Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 225 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 225 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT -1.8522969

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 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -1632007.9 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 550

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 -1632007.9

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 225 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 114400,6146.132,-943.258,37,1.5,37,-9.7 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.98 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 114919,6146.083,-943.309,9,1.5,14,-9.7 MHEAD_RNG_PITCHd_Wd 104.3,24896,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.013550 ALTIM_BOTTOM_PING 875.8,89.6

SM_CCo 14932,0.00,0.000,0,0,464,580.87 _24V_AH 23.1,50.173

SM_GC 0.97,12.68,0.00,0.00,0.024,0.000,0.000,393,2257,464,-10.98,0.20,580.87 _10V_AH 10.1,30.680

IRIDIUM_FIX 6126.23,-936.73,281098,070753 DATA_FILE_SIZE 34848,709

TT8_MAMPS 0.026845 CAP_FILE_SIZE 120732,0

HUMID 1966 CFSIZE 260165632,241291264

INTERNAL_PRESSURE 8.0309 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 17.20 GPS 030809,155937,6142.980,-943.559,29,1.1,29,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 133 85.94 SBE_CT 603 24 334.66

Roll_motor 141 58 191.04 SBE_O2 511 19 224.65

VBD_pump_during_apogee 647 1418 21212.12 WL_BB2F 401 105 974.24

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 67.10 nil 0 0 0.00

Iridium_during_connect 34 160 127.19 nil 0 0 0.00

Iridium_during_xfer 136 223 705.10

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.26

TT8 1386 19 277.29

LPSleep 10506 2 232.38

TT8_Active 651 19 130.30

TT8_Sampling 2018 39 811.28

TT8_CF8 686 45 317.77

TT8_Kalman 0 81 0.00

Analog_circuits 1749 12 212.08

GPS_charging 0 0 0.00

Compass 2110 8 170.54

RAFOS 0 0 0.00

Transponder 52 30 15.92

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.96 -146.6 0.0 0.0 0 100 0.00 0.00 -78.03 0.000 6 0.000 0.000 386 2237 3429

103 -0.96 -146.6 5.4 -7.1 4 124 11.73 2.55 0.00 0.000 4 0.133 0.051 2582 3654 3431

364 -0.96 -146.6 45.3 -14.4 15 371 0.00 2.42 0.00 0.000 6 0.000 0.029 2582 2229 3432

680 -0.96 -146.6 76.5 -8.2 31 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2228 3431

992 -0.96 -146.6 93.4 -4.1 46 996 0.00 2.58 0.00 0.000 4 0.000 0.051 2582 3654 3432

1226 -0.96 -146.6 108.5 -5.9 56 1234 0.00 2.42 0.00 0.000 6 0.000 0.030 2582 2251 3432

1543 -0.96 -146.6 119.9 -2.9 72 1547 0.00 2.53 0.00 0.000 4 0.000 0.049 2582 3655 3432

1883 -0.96 -146.6 138.7 -10.7 87 1888 0.00 2.42 0.00 0.000 6 0.000 0.030 2582 2254 3432

2205 -0.96 -146.6 177.0 -13.7 103 2209 0.00 2.53 0.00 0.000 4 0.000 0.049 2582 3657 3433

2491 -0.96 -146.6 215.5 -11.3 116 2495 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2251 3432

2817 -0.96 -146.6 245.7 -8.2 132 2818 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2251 3432

3126 -0.96 -146.6 272.5 -10.2 147 3131 0.00 2.53 0.00 0.000 4 0.000 0.052 2582 3653 3432

3183 -0.96 -146.6 277.9 -9.9 149 3189 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2251 3432

3499 -0.96 -146.6 306.8 -8.5 165 3500 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2251 3432

3811 -0.96 -146.6 336.6 -10.0 180 3815 0.00 2.53 0.00 0.000 4 0.000 0.051 2582 3656 3431

3962 -0.96 -146.6 352.4 -9.7 187 3967 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2253 3431

4289 -0.96 -146.6 383.3 -8.9 203 4293 0.00 2.53 0.00 0.000 4 0.000 0.051 2582 3654 3431

4383 -0.96 -146.6 391.8 -9.3 207 4387 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2248 3431

4699 -0.96 -146.6 415.2 -6.7 222 4703 0.00 2.55 0.00 0.000 4 0.000 0.052 2582 3661 3431

4810 -0.96 -146.6 423.6 -7.7 227 4814 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2248 3431

5130 -0.96 -146.6 448.2 -8.0 243 5134 0.00 2.53 0.00 0.000 4 0.000 0.052 2582 3654 3431

5194 -0.96 -146.6 453.5 -9.0 246 5198 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2252 3431

5520 -0.96 -146.6 477.9 -6.2 262 5522 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2251 3431

5830 -0.96 -146.6 507.2 -10.9 277 5834 0.00 2.53 0.00 0.000 4 0.000 0.051 2582 3654 3431

5941 -0.96 -146.6 519.8 -11.6 282 5945 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2235 3430

6262 -0.96 -146.6 552.1 -8.4 298 6266 0.00 2.58 0.00 0.000 4 0.000 0.054 2582 3660 3430

6339 -0.96 -146.6 559.5 -9.1 301 6345 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2247 3430

6657 -0.96 -146.6 586.2 -8.6 317 6661 0.00 2.55 0.00 0.000 4 0.000 0.054 2582 3658 3430

6743 -0.96 -146.6 592.9 -6.9 321 6747 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2240 3430

7069 -0.96 -146.6 614.2 -6.2 337 7074 0.00 2.45 0.00 0.000 4 0.000 0.044 2582 855 3429

7120 -0.96 -146.6 617.5 -5.8 339 7125 0.00 2.42 0.00 0.000 6 0.000 0.035 2582 2256 3429

7442 -0.96 -146.6 634.2 -4.7 355 7446 0.00 2.50 0.00 0.000 4 0.000 0.054 2582 3648 3429

7508 -0.96 -146.6 637.6 -5.6 358 7512 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2253 3429

7832 -0.96 -146.6 651.3 -4.2 374 7836 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 3650 3429

7898 -0.96 -146.6 654.9 -5.4 377 7903 0.00 2.42 0.00 0.000 6 0.000 0.031 2582 2254 3429

8225 -0.96 -146.6 672.1 -5.7 393 8229 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 3651 3429

8283 -0.96 -146.6 675.8 -7.0 395 8289 0.00 2.40 0.00 0.000 6 0.000 0.032 2582 2252 3429

8599 -0.96 -146.6 695.9 -5.9 411 8603 0.00 2.53 0.00 0.000 4 0.000 0.053 2582 3651 3429

8663 -0.96 -146.6 699.6 -6.3 414 8668 0.00 2.40 0.00 0.000 6 0.000 0.031 2582 2248 3428

8997 -0.96 -146.6 716.9 -4.8 430 9001 0.00 2.55 0.00 0.000 4 0.000 0.054 2582 3654 3428

9181 -0.96 -146.6 728.0 -5.8 438 9185 0.00 2.42 0.00 0.000 6 0.000 0.031 2581 2240 3428

9498 -0.96 -146.6 755.7 -11.6 453 9503 0.00 2.58 0.00 0.000 4 0.000 0.055 2582 3655 3428

9606 -0.96 -146.6 769.7 -12.6 458 9610 0.00 2.42 0.00 0.000 6 0.000 0.032 2582 2244 3428

9933 -0.96 -146.6 801.7 -8.8 474 9934 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2240 3428

10241 -0.96 -146.6 821.6 -3.6 489 10246 0.00 2.58 0.00 0.000 4 0.000 0.057 2582 3655 3428

10522 -0.96 -146.6 827.5 -1.0 501 10528 0.00 2.42 0.00 0.000 6 0.000 0.032 2582 2247 3427

10840 -0.96 -146.6 843.6 -10.3 517 10844 0.00 2.55 0.00 0.000 4 0.000 0.055 2582 3652 3427

10940 -0.96 -146.6 857.7 -15.3 521 10946 0.00 2.42 0.00 0.000 6 0.000 0.032 2582 2239 3427

11256 -0.96 -146.6 899.3 -7.5 537 11260 0.00 2.58 0.00 0.000 4 0.000 0.057 2582 3651 3426

11345 -0.96 -146.6 903.3 -3.8 541 11349 0.00 2.40 0.00 0.000 6 0.000 0.033 2582 2256 3426

11665 -0.96 -146.6 917.3 -6.2 557 11669 0.00 2.55 0.00 0.000 4 0.000 0.058 2582 3651 3426

11754 -0.96 -146.6 923.2 -6.5 561 11758 0.00 2.42 0.00 0.000 6 0.000 0.035 2582 2253 3426

12054 end dive: BOTTOM_OBSTACLE_DETECTED

state 12054 begin apogee

12062 -0.36 0.0 956.1 15.7 576 12196 0.65 0.00 130.65 1.418 6 0.065 0.000 2721 1459 2832

12197 end apogee: CONTROL_FINISHED_OK

state 12197 begin climb

12200 0.96 146.6 966.7 0.0 583 12341 1.33 2.60 132.68 1.386 4 0.062 0.048 3003 2859 2232

12350 2.37 1285.3 982.9 -25.2 589 12748 1.50 2.55 384.17 1.351 6 0.070 0.041 3315 1447 475

13070 2.37 1285.3 710.5 37.4 624 13074 0.00 2.55 0.00 0.000 4 0.000 0.046 3315 2858 468

13181 2.37 1285.3 671.4 33.5 629 13186 0.00 2.50 0.00 0.000 6 0.000 0.044 3315 1457 467

13503 2.37 1285.3 536.2 47.0 645 13507 0.00 2.47 0.00 0.000 4 0.000 0.039 3315 2863 465

13642 2.37 1285.3 480.9 37.9 651 13646 0.00 2.53 0.00 0.000 6 0.000 0.046 3315 1450 466

13958 2.37 1285.3 342.0 43.6 666 13962 0.00 2.47 0.00 0.000 4 0.000 0.038 3315 2862 466

14070 2.37 1285.3 297.7 34.7 671 14075 0.00 2.50 0.00 0.000 6 0.000 0.041 3315 1451 465

14392 2.37 1285.3 170.5 37.4 687 14396 0.00 2.45 0.00 0.000 4 0.000 0.036 3315 2860 466

14548 2.37 1285.3 119.4 30.6 694 14552 0.00 2.50 0.00 0.000 6 0.000 0.040 3315 1446 466

14825 end climb: SURFACE_DEPTH_REACHED

state 14825 begin surface coast

14847 end surface coast: CONTROL_FINISHED_OK

state 14847 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	225	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	-1.8522969
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	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-1632007.9	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	114400,6146.132,-943.258,37,1.5,37,-9.7	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.98	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	114919,6146.083,-943.309,9,1.5,14,-9.7	MHEAD_RNG_PITCHd_Wd	104.3,24896,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.013550	ALTIM_BOTTOM_PING	875.8,89.6
SM_CCo	14932,0.00,0.000,0,0,464,580.87	_24V_AH	23.1,50.173
SM_GC	0.97,12.68,0.00,0.00,0.024,0.000,0.000,393,2257,464,-10.98,0.20,580.87	_10V_AH	10.1,30.680
IRIDIUM_FIX	6126.23,-936.73,281098,070753	DATA_FILE_SIZE	34848,709
TT8_MAMPS	0.026845	CAP_FILE_SIZE	120732,0
HUMID	1966	CFSIZE	260165632,241291264
INTERNAL_PRESSURE	8.0309	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.20	GPS	030809,155937,6142.980,-943.559,29,1.1,29,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	133	85.94	SBE_CT	603	24	334.66
Roll_motor	141	58	191.04	SBE_O2	511	19	224.65
VBD_pump_during_apogee	647	1418	21212.12	WL_BB2F	401	105	974.24
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	67.10	nil	0	0	0.00
Iridium_during_connect	34	160	127.19	nil	0	0	0.00
Iridium_during_xfer	136	223	705.10
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.26
TT8	1386	19	277.29
LPSleep	10506	2	232.38
TT8_Active	651	19	130.30
TT8_Sampling	2018	39	811.28
TT8_CF8	686	45	317.77
TT8_Kalman	0	81	0.00
Analog_circuits	1749	12	212.08
GPS_charging	0	0	0.00
Compass	2110	8	170.54
RAFOS	0	0	0.00
Transponder	52	30	15.92

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.96	-146.6	0.0	0.0	0	100	0.00	0.00	-78.03	0.000	6	0.000	0.000	386	2237	3429
103	-0.96	-146.6	5.4	-7.1	4	124	11.73	2.55	0.00	0.000	4	0.133	0.051	2582	3654	3431
364	-0.96	-146.6	45.3	-14.4	15	371	0.00	2.42	0.00	0.000	6	0.000	0.029	2582	2229	3432
680	-0.96	-146.6	76.5	-8.2	31	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2228	3431
992	-0.96	-146.6	93.4	-4.1	46	996	0.00	2.58	0.00	0.000	4	0.000	0.051	2582	3654	3432
1226	-0.96	-146.6	108.5	-5.9	56	1234	0.00	2.42	0.00	0.000	6	0.000	0.030	2582	2251	3432
1543	-0.96	-146.6	119.9	-2.9	72	1547	0.00	2.53	0.00	0.000	4	0.000	0.049	2582	3655	3432
1883	-0.96	-146.6	138.7	-10.7	87	1888	0.00	2.42	0.00	0.000	6	0.000	0.030	2582	2254	3432
2205	-0.96	-146.6	177.0	-13.7	103	2209	0.00	2.53	0.00	0.000	4	0.000	0.049	2582	3657	3433
2491	-0.96	-146.6	215.5	-11.3	116	2495	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2251	3432
2817	-0.96	-146.6	245.7	-8.2	132	2818	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2251	3432
3126	-0.96	-146.6	272.5	-10.2	147	3131	0.00	2.53	0.00	0.000	4	0.000	0.052	2582	3653	3432
3183	-0.96	-146.6	277.9	-9.9	149	3189	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2251	3432
3499	-0.96	-146.6	306.8	-8.5	165	3500	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2251	3432
3811	-0.96	-146.6	336.6	-10.0	180	3815	0.00	2.53	0.00	0.000	4	0.000	0.051	2582	3656	3431
3962	-0.96	-146.6	352.4	-9.7	187	3967	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2253	3431
4289	-0.96	-146.6	383.3	-8.9	203	4293	0.00	2.53	0.00	0.000	4	0.000	0.051	2582	3654	3431
4383	-0.96	-146.6	391.8	-9.3	207	4387	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2248	3431
4699	-0.96	-146.6	415.2	-6.7	222	4703	0.00	2.55	0.00	0.000	4	0.000	0.052	2582	3661	3431
4810	-0.96	-146.6	423.6	-7.7	227	4814	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2248	3431
5130	-0.96	-146.6	448.2	-8.0	243	5134	0.00	2.53	0.00	0.000	4	0.000	0.052	2582	3654	3431
5194	-0.96	-146.6	453.5	-9.0	246	5198	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2252	3431
5520	-0.96	-146.6	477.9	-6.2	262	5522	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2251	3431
5830	-0.96	-146.6	507.2	-10.9	277	5834	0.00	2.53	0.00	0.000	4	0.000	0.051	2582	3654	3431
5941	-0.96	-146.6	519.8	-11.6	282	5945	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2235	3430
6262	-0.96	-146.6	552.1	-8.4	298	6266	0.00	2.58	0.00	0.000	4	0.000	0.054	2582	3660	3430
6339	-0.96	-146.6	559.5	-9.1	301	6345	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2247	3430
6657	-0.96	-146.6	586.2	-8.6	317	6661	0.00	2.55	0.00	0.000	4	0.000	0.054	2582	3658	3430
6743	-0.96	-146.6	592.9	-6.9	321	6747	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2240	3430
7069	-0.96	-146.6	614.2	-6.2	337	7074	0.00	2.45	0.00	0.000	4	0.000	0.044	2582	855	3429
7120	-0.96	-146.6	617.5	-5.8	339	7125	0.00	2.42	0.00	0.000	6	0.000	0.035	2582	2256	3429
7442	-0.96	-146.6	634.2	-4.7	355	7446	0.00	2.50	0.00	0.000	4	0.000	0.054	2582	3648	3429
7508	-0.96	-146.6	637.6	-5.6	358	7512	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2253	3429
7832	-0.96	-146.6	651.3	-4.2	374	7836	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	3650	3429
7898	-0.96	-146.6	654.9	-5.4	377	7903	0.00	2.42	0.00	0.000	6	0.000	0.031	2582	2254	3429
8225	-0.96	-146.6	672.1	-5.7	393	8229	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	3651	3429
8283	-0.96	-146.6	675.8	-7.0	395	8289	0.00	2.40	0.00	0.000	6	0.000	0.032	2582	2252	3429
8599	-0.96	-146.6	695.9	-5.9	411	8603	0.00	2.53	0.00	0.000	4	0.000	0.053	2582	3651	3429
8663	-0.96	-146.6	699.6	-6.3	414	8668	0.00	2.40	0.00	0.000	6	0.000	0.031	2582	2248	3428
8997	-0.96	-146.6	716.9	-4.8	430	9001	0.00	2.55	0.00	0.000	4	0.000	0.054	2582	3654	3428
9181	-0.96	-146.6	728.0	-5.8	438	9185	0.00	2.42	0.00	0.000	6	0.000	0.031	2581	2240	3428
9498	-0.96	-146.6	755.7	-11.6	453	9503	0.00	2.58	0.00	0.000	4	0.000	0.055	2582	3655	3428
9606	-0.96	-146.6	769.7	-12.6	458	9610	0.00	2.42	0.00	0.000	6	0.000	0.032	2582	2244	3428
9933	-0.96	-146.6	801.7	-8.8	474	9934	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2240	3428
10241	-0.96	-146.6	821.6	-3.6	489	10246	0.00	2.58	0.00	0.000	4	0.000	0.057	2582	3655	3428
10522	-0.96	-146.6	827.5	-1.0	501	10528	0.00	2.42	0.00	0.000	6	0.000	0.032	2582	2247	3427
10840	-0.96	-146.6	843.6	-10.3	517	10844	0.00	2.55	0.00	0.000	4	0.000	0.055	2582	3652	3427
10940	-0.96	-146.6	857.7	-15.3	521	10946	0.00	2.42	0.00	0.000	6	0.000	0.032	2582	2239	3427
11256	-0.96	-146.6	899.3	-7.5	537	11260	0.00	2.58	0.00	0.000	4	0.000	0.057	2582	3651	3426
11345	-0.96	-146.6	903.3	-3.8	541	11349	0.00	2.40	0.00	0.000	6	0.000	0.033	2582	2256	3426
11665	-0.96	-146.6	917.3	-6.2	557	11669	0.00	2.55	0.00	0.000	4	0.000	0.058	2582	3651	3426
11754	-0.96	-146.6	923.2	-6.5	561	11758	0.00	2.42	0.00	0.000	6	0.000	0.035	2582	2253	3426
12054	end dive: BOTTOM_OBSTACLE_DETECTED
state	12054	begin apogee
12062	-0.36	0.0	956.1	15.7	576	12196	0.65	0.00	130.65	1.418	6	0.065	0.000	2721	1459	2832
12197	end apogee: CONTROL_FINISHED_OK
state	12197	begin climb
12200	0.96	146.6	966.7	0.0	583	12341	1.33	2.60	132.68	1.386	4	0.062	0.048	3003	2859	2232
12350	2.37	1285.3	982.9	-25.2	589	12748	1.50	2.55	384.17	1.351	6	0.070	0.041	3315	1447	475
13070	2.37	1285.3	710.5	37.4	624	13074	0.00	2.55	0.00	0.000	4	0.000	0.046	3315	2858	468
13181	2.37	1285.3	671.4	33.5	629	13186	0.00	2.50	0.00	0.000	6	0.000	0.044	3315	1457	467
13503	2.37	1285.3	536.2	47.0	645	13507	0.00	2.47	0.00	0.000	4	0.000	0.039	3315	2863	465
13642	2.37	1285.3	480.9	37.9	651	13646	0.00	2.53	0.00	0.000	6	0.000	0.046	3315	1450	466
13958	2.37	1285.3	342.0	43.6	666	13962	0.00	2.47	0.00	0.000	4	0.000	0.038	3315	2862	466
14070	2.37	1285.3	297.7	34.7	671	14075	0.00	2.50	0.00	0.000	6	0.000	0.041	3315	1451	465
14392	2.37	1285.3	170.5	37.4	687	14396	0.00	2.45	0.00	0.000	4	0.000	0.036	3315	2860	466
14548	2.37	1285.3	119.4	30.6	694	14552	0.00	2.50	0.00	0.000	6	0.000	0.040	3315	1446	466
14825	end climb: SURFACE_DEPTH_REACHED
state	14825	begin surface coast
14847	end surface coast: CONTROL_FINISHED_OK
state	14847	begin surface