Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 108 * 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 108 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 25 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 -78287.023 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 -78287.023

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 25 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 108 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 164011,6203.993,-933.358,47,1.6,47,-9.7 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.189,-0.088

_SM_DEPTHo 2.77 KALMAN_X 52156.5,840.5,-382.0,-108357.1,13960.5

_SM_ANGLEo -50.5 KALMAN_Y 121115.1,1168.8,1037.7,-66242.3,1894.4

GPS2 164903,6204.039,-933.119,10,1.3,10,-9.7 MHEAD_RNG_PITCHd_Wd 254.8,14745,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 16923,69.45,0.756,0,0,603,558.06 ALTIM_BOTTOM_PING 525.3,77.8

SM_GC 2.90,11.88,0.00,0.00,0.029,0.000,0.000,33,1887,604,-11.25,-0.40,557.81 _24V_AH 23.4,28.650

IRIDIUM_FIX 6139.81,-917.19,021207,202059 _10V_AH 10.1,12.791

TT8_MAMPS 0.026078 DATA_FILE_SIZE 41079,818

HUMID 2042 CFSIZE 260165632,252080128

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 18.80 GPS 021207,214126,6203.473,-932.409,42,1.0,42,-9.7

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 80.19 SBE_CT 604 24 339.36

Roll_motor 91 67 144.40 SBE_O2 552 19 245.74

VBD_pump_during_apogee 416 1185 11562.30 WL_BB2F 584 105 1436.20

VBD_pump_during_surface 69 756 1229.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 187.40 nil 0 0 0.00

Iridium_during_connect 81 160 306.51 nil 0 0 0.00

Iridium_during_xfer 215 223 1122.17

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.27

TT8 1469 19 293.89

LPSleep 13530 2 299.28

TT8_Active 663 19 132.78

TT8_Sampling 1767 39 710.62

TT8_CF8 518 45 239.96

TT8_Kalman 33 81 27.58

Analog_circuits 1535 12 186.11

GPS_charging 0 0 0.00

Compass 1742 8 140.82

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 0 102 0.00 0.00 -81.62 0.000 2 0.000 0.000 27 1878 2224

105 -0.95 -146.6 3.2 -0.8 4 216 11.77 2.58 -93.10 0.000 4 0.133 0.058 2287 3288 3476

363 -0.95 -146.6 13.9 -7.6 16 367 0.00 2.47 0.00 0.000 6 0.000 0.041 2287 1901 3476

688 -0.95 -146.6 35.3 -6.8 32 689 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

997 -0.95 -146.6 55.6 -7.1 47 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

1306 -0.95 -146.6 79.4 -6.9 62 1311 0.00 2.50 0.00 0.000 4 0.000 0.044 2286 3297 3476

1378 -0.95 -146.6 83.4 -5.4 65 1382 0.00 2.50 0.00 0.000 6 0.000 0.040 2287 1895 3476

1701 -0.95 -146.6 105.7 -8.1 81 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

2009 -0.95 -146.6 128.4 -7.4 96 2013 0.00 2.53 0.00 0.000 4 0.000 0.044 2287 3304 3476

2102 -0.95 -146.6 136.4 -8.3 100 2107 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1903 3476

2423 -0.95 -146.6 160.3 -7.3 116 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3476

2733 -0.95 -146.6 180.6 -6.2 131 2734 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3476

3043 -0.95 -146.6 196.7 -4.6 146 3047 0.00 2.50 0.00 0.000 4 0.000 0.045 2287 3300 3476

3119 -0.95 -146.6 200.8 -5.7 149 3126 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1895 3476

3435 -0.95 -146.6 219.3 -6.3 165 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

3744 -0.95 -146.6 240.5 -7.1 180 3745 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

4053 -0.95 -146.6 262.7 -7.2 195 4054 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3476

4362 -0.95 -146.6 287.3 -8.6 210 4367 0.00 2.53 0.00 0.000 4 0.000 0.046 2286 3301 3476

4428 -0.95 -146.6 293.2 -8.9 213 4433 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1905 3476

4755 -0.95 -146.6 318.3 -6.9 229 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3476

5065 -0.95 -146.6 335.5 -4.7 244 5069 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3296 3476

5125 -0.95 -146.6 338.6 -5.3 247 5130 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1898 3476

5451 -0.95 -146.6 355.7 -5.5 263 5452 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3476

5761 -0.95 -146.6 370.3 -4.5 278 5765 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3301 3476

5844 -0.95 -146.6 374.2 -4.7 282 5848 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1901 3476

6169 -0.95 -146.6 388.9 -4.3 298 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

6479 -0.95 -146.6 402.7 -4.9 313 6480 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

6788 -0.95 -146.6 420.4 -6.1 328 6789 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

7097 -0.95 -146.6 443.0 -7.5 343 7101 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3298 3475

7164 -0.95 -146.6 447.7 -7.3 346 7168 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1902 3476

7483 -0.95 -146.6 469.6 -6.8 362 7484 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

7793 -0.95 -146.6 490.6 -7.3 377 7797 0.00 2.60 0.00 0.000 4 0.000 0.067 2287 495 3476

7913 -0.95 -146.6 500.1 -8.0 382 7917 0.00 2.47 0.00 0.000 6 0.000 0.043 2287 1904 3476

8227 -0.95 -146.6 524.1 -7.0 397 8231 0.00 2.53 0.00 0.000 4 0.000 0.054 2287 3295 3475

8406 -0.95 -146.6 538.0 -8.5 405 8411 0.00 2.55 0.00 0.000 6 0.000 0.049 2287 1886 3475

8733 -0.95 -146.6 562.4 -6.9 421 8738 0.00 2.58 0.00 0.000 4 0.000 0.055 2287 3298 3474

8840 -0.95 -146.6 569.4 -6.7 426 8844 0.00 2.53 0.00 0.000 6 0.000 0.049 2287 1899 3474

9165 -0.95 -146.6 591.4 -7.2 442 9169 0.00 2.55 0.00 0.000 4 0.000 0.059 2287 3302 3474

9184 end dive: BOTTOM_OBSTACLE_DETECTED

state 9184 begin apogee

9190 -0.36 0.0 593.2 8.9 443 9314 0.60 0.00 121.18 1.186 6 0.089 0.000 2416 2095 2878

9315 end apogee: CONTROL_FINISHED_OK

state 9315 begin climb

9317 0.95 146.6 598.5 0.0 449 9441 1.30 0.00 120.22 1.159 6 0.055 0.000 2700 2095 2280

9735 1.03 217.2 581.5 3.9 470 9799 0.00 2.70 58.40 1.178 4 0.000 0.061 2699 3494 1992

9832 1.07 245.5 576.8 5.2 474 9863 0.12 2.55 23.88 1.169 6 0.051 0.049 2740 2100 1877

10190 1.07 245.5 550.2 7.9 492 10194 0.00 2.60 0.00 0.000 4 0.000 0.058 2740 3498 1875

10311 1.07 245.5 541.4 7.3 497 10318 0.00 2.58 0.00 0.000 6 0.000 0.049 2740 2100 1875

10627 1.07 245.5 517.2 8.1 513 10631 0.00 2.55 0.00 0.000 4 0.000 0.055 2741 3500 1874

10688 1.07 245.5 512.6 7.5 516 10692 0.00 2.53 0.00 0.000 6 0.000 0.048 2740 2099 1874

11013 1.07 245.5 491.8 6.9 532 11014 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2100 1873

11322 1.07 245.5 469.7 7.7 547 11326 0.00 2.60 0.00 0.000 4 0.000 0.067 2740 690 1873

11370 1.07 245.5 465.6 8.2 549 11375 0.00 2.50 0.00 0.000 6 0.000 0.043 2740 2106 1873

11691 1.07 245.5 439.7 8.7 565 11693 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1873

12000 1.07 245.5 413.8 8.5 580 12002 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2111 1873

12310 1.07 245.5 385.2 9.9 595 12311 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1873

12619 1.07 245.5 353.7 10.3 610 12620 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1873

12928 1.07 245.5 320.4 11.1 625 12929 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2111 1873

13238 1.07 245.5 284.9 11.3 640 13239 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1874

13547 1.07 245.5 252.5 10.1 655 13548 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1874

13856 1.07 245.5 222.6 9.7 670 13857 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2111 1874

14165 1.07 245.5 192.4 10.0 685 14167 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1875

14475 1.07 245.5 162.1 10.0 700 14476 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2111 1875

14784 1.07 245.5 135.6 8.0 715 14789 0.00 2.62 0.00 0.000 4 0.000 0.060 2740 686 1875

14846 1.07 245.5 130.4 8.6 718 14850 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2115 1875

15172 1.07 245.5 103.8 8.1 734 15173 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2117 1876

15480 1.07 245.5 78.6 7.9 749 15481 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2117 1876

15790 1.07 245.5 55.8 7.6 764 15794 0.00 2.62 0.00 0.000 4 0.000 0.059 2740 687 1876

15883 1.07 245.5 48.5 7.6 768 15887 0.00 2.50 0.00 0.000 6 0.000 0.038 2741 2099 1876

16204 1.07 245.5 26.2 6.6 784 16205 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2103 1876

16513 1.07 245.5 4.2 7.8 799 16515 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2104 1877

16823 1.32 448.3 2.3 -0.0 814 16920 0.15 0.00 93.03 0.797 2 0.058 0.000 2787 2106 1156

16920 end climb: NO_VERTICAL_VELOCITY

state 16920 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	108	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	25	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	-78287.023	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	164011,6203.993,-933.358,47,1.6,47,-9.7	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.189,-0.088
_SM_DEPTHo	2.77	KALMAN_X	52156.5,840.5,-382.0,-108357.1,13960.5
_SM_ANGLEo	-50.5	KALMAN_Y	121115.1,1168.8,1037.7,-66242.3,1894.4
GPS2	164903,6204.039,-933.119,10,1.3,10,-9.7	MHEAD_RNG_PITCHd_Wd	254.8,14745,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	16923,69.45,0.756,0,0,603,558.06	ALTIM_BOTTOM_PING	525.3,77.8
SM_GC	2.90,11.88,0.00,0.00,0.029,0.000,0.000,33,1887,604,-11.25,-0.40,557.81	_24V_AH	23.4,28.650
IRIDIUM_FIX	6139.81,-917.19,021207,202059	_10V_AH	10.1,12.791
TT8_MAMPS	0.026078	DATA_FILE_SIZE	41079,818
HUMID	2042	CFSIZE	260165632,252080128
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	18.80	GPS	021207,214126,6203.473,-932.409,42,1.0,42,-9.7
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	80.19	SBE_CT	604	24	339.36
Roll_motor	91	67	144.40	SBE_O2	552	19	245.74
VBD_pump_during_apogee	416	1185	11562.30	WL_BB2F	584	105	1436.20
VBD_pump_during_surface	69	756	1229.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	187.40	nil	0	0	0.00
Iridium_during_connect	81	160	306.51	nil	0	0	0.00
Iridium_during_xfer	215	223	1122.17
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.27
TT8	1469	19	293.89
LPSleep	13530	2	299.28
TT8_Active	663	19	132.78
TT8_Sampling	1767	39	710.62
TT8_CF8	518	45	239.96
TT8_Kalman	33	81	27.58
Analog_circuits	1535	12	186.11
GPS_charging	0	0	0.00
Compass	1742	8	140.82
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	102	0.00	0.00	-81.62	0.000	2	0.000	0.000	27	1878	2224
105	-0.95	-146.6	3.2	-0.8	4	216	11.77	2.58	-93.10	0.000	4	0.133	0.058	2287	3288	3476
363	-0.95	-146.6	13.9	-7.6	16	367	0.00	2.47	0.00	0.000	6	0.000	0.041	2287	1901	3476
688	-0.95	-146.6	35.3	-6.8	32	689	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
997	-0.95	-146.6	55.6	-7.1	47	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
1306	-0.95	-146.6	79.4	-6.9	62	1311	0.00	2.50	0.00	0.000	4	0.000	0.044	2286	3297	3476
1378	-0.95	-146.6	83.4	-5.4	65	1382	0.00	2.50	0.00	0.000	6	0.000	0.040	2287	1895	3476
1701	-0.95	-146.6	105.7	-8.1	81	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
2009	-0.95	-146.6	128.4	-7.4	96	2013	0.00	2.53	0.00	0.000	4	0.000	0.044	2287	3304	3476
2102	-0.95	-146.6	136.4	-8.3	100	2107	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1903	3476
2423	-0.95	-146.6	160.3	-7.3	116	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3476
2733	-0.95	-146.6	180.6	-6.2	131	2734	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3476
3043	-0.95	-146.6	196.7	-4.6	146	3047	0.00	2.50	0.00	0.000	4	0.000	0.045	2287	3300	3476
3119	-0.95	-146.6	200.8	-5.7	149	3126	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1895	3476
3435	-0.95	-146.6	219.3	-6.3	165	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
3744	-0.95	-146.6	240.5	-7.1	180	3745	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
4053	-0.95	-146.6	262.7	-7.2	195	4054	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3476
4362	-0.95	-146.6	287.3	-8.6	210	4367	0.00	2.53	0.00	0.000	4	0.000	0.046	2286	3301	3476
4428	-0.95	-146.6	293.2	-8.9	213	4433	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1905	3476
4755	-0.95	-146.6	318.3	-6.9	229	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3476
5065	-0.95	-146.6	335.5	-4.7	244	5069	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3296	3476
5125	-0.95	-146.6	338.6	-5.3	247	5130	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1898	3476
5451	-0.95	-146.6	355.7	-5.5	263	5452	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3476
5761	-0.95	-146.6	370.3	-4.5	278	5765	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3301	3476
5844	-0.95	-146.6	374.2	-4.7	282	5848	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1901	3476
6169	-0.95	-146.6	388.9	-4.3	298	6171	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
6479	-0.95	-146.6	402.7	-4.9	313	6480	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
6788	-0.95	-146.6	420.4	-6.1	328	6789	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
7097	-0.95	-146.6	443.0	-7.5	343	7101	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3298	3475
7164	-0.95	-146.6	447.7	-7.3	346	7168	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1902	3476
7483	-0.95	-146.6	469.6	-6.8	362	7484	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
7793	-0.95	-146.6	490.6	-7.3	377	7797	0.00	2.60	0.00	0.000	4	0.000	0.067	2287	495	3476
7913	-0.95	-146.6	500.1	-8.0	382	7917	0.00	2.47	0.00	0.000	6	0.000	0.043	2287	1904	3476
8227	-0.95	-146.6	524.1	-7.0	397	8231	0.00	2.53	0.00	0.000	4	0.000	0.054	2287	3295	3475
8406	-0.95	-146.6	538.0	-8.5	405	8411	0.00	2.55	0.00	0.000	6	0.000	0.049	2287	1886	3475
8733	-0.95	-146.6	562.4	-6.9	421	8738	0.00	2.58	0.00	0.000	4	0.000	0.055	2287	3298	3474
8840	-0.95	-146.6	569.4	-6.7	426	8844	0.00	2.53	0.00	0.000	6	0.000	0.049	2287	1899	3474
9165	-0.95	-146.6	591.4	-7.2	442	9169	0.00	2.55	0.00	0.000	4	0.000	0.059	2287	3302	3474
9184	end dive: BOTTOM_OBSTACLE_DETECTED
state	9184	begin apogee
9190	-0.36	0.0	593.2	8.9	443	9314	0.60	0.00	121.18	1.186	6	0.089	0.000	2416	2095	2878
9315	end apogee: CONTROL_FINISHED_OK
state	9315	begin climb
9317	0.95	146.6	598.5	0.0	449	9441	1.30	0.00	120.22	1.159	6	0.055	0.000	2700	2095	2280
9735	1.03	217.2	581.5	3.9	470	9799	0.00	2.70	58.40	1.178	4	0.000	0.061	2699	3494	1992
9832	1.07	245.5	576.8	5.2	474	9863	0.12	2.55	23.88	1.169	6	0.051	0.049	2740	2100	1877
10190	1.07	245.5	550.2	7.9	492	10194	0.00	2.60	0.00	0.000	4	0.000	0.058	2740	3498	1875
10311	1.07	245.5	541.4	7.3	497	10318	0.00	2.58	0.00	0.000	6	0.000	0.049	2740	2100	1875
10627	1.07	245.5	517.2	8.1	513	10631	0.00	2.55	0.00	0.000	4	0.000	0.055	2741	3500	1874
10688	1.07	245.5	512.6	7.5	516	10692	0.00	2.53	0.00	0.000	6	0.000	0.048	2740	2099	1874
11013	1.07	245.5	491.8	6.9	532	11014	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2100	1873
11322	1.07	245.5	469.7	7.7	547	11326	0.00	2.60	0.00	0.000	4	0.000	0.067	2740	690	1873
11370	1.07	245.5	465.6	8.2	549	11375	0.00	2.50	0.00	0.000	6	0.000	0.043	2740	2106	1873
11691	1.07	245.5	439.7	8.7	565	11693	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1873
12000	1.07	245.5	413.8	8.5	580	12002	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2111	1873
12310	1.07	245.5	385.2	9.9	595	12311	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1873
12619	1.07	245.5	353.7	10.3	610	12620	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1873
12928	1.07	245.5	320.4	11.1	625	12929	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2111	1873
13238	1.07	245.5	284.9	11.3	640	13239	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1874
13547	1.07	245.5	252.5	10.1	655	13548	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1874
13856	1.07	245.5	222.6	9.7	670	13857	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2111	1874
14165	1.07	245.5	192.4	10.0	685	14167	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1875
14475	1.07	245.5	162.1	10.0	700	14476	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2111	1875
14784	1.07	245.5	135.6	8.0	715	14789	0.00	2.62	0.00	0.000	4	0.000	0.060	2740	686	1875
14846	1.07	245.5	130.4	8.6	718	14850	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2115	1875
15172	1.07	245.5	103.8	8.1	734	15173	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2117	1876
15480	1.07	245.5	78.6	7.9	749	15481	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2117	1876
15790	1.07	245.5	55.8	7.6	764	15794	0.00	2.62	0.00	0.000	4	0.000	0.059	2740	687	1876
15883	1.07	245.5	48.5	7.6	768	15887	0.00	2.50	0.00	0.000	6	0.000	0.038	2741	2099	1876
16204	1.07	245.5	26.2	6.6	784	16205	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2103	1876
16513	1.07	245.5	4.2	7.8	799	16515	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2104	1877
16823	1.32	448.3	2.3	-0.0	814	16920	0.15	0.00	93.03	0.797	2	0.058	0.000	2787	2106	1156
16920	end climb: NO_VERTICAL_VELOCITY
state	16920	begin surface