Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 125 * 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 125 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -78577.43 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 -78577.43

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 18 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 125 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 134226,6214.673,-946.849,41,1.0,41,-9.9 TGT_NAME DW

_CALLS 3 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,-0.036

_SM_DEPTHo 3.38 KALMAN_X 121685.0,-1086.2,-519.5,-187809.9,19844.3

_SM_ANGLEo -53.7 KALMAN_Y 142906.7,-658.8,13.5,-65238.7,11462.9

GPS2 135515,6214.697,-946.920,11,1.0,11,-9.9 MHEAD_RNG_PITCHd_Wd 269.9,41464,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18078,24.85,0.755,0,0,602,558.06 ALTIM_BOTTOM_PING 600.4,78.1

SM_GC 3.56,12.12,0.00,0.00,0.028,0.000,0.000,30,1883,604,-11.26,-0.48,557.81 _24V_AH 23.4,31.531

IRIDIUM_FIX 6148.92,-948.98,061207,171702 _10V_AH 10.1,14.266

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44100,874

HUMID 2061 CFSIZE 260165632,251076608

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 18.80 GPS 061207,190621,6215.978,-949.589,41,1.6,55,-9.9

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 61.75 SBE_CT 639 24 359.08

Roll_motor 72 69 116.42 SBE_O2 590 19 262.63

VBD_pump_during_apogee 481 1247 14058.13 WL_BB2F 574 105 1410.91

VBD_pump_during_surface 24 755 439.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 276.28 nil 0 0 0.00

Iridium_during_connect 128 160 480.25 nil 0 0 0.00

Iridium_during_xfer 293 223 1529.94

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.40

TT8 1522 19 304.54

LPSleep 14623 2 323.45

TT8_Active 659 19 131.90

TT8_Sampling 1786 39 718.09

TT8_CF8 703 45 325.65

TT8_Kalman 33 81 27.55

Analog_circuits 1554 12 188.39

GPS_charging 0 0 0.00

Compass 1765 8 142.62

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 25 0.00 0.00 -4.32 0.000 2 0.000 0.000 28 1910 706

28 -0.95 -146.6 3.4 -0.0 0 226 11.10 2.50 -178.20 0.000 4 0.103 0.058 2291 3301 3475

478 -0.95 -146.6 24.1 -6.5 21 482 0.00 2.53 0.00 0.000 6 0.000 0.042 2291 1888 3475

799 -0.95 -146.6 48.3 -7.5 37 800 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1888 3475

1108 -0.95 -146.6 70.9 -7.2 52 1112 0.00 2.53 0.00 0.000 4 0.000 0.045 2291 3294 3475

1169 -0.95 -146.6 75.4 -7.7 55 1174 0.00 2.50 0.00 0.000 6 0.000 0.042 2291 1897 3475

1495 -0.95 -146.6 97.4 -6.9 71 1496 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

1804 -0.95 -146.6 118.8 -7.1 86 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

2113 -0.95 -146.6 139.2 -6.3 101 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

2423 -0.95 -146.6 158.2 -6.1 116 2427 0.00 2.50 0.00 0.000 4 0.000 0.046 2291 3295 3475

2494 -0.95 -146.6 162.7 -6.3 119 2498 0.00 2.53 0.00 0.000 6 0.000 0.041 2291 1897 3475

2815 -0.95 -146.6 180.9 -5.5 135 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

3124 -0.95 -146.6 198.8 -6.2 150 3126 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

3433 -0.95 -146.6 217.8 -6.2 165 3438 0.00 2.50 0.00 0.000 4 0.000 0.047 2291 3294 3475

3489 -0.95 -146.6 221.5 -6.8 167 3495 0.00 2.47 0.00 0.000 6 0.000 0.043 2291 1899 3475

3804 -0.95 -146.6 241.2 -6.5 183 3805 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

4113 -0.95 -146.6 262.6 -7.0 198 4114 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

4422 -0.95 -146.6 284.5 -7.1 213 4423 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

4732 -0.95 -146.6 307.1 -7.2 228 4736 0.00 2.50 0.00 0.000 4 0.000 0.047 2291 3294 3475

4831 -0.95 -146.6 314.6 -7.6 232 4838 0.00 2.53 0.00 0.000 6 0.000 0.043 2291 1900 3475

5146 -0.95 -146.6 337.6 -7.6 248 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1900 3475

5456 -0.95 -146.6 362.1 -7.9 263 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

5765 -0.95 -146.6 386.9 -8.0 278 5769 0.00 2.50 0.00 0.000 4 0.000 0.048 2291 3294 3475

5836 -0.95 -146.6 392.7 -8.1 281 5840 0.00 2.53 0.00 0.000 6 0.000 0.044 2291 1899 3475

6157 -0.95 -146.6 419.1 -8.3 297 6158 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

6466 -0.95 -146.6 442.5 -7.3 312 6467 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3475

6775 -0.95 -146.6 462.9 -6.5 327 6780 0.00 2.50 0.00 0.000 4 0.000 0.050 2291 3294 3475

6875 -0.95 -146.6 470.1 -8.0 331 6882 0.00 2.50 0.00 0.000 6 0.000 0.045 2291 1899 3475

7190 -0.95 -146.6 492.8 -7.4 347 7192 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1900 3475

7500 -0.95 -146.6 518.0 -8.4 362 7501 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1900 3474

7809 -0.95 -146.6 543.3 -9.0 377 7813 0.00 2.60 0.00 0.000 4 0.000 0.069 2291 495 3474

7902 -0.95 -146.6 552.5 -9.7 381 7906 0.00 2.50 0.00 0.000 6 0.000 0.044 2291 1895 3474

8223 -0.95 -146.6 578.2 -8.0 397 8224 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1896 3474

8532 -0.95 -146.6 598.2 -6.6 412 8533 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3474

8842 -0.95 -146.6 613.4 -4.6 427 8843 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1896 3474

9151 -0.95 -146.6 626.0 -4.1 442 9152 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1895 3474

9460 -0.95 -146.6 637.9 -4.4 457 9461 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1896 3473

9770 -0.95 -146.6 653.8 -5.4 472 9771 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1896 3473

10057 end dive: BOTTOM_OBSTACLE_DETECTED

state 10057 begin apogee

10062 -0.36 0.0 668.7 5.9 486 10187 0.57 0.00 122.07 1.248 6 0.071 0.000 2416 2097 2877

10188 end apogee: CONTROL_FINISHED_OK

state 10188 begin climb

10190 0.95 146.6 669.8 0.0 492 10320 1.27 2.75 120.93 1.203 4 0.056 0.066 2701 3504 2280

10382 0.95 146.6 661.7 6.7 501 10387 0.00 2.60 0.00 0.000 6 0.000 0.054 2701 2107 2279

10709 0.95 147.1 640.9 6.0 517 10713 0.00 2.60 0.00 0.000 4 0.000 0.061 2700 3506 2279

10821 0.95 147.1 633.5 6.1 522 10825 0.00 2.58 0.00 0.000 6 0.000 0.052 2701 2101 2278

11140 1.14 305.3 621.4 1.3 538 11273 0.20 0.00 130.40 1.203 6 0.040 0.000 2761 2101 1633

11570 1.14 305.3 581.6 10.2 559 11571 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2101 1633

11879 1.14 305.3 552.4 8.9 574 11880 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2101 1632

12188 1.14 305.3 524.6 9.9 589 12189 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2101 1632

12497 1.14 305.3 492.7 9.5 604 12498 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2101 1632

12807 1.14 305.3 463.8 8.4 619 12808 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2101 1632

13116 1.14 305.3 437.1 8.2 634 13117 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2101 1632

13425 1.14 305.3 409.8 8.9 649 13429 0.00 2.60 0.00 0.000 4 0.000 0.067 2761 689 1632

13469 1.14 305.3 405.7 9.6 651 13473 0.00 2.53 0.00 0.000 6 0.000 0.041 2761 2118 1631

13795 1.14 305.3 376.1 9.4 667 13796 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2124 1632

14104 1.14 305.3 348.4 9.1 682 14106 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2124 1633

14414 1.14 305.3 319.4 9.6 697 14418 0.00 2.65 0.00 0.000 4 0.000 0.064 2761 690 1633

14468 1.14 305.3 313.7 10.1 699 14475 0.00 2.50 0.00 0.000 6 0.000 0.041 2761 2104 1633

14783 1.14 305.3 281.9 10.2 715 14784 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2106 1633

15093 1.14 305.3 250.8 9.9 730 15094 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2107 1634

15402 1.14 305.3 221.8 9.2 745 15403 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2107 1634

15711 1.14 305.3 193.8 9.1 760 15712 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2106 1634

16020 1.14 305.3 165.9 9.1 775 16025 0.00 2.62 0.00 0.000 4 0.000 0.062 2761 685 1635

16069 1.14 305.3 161.0 9.3 777 16074 0.00 2.50 0.00 0.000 6 0.000 0.039 2761 2096 1635

16391 1.14 305.3 130.6 9.5 793 16392 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2099 1635

16700 1.14 305.3 101.2 9.3 808 16701 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2099 1635

17009 1.14 305.3 71.4 9.8 823 17010 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2100 1635

17319 1.14 305.3 40.9 9.8 838 17320 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2100 1636

17628 1.14 305.3 10.2 10.1 853 17629 0.00 0.00 0.00 0.000 6 0.000 0.000 2761 2100 1635

17937 1.40 510.8 2.9 -0.1 868 18052 0.17 2.70 107.72 0.770 4 0.058 0.063 2804 691 794

18068 1.65 718.1 2.7 -0.2 874 18074 0.22 2.50 0.30 1.150 2 0.066 0.038 2851 2108 793

18075 end climb: NO_VERTICAL_VELOCITY

state 18075 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	125	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-78577.43	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	134226,6214.673,-946.849,41,1.0,41,-9.9	TGT_NAME	DW
_CALLS	3	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,-0.036
_SM_DEPTHo	3.38	KALMAN_X	121685.0,-1086.2,-519.5,-187809.9,19844.3
_SM_ANGLEo	-53.7	KALMAN_Y	142906.7,-658.8,13.5,-65238.7,11462.9
GPS2	135515,6214.697,-946.920,11,1.0,11,-9.9	MHEAD_RNG_PITCHd_Wd	269.9,41464,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18078,24.85,0.755,0,0,602,558.06	ALTIM_BOTTOM_PING	600.4,78.1
SM_GC	3.56,12.12,0.00,0.00,0.028,0.000,0.000,30,1883,604,-11.26,-0.48,557.81	_24V_AH	23.4,31.531
IRIDIUM_FIX	6148.92,-948.98,061207,171702	_10V_AH	10.1,14.266
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44100,874
HUMID	2061	CFSIZE	260165632,251076608
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	18.80	GPS	061207,190621,6215.978,-949.589,41,1.6,55,-9.9
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	61.75	SBE_CT	639	24	359.08
Roll_motor	72	69	116.42	SBE_O2	590	19	262.63
VBD_pump_during_apogee	481	1247	14058.13	WL_BB2F	574	105	1410.91
VBD_pump_during_surface	24	755	439.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	276.28	nil	0	0	0.00
Iridium_during_connect	128	160	480.25	nil	0	0	0.00
Iridium_during_xfer	293	223	1529.94
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.40
TT8	1522	19	304.54
LPSleep	14623	2	323.45
TT8_Active	659	19	131.90
TT8_Sampling	1786	39	718.09
TT8_CF8	703	45	325.65
TT8_Kalman	33	81	27.55
Analog_circuits	1554	12	188.39
GPS_charging	0	0	0.00
Compass	1765	8	142.62
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	25	0.00	0.00	-4.32	0.000	2	0.000	0.000	28	1910	706
28	-0.95	-146.6	3.4	-0.0	0	226	11.10	2.50	-178.20	0.000	4	0.103	0.058	2291	3301	3475
478	-0.95	-146.6	24.1	-6.5	21	482	0.00	2.53	0.00	0.000	6	0.000	0.042	2291	1888	3475
799	-0.95	-146.6	48.3	-7.5	37	800	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1888	3475
1108	-0.95	-146.6	70.9	-7.2	52	1112	0.00	2.53	0.00	0.000	4	0.000	0.045	2291	3294	3475
1169	-0.95	-146.6	75.4	-7.7	55	1174	0.00	2.50	0.00	0.000	6	0.000	0.042	2291	1897	3475
1495	-0.95	-146.6	97.4	-6.9	71	1496	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
1804	-0.95	-146.6	118.8	-7.1	86	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
2113	-0.95	-146.6	139.2	-6.3	101	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
2423	-0.95	-146.6	158.2	-6.1	116	2427	0.00	2.50	0.00	0.000	4	0.000	0.046	2291	3295	3475
2494	-0.95	-146.6	162.7	-6.3	119	2498	0.00	2.53	0.00	0.000	6	0.000	0.041	2291	1897	3475
2815	-0.95	-146.6	180.9	-5.5	135	2816	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
3124	-0.95	-146.6	198.8	-6.2	150	3126	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
3433	-0.95	-146.6	217.8	-6.2	165	3438	0.00	2.50	0.00	0.000	4	0.000	0.047	2291	3294	3475
3489	-0.95	-146.6	221.5	-6.8	167	3495	0.00	2.47	0.00	0.000	6	0.000	0.043	2291	1899	3475
3804	-0.95	-146.6	241.2	-6.5	183	3805	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
4113	-0.95	-146.6	262.6	-7.0	198	4114	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
4422	-0.95	-146.6	284.5	-7.1	213	4423	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
4732	-0.95	-146.6	307.1	-7.2	228	4736	0.00	2.50	0.00	0.000	4	0.000	0.047	2291	3294	3475
4831	-0.95	-146.6	314.6	-7.6	232	4838	0.00	2.53	0.00	0.000	6	0.000	0.043	2291	1900	3475
5146	-0.95	-146.6	337.6	-7.6	248	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1900	3475
5456	-0.95	-146.6	362.1	-7.9	263	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
5765	-0.95	-146.6	386.9	-8.0	278	5769	0.00	2.50	0.00	0.000	4	0.000	0.048	2291	3294	3475
5836	-0.95	-146.6	392.7	-8.1	281	5840	0.00	2.53	0.00	0.000	6	0.000	0.044	2291	1899	3475
6157	-0.95	-146.6	419.1	-8.3	297	6158	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
6466	-0.95	-146.6	442.5	-7.3	312	6467	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3475
6775	-0.95	-146.6	462.9	-6.5	327	6780	0.00	2.50	0.00	0.000	4	0.000	0.050	2291	3294	3475
6875	-0.95	-146.6	470.1	-8.0	331	6882	0.00	2.50	0.00	0.000	6	0.000	0.045	2291	1899	3475
7190	-0.95	-146.6	492.8	-7.4	347	7192	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1900	3475
7500	-0.95	-146.6	518.0	-8.4	362	7501	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1900	3474
7809	-0.95	-146.6	543.3	-9.0	377	7813	0.00	2.60	0.00	0.000	4	0.000	0.069	2291	495	3474
7902	-0.95	-146.6	552.5	-9.7	381	7906	0.00	2.50	0.00	0.000	6	0.000	0.044	2291	1895	3474
8223	-0.95	-146.6	578.2	-8.0	397	8224	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1896	3474
8532	-0.95	-146.6	598.2	-6.6	412	8533	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3474
8842	-0.95	-146.6	613.4	-4.6	427	8843	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1896	3474
9151	-0.95	-146.6	626.0	-4.1	442	9152	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1895	3474
9460	-0.95	-146.6	637.9	-4.4	457	9461	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1896	3473
9770	-0.95	-146.6	653.8	-5.4	472	9771	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1896	3473
10057	end dive: BOTTOM_OBSTACLE_DETECTED
state	10057	begin apogee
10062	-0.36	0.0	668.7	5.9	486	10187	0.57	0.00	122.07	1.248	6	0.071	0.000	2416	2097	2877
10188	end apogee: CONTROL_FINISHED_OK
state	10188	begin climb
10190	0.95	146.6	669.8	0.0	492	10320	1.27	2.75	120.93	1.203	4	0.056	0.066	2701	3504	2280
10382	0.95	146.6	661.7	6.7	501	10387	0.00	2.60	0.00	0.000	6	0.000	0.054	2701	2107	2279
10709	0.95	147.1	640.9	6.0	517	10713	0.00	2.60	0.00	0.000	4	0.000	0.061	2700	3506	2279
10821	0.95	147.1	633.5	6.1	522	10825	0.00	2.58	0.00	0.000	6	0.000	0.052	2701	2101	2278
11140	1.14	305.3	621.4	1.3	538	11273	0.20	0.00	130.40	1.203	6	0.040	0.000	2761	2101	1633
11570	1.14	305.3	581.6	10.2	559	11571	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2101	1633
11879	1.14	305.3	552.4	8.9	574	11880	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2101	1632
12188	1.14	305.3	524.6	9.9	589	12189	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2101	1632
12497	1.14	305.3	492.7	9.5	604	12498	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2101	1632
12807	1.14	305.3	463.8	8.4	619	12808	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2101	1632
13116	1.14	305.3	437.1	8.2	634	13117	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2101	1632
13425	1.14	305.3	409.8	8.9	649	13429	0.00	2.60	0.00	0.000	4	0.000	0.067	2761	689	1632
13469	1.14	305.3	405.7	9.6	651	13473	0.00	2.53	0.00	0.000	6	0.000	0.041	2761	2118	1631
13795	1.14	305.3	376.1	9.4	667	13796	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2124	1632
14104	1.14	305.3	348.4	9.1	682	14106	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2124	1633
14414	1.14	305.3	319.4	9.6	697	14418	0.00	2.65	0.00	0.000	4	0.000	0.064	2761	690	1633
14468	1.14	305.3	313.7	10.1	699	14475	0.00	2.50	0.00	0.000	6	0.000	0.041	2761	2104	1633
14783	1.14	305.3	281.9	10.2	715	14784	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2106	1633
15093	1.14	305.3	250.8	9.9	730	15094	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2107	1634
15402	1.14	305.3	221.8	9.2	745	15403	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2107	1634
15711	1.14	305.3	193.8	9.1	760	15712	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2106	1634
16020	1.14	305.3	165.9	9.1	775	16025	0.00	2.62	0.00	0.000	4	0.000	0.062	2761	685	1635
16069	1.14	305.3	161.0	9.3	777	16074	0.00	2.50	0.00	0.000	6	0.000	0.039	2761	2096	1635
16391	1.14	305.3	130.6	9.5	793	16392	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2099	1635
16700	1.14	305.3	101.2	9.3	808	16701	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2099	1635
17009	1.14	305.3	71.4	9.8	823	17010	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2100	1635
17319	1.14	305.3	40.9	9.8	838	17320	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2100	1636
17628	1.14	305.3	10.2	10.1	853	17629	0.00	0.00	0.00	0.000	6	0.000	0.000	2761	2100	1635
17937	1.40	510.8	2.9	-0.1	868	18052	0.17	2.70	107.72	0.770	4	0.058	0.063	2804	691	794
18068	1.65	718.1	2.7	-0.2	874	18074	0.22	2.50	0.30	1.150	2	0.066	0.038	2851	2108	793
18075	end climb: NO_VERTICAL_VELOCITY
state	18075	begin surface