Glider dive log

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 122 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -78511.945 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 -78511.945

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 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 122 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 201438,6214.126,-938.625,29,0.9,29,-9.8 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.204,-0.045

_SM_DEPTHo 3.26 KALMAN_X 115252.2,-145.7,2225.7,-177634.3,25466.3

_SM_ANGLEo -58.2 KALMAN_Y 142196.5,-162.4,1292.7,-67337.3,18099.8

GPS2 202456,6214.177,-938.399,14,1.1,14,-9.8 MHEAD_RNG_PITCHd_Wd 267.4,48832,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17447,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 550.9,86.5

SM_GC 3.36,12.00,0.00,0.00,0.029,0.000,0.000,33,1905,603,-11.26,0.14,558.06 _24V_AH 23.4,31.004

IRIDIUM_FIX 6148.92,-934.56,061207,000018 _10V_AH 10.1,13.984

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41164,823

HUMID 2064 CFSIZE 260165632,251269120

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 18.80 GPS 061207,011758,6213.709,-941.543,28,3.4,47,-9.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 112 67.61 SBE_CT 602 24 338.23

Roll_motor 107 73 185.09 SBE_O2 555 19 247.07

VBD_pump_during_apogee 535 1217 15262.70 WL_BB2F 536 105 1318.26

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 66 103 159.69 nil 0 0 0.00

Iridium_during_connect 96 160 361.38 nil 0 0 0.00

Iridium_during_xfer 268 223 1401.02

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.11

TT8 1472 19 294.51

LPSleep 13463 2 297.79

TT8_Active 681 19 136.23

TT8_Sampling 1834 39 737.26

TT8_CF8 619 45 286.55

TT8_Kalman 33 81 27.56

Analog_circuits 1635 12 198.19

GPS_charging 0 0 0.00

Compass 1805 8 145.89

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.40 0.000 2 0.000 0.000 28 1882 1085

45 -0.95 -146.6 3.3 -0.0 1 237 11.32 2.55 -171.57 0.000 4 0.113 0.057 2287 3297 3475

320 -0.95 -146.6 7.8 -7.3 14 324 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1905 3475

648 -0.95 -146.6 32.0 -7.2 30 649 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

956 -0.95 -146.6 55.1 -7.6 45 957 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

1266 -0.95 -146.6 77.6 -7.6 60 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

1574 -0.95 -146.6 101.0 -7.9 75 1576 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

1884 -0.95 -146.6 126.9 -8.5 90 1888 0.00 2.50 0.00 0.000 4 0.000 0.046 2287 3299 3475

1954 -0.95 -146.6 133.1 -8.8 93 1959 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1898 3475

2276 -0.95 -146.6 160.1 -8.5 109 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

2585 -0.95 -146.6 186.9 -8.6 124 2586 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

2894 -0.95 -146.6 212.6 -8.2 139 2898 0.00 2.50 0.00 0.000 4 0.000 0.045 2287 3298 3475

2965 -0.95 -146.6 218.5 -8.5 142 2970 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1900 3475

3292 -0.95 -146.6 243.8 -7.7 158 3293 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

3601 -0.95 -146.6 265.9 -7.0 173 3602 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

3910 -0.95 -146.6 287.0 -6.5 188 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

4219 -0.95 -146.6 306.1 -6.1 203 4223 0.00 2.50 0.00 0.000 4 0.000 0.047 2287 3298 3475

4287 -0.95 -146.6 310.1 -5.7 206 4292 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1901 3475

4613 -0.95 -146.6 328.4 -5.2 222 4614 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3475

4922 -0.95 -146.6 346.4 -6.1 237 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3475

5232 -0.95 -146.6 364.2 -5.5 252 5234 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3474

5541 -0.95 -146.6 380.9 -4.9 267 5545 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3301 3475

5657 -0.95 -146.6 387.1 -5.7 272 5662 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1899 3475

5978 -0.95 -146.6 403.3 -5.2 288 5979 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

6287 -0.95 -146.6 420.3 -5.7 303 6288 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

6596 -0.95 -146.6 438.6 -6.0 318 6601 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3298 3475

6673 -0.95 -146.6 443.7 -6.6 321 6680 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1904 3474

6989 -0.95 -146.6 463.4 -6.1 337 6990 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1904 3474

7298 -0.95 -146.6 483.5 -7.0 352 7299 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1904 3474

7607 -0.95 -146.6 506.4 -7.2 367 7612 0.00 2.50 0.00 0.000 4 0.000 0.051 2287 3297 3474

7692 -0.95 -146.6 512.4 -7.3 371 7696 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1894 3474

8017 -0.95 -146.6 530.1 -4.5 387 8019 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3474

8326 -0.95 -146.6 543.0 -4.2 402 8331 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3299 3474

8443 -0.95 -146.6 548.3 -5.5 407 8447 0.00 2.53 0.00 0.000 6 0.000 0.049 2287 1902 3474

8764 -0.95 -146.6 561.4 -4.0 423 8765 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3473

9073 -0.95 -146.6 575.6 -5.3 438 9074 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3473

9382 -0.95 -146.6 595.8 -6.9 453 9384 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3472

9691 -0.95 -146.6 615.4 -6.1 468 9693 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3472

9896 end dive: BOTTOM_OBSTACLE_DETECTED

state 9896 begin apogee

9901 -0.36 0.0 628.0 6.0 478 10025 0.60 0.00 121.28 1.217 6 0.077 0.000 2416 2096 2878

10026 end apogee: CONTROL_FINISHED_OK

state 10026 begin climb

10028 0.95 146.6 632.0 0.0 484 10161 1.30 2.75 120.32 1.177 4 0.055 0.064 2700 3505 2280

10194 1.00 186.7 628.4 4.8 492 10234 0.00 2.58 33.95 1.165 6 0.000 0.050 2700 2097 2115

10556 1.02 204.9 608.6 5.5 510 10576 0.00 0.00 15.95 1.183 6 0.000 0.000 2699 2097 2042

10885 1.03 214.3 587.9 5.7 526 10899 0.00 2.67 8.62 1.184 4 0.000 0.059 2700 3499 2004

10977 1.07 245.4 583.1 5.1 530 11009 0.12 2.55 26.17 1.183 6 0.052 0.050 2740 2101 1877

11321 1.15 315.2 565.7 3.9 546 11381 0.00 0.00 57.53 1.173 6 0.000 0.000 2739 2101 1593

11688 1.25 391.9 548.4 3.7 564 11758 0.12 2.75 62.22 1.158 4 0.051 0.074 2780 694 1280

11796 1.25 391.9 541.9 6.9 569 11801 0.00 2.55 0.00 0.000 6 0.000 0.046 2780 2098 1280

12123 1.25 392.5 523.8 6.0 585 12125 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2101 1280

12433 1.25 392.5 497.7 9.7 600 12437 0.00 2.65 0.00 0.000 4 0.000 0.068 2780 688 1280

12509 1.25 392.5 488.5 12.8 603 12516 0.00 2.53 0.00 0.000 6 0.000 0.044 2780 2098 1280

12824 1.25 392.5 454.7 10.7 619 12829 0.00 2.65 0.00 0.000 4 0.000 0.067 2780 690 1280

12873 1.25 392.5 449.1 11.5 621 12878 0.00 2.50 0.00 0.000 6 0.000 0.043 2780 2094 1280

13194 1.25 392.5 411.0 12.2 637 13195 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2098 1281

13503 1.25 392.5 372.4 12.4 652 13507 0.00 2.62 0.00 0.000 4 0.000 0.065 2780 688 1281

13564 1.25 392.5 363.9 14.9 655 13568 0.00 2.50 0.00 0.000 6 0.000 0.041 2780 2109 1281

13889 1.25 392.5 323.2 12.1 671 13894 0.00 2.65 0.00 0.000 4 0.000 0.065 2780 692 1281

13932 1.25 392.5 317.7 12.5 673 13937 0.00 2.50 0.00 0.000 6 0.000 0.041 2780 2095 1281

14259 1.25 392.5 278.2 12.0 689 14264 0.00 2.60 0.00 0.000 4 0.000 0.064 2780 691 1282

14314 1.25 392.5 271.2 12.7 691 14321 0.00 2.47 0.00 0.000 6 0.000 0.040 2780 2095 1282

14630 1.25 392.5 234.0 11.9 707 14634 0.00 2.60 0.00 0.000 4 0.000 0.064 2780 692 1282

14668 1.25 392.5 229.3 13.0 709 14672 0.00 2.47 0.00 0.000 6 0.000 0.040 2780 2103 1282

14993 1.25 392.5 190.6 11.7 725 14994 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 2106 1282

15303 1.25 392.5 154.6 11.5 740 15307 0.00 2.62 0.00 0.000 4 0.000 0.064 2780 691 1283

15390 1.25 392.5 143.6 11.9 744 15395 0.00 2.50 0.00 0.000 6 0.000 0.039 2780 2104 1283

15717 1.25 392.5 105.6 11.6 760 15722 0.00 2.62 0.00 0.000 4 0.000 0.063 2780 688 1283

15766 1.25 392.5 99.4 11.7 762 15771 0.00 2.50 0.00 0.000 6 0.000 0.039 2780 2101 1283

16088 1.25 392.5 63.0 10.9 778 16089 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 2102 1283

16397 1.25 392.5 29.2 10.4 793 16401 0.00 2.62 0.00 0.000 4 0.000 0.065 2780 691 1283

16480 1.25 392.5 20.1 11.2 797 16485 0.00 2.47 0.00 0.000 6 0.000 0.039 2781 2103 1283

16807 1.50 596.4 2.7 -0.1 813 16903 0.15 2.67 89.80 0.772 4 0.083 0.060 2816 689 602

17024 end climb: NO_VERTICAL_VELOCITY

state 17024 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	122	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-78511.945	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	201438,6214.126,-938.625,29,0.9,29,-9.8	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.204,-0.045
_SM_DEPTHo	3.26	KALMAN_X	115252.2,-145.7,2225.7,-177634.3,25466.3
_SM_ANGLEo	-58.2	KALMAN_Y	142196.5,-162.4,1292.7,-67337.3,18099.8
GPS2	202456,6214.177,-938.399,14,1.1,14,-9.8	MHEAD_RNG_PITCHd_Wd	267.4,48832,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17447,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	550.9,86.5
SM_GC	3.36,12.00,0.00,0.00,0.029,0.000,0.000,33,1905,603,-11.26,0.14,558.06	_24V_AH	23.4,31.004
IRIDIUM_FIX	6148.92,-934.56,061207,000018	_10V_AH	10.1,13.984
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41164,823
HUMID	2064	CFSIZE	260165632,251269120
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	18.80	GPS	061207,011758,6213.709,-941.543,28,3.4,47,-9.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	112	67.61	SBE_CT	602	24	338.23
Roll_motor	107	73	185.09	SBE_O2	555	19	247.07
VBD_pump_during_apogee	535	1217	15262.70	WL_BB2F	536	105	1318.26
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	66	103	159.69	nil	0	0	0.00
Iridium_during_connect	96	160	361.38	nil	0	0	0.00
Iridium_during_xfer	268	223	1401.02
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.11
TT8	1472	19	294.51
LPSleep	13463	2	297.79
TT8_Active	681	19	136.23
TT8_Sampling	1834	39	737.26
TT8_CF8	619	45	286.55
TT8_Kalman	33	81	27.56
Analog_circuits	1635	12	198.19
GPS_charging	0	0	0.00
Compass	1805	8	145.89
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.40	0.000	2	0.000	0.000	28	1882	1085
45	-0.95	-146.6	3.3	-0.0	1	237	11.32	2.55	-171.57	0.000	4	0.113	0.057	2287	3297	3475
320	-0.95	-146.6	7.8	-7.3	14	324	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1905	3475
648	-0.95	-146.6	32.0	-7.2	30	649	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
956	-0.95	-146.6	55.1	-7.6	45	957	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
1266	-0.95	-146.6	77.6	-7.6	60	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
1574	-0.95	-146.6	101.0	-7.9	75	1576	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
1884	-0.95	-146.6	126.9	-8.5	90	1888	0.00	2.50	0.00	0.000	4	0.000	0.046	2287	3299	3475
1954	-0.95	-146.6	133.1	-8.8	93	1959	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1898	3475
2276	-0.95	-146.6	160.1	-8.5	109	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
2585	-0.95	-146.6	186.9	-8.6	124	2586	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
2894	-0.95	-146.6	212.6	-8.2	139	2898	0.00	2.50	0.00	0.000	4	0.000	0.045	2287	3298	3475
2965	-0.95	-146.6	218.5	-8.5	142	2970	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1900	3475
3292	-0.95	-146.6	243.8	-7.7	158	3293	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
3601	-0.95	-146.6	265.9	-7.0	173	3602	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
3910	-0.95	-146.6	287.0	-6.5	188	3911	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
4219	-0.95	-146.6	306.1	-6.1	203	4223	0.00	2.50	0.00	0.000	4	0.000	0.047	2287	3298	3475
4287	-0.95	-146.6	310.1	-5.7	206	4292	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1901	3475
4613	-0.95	-146.6	328.4	-5.2	222	4614	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3475
4922	-0.95	-146.6	346.4	-6.1	237	4923	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3475
5232	-0.95	-146.6	364.2	-5.5	252	5234	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3474
5541	-0.95	-146.6	380.9	-4.9	267	5545	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3301	3475
5657	-0.95	-146.6	387.1	-5.7	272	5662	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1899	3475
5978	-0.95	-146.6	403.3	-5.2	288	5979	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
6287	-0.95	-146.6	420.3	-5.7	303	6288	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
6596	-0.95	-146.6	438.6	-6.0	318	6601	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3298	3475
6673	-0.95	-146.6	443.7	-6.6	321	6680	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1904	3474
6989	-0.95	-146.6	463.4	-6.1	337	6990	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1904	3474
7298	-0.95	-146.6	483.5	-7.0	352	7299	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1904	3474
7607	-0.95	-146.6	506.4	-7.2	367	7612	0.00	2.50	0.00	0.000	4	0.000	0.051	2287	3297	3474
7692	-0.95	-146.6	512.4	-7.3	371	7696	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1894	3474
8017	-0.95	-146.6	530.1	-4.5	387	8019	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3474
8326	-0.95	-146.6	543.0	-4.2	402	8331	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3299	3474
8443	-0.95	-146.6	548.3	-5.5	407	8447	0.00	2.53	0.00	0.000	6	0.000	0.049	2287	1902	3474
8764	-0.95	-146.6	561.4	-4.0	423	8765	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3473
9073	-0.95	-146.6	575.6	-5.3	438	9074	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3473
9382	-0.95	-146.6	595.8	-6.9	453	9384	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3472
9691	-0.95	-146.6	615.4	-6.1	468	9693	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3472
9896	end dive: BOTTOM_OBSTACLE_DETECTED
state	9896	begin apogee
9901	-0.36	0.0	628.0	6.0	478	10025	0.60	0.00	121.28	1.217	6	0.077	0.000	2416	2096	2878
10026	end apogee: CONTROL_FINISHED_OK
state	10026	begin climb
10028	0.95	146.6	632.0	0.0	484	10161	1.30	2.75	120.32	1.177	4	0.055	0.064	2700	3505	2280
10194	1.00	186.7	628.4	4.8	492	10234	0.00	2.58	33.95	1.165	6	0.000	0.050	2700	2097	2115
10556	1.02	204.9	608.6	5.5	510	10576	0.00	0.00	15.95	1.183	6	0.000	0.000	2699	2097	2042
10885	1.03	214.3	587.9	5.7	526	10899	0.00	2.67	8.62	1.184	4	0.000	0.059	2700	3499	2004
10977	1.07	245.4	583.1	5.1	530	11009	0.12	2.55	26.17	1.183	6	0.052	0.050	2740	2101	1877
11321	1.15	315.2	565.7	3.9	546	11381	0.00	0.00	57.53	1.173	6	0.000	0.000	2739	2101	1593
11688	1.25	391.9	548.4	3.7	564	11758	0.12	2.75	62.22	1.158	4	0.051	0.074	2780	694	1280
11796	1.25	391.9	541.9	6.9	569	11801	0.00	2.55	0.00	0.000	6	0.000	0.046	2780	2098	1280
12123	1.25	392.5	523.8	6.0	585	12125	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2101	1280
12433	1.25	392.5	497.7	9.7	600	12437	0.00	2.65	0.00	0.000	4	0.000	0.068	2780	688	1280
12509	1.25	392.5	488.5	12.8	603	12516	0.00	2.53	0.00	0.000	6	0.000	0.044	2780	2098	1280
12824	1.25	392.5	454.7	10.7	619	12829	0.00	2.65	0.00	0.000	4	0.000	0.067	2780	690	1280
12873	1.25	392.5	449.1	11.5	621	12878	0.00	2.50	0.00	0.000	6	0.000	0.043	2780	2094	1280
13194	1.25	392.5	411.0	12.2	637	13195	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2098	1281
13503	1.25	392.5	372.4	12.4	652	13507	0.00	2.62	0.00	0.000	4	0.000	0.065	2780	688	1281
13564	1.25	392.5	363.9	14.9	655	13568	0.00	2.50	0.00	0.000	6	0.000	0.041	2780	2109	1281
13889	1.25	392.5	323.2	12.1	671	13894	0.00	2.65	0.00	0.000	4	0.000	0.065	2780	692	1281
13932	1.25	392.5	317.7	12.5	673	13937	0.00	2.50	0.00	0.000	6	0.000	0.041	2780	2095	1281
14259	1.25	392.5	278.2	12.0	689	14264	0.00	2.60	0.00	0.000	4	0.000	0.064	2780	691	1282
14314	1.25	392.5	271.2	12.7	691	14321	0.00	2.47	0.00	0.000	6	0.000	0.040	2780	2095	1282
14630	1.25	392.5	234.0	11.9	707	14634	0.00	2.60	0.00	0.000	4	0.000	0.064	2780	692	1282
14668	1.25	392.5	229.3	13.0	709	14672	0.00	2.47	0.00	0.000	6	0.000	0.040	2780	2103	1282
14993	1.25	392.5	190.6	11.7	725	14994	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	2106	1282
15303	1.25	392.5	154.6	11.5	740	15307	0.00	2.62	0.00	0.000	4	0.000	0.064	2780	691	1283
15390	1.25	392.5	143.6	11.9	744	15395	0.00	2.50	0.00	0.000	6	0.000	0.039	2780	2104	1283
15717	1.25	392.5	105.6	11.6	760	15722	0.00	2.62	0.00	0.000	4	0.000	0.063	2780	688	1283
15766	1.25	392.5	99.4	11.7	762	15771	0.00	2.50	0.00	0.000	6	0.000	0.039	2780	2101	1283
16088	1.25	392.5	63.0	10.9	778	16089	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	2102	1283
16397	1.25	392.5	29.2	10.4	793	16401	0.00	2.62	0.00	0.000	4	0.000	0.065	2780	691	1283
16480	1.25	392.5	20.1	11.2	797	16485	0.00	2.47	0.00	0.000	6	0.000	0.039	2781	2103	1283
16807	1.50	596.4	2.7	-0.1	813	16903	0.15	2.67	89.80	0.772	4	0.083	0.060	2816	689	602
17024	end climb: NO_VERTICAL_VELOCITY
state	17024	begin surface