Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 84 * 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 84 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 21 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 -651706.38 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 2705 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 -651706.38

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 2705 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 21 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 84 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 232408,6420.531,-923.981,25,1.7,25,-10.5 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.41 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -56.8 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 233034,6420.569,-923.878,16,1.7,35,-10.5 MHEAD_RNG_PITCHd_Wd 326.5,86080,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.012991 ALTIM_BOTTOM_PING 625.8,57.2

SM_CCo 14289,46.15,0.680,0,0,1316,300.00 _24V_AH 23.5,15.719

SM_GC 1.25,0.00,0.00,46.15,0.000,0.000,0.680,373,1594,1316,-10.73,-0.08,300.00 _10V_AH 10.1,9.274

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34908,681

TT8_MAMPS 0.023777 CAP_FILE_SIZE 110223,0

HUMID 1887 CFSIZE 254472192,246456320

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,0,0

XPDR_PINGS 0 GPS 170908,033108,6420.083,-928.052,32,1.0,32,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.38 SBE_CT 509 24 287.27

Roll_motor 135 110 352.73 SBE_O2 463 19 206.91

VBD_pump_during_apogee 309 1159 8429.37 WL_BB2F 419 105 1034.72

VBD_pump_during_surface 46 679 737.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.41 nil 0 0 0.00

Iridium_during_connect 27 160 105.18 nil 0 0 0.00

Iridium_during_xfer 159 223 834.01

Transponder_ping 5 420 54.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.58

TT8 1317 19 263.49

LPSleep 10624 2 235.00

TT8_Active 467 19 93.52

TT8_Sampling 1763 39 708.74

TT8_CF8 553 45 255.93

TT8_Kalman 0 81 0.00

Analog_circuits 1341 12 162.58

GPS_charging 0 0 0.00

Compass 1696 8 137.07

RAFOS 0 0 0.00

Transponder 42 30 12.73

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 12 begin dive

16 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.70 0.000 2 0.000 0.000 379 1596 2771

83 -1.16 -146.6 3.7 -5.4 3 109 11.52 2.53 -8.45 0.000 4 0.175 0.089 2444 202 3138

379 -1.16 -146.6 44.6 -11.3 16 383 0.00 2.38 0.00 0.000 6 0.000 0.054 2444 1619 3140

701 -1.16 -146.6 72.8 -9.6 32 705 0.00 2.55 0.00 0.000 4 0.000 0.074 2444 201 3140

831 -1.16 -146.6 85.0 -10.1 38 836 0.00 2.35 0.00 0.000 6 0.000 0.054 2443 1611 3141

1159 -1.16 -146.6 118.0 -10.7 54 1163 0.00 2.53 0.00 0.000 4 0.000 0.075 2444 209 3143

1238 -1.16 -146.6 127.1 -11.0 57 1245 0.00 2.35 0.00 0.000 6 0.000 0.054 2444 1615 3143

1555 -1.16 -146.6 158.5 -10.1 73 1559 0.00 2.53 0.00 0.000 4 0.000 0.075 2444 203 3144

1601 -1.16 -146.6 163.4 -10.9 75 1605 0.00 2.35 0.00 0.000 6 0.000 0.054 2444 1608 3144

1923 -1.16 -146.6 195.1 -9.5 91 1927 0.00 2.53 0.00 0.000 4 0.000 0.075 2443 207 3144

2002 -1.16 -146.6 203.3 -9.5 94 2006 0.00 2.35 0.00 0.000 6 0.000 0.054 2444 1608 3144

2319 -1.16 -146.6 230.4 -7.9 109 2323 0.00 2.53 0.00 0.000 4 0.000 0.076 2444 210 3144

2392 -1.16 -146.6 237.3 -9.5 112 2396 0.00 2.33 0.00 0.000 6 0.000 0.054 2444 1604 3144

2714 -1.16 -146.6 267.4 -10.3 128 2718 0.00 2.53 0.00 0.000 4 0.000 0.077 2444 206 3144

2787 -1.16 -146.6 275.6 -10.7 131 2791 0.00 2.35 0.00 0.000 6 0.000 0.054 2444 1611 3144

3103 -1.16 -146.6 304.9 -8.5 146 3104 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1613 3144

3413 -1.16 -146.6 334.6 -10.5 161 3414 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1613 3145

3722 -1.16 -146.6 365.7 -9.4 176 3726 0.00 2.55 0.00 0.000 4 0.000 0.081 2444 210 3146

3991 -1.16 -146.6 394.8 -11.1 188 3996 0.00 2.35 0.00 0.000 6 0.000 0.055 2444 1604 3146

4314 -1.16 -146.6 428.3 -10.9 204 4318 0.00 2.55 0.00 0.000 4 0.000 0.082 2444 209 3146

4444 -1.16 -146.6 444.1 -12.7 210 4448 0.00 2.35 0.00 0.000 6 0.000 0.056 2444 1609 3146

4777 -1.16 -146.6 480.3 -10.3 226 4779 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1610 3147

5087 -1.16 -146.6 511.7 -9.5 241 5092 0.00 2.55 0.00 0.000 4 0.000 0.085 2444 213 3146

5160 -1.16 -146.6 519.3 -10.7 244 5165 0.00 2.35 0.00 0.000 6 0.000 0.056 2444 1597 3147

5483 -1.16 -146.6 548.5 -9.0 260 5487 0.00 2.55 0.00 0.000 4 0.000 0.086 2444 213 3146

5523 -1.16 -146.6 552.4 -10.2 262 5527 0.00 2.35 0.00 0.000 6 0.000 0.057 2444 1602 3146

5856 -1.16 -146.6 585.1 -10.3 278 5860 0.00 2.55 0.00 0.000 4 0.000 0.084 2444 205 3145

5919 -1.16 -146.6 591.9 -10.7 281 5924 0.00 2.38 0.00 0.000 6 0.000 0.056 2444 1596 3145

6250 -1.16 -146.6 625.8 -11.5 297 6251 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1598 3144

6556 -1.16 -146.6 658.1 -9.8 312 6557 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1598 3142

6718 end dive: BOTTOM_OBSTACLE_DETECTED

state 6718 begin apogee

6727 -0.32 0.0 674.7 10.4 320 6860 0.95 0.00 127.18 1.101 6 0.125 0.000 2633 2195 2538

6861 end apogee: CONTROL_FINISHED_OK

state 6861 begin climb

6865 1.16 146.6 681.9 0.0 327 6994 1.50 2.83 120.75 1.065 4 0.074 0.110 2960 3604 1941

7200 1.22 180.6 664.6 6.7 342 7236 0.00 2.53 29.25 1.160 6 0.000 0.070 2960 2192 1801

7567 1.23 188.8 635.0 7.7 360 7581 0.00 2.72 8.02 0.999 4 0.000 0.095 2960 3594 1768

7650 1.23 188.8 627.7 8.4 363 7656 0.00 2.47 0.00 0.000 6 0.000 0.067 2960 2201 1767

7966 1.23 188.8 602.2 8.4 379 7967 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2202 1767

8276 1.23 188.8 577.0 8.0 394 8280 0.00 2.55 0.00 0.000 4 0.000 0.081 2960 797 1765

8320 1.23 188.8 573.2 8.5 396 8325 0.00 2.42 0.00 0.000 6 0.000 0.055 2959 2204 1765

8641 1.23 188.8 547.9 8.1 412 8646 0.00 2.58 0.00 0.000 4 0.000 0.074 2960 791 1764

8710 1.23 188.8 541.8 9.0 415 8714 0.00 2.45 0.00 0.000 6 0.000 0.056 2960 2210 1764

9032 1.23 188.8 513.0 8.9 431 9036 0.00 2.58 0.00 0.000 4 0.000 0.073 2960 794 1763

9121 1.23 188.8 504.6 8.6 435 9126 0.00 2.42 0.00 0.000 6 0.000 0.055 2960 2203 1763

9444 1.23 188.8 475.5 9.2 451 9449 0.00 2.53 0.00 0.000 4 0.000 0.072 2960 799 1761

9512 1.23 188.8 469.4 9.3 454 9516 0.00 2.42 0.00 0.000 6 0.000 0.056 2960 2199 1761

9833 1.23 188.8 443.2 9.5 470 9834 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2199 1761

10143 1.23 188.8 409.1 11.4 485 10147 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 798 1760

10238 1.23 188.8 398.2 10.7 489 10242 0.00 2.45 0.00 0.000 6 0.000 0.057 2960 2209 1760

10554 1.23 188.8 368.1 9.4 504 10558 0.00 2.53 0.00 0.000 4 0.000 0.073 2960 798 1760

10639 1.23 188.8 359.6 10.2 507 10645 0.00 2.42 0.00 0.000 6 0.000 0.056 2960 2200 1760

10955 1.23 188.8 327.9 10.6 523 10959 0.00 2.50 0.00 0.000 4 0.000 0.073 2960 797 1759

11096 1.23 188.8 312.1 11.3 529 11100 0.00 2.42 0.00 0.000 6 0.000 0.057 2960 2200 1759

11417 1.23 188.8 279.9 9.5 545 11419 0.00 0.00 0.00 0.000 6 0.000 0.000 2961 2200 1759

11727 1.23 188.8 249.3 9.7 560 11731 0.00 2.53 0.00 0.000 4 0.000 0.074 2960 790 1758

11790 1.23 188.8 243.2 9.7 563 11794 0.00 2.42 0.00 0.000 6 0.000 0.057 2960 2199 1758

12123 1.27 212.3 216.6 7.1 579 12148 0.00 2.60 18.83 0.882 4 0.000 0.072 2960 798 1672

12206 1.27 212.3 210.1 8.1 582 12212 0.00 2.42 0.00 0.000 6 0.000 0.056 2960 2201 1672

12523 1.28 216.5 184.0 7.8 598 12534 0.10 2.55 5.28 0.683 4 0.072 0.071 2991 793 1655

12602 1.28 216.5 176.2 9.5 601 12608 0.00 2.42 0.00 0.000 6 0.000 0.056 2991 2208 1655

12919 1.28 216.5 144.3 10.7 617 12923 0.00 2.53 0.00 0.000 4 0.000 0.071 2991 797 1655

12975 1.28 216.5 137.4 11.4 619 12979 0.00 2.40 0.00 0.000 6 0.000 0.056 2991 2201 1655

13293 1.28 216.5 103.4 10.1 634 13297 0.00 2.50 0.00 0.000 4 0.000 0.070 2991 790 1655

13327 1.28 216.5 99.3 10.9 635 13334 0.00 2.40 0.00 0.000 6 0.000 0.056 2991 2200 1655

13646 1.28 216.5 66.5 10.6 651 13647 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2200 1655

13953 1.28 216.5 33.2 10.0 666 13958 0.00 2.60 0.00 0.000 4 0.000 0.092 2991 3604 1655

14010 1.28 216.5 27.0 11.3 668 14017 0.00 2.40 0.00 0.000 6 0.000 0.060 2991 2197 1655

14241 end climb: SURFACE_DEPTH_REACHED

state 14241 begin surface coast

14263 end surface coast: CONTROL_FINISHED_OK

state 14263 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	84	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	21	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	-651706.38	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	2705	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	232408,6420.531,-923.981,25,1.7,25,-10.5	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.41	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-56.8	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	233034,6420.569,-923.878,16,1.7,35,-10.5	MHEAD_RNG_PITCHd_Wd	326.5,86080,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.012991	ALTIM_BOTTOM_PING	625.8,57.2
SM_CCo	14289,46.15,0.680,0,0,1316,300.00	_24V_AH	23.5,15.719
SM_GC	1.25,0.00,0.00,46.15,0.000,0.000,0.680,373,1594,1316,-10.73,-0.08,300.00	_10V_AH	10.1,9.274
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34908,681
TT8_MAMPS	0.023777	CAP_FILE_SIZE	110223,0
HUMID	1887	CFSIZE	254472192,246456320
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
XPDR_PINGS	0	GPS	170908,033108,6420.083,-928.052,32,1.0,32,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.38	SBE_CT	509	24	287.27
Roll_motor	135	110	352.73	SBE_O2	463	19	206.91
VBD_pump_during_apogee	309	1159	8429.37	WL_BB2F	419	105	1034.72
VBD_pump_during_surface	46	679	737.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.41	nil	0	0	0.00
Iridium_during_connect	27	160	105.18	nil	0	0	0.00
Iridium_during_xfer	159	223	834.01
Transponder_ping	5	420	54.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.58
TT8	1317	19	263.49
LPSleep	10624	2	235.00
TT8_Active	467	19	93.52
TT8_Sampling	1763	39	708.74
TT8_CF8	553	45	255.93
TT8_Kalman	0	81	0.00
Analog_circuits	1341	12	162.58
GPS_charging	0	0	0.00
Compass	1696	8	137.07
RAFOS	0	0	0.00
Transponder	42	30	12.73

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	12	begin dive
16	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.70	0.000	2	0.000	0.000	379	1596	2771
83	-1.16	-146.6	3.7	-5.4	3	109	11.52	2.53	-8.45	0.000	4	0.175	0.089	2444	202	3138
379	-1.16	-146.6	44.6	-11.3	16	383	0.00	2.38	0.00	0.000	6	0.000	0.054	2444	1619	3140
701	-1.16	-146.6	72.8	-9.6	32	705	0.00	2.55	0.00	0.000	4	0.000	0.074	2444	201	3140
831	-1.16	-146.6	85.0	-10.1	38	836	0.00	2.35	0.00	0.000	6	0.000	0.054	2443	1611	3141
1159	-1.16	-146.6	118.0	-10.7	54	1163	0.00	2.53	0.00	0.000	4	0.000	0.075	2444	209	3143
1238	-1.16	-146.6	127.1	-11.0	57	1245	0.00	2.35	0.00	0.000	6	0.000	0.054	2444	1615	3143
1555	-1.16	-146.6	158.5	-10.1	73	1559	0.00	2.53	0.00	0.000	4	0.000	0.075	2444	203	3144
1601	-1.16	-146.6	163.4	-10.9	75	1605	0.00	2.35	0.00	0.000	6	0.000	0.054	2444	1608	3144
1923	-1.16	-146.6	195.1	-9.5	91	1927	0.00	2.53	0.00	0.000	4	0.000	0.075	2443	207	3144
2002	-1.16	-146.6	203.3	-9.5	94	2006	0.00	2.35	0.00	0.000	6	0.000	0.054	2444	1608	3144
2319	-1.16	-146.6	230.4	-7.9	109	2323	0.00	2.53	0.00	0.000	4	0.000	0.076	2444	210	3144
2392	-1.16	-146.6	237.3	-9.5	112	2396	0.00	2.33	0.00	0.000	6	0.000	0.054	2444	1604	3144
2714	-1.16	-146.6	267.4	-10.3	128	2718	0.00	2.53	0.00	0.000	4	0.000	0.077	2444	206	3144
2787	-1.16	-146.6	275.6	-10.7	131	2791	0.00	2.35	0.00	0.000	6	0.000	0.054	2444	1611	3144
3103	-1.16	-146.6	304.9	-8.5	146	3104	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1613	3144
3413	-1.16	-146.6	334.6	-10.5	161	3414	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1613	3145
3722	-1.16	-146.6	365.7	-9.4	176	3726	0.00	2.55	0.00	0.000	4	0.000	0.081	2444	210	3146
3991	-1.16	-146.6	394.8	-11.1	188	3996	0.00	2.35	0.00	0.000	6	0.000	0.055	2444	1604	3146
4314	-1.16	-146.6	428.3	-10.9	204	4318	0.00	2.55	0.00	0.000	4	0.000	0.082	2444	209	3146
4444	-1.16	-146.6	444.1	-12.7	210	4448	0.00	2.35	0.00	0.000	6	0.000	0.056	2444	1609	3146
4777	-1.16	-146.6	480.3	-10.3	226	4779	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1610	3147
5087	-1.16	-146.6	511.7	-9.5	241	5092	0.00	2.55	0.00	0.000	4	0.000	0.085	2444	213	3146
5160	-1.16	-146.6	519.3	-10.7	244	5165	0.00	2.35	0.00	0.000	6	0.000	0.056	2444	1597	3147
5483	-1.16	-146.6	548.5	-9.0	260	5487	0.00	2.55	0.00	0.000	4	0.000	0.086	2444	213	3146
5523	-1.16	-146.6	552.4	-10.2	262	5527	0.00	2.35	0.00	0.000	6	0.000	0.057	2444	1602	3146
5856	-1.16	-146.6	585.1	-10.3	278	5860	0.00	2.55	0.00	0.000	4	0.000	0.084	2444	205	3145
5919	-1.16	-146.6	591.9	-10.7	281	5924	0.00	2.38	0.00	0.000	6	0.000	0.056	2444	1596	3145
6250	-1.16	-146.6	625.8	-11.5	297	6251	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1598	3144
6556	-1.16	-146.6	658.1	-9.8	312	6557	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1598	3142
6718	end dive: BOTTOM_OBSTACLE_DETECTED
state	6718	begin apogee
6727	-0.32	0.0	674.7	10.4	320	6860	0.95	0.00	127.18	1.101	6	0.125	0.000	2633	2195	2538
6861	end apogee: CONTROL_FINISHED_OK
state	6861	begin climb
6865	1.16	146.6	681.9	0.0	327	6994	1.50	2.83	120.75	1.065	4	0.074	0.110	2960	3604	1941
7200	1.22	180.6	664.6	6.7	342	7236	0.00	2.53	29.25	1.160	6	0.000	0.070	2960	2192	1801
7567	1.23	188.8	635.0	7.7	360	7581	0.00	2.72	8.02	0.999	4	0.000	0.095	2960	3594	1768
7650	1.23	188.8	627.7	8.4	363	7656	0.00	2.47	0.00	0.000	6	0.000	0.067	2960	2201	1767
7966	1.23	188.8	602.2	8.4	379	7967	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2202	1767
8276	1.23	188.8	577.0	8.0	394	8280	0.00	2.55	0.00	0.000	4	0.000	0.081	2960	797	1765
8320	1.23	188.8	573.2	8.5	396	8325	0.00	2.42	0.00	0.000	6	0.000	0.055	2959	2204	1765
8641	1.23	188.8	547.9	8.1	412	8646	0.00	2.58	0.00	0.000	4	0.000	0.074	2960	791	1764
8710	1.23	188.8	541.8	9.0	415	8714	0.00	2.45	0.00	0.000	6	0.000	0.056	2960	2210	1764
9032	1.23	188.8	513.0	8.9	431	9036	0.00	2.58	0.00	0.000	4	0.000	0.073	2960	794	1763
9121	1.23	188.8	504.6	8.6	435	9126	0.00	2.42	0.00	0.000	6	0.000	0.055	2960	2203	1763
9444	1.23	188.8	475.5	9.2	451	9449	0.00	2.53	0.00	0.000	4	0.000	0.072	2960	799	1761
9512	1.23	188.8	469.4	9.3	454	9516	0.00	2.42	0.00	0.000	6	0.000	0.056	2960	2199	1761
9833	1.23	188.8	443.2	9.5	470	9834	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2199	1761
10143	1.23	188.8	409.1	11.4	485	10147	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	798	1760
10238	1.23	188.8	398.2	10.7	489	10242	0.00	2.45	0.00	0.000	6	0.000	0.057	2960	2209	1760
10554	1.23	188.8	368.1	9.4	504	10558	0.00	2.53	0.00	0.000	4	0.000	0.073	2960	798	1760
10639	1.23	188.8	359.6	10.2	507	10645	0.00	2.42	0.00	0.000	6	0.000	0.056	2960	2200	1760
10955	1.23	188.8	327.9	10.6	523	10959	0.00	2.50	0.00	0.000	4	0.000	0.073	2960	797	1759
11096	1.23	188.8	312.1	11.3	529	11100	0.00	2.42	0.00	0.000	6	0.000	0.057	2960	2200	1759
11417	1.23	188.8	279.9	9.5	545	11419	0.00	0.00	0.00	0.000	6	0.000	0.000	2961	2200	1759
11727	1.23	188.8	249.3	9.7	560	11731	0.00	2.53	0.00	0.000	4	0.000	0.074	2960	790	1758
11790	1.23	188.8	243.2	9.7	563	11794	0.00	2.42	0.00	0.000	6	0.000	0.057	2960	2199	1758
12123	1.27	212.3	216.6	7.1	579	12148	0.00	2.60	18.83	0.882	4	0.000	0.072	2960	798	1672
12206	1.27	212.3	210.1	8.1	582	12212	0.00	2.42	0.00	0.000	6	0.000	0.056	2960	2201	1672
12523	1.28	216.5	184.0	7.8	598	12534	0.10	2.55	5.28	0.683	4	0.072	0.071	2991	793	1655
12602	1.28	216.5	176.2	9.5	601	12608	0.00	2.42	0.00	0.000	6	0.000	0.056	2991	2208	1655
12919	1.28	216.5	144.3	10.7	617	12923	0.00	2.53	0.00	0.000	4	0.000	0.071	2991	797	1655
12975	1.28	216.5	137.4	11.4	619	12979	0.00	2.40	0.00	0.000	6	0.000	0.056	2991	2201	1655
13293	1.28	216.5	103.4	10.1	634	13297	0.00	2.50	0.00	0.000	4	0.000	0.070	2991	790	1655
13327	1.28	216.5	99.3	10.9	635	13334	0.00	2.40	0.00	0.000	6	0.000	0.056	2991	2200	1655
13646	1.28	216.5	66.5	10.6	651	13647	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2200	1655
13953	1.28	216.5	33.2	10.0	666	13958	0.00	2.60	0.00	0.000	4	0.000	0.092	2991	3604	1655
14010	1.28	216.5	27.0	11.3	668	14017	0.00	2.40	0.00	0.000	6	0.000	0.060	2991	2197	1655
14241	end climb: SURFACE_DEPTH_REACHED
state	14241	begin surface coast
14263	end surface coast: CONTROL_FINISHED_OK
state	14263	begin surface