Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 187 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 187 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 20

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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 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 1001 T_GPS_CHARGE -2110927.8 VBD_BLEED_AD_RATE 4 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -2110927.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 187 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 101107,6337.117,-1309.717,35,0.8,35,-12.4 TGT_NAME JE

_CALLS 3 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.61 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.0 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 102220,6337.106,-1309.632,15,1.5,15,-12.4 MHEAD_RNG_PITCHd_Wd 241.0,5897,-15.2,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.012766 ALTIM_BOTTOM_PING 651.5,78.8

SM_CCo 15940,9.52,0.525,0,0,1797,250.21 _24V_AH 23.6,31.830

SM_GC 2.98,0.00,0.00,9.52,0.000,0.000,0.525,70,2608,1797,-10.53,0.23,250.21 _10V_AH 10.1,15.988

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37936,765

TT8_MAMPS 0.023777 CAP_FILE_SIZE 111438,0

HUMID 1765 CFSIZE 260165632,247824384

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 100709,144937,6336.888,-1309.983,30,1.1,30,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 185 120.35 SBE_CT 561 24 318.15

Roll_motor 88 69 146.40 SBE_O2 522 19 234.49

VBD_pump_during_apogee 318 1050 7900.23 WL_BB2F 456 105 1131.89

VBD_pump_during_surface 9 525 118.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 103 168.85 nil 0 0 0.00

Iridium_during_connect 131 160 498.33 nil 0 0 0.00

Iridium_during_xfer 226 223 1189.75

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.71

TT8 1385 19 277.07

LPSleep 12500 2 276.51

TT8_Active 431 19 86.36

TT8_Sampling 1626 39 653.68

TT8_CF8 681 45 315.35

TT8_Kalman 0 81 0.00

Analog_circuits 1231 12 149.22

GPS_charging 0 0 0.00

Compass 1587 8 128.23

RAFOS 0 0 0.00

Transponder 38 30 11.70

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 15 begin dive

18 -1.09 -125.1 0.0 0.0 0 79 0.00 0.00 -57.75 0.000 6 0.000 0.000 77 2600 3329

83 -1.09 -125.1 6.3 -11.2 3 104 11.85 2.35 0.00 0.000 4 0.186 0.058 2115 3858 3330

357 -1.01 -125.1 50.1 -11.4 15 362 0.12 2.15 0.00 0.000 6 0.108 0.025 2138 2577 3331

678 -1.01 -125.1 80.3 -9.4 31 682 0.00 2.35 0.00 0.000 4 0.000 0.060 2138 3858 3331

757 -1.01 -125.1 88.1 -9.7 34 763 0.00 2.15 0.00 0.000 6 0.000 0.025 2138 2592 3331

1073 -1.01 -125.1 117.0 -8.9 50 1077 0.00 2.40 0.00 0.000 4 0.000 0.038 2138 1219 3331

1113 -1.09 -125.1 120.5 -8.1 52 1118 0.00 2.42 0.00 0.000 6 0.000 0.035 2138 2603 3331

1441 -1.13 -125.1 147.8 -8.1 68 1443 0.12 0.00 0.00 0.000 6 0.044 0.000 2097 2603 3331

1749 -1.06 -125.1 178.6 -9.7 83 1751 0.15 0.00 0.00 0.000 6 0.100 0.000 2125 2603 3331

2058 -1.06 -125.1 204.7 -8.8 98 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2603 3331

2367 -1.06 -125.1 231.7 -9.0 113 2369 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2603 3331

2677 -1.06 -125.1 261.0 -9.3 128 2678 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2603 3330

2986 -1.06 -125.1 289.1 -9.3 143 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2602 3331

3295 -1.06 -125.1 318.1 -9.2 158 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2603 3331

3604 -1.06 -125.1 345.4 -8.4 173 3609 0.00 2.42 0.00 0.000 4 0.000 0.038 2125 1219 3330

3662 -1.11 -125.1 350.2 -8.2 175 3668 0.00 2.42 0.00 0.000 6 0.000 0.035 2125 2612 3330

3978 -1.11 -125.1 377.1 -8.6 191 3979 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2611 3330

4287 -1.11 -125.1 403.8 -9.0 206 4291 0.00 2.45 0.00 0.000 4 0.000 0.038 2125 1210 3330

4327 -1.18 -125.1 407.5 -9.6 208 4331 0.00 2.42 0.00 0.000 6 0.000 0.035 2125 2600 3330

4653 -1.18 -125.1 438.1 -9.4 224 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3330

4962 -1.18 -125.1 466.6 -9.1 239 4963 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3329

5272 -1.18 -125.1 493.4 -8.5 254 5273 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2600 3329

5581 -1.18 -125.1 519.4 -8.8 269 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3329

5890 -1.18 -125.1 544.6 -7.8 284 5891 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3329

6200 -1.18 -125.1 570.2 -9.3 299 6204 0.00 2.42 0.00 0.000 4 0.000 0.038 2125 1215 3328

6244 -1.24 -125.1 574.8 -10.6 301 6252 0.17 2.42 0.00 0.000 6 0.043 0.035 2076 2602 3329

6575 -1.13 -125.1 619.3 -12.8 317 6576 0.20 0.00 0.00 0.000 6 0.101 0.000 2114 2601 3328

6887 -1.13 -125.1 651.5 -9.3 332 6888 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2602 3329

7192 -1.13 -125.1 680.6 -8.4 347 7193 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2602 3328

7502 -1.14 -139.0 706.6 -6.9 362 7506 0.00 2.33 0.00 0.000 4 0.000 0.070 2114 3857 3328

7547 -1.15 -146.6 710.0 -6.7 364 7551 0.00 2.10 0.00 0.000 6 0.000 0.028 2114 2609 3327

7687 end dive: BOTTOM_OBSTACLE_DETECTED

state 7687 begin apogee

7694 -0.31 0.0 721.0 8.3 371 7809 0.88 0.00 109.88 1.051 6 0.105 0.000 2290 2300 2817

7809 end apogee: CONTROL_FINISHED_OK

state 7809 begin climb

7813 1.11 146.6 725.7 0.0 377 7950 1.45 2.65 129.35 1.039 4 0.074 0.061 2597 3701 2219

8144 0.98 146.6 705.1 11.6 392 8149 0.12 2.42 0.00 0.000 6 0.105 0.029 2576 2314 2215

8466 0.91 159.9 678.2 7.0 408 8487 0.00 2.67 12.00 0.902 4 0.000 0.061 2575 3705 2165

8543 0.81 159.9 672.3 7.5 411 8548 0.20 2.47 0.00 0.000 6 0.112 0.029 2538 2292 2164

8861 0.95 224.4 656.2 4.9 426 8923 0.12 0.00 59.30 0.997 6 0.051 0.000 2574 2292 1902

9228 0.95 224.4 633.4 8.5 444 9233 0.00 2.62 0.00 0.000 4 0.000 0.061 2574 3707 1894

9324 0.95 224.4 624.0 8.8 448 9328 0.00 2.45 0.00 0.000 6 0.000 0.029 2574 2300 1895

9645 1.00 224.4 592.5 9.4 464 9650 0.00 2.60 0.00 0.000 4 0.000 0.061 2574 3701 1894

9686 1.00 224.4 588.6 10.7 466 9690 0.00 2.45 0.00 0.000 6 0.000 0.029 2574 2295 1893

10013 1.05 224.4 559.8 8.6 482 10017 0.00 2.50 0.00 0.000 4 0.000 0.050 2574 901 1892

10108 1.11 233.8 553.2 7.1 486 10125 0.12 2.45 8.05 0.790 6 0.060 0.035 2603 2305 1863

10434 1.11 233.8 524.7 8.7 502 10438 0.00 2.53 0.00 0.000 4 0.000 0.045 2603 892 1861

10478 1.11 233.8 520.4 9.6 504 10482 0.00 2.47 0.00 0.000 6 0.000 0.034 2603 2309 1860

10804 1.11 233.8 489.6 9.4 520 10808 0.00 2.58 0.00 0.000 4 0.000 0.060 2603 3707 1861

10837 1.05 233.8 486.2 10.1 521 10843 0.00 2.45 0.00 0.000 6 0.000 0.028 2603 2295 1860

11153 1.05 233.8 456.5 9.5 537 11154 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2294 1860

11462 1.05 233.8 428.8 8.9 552 11463 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2292 1860

11772 1.05 233.8 402.5 8.1 567 11773 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2291 1860

12081 1.05 233.8 376.6 8.5 582 12082 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2291 1860

12390 1.05 233.8 349.1 9.2 597 12391 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2292 1860

12700 1.05 233.8 319.3 9.7 612 12701 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2292 1860

13008 1.05 233.8 287.5 10.5 627 13012 0.00 2.47 0.00 0.000 4 0.000 0.045 2603 892 1860

13042 1.05 233.8 283.8 10.8 628 13046 0.00 2.45 0.00 0.000 6 0.000 0.032 2603 2303 1860

13358 1.05 233.8 251.0 10.4 643 13359 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2303 1860

13666 1.05 233.8 220.3 9.9 658 13668 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2303 1860

13976 1.05 233.8 189.9 9.5 673 13977 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2304 1860

14285 1.05 233.8 162.9 7.8 688 14287 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2304 1860

14596 1.05 233.8 135.2 10.1 703 14600 0.00 2.50 0.00 0.000 4 0.000 0.042 2603 892 1860

14625 1.05 233.8 132.0 11.1 704 14629 0.00 2.45 0.00 0.000 6 0.000 0.031 2603 2306 1860

14940 1.05 233.8 97.9 10.6 719 14945 0.00 2.55 0.00 0.000 4 0.000 0.057 2603 3706 1861

15013 1.05 233.8 89.5 10.7 722 15018 0.00 2.42 0.00 0.000 6 0.000 0.027 2603 2292 1860

15331 1.05 233.8 56.3 10.8 737 15332 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2290 1861

15639 1.05 233.8 24.2 9.5 752 15643 0.00 2.45 0.00 0.000 4 0.000 0.044 2603 899 1861

15809 1.05 233.8 9.7 8.4 759 15815 0.00 2.42 0.00 0.000 6 0.000 0.032 2603 2310 1860

15895 end climb: SURFACE_DEPTH_REACHED

state 15895 begin surface coast

15917 end surface coast: CONTROL_FINISHED_OK

state 15918 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	187	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	20
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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	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	1001	T_GPS_CHARGE	-2110927.8	VBD_BLEED_AD_RATE	4	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	101107,6337.117,-1309.717,35,0.8,35,-12.4	TGT_NAME	JE
_CALLS	3	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.61	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.0	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	102220,6337.106,-1309.632,15,1.5,15,-12.4	MHEAD_RNG_PITCHd_Wd	241.0,5897,-15.2,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.012766	ALTIM_BOTTOM_PING	651.5,78.8
SM_CCo	15940,9.52,0.525,0,0,1797,250.21	_24V_AH	23.6,31.830
SM_GC	2.98,0.00,0.00,9.52,0.000,0.000,0.525,70,2608,1797,-10.53,0.23,250.21	_10V_AH	10.1,15.988
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37936,765
TT8_MAMPS	0.023777	CAP_FILE_SIZE	111438,0
HUMID	1765	CFSIZE	260165632,247824384
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	100709,144937,6336.888,-1309.983,30,1.1,30,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	185	120.35	SBE_CT	561	24	318.15
Roll_motor	88	69	146.40	SBE_O2	522	19	234.49
VBD_pump_during_apogee	318	1050	7900.23	WL_BB2F	456	105	1131.89
VBD_pump_during_surface	9	525	118.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	103	168.85	nil	0	0	0.00
Iridium_during_connect	131	160	498.33	nil	0	0	0.00
Iridium_during_xfer	226	223	1189.75
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.71
TT8	1385	19	277.07
LPSleep	12500	2	276.51
TT8_Active	431	19	86.36
TT8_Sampling	1626	39	653.68
TT8_CF8	681	45	315.35
TT8_Kalman	0	81	0.00
Analog_circuits	1231	12	149.22
GPS_charging	0	0	0.00
Compass	1587	8	128.23
RAFOS	0	0	0.00
Transponder	38	30	11.70

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	15	begin dive
18	-1.09	-125.1	0.0	0.0	0	79	0.00	0.00	-57.75	0.000	6	0.000	0.000	77	2600	3329
83	-1.09	-125.1	6.3	-11.2	3	104	11.85	2.35	0.00	0.000	4	0.186	0.058	2115	3858	3330
357	-1.01	-125.1	50.1	-11.4	15	362	0.12	2.15	0.00	0.000	6	0.108	0.025	2138	2577	3331
678	-1.01	-125.1	80.3	-9.4	31	682	0.00	2.35	0.00	0.000	4	0.000	0.060	2138	3858	3331
757	-1.01	-125.1	88.1	-9.7	34	763	0.00	2.15	0.00	0.000	6	0.000	0.025	2138	2592	3331
1073	-1.01	-125.1	117.0	-8.9	50	1077	0.00	2.40	0.00	0.000	4	0.000	0.038	2138	1219	3331
1113	-1.09	-125.1	120.5	-8.1	52	1118	0.00	2.42	0.00	0.000	6	0.000	0.035	2138	2603	3331
1441	-1.13	-125.1	147.8	-8.1	68	1443	0.12	0.00	0.00	0.000	6	0.044	0.000	2097	2603	3331
1749	-1.06	-125.1	178.6	-9.7	83	1751	0.15	0.00	0.00	0.000	6	0.100	0.000	2125	2603	3331
2058	-1.06	-125.1	204.7	-8.8	98	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2603	3331
2367	-1.06	-125.1	231.7	-9.0	113	2369	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2603	3331
2677	-1.06	-125.1	261.0	-9.3	128	2678	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2603	3330
2986	-1.06	-125.1	289.1	-9.3	143	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2602	3331
3295	-1.06	-125.1	318.1	-9.2	158	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2603	3331
3604	-1.06	-125.1	345.4	-8.4	173	3609	0.00	2.42	0.00	0.000	4	0.000	0.038	2125	1219	3330
3662	-1.11	-125.1	350.2	-8.2	175	3668	0.00	2.42	0.00	0.000	6	0.000	0.035	2125	2612	3330
3978	-1.11	-125.1	377.1	-8.6	191	3979	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2611	3330
4287	-1.11	-125.1	403.8	-9.0	206	4291	0.00	2.45	0.00	0.000	4	0.000	0.038	2125	1210	3330
4327	-1.18	-125.1	407.5	-9.6	208	4331	0.00	2.42	0.00	0.000	6	0.000	0.035	2125	2600	3330
4653	-1.18	-125.1	438.1	-9.4	224	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3330
4962	-1.18	-125.1	466.6	-9.1	239	4963	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3329
5272	-1.18	-125.1	493.4	-8.5	254	5273	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2600	3329
5581	-1.18	-125.1	519.4	-8.8	269	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3329
5890	-1.18	-125.1	544.6	-7.8	284	5891	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3329
6200	-1.18	-125.1	570.2	-9.3	299	6204	0.00	2.42	0.00	0.000	4	0.000	0.038	2125	1215	3328
6244	-1.24	-125.1	574.8	-10.6	301	6252	0.17	2.42	0.00	0.000	6	0.043	0.035	2076	2602	3329
6575	-1.13	-125.1	619.3	-12.8	317	6576	0.20	0.00	0.00	0.000	6	0.101	0.000	2114	2601	3328
6887	-1.13	-125.1	651.5	-9.3	332	6888	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2602	3329
7192	-1.13	-125.1	680.6	-8.4	347	7193	0.00	0.00	0.00	0.000	6	0.000	0.000	2114	2602	3328
7502	-1.14	-139.0	706.6	-6.9	362	7506	0.00	2.33	0.00	0.000	4	0.000	0.070	2114	3857	3328
7547	-1.15	-146.6	710.0	-6.7	364	7551	0.00	2.10	0.00	0.000	6	0.000	0.028	2114	2609	3327
7687	end dive: BOTTOM_OBSTACLE_DETECTED
state	7687	begin apogee
7694	-0.31	0.0	721.0	8.3	371	7809	0.88	0.00	109.88	1.051	6	0.105	0.000	2290	2300	2817
7809	end apogee: CONTROL_FINISHED_OK
state	7809	begin climb
7813	1.11	146.6	725.7	0.0	377	7950	1.45	2.65	129.35	1.039	4	0.074	0.061	2597	3701	2219
8144	0.98	146.6	705.1	11.6	392	8149	0.12	2.42	0.00	0.000	6	0.105	0.029	2576	2314	2215
8466	0.91	159.9	678.2	7.0	408	8487	0.00	2.67	12.00	0.902	4	0.000	0.061	2575	3705	2165
8543	0.81	159.9	672.3	7.5	411	8548	0.20	2.47	0.00	0.000	6	0.112	0.029	2538	2292	2164
8861	0.95	224.4	656.2	4.9	426	8923	0.12	0.00	59.30	0.997	6	0.051	0.000	2574	2292	1902
9228	0.95	224.4	633.4	8.5	444	9233	0.00	2.62	0.00	0.000	4	0.000	0.061	2574	3707	1894
9324	0.95	224.4	624.0	8.8	448	9328	0.00	2.45	0.00	0.000	6	0.000	0.029	2574	2300	1895
9645	1.00	224.4	592.5	9.4	464	9650	0.00	2.60	0.00	0.000	4	0.000	0.061	2574	3701	1894
9686	1.00	224.4	588.6	10.7	466	9690	0.00	2.45	0.00	0.000	6	0.000	0.029	2574	2295	1893
10013	1.05	224.4	559.8	8.6	482	10017	0.00	2.50	0.00	0.000	4	0.000	0.050	2574	901	1892
10108	1.11	233.8	553.2	7.1	486	10125	0.12	2.45	8.05	0.790	6	0.060	0.035	2603	2305	1863
10434	1.11	233.8	524.7	8.7	502	10438	0.00	2.53	0.00	0.000	4	0.000	0.045	2603	892	1861
10478	1.11	233.8	520.4	9.6	504	10482	0.00	2.47	0.00	0.000	6	0.000	0.034	2603	2309	1860
10804	1.11	233.8	489.6	9.4	520	10808	0.00	2.58	0.00	0.000	4	0.000	0.060	2603	3707	1861
10837	1.05	233.8	486.2	10.1	521	10843	0.00	2.45	0.00	0.000	6	0.000	0.028	2603	2295	1860
11153	1.05	233.8	456.5	9.5	537	11154	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2294	1860
11462	1.05	233.8	428.8	8.9	552	11463	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2292	1860
11772	1.05	233.8	402.5	8.1	567	11773	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2291	1860
12081	1.05	233.8	376.6	8.5	582	12082	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2291	1860
12390	1.05	233.8	349.1	9.2	597	12391	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2292	1860
12700	1.05	233.8	319.3	9.7	612	12701	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2292	1860
13008	1.05	233.8	287.5	10.5	627	13012	0.00	2.47	0.00	0.000	4	0.000	0.045	2603	892	1860
13042	1.05	233.8	283.8	10.8	628	13046	0.00	2.45	0.00	0.000	6	0.000	0.032	2603	2303	1860
13358	1.05	233.8	251.0	10.4	643	13359	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2303	1860
13666	1.05	233.8	220.3	9.9	658	13668	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2303	1860
13976	1.05	233.8	189.9	9.5	673	13977	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2304	1860
14285	1.05	233.8	162.9	7.8	688	14287	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2304	1860
14596	1.05	233.8	135.2	10.1	703	14600	0.00	2.50	0.00	0.000	4	0.000	0.042	2603	892	1860
14625	1.05	233.8	132.0	11.1	704	14629	0.00	2.45	0.00	0.000	6	0.000	0.031	2603	2306	1860
14940	1.05	233.8	97.9	10.6	719	14945	0.00	2.55	0.00	0.000	4	0.000	0.057	2603	3706	1861
15013	1.05	233.8	89.5	10.7	722	15018	0.00	2.42	0.00	0.000	6	0.000	0.027	2603	2292	1860
15331	1.05	233.8	56.3	10.8	737	15332	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2290	1861
15639	1.05	233.8	24.2	9.5	752	15643	0.00	2.45	0.00	0.000	4	0.000	0.044	2603	899	1861
15809	1.05	233.8	9.7	8.4	759	15815	0.00	2.42	0.00	0.000	6	0.000	0.032	2603	2310	1860
15895	end climb: SURFACE_DEPTH_REACHED
state	15895	begin surface coast
15917	end surface coast: CONTROL_FINISHED_OK
state	15918	begin surface