43	541.2	364.2	14.4	618	12790	0.00	2.47	0.00	0.000	6	0.000	0.041	2816	2103	672
13107	1.43	541.2	323.7	12.7	634	13111	0.00	2.65	0.00	0.000	4	0.000	0.069	2816	690	672
13217	1.43	541.2	308.3	13.9	639	13222	0.00	2.53	0.00	0.000	6	0.000	0.041	2816	2103	672
13544	1.43	541.2	269.1	11.6	655	13548	0.00	2.65	0.00	0.000	4	0.000	0.069	2816	690	672
13660	1.43	541.2	254.0	12.6	660	13664	0.00	2.47	0.00	0.000	6	0.000	0.041	2816	2101	672
13981	1.43	541.2	217.2	11.6	676	13985	0.00	2.65	0.00	0.000	4	0.000	0.067	2815	684	673
14102	1.43	541.2	201.1	12.5	681	14109	0.00	2.50	0.00	0.000	6	0.000	0.041	2816	2102	673
14418	1.43	541.2	166.1	10.6	697	14422	0.00	2.62	0.00	0.000	4	0.000	0.067	2816	690	673
14523	1.43	541.2	153.6	11.7	702	14528	0.00	2.47	0.00	0.000	6	0.000	0.040	2816	2103	673
14851	1.43	541.2	116.8	11.5	718	14855	0.00	2.65	0.00	0.000	4	0.000	0.067	2816	684	673
14972	1.43	541.2	100.9	12.5	723	14980	0.00	2.47	0.00	0.000	6	0.000	0.040	2816	2093	674
15290	1.43	541.2	62.4	12.2	739	15294	0.00	2.62	0.00	0.000	4	0.000	0.067	2816	680	674
15388	1.43	541.2	48.2	14.1	743	15396	0.00	2.50	0.00	0.000	6	0.000	0.040	2816	2095	674
15704	1.43	541.2	6.7	13.5	759	15709	0.00	2.62	0.00	0.000	4	0.000	0.065	2816	680	674
15798	1.68	740.9	2.4	0.0	763	15819	0.20	2.50	14.70	0.848	6	0.079	0.040	2857	2110	602
16056	end climb: NO_VERTICAL_VELOCITY
state	16056	begin surface