Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 100 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 100 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102137.2 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -102137.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 100 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 160036,6230.772,-1143.487,39,1.3,39,-11.1 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.169,0.178

_SM_DEPTHo 1.61 KALMAN_X -97536.1,502.7,708.6,-65324.2,-7115.3

_SM_ANGLEo -62.0 KALMAN_Y 2660.1,663.3,943.1,96072.0,-9241.9

GPS2 160602,6230.812,-1143.393,13,1.4,13,-11.1 MHEAD_RNG_PITCHd_Wd 327.4,35477,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026831 ALTIM_BOTTOM_PING 720.4,61.8

SM_CCo 16656,0.00,0.000,0,0,1600,301.96 _24V_AH 23.8,19.274

SM_GC 1.60,11.20,0.00,0.00,0.035,0.000,0.000,425,2163,1600,-10.58,0.90,301.96 _10V_AH 10.1,8.620

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41159,800

TT8_MAMPS 0.028379 CAP_FILE_SIZE 117473,0

HUMID 1844 CFSIZE 254472192,246280192

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 39 GPS 140909,204537,6232.365,-1149.203,33,1.3,33,-11.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 97.35 SBE_CT 548 24 313.41

Roll_motor 116 75 211.22 SBE_O2 598 19 270.60

VBD_pump_during_apogee 404 1348 12971.42 WL_BB2F 469 105 1173.75

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 35 160 133.32 nil 0 0 0.00

Iridium_during_xfer 135 223 716.99

Transponder_ping 16 420 164.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 1451 19 290.26

LPSleep 12881 2 284.93

TT8_Active 533 19 106.78

TT8_Sampling 1618 39 650.72

TT8_CF8 492 45 227.95

TT8_Kalman 33 81 27.56

Analog_circuits 1342 12 162.69

GPS_charging 0 0 0.00

Compass 1582 8 127.88

RAFOS 0 0 0.00

Transponder 47 30 14.39

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.67 0.000 2 0.000 0.000 416 2149 2521

65 -1.22 -146.6 2.5 -4.2 2 117 11.18 2.58 -35.38 0.000 4 0.155 0.067 2473 717 3429

286 -1.14 -146.6 28.9 -15.2 12 291 0.10 2.50 0.00 0.000 6 0.106 0.045 2492 2132 3430

609 -1.11 -146.6 67.7 -11.6 28 613 0.00 2.55 0.00 0.000 4 0.000 0.057 2492 717 3430

698 -1.11 -146.6 78.0 -11.0 32 702 0.00 2.47 0.00 0.000 6 0.000 0.045 2492 2121 3430

1020 -1.08 -146.6 110.1 -9.7 48 1024 0.00 2.55 0.00 0.000 4 0.000 0.060 2492 711 3431

1060 -1.08 -146.6 114.3 -10.6 50 1064 0.00 2.47 0.00 0.000 6 0.000 0.047 2492 2115 3431

1387 -1.08 -146.6 149.2 -11.0 66 1388 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2115 3431

1696 -1.08 -146.6 183.5 -11.2 81 1700 0.00 2.53 0.00 0.000 4 0.000 0.061 2492 719 3431

1740 -1.08 -146.6 188.6 -11.3 83 1744 0.00 2.45 0.00 0.000 6 0.000 0.048 2492 2103 3431

2061 -1.08 -146.6 224.1 -11.0 99 2065 0.00 2.53 0.00 0.000 4 0.000 0.063 2492 715 3431

2088 -1.08 -146.6 227.4 -11.0 100 2092 0.00 2.45 0.00 0.000 6 0.000 0.049 2492 2108 3431

2410 -1.08 -146.6 262.9 -10.9 116 2414 0.00 2.53 0.00 0.000 4 0.000 0.062 2492 715 3431

2437 -1.08 -146.6 266.1 -11.4 117 2441 0.00 2.45 0.00 0.000 6 0.000 0.049 2492 2098 3431

2753 -1.08 -146.6 300.7 -11.1 132 2754 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2098 3431

3062 -1.08 -146.6 334.8 -11.1 147 3066 0.00 2.50 0.00 0.000 4 0.000 0.063 2492 718 3431

3102 -1.08 -146.6 339.3 -11.2 149 3106 0.00 2.45 0.00 0.000 6 0.000 0.050 2492 2102 3431

3429 -1.08 -146.6 375.8 -11.3 165 3430 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2104 3430

3738 -1.08 -146.6 410.5 -11.2 180 3742 0.00 2.53 0.00 0.000 4 0.000 0.064 2492 710 3430

3765 -1.08 -146.6 413.6 -11.4 181 3770 0.00 2.45 0.00 0.000 6 0.000 0.051 2492 2090 3430

4082 -1.08 -146.6 448.3 -10.9 196 4083 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2090 3429

4391 -1.08 -146.6 481.6 -10.5 211 4395 0.00 2.50 0.00 0.000 4 0.000 0.064 2492 714 3429

4459 -1.08 -146.6 489.1 -11.2 214 4463 0.00 2.42 0.00 0.000 6 0.000 0.051 2492 2079 3429

4781 -1.08 -146.6 520.6 -9.3 230 4785 0.00 2.65 0.00 0.000 4 0.000 0.073 2492 3542 3429

4808 -1.08 -146.6 523.3 -9.1 231 4813 0.00 2.65 0.00 0.000 6 0.000 0.058 2492 2072 3429

5124 -1.08 -146.6 550.7 -8.7 246 5126 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2063 3429

5434 -1.08 -146.6 578.9 -9.3 261 5435 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2063 3429

5743 -1.08 -146.6 606.4 -8.6 276 5748 0.00 2.42 0.00 0.000 4 0.000 0.066 2492 718 3428

5783 -1.08 -146.6 610.0 -9.7 278 5788 0.00 2.42 0.00 0.000 6 0.000 0.051 2492 2085 3428

6110 -1.08 -146.6 639.4 -9.8 294 6112 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2085 3428

6420 -1.08 -146.6 669.9 -9.6 309 6422 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2085 3428

6729 -1.08 -146.6 697.6 -8.6 324 6730 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2085 3427

7038 -1.08 -146.6 724.0 -8.7 339 7039 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2085 3427

7348 -1.08 -146.6 752.1 -9.2 354 7349 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2085 3426

7571 end dive: BOTTOM_OBSTACLE_DETECTED

state 7572 begin apogee

7579 -0.33 0.0 772.7 8.9 365 7715 0.85 0.00 130.23 1.348 6 0.085 0.000 2673 1836 2831

7715 end apogee: CONTROL_FINISHED_OK

state 7715 begin climb

7718 1.22 146.6 776.4 0.0 372 7856 1.58 0.00 131.32 1.306 6 0.062 0.000 3011 1835 2233

8170 1.14 162.4 747.7 7.4 394 8187 0.00 0.00 15.43 1.193 6 0.000 0.000 3011 1835 2169

8495 1.10 192.9 723.3 6.9 410 8526 0.15 0.00 28.42 1.258 6 0.100 0.000 2982 1835 2044

8824 1.17 236.4 701.9 6.4 426 8866 0.00 0.00 39.22 1.276 6 0.000 0.000 2982 1835 1867

9173 1.21 259.5 677.8 7.2 443 9197 0.12 0.00 21.88 1.238 6 0.062 0.000 3014 1835 1773

9503 1.16 259.5 647.3 9.4 459 9507 0.00 2.65 0.00 0.000 4 0.000 0.070 3014 3261 1773

9558 1.16 259.5 641.2 10.7 461 9564 0.00 2.62 0.00 0.000 6 0.000 0.067 3014 1848 1773

9874 1.11 259.5 609.1 9.8 477 9879 0.15 2.60 0.00 0.000 4 0.097 0.076 2986 438 1772

9914 1.11 259.5 605.2 8.9 479 9919 0.00 2.55 0.00 0.000 6 0.000 0.055 2985 1851 1773

10241 1.11 259.5 577.9 8.2 495 10243 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1865 1772

10551 1.11 259.5 551.9 8.5 510 10552 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1865 1772

10860 1.11 259.5 525.0 8.8 525 10861 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1865 1772

11169 1.11 259.5 499.0 8.5 540 11173 0.00 2.53 0.00 0.000 4 0.000 0.064 2986 3257 1772

11209 1.17 259.5 495.4 9.0 542 11214 0.00 2.60 0.00 0.000 6 0.000 0.060 2986 1828 1772

11536 1.17 259.5 466.4 8.9 558 11540 0.00 2.62 0.00 0.000 4 0.000 0.062 2986 3263 1772

11580 1.23 259.5 462.1 9.5 560 11585 0.12 2.58 0.00 0.000 6 0.058 0.058 3020 1844 1772

11903 1.18 259.5 429.1 10.1 576 11904 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1843 1773

12212 1.14 259.5 398.5 9.6 591 12217 0.15 2.60 0.00 0.000 4 0.094 0.061 2991 3265 1773

12268 1.19 259.5 393.4 8.3 593 12274 0.00 2.55 0.00 0.000 6 0.000 0.055 2991 1851 1773

12584 1.19 259.5 367.4 8.4 609 12585 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 1851 1774

12893 1.19 259.5 341.5 8.3 624 12897 0.00 2.55 0.00 0.000 4 0.000 0.061 2991 3259 1774

12960 1.24 259.5 335.4 8.8 627 12965 0.12 2.50 0.00 0.000 6 0.056 0.054 3025 1869 1774

13282 1.19 259.5 302.8 10.1 643 13283 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1869 1774

13590 1.15 259.5 271.6 10.0 658 13595 0.15 2.53 0.00 0.000 4 0.087 0.061 2995 3265 1774

13631 1.20 259.5 268.0 8.0 660 13635 0.00 2.50 0.00 0.000 6 0.000 0.053 2995 1867 1774

13964 1.20 259.5 240.3 8.4 676 13965 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 1867 1774

14273 1.20 259.5 214.7 8.1 691 14277 0.00 2.53 0.00 0.000 4 0.000 0.059 2996 3260 1774

14325 1.25 259.5 210.5 8.1 693 14330 0.10 2.45 0.00 0.000 6 0.060 0.052 3022 1885 1774

14647 1.21 259.5 180.2 9.4 709 14648 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1886 1775

14956 1.17 259.5 151.2 9.0 724 14961 0.12 2.47 0.00 0.000 4 0.091 0.058 2999 3256 1775

14997 1.23 259.5 147.9 8.1 726 15001 0.00 2.42 0.00 0.000 6 0.000 0.051 2999 1893 1775

15324 1.27 285.5 123.8 7.1 742 15349 0.00 0.00 22.92 0.861 6 0.000 0.000 2999 1892 1667

15655 1.32 301.6 100.5 7.4 758 15677 0.17 2.53 14.77 0.825 4 0.049 0.058 3045 3249 1600

15705 1.32 301.6 95.0 10.3 760 15709 0.00 2.45 0.00 0.000 6 0.000 0.049 3045 1888 1600

16023 1.27 301.6 55.9 13.7 775 16028 0.12 2.62 0.00 0.000 4 0.089 0.067 3020 436 1600

16073 1.27 301.6 49.7 11.2 777 16078 0.00 2.60 0.00 0.000 6 0.000 0.048 3020 1901 1600

16391 1.27 301.6 18.4 9.9 792 16395 0.00 2.40 0.00 0.000 4 0.000 0.058 3020 3257 1601

16441 1.34 301.6 13.3 11.0 794 16446 0.00 2.45 0.00 0.000 6 0.000 0.049 3020 1879 1600

16548 end climb: SURFACE_DEPTH_REACHED

state 16549 begin surface coast

16572 end surface coast: CONTROL_FINISHED_OK

state 16572 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	100	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102137.2	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	160036,6230.772,-1143.487,39,1.3,39,-11.1	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.169,0.178
_SM_DEPTHo	1.61	KALMAN_X	-97536.1,502.7,708.6,-65324.2,-7115.3
_SM_ANGLEo	-62.0	KALMAN_Y	2660.1,663.3,943.1,96072.0,-9241.9
GPS2	160602,6230.812,-1143.393,13,1.4,13,-11.1	MHEAD_RNG_PITCHd_Wd	327.4,35477,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.026831	ALTIM_BOTTOM_PING	720.4,61.8
SM_CCo	16656,0.00,0.000,0,0,1600,301.96	_24V_AH	23.8,19.274
SM_GC	1.60,11.20,0.00,0.00,0.035,0.000,0.000,425,2163,1600,-10.58,0.90,301.96	_10V_AH	10.1,8.620
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41159,800
TT8_MAMPS	0.028379	CAP_FILE_SIZE	117473,0
HUMID	1844	CFSIZE	254472192,246280192
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	39	GPS	140909,204537,6232.365,-1149.203,33,1.3,33,-11.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	97.35	SBE_CT	548	24	313.41
Roll_motor	116	75	211.22	SBE_O2	598	19	270.60
VBD_pump_during_apogee	404	1348	12971.42	WL_BB2F	469	105	1173.75
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	35	160	133.32	nil	0	0	0.00
Iridium_during_xfer	135	223	716.99
Transponder_ping	16	420	164.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	1451	19	290.26
LPSleep	12881	2	284.93
TT8_Active	533	19	106.78
TT8_Sampling	1618	39	650.72
TT8_CF8	492	45	227.95
TT8_Kalman	33	81	27.56
Analog_circuits	1342	12	162.69
GPS_charging	0	0	0.00
Compass	1582	8	127.88
RAFOS	0	0	0.00
Transponder	47	30	14.39

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.67	0.000	2	0.000	0.000	416	2149	2521
65	-1.22	-146.6	2.5	-4.2	2	117	11.18	2.58	-35.38	0.000	4	0.155	0.067	2473	717	3429
286	-1.14	-146.6	28.9	-15.2	12	291	0.10	2.50	0.00	0.000	6	0.106	0.045	2492	2132	3430
609	-1.11	-146.6	67.7	-11.6	28	613	0.00	2.55	0.00	0.000	4	0.000	0.057	2492	717	3430
698	-1.11	-146.6	78.0	-11.0	32	702	0.00	2.47	0.00	0.000	6	0.000	0.045	2492	2121	3430
1020	-1.08	-146.6	110.1	-9.7	48	1024	0.00	2.55	0.00	0.000	4	0.000	0.060	2492	711	3431
1060	-1.08	-146.6	114.3	-10.6	50	1064	0.00	2.47	0.00	0.000	6	0.000	0.047	2492	2115	3431
1387	-1.08	-146.6	149.2	-11.0	66	1388	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2115	3431
1696	-1.08	-146.6	183.5	-11.2	81	1700	0.00	2.53	0.00	0.000	4	0.000	0.061	2492	719	3431
1740	-1.08	-146.6	188.6	-11.3	83	1744	0.00	2.45	0.00	0.000	6	0.000	0.048	2492	2103	3431
2061	-1.08	-146.6	224.1	-11.0	99	2065	0.00	2.53	0.00	0.000	4	0.000	0.063	2492	715	3431
2088	-1.08	-146.6	227.4	-11.0	100	2092	0.00	2.45	0.00	0.000	6	0.000	0.049	2492	2108	3431
2410	-1.08	-146.6	262.9	-10.9	116	2414	0.00	2.53	0.00	0.000	4	0.000	0.062	2492	715	3431
2437	-1.08	-146.6	266.1	-11.4	117	2441	0.00	2.45	0.00	0.000	6	0.000	0.049	2492	2098	3431
2753	-1.08	-146.6	300.7	-11.1	132	2754	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2098	3431
3062	-1.08	-146.6	334.8	-11.1	147	3066	0.00	2.50	0.00	0.000	4	0.000	0.063	2492	718	3431
3102	-1.08	-146.6	339.3	-11.2	149	3106	0.00	2.45	0.00	0.000	6	0.000	0.050	2492	2102	3431
3429	-1.08	-146.6	375.8	-11.3	165	3430	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2104	3430
3738	-1.08	-146.6	410.5	-11.2	180	3742	0.00	2.53	0.00	0.000	4	0.000	0.064	2492	710	3430
3765	-1.08	-146.6	413.6	-11.4	181	3770	0.00	2.45	0.00	0.000	6	0.000	0.051	2492	2090	3430
4082	-1.08	-146.6	448.3	-10.9	196	4083	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2090	3429
4391	-1.08	-146.6	481.6	-10.5	211	4395	0.00	2.50	0.00	0.000	4	0.000	0.064	2492	714	3429
4459	-1.08	-146.6	489.1	-11.2	214	4463	0.00	2.42	0.00	0.000	6	0.000	0.051	2492	2079	3429
4781	-1.08	-146.6	520.6	-9.3	230	4785	0.00	2.65	0.00	0.000	4	0.000	0.073	2492	3542	3429
4808	-1.08	-146.6	523.3	-9.1	231	4813	0.00	2.65	0.00	0.000	6	0.000	0.058	2492	2072	3429
5124	-1.08	-146.6	550.7	-8.7	246	5126	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2063	3429
5434	-1.08	-146.6	578.9	-9.3	261	5435	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2063	3429
5743	-1.08	-146.6	606.4	-8.6	276	5748	0.00	2.42	0.00	0.000	4	0.000	0.066	2492	718	3428
5783	-1.08	-146.6	610.0	-9.7	278	5788	0.00	2.42	0.00	0.000	6	0.000	0.051	2492	2085	3428
6110	-1.08	-146.6	639.4	-9.8	294	6112	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2085	3428
6420	-1.08	-146.6	669.9	-9.6	309	6422	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2085	3428
6729	-1.08	-146.6	697.6	-8.6	324	6730	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2085	3427
7038	-1.08	-146.6	724.0	-8.7	339	7039	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2085	3427
7348	-1.08	-146.6	752.1	-9.2	354	7349	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2085	3426
7571	end dive: BOTTOM_OBSTACLE_DETECTED
state	7572	begin apogee
7579	-0.33	0.0	772.7	8.9	365	7715	0.85	0.00	130.23	1.348	6	0.085	0.000	2673	1836	2831
7715	end apogee: CONTROL_FINISHED_OK
state	7715	begin climb
7718	1.22	146.6	776.4	0.0	372	7856	1.58	0.00	131.32	1.306	6	0.062	0.000	3011	1835	2233
8170	1.14	162.4	747.7	7.4	394	8187	0.00	0.00	15.43	1.193	6	0.000	0.000	3011	1835	2169
8495	1.10	192.9	723.3	6.9	410	8526	0.15	0.00	28.42	1.258	6	0.100	0.000	2982	1835	2044
8824	1.17	236.4	701.9	6.4	426	8866	0.00	0.00	39.22	1.276	6	0.000	0.000	2982	1835	1867
9173	1.21	259.5	677.8	7.2	443	9197	0.12	0.00	21.88	1.238	6	0.062	0.000	3014	1835	1773
9503	1.16	259.5	647.3	9.4	459	9507	0.00	2.65	0.00	0.000	4	0.000	0.070	3014	3261	1773
9558	1.16	259.5	641.2	10.7	461	9564	0.00	2.62	0.00	0.000	6	0.000	0.067	3014	1848	1773
9874	1.11	259.5	609.1	9.8	477	9879	0.15	2.60	0.00	0.000	4	0.097	0.076	2986	438	1772
9914	1.11	259.5	605.2	8.9	479	9919	0.00	2.55	0.00	0.000	6	0.000	0.055	2985	1851	1773
10241	1.11	259.5	577.9	8.2	495	10243	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	1865	1772
10551	1.11	259.5	551.9	8.5	510	10552	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	1865	1772
10860	1.11	259.5	525.0	8.8	525	10861	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	1865	1772
11169	1.11	259.5	499.0	8.5	540	11173	0.00	2.53	0.00	0.000	4	0.000	0.064	2986	3257	1772
11209	1.17	259.5	495.4	9.0	542	11214	0.00	2.60	0.00	0.000	6	0.000	0.060	2986	1828	1772
11536	1.17	259.5	466.4	8.9	558	11540	0.00	2.62	0.00	0.000	4	0.000	0.062	2986	3263	1772
11580	1.23	259.5	462.1	9.5	560	11585	0.12	2.58	0.00	0.000	6	0.058	0.058	3020	1844	1772
11903	1.18	259.5	429.1	10.1	576	11904	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1843	1773
12212	1.14	259.5	398.5	9.6	591	12217	0.15	2.60	0.00	0.000	4	0.094	0.061	2991	3265	1773
12268	1.19	259.5	393.4	8.3	593	12274	0.00	2.55	0.00	0.000	6	0.000	0.055	2991	1851	1773
12584	1.19	259.5	367.4	8.4	609	12585	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	1851	1774
12893	1.19	259.5	341.5	8.3	624	12897	0.00	2.55	0.00	0.000	4	0.000	0.061	2991	3259	1774
12960	1.24	259.5	335.4	8.8	627	12965	0.12	2.50	0.00	0.000	6	0.056	0.054	3025	1869	1774
13282	1.19	259.5	302.8	10.1	643	13283	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1869	1774
13590	1.15	259.5	271.6	10.0	658	13595	0.15	2.53	0.00	0.000	4	0.087	0.061	2995	3265	1774
13631	1.20	259.5	268.0	8.0	660	13635	0.00	2.50	0.00	0.000	6	0.000	0.053	2995	1867	1774
13964	1.20	259.5	240.3	8.4	676	13965	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	1867	1774
14273	1.20	259.5	214.7	8.1	691	14277	0.00	2.53	0.00	0.000	4	0.000	0.059	2996	3260	1774
14325	1.25	259.5	210.5	8.1	693	14330	0.10	2.45	0.00	0.000	6	0.060	0.052	3022	1885	1774
14647	1.21	259.5	180.2	9.4	709	14648	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1886	1775
14956	1.17	259.5	151.2	9.0	724	14961	0.12	2.47	0.00	0.000	4	0.091	0.058	2999	3256	1775
14997	1.23	259.5	147.9	8.1	726	15001	0.00	2.42	0.00	0.000	6	0.000	0.051	2999	1893	1775
15324	1.27	285.5	123.8	7.1	742	15349	0.00	0.00	22.92	0.861	6	0.000	0.000	2999	1892	1667
15655	1.32	301.6	100.5	7.4	758	15677	0.17	2.53	14.77	0.825	4	0.049	0.058	3045	3249	1600
15705	1.32	301.6	95.0	10.3	760	15709	0.00	2.45	0.00	0.000	6	0.000	0.049	3045	1888	1600
16023	1.27	301.6	55.9	13.7	775	16028	0.12	2.62	0.00	0.000	4	0.089	0.067	3020	436	1600
16073	1.27	301.6	49.7	11.2	777	16078	0.00	2.60	0.00	0.000	6	0.000	0.048	3020	1901	1600
16391	1.27	301.6	18.4	9.9	792	16395	0.00	2.40	0.00	0.000	4	0.000	0.058	3020	3257	1601
16441	1.34	301.6	13.3	11.0	794	16446	0.00	2.45	0.00	0.000	6	0.000	0.049	3020	1879	1600
16548	end climb: SURFACE_DEPTH_REACHED
state	16549	begin surface coast
16572	end surface coast: CONTROL_FINISHED_OK
state	16572	begin surface