Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 121 * 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 121 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -78495.258 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 -78495.258

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 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 121 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 150338,6211.015,-938.938,31,1.2,31,-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 -0.208,0.019

_SM_DEPTHo 3.15 KALMAN_X 97271.9,-302.3,13084.0,-170727.5,2184.7

_SM_ANGLEo -60.8 KALMAN_Y 125478.4,-137.8,12745.4,-67868.0,-5952.7

GPS2 150839,6211.046,-938.878,10,1.7,10,-9.8 MHEAD_RNG_PITCHd_Wd 285.1,14778,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17773,49.40,0.752,0,0,603,558.06 ALTIM_BOTTOM_PING 600.8,59.4

SM_GC 3.28,11.95,0.00,0.00,0.031,0.000,0.000,28,1888,604,-11.27,-0.34,557.81 _24V_AH 23.4,30.812

IRIDIUM_FIX 6144.36,-942.88,051207,141445 _10V_AH 10.1,13.901

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44309,861

HUMID 2051 CFSIZE 260165632,251330560

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

TCM_TEMP 16.80 GPS 051207,201438,6214.126,-938.625,29,0.9,29,-9.8

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 114 68.13 SBE_CT 629 24 353.74

Roll_motor 72 72 121.47 SBE_O2 582 19 258.83

VBD_pump_during_apogee 443 1251 13002.19 WL_BB2F 579 105 1422.81

VBD_pump_during_surface 49 752 869.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.93 nil 0 0 0.00

Iridium_during_connect 41 160 154.77 nil 0 0 0.00

Iridium_during_xfer 136 223 712.90

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.35

TT8 1500 19 300.16

LPSleep 14288 2 316.04

TT8_Active 645 19 129.06

TT8_Sampling 1762 39 708.56

TT8_CF8 352 45 162.94

TT8_Kalman 33 81 27.55

Analog_circuits 1529 12 185.35

GPS_charging 0 0 0.00

Compass 1736 8 140.31

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 43 0.00 0.00 -21.75 0.000 2 0.000 0.000 29 1880 1076

45 -0.95 -146.6 3.2 -0.0 1 232 11.32 2.55 -167.20 0.000 4 0.114 0.072 2287 498 3476

265 -0.95 -146.6 7.3 -8.8 11 269 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1896 3476

586 -0.95 -146.6 32.2 -7.6 27 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3476

895 -0.95 -146.6 55.6 -7.3 42 900 0.00 2.53 0.00 0.000 4 0.000 0.046 2287 3304 3476

1002 -0.95 -146.6 63.7 -7.4 47 1007 0.00 2.50 0.00 0.000 6 0.000 0.042 2287 1906 3476

1328 -0.95 -146.6 85.5 -6.4 63 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1637 -0.95 -146.6 105.8 -6.6 78 1639 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1947 -0.95 -146.6 128.3 -7.5 93 1951 0.00 2.50 0.00 0.000 4 0.000 0.046 2287 3300 3476

2012 -0.95 -146.6 133.5 -8.1 96 2017 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1902 3476

2339 -0.95 -146.6 156.8 -7.1 112 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

2648 -0.95 -146.6 177.9 -6.5 127 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

2957 -0.95 -146.6 197.9 -6.3 142 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

3266 -0.95 -146.6 217.1 -6.1 157 3268 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

3576 -0.95 -146.6 235.7 -5.9 172 3580 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3299 3476

3660 -0.95 -146.6 241.2 -6.6 176 3665 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1900 3476

3986 -0.95 -146.6 262.4 -6.6 192 3987 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

4295 -0.95 -146.6 283.1 -6.8 207 4296 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

4604 -0.95 -146.6 305.1 -7.4 222 4605 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

4914 -0.95 -146.6 330.1 -8.5 237 4915 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

5223 -0.95 -146.6 357.2 -9.0 252 5227 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3302 3475

5307 -0.95 -146.6 365.2 -10.0 256 5311 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1899 3476

5632 -0.95 -146.6 397.8 -10.4 272 5633 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

5942 -0.95 -146.6 426.6 -8.4 287 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

6250 -0.95 -146.6 455.4 -9.8 302 6255 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3298 3476

6329 -0.95 -146.6 463.5 -10.3 305 6335 0.00 2.53 0.00 0.000 6 0.000 0.046 2287 1893 3476

6644 -0.95 -146.6 495.9 -9.8 321 6645 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1893 3476

6953 -0.95 -146.6 521.8 -7.6 336 6954 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1893 3475

7263 -0.95 -146.6 541.5 -5.6 351 7267 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3297 3475

7350 -0.95 -146.6 547.1 -6.1 355 7355 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1902 3475

7678 -0.95 -146.6 568.8 -6.7 371 7679 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

7987 -0.95 -146.6 581.3 -3.5 386 7988 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

8296 -0.95 -146.6 595.1 -4.2 401 8298 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3474

8606 -0.95 -146.6 606.7 -3.6 416 8610 0.00 2.58 0.00 0.000 4 0.000 0.059 2286 3296 3474

8689 -0.95 -146.6 608.2 -1.5 420 8694 0.00 2.53 0.00 0.000 6 0.000 0.053 2287 1900 3474

9016 -0.95 -146.6 624.5 -4.8 436 9017 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

9325 -0.95 -146.6 640.7 -6.0 451 9326 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3472

9508 end dive: BOTTOM_OBSTACLE_DETECTED

state 9508 begin apogee

9513 -0.36 0.0 650.8 6.0 460 9637 0.60 0.00 121.38 1.252 6 0.078 0.000 2415 2097 2878

9638 end apogee: CONTROL_FINISHED_OK

state 9638 begin climb

9640 0.95 146.6 654.6 0.0 466 9765 1.33 0.00 121.03 1.199 6 0.055 0.000 2705 2097 2280

10061 0.95 146.6 634.0 7.5 487 10066 0.00 2.60 0.00 0.000 4 0.000 0.060 2706 3499 2280

10178 0.95 146.6 625.2 7.3 492 10182 0.00 2.58 0.00 0.000 6 0.000 0.051 2706 2104 2279

10499 1.06 241.1 608.7 3.2 508 10584 0.00 2.70 77.75 1.206 4 0.000 0.061 2705 3500 1894

10674 1.07 246.2 597.5 5.8 516 10685 0.00 2.58 5.30 1.145 6 0.000 0.052 2705 2097 1874

11000 1.07 246.2 575.8 7.3 532 11002 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2097 1873

11310 1.09 262.2 558.0 5.5 547 11330 0.12 0.00 13.95 1.213 6 0.051 0.000 2748 2097 1809

11638 1.09 262.2 525.5 9.5 563 11643 0.00 2.65 0.00 0.000 4 0.000 0.072 2748 687 1809

11700 1.09 262.2 519.4 10.5 566 11705 0.00 2.53 0.00 0.000 6 0.000 0.046 2748 2103 1809

12026 1.09 262.2 488.8 9.6 582 12030 0.00 2.55 0.00 0.000 4 0.000 0.055 2748 3502 1809

12086 1.09 262.2 483.2 9.6 585 12091 0.00 2.55 0.00 0.000 6 0.000 0.050 2748 2095 1808

12412 1.09 262.2 453.8 9.1 601 12414 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1809

12722 1.09 262.2 423.6 10.2 616 12723 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1809

13031 1.09 262.2 393.1 9.8 631 13032 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1809

13340 1.09 262.2 363.6 9.5 646 13341 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1809

13649 1.09 262.2 334.5 9.5 661 13650 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2094 1809

13959 1.09 262.2 305.2 9.5 676 13960 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1809

14268 1.09 262.2 277.5 8.7 691 14269 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1810

14577 1.09 262.2 251.6 8.5 706 14578 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1810

14886 1.09 262.2 225.4 8.7 721 14888 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1811

15196 1.09 262.2 196.6 9.5 736 15197 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2094 1811

15505 1.09 262.2 169.5 8.6 751 15509 0.00 2.55 0.00 0.000 4 0.000 0.062 2748 691 1811

15553 1.09 262.2 164.8 9.4 753 15558 0.00 2.47 0.00 0.000 6 0.000 0.038 2747 2117 1811

15875 1.09 262.2 135.5 9.1 769 15876 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2122 1812

16184 1.09 262.2 106.8 9.1 784 16185 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2122 1812

16493 1.09 262.2 78.5 9.2 799 16497 0.00 2.62 0.00 0.000 4 0.000 0.059 2748 689 1812

16541 1.09 262.2 73.8 9.0 801 16546 0.00 2.50 0.00 0.000 6 0.000 0.038 2748 2103 1811

16863 1.09 262.2 44.9 8.6 817 16864 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2105 1812

17172 1.09 262.2 19.3 7.8 832 17173 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2105 1812

17482 1.33 461.5 2.6 0.1 847 17590 0.15 0.00 104.50 0.765 6 0.062 0.000 2791 2107 996

17770 end climb: NO_VERTICAL_VELOCITY

state 17770 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	121	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-78495.258	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	150338,6211.015,-938.938,31,1.2,31,-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	-0.208,0.019
_SM_DEPTHo	3.15	KALMAN_X	97271.9,-302.3,13084.0,-170727.5,2184.7
_SM_ANGLEo	-60.8	KALMAN_Y	125478.4,-137.8,12745.4,-67868.0,-5952.7
GPS2	150839,6211.046,-938.878,10,1.7,10,-9.8	MHEAD_RNG_PITCHd_Wd	285.1,14778,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17773,49.40,0.752,0,0,603,558.06	ALTIM_BOTTOM_PING	600.8,59.4
SM_GC	3.28,11.95,0.00,0.00,0.031,0.000,0.000,28,1888,604,-11.27,-0.34,557.81	_24V_AH	23.4,30.812
IRIDIUM_FIX	6144.36,-942.88,051207,141445	_10V_AH	10.1,13.901
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44309,861
HUMID	2051	CFSIZE	260165632,251330560
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.80	GPS	051207,201438,6214.126,-938.625,29,0.9,29,-9.8
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	114	68.13	SBE_CT	629	24	353.74
Roll_motor	72	72	121.47	SBE_O2	582	19	258.83
VBD_pump_during_apogee	443	1251	13002.19	WL_BB2F	579	105	1422.81
VBD_pump_during_surface	49	752	869.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.93	nil	0	0	0.00
Iridium_during_connect	41	160	154.77	nil	0	0	0.00
Iridium_during_xfer	136	223	712.90
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.35
TT8	1500	19	300.16
LPSleep	14288	2	316.04
TT8_Active	645	19	129.06
TT8_Sampling	1762	39	708.56
TT8_CF8	352	45	162.94
TT8_Kalman	33	81	27.55
Analog_circuits	1529	12	185.35
GPS_charging	0	0	0.00
Compass	1736	8	140.31
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	43	0.00	0.00	-21.75	0.000	2	0.000	0.000	29	1880	1076
45	-0.95	-146.6	3.2	-0.0	1	232	11.32	2.55	-167.20	0.000	4	0.114	0.072	2287	498	3476
265	-0.95	-146.6	7.3	-8.8	11	269	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1896	3476
586	-0.95	-146.6	32.2	-7.6	27	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3476
895	-0.95	-146.6	55.6	-7.3	42	900	0.00	2.53	0.00	0.000	4	0.000	0.046	2287	3304	3476
1002	-0.95	-146.6	63.7	-7.4	47	1007	0.00	2.50	0.00	0.000	6	0.000	0.042	2287	1906	3476
1328	-0.95	-146.6	85.5	-6.4	63	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1637	-0.95	-146.6	105.8	-6.6	78	1639	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1947	-0.95	-146.6	128.3	-7.5	93	1951	0.00	2.50	0.00	0.000	4	0.000	0.046	2287	3300	3476
2012	-0.95	-146.6	133.5	-8.1	96	2017	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1902	3476
2339	-0.95	-146.6	156.8	-7.1	112	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
2648	-0.95	-146.6	177.9	-6.5	127	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
2957	-0.95	-146.6	197.9	-6.3	142	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
3266	-0.95	-146.6	217.1	-6.1	157	3268	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
3576	-0.95	-146.6	235.7	-5.9	172	3580	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3299	3476
3660	-0.95	-146.6	241.2	-6.6	176	3665	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1900	3476
3986	-0.95	-146.6	262.4	-6.6	192	3987	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
4295	-0.95	-146.6	283.1	-6.8	207	4296	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
4604	-0.95	-146.6	305.1	-7.4	222	4605	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
4914	-0.95	-146.6	330.1	-8.5	237	4915	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
5223	-0.95	-146.6	357.2	-9.0	252	5227	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3302	3475
5307	-0.95	-146.6	365.2	-10.0	256	5311	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1899	3476
5632	-0.95	-146.6	397.8	-10.4	272	5633	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
5942	-0.95	-146.6	426.6	-8.4	287	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
6250	-0.95	-146.6	455.4	-9.8	302	6255	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3298	3476
6329	-0.95	-146.6	463.5	-10.3	305	6335	0.00	2.53	0.00	0.000	6	0.000	0.046	2287	1893	3476
6644	-0.95	-146.6	495.9	-9.8	321	6645	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1893	3476
6953	-0.95	-146.6	521.8	-7.6	336	6954	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1893	3475
7263	-0.95	-146.6	541.5	-5.6	351	7267	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3297	3475
7350	-0.95	-146.6	547.1	-6.1	355	7355	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1902	3475
7678	-0.95	-146.6	568.8	-6.7	371	7679	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
7987	-0.95	-146.6	581.3	-3.5	386	7988	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
8296	-0.95	-146.6	595.1	-4.2	401	8298	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3474
8606	-0.95	-146.6	606.7	-3.6	416	8610	0.00	2.58	0.00	0.000	4	0.000	0.059	2286	3296	3474
8689	-0.95	-146.6	608.2	-1.5	420	8694	0.00	2.53	0.00	0.000	6	0.000	0.053	2287	1900	3474
9016	-0.95	-146.6	624.5	-4.8	436	9017	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
9325	-0.95	-146.6	640.7	-6.0	451	9326	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3472
9508	end dive: BOTTOM_OBSTACLE_DETECTED
state	9508	begin apogee
9513	-0.36	0.0	650.8	6.0	460	9637	0.60	0.00	121.38	1.252	6	0.078	0.000	2415	2097	2878
9638	end apogee: CONTROL_FINISHED_OK
state	9638	begin climb
9640	0.95	146.6	654.6	0.0	466	9765	1.33	0.00	121.03	1.199	6	0.055	0.000	2705	2097	2280
10061	0.95	146.6	634.0	7.5	487	10066	0.00	2.60	0.00	0.000	4	0.000	0.060	2706	3499	2280
10178	0.95	146.6	625.2	7.3	492	10182	0.00	2.58	0.00	0.000	6	0.000	0.051	2706	2104	2279
10499	1.06	241.1	608.7	3.2	508	10584	0.00	2.70	77.75	1.206	4	0.000	0.061	2705	3500	1894
10674	1.07	246.2	597.5	5.8	516	10685	0.00	2.58	5.30	1.145	6	0.000	0.052	2705	2097	1874
11000	1.07	246.2	575.8	7.3	532	11002	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2097	1873
11310	1.09	262.2	558.0	5.5	547	11330	0.12	0.00	13.95	1.213	6	0.051	0.000	2748	2097	1809
11638	1.09	262.2	525.5	9.5	563	11643	0.00	2.65	0.00	0.000	4	0.000	0.072	2748	687	1809
11700	1.09	262.2	519.4	10.5	566	11705	0.00	2.53	0.00	0.000	6	0.000	0.046	2748	2103	1809
12026	1.09	262.2	488.8	9.6	582	12030	0.00	2.55	0.00	0.000	4	0.000	0.055	2748	3502	1809
12086	1.09	262.2	483.2	9.6	585	12091	0.00	2.55	0.00	0.000	6	0.000	0.050	2748	2095	1808
12412	1.09	262.2	453.8	9.1	601	12414	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1809
12722	1.09	262.2	423.6	10.2	616	12723	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1809
13031	1.09	262.2	393.1	9.8	631	13032	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1809
13340	1.09	262.2	363.6	9.5	646	13341	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1809
13649	1.09	262.2	334.5	9.5	661	13650	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2094	1809
13959	1.09	262.2	305.2	9.5	676	13960	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1809
14268	1.09	262.2	277.5	8.7	691	14269	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1810
14577	1.09	262.2	251.6	8.5	706	14578	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1810
14886	1.09	262.2	225.4	8.7	721	14888	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1811
15196	1.09	262.2	196.6	9.5	736	15197	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2094	1811
15505	1.09	262.2	169.5	8.6	751	15509	0.00	2.55	0.00	0.000	4	0.000	0.062	2748	691	1811
15553	1.09	262.2	164.8	9.4	753	15558	0.00	2.47	0.00	0.000	6	0.000	0.038	2747	2117	1811
15875	1.09	262.2	135.5	9.1	769	15876	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2122	1812
16184	1.09	262.2	106.8	9.1	784	16185	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2122	1812
16493	1.09	262.2	78.5	9.2	799	16497	0.00	2.62	0.00	0.000	4	0.000	0.059	2748	689	1812
16541	1.09	262.2	73.8	9.0	801	16546	0.00	2.50	0.00	0.000	6	0.000	0.038	2748	2103	1811
16863	1.09	262.2	44.9	8.6	817	16864	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2105	1812
17172	1.09	262.2	19.3	7.8	832	17173	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2105	1812
17482	1.33	461.5	2.6	0.1	847	17590	0.15	0.00	104.50	0.765	6	0.062	0.000	2791	2107	996
17770	end climb: NO_VERTICAL_VELOCITY
state	17770	begin surface