Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 128 * 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 128 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 38 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -78617.156 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 -78617.156

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 38 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 128 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 055957,6214.643,-954.041,41,2.7,60,-10.0 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.165,-0.128

_SM_DEPTHo 3.61 KALMAN_X 125796.6,-312.5,2260.7,-201794.9,8838.7

_SM_ANGLEo -53.4 KALMAN_Y 146129.9,-7.1,1966.1,-71132.5,4172.9

GPS2 060533,6214.686,-954.027,13,1.3,13,-10.0 MHEAD_RNG_PITCHd_Wd 242.2,35337,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17933,38.17,0.759,0,0,603,558.06 ALTIM_BOTTOM_PING 575.8,90.8

SM_GC 3.68,11.95,0.00,0.00,0.031,0.000,0.000,29,1905,604,-11.27,0.17,558.06 _24V_AH 23.4,32.029

IRIDIUM_FIX 6148.92,-953.53,071207,040426 _10V_AH 10.1,14.526

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44275,868

HUMID 2043 CFSIZE 260165632,250888192

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.90 GPS 071207,111439,6214.648,-953.912,45,2.7,64,-10.0

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.72 SBE_CT 635 24 356.98

Roll_motor 111 72 188.74 SBE_O2 585 19 260.49

VBD_pump_during_apogee 459 1221 13139.64 WL_BB2F 574 105 1410.90

VBD_pump_during_surface 38 758 677.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.89 nil 0 0 0.00

Iridium_during_connect 36 160 137.24 nil 0 0 0.00

Iridium_during_xfer 164 223 856.70

Transponder_ping 5 420 49.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.35

TT8 1565 19 313.14

LPSleep 14139 2 312.76

TT8_Active 649 19 129.79

TT8_Sampling 1986 39 798.69

TT8_CF8 391 45 181.26

TT8_Kalman 33 81 27.57

Analog_circuits 1661 12 201.33

GPS_charging 0 0 0.00

Compass 1950 8 157.62

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 43 0.00 0.00 -22.08 0.000 2 0.000 0.000 27 1871 1110

45 -0.95 -146.6 3.7 -0.0 1 232 11.15 2.62 -162.52 0.000 4 0.106 0.057 2286 3303 3475

484 -0.95 -146.6 20.7 -7.3 21 489 0.00 2.47 0.00 0.000 6 0.000 0.041 2286 1911 3475

806 -0.95 -146.6 45.4 -5.8 37 810 0.00 2.47 0.00 0.000 4 0.000 0.045 2286 3296 3475

912 -0.95 -146.6 53.0 -7.5 42 916 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1895 3475

1237 -0.95 -146.6 74.9 -8.0 58 1238 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3475

1547 -0.95 -146.6 93.7 -5.9 73 1548 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3475

1857 -0.95 -146.6 115.0 -7.3 88 1858 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3475

2165 -0.95 -146.6 140.7 -8.3 103 2170 0.00 2.53 0.00 0.000 4 0.000 0.045 2286 3304 3475

2250 -0.95 -146.6 147.6 -8.5 107 2254 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1901 3475

2575 -0.95 -146.6 174.3 -8.5 123 2576 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

2884 -0.95 -146.6 199.3 -7.9 138 2885 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

3193 -0.95 -146.6 222.7 -7.8 153 3198 0.00 2.50 0.00 0.000 4 0.000 0.045 2286 3296 3475

3271 -0.95 -146.6 229.1 -8.1 156 3277 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1897 3475

3586 -0.95 -146.6 254.1 -8.5 172 3590 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3296 3475

3647 -0.95 -146.6 259.4 -8.5 175 3651 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1894 3475

3973 -0.95 -146.6 285.7 -7.7 191 3974 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

4283 -0.95 -146.6 304.6 -5.5 206 4284 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

4592 -0.95 -146.6 320.2 -4.7 221 4596 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3299 3475

4653 -0.95 -146.6 323.0 -4.1 224 4657 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1900 3474

4978 -0.95 -146.6 337.4 -4.1 240 4979 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

5287 -0.95 -146.6 353.6 -5.9 255 5291 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3295 3475

5336 -0.95 -146.6 356.5 -5.4 257 5341 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1894 3475

5658 -0.95 -146.6 373.6 -5.2 273 5659 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

5966 -0.95 -146.6 391.6 -6.1 288 5968 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

6276 -0.95 -146.6 411.2 -6.7 303 6277 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

6585 -0.95 -146.6 433.3 -7.6 318 6586 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

6894 -0.95 -146.6 453.7 -6.7 333 6899 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3300 3475

6956 -0.95 -146.6 458.3 -7.8 336 6960 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1896 3475

7281 -0.95 -146.6 482.5 -7.7 352 7282 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3475

7590 -0.95 -146.6 503.3 -6.5 367 7591 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3475

7899 -0.95 -146.6 522.0 -6.7 382 7904 0.00 2.55 0.00 0.000 4 0.000 0.052 2286 3298 3475

7984 -0.95 -146.6 528.1 -8.5 386 7988 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1897 3475

8309 -0.95 -146.6 552.6 -7.6 402 8310 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3474

8621 -0.95 -146.6 575.8 -7.6 417 8626 0.00 2.55 0.00 0.000 4 0.000 0.054 2286 3294 3474

8676 -0.95 -146.6 580.4 -8.3 419 8683 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1906 3475

8991 -0.95 -146.6 603.3 -6.6 435 8996 0.00 2.53 0.00 0.000 4 0.000 0.057 2286 3294 3474

9040 -0.95 -146.6 606.5 -7.1 437 9045 0.00 2.50 0.00 0.000 6 0.000 0.048 2286 1901 3474

9362 -0.95 -146.6 626.4 -5.8 453 9366 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3295 3474

9433 -0.95 -146.6 630.7 -5.5 456 9437 0.00 2.53 0.00 0.000 6 0.000 0.050 2286 1897 3474

9755 -0.95 -146.6 644.7 -4.1 472 9759 0.00 2.55 0.00 0.000 4 0.000 0.058 2286 3292 3474

9854 -0.95 -146.6 649.6 -5.9 476 9861 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1895 3474

10003 end dive: BOTTOM_OBSTACLE_DETECTED

state 10003 begin apogee

10008 -0.36 0.0 657.2 4.9 484 10133 0.60 0.00 122.20 1.222 6 0.075 0.000 2415 2091 2878

10134 end apogee: CONTROL_FINISHED_OK

state 10134 begin climb

10136 0.95 146.6 659.9 0.0 490 10268 1.33 2.72 121.15 1.184 4 0.054 0.068 2704 693 2280

10385 0.95 146.6 649.6 8.1 502 10389 0.00 2.55 0.00 0.000 6 0.000 0.048 2705 2094 2279

10712 0.95 146.6 623.7 8.4 518 10716 0.00 2.65 0.00 0.000 4 0.000 0.069 2704 691 2279

10968 1.11 281.6 612.2 2.0 529 11085 0.15 2.53 110.55 1.184 6 0.045 0.047 2754 2102 1730

11401 1.11 281.6 581.4 10.5 551 11406 0.00 2.67 0.00 0.000 4 0.000 0.072 2754 694 1729

11523 1.11 281.6 567.8 10.1 556 11530 0.00 2.53 0.00 0.000 6 0.000 0.046 2754 2107 1729

11839 1.11 281.6 537.0 9.8 572 11840 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2108 1729

12148 1.11 281.6 511.4 7.1 587 12152 0.00 2.65 0.00 0.000 4 0.000 0.069 2754 692 1728

12191 1.11 281.6 508.0 7.7 589 12195 0.00 2.53 0.00 0.000 6 0.000 0.044 2754 2102 1728

12517 1.11 281.6 484.2 7.3 605 12518 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2105 1728

12826 1.11 281.6 460.6 8.5 620 12828 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2105 1728

13136 1.11 281.6 430.6 10.1 635 13137 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2105 1728

13445 1.11 281.6 399.4 9.9 650 13449 0.00 2.62 0.00 0.000 4 0.000 0.064 2754 692 1729

13484 1.11 281.6 395.4 11.2 652 13488 0.00 2.47 0.00 0.000 6 0.000 0.041 2754 2100 1728

13809 1.11 281.6 362.1 10.7 668 13810 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2104 1728

14118 1.11 281.6 329.0 10.6 683 14123 0.00 2.62 0.00 0.000 4 0.000 0.064 2754 689 1729

14156 1.11 281.6 324.7 11.4 685 14161 0.00 2.50 0.00 0.000 6 0.000 0.041 2754 2104 1729

14482 1.11 281.6 291.1 10.0 701 14484 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2108 1729

14792 1.11 281.6 261.8 9.0 716 14796 0.00 2.62 0.00 0.000 4 0.000 0.062 2754 689 1728

14834 1.11 281.6 257.7 9.1 718 14839 0.00 2.50 0.00 0.000 6 0.000 0.040 2754 2093 1729

15161 1.11 281.6 229.0 8.9 734 15162 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2098 1729

15470 1.11 281.6 201.0 9.1 749 15471 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2098 1729

15779 1.11 281.6 172.6 8.9 764 15781 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2098 1730

16091 1.11 281.6 143.8 9.3 779 16092 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2098 1730

16399 1.11 281.6 114.1 9.4 794 16403 0.00 2.58 0.00 0.000 4 0.000 0.060 2754 691 1731

16437 1.11 281.6 110.3 10.1 796 16442 0.00 2.47 0.00 0.000 6 0.000 0.038 2754 2107 1731

16763 1.11 281.6 79.7 8.9 812 16764 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2112 1731

17072 1.11 281.6 50.1 9.0 827 17073 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2112 1731

17382 1.11 281.6 18.7 10.0 842 17383 0.00 0.00 0.00 0.000 6 0.000 0.000 2754 2112 1731

17692 1.36 484.4 3.0 -0.0 857 17804 0.15 2.67 105.68 0.771 4 0.061 0.058 2797 687 902

17930 end climb: NO_VERTICAL_VELOCITY

state 17930 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	128	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	38	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-78617.156	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	055957,6214.643,-954.041,41,2.7,60,-10.0	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.165,-0.128
_SM_DEPTHo	3.61	KALMAN_X	125796.6,-312.5,2260.7,-201794.9,8838.7
_SM_ANGLEo	-53.4	KALMAN_Y	146129.9,-7.1,1966.1,-71132.5,4172.9
GPS2	060533,6214.686,-954.027,13,1.3,13,-10.0	MHEAD_RNG_PITCHd_Wd	242.2,35337,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17933,38.17,0.759,0,0,603,558.06	ALTIM_BOTTOM_PING	575.8,90.8
SM_GC	3.68,11.95,0.00,0.00,0.031,0.000,0.000,29,1905,604,-11.27,0.17,558.06	_24V_AH	23.4,32.029
IRIDIUM_FIX	6148.92,-953.53,071207,040426	_10V_AH	10.1,14.526
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44275,868
HUMID	2043	CFSIZE	260165632,250888192
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.90	GPS	071207,111439,6214.648,-953.912,45,2.7,64,-10.0
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.72	SBE_CT	635	24	356.98
Roll_motor	111	72	188.74	SBE_O2	585	19	260.49
VBD_pump_during_apogee	459	1221	13139.64	WL_BB2F	574	105	1410.90
VBD_pump_during_surface	38	758	677.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.89	nil	0	0	0.00
Iridium_during_connect	36	160	137.24	nil	0	0	0.00
Iridium_during_xfer	164	223	856.70
Transponder_ping	5	420	49.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.35
TT8	1565	19	313.14
LPSleep	14139	2	312.76
TT8_Active	649	19	129.79
TT8_Sampling	1986	39	798.69
TT8_CF8	391	45	181.26
TT8_Kalman	33	81	27.57
Analog_circuits	1661	12	201.33
GPS_charging	0	0	0.00
Compass	1950	8	157.62
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	43	0.00	0.00	-22.08	0.000	2	0.000	0.000	27	1871	1110
45	-0.95	-146.6	3.7	-0.0	1	232	11.15	2.62	-162.52	0.000	4	0.106	0.057	2286	3303	3475
484	-0.95	-146.6	20.7	-7.3	21	489	0.00	2.47	0.00	0.000	6	0.000	0.041	2286	1911	3475
806	-0.95	-146.6	45.4	-5.8	37	810	0.00	2.47	0.00	0.000	4	0.000	0.045	2286	3296	3475
912	-0.95	-146.6	53.0	-7.5	42	916	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1895	3475
1237	-0.95	-146.6	74.9	-8.0	58	1238	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3475
1547	-0.95	-146.6	93.7	-5.9	73	1548	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3475
1857	-0.95	-146.6	115.0	-7.3	88	1858	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3475
2165	-0.95	-146.6	140.7	-8.3	103	2170	0.00	2.53	0.00	0.000	4	0.000	0.045	2286	3304	3475
2250	-0.95	-146.6	147.6	-8.5	107	2254	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1901	3475
2575	-0.95	-146.6	174.3	-8.5	123	2576	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
2884	-0.95	-146.6	199.3	-7.9	138	2885	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
3193	-0.95	-146.6	222.7	-7.8	153	3198	0.00	2.50	0.00	0.000	4	0.000	0.045	2286	3296	3475
3271	-0.95	-146.6	229.1	-8.1	156	3277	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1897	3475
3586	-0.95	-146.6	254.1	-8.5	172	3590	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3296	3475
3647	-0.95	-146.6	259.4	-8.5	175	3651	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1894	3475
3973	-0.95	-146.6	285.7	-7.7	191	3974	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
4283	-0.95	-146.6	304.6	-5.5	206	4284	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
4592	-0.95	-146.6	320.2	-4.7	221	4596	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3299	3475
4653	-0.95	-146.6	323.0	-4.1	224	4657	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1900	3474
4978	-0.95	-146.6	337.4	-4.1	240	4979	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
5287	-0.95	-146.6	353.6	-5.9	255	5291	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3295	3475
5336	-0.95	-146.6	356.5	-5.4	257	5341	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1894	3475
5658	-0.95	-146.6	373.6	-5.2	273	5659	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
5966	-0.95	-146.6	391.6	-6.1	288	5968	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
6276	-0.95	-146.6	411.2	-6.7	303	6277	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
6585	-0.95	-146.6	433.3	-7.6	318	6586	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
6894	-0.95	-146.6	453.7	-6.7	333	6899	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3300	3475
6956	-0.95	-146.6	458.3	-7.8	336	6960	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1896	3475
7281	-0.95	-146.6	482.5	-7.7	352	7282	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3475
7590	-0.95	-146.6	503.3	-6.5	367	7591	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3475
7899	-0.95	-146.6	522.0	-6.7	382	7904	0.00	2.55	0.00	0.000	4	0.000	0.052	2286	3298	3475
7984	-0.95	-146.6	528.1	-8.5	386	7988	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1897	3475
8309	-0.95	-146.6	552.6	-7.6	402	8310	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3474
8621	-0.95	-146.6	575.8	-7.6	417	8626	0.00	2.55	0.00	0.000	4	0.000	0.054	2286	3294	3474
8676	-0.95	-146.6	580.4	-8.3	419	8683	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1906	3475
8991	-0.95	-146.6	603.3	-6.6	435	8996	0.00	2.53	0.00	0.000	4	0.000	0.057	2286	3294	3474
9040	-0.95	-146.6	606.5	-7.1	437	9045	0.00	2.50	0.00	0.000	6	0.000	0.048	2286	1901	3474
9362	-0.95	-146.6	626.4	-5.8	453	9366	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3295	3474
9433	-0.95	-146.6	630.7	-5.5	456	9437	0.00	2.53	0.00	0.000	6	0.000	0.050	2286	1897	3474
9755	-0.95	-146.6	644.7	-4.1	472	9759	0.00	2.55	0.00	0.000	4	0.000	0.058	2286	3292	3474
9854	-0.95	-146.6	649.6	-5.9	476	9861	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1895	3474
10003	end dive: BOTTOM_OBSTACLE_DETECTED
state	10003	begin apogee
10008	-0.36	0.0	657.2	4.9	484	10133	0.60	0.00	122.20	1.222	6	0.075	0.000	2415	2091	2878
10134	end apogee: CONTROL_FINISHED_OK
state	10134	begin climb
10136	0.95	146.6	659.9	0.0	490	10268	1.33	2.72	121.15	1.184	4	0.054	0.068	2704	693	2280
10385	0.95	146.6	649.6	8.1	502	10389	0.00	2.55	0.00	0.000	6	0.000	0.048	2705	2094	2279
10712	0.95	146.6	623.7	8.4	518	10716	0.00	2.65	0.00	0.000	4	0.000	0.069	2704	691	2279
10968	1.11	281.6	612.2	2.0	529	11085	0.15	2.53	110.55	1.184	6	0.045	0.047	2754	2102	1730
11401	1.11	281.6	581.4	10.5	551	11406	0.00	2.67	0.00	0.000	4	0.000	0.072	2754	694	1729
11523	1.11	281.6	567.8	10.1	556	11530	0.00	2.53	0.00	0.000	6	0.000	0.046	2754	2107	1729
11839	1.11	281.6	537.0	9.8	572	11840	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2108	1729
12148	1.11	281.6	511.4	7.1	587	12152	0.00	2.65	0.00	0.000	4	0.000	0.069	2754	692	1728
12191	1.11	281.6	508.0	7.7	589	12195	0.00	2.53	0.00	0.000	6	0.000	0.044	2754	2102	1728
12517	1.11	281.6	484.2	7.3	605	12518	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2105	1728
12826	1.11	281.6	460.6	8.5	620	12828	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2105	1728
13136	1.11	281.6	430.6	10.1	635	13137	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2105	1728
13445	1.11	281.6	399.4	9.9	650	13449	0.00	2.62	0.00	0.000	4	0.000	0.064	2754	692	1729
13484	1.11	281.6	395.4	11.2	652	13488	0.00	2.47	0.00	0.000	6	0.000	0.041	2754	2100	1728
13809	1.11	281.6	362.1	10.7	668	13810	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2104	1728
14118	1.11	281.6	329.0	10.6	683	14123	0.00	2.62	0.00	0.000	4	0.000	0.064	2754	689	1729
14156	1.11	281.6	324.7	11.4	685	14161	0.00	2.50	0.00	0.000	6	0.000	0.041	2754	2104	1729
14482	1.11	281.6	291.1	10.0	701	14484	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2108	1729
14792	1.11	281.6	261.8	9.0	716	14796	0.00	2.62	0.00	0.000	4	0.000	0.062	2754	689	1728
14834	1.11	281.6	257.7	9.1	718	14839	0.00	2.50	0.00	0.000	6	0.000	0.040	2754	2093	1729
15161	1.11	281.6	229.0	8.9	734	15162	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2098	1729
15470	1.11	281.6	201.0	9.1	749	15471	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2098	1729
15779	1.11	281.6	172.6	8.9	764	15781	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2098	1730
16091	1.11	281.6	143.8	9.3	779	16092	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2098	1730
16399	1.11	281.6	114.1	9.4	794	16403	0.00	2.58	0.00	0.000	4	0.000	0.060	2754	691	1731
16437	1.11	281.6	110.3	10.1	796	16442	0.00	2.47	0.00	0.000	6	0.000	0.038	2754	2107	1731
16763	1.11	281.6	79.7	8.9	812	16764	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2112	1731
17072	1.11	281.6	50.1	9.0	827	17073	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2112	1731
17382	1.11	281.6	18.7	10.0	842	17383	0.00	0.00	0.00	0.000	6	0.000	0.000	2754	2112	1731
17692	1.36	484.4	3.0	-0.0	857	17804	0.15	2.67	105.68	0.771	4	0.061	0.058	2797	687	902
17930	end climb: NO_VERTICAL_VELOCITY
state	17930	begin surface