Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 389 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 389 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -657721.62 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -657721.62

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 389 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 221425,6246.939,-1227.428,39,1.0,39,-11.6 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.57 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -56.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 222008,6246.876,-1227.280,9,1.5,9,-11.6 MHEAD_RNG_PITCHd_Wd 107.1,36020,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.017077 ALTIM_BOTTOM_PING 650.9,73.4

SM_CCo 14141,44.28,0.626,1,0,1316,300.00 _24V_AH 23.5,52.072

SM_GC 1.29,0.00,0.00,44.28,0.000,0.000,0.626,378,1587,1316,-10.57,-0.37,300.00 _10V_AH 10.2,26.367

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34891,675

TT8_MAMPS 0.023777 CAP_FILE_SIZE 111259,0

HUMID 1876 CFSIZE 254472192,233832448

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,2,0

XPDR_PINGS 0 GPS 251008,021808,6245.463,-1224.703,24,1.6,24,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.34 SBE_CT 504 24 284.63

Roll_motor 141 91 302.54 SBE_O2 460 19 205.51

VBD_pump_during_apogee 320 1145 8614.08 WL_BB2F 401 105 990.26

VBD_pump_during_surface 44 625 651.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.46 nil 0 0 0.00

Iridium_during_connect 26 160 99.06 nil 0 0 0.00

Iridium_during_xfer 140 223 737.83

Transponder_ping 5 420 54.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.59

TT8 1316 19 265.93

LPSleep 10434 2 233.07

TT8_Active 487 19 98.54

TT8_Sampling 1743 39 707.79

TT8_CF8 554 45 259.09

TT8_Kalman 0 81 0.00

Analog_circuits 1368 12 167.53

GPS_charging 0 0 0.00

Compass 1699 8 138.69

RAFOS 0 0 0.00

Transponder 37 30 11.63

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.16 -146.6 0.0 0.0 0 59 0.00 0.00 -40.47 0.000 2 0.000 0.000 377 1592 2238

63 -1.16 -146.6 3.0 -4.5 2 114 11.25 2.60 -31.92 0.000 4 0.172 0.086 2411 3001 3139

357 -1.16 -146.6 35.9 -16.6 15 361 0.00 2.45 0.00 0.000 6 0.000 0.063 2412 1595 3139

680 -1.16 -146.6 81.3 -13.7 31 684 0.00 2.47 0.00 0.000 4 0.000 0.080 2412 212 3139

748 -1.16 -146.6 91.2 -13.6 34 752 0.00 2.40 0.00 0.000 6 0.000 0.058 2411 1619 3139

1071 -1.16 -146.6 140.2 -12.5 50 1075 0.00 2.53 0.00 0.000 4 0.000 0.076 2412 211 3140

1150 -1.16 -146.6 150.8 -10.2 53 1156 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1608 3140

1467 -1.16 -146.6 186.7 -11.0 69 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1609 3140

1776 -1.16 -146.6 220.3 -10.6 84 1780 0.00 2.50 0.00 0.000 4 0.000 0.075 2411 210 3139

1899 -1.16 -146.6 235.3 -12.4 89 1905 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1607 3139

2216 -1.16 -146.6 269.6 -11.4 105 2217 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1610 3140

2525 -1.16 -146.6 302.9 -10.9 120 2526 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1610 3139

2834 -1.16 -146.6 337.2 -11.6 135 2838 0.00 2.53 0.00 0.000 4 0.000 0.077 2411 206 3139

2902 -1.16 -146.6 345.7 -13.2 138 2906 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1598 3139

3223 -1.16 -146.6 385.2 -12.4 154 3224 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1602 3140

3533 -1.16 -146.6 422.6 -12.0 169 3537 0.00 2.50 0.00 0.000 4 0.000 0.077 2411 212 3140

3579 -1.16 -146.6 428.3 -12.9 171 3583 0.00 2.38 0.00 0.000 6 0.000 0.058 2411 1604 3139

3901 -1.16 -146.6 465.7 -11.7 187 3902 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1606 3139

4211 -1.16 -146.6 502.2 -11.7 202 4216 0.00 2.53 0.00 0.000 4 0.000 0.077 2411 205 3139

4257 -1.16 -146.6 507.9 -11.5 204 4261 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1598 3140

4578 -1.16 -146.6 544.5 -11.0 220 4583 0.00 2.47 0.00 0.000 4 0.000 0.077 2411 212 3139

4625 -1.16 -146.6 550.1 -12.7 222 4629 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1600 3139

4947 -1.16 -146.6 585.8 -11.0 238 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 1600 3139

5256 -1.16 -146.6 620.1 -11.4 253 5261 0.00 2.50 0.00 0.000 4 0.000 0.078 2411 204 3139

5438 -1.16 -146.6 641.2 -11.5 261 5442 0.00 2.40 0.00 0.000 6 0.000 0.060 2412 1600 3139

5759 -1.16 -146.6 673.5 -10.3 277 5763 0.00 2.55 0.00 0.000 4 0.000 0.091 2411 2996 3139

5801 -1.16 -146.6 677.7 -10.0 279 5805 0.00 2.45 0.00 0.000 6 0.000 0.069 2411 1596 3140

6128 -1.16 -146.6 709.9 -10.0 295 6132 0.00 2.50 0.00 0.000 4 0.000 0.086 2412 212 3140

6173 -1.16 -146.6 714.0 -9.0 297 6177 0.00 2.40 0.00 0.000 4 0.000 0.060 2411 1604 3140

6178 end dive: BOTTOM_OBSTACLE_DETECTED

state 6178 begin apogee

6188 -0.32 0.0 714.5 8.8 297 6327 0.90 0.00 130.20 1.145 6 0.118 0.000 2597 2202 2539

6327 end apogee: CONTROL_FINISHED_OK

state 6327 begin climb

6331 1.16 146.6 721.4 0.0 304 6459 1.52 0.00 123.40 1.128 6 0.083 0.000 2925 2202 1941

6766 1.21 174.6 697.1 6.9 325 6792 0.00 0.00 24.48 1.088 6 0.000 0.000 2925 2202 1826

7117 1.25 197.3 671.3 7.1 342 7142 0.00 2.60 20.05 1.085 4 0.000 0.074 2924 794 1733

7216 1.25 200.4 663.2 7.9 346 7228 0.00 2.50 4.18 0.731 6 0.000 0.064 2925 2200 1721

7541 1.28 220.4 638.3 7.2 362 7567 0.15 2.62 17.80 1.081 4 0.065 0.074 2968 795 1640

7678 1.28 220.4 625.8 9.0 368 7683 0.00 2.50 0.00 0.000 6 0.000 0.064 2968 2203 1638

8006 1.28 220.4 594.2 10.3 384 8011 0.00 2.55 0.00 0.000 4 0.000 0.072 2968 794 1636

8070 1.28 220.4 587.3 11.1 387 8074 0.00 2.47 0.00 0.000 6 0.000 0.064 2968 2201 1636

8397 1.28 220.4 555.2 10.0 403 8401 0.00 2.53 0.00 0.000 4 0.000 0.072 2968 791 1635

8484 1.28 220.4 546.4 10.3 407 8488 0.00 2.47 0.00 0.000 6 0.000 0.063 2968 2203 1634

8811 1.28 220.4 513.0 10.3 423 8815 0.00 2.55 0.00 0.000 4 0.000 0.071 2968 785 1634

8906 1.28 220.4 502.7 10.3 427 8911 0.00 2.47 0.00 0.000 6 0.000 0.062 2968 2201 1634

9223 1.28 220.4 469.5 10.7 442 9227 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 786 1633

9318 1.28 220.4 458.9 11.0 446 9322 0.00 2.47 0.00 0.000 6 0.000 0.062 2968 2207 1634

9635 1.28 220.4 426.4 10.0 461 9639 0.00 2.53 0.00 0.000 4 0.000 0.072 2968 789 1634

9731 1.28 220.4 416.3 10.0 465 9735 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2197 1634

10059 1.28 220.4 384.7 9.6 481 10064 0.00 2.50 0.00 0.000 4 0.000 0.072 2968 792 1634

10150 1.28 220.4 375.6 10.2 485 10155 0.00 2.47 0.00 0.000 6 0.000 0.061 2968 2208 1634

10472 1.28 220.4 346.3 9.0 501 10476 0.00 2.50 0.00 0.000 4 0.000 0.071 2968 794 1634

10581 1.28 220.4 335.4 9.8 506 10585 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2209 1634

10908 1.28 220.4 305.0 9.2 522 10912 0.00 2.53 0.00 0.000 4 0.000 0.070 2968 792 1634

11020 1.28 220.4 293.9 9.8 527 11024 0.00 2.45 0.00 0.000 6 0.000 0.060 2968 2208 1633

11342 1.28 220.4 265.8 8.7 543 11346 0.00 2.53 0.00 0.000 4 0.000 0.070 2968 793 1634

11427 1.28 220.4 258.0 9.4 547 11431 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2208 1634

11755 1.28 220.4 229.9 8.9 563 11759 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 790 1633

11852 1.28 220.4 220.5 10.0 567 11856 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2205 1634

12173 1.28 220.4 191.9 8.4 583 12178 0.00 2.50 0.00 0.000 4 0.000 0.071 2969 792 1634

12305 1.28 220.4 180.2 9.1 589 12309 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2210 1633

12632 1.28 220.4 151.6 8.7 605 12635 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 790 1634

12734 1.28 220.4 141.5 9.9 609 12738 0.00 2.45 0.00 0.000 6 0.000 0.061 2968 2207 1634

13052 1.28 220.4 112.0 9.5 624 13056 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 792 1634

13153 1.28 220.4 100.7 11.8 628 13159 0.00 2.45 0.00 0.000 6 0.000 0.061 2969 2208 1634

13470 1.28 220.4 65.2 12.2 644 13474 0.00 2.53 0.00 0.000 4 0.000 0.071 2968 791 1634

13579 1.28 220.4 53.5 11.0 649 13583 0.00 2.42 0.00 0.000 6 0.000 0.061 2969 2198 1634

13906 1.28 220.4 23.5 10.9 665 13910 0.00 2.50 0.00 0.000 4 0.000 0.070 2968 792 1634

14015 1.28 220.4 9.3 13.2 670 14020 0.00 2.45 0.00 0.000 6 0.000 0.062 2968 2204 1634

14092 end climb: SURFACE_DEPTH_REACHED

state 14092 begin surface coast

14114 end surface coast: CONTROL_FINISHED_OK

state 14114 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	389	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-657721.62	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	221425,6246.939,-1227.428,39,1.0,39,-11.6	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.57	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-56.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	222008,6246.876,-1227.280,9,1.5,9,-11.6	MHEAD_RNG_PITCHd_Wd	107.1,36020,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.5,1.017077	ALTIM_BOTTOM_PING	650.9,73.4
SM_CCo	14141,44.28,0.626,1,0,1316,300.00	_24V_AH	23.5,52.072
SM_GC	1.29,0.00,0.00,44.28,0.000,0.000,0.626,378,1587,1316,-10.57,-0.37,300.00	_10V_AH	10.2,26.367
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34891,675
TT8_MAMPS	0.023777	CAP_FILE_SIZE	111259,0
HUMID	1876	CFSIZE	254472192,233832448
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
XPDR_PINGS	0	GPS	251008,021808,6245.463,-1224.703,24,1.6,24,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.34	SBE_CT	504	24	284.63
Roll_motor	141	91	302.54	SBE_O2	460	19	205.51
VBD_pump_during_apogee	320	1145	8614.08	WL_BB2F	401	105	990.26
VBD_pump_during_surface	44	625	651.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.46	nil	0	0	0.00
Iridium_during_connect	26	160	99.06	nil	0	0	0.00
Iridium_during_xfer	140	223	737.83
Transponder_ping	5	420	54.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.59
TT8	1316	19	265.93
LPSleep	10434	2	233.07
TT8_Active	487	19	98.54
TT8_Sampling	1743	39	707.79
TT8_CF8	554	45	259.09
TT8_Kalman	0	81	0.00
Analog_circuits	1368	12	167.53
GPS_charging	0	0	0.00
Compass	1699	8	138.69
RAFOS	0	0	0.00
Transponder	37	30	11.63

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.16	-146.6	0.0	0.0	0	59	0.00	0.00	-40.47	0.000	2	0.000	0.000	377	1592	2238
63	-1.16	-146.6	3.0	-4.5	2	114	11.25	2.60	-31.92	0.000	4	0.172	0.086	2411	3001	3139
357	-1.16	-146.6	35.9	-16.6	15	361	0.00	2.45	0.00	0.000	6	0.000	0.063	2412	1595	3139
680	-1.16	-146.6	81.3	-13.7	31	684	0.00	2.47	0.00	0.000	4	0.000	0.080	2412	212	3139
748	-1.16	-146.6	91.2	-13.6	34	752	0.00	2.40	0.00	0.000	6	0.000	0.058	2411	1619	3139
1071	-1.16	-146.6	140.2	-12.5	50	1075	0.00	2.53	0.00	0.000	4	0.000	0.076	2412	211	3140
1150	-1.16	-146.6	150.8	-10.2	53	1156	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1608	3140
1467	-1.16	-146.6	186.7	-11.0	69	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1609	3140
1776	-1.16	-146.6	220.3	-10.6	84	1780	0.00	2.50	0.00	0.000	4	0.000	0.075	2411	210	3139
1899	-1.16	-146.6	235.3	-12.4	89	1905	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1607	3139
2216	-1.16	-146.6	269.6	-11.4	105	2217	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1610	3140
2525	-1.16	-146.6	302.9	-10.9	120	2526	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1610	3139
2834	-1.16	-146.6	337.2	-11.6	135	2838	0.00	2.53	0.00	0.000	4	0.000	0.077	2411	206	3139
2902	-1.16	-146.6	345.7	-13.2	138	2906	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1598	3139
3223	-1.16	-146.6	385.2	-12.4	154	3224	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1602	3140
3533	-1.16	-146.6	422.6	-12.0	169	3537	0.00	2.50	0.00	0.000	4	0.000	0.077	2411	212	3140
3579	-1.16	-146.6	428.3	-12.9	171	3583	0.00	2.38	0.00	0.000	6	0.000	0.058	2411	1604	3139
3901	-1.16	-146.6	465.7	-11.7	187	3902	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1606	3139
4211	-1.16	-146.6	502.2	-11.7	202	4216	0.00	2.53	0.00	0.000	4	0.000	0.077	2411	205	3139
4257	-1.16	-146.6	507.9	-11.5	204	4261	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1598	3140
4578	-1.16	-146.6	544.5	-11.0	220	4583	0.00	2.47	0.00	0.000	4	0.000	0.077	2411	212	3139
4625	-1.16	-146.6	550.1	-12.7	222	4629	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1600	3139
4947	-1.16	-146.6	585.8	-11.0	238	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	1600	3139
5256	-1.16	-146.6	620.1	-11.4	253	5261	0.00	2.50	0.00	0.000	4	0.000	0.078	2411	204	3139
5438	-1.16	-146.6	641.2	-11.5	261	5442	0.00	2.40	0.00	0.000	6	0.000	0.060	2412	1600	3139
5759	-1.16	-146.6	673.5	-10.3	277	5763	0.00	2.55	0.00	0.000	4	0.000	0.091	2411	2996	3139
5801	-1.16	-146.6	677.7	-10.0	279	5805	0.00	2.45	0.00	0.000	6	0.000	0.069	2411	1596	3140
6128	-1.16	-146.6	709.9	-10.0	295	6132	0.00	2.50	0.00	0.000	4	0.000	0.086	2412	212	3140
6173	-1.16	-146.6	714.0	-9.0	297	6177	0.00	2.40	0.00	0.000	4	0.000	0.060	2411	1604	3140
6178	end dive: BOTTOM_OBSTACLE_DETECTED
state	6178	begin apogee
6188	-0.32	0.0	714.5	8.8	297	6327	0.90	0.00	130.20	1.145	6	0.118	0.000	2597	2202	2539
6327	end apogee: CONTROL_FINISHED_OK
state	6327	begin climb
6331	1.16	146.6	721.4	0.0	304	6459	1.52	0.00	123.40	1.128	6	0.083	0.000	2925	2202	1941
6766	1.21	174.6	697.1	6.9	325	6792	0.00	0.00	24.48	1.088	6	0.000	0.000	2925	2202	1826
7117	1.25	197.3	671.3	7.1	342	7142	0.00	2.60	20.05	1.085	4	0.000	0.074	2924	794	1733
7216	1.25	200.4	663.2	7.9	346	7228	0.00	2.50	4.18	0.731	6	0.000	0.064	2925	2200	1721
7541	1.28	220.4	638.3	7.2	362	7567	0.15	2.62	17.80	1.081	4	0.065	0.074	2968	795	1640
7678	1.28	220.4	625.8	9.0	368	7683	0.00	2.50	0.00	0.000	6	0.000	0.064	2968	2203	1638
8006	1.28	220.4	594.2	10.3	384	8011	0.00	2.55	0.00	0.000	4	0.000	0.072	2968	794	1636
8070	1.28	220.4	587.3	11.1	387	8074	0.00	2.47	0.00	0.000	6	0.000	0.064	2968	2201	1636
8397	1.28	220.4	555.2	10.0	403	8401	0.00	2.53	0.00	0.000	4	0.000	0.072	2968	791	1635
8484	1.28	220.4	546.4	10.3	407	8488	0.00	2.47	0.00	0.000	6	0.000	0.063	2968	2203	1634
8811	1.28	220.4	513.0	10.3	423	8815	0.00	2.55	0.00	0.000	4	0.000	0.071	2968	785	1634
8906	1.28	220.4	502.7	10.3	427	8911	0.00	2.47	0.00	0.000	6	0.000	0.062	2968	2201	1634
9223	1.28	220.4	469.5	10.7	442	9227	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	786	1633
9318	1.28	220.4	458.9	11.0	446	9322	0.00	2.47	0.00	0.000	6	0.000	0.062	2968	2207	1634
9635	1.28	220.4	426.4	10.0	461	9639	0.00	2.53	0.00	0.000	4	0.000	0.072	2968	789	1634
9731	1.28	220.4	416.3	10.0	465	9735	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2197	1634
10059	1.28	220.4	384.7	9.6	481	10064	0.00	2.50	0.00	0.000	4	0.000	0.072	2968	792	1634
10150	1.28	220.4	375.6	10.2	485	10155	0.00	2.47	0.00	0.000	6	0.000	0.061	2968	2208	1634
10472	1.28	220.4	346.3	9.0	501	10476	0.00	2.50	0.00	0.000	4	0.000	0.071	2968	794	1634
10581	1.28	220.4	335.4	9.8	506	10585	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2209	1634
10908	1.28	220.4	305.0	9.2	522	10912	0.00	2.53	0.00	0.000	4	0.000	0.070	2968	792	1634
11020	1.28	220.4	293.9	9.8	527	11024	0.00	2.45	0.00	0.000	6	0.000	0.060	2968	2208	1633
11342	1.28	220.4	265.8	8.7	543	11346	0.00	2.53	0.00	0.000	4	0.000	0.070	2968	793	1634
11427	1.28	220.4	258.0	9.4	547	11431	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2208	1634
11755	1.28	220.4	229.9	8.9	563	11759	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	790	1633
11852	1.28	220.4	220.5	10.0	567	11856	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2205	1634
12173	1.28	220.4	191.9	8.4	583	12178	0.00	2.50	0.00	0.000	4	0.000	0.071	2969	792	1634
12305	1.28	220.4	180.2	9.1	589	12309	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2210	1633
12632	1.28	220.4	151.6	8.7	605	12635	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	790	1634
12734	1.28	220.4	141.5	9.9	609	12738	0.00	2.45	0.00	0.000	6	0.000	0.061	2968	2207	1634
13052	1.28	220.4	112.0	9.5	624	13056	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	792	1634
13153	1.28	220.4	100.7	11.8	628	13159	0.00	2.45	0.00	0.000	6	0.000	0.061	2969	2208	1634
13470	1.28	220.4	65.2	12.2	644	13474	0.00	2.53	0.00	0.000	4	0.000	0.071	2968	791	1634
13579	1.28	220.4	53.5	11.0	649	13583	0.00	2.42	0.00	0.000	6	0.000	0.061	2969	2198	1634
13906	1.28	220.4	23.5	10.9	665	13910	0.00	2.50	0.00	0.000	4	0.000	0.070	2968	792	1634
14015	1.28	220.4	9.3	13.2	670	14020	0.00	2.45	0.00	0.000	6	0.000	0.062	2968	2204	1634
14092	end climb: SURFACE_DEPTH_REACHED
state	14092	begin surface coast
14114	end surface coast: CONTROL_FINISHED_OK
state	14114	begin surface