Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 113 * 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 113 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 26 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 -78381.547 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 -78381.547

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 26 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 113 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 181538,6201.640,-930.357,31,1.1,31,-9.7 TGT_NAME CW

_CALLS 4 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.021

_SM_DEPTHo 3.18 KALMAN_X 82869.5,-3004.8,-287.7,-132510.0,27746.4

_SM_ANGLEo -50.2 KALMAN_Y 121683.9,-1424.3,575.5,-68371.0,1886.5

GPS2 183209,6201.454,-930.166,10,1.4,10,-9.7 MHEAD_RNG_PITCHd_Wd 285.6,18409,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 17789,63.47,0.727,0,0,603,558.06 ALTIM_BOTTOM_PING 526.3,83.6

SM_GC 3.49,11.85,0.00,0.00,0.026,0.000,0.000,26,1881,604,-11.27,-0.54,557.81 _24V_AH 23.4,29.458

IRIDIUM_FIX 6135.28,-920.97,031207,222225 _10V_AH 10.1,13.206

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44266,861

HUMID 2016 CFSIZE 260165632,251809792

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 16.90 GPS 031207,233858,6159.446,-933.771,28,3.8,47,-9.7

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 97 57.50 SBE_CT 633 24 355.79

Roll_motor 61 64 92.87 SBE_O2 582 19 258.92

VBD_pump_during_apogee 434 1176 11970.19 WL_BB2F 613 105 1507.75

VBD_pump_during_surface 63 727 1080.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 149 103 360.81 nil 0 0 0.00

Iridium_during_connect 170 160 639.60 nil 0 0 0.00

Iridium_during_xfer 373 223 1947.68

Transponder_ping 4 420 46.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.08

TT8 1492 19 298.44

LPSleep 14533 2 321.47

TT8_Active 632 19 126.40

TT8_Sampling 1749 39 703.30

TT8_CF8 860 45 398.20

TT8_Kalman 33 81 27.57

Analog_circuits 1510 12 183.01

GPS_charging 0 0 0.00

Compass 1731 8 139.90

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 25 0.00 0.00 -4.53 0.000 2 0.000 0.000 27 1920 714

28 -0.95 -146.6 3.2 -0.0 0 220 10.98 2.47 -171.48 0.000 4 0.097 0.060 2288 3301 3476

387 -0.95 -146.6 15.3 -6.3 17 392 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1904 3476

709 -0.95 -146.6 40.0 -6.8 33 710 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3476

1018 -0.95 -146.6 60.5 -8.6 48 1019 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3477

1327 -0.95 -146.6 82.7 -8.8 63 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3476

1637 -0.95 -146.6 102.9 -6.4 78 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3476

1946 -0.95 -146.6 124.6 -6.2 93 1950 0.00 2.50 0.00 0.000 4 0.000 0.045 2288 3301 3476

2017 -0.95 -146.6 129.4 -6.2 96 2021 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1898 3476

2338 -0.95 -146.6 153.3 -8.1 112 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

2647 -0.95 -146.6 176.5 -7.4 127 2651 0.00 2.53 0.00 0.000 4 0.000 0.045 2288 3309 3476

2708 -0.95 -146.6 181.3 -7.6 130 2713 0.00 2.50 0.00 0.000 6 0.000 0.041 2288 1899 3476

3035 -0.95 -146.6 203.4 -6.7 146 3036 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

3344 -0.95 -146.6 223.6 -6.6 161 3345 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

3653 -0.95 -146.6 244.2 -6.6 176 3657 0.00 2.50 0.00 0.000 4 0.000 0.046 2288 3301 3476

3720 -0.95 -146.6 248.9 -7.0 179 3724 0.00 2.50 0.00 0.000 6 0.000 0.042 2288 1898 3476

4045 -0.95 -146.6 272.3 -7.5 195 4046 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

4354 -0.95 -146.6 295.9 -7.5 210 4358 0.00 2.53 0.00 0.000 4 0.000 0.046 2288 3305 3476

4416 -0.95 -146.6 300.8 -8.3 213 4421 0.00 2.50 0.00 0.000 6 0.000 0.043 2288 1899 3476

4742 -0.95 -146.6 327.2 -7.9 229 4743 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5051 -0.95 -146.6 352.4 -8.1 244 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5360 -0.95 -146.6 377.1 -7.7 259 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5670 -0.95 -146.6 399.6 -6.9 274 5671 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

5979 -0.95 -146.6 424.0 -8.1 289 5980 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

6288 -0.95 -146.6 448.0 -7.9 304 6289 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

6597 -0.95 -146.6 471.2 -7.1 319 6602 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3300 3476

6691 -0.95 -146.6 478.6 -8.0 323 6696 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1904 3476

7012 -0.95 -146.6 502.8 -7.6 339 7017 0.00 2.50 0.00 0.000 4 0.000 0.051 2288 3301 3476

7084 -0.95 -146.6 508.6 -8.2 342 7089 0.00 2.55 0.00 0.000 6 0.000 0.047 2288 1900 3475

7405 -0.95 -146.6 532.3 -7.3 358 7409 0.00 2.55 0.00 0.000 4 0.000 0.052 2288 3305 3476

7481 -0.95 -146.6 538.2 -7.8 361 7488 0.00 2.55 0.00 0.000 6 0.000 0.046 2288 1901 3475

7797 -0.95 -146.6 562.9 -7.9 377 7798 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

8106 -0.95 -146.6 585.2 -7.6 392 8108 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

8311 end dive: BOTTOM_OBSTACLE_DETECTED

state 8311 begin apogee

8316 -0.36 0.0 601.0 7.9 402 8440 0.60 0.00 121.40 1.177 6 0.073 0.000 2418 2098 2878

8441 end apogee: CONTROL_FINISHED_OK

state 8441 begin climb

8443 0.95 146.6 605.3 0.0 408 8570 1.25 2.70 119.38 1.146 4 0.054 0.064 2700 693 2280

8643 0.99 179.5 599.9 5.0 417 8678 0.00 2.55 27.62 1.132 6 0.000 0.044 2700 2087 2146

9000 1.01 199.0 582.2 5.4 435 9021 0.00 0.00 17.00 1.148 6 0.000 0.000 2700 2088 2066

9329 1.01 199.0 561.6 6.4 451 9330 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2088 2065

9638 1.01 199.0 540.4 7.1 466 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2087 2064

9947 1.01 199.0 518.2 7.5 481 9952 0.00 2.60 0.00 0.000 4 0.000 0.055 2700 3511 2065

10080 1.01 199.0 507.6 7.7 487 10085 0.00 2.55 0.00 0.000 6 0.000 0.045 2700 2107 2064

10407 1.01 199.0 482.1 8.0 503 10408 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2107 2064

10716 1.01 199.0 457.7 7.6 518 10717 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2107 2064

11026 1.01 199.0 435.5 7.1 533 11027 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2107 2064

11335 1.01 199.0 414.8 6.4 548 11336 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2107 2064

11644 1.01 199.0 395.2 6.3 563 11645 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2107 2064

11954 1.04 221.2 377.6 5.3 578 11974 0.00 0.00 18.23 1.076 6 0.000 0.000 2700 2107 1976

12283 1.06 234.9 359.4 5.6 594 12298 0.12 0.00 12.05 1.058 6 0.048 0.000 2747 2107 1920

12592 1.06 234.9 335.8 7.8 609 12593 0.12 0.00 0.00 0.000 6 0.083 0.000 2721 2107 1920

12901 1.06 234.9 313.8 7.2 624 12902 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1920

13210 1.06 234.9 293.8 6.1 639 13211 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1920

13519 1.06 234.9 274.5 6.5 654 13520 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1920

13829 1.06 234.9 252.5 7.9 669 13830 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1920

14138 1.06 234.9 229.3 6.9 684 14139 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1920

14447 1.06 234.9 209.1 6.7 699 14451 0.00 2.60 0.00 0.000 4 0.000 0.061 2721 685 1920

14502 1.06 234.9 205.3 6.7 701 14509 0.00 2.53 0.00 0.000 6 0.000 0.038 2721 2113 1920

14817 1.06 234.9 183.1 7.1 717 14818 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2113 1921

15126 1.06 234.9 160.6 8.2 732 15128 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2113 1921

15438 1.06 234.9 136.4 7.7 747 15439 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2113 1920

15746 1.06 234.9 115.7 7.3 762 15747 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2113 1921

16055 1.06 234.9 92.9 7.1 777 16056 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2112 1921

16364 1.06 234.9 69.7 7.9 792 16368 0.00 2.60 0.00 0.000 4 0.000 0.058 2721 690 1921

16418 1.06 234.9 65.6 7.7 794 16426 0.00 2.47 0.00 0.000 6 0.000 0.038 2721 2095 1921

16734 1.12 283.8 48.4 4.5 810 16775 0.00 0.00 38.72 0.830 6 0.000 0.000 2721 2095 1721

17085 1.12 283.8 27.8 6.6 827 17086 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2095 1721

17393 1.12 283.8 2.7 8.2 842 17394 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2095 1721

17702 1.36 484.7 2.8 0.0 857 17786 0.30 0.00 80.38 0.762 2 0.065 0.000 2791 2097 1111

17787 end climb: NO_VERTICAL_VELOCITY

state 17787 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	113	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	26	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	-78381.547	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	181538,6201.640,-930.357,31,1.1,31,-9.7	TGT_NAME	CW
_CALLS	4	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.021
_SM_DEPTHo	3.18	KALMAN_X	82869.5,-3004.8,-287.7,-132510.0,27746.4
_SM_ANGLEo	-50.2	KALMAN_Y	121683.9,-1424.3,575.5,-68371.0,1886.5
GPS2	183209,6201.454,-930.166,10,1.4,10,-9.7	MHEAD_RNG_PITCHd_Wd	285.6,18409,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	17789,63.47,0.727,0,0,603,558.06	ALTIM_BOTTOM_PING	526.3,83.6
SM_GC	3.49,11.85,0.00,0.00,0.026,0.000,0.000,26,1881,604,-11.27,-0.54,557.81	_24V_AH	23.4,29.458
IRIDIUM_FIX	6135.28,-920.97,031207,222225	_10V_AH	10.1,13.206
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44266,861
HUMID	2016	CFSIZE	260165632,251809792
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	16.90	GPS	031207,233858,6159.446,-933.771,28,3.8,47,-9.7
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	97	57.50	SBE_CT	633	24	355.79
Roll_motor	61	64	92.87	SBE_O2	582	19	258.92
VBD_pump_during_apogee	434	1176	11970.19	WL_BB2F	613	105	1507.75
VBD_pump_during_surface	63	727	1080.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	149	103	360.81	nil	0	0	0.00
Iridium_during_connect	170	160	639.60	nil	0	0	0.00
Iridium_during_xfer	373	223	1947.68
Transponder_ping	4	420	46.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.08
TT8	1492	19	298.44
LPSleep	14533	2	321.47
TT8_Active	632	19	126.40
TT8_Sampling	1749	39	703.30
TT8_CF8	860	45	398.20
TT8_Kalman	33	81	27.57
Analog_circuits	1510	12	183.01
GPS_charging	0	0	0.00
Compass	1731	8	139.90
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	25	0.00	0.00	-4.53	0.000	2	0.000	0.000	27	1920	714
28	-0.95	-146.6	3.2	-0.0	0	220	10.98	2.47	-171.48	0.000	4	0.097	0.060	2288	3301	3476
387	-0.95	-146.6	15.3	-6.3	17	392	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1904	3476
709	-0.95	-146.6	40.0	-6.8	33	710	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3476
1018	-0.95	-146.6	60.5	-8.6	48	1019	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3477
1327	-0.95	-146.6	82.7	-8.8	63	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3476
1637	-0.95	-146.6	102.9	-6.4	78	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3476
1946	-0.95	-146.6	124.6	-6.2	93	1950	0.00	2.50	0.00	0.000	4	0.000	0.045	2288	3301	3476
2017	-0.95	-146.6	129.4	-6.2	96	2021	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1898	3476
2338	-0.95	-146.6	153.3	-8.1	112	2339	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
2647	-0.95	-146.6	176.5	-7.4	127	2651	0.00	2.53	0.00	0.000	4	0.000	0.045	2288	3309	3476
2708	-0.95	-146.6	181.3	-7.6	130	2713	0.00	2.50	0.00	0.000	6	0.000	0.041	2288	1899	3476
3035	-0.95	-146.6	203.4	-6.7	146	3036	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
3344	-0.95	-146.6	223.6	-6.6	161	3345	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
3653	-0.95	-146.6	244.2	-6.6	176	3657	0.00	2.50	0.00	0.000	4	0.000	0.046	2288	3301	3476
3720	-0.95	-146.6	248.9	-7.0	179	3724	0.00	2.50	0.00	0.000	6	0.000	0.042	2288	1898	3476
4045	-0.95	-146.6	272.3	-7.5	195	4046	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
4354	-0.95	-146.6	295.9	-7.5	210	4358	0.00	2.53	0.00	0.000	4	0.000	0.046	2288	3305	3476
4416	-0.95	-146.6	300.8	-8.3	213	4421	0.00	2.50	0.00	0.000	6	0.000	0.043	2288	1899	3476
4742	-0.95	-146.6	327.2	-7.9	229	4743	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5051	-0.95	-146.6	352.4	-8.1	244	5052	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5360	-0.95	-146.6	377.1	-7.7	259	5361	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5670	-0.95	-146.6	399.6	-6.9	274	5671	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
5979	-0.95	-146.6	424.0	-8.1	289	5980	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
6288	-0.95	-146.6	448.0	-7.9	304	6289	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
6597	-0.95	-146.6	471.2	-7.1	319	6602	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3300	3476
6691	-0.95	-146.6	478.6	-8.0	323	6696	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1904	3476
7012	-0.95	-146.6	502.8	-7.6	339	7017	0.00	2.50	0.00	0.000	4	0.000	0.051	2288	3301	3476
7084	-0.95	-146.6	508.6	-8.2	342	7089	0.00	2.55	0.00	0.000	6	0.000	0.047	2288	1900	3475
7405	-0.95	-146.6	532.3	-7.3	358	7409	0.00	2.55	0.00	0.000	4	0.000	0.052	2288	3305	3476
7481	-0.95	-146.6	538.2	-7.8	361	7488	0.00	2.55	0.00	0.000	6	0.000	0.046	2288	1901	3475
7797	-0.95	-146.6	562.9	-7.9	377	7798	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
8106	-0.95	-146.6	585.2	-7.6	392	8108	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
8311	end dive: BOTTOM_OBSTACLE_DETECTED
state	8311	begin apogee
8316	-0.36	0.0	601.0	7.9	402	8440	0.60	0.00	121.40	1.177	6	0.073	0.000	2418	2098	2878
8441	end apogee: CONTROL_FINISHED_OK
state	8441	begin climb
8443	0.95	146.6	605.3	0.0	408	8570	1.25	2.70	119.38	1.146	4	0.054	0.064	2700	693	2280
8643	0.99	179.5	599.9	5.0	417	8678	0.00	2.55	27.62	1.132	6	0.000	0.044	2700	2087	2146
9000	1.01	199.0	582.2	5.4	435	9021	0.00	0.00	17.00	1.148	6	0.000	0.000	2700	2088	2066
9329	1.01	199.0	561.6	6.4	451	9330	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2088	2065
9638	1.01	199.0	540.4	7.1	466	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2087	2064
9947	1.01	199.0	518.2	7.5	481	9952	0.00	2.60	0.00	0.000	4	0.000	0.055	2700	3511	2065
10080	1.01	199.0	507.6	7.7	487	10085	0.00	2.55	0.00	0.000	6	0.000	0.045	2700	2107	2064
10407	1.01	199.0	482.1	8.0	503	10408	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2107	2064
10716	1.01	199.0	457.7	7.6	518	10717	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2107	2064
11026	1.01	199.0	435.5	7.1	533	11027	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2107	2064
11335	1.01	199.0	414.8	6.4	548	11336	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2107	2064
11644	1.01	199.0	395.2	6.3	563	11645	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2107	2064
11954	1.04	221.2	377.6	5.3	578	11974	0.00	0.00	18.23	1.076	6	0.000	0.000	2700	2107	1976
12283	1.06	234.9	359.4	5.6	594	12298	0.12	0.00	12.05	1.058	6	0.048	0.000	2747	2107	1920
12592	1.06	234.9	335.8	7.8	609	12593	0.12	0.00	0.00	0.000	6	0.083	0.000	2721	2107	1920
12901	1.06	234.9	313.8	7.2	624	12902	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1920
13210	1.06	234.9	293.8	6.1	639	13211	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1920
13519	1.06	234.9	274.5	6.5	654	13520	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1920
13829	1.06	234.9	252.5	7.9	669	13830	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1920
14138	1.06	234.9	229.3	6.9	684	14139	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1920
14447	1.06	234.9	209.1	6.7	699	14451	0.00	2.60	0.00	0.000	4	0.000	0.061	2721	685	1920
14502	1.06	234.9	205.3	6.7	701	14509	0.00	2.53	0.00	0.000	6	0.000	0.038	2721	2113	1920
14817	1.06	234.9	183.1	7.1	717	14818	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2113	1921
15126	1.06	234.9	160.6	8.2	732	15128	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2113	1921
15438	1.06	234.9	136.4	7.7	747	15439	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2113	1920
15746	1.06	234.9	115.7	7.3	762	15747	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2113	1921
16055	1.06	234.9	92.9	7.1	777	16056	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2112	1921
16364	1.06	234.9	69.7	7.9	792	16368	0.00	2.60	0.00	0.000	4	0.000	0.058	2721	690	1921
16418	1.06	234.9	65.6	7.7	794	16426	0.00	2.47	0.00	0.000	6	0.000	0.038	2721	2095	1921
16734	1.12	283.8	48.4	4.5	810	16775	0.00	0.00	38.72	0.830	6	0.000	0.000	2721	2095	1721
17085	1.12	283.8	27.8	6.6	827	17086	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2095	1721
17393	1.12	283.8	2.7	8.2	842	17394	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2095	1721
17702	1.36	484.7	2.8	0.0	857	17786	0.30	0.00	80.38	0.762	2	0.065	0.000	2791	2097	1111
17787	end climb: NO_VERTICAL_VELOCITY
state	17787	begin surface