Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 112 * 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 112 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -78368.883 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 -78368.883

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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 112 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 124625,6202.084,-931.264,25,1.8,42,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.209,0.004

_SM_DEPTHo 3.09 KALMAN_X 77613.5,-674.2,-2148.3,-128590.1,28964.7

_SM_ANGLEo -48.8 KALMAN_Y 124363.9,-505.8,-971.5,-69315.5,4505.0

GPS2 125121,6202.044,-931.128,14,1.1,14,-9.7 MHEAD_RNG_PITCHd_Wd 280.9,17254,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 18859,58.75,0.746,0,0,603,558.06 ALTIM_BOTTOM_PING 551.2,72.5

SM_GC 3.23,11.85,0.00,0.00,0.028,0.000,0.000,28,1922,604,-11.27,0.62,557.81 _24V_AH 23.4,29.282

IRIDIUM_FIX 6139.81,-936.03,031207,111116 _10V_AH 10.1,13.118

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44253,912

HUMID 2045 CFSIZE 260165632,251863040

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 18.80 GPS 031207,181538,6201.640,-930.357,31,1.1,31,-9.7

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 109 64.81 SBE_CT 668 24 375.30

Roll_motor 86 65 133.09 SBE_O2 617 19 274.65

VBD_pump_during_apogee 430 1196 12047.78 WL_BB2F 641 105 1575.08

VBD_pump_during_surface 58 746 1025.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.55 nil 0 0 0.00

Iridium_during_connect 34 160 129.51 nil 0 0 0.00

Iridium_during_xfer 133 223 695.49

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.24

TT8 1609 19 321.81

LPSleep 15073 2 333.41

TT8_Active 633 19 126.65

TT8_Sampling 1973 39 793.49

TT8_CF8 350 45 162.33

TT8_Kalman 33 81 27.57

Analog_circuits 1615 12 195.79

GPS_charging 0 0 0.00

Compass 1939 8 156.72

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 -21.98 0.000 2 0.000 0.000 27 1882 1112

45 -0.95 -146.6 3.1 -0.0 1 221 11.23 2.53 -155.65 0.000 4 0.110 0.058 2286 3296 3476

365 -0.95 -146.6 20.5 -9.4 16 370 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1905 3476

692 -0.95 -146.6 43.5 -8.2 32 693 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1002 -0.95 -146.6 60.4 -7.0 47 1003 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1311 -0.95 -146.6 73.7 -4.7 62 1312 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1620 -0.95 -146.6 92.1 -6.3 77 1624 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3298 3476

1681 -0.95 -146.6 96.2 -6.3 80 1686 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1898 3476

2007 -0.95 -146.6 118.0 -6.7 96 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3476

2316 -0.95 -146.6 134.8 -6.1 111 2321 0.00 2.50 0.00 0.000 4 0.000 0.045 2285 3299 3476

2378 -0.95 -146.6 138.9 -6.4 114 2382 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1896 3476

2703 -0.95 -146.6 161.9 -7.2 130 2704 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

3012 -0.95 -146.6 183.1 -6.8 145 3013 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

3321 -0.95 -146.6 203.8 -6.9 160 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

3631 -0.95 -146.6 225.5 -7.0 175 3636 0.00 2.53 0.00 0.000 4 0.000 0.047 2286 3306 3476

3686 -0.95 -146.6 229.7 -7.8 177 3693 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1905 3476

4002 -0.95 -146.6 251.3 -6.6 193 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4310 -0.95 -146.6 273.5 -7.3 208 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4620 -0.95 -146.6 295.7 -7.0 223 4624 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3300 3476

4682 -0.95 -146.6 300.1 -7.2 226 4686 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1894 3476

5007 -0.95 -146.6 323.1 -6.8 242 5008 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

5316 -0.95 -146.6 345.6 -7.6 257 5317 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

5625 -0.95 -146.6 368.7 -7.5 272 5629 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3299 3476

5696 -0.95 -146.6 374.2 -7.6 275 5701 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1899 3476

6018 -0.95 -146.6 397.3 -7.1 291 6019 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

6328 -0.95 -146.6 420.3 -7.7 306 6329 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

6637 -0.95 -146.6 441.4 -6.4 321 6638 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

6946 -0.95 -146.6 463.0 -7.4 336 6947 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

7256 -0.95 -146.6 484.2 -6.3 351 7260 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3300 3476

7316 -0.95 -146.6 488.1 -6.9 354 7321 0.00 2.50 0.00 0.000 6 0.000 0.046 2286 1902 3476

7642 -0.95 -146.6 508.4 -5.8 370 7643 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

7953 -0.95 -146.6 526.2 -5.9 385 7957 0.00 2.53 0.00 0.000 4 0.000 0.052 2286 3296 3475

8058 -0.95 -146.6 533.1 -6.9 390 8063 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1893 3475

8385 -0.95 -146.6 552.7 -6.6 406 8389 0.00 2.55 0.00 0.000 4 0.000 0.054 2286 3298 3475

8455 -0.95 -146.6 558.4 -7.9 409 8461 0.00 2.55 0.00 0.000 6 0.000 0.049 2285 1902 3475

8776 -0.95 -146.6 580.3 -6.6 425 8778 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3474

9086 -0.95 -146.6 597.7 -5.4 440 9088 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3474

9394 end dive: BOTTOM_OBSTACLE_DETECTED

state 9394 begin apogee

9399 -0.36 0.0 614.3 7.5 455 9523 0.62 0.00 121.45 1.197 6 0.077 0.000 2420 2095 2878

9524 end apogee: CONTROL_FINISHED_OK

state 9524 begin climb

9526 0.95 146.6 618.1 0.0 461 9654 1.25 2.72 120.18 1.157 4 0.058 0.066 2697 688 2279

9907 0.95 146.6 587.6 8.1 478 9913 0.00 2.53 0.00 0.000 6 0.000 0.045 2697 2095 2279

10222 0.95 146.6 568.0 6.4 494 10223 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2095 2279

10531 0.95 146.6 548.0 6.3 509 10535 0.00 2.58 0.00 0.000 4 0.000 0.059 2697 3504 2279

10624 0.95 150.4 542.0 5.9 513 10637 0.00 2.55 4.00 1.100 6 0.000 0.048 2697 2107 2264

10945 0.97 166.5 525.3 5.5 529 10965 0.00 0.00 13.95 1.168 6 0.000 0.000 2696 2107 2199

11273 0.97 166.5 505.5 6.1 545 11278 0.00 2.55 0.00 0.000 4 0.000 0.054 2697 3513 2199

11357 0.97 166.5 500.0 6.5 549 11362 0.00 2.55 0.00 0.000 6 0.000 0.045 2697 2094 2199

11683 1.00 191.6 482.1 5.3 565 11712 0.00 2.65 21.58 1.144 4 0.000 0.054 2697 3510 2096

11814 1.00 191.6 473.5 7.2 571 11819 0.00 2.55 0.00 0.000 6 0.000 0.045 2696 2097 2096

12140 1.03 211.7 455.9 5.4 587 12161 0.00 0.00 17.33 1.123 6 0.000 0.000 2696 2097 2014

12469 1.03 211.7 436.2 6.1 603 12471 0.10 0.00 0.00 0.000 6 0.056 0.000 2730 2097 2014

12778 1.03 211.7 414.2 7.3 618 12780 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2096 2013

13087 1.03 211.7 392.2 7.5 633 13089 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2014

13397 1.03 211.7 368.0 8.1 648 13398 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2014

13706 1.03 211.7 342.7 7.9 663 13707 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2014

14015 1.03 211.7 318.1 8.0 678 14016 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2014

14325 1.03 211.7 293.8 7.8 693 14326 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2015

14634 1.03 211.7 269.8 7.5 708 14635 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2097 2015

14943 1.03 211.7 248.3 6.8 723 14947 0.00 2.53 0.00 0.000 4 0.000 0.050 2731 3509 2015

15031 1.03 211.7 241.7 7.2 727 15036 0.00 2.53 0.00 0.000 6 0.000 0.040 2731 2095 2015

15358 1.03 211.7 221.2 6.2 743 15359 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2095 2016

15667 1.03 211.7 200.9 7.2 758 15668 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2095 2016

15976 1.03 211.7 179.4 7.0 773 15981 0.00 2.53 0.00 0.000 4 0.000 0.049 2730 3506 2016

16048 1.03 211.7 174.2 7.5 776 16053 0.00 2.50 0.00 0.000 6 0.000 0.039 2731 2103 2016

16369 1.03 211.7 152.1 7.1 792 16371 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2104 2016

16680 1.03 211.7 132.1 7.0 807 16681 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2104 2016

16988 1.03 211.7 110.8 6.7 822 16990 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2104 2016

17298 1.03 211.7 90.9 6.4 837 17299 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2104 2017

17607 1.03 211.7 69.3 7.3 852 17608 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2104 2017

17916 1.03 211.7 43.3 9.7 867 17920 0.00 2.53 0.00 0.000 4 0.000 0.045 2731 3510 2017

17993 1.07 248.3 37.2 4.9 870 18029 0.00 2.50 29.50 0.833 6 0.000 0.038 2731 2099 1864

18351 1.07 248.3 10.8 7.9 888 18352 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2098 1864

18660 1.31 442.9 2.6 0.2 903 18769 0.20 2.62 102.32 0.756 4 0.065 0.057 2781 695 1071

18856 end climb: NO_VERTICAL_VELOCITY

state 18856 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	112	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-78368.883	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	124625,6202.084,-931.264,25,1.8,42,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.209,0.004
_SM_DEPTHo	3.09	KALMAN_X	77613.5,-674.2,-2148.3,-128590.1,28964.7
_SM_ANGLEo	-48.8	KALMAN_Y	124363.9,-505.8,-971.5,-69315.5,4505.0
GPS2	125121,6202.044,-931.128,14,1.1,14,-9.7	MHEAD_RNG_PITCHd_Wd	280.9,17254,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	18859,58.75,0.746,0,0,603,558.06	ALTIM_BOTTOM_PING	551.2,72.5
SM_GC	3.23,11.85,0.00,0.00,0.028,0.000,0.000,28,1922,604,-11.27,0.62,557.81	_24V_AH	23.4,29.282
IRIDIUM_FIX	6139.81,-936.03,031207,111116	_10V_AH	10.1,13.118
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44253,912
HUMID	2045	CFSIZE	260165632,251863040
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	18.80	GPS	031207,181538,6201.640,-930.357,31,1.1,31,-9.7
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	109	64.81	SBE_CT	668	24	375.30
Roll_motor	86	65	133.09	SBE_O2	617	19	274.65
VBD_pump_during_apogee	430	1196	12047.78	WL_BB2F	641	105	1575.08
VBD_pump_during_surface	58	746	1025.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.55	nil	0	0	0.00
Iridium_during_connect	34	160	129.51	nil	0	0	0.00
Iridium_during_xfer	133	223	695.49
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.24
TT8	1609	19	321.81
LPSleep	15073	2	333.41
TT8_Active	633	19	126.65
TT8_Sampling	1973	39	793.49
TT8_CF8	350	45	162.33
TT8_Kalman	33	81	27.57
Analog_circuits	1615	12	195.79
GPS_charging	0	0	0.00
Compass	1939	8	156.72
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	-21.98	0.000	2	0.000	0.000	27	1882	1112
45	-0.95	-146.6	3.1	-0.0	1	221	11.23	2.53	-155.65	0.000	4	0.110	0.058	2286	3296	3476
365	-0.95	-146.6	20.5	-9.4	16	370	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1905	3476
692	-0.95	-146.6	43.5	-8.2	32	693	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1002	-0.95	-146.6	60.4	-7.0	47	1003	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1311	-0.95	-146.6	73.7	-4.7	62	1312	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1620	-0.95	-146.6	92.1	-6.3	77	1624	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3298	3476
1681	-0.95	-146.6	96.2	-6.3	80	1686	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1898	3476
2007	-0.95	-146.6	118.0	-6.7	96	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3476
2316	-0.95	-146.6	134.8	-6.1	111	2321	0.00	2.50	0.00	0.000	4	0.000	0.045	2285	3299	3476
2378	-0.95	-146.6	138.9	-6.4	114	2382	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1896	3476
2703	-0.95	-146.6	161.9	-7.2	130	2704	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
3012	-0.95	-146.6	183.1	-6.8	145	3013	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
3321	-0.95	-146.6	203.8	-6.9	160	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
3631	-0.95	-146.6	225.5	-7.0	175	3636	0.00	2.53	0.00	0.000	4	0.000	0.047	2286	3306	3476
3686	-0.95	-146.6	229.7	-7.8	177	3693	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1905	3476
4002	-0.95	-146.6	251.3	-6.6	193	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4310	-0.95	-146.6	273.5	-7.3	208	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4620	-0.95	-146.6	295.7	-7.0	223	4624	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3300	3476
4682	-0.95	-146.6	300.1	-7.2	226	4686	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1894	3476
5007	-0.95	-146.6	323.1	-6.8	242	5008	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
5316	-0.95	-146.6	345.6	-7.6	257	5317	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
5625	-0.95	-146.6	368.7	-7.5	272	5629	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3299	3476
5696	-0.95	-146.6	374.2	-7.6	275	5701	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1899	3476
6018	-0.95	-146.6	397.3	-7.1	291	6019	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
6328	-0.95	-146.6	420.3	-7.7	306	6329	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
6637	-0.95	-146.6	441.4	-6.4	321	6638	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
6946	-0.95	-146.6	463.0	-7.4	336	6947	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
7256	-0.95	-146.6	484.2	-6.3	351	7260	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3300	3476
7316	-0.95	-146.6	488.1	-6.9	354	7321	0.00	2.50	0.00	0.000	6	0.000	0.046	2286	1902	3476
7642	-0.95	-146.6	508.4	-5.8	370	7643	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
7953	-0.95	-146.6	526.2	-5.9	385	7957	0.00	2.53	0.00	0.000	4	0.000	0.052	2286	3296	3475
8058	-0.95	-146.6	533.1	-6.9	390	8063	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1893	3475
8385	-0.95	-146.6	552.7	-6.6	406	8389	0.00	2.55	0.00	0.000	4	0.000	0.054	2286	3298	3475
8455	-0.95	-146.6	558.4	-7.9	409	8461	0.00	2.55	0.00	0.000	6	0.000	0.049	2285	1902	3475
8776	-0.95	-146.6	580.3	-6.6	425	8778	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3474
9086	-0.95	-146.6	597.7	-5.4	440	9088	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3474
9394	end dive: BOTTOM_OBSTACLE_DETECTED
state	9394	begin apogee
9399	-0.36	0.0	614.3	7.5	455	9523	0.62	0.00	121.45	1.197	6	0.077	0.000	2420	2095	2878
9524	end apogee: CONTROL_FINISHED_OK
state	9524	begin climb
9526	0.95	146.6	618.1	0.0	461	9654	1.25	2.72	120.18	1.157	4	0.058	0.066	2697	688	2279
9907	0.95	146.6	587.6	8.1	478	9913	0.00	2.53	0.00	0.000	6	0.000	0.045	2697	2095	2279
10222	0.95	146.6	568.0	6.4	494	10223	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2095	2279
10531	0.95	146.6	548.0	6.3	509	10535	0.00	2.58	0.00	0.000	4	0.000	0.059	2697	3504	2279
10624	0.95	150.4	542.0	5.9	513	10637	0.00	2.55	4.00	1.100	6	0.000	0.048	2697	2107	2264
10945	0.97	166.5	525.3	5.5	529	10965	0.00	0.00	13.95	1.168	6	0.000	0.000	2696	2107	2199
11273	0.97	166.5	505.5	6.1	545	11278	0.00	2.55	0.00	0.000	4	0.000	0.054	2697	3513	2199
11357	0.97	166.5	500.0	6.5	549	11362	0.00	2.55	0.00	0.000	6	0.000	0.045	2697	2094	2199
11683	1.00	191.6	482.1	5.3	565	11712	0.00	2.65	21.58	1.144	4	0.000	0.054	2697	3510	2096
11814	1.00	191.6	473.5	7.2	571	11819	0.00	2.55	0.00	0.000	6	0.000	0.045	2696	2097	2096
12140	1.03	211.7	455.9	5.4	587	12161	0.00	0.00	17.33	1.123	6	0.000	0.000	2696	2097	2014
12469	1.03	211.7	436.2	6.1	603	12471	0.10	0.00	0.00	0.000	6	0.056	0.000	2730	2097	2014
12778	1.03	211.7	414.2	7.3	618	12780	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2096	2013
13087	1.03	211.7	392.2	7.5	633	13089	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2014
13397	1.03	211.7	368.0	8.1	648	13398	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2014
13706	1.03	211.7	342.7	7.9	663	13707	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2014
14015	1.03	211.7	318.1	8.0	678	14016	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2014
14325	1.03	211.7	293.8	7.8	693	14326	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2015
14634	1.03	211.7	269.8	7.5	708	14635	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2097	2015
14943	1.03	211.7	248.3	6.8	723	14947	0.00	2.53	0.00	0.000	4	0.000	0.050	2731	3509	2015
15031	1.03	211.7	241.7	7.2	727	15036	0.00	2.53	0.00	0.000	6	0.000	0.040	2731	2095	2015
15358	1.03	211.7	221.2	6.2	743	15359	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2095	2016
15667	1.03	211.7	200.9	7.2	758	15668	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2095	2016
15976	1.03	211.7	179.4	7.0	773	15981	0.00	2.53	0.00	0.000	4	0.000	0.049	2730	3506	2016
16048	1.03	211.7	174.2	7.5	776	16053	0.00	2.50	0.00	0.000	6	0.000	0.039	2731	2103	2016
16369	1.03	211.7	152.1	7.1	792	16371	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2104	2016
16680	1.03	211.7	132.1	7.0	807	16681	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2104	2016
16988	1.03	211.7	110.8	6.7	822	16990	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2104	2016
17298	1.03	211.7	90.9	6.4	837	17299	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2104	2017
17607	1.03	211.7	69.3	7.3	852	17608	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2104	2017
17916	1.03	211.7	43.3	9.7	867	17920	0.00	2.53	0.00	0.000	4	0.000	0.045	2731	3510	2017
17993	1.07	248.3	37.2	4.9	870	18029	0.00	2.50	29.50	0.833	6	0.000	0.038	2731	2099	1864
18351	1.07	248.3	10.8	7.9	888	18352	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2098	1864
18660	1.31	442.9	2.6	0.2	903	18769	0.20	2.62	102.32	0.756	4	0.065	0.057	2781	695	1071
18856	end climb: NO_VERTICAL_VELOCITY
state	18856	begin surface