Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 102 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -652012.69 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2705 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -652012.69

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2705 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 102 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 161556,6437.172,-947.573,37,1.2,37,-10.8 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.41 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -54.7 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 162145,6437.131,-947.429,9,1.5,9,-10.8 MHEAD_RNG_PITCHd_Wd 317.9,51786,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027059 ALTIM_BOTTOM_PING 625.2,43.7

SM_CCo 14457,44.33,0.700,0,0,1316,300.00 _24V_AH 23.5,17.807

SM_GC 1.35,0.00,0.00,44.33,0.000,0.000,0.700,380,1592,1316,-10.70,-0.23,300.00 _10V_AH 10.1,10.423

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34858,686

TT8_MAMPS 0.023777 CAP_FILE_SIZE 108647,0

HUMID 1931 CFSIZE 254472192,245608448

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,1,0

XPDR_PINGS 0 GPS 190908,202507,6437.823,-947.985,35,0.9,35,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.87 SBE_CT 515 24 290.73

Roll_motor 131 111 346.18 SBE_O2 467 19 208.69

VBD_pump_during_apogee 317 1092 8151.11 WL_BB2F 432 105 1066.08

VBD_pump_during_surface 44 700 729.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.40 nil 0 0 0.00

Iridium_during_connect 32 160 121.35 nil 0 0 0.00

Iridium_during_xfer 148 223 778.10

Transponder_ping 5 420 51.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.60

TT8 1314 19 262.84

LPSleep 10820 2 239.34

TT8_Active 492 19 98.50

TT8_Sampling 1681 39 675.80

TT8_CF8 547 45 253.28

TT8_Kalman 0 81 0.00

Analog_circuits 1347 12 163.26

GPS_charging 0 0 0.00

Compass 1645 8 132.96

RAFOS 0 0 0.00

Transponder 36 30 10.99

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -1.16 -146.6 0.0 0.0 0 100 0.00 0.00 -76.90 0.000 6 0.000 0.000 379 1598 3138

104 -1.16 -146.6 6.4 -8.1 4 126 11.60 2.50 0.00 0.000 4 0.179 0.067 2446 209 3142

251 -1.16 -146.6 35.6 -11.3 10 255 0.00 2.38 0.00 0.000 6 0.000 0.054 2446 1622 3143

573 -1.16 -146.6 67.7 -9.6 26 577 0.00 2.55 0.00 0.000 4 0.000 0.077 2446 204 3145

730 -1.16 -146.6 83.7 -11.5 33 734 0.00 2.35 0.00 0.000 6 0.000 0.054 2447 1604 3146

1053 -1.16 -146.6 118.9 -11.1 49 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1607 3148

1361 -1.16 -146.6 153.6 -11.3 64 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1606 3149

1671 -1.16 -146.6 186.6 -10.8 79 1675 0.00 2.45 0.00 0.000 4 0.000 0.072 2447 2988 3151

1699 -1.16 -146.6 189.9 -11.3 80 1703 0.00 2.40 0.00 0.000 6 0.000 0.062 2446 1596 3151

2017 -1.16 -146.6 226.6 -12.0 95 2021 0.00 2.50 0.00 0.000 4 0.000 0.083 2446 215 3151

2063 -1.16 -146.6 232.8 -12.5 97 2067 0.00 2.33 0.00 0.000 6 0.000 0.055 2445 1602 3151

2384 -1.16 -146.6 265.5 -9.0 113 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1605 3151

2693 -1.16 -146.6 292.0 -9.5 128 2697 0.00 2.53 0.00 0.000 4 0.000 0.082 2446 215 3151

2721 -1.16 -146.6 294.8 -10.3 129 2726 0.00 2.33 0.00 0.000 6 0.000 0.055 2446 1594 3151

3038 -1.16 -146.6 330.9 -11.8 144 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1599 3152

3347 -1.16 -146.6 362.3 -9.2 159 3351 0.00 2.55 0.00 0.000 4 0.000 0.084 2446 208 3152

3527 -1.16 -146.6 377.8 -7.7 167 3531 0.00 2.38 0.00 0.000 6 0.000 0.056 2446 1605 3152

3855 -1.16 -146.6 400.3 -6.6 183 3859 0.00 2.58 0.00 0.000 4 0.000 0.087 2446 212 3152

4014 -1.16 -146.6 412.8 -7.9 190 4018 0.00 2.38 0.00 0.000 6 0.000 0.056 2446 1607 3152

4342 -1.16 -146.6 438.0 -8.4 206 4346 0.00 2.55 0.00 0.000 4 0.000 0.087 2447 215 3152

4409 -1.16 -146.6 444.2 -8.3 209 4413 0.00 2.38 0.00 0.000 6 0.000 0.056 2446 1606 3152

4730 -1.16 -146.6 471.5 -9.0 225 4732 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 1610 3150

5040 -1.16 -146.6 500.6 -9.4 240 5044 0.00 2.58 0.00 0.000 4 0.000 0.087 2446 210 3148

5113 -1.16 -146.6 508.3 -10.6 243 5117 0.00 2.38 0.00 0.000 6 0.000 0.056 2447 1602 3148

5434 -1.16 -146.6 540.0 -10.1 259 5439 0.00 2.55 0.00 0.000 4 0.000 0.087 2446 220 3147

5468 -1.16 -146.6 543.9 -11.2 260 5475 0.00 2.35 0.00 0.000 6 0.000 0.056 2446 1597 3147

5785 -1.16 -146.6 577.0 -9.6 276 5787 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1599 3146

6094 -1.16 -146.6 605.4 -8.9 291 6096 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1602 3145

6404 -1.16 -146.6 632.7 -9.1 306 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1602 3143

6713 -1.16 -146.6 658.3 -8.0 321 6717 0.00 2.58 0.00 0.000 4 0.000 0.088 2446 211 3142

6721 end dive: BOTTOM_OBSTACLE_DETECTED

state 6722 begin apogee

6733 -0.32 0.0 659.5 8.5 321 6872 0.90 0.00 130.07 1.093 6 0.125 0.000 2629 2192 2539

6872 end apogee: CONTROL_FINISHED_OK

state 6872 begin climb

6876 1.16 146.6 663.5 0.0 328 7008 1.52 2.83 121.97 1.065 4 0.082 0.112 2953 3601 1940

7085 1.16 146.6 652.1 9.2 337 7091 0.00 2.53 0.00 0.000 6 0.000 0.070 2955 2195 1940

7401 1.16 146.6 625.4 8.8 353 7405 0.00 2.55 0.00 0.000 4 0.000 0.078 2955 788 1939

7435 1.16 146.6 622.7 8.2 354 7441 0.00 2.45 0.00 0.000 6 0.000 0.057 2954 2202 1939

7751 1.16 146.6 595.2 10.9 370 7752 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2202 1938

8060 1.16 146.6 567.6 9.0 385 8065 0.00 2.67 0.00 0.000 4 0.000 0.103 2955 3601 1938

8118 1.16 146.6 562.1 9.0 387 8125 0.00 2.47 0.00 0.000 6 0.000 0.065 2955 2198 1936

8435 1.16 146.6 533.2 9.3 403 8436 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2198 1936

8745 1.16 146.6 505.4 8.7 418 8749 0.00 2.62 0.00 0.000 4 0.000 0.094 2955 3600 1936

8795 1.16 146.6 500.7 9.8 420 8799 0.00 2.47 0.00 0.000 6 0.000 0.064 2955 2195 1935

9111 1.16 146.6 471.7 9.3 435 9112 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2195 1935

9421 1.16 146.6 443.7 9.1 450 9425 0.00 2.55 0.00 0.000 4 0.000 0.082 2955 799 1935

9466 1.16 146.6 439.3 9.7 452 9470 0.00 2.42 0.00 0.000 6 0.000 0.055 2954 2212 1935

9793 1.16 146.6 410.7 8.5 468 9797 0.00 2.58 0.00 0.000 4 0.000 0.074 2955 794 1935

9911 1.16 146.6 400.2 9.4 473 9915 0.00 2.42 0.00 0.000 6 0.000 0.056 2955 2198 1935

10227 1.16 146.6 372.7 8.7 488 10232 0.00 2.53 0.00 0.000 4 0.000 0.074 2955 797 1933

10393 1.16 146.6 357.6 9.5 495 10397 0.00 2.42 0.00 0.000 6 0.000 0.056 2955 2201 1933

10716 1.16 146.6 329.1 9.1 511 10720 0.00 2.53 0.00 0.000 4 0.000 0.074 2955 796 1933

10850 1.16 146.6 315.6 10.4 517 10855 0.00 2.45 0.00 0.000 6 0.000 0.058 2955 2207 1933

11172 1.16 146.6 284.3 10.2 533 11176 0.00 2.53 0.00 0.000 4 0.000 0.074 2955 791 1932

11223 1.16 146.6 279.1 10.6 535 11227 0.00 2.45 0.00 0.000 6 0.000 0.057 2955 2207 1932

11539 1.18 155.6 252.6 7.7 550 11554 0.00 2.60 7.32 0.848 4 0.000 0.073 2955 796 1904

11662 1.18 155.6 241.7 8.9 555 11667 0.00 2.45 0.00 0.000 6 0.000 0.057 2955 2202 1904

11979 1.18 159.0 215.5 7.9 570 11985 0.00 0.00 4.50 0.703 6 0.000 0.000 2955 2202 1889

12288 1.20 167.1 191.6 7.7 585 12302 0.00 2.58 8.25 0.820 4 0.000 0.074 2955 800 1856

12372 1.20 167.1 184.0 9.3 588 12378 0.00 2.45 0.00 0.000 6 0.000 0.057 2955 2210 1856

12688 1.20 167.1 155.7 8.8 604 12693 0.00 2.53 0.00 0.000 4 0.000 0.072 2955 788 1856

12807 1.20 167.1 144.4 8.4 609 12811 0.00 2.45 0.00 0.000 6 0.000 0.056 2955 2210 1855

13125 1.24 193.2 119.4 7.0 624 13154 0.00 2.60 22.30 0.822 4 0.000 0.071 2955 794 1750

13201 1.28 220.0 113.8 7.0 627 13235 0.12 2.45 22.92 0.812 6 0.067 0.056 2990 2201 1641

13549 1.28 220.0 80.8 9.9 644 13553 0.00 2.53 0.00 0.000 4 0.000 0.071 2990 789 1640

13644 1.28 220.0 70.1 11.0 648 13648 0.00 2.42 0.00 0.000 6 0.000 0.056 2990 2198 1640

13966 1.28 222.1 41.5 7.9 664 13970 0.00 2.50 0.00 0.000 4 0.000 0.071 2990 793 1640

14137 1.28 222.1 27.4 9.5 671 14143 0.00 2.40 0.00 0.000 6 0.000 0.056 2990 2201 1640

14410 end climb: SURFACE_DEPTH_REACHED

state 14410 begin surface coast

14431 end surface coast: CONTROL_FINISHED_OK

state 14431 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	102	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-652012.69	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2705	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	161556,6437.172,-947.573,37,1.2,37,-10.8	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.41	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-54.7	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	162145,6437.131,-947.429,9,1.5,9,-10.8	MHEAD_RNG_PITCHd_Wd	317.9,51786,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.027059	ALTIM_BOTTOM_PING	625.2,43.7
SM_CCo	14457,44.33,0.700,0,0,1316,300.00	_24V_AH	23.5,17.807
SM_GC	1.35,0.00,0.00,44.33,0.000,0.000,0.700,380,1592,1316,-10.70,-0.23,300.00	_10V_AH	10.1,10.423
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34858,686
TT8_MAMPS	0.023777	CAP_FILE_SIZE	108647,0
HUMID	1931	CFSIZE	254472192,245608448
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
XPDR_PINGS	0	GPS	190908,202507,6437.823,-947.985,35,0.9,35,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.87	SBE_CT	515	24	290.73
Roll_motor	131	111	346.18	SBE_O2	467	19	208.69
VBD_pump_during_apogee	317	1092	8151.11	WL_BB2F	432	105	1066.08
VBD_pump_during_surface	44	700	729.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.40	nil	0	0	0.00
Iridium_during_connect	32	160	121.35	nil	0	0	0.00
Iridium_during_xfer	148	223	778.10
Transponder_ping	5	420	51.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.60
TT8	1314	19	262.84
LPSleep	10820	2	239.34
TT8_Active	492	19	98.50
TT8_Sampling	1681	39	675.80
TT8_CF8	547	45	253.28
TT8_Kalman	0	81	0.00
Analog_circuits	1347	12	163.26
GPS_charging	0	0	0.00
Compass	1645	8	132.96
RAFOS	0	0	0.00
Transponder	36	30	10.99

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-1.16	-146.6	0.0	0.0	0	100	0.00	0.00	-76.90	0.000	6	0.000	0.000	379	1598	3138
104	-1.16	-146.6	6.4	-8.1	4	126	11.60	2.50	0.00	0.000	4	0.179	0.067	2446	209	3142
251	-1.16	-146.6	35.6	-11.3	10	255	0.00	2.38	0.00	0.000	6	0.000	0.054	2446	1622	3143
573	-1.16	-146.6	67.7	-9.6	26	577	0.00	2.55	0.00	0.000	4	0.000	0.077	2446	204	3145
730	-1.16	-146.6	83.7	-11.5	33	734	0.00	2.35	0.00	0.000	6	0.000	0.054	2447	1604	3146
1053	-1.16	-146.6	118.9	-11.1	49	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1607	3148
1361	-1.16	-146.6	153.6	-11.3	64	1363	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1606	3149
1671	-1.16	-146.6	186.6	-10.8	79	1675	0.00	2.45	0.00	0.000	4	0.000	0.072	2447	2988	3151
1699	-1.16	-146.6	189.9	-11.3	80	1703	0.00	2.40	0.00	0.000	6	0.000	0.062	2446	1596	3151
2017	-1.16	-146.6	226.6	-12.0	95	2021	0.00	2.50	0.00	0.000	4	0.000	0.083	2446	215	3151
2063	-1.16	-146.6	232.8	-12.5	97	2067	0.00	2.33	0.00	0.000	6	0.000	0.055	2445	1602	3151
2384	-1.16	-146.6	265.5	-9.0	113	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1605	3151
2693	-1.16	-146.6	292.0	-9.5	128	2697	0.00	2.53	0.00	0.000	4	0.000	0.082	2446	215	3151
2721	-1.16	-146.6	294.8	-10.3	129	2726	0.00	2.33	0.00	0.000	6	0.000	0.055	2446	1594	3151
3038	-1.16	-146.6	330.9	-11.8	144	3039	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1599	3152
3347	-1.16	-146.6	362.3	-9.2	159	3351	0.00	2.55	0.00	0.000	4	0.000	0.084	2446	208	3152
3527	-1.16	-146.6	377.8	-7.7	167	3531	0.00	2.38	0.00	0.000	6	0.000	0.056	2446	1605	3152
3855	-1.16	-146.6	400.3	-6.6	183	3859	0.00	2.58	0.00	0.000	4	0.000	0.087	2446	212	3152
4014	-1.16	-146.6	412.8	-7.9	190	4018	0.00	2.38	0.00	0.000	6	0.000	0.056	2446	1607	3152
4342	-1.16	-146.6	438.0	-8.4	206	4346	0.00	2.55	0.00	0.000	4	0.000	0.087	2447	215	3152
4409	-1.16	-146.6	444.2	-8.3	209	4413	0.00	2.38	0.00	0.000	6	0.000	0.056	2446	1606	3152
4730	-1.16	-146.6	471.5	-9.0	225	4732	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	1610	3150
5040	-1.16	-146.6	500.6	-9.4	240	5044	0.00	2.58	0.00	0.000	4	0.000	0.087	2446	210	3148
5113	-1.16	-146.6	508.3	-10.6	243	5117	0.00	2.38	0.00	0.000	6	0.000	0.056	2447	1602	3148
5434	-1.16	-146.6	540.0	-10.1	259	5439	0.00	2.55	0.00	0.000	4	0.000	0.087	2446	220	3147
5468	-1.16	-146.6	543.9	-11.2	260	5475	0.00	2.35	0.00	0.000	6	0.000	0.056	2446	1597	3147
5785	-1.16	-146.6	577.0	-9.6	276	5787	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1599	3146
6094	-1.16	-146.6	605.4	-8.9	291	6096	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1602	3145
6404	-1.16	-146.6	632.7	-9.1	306	6405	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	1602	3143
6713	-1.16	-146.6	658.3	-8.0	321	6717	0.00	2.58	0.00	0.000	4	0.000	0.088	2446	211	3142
6721	end dive: BOTTOM_OBSTACLE_DETECTED
state	6722	begin apogee
6733	-0.32	0.0	659.5	8.5	321	6872	0.90	0.00	130.07	1.093	6	0.125	0.000	2629	2192	2539
6872	end apogee: CONTROL_FINISHED_OK
state	6872	begin climb
6876	1.16	146.6	663.5	0.0	328	7008	1.52	2.83	121.97	1.065	4	0.082	0.112	2953	3601	1940
7085	1.16	146.6	652.1	9.2	337	7091	0.00	2.53	0.00	0.000	6	0.000	0.070	2955	2195	1940
7401	1.16	146.6	625.4	8.8	353	7405	0.00	2.55	0.00	0.000	4	0.000	0.078	2955	788	1939
7435	1.16	146.6	622.7	8.2	354	7441	0.00	2.45	0.00	0.000	6	0.000	0.057	2954	2202	1939
7751	1.16	146.6	595.2	10.9	370	7752	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2202	1938
8060	1.16	146.6	567.6	9.0	385	8065	0.00	2.67	0.00	0.000	4	0.000	0.103	2955	3601	1938
8118	1.16	146.6	562.1	9.0	387	8125	0.00	2.47	0.00	0.000	6	0.000	0.065	2955	2198	1936
8435	1.16	146.6	533.2	9.3	403	8436	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2198	1936
8745	1.16	146.6	505.4	8.7	418	8749	0.00	2.62	0.00	0.000	4	0.000	0.094	2955	3600	1936
8795	1.16	146.6	500.7	9.8	420	8799	0.00	2.47	0.00	0.000	6	0.000	0.064	2955	2195	1935
9111	1.16	146.6	471.7	9.3	435	9112	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2195	1935
9421	1.16	146.6	443.7	9.1	450	9425	0.00	2.55	0.00	0.000	4	0.000	0.082	2955	799	1935
9466	1.16	146.6	439.3	9.7	452	9470	0.00	2.42	0.00	0.000	6	0.000	0.055	2954	2212	1935
9793	1.16	146.6	410.7	8.5	468	9797	0.00	2.58	0.00	0.000	4	0.000	0.074	2955	794	1935
9911	1.16	146.6	400.2	9.4	473	9915	0.00	2.42	0.00	0.000	6	0.000	0.056	2955	2198	1935
10227	1.16	146.6	372.7	8.7	488	10232	0.00	2.53	0.00	0.000	4	0.000	0.074	2955	797	1933
10393	1.16	146.6	357.6	9.5	495	10397	0.00	2.42	0.00	0.000	6	0.000	0.056	2955	2201	1933
10716	1.16	146.6	329.1	9.1	511	10720	0.00	2.53	0.00	0.000	4	0.000	0.074	2955	796	1933
10850	1.16	146.6	315.6	10.4	517	10855	0.00	2.45	0.00	0.000	6	0.000	0.058	2955	2207	1933
11172	1.16	146.6	284.3	10.2	533	11176	0.00	2.53	0.00	0.000	4	0.000	0.074	2955	791	1932
11223	1.16	146.6	279.1	10.6	535	11227	0.00	2.45	0.00	0.000	6	0.000	0.057	2955	2207	1932
11539	1.18	155.6	252.6	7.7	550	11554	0.00	2.60	7.32	0.848	4	0.000	0.073	2955	796	1904
11662	1.18	155.6	241.7	8.9	555	11667	0.00	2.45	0.00	0.000	6	0.000	0.057	2955	2202	1904
11979	1.18	159.0	215.5	7.9	570	11985	0.00	0.00	4.50	0.703	6	0.000	0.000	2955	2202	1889
12288	1.20	167.1	191.6	7.7	585	12302	0.00	2.58	8.25	0.820	4	0.000	0.074	2955	800	1856
12372	1.20	167.1	184.0	9.3	588	12378	0.00	2.45	0.00	0.000	6	0.000	0.057	2955	2210	1856
12688	1.20	167.1	155.7	8.8	604	12693	0.00	2.53	0.00	0.000	4	0.000	0.072	2955	788	1856
12807	1.20	167.1	144.4	8.4	609	12811	0.00	2.45	0.00	0.000	6	0.000	0.056	2955	2210	1855
13125	1.24	193.2	119.4	7.0	624	13154	0.00	2.60	22.30	0.822	4	0.000	0.071	2955	794	1750
13201	1.28	220.0	113.8	7.0	627	13235	0.12	2.45	22.92	0.812	6	0.067	0.056	2990	2201	1641
13549	1.28	220.0	80.8	9.9	644	13553	0.00	2.53	0.00	0.000	4	0.000	0.071	2990	789	1640
13644	1.28	220.0	70.1	11.0	648	13648	0.00	2.42	0.00	0.000	6	0.000	0.056	2990	2198	1640
13966	1.28	222.1	41.5	7.9	664	13970	0.00	2.50	0.00	0.000	4	0.000	0.071	2990	793	1640
14137	1.28	222.1	27.4	9.5	671	14143	0.00	2.40	0.00	0.000	6	0.000	0.056	2990	2201	1640
14410	end climb: SURFACE_DEPTH_REACHED
state	14410	begin surface coast
14431	end surface coast: CONTROL_FINISHED_OK
state	14431	begin surface