Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 127 * 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 127 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -78601.984 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 -78601.984

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 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 127 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 002837,6214.318,-947.420,43,2.0,43,-9.9 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,-0.023

_SM_DEPTHo 3.47 KALMAN_X 129618.0,-750.7,-1233.9,-195907.0,17348.6

_SM_ANGLEo -50.0 KALMAN_Y 146363.0,-420.6,1053.7,-70755.7,7765.9

GPS2 003415,6214.295,-947.482,9,1.0,9,-9.9 MHEAD_RNG_PITCHd_Wd 273.7,40996,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19394,0.00,0.000,0,0,604,557.81 ALTIM_BOTTOM_PING 600.7,70.0

SM_GC 3.55,12.07,0.00,0.00,0.030,0.000,0.000,28,1878,604,-11.27,-0.62,557.81 _24V_AH 23.4,31.865

IRIDIUM_FIX 6153.50,-950.56,061207,232344 _10V_AH 10.1,14.441

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44315,917

HUMID 2054 CFSIZE 260165632,250957824

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.80 GPS 071207,055957,6214.643,-954.041,41,2.7,60,-10.0

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 64.45 SBE_CT 670 24 376.65

Roll_motor 76 73 132.45 SBE_O2 618 19 275.11

VBD_pump_during_apogee 491 1226 14103.18 WL_BB2F 646 105 1587.75

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 38 103 92.33 nil 0 0 0.00

Iridium_during_connect 37 160 139.90 nil 0 0 0.00

Iridium_during_xfer 168 223 880.13

Transponder_ping 7 420 73.71

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.68

TT8 1601 19 320.32

LPSleep 15166 2 335.47

TT8_Active 629 19 125.87

TT8_Sampling 1937 39 778.74

TT8_CF8 399 45 184.82

TT8_Kalman 33 81 27.56

Analog_circuits 1601 12 194.06

GPS_charging 0 0 0.00

Compass 1912 8 154.53

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 28 0.00 0.00 -7.28 0.000 2 0.000 0.000 28 1910 776

30 -0.95 -146.6 3.5 -0.0 1 227 11.18 2.50 -177.38 0.000 4 0.107 0.058 2284 3301 3475

383 -0.95 -146.6 19.1 -7.2 17 391 0.00 2.55 0.00 0.000 6 0.000 0.042 2284 1896 3475

699 -0.95 -146.6 42.5 -8.1 33 700 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1895 3475

1008 -0.95 -146.6 64.4 -7.5 48 1010 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1895 3475

1318 -0.95 -146.6 87.6 -7.0 63 1322 0.00 2.53 0.00 0.000 4 0.000 0.045 2284 3305 3475

1379 -0.95 -146.6 92.0 -7.5 66 1384 0.00 2.53 0.00 0.000 6 0.000 0.041 2284 1890 3475

1706 -0.95 -146.6 118.2 -8.7 82 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1890 3475

2016 -0.95 -146.6 143.1 -8.1 97 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1890 3475

2323 -0.95 -146.6 168.1 -8.1 112 2327 0.00 2.53 0.00 0.000 4 0.000 0.046 2284 3301 3475

2407 -0.95 -146.6 175.1 -8.4 115 2414 0.00 2.50 0.00 0.000 6 0.000 0.042 2284 1894 3475

2723 -0.95 -146.6 200.4 -8.0 131 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1894 3475

3032 -0.95 -146.6 225.0 -7.8 146 3036 0.00 2.53 0.00 0.000 4 0.000 0.046 2284 3303 3475

3131 -0.95 -146.6 232.8 -7.9 150 3138 0.00 2.53 0.00 0.000 6 0.000 0.042 2284 1905 3475

3447 -0.95 -146.6 256.4 -7.4 166 3448 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3475

3756 -0.95 -146.6 277.7 -6.8 181 3757 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1904 3475

4065 -0.95 -146.6 299.1 -7.0 196 4067 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3475

4375 -0.95 -146.6 319.7 -6.7 211 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3475

4684 -0.95 -146.6 340.8 -6.6 226 4685 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3475

4994 -0.95 -146.6 361.2 -6.5 241 4998 0.00 2.50 0.00 0.000 4 0.000 0.048 2284 3296 3475

5064 -0.95 -146.6 366.2 -7.0 244 5069 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1903 3475

5386 -0.95 -146.6 386.5 -6.4 260 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1903 3475

5695 -0.95 -146.6 407.3 -7.1 275 5696 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1903 3475

6004 -0.95 -146.6 430.7 -8.0 290 6008 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3300 3475

6075 -0.95 -146.6 436.7 -8.7 293 6079 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1896 3475

6396 -0.95 -146.6 462.5 -7.6 309 6397 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3475

6705 -0.95 -146.6 485.4 -7.9 324 6709 0.00 2.53 0.00 0.000 4 0.000 0.050 2284 3298 3475

6799 -0.95 -146.6 493.3 -8.3 328 6804 0.00 2.53 0.00 0.000 6 0.000 0.046 2284 1895 3475

7120 -0.95 -146.6 523.8 -10.6 344 7121 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1896 3475

7429 -0.95 -146.6 552.8 -8.5 359 7434 0.00 2.53 0.00 0.000 4 0.000 0.052 2284 3298 3475

7564 -0.95 -146.6 562.1 -6.4 365 7568 0.00 2.50 0.00 0.000 6 0.000 0.047 2284 1901 3475

7884 -0.95 -146.6 582.7 -7.5 381 7885 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3475

8193 -0.95 -146.6 614.0 -10.7 396 8195 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3474

8502 -0.95 -146.6 641.0 -6.8 411 8504 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3474

8812 -0.95 -146.6 660.1 -6.3 426 8813 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3474

8831 end dive: BOTTOM_OBSTACLE_DETECTED

state 8831 begin apogee

8836 -0.36 0.0 661.6 6.6 427 8961 0.62 0.00 122.32 1.226 6 0.074 0.000 2420 2096 2878

8962 end apogee: CONTROL_FINISHED_OK

state 8962 begin climb

8964 0.95 146.6 666.3 0.0 433 9092 1.25 2.67 120.70 1.185 4 0.054 0.063 2701 3498 2280

9131 0.98 173.1 662.3 5.2 441 9161 0.00 2.55 22.52 1.189 6 0.000 0.051 2701 2104 2172

9477 0.98 173.1 639.7 6.7 458 9481 0.00 2.67 0.00 0.000 4 0.000 0.074 2701 689 2172

9547 0.98 173.1 634.7 7.5 461 9552 0.00 2.55 0.00 0.000 6 0.000 0.048 2701 2091 2172

9869 1.02 206.4 616.8 5.0 477 9899 0.00 0.00 28.35 1.205 6 0.000 0.000 2701 2091 2036

10198 1.02 206.4 590.7 8.9 493 10199 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2092 2035

10507 1.02 206.4 565.7 7.2 508 10508 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2093 2034

10816 1.02 206.4 544.1 7.6 523 10818 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2093 2033

11125 1.02 206.4 520.3 7.9 538 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2094 2033

11435 1.02 206.4 497.0 7.8 553 11439 0.00 2.60 0.00 0.000 4 0.000 0.065 2701 690 2033

11489 1.02 206.4 492.8 7.5 555 11496 0.00 2.53 0.00 0.000 6 0.000 0.042 2701 2107 2033

11805 1.02 206.4 473.3 7.0 571 11806 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2107 2033

12114 1.02 206.4 450.0 7.5 586 12118 0.00 2.50 0.00 0.000 4 0.000 0.053 2701 3498 2034

12185 1.02 206.4 444.3 8.4 589 12189 0.00 2.50 0.00 0.000 6 0.000 0.044 2701 2095 2033

12506 1.02 206.4 417.7 8.8 605 12507 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2033

12815 1.02 206.4 390.2 9.0 620 12816 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2034

13124 1.02 206.4 362.9 8.9 635 13126 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2034

13433 1.02 206.4 336.2 8.4 650 13435 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2034

13743 1.02 206.4 311.9 7.6 665 13744 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2034

14052 1.02 206.4 289.4 7.1 680 14053 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2035

14361 1.02 206.4 268.0 6.6 695 14362 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 2035

14671 1.04 218.0 249.3 5.7 710 14683 0.00 0.00 10.38 0.997 6 0.000 0.000 2701 2095 1989

14980 1.04 218.0 226.1 8.7 725 14981 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 1989

15289 1.04 218.0 201.9 7.2 740 15290 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2095 1989

15599 1.04 224.8 182.8 5.8 755 15612 0.00 2.62 6.50 0.954 4 0.000 0.048 2701 3506 1962

15668 1.05 230.9 178.6 5.8 758 15680 0.10 2.50 6.03 0.948 6 0.057 0.038 2738 2094 1935

15988 1.05 230.9 155.9 7.5 773 15989 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1936

16298 1.05 230.9 133.4 7.0 788 16299 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1936

16607 1.05 230.9 112.6 6.3 803 16608 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1936

16916 1.05 230.9 92.6 6.6 818 16917 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1936

17225 1.05 230.9 70.1 8.9 833 17227 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2094 1936

17535 1.05 230.9 48.5 6.9 848 17539 0.00 2.55 0.00 0.000 4 0.000 0.048 2738 3506 1936

17596 1.08 250.5 44.3 5.4 851 17618 0.00 2.47 16.35 0.858 6 0.000 0.039 2738 2099 1856

17928 1.08 250.5 20.7 10.0 867 17929 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1856

18236 1.32 453.4 3.0 -0.0 882 18348 0.20 2.62 105.55 0.761 4 0.054 0.058 2788 688 1027

18601 1.57 651.0 3.0 0.1 899 18665 0.22 2.47 52.72 0.752 6 0.094 0.038 2831 2107 602

18972 end climb: NO_VERTICAL_VELOCITY

state 18972 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	127	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-78601.984	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	002837,6214.318,-947.420,43,2.0,43,-9.9	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,-0.023
_SM_DEPTHo	3.47	KALMAN_X	129618.0,-750.7,-1233.9,-195907.0,17348.6
_SM_ANGLEo	-50.0	KALMAN_Y	146363.0,-420.6,1053.7,-70755.7,7765.9
GPS2	003415,6214.295,-947.482,9,1.0,9,-9.9	MHEAD_RNG_PITCHd_Wd	273.7,40996,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19394,0.00,0.000,0,0,604,557.81	ALTIM_BOTTOM_PING	600.7,70.0
SM_GC	3.55,12.07,0.00,0.00,0.030,0.000,0.000,28,1878,604,-11.27,-0.62,557.81	_24V_AH	23.4,31.865
IRIDIUM_FIX	6153.50,-950.56,061207,232344	_10V_AH	10.1,14.441
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44315,917
HUMID	2054	CFSIZE	260165632,250957824
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.80	GPS	071207,055957,6214.643,-954.041,41,2.7,60,-10.0
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	64.45	SBE_CT	670	24	376.65
Roll_motor	76	73	132.45	SBE_O2	618	19	275.11
VBD_pump_during_apogee	491	1226	14103.18	WL_BB2F	646	105	1587.75
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	38	103	92.33	nil	0	0	0.00
Iridium_during_connect	37	160	139.90	nil	0	0	0.00
Iridium_during_xfer	168	223	880.13
Transponder_ping	7	420	73.71
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.68
TT8	1601	19	320.32
LPSleep	15166	2	335.47
TT8_Active	629	19	125.87
TT8_Sampling	1937	39	778.74
TT8_CF8	399	45	184.82
TT8_Kalman	33	81	27.56
Analog_circuits	1601	12	194.06
GPS_charging	0	0	0.00
Compass	1912	8	154.53
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	28	0.00	0.00	-7.28	0.000	2	0.000	0.000	28	1910	776
30	-0.95	-146.6	3.5	-0.0	1	227	11.18	2.50	-177.38	0.000	4	0.107	0.058	2284	3301	3475
383	-0.95	-146.6	19.1	-7.2	17	391	0.00	2.55	0.00	0.000	6	0.000	0.042	2284	1896	3475
699	-0.95	-146.6	42.5	-8.1	33	700	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1895	3475
1008	-0.95	-146.6	64.4	-7.5	48	1010	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1895	3475
1318	-0.95	-146.6	87.6	-7.0	63	1322	0.00	2.53	0.00	0.000	4	0.000	0.045	2284	3305	3475
1379	-0.95	-146.6	92.0	-7.5	66	1384	0.00	2.53	0.00	0.000	6	0.000	0.041	2284	1890	3475
1706	-0.95	-146.6	118.2	-8.7	82	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1890	3475
2016	-0.95	-146.6	143.1	-8.1	97	2017	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1890	3475
2323	-0.95	-146.6	168.1	-8.1	112	2327	0.00	2.53	0.00	0.000	4	0.000	0.046	2284	3301	3475
2407	-0.95	-146.6	175.1	-8.4	115	2414	0.00	2.50	0.00	0.000	6	0.000	0.042	2284	1894	3475
2723	-0.95	-146.6	200.4	-8.0	131	2724	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1894	3475
3032	-0.95	-146.6	225.0	-7.8	146	3036	0.00	2.53	0.00	0.000	4	0.000	0.046	2284	3303	3475
3131	-0.95	-146.6	232.8	-7.9	150	3138	0.00	2.53	0.00	0.000	6	0.000	0.042	2284	1905	3475
3447	-0.95	-146.6	256.4	-7.4	166	3448	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3475
3756	-0.95	-146.6	277.7	-6.8	181	3757	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1904	3475
4065	-0.95	-146.6	299.1	-7.0	196	4067	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3475
4375	-0.95	-146.6	319.7	-6.7	211	4376	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3475
4684	-0.95	-146.6	340.8	-6.6	226	4685	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3475
4994	-0.95	-146.6	361.2	-6.5	241	4998	0.00	2.50	0.00	0.000	4	0.000	0.048	2284	3296	3475
5064	-0.95	-146.6	366.2	-7.0	244	5069	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1903	3475
5386	-0.95	-146.6	386.5	-6.4	260	5387	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1903	3475
5695	-0.95	-146.6	407.3	-7.1	275	5696	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1903	3475
6004	-0.95	-146.6	430.7	-8.0	290	6008	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3300	3475
6075	-0.95	-146.6	436.7	-8.7	293	6079	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1896	3475
6396	-0.95	-146.6	462.5	-7.6	309	6397	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3475
6705	-0.95	-146.6	485.4	-7.9	324	6709	0.00	2.53	0.00	0.000	4	0.000	0.050	2284	3298	3475
6799	-0.95	-146.6	493.3	-8.3	328	6804	0.00	2.53	0.00	0.000	6	0.000	0.046	2284	1895	3475
7120	-0.95	-146.6	523.8	-10.6	344	7121	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1896	3475
7429	-0.95	-146.6	552.8	-8.5	359	7434	0.00	2.53	0.00	0.000	4	0.000	0.052	2284	3298	3475
7564	-0.95	-146.6	562.1	-6.4	365	7568	0.00	2.50	0.00	0.000	6	0.000	0.047	2284	1901	3475
7884	-0.95	-146.6	582.7	-7.5	381	7885	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3475
8193	-0.95	-146.6	614.0	-10.7	396	8195	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3474
8502	-0.95	-146.6	641.0	-6.8	411	8504	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3474
8812	-0.95	-146.6	660.1	-6.3	426	8813	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3474
8831	end dive: BOTTOM_OBSTACLE_DETECTED
state	8831	begin apogee
8836	-0.36	0.0	661.6	6.6	427	8961	0.62	0.00	122.32	1.226	6	0.074	0.000	2420	2096	2878
8962	end apogee: CONTROL_FINISHED_OK
state	8962	begin climb
8964	0.95	146.6	666.3	0.0	433	9092	1.25	2.67	120.70	1.185	4	0.054	0.063	2701	3498	2280
9131	0.98	173.1	662.3	5.2	441	9161	0.00	2.55	22.52	1.189	6	0.000	0.051	2701	2104	2172
9477	0.98	173.1	639.7	6.7	458	9481	0.00	2.67	0.00	0.000	4	0.000	0.074	2701	689	2172
9547	0.98	173.1	634.7	7.5	461	9552	0.00	2.55	0.00	0.000	6	0.000	0.048	2701	2091	2172
9869	1.02	206.4	616.8	5.0	477	9899	0.00	0.00	28.35	1.205	6	0.000	0.000	2701	2091	2036
10198	1.02	206.4	590.7	8.9	493	10199	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2092	2035
10507	1.02	206.4	565.7	7.2	508	10508	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2093	2034
10816	1.02	206.4	544.1	7.6	523	10818	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2093	2033
11125	1.02	206.4	520.3	7.9	538	11127	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2094	2033
11435	1.02	206.4	497.0	7.8	553	11439	0.00	2.60	0.00	0.000	4	0.000	0.065	2701	690	2033
11489	1.02	206.4	492.8	7.5	555	11496	0.00	2.53	0.00	0.000	6	0.000	0.042	2701	2107	2033
11805	1.02	206.4	473.3	7.0	571	11806	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2107	2033
12114	1.02	206.4	450.0	7.5	586	12118	0.00	2.50	0.00	0.000	4	0.000	0.053	2701	3498	2034
12185	1.02	206.4	444.3	8.4	589	12189	0.00	2.50	0.00	0.000	6	0.000	0.044	2701	2095	2033
12506	1.02	206.4	417.7	8.8	605	12507	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2033
12815	1.02	206.4	390.2	9.0	620	12816	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2034
13124	1.02	206.4	362.9	8.9	635	13126	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2034
13433	1.02	206.4	336.2	8.4	650	13435	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2034
13743	1.02	206.4	311.9	7.6	665	13744	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2034
14052	1.02	206.4	289.4	7.1	680	14053	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2035
14361	1.02	206.4	268.0	6.6	695	14362	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	2035
14671	1.04	218.0	249.3	5.7	710	14683	0.00	0.00	10.38	0.997	6	0.000	0.000	2701	2095	1989
14980	1.04	218.0	226.1	8.7	725	14981	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	1989
15289	1.04	218.0	201.9	7.2	740	15290	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2095	1989
15599	1.04	224.8	182.8	5.8	755	15612	0.00	2.62	6.50	0.954	4	0.000	0.048	2701	3506	1962
15668	1.05	230.9	178.6	5.8	758	15680	0.10	2.50	6.03	0.948	6	0.057	0.038	2738	2094	1935
15988	1.05	230.9	155.9	7.5	773	15989	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1936
16298	1.05	230.9	133.4	7.0	788	16299	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1936
16607	1.05	230.9	112.6	6.3	803	16608	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1936
16916	1.05	230.9	92.6	6.6	818	16917	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1936
17225	1.05	230.9	70.1	8.9	833	17227	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2094	1936
17535	1.05	230.9	48.5	6.9	848	17539	0.00	2.55	0.00	0.000	4	0.000	0.048	2738	3506	1936
17596	1.08	250.5	44.3	5.4	851	17618	0.00	2.47	16.35	0.858	6	0.000	0.039	2738	2099	1856
17928	1.08	250.5	20.7	10.0	867	17929	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1856
18236	1.32	453.4	3.0	-0.0	882	18348	0.20	2.62	105.55	0.761	4	0.054	0.058	2788	688	1027
18601	1.57	651.0	3.0	0.1	899	18665	0.22	2.47	52.72	0.752	6	0.094	0.038	2831	2107	602
18972	end climb: NO_VERTICAL_VELOCITY
state	18972	begin surface