Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 145 * 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 145 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -102910.12 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 -102910.12

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 145 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 033737,6400.897,-1314.138,40,1.4,40,-12.6 TGT_NAME LW

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 3 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.241,-0.044

_SM_DEPTHo 1.20 KALMAN_X -93448.8,607.1,-343.9,-148160.5,6772.8

_SM_ANGLEo -63.0 KALMAN_Y -24608.2,229.9,-641.1,292232.5,1179.3

GPS2 034320,6400.909,-1313.888,15,1.4,15,-12.6 MHEAD_RNG_PITCHd_Wd 272.3,13189,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026949 ALTIM_BOTTOM_PING 545.3,36.5

SM_CCo 12646,10.40,0.724,0,0,1608,300.00 _24V_AH 23.9,26.696

SM_GC 1.84,0.00,0.00,10.40,0.000,0.000,0.724,422,2148,1608,-10.69,0.48,300.00 _10V_AH 10.1,11.981

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37911,751

TT8_MAMPS 0.029146 CAP_FILE_SIZE 111227,0

HUMID 1822 CFSIZE 254472192,243666944

TCM_TEMP 17.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 42 GPS 230909,071631,6359.746,-1316.243,42,1.3,42,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 101.14 SBE_CT 513 24 294.33

Roll_motor 142 76 261.91 SBE_O2 548 19 248.97

VBD_pump_during_apogee 377 1201 10853.08 WL_BB2F 476 105 1196.16

VBD_pump_during_surface 10 724 179.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.95 nil 0 0 0.00

Iridium_during_connect 33 160 127.85 nil 0 0 0.00

Iridium_during_xfer 150 223 802.44

Transponder_ping 15 420 155.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.87

TT8 1346 19 269.36

LPSleep 9022 2 199.58

TT8_Active 542 19 108.54

TT8_Sampling 1590 39 639.32

TT8_CF8 499 45 231.21

TT8_Kalman 33 81 27.56

Analog_circuits 1366 12 165.62

GPS_charging 0 0 0.00

Compass 1550 8 125.30

RAFOS 0 0 0.00

Transponder 36 30 11.00

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.22 -146.6 0.0 0.0 0 99 0.00 0.00 -80.70 0.000 2 0.000 0.000 425 2127 2487

103 -1.22 -146.6 2.1 -1.3 4 159 11.35 2.65 -37.25 0.000 4 0.163 0.077 2472 3544 3429

357 -1.12 -146.6 38.2 -18.1 15 362 0.15 2.53 0.00 0.000 6 0.098 0.045 2503 2119 3429

674 -1.09 -146.6 89.0 -14.6 30 678 0.00 2.60 0.00 0.000 4 0.000 0.063 2503 3538 3430

764 -1.05 -146.6 100.1 -11.0 34 768 0.00 2.47 0.00 0.000 6 0.000 0.045 2503 2141 3429

1085 -1.05 -146.6 117.9 -3.5 50 1087 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2128 3429

1395 -1.05 -146.6 135.0 -6.4 65 1400 0.00 2.58 0.00 0.000 4 0.000 0.064 2503 3541 3430

1440 -1.05 -146.6 138.3 -7.1 67 1444 0.00 2.47 0.00 0.000 6 0.000 0.048 2503 2149 3430

1768 -1.05 -146.6 168.5 -10.7 86 1772 0.00 2.53 0.00 0.000 4 0.000 0.058 2503 715 3430

1808 -1.05 -146.6 172.7 -10.6 88 1815 0.00 2.55 0.00 0.000 6 0.000 0.048 2503 2158 3430

2127 -1.05 -146.6 210.3 -11.9 109 2132 0.00 2.60 0.00 0.000 4 0.000 0.058 2503 715 3430

2173 -1.05 -146.6 215.8 -11.9 112 2178 0.00 2.53 0.00 0.000 6 0.000 0.049 2503 2141 3430

2500 -1.05 -146.6 252.4 -10.6 133 2504 0.00 2.55 0.00 0.000 4 0.000 0.059 2503 723 3430

2538 -1.05 -146.6 257.2 -11.1 135 2545 0.00 2.50 0.00 0.000 6 0.000 0.049 2503 2139 3430

2858 -1.05 -146.6 291.1 -10.3 156 2862 0.00 2.55 0.00 0.000 4 0.000 0.060 2502 721 3430

2899 -1.05 -146.6 295.5 -11.5 158 2903 0.00 2.50 0.00 0.000 6 0.000 0.049 2503 2132 3430

3218 -1.05 -146.6 329.2 -10.8 178 3222 0.00 2.55 0.00 0.000 4 0.000 0.062 2503 720 3430

3241 -1.05 -146.6 331.7 -10.8 179 3247 0.00 2.47 0.00 0.000 6 0.000 0.050 2503 2114 3430

3560 -1.05 -146.6 368.7 -11.8 200 3564 0.00 2.60 0.00 0.000 4 0.000 0.068 2503 3544 3430

3581 -1.05 -146.6 371.3 -11.7 201 3588 0.00 2.58 0.00 0.000 6 0.000 0.056 2503 2113 3429

3901 -1.05 -146.6 408.4 -12.2 222 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2101 3429

4213 -1.05 -146.6 444.2 -10.6 242 4217 0.00 2.62 0.00 0.000 4 0.000 0.068 2503 3541 3429

4251 -1.05 -146.6 448.4 -10.9 244 4258 0.00 2.58 0.00 0.000 6 0.000 0.054 2503 2106 3429

4571 -1.05 -146.6 475.1 -7.4 265 4576 0.00 2.65 0.00 0.000 4 0.000 0.068 2503 3541 3429

4605 -1.05 -146.6 477.9 -7.4 267 4609 0.00 2.55 0.00 0.000 6 0.000 0.058 2503 2130 3429

4924 -1.05 -146.6 501.5 -9.1 287 4925 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2100 3429

5237 -1.08 -146.6 517.0 -0.3 307 5241 0.00 2.62 0.00 0.000 4 0.000 0.072 2503 3540 3428

5266 -1.08 -146.6 515.9 3.7 309 5270 0.00 2.58 0.00 0.000 6 0.000 0.067 2503 2145 3428

5593 -1.08 -146.6 536.3 -4.6 330 5597 0.00 2.60 0.00 0.000 4 0.000 0.073 2503 3537 3427

5631 -1.08 -146.6 537.8 -4.4 332 5637 0.00 2.55 0.00 0.000 6 0.000 0.058 2503 2124 3427

5951 -1.08 -146.6 567.6 -8.2 353 5955 0.00 2.55 0.00 0.000 4 0.000 0.071 2503 715 3427

6016 end dive: BOTTOM_OBSTACLE_DETECTED

state 6016 begin apogee

6025 -0.33 0.0 572.0 7.8 357 6158 0.75 0.00 128.60 1.202 6 0.079 0.000 2667 1875 2831

6159 end apogee: CONTROL_FINISHED_OK

state 6159 begin climb

6162 1.22 146.6 579.5 0.0 366 6301 1.55 2.60 129.07 1.162 4 0.056 0.067 3010 3256 2233

6323 1.22 244.3 571.9 4.5 376 6417 0.00 2.62 86.32 1.131 6 0.000 0.064 3010 1834 1834

6729 1.18 244.3 533.4 14.7 402 6734 0.00 2.55 0.00 0.000 4 0.000 0.076 3010 455 1834

6786 1.09 244.3 526.2 11.5 405 6793 0.15 2.53 0.00 0.000 6 0.094 0.057 2982 1849 1834

7106 1.10 251.9 500.8 7.7 426 7122 0.00 2.62 7.85 0.958 4 0.000 0.067 2982 3249 1803

7179 1.14 252.0 494.6 8.0 430 7183 0.00 2.50 0.00 0.000 6 0.000 0.064 2982 1892 1803

7498 1.14 252.0 467.4 8.6 450 7502 0.00 2.67 0.00 0.000 4 0.000 0.074 2982 433 1802

7544 1.14 252.0 462.8 11.1 453 7548 0.00 2.60 0.00 0.000 6 0.000 0.055 2982 1875 1802

7868 1.14 252.0 433.4 8.7 474 7872 0.00 2.50 0.00 0.000 4 0.000 0.066 2982 3258 1802

7941 1.18 252.0 426.9 8.7 478 7947 0.00 2.53 0.00 0.000 6 0.000 0.061 2982 1877 1802

8260 1.18 252.0 400.0 8.9 499 8261 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 1877 1801

8572 1.18 252.0 372.3 8.4 519 8576 0.00 2.55 0.00 0.000 4 0.000 0.063 2982 3265 1801

8635 1.23 252.0 367.0 8.5 523 8640 0.15 2.50 0.00 0.000 6 0.054 0.057 3021 1883 1801

8962 1.18 252.0 332.9 10.5 544 8963 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1883 1801

9272 1.13 252.0 301.1 9.9 564 9277 0.17 2.53 0.00 0.000 4 0.091 0.061 2987 3264 1801

9301 1.13 252.0 298.2 9.1 566 9305 0.00 2.45 0.00 0.000 6 0.000 0.054 2987 1901 1801

9625 1.13 252.0 272.0 8.0 587 9629 0.00 2.47 0.00 0.000 4 0.000 0.061 2987 3261 1801

9658 1.18 252.0 269.2 8.6 589 9663 0.00 2.45 0.00 0.000 6 0.000 0.054 2987 1897 1801

9977 1.18 252.0 241.0 9.1 609 9982 0.00 2.47 0.00 0.000 4 0.000 0.060 2987 3258 1801

10000 1.23 252.0 238.9 9.1 610 10007 0.10 2.42 0.00 0.000 6 0.060 0.052 3016 1901 1801

10320 1.19 252.0 204.5 10.6 631 10321 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1901 1802

10632 1.16 252.0 173.4 9.8 651 10636 0.00 2.47 0.00 0.000 4 0.000 0.060 3016 3265 1802

10677 1.16 252.0 169.0 9.8 654 10681 0.00 2.40 0.00 0.000 6 0.000 0.051 3016 1920 1802

10996 1.16 252.0 139.8 9.0 673 11001 0.00 2.65 0.00 0.000 4 0.000 0.065 3016 441 1802

11025 1.10 252.0 137.0 10.1 674 11030 0.17 2.65 0.00 0.000 6 0.087 0.048 2980 1942 1802

11342 1.17 258.9 113.2 7.7 689 11356 0.00 2.83 7.47 0.752 4 0.000 0.064 2980 433 1774

11391 1.17 258.9 108.7 8.6 691 11395 0.00 2.62 0.00 0.000 6 0.000 0.047 2980 1913 1774

11713 1.26 280.4 83.0 7.2 707 11739 0.17 2.47 18.50 0.827 4 0.049 0.057 3031 3262 1687

11785 1.26 280.4 76.0 10.0 710 11789 0.00 2.42 0.00 0.000 6 0.000 0.050 3031 1911 1687

12107 1.22 280.4 44.7 9.8 726 12108 0.12 0.00 0.00 0.000 6 0.091 0.000 3006 1911 1687

12418 1.25 280.4 18.0 8.7 741 12422 0.00 2.65 0.00 0.000 4 0.000 0.064 3006 433 1687

12473 1.25 280.4 12.2 10.3 743 12480 0.00 2.65 0.00 0.000 6 0.000 0.046 3006 1942 1687

12600 end climb: SURFACE_DEPTH_REACHED

state 12601 begin surface coast

12623 end surface coast: CONTROL_FINISHED_OK

state 12623 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	145	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-102910.12	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	033737,6400.897,-1314.138,40,1.4,40,-12.6	TGT_NAME	LW
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	3	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.241,-0.044
_SM_DEPTHo	1.20	KALMAN_X	-93448.8,607.1,-343.9,-148160.5,6772.8
_SM_ANGLEo	-63.0	KALMAN_Y	-24608.2,229.9,-641.1,292232.5,1179.3
GPS2	034320,6400.909,-1313.888,15,1.4,15,-12.6	MHEAD_RNG_PITCHd_Wd	272.3,13189,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.026949	ALTIM_BOTTOM_PING	545.3,36.5
SM_CCo	12646,10.40,0.724,0,0,1608,300.00	_24V_AH	23.9,26.696
SM_GC	1.84,0.00,0.00,10.40,0.000,0.000,0.724,422,2148,1608,-10.69,0.48,300.00	_10V_AH	10.1,11.981
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37911,751
TT8_MAMPS	0.029146	CAP_FILE_SIZE	111227,0
HUMID	1822	CFSIZE	254472192,243666944
TCM_TEMP	17.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	42	GPS	230909,071631,6359.746,-1316.243,42,1.3,42,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	101.14	SBE_CT	513	24	294.33
Roll_motor	142	76	261.91	SBE_O2	548	19	248.97
VBD_pump_during_apogee	377	1201	10853.08	WL_BB2F	476	105	1196.16
VBD_pump_during_surface	10	724	179.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.95	nil	0	0	0.00
Iridium_during_connect	33	160	127.85	nil	0	0	0.00
Iridium_during_xfer	150	223	802.44
Transponder_ping	15	420	155.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.87
TT8	1346	19	269.36
LPSleep	9022	2	199.58
TT8_Active	542	19	108.54
TT8_Sampling	1590	39	639.32
TT8_CF8	499	45	231.21
TT8_Kalman	33	81	27.56
Analog_circuits	1366	12	165.62
GPS_charging	0	0	0.00
Compass	1550	8	125.30
RAFOS	0	0	0.00
Transponder	36	30	11.00

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.22	-146.6	0.0	0.0	0	99	0.00	0.00	-80.70	0.000	2	0.000	0.000	425	2127	2487
103	-1.22	-146.6	2.1	-1.3	4	159	11.35	2.65	-37.25	0.000	4	0.163	0.077	2472	3544	3429
357	-1.12	-146.6	38.2	-18.1	15	362	0.15	2.53	0.00	0.000	6	0.098	0.045	2503	2119	3429
674	-1.09	-146.6	89.0	-14.6	30	678	0.00	2.60	0.00	0.000	4	0.000	0.063	2503	3538	3430
764	-1.05	-146.6	100.1	-11.0	34	768	0.00	2.47	0.00	0.000	6	0.000	0.045	2503	2141	3429
1085	-1.05	-146.6	117.9	-3.5	50	1087	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2128	3429
1395	-1.05	-146.6	135.0	-6.4	65	1400	0.00	2.58	0.00	0.000	4	0.000	0.064	2503	3541	3430
1440	-1.05	-146.6	138.3	-7.1	67	1444	0.00	2.47	0.00	0.000	6	0.000	0.048	2503	2149	3430
1768	-1.05	-146.6	168.5	-10.7	86	1772	0.00	2.53	0.00	0.000	4	0.000	0.058	2503	715	3430
1808	-1.05	-146.6	172.7	-10.6	88	1815	0.00	2.55	0.00	0.000	6	0.000	0.048	2503	2158	3430
2127	-1.05	-146.6	210.3	-11.9	109	2132	0.00	2.60	0.00	0.000	4	0.000	0.058	2503	715	3430
2173	-1.05	-146.6	215.8	-11.9	112	2178	0.00	2.53	0.00	0.000	6	0.000	0.049	2503	2141	3430
2500	-1.05	-146.6	252.4	-10.6	133	2504	0.00	2.55	0.00	0.000	4	0.000	0.059	2503	723	3430
2538	-1.05	-146.6	257.2	-11.1	135	2545	0.00	2.50	0.00	0.000	6	0.000	0.049	2503	2139	3430
2858	-1.05	-146.6	291.1	-10.3	156	2862	0.00	2.55	0.00	0.000	4	0.000	0.060	2502	721	3430
2899	-1.05	-146.6	295.5	-11.5	158	2903	0.00	2.50	0.00	0.000	6	0.000	0.049	2503	2132	3430
3218	-1.05	-146.6	329.2	-10.8	178	3222	0.00	2.55	0.00	0.000	4	0.000	0.062	2503	720	3430
3241	-1.05	-146.6	331.7	-10.8	179	3247	0.00	2.47	0.00	0.000	6	0.000	0.050	2503	2114	3430
3560	-1.05	-146.6	368.7	-11.8	200	3564	0.00	2.60	0.00	0.000	4	0.000	0.068	2503	3544	3430
3581	-1.05	-146.6	371.3	-11.7	201	3588	0.00	2.58	0.00	0.000	6	0.000	0.056	2503	2113	3429
3901	-1.05	-146.6	408.4	-12.2	222	3902	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2101	3429
4213	-1.05	-146.6	444.2	-10.6	242	4217	0.00	2.62	0.00	0.000	4	0.000	0.068	2503	3541	3429
4251	-1.05	-146.6	448.4	-10.9	244	4258	0.00	2.58	0.00	0.000	6	0.000	0.054	2503	2106	3429
4571	-1.05	-146.6	475.1	-7.4	265	4576	0.00	2.65	0.00	0.000	4	0.000	0.068	2503	3541	3429
4605	-1.05	-146.6	477.9	-7.4	267	4609	0.00	2.55	0.00	0.000	6	0.000	0.058	2503	2130	3429
4924	-1.05	-146.6	501.5	-9.1	287	4925	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2100	3429
5237	-1.08	-146.6	517.0	-0.3	307	5241	0.00	2.62	0.00	0.000	4	0.000	0.072	2503	3540	3428
5266	-1.08	-146.6	515.9	3.7	309	5270	0.00	2.58	0.00	0.000	6	0.000	0.067	2503	2145	3428
5593	-1.08	-146.6	536.3	-4.6	330	5597	0.00	2.60	0.00	0.000	4	0.000	0.073	2503	3537	3427
5631	-1.08	-146.6	537.8	-4.4	332	5637	0.00	2.55	0.00	0.000	6	0.000	0.058	2503	2124	3427
5951	-1.08	-146.6	567.6	-8.2	353	5955	0.00	2.55	0.00	0.000	4	0.000	0.071	2503	715	3427
6016	end dive: BOTTOM_OBSTACLE_DETECTED
state	6016	begin apogee
6025	-0.33	0.0	572.0	7.8	357	6158	0.75	0.00	128.60	1.202	6	0.079	0.000	2667	1875	2831
6159	end apogee: CONTROL_FINISHED_OK
state	6159	begin climb
6162	1.22	146.6	579.5	0.0	366	6301	1.55	2.60	129.07	1.162	4	0.056	0.067	3010	3256	2233
6323	1.22	244.3	571.9	4.5	376	6417	0.00	2.62	86.32	1.131	6	0.000	0.064	3010	1834	1834
6729	1.18	244.3	533.4	14.7	402	6734	0.00	2.55	0.00	0.000	4	0.000	0.076	3010	455	1834
6786	1.09	244.3	526.2	11.5	405	6793	0.15	2.53	0.00	0.000	6	0.094	0.057	2982	1849	1834
7106	1.10	251.9	500.8	7.7	426	7122	0.00	2.62	7.85	0.958	4	0.000	0.067	2982	3249	1803
7179	1.14	252.0	494.6	8.0	430	7183	0.00	2.50	0.00	0.000	6	0.000	0.064	2982	1892	1803
7498	1.14	252.0	467.4	8.6	450	7502	0.00	2.67	0.00	0.000	4	0.000	0.074	2982	433	1802
7544	1.14	252.0	462.8	11.1	453	7548	0.00	2.60	0.00	0.000	6	0.000	0.055	2982	1875	1802
7868	1.14	252.0	433.4	8.7	474	7872	0.00	2.50	0.00	0.000	4	0.000	0.066	2982	3258	1802
7941	1.18	252.0	426.9	8.7	478	7947	0.00	2.53	0.00	0.000	6	0.000	0.061	2982	1877	1802
8260	1.18	252.0	400.0	8.9	499	8261	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	1877	1801
8572	1.18	252.0	372.3	8.4	519	8576	0.00	2.55	0.00	0.000	4	0.000	0.063	2982	3265	1801
8635	1.23	252.0	367.0	8.5	523	8640	0.15	2.50	0.00	0.000	6	0.054	0.057	3021	1883	1801
8962	1.18	252.0	332.9	10.5	544	8963	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1883	1801
9272	1.13	252.0	301.1	9.9	564	9277	0.17	2.53	0.00	0.000	4	0.091	0.061	2987	3264	1801
9301	1.13	252.0	298.2	9.1	566	9305	0.00	2.45	0.00	0.000	6	0.000	0.054	2987	1901	1801
9625	1.13	252.0	272.0	8.0	587	9629	0.00	2.47	0.00	0.000	4	0.000	0.061	2987	3261	1801
9658	1.18	252.0	269.2	8.6	589	9663	0.00	2.45	0.00	0.000	6	0.000	0.054	2987	1897	1801
9977	1.18	252.0	241.0	9.1	609	9982	0.00	2.47	0.00	0.000	4	0.000	0.060	2987	3258	1801
10000	1.23	252.0	238.9	9.1	610	10007	0.10	2.42	0.00	0.000	6	0.060	0.052	3016	1901	1801
10320	1.19	252.0	204.5	10.6	631	10321	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1901	1802
10632	1.16	252.0	173.4	9.8	651	10636	0.00	2.47	0.00	0.000	4	0.000	0.060	3016	3265	1802
10677	1.16	252.0	169.0	9.8	654	10681	0.00	2.40	0.00	0.000	6	0.000	0.051	3016	1920	1802
10996	1.16	252.0	139.8	9.0	673	11001	0.00	2.65	0.00	0.000	4	0.000	0.065	3016	441	1802
11025	1.10	252.0	137.0	10.1	674	11030	0.17	2.65	0.00	0.000	6	0.087	0.048	2980	1942	1802
11342	1.17	258.9	113.2	7.7	689	11356	0.00	2.83	7.47	0.752	4	0.000	0.064	2980	433	1774
11391	1.17	258.9	108.7	8.6	691	11395	0.00	2.62	0.00	0.000	6	0.000	0.047	2980	1913	1774
11713	1.26	280.4	83.0	7.2	707	11739	0.17	2.47	18.50	0.827	4	0.049	0.057	3031	3262	1687
11785	1.26	280.4	76.0	10.0	710	11789	0.00	2.42	0.00	0.000	6	0.000	0.050	3031	1911	1687
12107	1.22	280.4	44.7	9.8	726	12108	0.12	0.00	0.00	0.000	6	0.091	0.000	3006	1911	1687
12418	1.25	280.4	18.0	8.7	741	12422	0.00	2.65	0.00	0.000	4	0.000	0.064	3006	433	1687
12473	1.25	280.4	12.2	10.3	743	12480	0.00	2.65	0.00	0.000	6	0.000	0.046	3006	1942	1687
12600	end climb: SURFACE_DEPTH_REACHED
state	12601	begin surface coast
12623	end surface coast: CONTROL_FINISHED_OK
state	12623	begin surface