Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 106 * 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 106 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 26 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 -652089.56 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 -652089.56

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 26 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 106 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 090458,6439.707,-959.021,32,2.4,51,-10.9 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.39 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -60.6 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 091107,6439.863,-958.810,13,1.4,29,-10.9 MHEAD_RNG_PITCHd_Wd 319.9,41625,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026762 ALTIM_BOTTOM_PING 600.6,92.3

SM_CCo 15246,50.03,0.731,0,0,1315,300.00 _24V_AH 23.5,18.280

SM_GC 1.40,0.00,0.00,50.03,0.000,0.000,0.731,380,1597,1315,-10.70,-0.08,300.00 _10V_AH 10.1,10.714

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38050,726

TT8_MAMPS 0.023777 CAP_FILE_SIZE 113471,0

HUMID 1946 CFSIZE 254472192,245391360

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,1,0

XPDR_PINGS 0 GPS 200908,132738,6442.112,-959.071,31,2.0,31,-10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 181 109.14 SBE_CT 547 24 308.64

Roll_motor 131 115 358.79 SBE_O2 494 19 220.91

VBD_pump_during_apogee 316 1115 8312.87 WL_BB2F 435 105 1074.46

VBD_pump_during_surface 50 730 859.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.41 nil 0 0 0.00

Iridium_during_connect 30 160 115.97 nil 0 0 0.00

Iridium_during_xfer 159 223 838.00

Transponder_ping 5 420 49.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.41

TT8 1389 19 277.83

LPSleep 11376 2 251.63

TT8_Active 504 19 100.81

TT8_Sampling 1843 39 740.93

TT8_CF8 557 45 257.85

TT8_Kalman 0 81 0.00

Analog_circuits 1413 12 171.34

GPS_charging 0 0 0.00

Compass 1785 8 144.28

RAFOS 0 0 0.00

Transponder 34 30 10.54

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 99 0.00 0.00 -77.62 0.000 2 0.000 0.000 382 1597 3124

103 -1.16 -146.6 6.6 -7.9 4 125 11.65 2.53 -0.17 0.000 4 0.182 0.085 2443 215 3141

344 -1.16 -146.6 47.6 -12.3 14 351 0.00 2.35 0.00 0.000 6 0.000 0.054 2443 1616 3144

663 -1.16 -146.6 80.0 -9.4 30 667 0.00 2.53 0.00 0.000 4 0.000 0.077 2443 214 3147

727 -1.16 -146.6 86.9 -11.4 33 731 0.00 2.33 0.00 0.000 6 0.000 0.054 2443 1605 3147

1056 -1.16 -146.6 122.8 -11.3 49 1060 0.00 2.50 0.00 0.000 4 0.000 0.077 2443 216 3149

1281 -1.16 -146.6 149.8 -12.5 59 1285 0.00 2.33 0.00 0.000 6 0.000 0.054 2443 1599 3150

1608 -1.16 -146.6 185.1 -10.3 75 1612 0.00 2.50 0.00 0.000 4 0.000 0.078 2443 220 3151

1762 -1.16 -146.6 201.0 -10.0 82 1766 0.00 2.35 0.00 0.000 6 0.000 0.055 2443 1606 3152

2089 -1.16 -146.6 229.7 -8.3 98 2093 0.00 2.53 0.00 0.000 4 0.000 0.081 2443 216 3152

2158 -1.16 -146.6 235.6 -8.7 101 2162 0.00 2.35 0.00 0.000 6 0.000 0.055 2443 1603 3152

2486 -1.16 -146.6 258.3 -6.9 117 2488 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1608 3152

2796 -1.16 -146.6 281.1 -7.3 132 2800 0.00 2.55 0.00 0.000 4 0.000 0.084 2443 214 3152

2891 -1.16 -146.6 289.1 -8.3 136 2895 0.00 2.38 0.00 0.000 6 0.000 0.056 2443 1610 3152

3209 -1.16 -146.6 313.6 -8.2 151 3213 0.00 2.58 0.00 0.000 4 0.000 0.085 2443 216 3152

3253 -1.16 -146.6 317.7 -8.9 153 3257 0.00 2.38 0.00 0.000 6 0.000 0.056 2444 1606 3152

3574 -1.16 -146.6 346.8 -9.5 169 3576 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1607 3152

3885 -1.16 -146.6 375.8 -9.6 184 3889 0.00 2.58 0.00 0.000 4 0.000 0.087 2443 209 3152

3970 -1.16 -146.6 384.2 -10.2 188 3974 0.00 2.38 0.00 0.000 6 0.000 0.056 2443 1602 3151

4297 -1.16 -146.6 413.9 -9.0 204 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1602 3150

4606 -1.16 -146.6 441.7 -8.8 219 4610 0.00 2.55 0.00 0.000 4 0.000 0.086 2443 220 3149

4639 -1.16 -146.6 444.8 -9.4 220 4646 0.00 2.38 0.00 0.000 6 0.000 0.056 2443 1607 3149

4957 -1.16 -146.6 472.2 -8.5 236 4958 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1607 3148

5265 -1.16 -146.6 498.2 -8.9 251 5270 0.00 2.58 0.00 0.000 4 0.000 0.087 2443 211 3147

5323 -1.16 -146.6 503.6 -9.7 253 5330 0.00 2.38 0.00 0.000 6 0.000 0.056 2443 1598 3147

5640 -1.16 -146.6 531.5 -8.8 269 5641 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1598 3145

5949 -1.16 -146.6 559.5 -9.2 284 5950 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1598 3145

6258 -1.16 -146.6 588.6 -9.5 299 6259 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1598 3144

6568 -1.16 -146.6 618.4 -9.5 314 6569 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1598 3143

6877 -1.16 -146.6 647.8 -9.4 329 6878 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1598 3143

7186 -1.16 -146.6 676.5 -9.4 344 7190 0.00 2.55 0.00 0.000 4 0.000 0.087 2443 220 3142

7251 end dive: BOTTOM_OBSTACLE_DETECTED

state 7251 begin apogee

7263 -0.32 0.0 683.2 10.8 347 7403 0.95 0.00 130.62 1.116 6 0.120 0.000 2634 2186 2539

7403 end apogee: CONTROL_FINISHED_OK

state 7403 begin climb

7407 1.16 146.6 689.9 0.0 354 7540 1.50 2.92 122.50 1.095 4 0.082 0.116 2953 3604 1940

7723 1.16 146.6 673.9 8.1 368 7728 0.00 2.53 0.00 0.000 6 0.000 0.071 2953 2201 1939

8040 1.16 146.6 649.1 8.2 383 8044 0.00 2.58 0.00 0.000 4 0.000 0.082 2953 798 1939

8107 1.16 146.6 643.5 8.4 386 8111 0.00 2.45 0.00 0.000 6 0.000 0.057 2953 2207 1938

8428 1.16 146.6 617.1 8.1 402 8429 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2208 1939

8737 1.16 146.6 591.0 8.6 417 8742 0.00 2.60 0.00 0.000 4 0.000 0.077 2953 791 1938

8801 1.16 146.6 584.7 10.0 420 8805 0.00 2.45 0.00 0.000 6 0.000 0.057 2953 2207 1938

9128 1.16 146.6 554.5 9.3 436 9133 0.00 2.58 0.00 0.000 4 0.000 0.076 2951 799 1938

9185 1.16 146.6 548.7 9.5 438 9191 0.00 2.42 0.00 0.000 6 0.000 0.056 2954 2202 1938

9501 1.16 146.6 517.6 10.5 454 9502 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2201 1938

9810 1.16 146.6 483.8 10.9 469 9815 0.00 2.55 0.00 0.000 4 0.000 0.075 2953 793 1937

9906 1.16 146.6 473.1 10.8 473 9911 0.00 2.45 0.00 0.000 6 0.000 0.056 2953 2204 1937

10223 1.16 146.6 442.0 9.2 488 10228 0.00 2.55 0.00 0.000 4 0.000 0.074 2953 791 1936

10309 1.16 146.6 434.1 9.1 492 10313 0.00 2.45 0.00 0.000 6 0.000 0.056 2953 2207 1936

10636 1.19 161.3 408.8 7.4 508 10657 0.00 2.62 12.93 0.943 4 0.000 0.074 2953 798 1880

10715 1.20 166.0 402.7 7.8 511 10727 0.00 2.45 5.35 0.759 6 0.000 0.056 2953 2198 1861

11036 1.20 166.0 377.6 8.1 527 11041 0.00 2.53 0.00 0.000 4 0.000 0.074 2953 797 1861

11077 1.20 166.0 373.4 11.7 529 11082 0.00 2.45 0.00 0.000 6 0.000 0.056 2953 2209 1861

11410 1.20 166.0 339.7 10.3 545 11411 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2210 1860

11719 1.20 166.0 308.4 8.4 560 11724 0.00 2.58 0.00 0.000 4 0.000 0.073 2953 788 1861

11838 1.20 166.0 298.9 8.0 565 11842 0.00 2.45 0.00 0.000 6 0.000 0.056 2953 2199 1860

12154 1.20 166.0 272.5 8.4 580 12155 0.00 0.00 0.00 0.000 6 0.000 0.000 2953 2199 1860

12464 1.20 167.0 247.9 8.0 595 12468 0.00 2.53 0.00 0.000 4 0.000 0.075 2953 798 1859

12531 1.20 167.0 242.3 8.4 598 12536 0.00 2.45 0.00 0.000 6 0.000 0.058 2953 2209 1859

12852 1.20 167.0 216.2 8.4 614 12857 0.00 2.55 0.00 0.000 4 0.000 0.073 2951 795 1858

13025 1.20 167.0 200.8 10.0 621 13031 0.00 2.45 0.00 0.000 6 0.000 0.057 2953 2206 1858

13341 1.20 168.3 174.9 7.9 637 13345 0.00 2.55 0.00 0.000 4 0.000 0.074 2953 796 1858

13414 1.21 173.2 168.7 7.8 640 13427 0.00 2.45 7.38 0.792 6 0.000 0.057 2953 2209 1832

13736 1.21 173.2 142.0 8.3 656 13740 0.00 2.55 0.00 0.000 4 0.000 0.074 2953 791 1831

13907 1.21 173.2 126.9 8.5 663 13913 0.00 2.45 0.00 0.000 6 0.000 0.057 2953 2204 1831

14226 1.28 219.3 105.1 6.2 679 14270 0.15 2.65 38.20 0.857 4 0.067 0.072 2993 796 1643

14479 1.28 219.3 78.5 14.2 690 14483 0.00 2.45 0.00 0.000 6 0.000 0.057 2993 2202 1641

14802 1.28 219.3 44.0 9.5 706 14807 0.00 2.62 0.00 0.000 4 0.000 0.094 2993 3601 1640

14926 1.28 219.3 30.5 10.0 711 14932 0.00 2.42 0.00 0.000 6 0.000 0.062 2993 2195 1640

15198 end climb: SURFACE_DEPTH_REACHED

state 15198 begin surface coast

15220 end surface coast: CONTROL_FINISHED_OK

state 15220 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	106	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	26	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	-652089.56	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	090458,6439.707,-959.021,32,2.4,51,-10.9	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.39	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-60.6	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	091107,6439.863,-958.810,13,1.4,29,-10.9	MHEAD_RNG_PITCHd_Wd	319.9,41625,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.8,1.026762	ALTIM_BOTTOM_PING	600.6,92.3
SM_CCo	15246,50.03,0.731,0,0,1315,300.00	_24V_AH	23.5,18.280
SM_GC	1.40,0.00,0.00,50.03,0.000,0.000,0.731,380,1597,1315,-10.70,-0.08,300.00	_10V_AH	10.1,10.714
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38050,726
TT8_MAMPS	0.023777	CAP_FILE_SIZE	113471,0
HUMID	1946	CFSIZE	254472192,245391360
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,1,0
XPDR_PINGS	0	GPS	200908,132738,6442.112,-959.071,31,2.0,31,-10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	181	109.14	SBE_CT	547	24	308.64
Roll_motor	131	115	358.79	SBE_O2	494	19	220.91
VBD_pump_during_apogee	316	1115	8312.87	WL_BB2F	435	105	1074.46
VBD_pump_during_surface	50	730	859.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.41	nil	0	0	0.00
Iridium_during_connect	30	160	115.97	nil	0	0	0.00
Iridium_during_xfer	159	223	838.00
Transponder_ping	5	420	49.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.41
TT8	1389	19	277.83
LPSleep	11376	2	251.63
TT8_Active	504	19	100.81
TT8_Sampling	1843	39	740.93
TT8_CF8	557	45	257.85
TT8_Kalman	0	81	0.00
Analog_circuits	1413	12	171.34
GPS_charging	0	0	0.00
Compass	1785	8	144.28
RAFOS	0	0	0.00
Transponder	34	30	10.54

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	99	0.00	0.00	-77.62	0.000	2	0.000	0.000	382	1597	3124
103	-1.16	-146.6	6.6	-7.9	4	125	11.65	2.53	-0.17	0.000	4	0.182	0.085	2443	215	3141
344	-1.16	-146.6	47.6	-12.3	14	351	0.00	2.35	0.00	0.000	6	0.000	0.054	2443	1616	3144
663	-1.16	-146.6	80.0	-9.4	30	667	0.00	2.53	0.00	0.000	4	0.000	0.077	2443	214	3147
727	-1.16	-146.6	86.9	-11.4	33	731	0.00	2.33	0.00	0.000	6	0.000	0.054	2443	1605	3147
1056	-1.16	-146.6	122.8	-11.3	49	1060	0.00	2.50	0.00	0.000	4	0.000	0.077	2443	216	3149
1281	-1.16	-146.6	149.8	-12.5	59	1285	0.00	2.33	0.00	0.000	6	0.000	0.054	2443	1599	3150
1608	-1.16	-146.6	185.1	-10.3	75	1612	0.00	2.50	0.00	0.000	4	0.000	0.078	2443	220	3151
1762	-1.16	-146.6	201.0	-10.0	82	1766	0.00	2.35	0.00	0.000	6	0.000	0.055	2443	1606	3152
2089	-1.16	-146.6	229.7	-8.3	98	2093	0.00	2.53	0.00	0.000	4	0.000	0.081	2443	216	3152
2158	-1.16	-146.6	235.6	-8.7	101	2162	0.00	2.35	0.00	0.000	6	0.000	0.055	2443	1603	3152
2486	-1.16	-146.6	258.3	-6.9	117	2488	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1608	3152
2796	-1.16	-146.6	281.1	-7.3	132	2800	0.00	2.55	0.00	0.000	4	0.000	0.084	2443	214	3152
2891	-1.16	-146.6	289.1	-8.3	136	2895	0.00	2.38	0.00	0.000	6	0.000	0.056	2443	1610	3152
3209	-1.16	-146.6	313.6	-8.2	151	3213	0.00	2.58	0.00	0.000	4	0.000	0.085	2443	216	3152
3253	-1.16	-146.6	317.7	-8.9	153	3257	0.00	2.38	0.00	0.000	6	0.000	0.056	2444	1606	3152
3574	-1.16	-146.6	346.8	-9.5	169	3576	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1607	3152
3885	-1.16	-146.6	375.8	-9.6	184	3889	0.00	2.58	0.00	0.000	4	0.000	0.087	2443	209	3152
3970	-1.16	-146.6	384.2	-10.2	188	3974	0.00	2.38	0.00	0.000	6	0.000	0.056	2443	1602	3151
4297	-1.16	-146.6	413.9	-9.0	204	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1602	3150
4606	-1.16	-146.6	441.7	-8.8	219	4610	0.00	2.55	0.00	0.000	4	0.000	0.086	2443	220	3149
4639	-1.16	-146.6	444.8	-9.4	220	4646	0.00	2.38	0.00	0.000	6	0.000	0.056	2443	1607	3149
4957	-1.16	-146.6	472.2	-8.5	236	4958	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1607	3148
5265	-1.16	-146.6	498.2	-8.9	251	5270	0.00	2.58	0.00	0.000	4	0.000	0.087	2443	211	3147
5323	-1.16	-146.6	503.6	-9.7	253	5330	0.00	2.38	0.00	0.000	6	0.000	0.056	2443	1598	3147
5640	-1.16	-146.6	531.5	-8.8	269	5641	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1598	3145
5949	-1.16	-146.6	559.5	-9.2	284	5950	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1598	3145
6258	-1.16	-146.6	588.6	-9.5	299	6259	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1598	3144
6568	-1.16	-146.6	618.4	-9.5	314	6569	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1598	3143
6877	-1.16	-146.6	647.8	-9.4	329	6878	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1598	3143
7186	-1.16	-146.6	676.5	-9.4	344	7190	0.00	2.55	0.00	0.000	4	0.000	0.087	2443	220	3142
7251	end dive: BOTTOM_OBSTACLE_DETECTED
state	7251	begin apogee
7263	-0.32	0.0	683.2	10.8	347	7403	0.95	0.00	130.62	1.116	6	0.120	0.000	2634	2186	2539
7403	end apogee: CONTROL_FINISHED_OK
state	7403	begin climb
7407	1.16	146.6	689.9	0.0	354	7540	1.50	2.92	122.50	1.095	4	0.082	0.116	2953	3604	1940
7723	1.16	146.6	673.9	8.1	368	7728	0.00	2.53	0.00	0.000	6	0.000	0.071	2953	2201	1939
8040	1.16	146.6	649.1	8.2	383	8044	0.00	2.58	0.00	0.000	4	0.000	0.082	2953	798	1939
8107	1.16	146.6	643.5	8.4	386	8111	0.00	2.45	0.00	0.000	6	0.000	0.057	2953	2207	1938
8428	1.16	146.6	617.1	8.1	402	8429	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2208	1939
8737	1.16	146.6	591.0	8.6	417	8742	0.00	2.60	0.00	0.000	4	0.000	0.077	2953	791	1938
8801	1.16	146.6	584.7	10.0	420	8805	0.00	2.45	0.00	0.000	6	0.000	0.057	2953	2207	1938
9128	1.16	146.6	554.5	9.3	436	9133	0.00	2.58	0.00	0.000	4	0.000	0.076	2951	799	1938
9185	1.16	146.6	548.7	9.5	438	9191	0.00	2.42	0.00	0.000	6	0.000	0.056	2954	2202	1938
9501	1.16	146.6	517.6	10.5	454	9502	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2201	1938
9810	1.16	146.6	483.8	10.9	469	9815	0.00	2.55	0.00	0.000	4	0.000	0.075	2953	793	1937
9906	1.16	146.6	473.1	10.8	473	9911	0.00	2.45	0.00	0.000	6	0.000	0.056	2953	2204	1937
10223	1.16	146.6	442.0	9.2	488	10228	0.00	2.55	0.00	0.000	4	0.000	0.074	2953	791	1936
10309	1.16	146.6	434.1	9.1	492	10313	0.00	2.45	0.00	0.000	6	0.000	0.056	2953	2207	1936
10636	1.19	161.3	408.8	7.4	508	10657	0.00	2.62	12.93	0.943	4	0.000	0.074	2953	798	1880
10715	1.20	166.0	402.7	7.8	511	10727	0.00	2.45	5.35	0.759	6	0.000	0.056	2953	2198	1861
11036	1.20	166.0	377.6	8.1	527	11041	0.00	2.53	0.00	0.000	4	0.000	0.074	2953	797	1861
11077	1.20	166.0	373.4	11.7	529	11082	0.00	2.45	0.00	0.000	6	0.000	0.056	2953	2209	1861
11410	1.20	166.0	339.7	10.3	545	11411	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2210	1860
11719	1.20	166.0	308.4	8.4	560	11724	0.00	2.58	0.00	0.000	4	0.000	0.073	2953	788	1861
11838	1.20	166.0	298.9	8.0	565	11842	0.00	2.45	0.00	0.000	6	0.000	0.056	2953	2199	1860
12154	1.20	166.0	272.5	8.4	580	12155	0.00	0.00	0.00	0.000	6	0.000	0.000	2953	2199	1860
12464	1.20	167.0	247.9	8.0	595	12468	0.00	2.53	0.00	0.000	4	0.000	0.075	2953	798	1859
12531	1.20	167.0	242.3	8.4	598	12536	0.00	2.45	0.00	0.000	6	0.000	0.058	2953	2209	1859
12852	1.20	167.0	216.2	8.4	614	12857	0.00	2.55	0.00	0.000	4	0.000	0.073	2951	795	1858
13025	1.20	167.0	200.8	10.0	621	13031	0.00	2.45	0.00	0.000	6	0.000	0.057	2953	2206	1858
13341	1.20	168.3	174.9	7.9	637	13345	0.00	2.55	0.00	0.000	4	0.000	0.074	2953	796	1858
13414	1.21	173.2	168.7	7.8	640	13427	0.00	2.45	7.38	0.792	6	0.000	0.057	2953	2209	1832
13736	1.21	173.2	142.0	8.3	656	13740	0.00	2.55	0.00	0.000	4	0.000	0.074	2953	791	1831
13907	1.21	173.2	126.9	8.5	663	13913	0.00	2.45	0.00	0.000	6	0.000	0.057	2953	2204	1831
14226	1.28	219.3	105.1	6.2	679	14270	0.15	2.65	38.20	0.857	4	0.067	0.072	2993	796	1643
14479	1.28	219.3	78.5	14.2	690	14483	0.00	2.45	0.00	0.000	6	0.000	0.057	2993	2202	1641
14802	1.28	219.3	44.0	9.5	706	14807	0.00	2.62	0.00	0.000	4	0.000	0.094	2993	3601	1640
14926	1.28	219.3	30.5	10.0	711	14932	0.00	2.42	0.00	0.000	6	0.000	0.062	2993	2195	1640
15198	end climb: SURFACE_DEPTH_REACHED
state	15198	begin surface coast
15220	end surface coast: CONTROL_FINISHED_OK
state	15220	begin surface