Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 258 * 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 258 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -1632654.2 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 -1632654.2

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 258 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 113207,6206.734,-914.943,23,1.9,23,-9.6 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 1.00 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.0 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 113738,6206.738,-914.937,17,1.6,17,-9.6 MHEAD_RNG_PITCHd_Wd 180.9,87570,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.003156 ALTIM_BOTTOM_PING 400.7,102.0

SM_CCo 13832,13.05,0.723,0,0,1609,300.00 _24V_AH 23.3,55.375

SM_GC 1.45,0.00,0.00,13.05,0.000,0.000,0.723,385,2247,1609,-11.11,-0.08,300.00 _10V_AH 10.1,33.584

IRIDIUM_FIX 6144.36,-918.67,041198,070714 DATA_FILE_SIZE 34854,659

TT8_MAMPS 0.027612 CAP_FILE_SIZE 114732,0

HUMID 1919 CFSIZE 260165632,239206400

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 17.70 GPS 100809,153006,6203.667,-915.526,37,1.2,42,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.30 SBE_CT 525 24 293.75

Roll_motor 170 58 232.15 SBE_O2 486 19 215.30

VBD_pump_during_apogee 370 1086 9382.30 WL_BB2F 502 105 1228.29

VBD_pump_during_surface 13 722 219.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 103 79.29 nil 0 0 0.00

Iridium_during_connect 44 160 166.22 nil 0 0 0.00

Iridium_during_xfer 132 223 689.10

Transponder_ping 3 420 29.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.78

TT8 1297 19 259.47

LPSleep 9978 2 220.71

TT8_Active 477 19 95.50

TT8_Sampling 1739 39 699.08

TT8_CF8 689 45 318.91

TT8_Kalman 0 81 0.00

Analog_circuits 1415 12 171.55

GPS_charging 0 0 0.00

Compass 1847 8 149.26

RAFOS 0 0 0.00

Transponder 21 30 6.63

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 79 0.00 0.00 -57.72 0.000 6 0.000 0.000 389 2236 3430

82 -0.96 -146.6 5.9 -12.0 3 104 11.70 2.60 0.00 0.000 4 0.133 0.052 2586 3651 3431

442 -0.96 -146.6 40.5 -4.9 19 447 0.00 2.45 0.00 0.000 6 0.000 0.029 2586 2230 3432

774 -0.96 -146.6 59.5 -6.3 35 778 0.00 2.58 0.00 0.000 4 0.000 0.050 2585 3654 3433

952 -0.96 -146.6 73.8 -8.7 43 956 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2249 3434

1273 -0.96 -146.6 100.8 -8.4 59 1277 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3651 3434

1389 -0.96 -146.6 112.0 -9.6 64 1394 0.00 2.42 0.00 0.000 6 0.000 0.030 2586 2250 3434

1711 -0.96 -146.6 137.2 -7.0 80 1715 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3652 3434

1760 -0.96 -146.6 140.9 -7.1 82 1765 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2249 3434

2077 -0.96 -146.6 159.4 -5.8 97 2082 0.00 2.55 0.00 0.000 4 0.000 0.052 2586 3645 3434

2132 -0.96 -146.6 163.2 -6.9 99 2136 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2250 3434

2448 -0.96 -146.6 185.5 -7.5 114 2449 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2250 3434

2757 -0.96 -146.6 209.2 -8.0 129 2761 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3434

2857 -0.96 -146.6 218.2 -9.2 133 2863 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2249 3434

3173 -0.96 -146.6 245.6 -8.8 149 3178 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3657 3433

3236 -0.96 -146.6 251.4 -9.5 152 3241 0.00 2.45 0.00 0.000 6 0.000 0.031 2585 2249 3433

3567 -0.96 -146.6 280.3 -8.4 168 3572 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3657 3433

3645 -0.96 -146.6 287.6 -9.4 171 3651 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2241 3433

3963 -0.96 -146.6 313.3 -7.9 187 3967 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3651 3432

4049 -0.96 -146.6 320.8 -9.0 191 4053 0.00 2.40 0.00 0.000 6 0.000 0.032 2586 2253 3432

4375 -0.96 -146.6 344.7 -7.1 207 4380 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3647 3432

4436 -0.96 -146.6 349.6 -8.1 209 4443 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2247 3431

4752 -0.96 -146.6 372.8 -7.4 225 4756 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3657 3431

4824 -0.96 -146.6 378.6 -7.9 228 4828 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2242 3431

5145 -0.96 -146.6 400.7 -7.1 243 5149 0.00 2.58 0.00 0.000 4 0.000 0.057 2586 3656 3431

5223 -0.96 -146.6 406.8 -7.6 246 5229 0.00 2.42 0.00 0.000 6 0.000 0.032 2586 2244 3430

5539 -0.96 -146.6 428.6 -7.0 262 5543 0.00 2.55 0.00 0.000 4 0.000 0.055 2586 3653 3430

5651 -0.96 -146.6 437.1 -7.5 267 5655 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2236 3430

5972 -0.96 -146.6 459.1 -6.9 283 5976 0.00 2.58 0.00 0.000 4 0.000 0.054 2586 3660 3430

6072 -0.96 -146.6 466.8 -8.0 287 6078 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2247 3430

6390 -0.96 -146.6 489.3 -6.8 303 6394 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3657 3429

6437 end dive: BOTTOM_OBSTACLE_DETECTED

state 6437 begin apogee

6447 -0.36 0.0 492.7 6.1 305 6579 0.60 0.00 124.72 1.087 6 0.064 0.000 2720 1463 2831

6580 end apogee: CONTROL_FINISHED_OK

state 6580 begin climb

6583 0.96 146.6 497.0 0.0 312 6717 1.33 2.28 124.85 1.053 4 0.054 0.058 3010 268 2232

6809 0.96 146.6 489.0 6.4 322 6813 0.00 2.05 0.00 0.000 6 0.000 0.033 3010 1476 2228

7131 1.00 176.8 471.4 5.2 338 7162 0.00 2.50 26.17 1.011 4 0.000 0.045 3010 2854 2110

7237 1.02 193.8 465.6 5.5 343 7258 0.00 2.47 16.25 0.969 6 0.000 0.038 3010 1454 2041

7570 1.03 203.0 447.1 5.7 359 7584 0.00 2.55 8.88 0.892 4 0.000 0.044 3010 2864 2004

7632 1.04 207.4 443.2 5.9 361 7643 0.00 2.50 5.55 0.771 6 0.000 0.038 3010 1450 1986

7964 1.04 207.4 419.9 7.3 378 7968 0.00 2.50 0.00 0.000 4 0.000 0.042 3010 2850 1984

8013 1.04 207.4 415.9 7.9 380 8017 0.00 2.45 0.00 0.000 6 0.000 0.038 3010 1447 1983

8329 1.04 207.4 391.1 7.8 395 8333 0.00 2.50 0.00 0.000 4 0.000 0.044 3010 2851 1981

8373 1.04 207.4 387.7 8.1 397 8378 0.00 2.47 0.00 0.000 6 0.000 0.038 3010 1459 1982

8699 1.04 207.4 363.6 7.3 413 8703 0.00 2.45 0.00 0.000 4 0.000 0.043 3010 2852 1982

8763 1.04 207.4 359.2 7.1 416 8767 0.00 2.47 0.00 0.000 6 0.000 0.038 3009 1444 1981

9089 1.04 207.4 337.6 6.4 432 9094 0.00 2.53 0.00 0.000 4 0.000 0.042 3010 2850 1981

9134 1.04 207.4 334.6 6.8 434 9139 0.00 2.47 0.00 0.000 6 0.000 0.038 3010 1457 1981

9466 1.04 207.4 313.7 6.1 450 9470 0.00 2.47 0.00 0.000 4 0.000 0.043 3010 2855 1981

9522 1.04 207.4 310.0 6.4 452 9528 0.00 2.47 0.00 0.000 6 0.000 0.038 3010 1443 1981

9837 1.04 207.4 289.0 6.9 468 9842 0.00 2.50 0.00 0.000 4 0.000 0.042 3010 2855 1981

9904 1.04 207.4 284.2 7.7 471 9908 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1453 1981

10224 1.04 207.4 261.0 7.2 487 10229 0.00 2.50 0.00 0.000 4 0.000 0.041 3010 2848 1980

10269 1.04 207.4 257.6 7.3 489 10274 0.00 2.47 0.00 0.000 6 0.000 0.038 3010 1451 1981

10601 1.04 207.4 231.2 8.4 505 10606 0.00 2.47 0.00 0.000 4 0.000 0.041 3009 2852 1981

10634 1.04 207.4 228.2 8.2 506 10640 0.00 2.45 0.00 0.000 6 0.000 0.038 3010 1452 1981

10952 1.04 207.4 201.4 8.5 522 10957 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2853 1981

11003 1.04 207.4 197.0 7.9 524 11007 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1449 1981

11318 1.04 207.4 171.9 7.7 539 11322 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2852 1981

11362 1.04 207.4 168.5 7.9 541 11367 0.00 2.47 0.00 0.000 6 0.000 0.037 3010 1451 1981

11689 1.04 207.4 144.5 7.2 557 11694 0.00 2.50 0.00 0.000 4 0.000 0.041 3010 2849 1981

11735 1.04 207.4 141.2 6.7 559 11739 0.00 2.45 0.00 0.000 6 0.000 0.038 3010 1447 1980

12064 1.04 207.4 119.1 6.8 575 12068 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2851 1981

12141 1.04 207.4 113.8 6.2 578 12148 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1446 1980

12458 1.04 207.4 92.0 7.3 594 12463 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2851 1980

12525 1.04 207.4 86.7 7.4 597 12529 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1448 1980

12847 1.04 207.4 64.1 6.1 613 12851 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2852 1980

12897 1.06 226.8 61.4 5.5 615 12920 0.00 2.42 17.20 0.793 6 0.000 0.035 3010 1457 1907

13236 1.13 280.5 46.2 4.5 632 13289 0.15 2.53 46.88 0.804 4 0.040 0.041 3066 2853 1687

13353 1.13 280.5 37.0 9.0 637 13357 0.00 2.47 0.00 0.000 6 0.000 0.037 3066 1451 1684

13670 1.13 280.5 11.5 8.1 652 13674 0.00 2.47 0.00 0.000 4 0.000 0.039 3066 2859 1680

13710 1.13 280.5 7.9 9.5 654 13714 0.00 2.45 0.00 0.000 6 0.000 0.035 3066 1453 1680

13786 end climb: SURFACE_DEPTH_REACHED

state 13786 begin surface coast

13808 end surface coast: CONTROL_FINISHED_OK

state 13808 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	258	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-1632654.2	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	113207,6206.734,-914.943,23,1.9,23,-9.6	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	1.00	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.0	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	113738,6206.738,-914.937,17,1.6,17,-9.6	MHEAD_RNG_PITCHd_Wd	180.9,87570,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.003156	ALTIM_BOTTOM_PING	400.7,102.0
SM_CCo	13832,13.05,0.723,0,0,1609,300.00	_24V_AH	23.3,55.375
SM_GC	1.45,0.00,0.00,13.05,0.000,0.000,0.723,385,2247,1609,-11.11,-0.08,300.00	_10V_AH	10.1,33.584
IRIDIUM_FIX	6144.36,-918.67,041198,070714	DATA_FILE_SIZE	34854,659
TT8_MAMPS	0.027612	CAP_FILE_SIZE	114732,0
HUMID	1919	CFSIZE	260165632,239206400
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.70	GPS	100809,153006,6203.667,-915.526,37,1.2,42,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.30	SBE_CT	525	24	293.75
Roll_motor	170	58	232.15	SBE_O2	486	19	215.30
VBD_pump_during_apogee	370	1086	9382.30	WL_BB2F	502	105	1228.29
VBD_pump_during_surface	13	722	219.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	103	79.29	nil	0	0	0.00
Iridium_during_connect	44	160	166.22	nil	0	0	0.00
Iridium_during_xfer	132	223	689.10
Transponder_ping	3	420	29.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.78
TT8	1297	19	259.47
LPSleep	9978	2	220.71
TT8_Active	477	19	95.50
TT8_Sampling	1739	39	699.08
TT8_CF8	689	45	318.91
TT8_Kalman	0	81	0.00
Analog_circuits	1415	12	171.55
GPS_charging	0	0	0.00
Compass	1847	8	149.26
RAFOS	0	0	0.00
Transponder	21	30	6.63

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	79	0.00	0.00	-57.72	0.000	6	0.000	0.000	389	2236	3430
82	-0.96	-146.6	5.9	-12.0	3	104	11.70	2.60	0.00	0.000	4	0.133	0.052	2586	3651	3431
442	-0.96	-146.6	40.5	-4.9	19	447	0.00	2.45	0.00	0.000	6	0.000	0.029	2586	2230	3432
774	-0.96	-146.6	59.5	-6.3	35	778	0.00	2.58	0.00	0.000	4	0.000	0.050	2585	3654	3433
952	-0.96	-146.6	73.8	-8.7	43	956	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2249	3434
1273	-0.96	-146.6	100.8	-8.4	59	1277	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3651	3434
1389	-0.96	-146.6	112.0	-9.6	64	1394	0.00	2.42	0.00	0.000	6	0.000	0.030	2586	2250	3434
1711	-0.96	-146.6	137.2	-7.0	80	1715	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3652	3434
1760	-0.96	-146.6	140.9	-7.1	82	1765	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2249	3434
2077	-0.96	-146.6	159.4	-5.8	97	2082	0.00	2.55	0.00	0.000	4	0.000	0.052	2586	3645	3434
2132	-0.96	-146.6	163.2	-6.9	99	2136	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2250	3434
2448	-0.96	-146.6	185.5	-7.5	114	2449	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2250	3434
2757	-0.96	-146.6	209.2	-8.0	129	2761	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3434
2857	-0.96	-146.6	218.2	-9.2	133	2863	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2249	3434
3173	-0.96	-146.6	245.6	-8.8	149	3178	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3657	3433
3236	-0.96	-146.6	251.4	-9.5	152	3241	0.00	2.45	0.00	0.000	6	0.000	0.031	2585	2249	3433
3567	-0.96	-146.6	280.3	-8.4	168	3572	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3657	3433
3645	-0.96	-146.6	287.6	-9.4	171	3651	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2241	3433
3963	-0.96	-146.6	313.3	-7.9	187	3967	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3651	3432
4049	-0.96	-146.6	320.8	-9.0	191	4053	0.00	2.40	0.00	0.000	6	0.000	0.032	2586	2253	3432
4375	-0.96	-146.6	344.7	-7.1	207	4380	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3647	3432
4436	-0.96	-146.6	349.6	-8.1	209	4443	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2247	3431
4752	-0.96	-146.6	372.8	-7.4	225	4756	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3657	3431
4824	-0.96	-146.6	378.6	-7.9	228	4828	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2242	3431
5145	-0.96	-146.6	400.7	-7.1	243	5149	0.00	2.58	0.00	0.000	4	0.000	0.057	2586	3656	3431
5223	-0.96	-146.6	406.8	-7.6	246	5229	0.00	2.42	0.00	0.000	6	0.000	0.032	2586	2244	3430
5539	-0.96	-146.6	428.6	-7.0	262	5543	0.00	2.55	0.00	0.000	4	0.000	0.055	2586	3653	3430
5651	-0.96	-146.6	437.1	-7.5	267	5655	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2236	3430
5972	-0.96	-146.6	459.1	-6.9	283	5976	0.00	2.58	0.00	0.000	4	0.000	0.054	2586	3660	3430
6072	-0.96	-146.6	466.8	-8.0	287	6078	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2247	3430
6390	-0.96	-146.6	489.3	-6.8	303	6394	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3657	3429
6437	end dive: BOTTOM_OBSTACLE_DETECTED
state	6437	begin apogee
6447	-0.36	0.0	492.7	6.1	305	6579	0.60	0.00	124.72	1.087	6	0.064	0.000	2720	1463	2831
6580	end apogee: CONTROL_FINISHED_OK
state	6580	begin climb
6583	0.96	146.6	497.0	0.0	312	6717	1.33	2.28	124.85	1.053	4	0.054	0.058	3010	268	2232
6809	0.96	146.6	489.0	6.4	322	6813	0.00	2.05	0.00	0.000	6	0.000	0.033	3010	1476	2228
7131	1.00	176.8	471.4	5.2	338	7162	0.00	2.50	26.17	1.011	4	0.000	0.045	3010	2854	2110
7237	1.02	193.8	465.6	5.5	343	7258	0.00	2.47	16.25	0.969	6	0.000	0.038	3010	1454	2041
7570	1.03	203.0	447.1	5.7	359	7584	0.00	2.55	8.88	0.892	4	0.000	0.044	3010	2864	2004
7632	1.04	207.4	443.2	5.9	361	7643	0.00	2.50	5.55	0.771	6	0.000	0.038	3010	1450	1986
7964	1.04	207.4	419.9	7.3	378	7968	0.00	2.50	0.00	0.000	4	0.000	0.042	3010	2850	1984
8013	1.04	207.4	415.9	7.9	380	8017	0.00	2.45	0.00	0.000	6	0.000	0.038	3010	1447	1983
8329	1.04	207.4	391.1	7.8	395	8333	0.00	2.50	0.00	0.000	4	0.000	0.044	3010	2851	1981
8373	1.04	207.4	387.7	8.1	397	8378	0.00	2.47	0.00	0.000	6	0.000	0.038	3010	1459	1982
8699	1.04	207.4	363.6	7.3	413	8703	0.00	2.45	0.00	0.000	4	0.000	0.043	3010	2852	1982
8763	1.04	207.4	359.2	7.1	416	8767	0.00	2.47	0.00	0.000	6	0.000	0.038	3009	1444	1981
9089	1.04	207.4	337.6	6.4	432	9094	0.00	2.53	0.00	0.000	4	0.000	0.042	3010	2850	1981
9134	1.04	207.4	334.6	6.8	434	9139	0.00	2.47	0.00	0.000	6	0.000	0.038	3010	1457	1981
9466	1.04	207.4	313.7	6.1	450	9470	0.00	2.47	0.00	0.000	4	0.000	0.043	3010	2855	1981
9522	1.04	207.4	310.0	6.4	452	9528	0.00	2.47	0.00	0.000	6	0.000	0.038	3010	1443	1981
9837	1.04	207.4	289.0	6.9	468	9842	0.00	2.50	0.00	0.000	4	0.000	0.042	3010	2855	1981
9904	1.04	207.4	284.2	7.7	471	9908	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1453	1981
10224	1.04	207.4	261.0	7.2	487	10229	0.00	2.50	0.00	0.000	4	0.000	0.041	3010	2848	1980
10269	1.04	207.4	257.6	7.3	489	10274	0.00	2.47	0.00	0.000	6	0.000	0.038	3010	1451	1981
10601	1.04	207.4	231.2	8.4	505	10606	0.00	2.47	0.00	0.000	4	0.000	0.041	3009	2852	1981
10634	1.04	207.4	228.2	8.2	506	10640	0.00	2.45	0.00	0.000	6	0.000	0.038	3010	1452	1981
10952	1.04	207.4	201.4	8.5	522	10957	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2853	1981
11003	1.04	207.4	197.0	7.9	524	11007	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1449	1981
11318	1.04	207.4	171.9	7.7	539	11322	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2852	1981
11362	1.04	207.4	168.5	7.9	541	11367	0.00	2.47	0.00	0.000	6	0.000	0.037	3010	1451	1981
11689	1.04	207.4	144.5	7.2	557	11694	0.00	2.50	0.00	0.000	4	0.000	0.041	3010	2849	1981
11735	1.04	207.4	141.2	6.7	559	11739	0.00	2.45	0.00	0.000	6	0.000	0.038	3010	1447	1980
12064	1.04	207.4	119.1	6.8	575	12068	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2851	1981
12141	1.04	207.4	113.8	6.2	578	12148	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1446	1980
12458	1.04	207.4	92.0	7.3	594	12463	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2851	1980
12525	1.04	207.4	86.7	7.4	597	12529	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1448	1980
12847	1.04	207.4	64.1	6.1	613	12851	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2852	1980
12897	1.06	226.8	61.4	5.5	615	12920	0.00	2.42	17.20	0.793	6	0.000	0.035	3010	1457	1907
13236	1.13	280.5	46.2	4.5	632	13289	0.15	2.53	46.88	0.804	4	0.040	0.041	3066	2853	1687
13353	1.13	280.5	37.0	9.0	637	13357	0.00	2.47	0.00	0.000	6	0.000	0.037	3066	1451	1684
13670	1.13	280.5	11.5	8.1	652	13674	0.00	2.47	0.00	0.000	4	0.000	0.039	3066	2859	1680
13710	1.13	280.5	7.9	9.5	654	13714	0.00	2.45	0.00	0.000	6	0.000	0.035	3066	1453	1680
13786	end climb: SURFACE_DEPTH_REACHED
state	13786	begin surface coast
13808	end surface coast: CONTROL_FINISHED_OK
state	13808	begin surface