Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 140 * 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 140 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -78785.875 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 -78785.875

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 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 140 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 111308,6223.999,-1041.678,33,1.1,33,-10.5 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.183,0.101

_SM_DEPTHo 4.20 KALMAN_X 139806.0,-79.4,2019.3,-257775.7,876.6

_SM_ANGLEo -53.5 KALMAN_Y 137559.9,-108.7,1810.4,-45073.0,-7559.9

GPS2 112045,6223.998,-1041.554,9,1.2,9,-10.5 MHEAD_RNG_PITCHd_Wd 309.3,15926,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19837,60.65,0.751,0,0,603,558.06 ALTIM_BOTTOM_PING 625.2,89.9

SM_GC 4.31,11.93,0.00,0.00,0.030,0.000,0.000,28,1893,604,-11.27,-0.20,557.81 _24V_AH 23.3,34.248

IRIDIUM_FIX 6148.92,-1137.62,101207,090900 _10V_AH 10.1,15.715

TT8_MAMPS 0.026078 DATA_FILE_SIZE 47454,959

HUMID 2042 CFSIZE 260165632,250073088

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 16.60 GPS 101207,170133,6223.909,-1045.672,39,1.4,41,-10.5

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 63.11 SBE_CT 698 24 390.81

Roll_motor 76 74 131.96 SBE_O2 647 19 286.75

VBD_pump_during_apogee 425 1264 12546.62 WL_BB2F 606 105 1484.72

VBD_pump_during_surface 60 750 1061.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.71 nil 0 0 0.00

Iridium_during_connect 39 160 145.72 nil 0 0 0.00

Iridium_during_xfer 285 223 1484.84

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.59

TT8 1664 19 332.93

LPSleep 15997 2 353.85

TT8_Active 653 19 130.73

TT8_Sampling 1931 39 776.43

TT8_CF8 530 45 245.42

TT8_Kalman 33 81 27.56

Analog_circuits 1601 12 194.16

GPS_charging 0 0 0.00

Compass 1908 8 154.22

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 44 0.00 0.00 -22.27 0.000 2 0.000 0.000 33 1879 1128

47 -0.95 -146.6 4.2 -0.0 1 212 11.18 2.58 -146.65 0.000 4 0.107 0.058 2286 3302 3476

385 -0.95 -146.6 18.6 -7.0 16 393 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1911 3476

701 -0.95 -146.6 41.5 -6.9 32 702 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

1010 -0.95 -146.6 64.5 -7.5 47 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

1320 -0.95 -146.6 90.3 -9.1 62 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

1629 -0.95 -146.6 113.8 -7.5 77 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

1938 -0.95 -146.6 139.0 -8.0 92 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

2247 -0.95 -146.6 161.3 -6.5 107 2248 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3476

2556 -0.95 -146.6 182.0 -6.9 122 2558 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3476

2866 -0.95 -146.6 203.5 -6.9 137 2867 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

3176 -0.95 -146.6 225.6 -7.3 152 3177 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

3484 -0.95 -146.6 248.2 -7.4 167 3485 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1910 3475

3793 -0.95 -146.6 270.0 -7.1 182 3798 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3301 3475

3854 -0.95 -146.6 274.5 -7.3 185 3859 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1901 3475

4181 -0.95 -146.6 298.2 -7.1 201 4182 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

4490 -0.95 -146.6 320.1 -6.9 216 4491 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3475

4799 -0.95 -146.6 341.8 -7.0 231 4801 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

5109 -0.95 -146.6 362.4 -6.7 246 5110 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

5418 -0.95 -146.6 382.9 -6.6 261 5422 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3302 3475

5483 -0.95 -146.6 387.3 -6.9 264 5488 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1902 3475

5810 -0.95 -146.6 408.8 -6.8 280 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3475

6119 -0.95 -146.6 430.0 -7.3 295 6123 0.00 2.50 0.00 0.000 4 0.000 0.049 2286 3300 3475

6195 -0.95 -146.6 435.8 -7.5 298 6202 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1907 3475

6511 -0.95 -146.6 459.8 -7.8 314 6512 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3475

6820 -0.95 -146.6 481.3 -6.6 329 6824 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3306 3475

6908 -0.95 -146.6 487.0 -6.2 333 6912 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1897 3475

7234 -0.95 -146.6 507.7 -6.8 349 7235 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3475

7544 -0.95 -146.6 528.0 -6.2 364 7548 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3300 3474

7632 -0.95 -146.6 533.8 -6.7 368 7636 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1901 3474

7958 -0.95 -146.6 554.9 -6.5 384 7960 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

8268 -0.95 -146.6 577.1 -7.7 399 8272 0.00 2.55 0.00 0.000 4 0.000 0.053 2286 3305 3474

8374 -0.95 -146.6 585.5 -7.8 404 8378 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1902 3474

8698 -0.95 -146.6 608.5 -6.2 420 8700 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3473

9008 -0.95 -146.6 625.0 -5.2 435 9018 0.00 2.53 0.00 0.000 4 0.000 0.057 2286 3298 3474

9125 -0.95 -146.6 630.9 -5.4 440 9129 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1896 3473

9451 -0.95 -146.6 646.0 -4.3 456 9452 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3473

9760 -0.95 -146.6 662.9 -6.0 471 9761 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3473

10069 -0.95 -146.6 683.9 -7.1 486 10070 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3473

10379 -0.95 -146.6 704.6 -6.2 501 10383 0.00 2.58 0.00 0.000 4 0.000 0.061 2286 3300 3473

10386 end dive: BOTTOM_OBSTACLE_DETECTED

state 10386 begin apogee

10393 -0.36 0.0 705.2 5.8 501 10520 0.57 0.00 122.40 1.265 6 0.074 0.000 2414 2102 2877

10520 end apogee: CONTROL_FINISHED_OK

state 10521 begin climb

10522 0.95 146.6 708.5 0.0 508 10648 1.25 0.00 121.35 1.232 6 0.044 0.000 2699 2097 2280

10954 1.00 188.2 691.2 4.8 529 10996 0.00 2.67 35.42 1.234 4 0.000 0.063 2699 3496 2109

11086 1.00 188.2 683.6 6.3 535 11090 0.00 2.55 0.00 0.000 6 0.000 0.052 2699 2101 2109

11412 1.06 235.4 665.5 4.6 551 11454 0.12 0.00 39.47 1.243 6 0.053 0.000 2740 2101 1918

11760 1.06 235.4 639.8 9.4 568 11765 0.00 2.65 0.00 0.000 4 0.000 0.074 2741 693 1917

11860 1.06 235.4 629.4 9.3 572 11867 0.00 2.50 0.00 0.000 6 0.000 0.048 2741 2093 1917

12176 1.06 235.4 601.8 8.5 588 12180 0.00 2.60 0.00 0.000 4 0.000 0.058 2741 3507 1916

12252 1.06 235.4 594.7 8.8 591 12259 0.00 2.58 0.00 0.000 6 0.000 0.051 2741 2105 1916

12567 1.06 235.4 566.9 8.9 607 12569 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1915

12877 1.06 235.4 542.9 7.1 622 12878 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1915

13186 1.06 235.4 520.4 7.3 637 13187 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1915

13495 1.06 235.4 494.3 8.4 652 13496 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1915

13805 1.06 235.4 469.5 7.9 667 13809 0.00 2.50 0.00 0.000 4 0.000 0.050 2741 3505 1916

13859 1.06 235.4 464.9 8.3 669 13864 0.00 2.53 0.00 0.000 6 0.000 0.044 2741 2091 1916

14180 1.06 235.4 438.6 8.3 685 14181 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1916

14490 1.06 235.4 414.5 7.4 700 14491 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1916

14799 1.06 235.4 391.0 7.7 715 14800 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1917

15108 1.06 235.4 366.4 7.9 730 15109 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1917

15418 1.06 235.4 340.0 9.0 745 15422 0.00 2.55 0.00 0.000 4 0.000 0.051 2741 3505 1917

15488 1.06 235.4 333.0 9.6 748 15493 0.00 2.53 0.00 0.000 6 0.000 0.042 2740 2100 1917

15809 1.06 235.4 304.2 8.6 764 15810 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2100 1917

16119 1.06 235.4 277.7 8.8 779 16120 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1917

16428 1.06 235.4 252.0 8.4 794 16429 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1918

16737 1.06 235.4 225.1 8.7 809 16738 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1918

17047 1.06 235.4 199.1 8.3 824 17048 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1918

17356 1.06 235.4 175.0 7.6 839 17357 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1918

17665 1.06 235.4 150.5 8.0 854 17669 0.00 2.53 0.00 0.000 4 0.000 0.048 2741 3506 1918

17736 1.06 235.4 144.2 7.6 857 17741 0.00 2.47 0.00 0.000 6 0.000 0.041 2741 2097 1919

18063 1.06 235.4 118.4 7.8 873 18065 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1919

18373 1.06 235.4 93.5 8.2 888 18374 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1919

18682 1.06 235.4 68.4 8.5 903 18683 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1919

18991 1.06 235.4 42.3 7.7 918 18992 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2096 1919

19300 1.06 235.4 15.6 8.6 933 19302 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1919

19610 1.31 439.0 3.6 -0.1 948 19720 0.17 0.00 107.10 0.774 6 0.051 0.000 2790 2091 1087

19835 end climb: NO_VERTICAL_VELOCITY

state 19835 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	140	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-78785.875	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	111308,6223.999,-1041.678,33,1.1,33,-10.5	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.183,0.101
_SM_DEPTHo	4.20	KALMAN_X	139806.0,-79.4,2019.3,-257775.7,876.6
_SM_ANGLEo	-53.5	KALMAN_Y	137559.9,-108.7,1810.4,-45073.0,-7559.9
GPS2	112045,6223.998,-1041.554,9,1.2,9,-10.5	MHEAD_RNG_PITCHd_Wd	309.3,15926,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19837,60.65,0.751,0,0,603,558.06	ALTIM_BOTTOM_PING	625.2,89.9
SM_GC	4.31,11.93,0.00,0.00,0.030,0.000,0.000,28,1893,604,-11.27,-0.20,557.81	_24V_AH	23.3,34.248
IRIDIUM_FIX	6148.92,-1137.62,101207,090900	_10V_AH	10.1,15.715
TT8_MAMPS	0.026078	DATA_FILE_SIZE	47454,959
HUMID	2042	CFSIZE	260165632,250073088
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.60	GPS	101207,170133,6223.909,-1045.672,39,1.4,41,-10.5
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	63.11	SBE_CT	698	24	390.81
Roll_motor	76	74	131.96	SBE_O2	647	19	286.75
VBD_pump_during_apogee	425	1264	12546.62	WL_BB2F	606	105	1484.72
VBD_pump_during_surface	60	750	1061.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.71	nil	0	0	0.00
Iridium_during_connect	39	160	145.72	nil	0	0	0.00
Iridium_during_xfer	285	223	1484.84
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.59
TT8	1664	19	332.93
LPSleep	15997	2	353.85
TT8_Active	653	19	130.73
TT8_Sampling	1931	39	776.43
TT8_CF8	530	45	245.42
TT8_Kalman	33	81	27.56
Analog_circuits	1601	12	194.16
GPS_charging	0	0	0.00
Compass	1908	8	154.22
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	44	0.00	0.00	-22.27	0.000	2	0.000	0.000	33	1879	1128
47	-0.95	-146.6	4.2	-0.0	1	212	11.18	2.58	-146.65	0.000	4	0.107	0.058	2286	3302	3476
385	-0.95	-146.6	18.6	-7.0	16	393	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1911	3476
701	-0.95	-146.6	41.5	-6.9	32	702	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
1010	-0.95	-146.6	64.5	-7.5	47	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
1320	-0.95	-146.6	90.3	-9.1	62	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
1629	-0.95	-146.6	113.8	-7.5	77	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
1938	-0.95	-146.6	139.0	-8.0	92	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
2247	-0.95	-146.6	161.3	-6.5	107	2248	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3476
2556	-0.95	-146.6	182.0	-6.9	122	2558	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3476
2866	-0.95	-146.6	203.5	-6.9	137	2867	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
3176	-0.95	-146.6	225.6	-7.3	152	3177	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
3484	-0.95	-146.6	248.2	-7.4	167	3485	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1910	3475
3793	-0.95	-146.6	270.0	-7.1	182	3798	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3301	3475
3854	-0.95	-146.6	274.5	-7.3	185	3859	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1901	3475
4181	-0.95	-146.6	298.2	-7.1	201	4182	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
4490	-0.95	-146.6	320.1	-6.9	216	4491	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3475
4799	-0.95	-146.6	341.8	-7.0	231	4801	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
5109	-0.95	-146.6	362.4	-6.7	246	5110	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
5418	-0.95	-146.6	382.9	-6.6	261	5422	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3302	3475
5483	-0.95	-146.6	387.3	-6.9	264	5488	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1902	3475
5810	-0.95	-146.6	408.8	-6.8	280	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3475
6119	-0.95	-146.6	430.0	-7.3	295	6123	0.00	2.50	0.00	0.000	4	0.000	0.049	2286	3300	3475
6195	-0.95	-146.6	435.8	-7.5	298	6202	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1907	3475
6511	-0.95	-146.6	459.8	-7.8	314	6512	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3475
6820	-0.95	-146.6	481.3	-6.6	329	6824	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3306	3475
6908	-0.95	-146.6	487.0	-6.2	333	6912	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1897	3475
7234	-0.95	-146.6	507.7	-6.8	349	7235	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3475
7544	-0.95	-146.6	528.0	-6.2	364	7548	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3300	3474
7632	-0.95	-146.6	533.8	-6.7	368	7636	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1901	3474
7958	-0.95	-146.6	554.9	-6.5	384	7960	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
8268	-0.95	-146.6	577.1	-7.7	399	8272	0.00	2.55	0.00	0.000	4	0.000	0.053	2286	3305	3474
8374	-0.95	-146.6	585.5	-7.8	404	8378	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1902	3474
8698	-0.95	-146.6	608.5	-6.2	420	8700	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3473
9008	-0.95	-146.6	625.0	-5.2	435	9018	0.00	2.53	0.00	0.000	4	0.000	0.057	2286	3298	3474
9125	-0.95	-146.6	630.9	-5.4	440	9129	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1896	3473
9451	-0.95	-146.6	646.0	-4.3	456	9452	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3473
9760	-0.95	-146.6	662.9	-6.0	471	9761	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3473
10069	-0.95	-146.6	683.9	-7.1	486	10070	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3473
10379	-0.95	-146.6	704.6	-6.2	501	10383	0.00	2.58	0.00	0.000	4	0.000	0.061	2286	3300	3473
10386	end dive: BOTTOM_OBSTACLE_DETECTED
state	10386	begin apogee
10393	-0.36	0.0	705.2	5.8	501	10520	0.57	0.00	122.40	1.265	6	0.074	0.000	2414	2102	2877
10520	end apogee: CONTROL_FINISHED_OK
state	10521	begin climb
10522	0.95	146.6	708.5	0.0	508	10648	1.25	0.00	121.35	1.232	6	0.044	0.000	2699	2097	2280
10954	1.00	188.2	691.2	4.8	529	10996	0.00	2.67	35.42	1.234	4	0.000	0.063	2699	3496	2109
11086	1.00	188.2	683.6	6.3	535	11090	0.00	2.55	0.00	0.000	6	0.000	0.052	2699	2101	2109
11412	1.06	235.4	665.5	4.6	551	11454	0.12	0.00	39.47	1.243	6	0.053	0.000	2740	2101	1918
11760	1.06	235.4	639.8	9.4	568	11765	0.00	2.65	0.00	0.000	4	0.000	0.074	2741	693	1917
11860	1.06	235.4	629.4	9.3	572	11867	0.00	2.50	0.00	0.000	6	0.000	0.048	2741	2093	1917
12176	1.06	235.4	601.8	8.5	588	12180	0.00	2.60	0.00	0.000	4	0.000	0.058	2741	3507	1916
12252	1.06	235.4	594.7	8.8	591	12259	0.00	2.58	0.00	0.000	6	0.000	0.051	2741	2105	1916
12567	1.06	235.4	566.9	8.9	607	12569	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1915
12877	1.06	235.4	542.9	7.1	622	12878	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1915
13186	1.06	235.4	520.4	7.3	637	13187	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1915
13495	1.06	235.4	494.3	8.4	652	13496	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1915
13805	1.06	235.4	469.5	7.9	667	13809	0.00	2.50	0.00	0.000	4	0.000	0.050	2741	3505	1916
13859	1.06	235.4	464.9	8.3	669	13864	0.00	2.53	0.00	0.000	6	0.000	0.044	2741	2091	1916
14180	1.06	235.4	438.6	8.3	685	14181	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1916
14490	1.06	235.4	414.5	7.4	700	14491	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1916
14799	1.06	235.4	391.0	7.7	715	14800	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1917
15108	1.06	235.4	366.4	7.9	730	15109	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1917
15418	1.06	235.4	340.0	9.0	745	15422	0.00	2.55	0.00	0.000	4	0.000	0.051	2741	3505	1917
15488	1.06	235.4	333.0	9.6	748	15493	0.00	2.53	0.00	0.000	6	0.000	0.042	2740	2100	1917
15809	1.06	235.4	304.2	8.6	764	15810	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2100	1917
16119	1.06	235.4	277.7	8.8	779	16120	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1917
16428	1.06	235.4	252.0	8.4	794	16429	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1918
16737	1.06	235.4	225.1	8.7	809	16738	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1918
17047	1.06	235.4	199.1	8.3	824	17048	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1918
17356	1.06	235.4	175.0	7.6	839	17357	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1918
17665	1.06	235.4	150.5	8.0	854	17669	0.00	2.53	0.00	0.000	4	0.000	0.048	2741	3506	1918
17736	1.06	235.4	144.2	7.6	857	17741	0.00	2.47	0.00	0.000	6	0.000	0.041	2741	2097	1919
18063	1.06	235.4	118.4	7.8	873	18065	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1919
18373	1.06	235.4	93.5	8.2	888	18374	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1919
18682	1.06	235.4	68.4	8.5	903	18683	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1919
18991	1.06	235.4	42.3	7.7	918	18992	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2096	1919
19300	1.06	235.4	15.6	8.6	933	19302	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1919
19610	1.31	439.0	3.6	-0.1	948	19720	0.17	0.00	107.10	0.774	6	0.051	0.000	2790	2091	1087
19835	end climb: NO_VERTICAL_VELOCITY
state	19835	begin surface