Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 113 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 113 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -102347.18 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 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 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -102347.18

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 43 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 113 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 035506,6250.606,-1251.319,39,1.1,44,-11.9 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.211,0.125

_SM_DEPTHo 1.41 KALMAN_X -106660.5,404.1,-148.3,-115063.7,-2888.7

_SM_ANGLEo -57.1 KALMAN_Y -10329.5,193.8,311.7,146901.6,-3871.4

GPS2 040031,6250.631,-1251.365,10,1.1,15,-11.9 MHEAD_RNG_PITCHd_Wd 312.4,11589,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026889 ALTIM_BOTTOM_PING 696.1,38.2

SM_CCo 15353,22.23,0.769,0,0,1608,300.00 _24V_AH 23.8,21.316

SM_GC 1.11,0.00,0.00,22.23,0.000,0.000,0.769,419,2150,1608,-10.70,0.57,300.00 _10V_AH 10.1,9.586

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37979,736

TT8_MAMPS 0.029146 CAP_FILE_SIZE 117501,0

HUMID 1826 CFSIZE 254472192,245522432

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 39 GPS 170909,081855,6252.646,-1256.135,40,1.8,40,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 102.14 SBE_CT 504 24 287.90

Roll_motor 133 76 243.47 SBE_O2 548 19 248.12

VBD_pump_during_apogee 371 1294 11448.85 WL_BB2F 443 105 1109.20

VBD_pump_during_surface 22 769 406.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 26 160 100.43 nil 0 0 0.00

Iridium_during_xfer 139 223 739.33

Transponder_ping 16 420 162.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.78

TT8 1376 19 275.37

LPSleep 11721 2 259.27

TT8_Active 526 19 105.21

TT8_Sampling 1587 39 638.26

TT8_CF8 488 45 225.96

TT8_Kalman 33 81 27.56

Analog_circuits 1336 12 161.96

GPS_charging 0 0 0.00

Compass 1549 8 125.21

RAFOS 0 0 0.00

Transponder 45 30 13.88

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 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.72 0.000 2 0.000 0.000 421 2163 2488

65 -1.22 -146.6 2.4 -4.3 2 118 11.23 2.62 -36.05 0.000 4 0.160 0.067 2470 710 3429

316 -1.15 -146.6 32.4 -12.9 13 321 0.12 2.47 0.00 0.000 6 0.104 0.044 2495 2115 3429

632 -1.15 -146.6 70.3 -12.8 28 633 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2117 3429

941 -1.15 -146.6 107.6 -11.8 43 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2116 3431

1252 -1.15 -146.6 141.0 -10.7 58 1256 0.00 2.53 0.00 0.000 4 0.000 0.060 2495 717 3430

1314 -1.15 -146.6 147.9 -10.9 61 1318 0.00 2.50 0.00 0.000 6 0.000 0.048 2495 2136 3430

1641 -1.15 -146.6 182.8 -10.4 77 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2137 3430

1950 -1.15 -146.6 215.1 -10.4 92 1954 0.00 2.58 0.00 0.000 4 0.000 0.061 2496 710 3430

1977 -1.15 -146.6 218.0 -10.7 93 1981 0.00 2.53 0.00 0.000 6 0.000 0.048 2495 2139 3430

2293 -1.15 -146.6 251.6 -10.9 108 2297 0.00 2.58 0.00 0.000 4 0.000 0.061 2495 715 3430

2348 -1.15 -146.6 258.0 -11.3 110 2355 0.00 2.50 0.00 0.000 6 0.000 0.049 2496 2128 3430

2665 -1.15 -146.6 292.3 -10.8 126 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2129 3430

2974 -1.15 -146.6 326.3 -11.0 141 2978 0.00 2.58 0.00 0.000 4 0.000 0.064 2496 710 3430

3014 -1.15 -146.6 330.8 -11.4 143 3018 0.00 2.50 0.00 0.000 6 0.000 0.050 2495 2121 3430

3341 -1.15 -146.6 367.5 -11.6 159 3345 0.00 2.55 0.00 0.000 4 0.000 0.063 2495 715 3430

3381 -1.15 -146.6 372.2 -12.1 161 3385 0.00 2.47 0.00 0.000 6 0.000 0.049 2496 2115 3430

3707 -1.15 -146.6 410.3 -11.6 177 3712 0.00 2.53 0.00 0.000 4 0.000 0.063 2495 720 3430

3741 -1.15 -146.6 414.4 -11.6 178 3747 0.00 2.45 0.00 0.000 6 0.000 0.050 2496 2105 3430

4057 -1.15 -146.6 448.3 -10.3 194 4058 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2105 3429

4366 -1.15 -146.6 477.9 -9.2 209 4370 0.00 2.53 0.00 0.000 4 0.000 0.066 2496 718 3429

4421 -1.15 -146.6 483.2 -9.8 211 4427 0.00 2.45 0.00 0.000 6 0.000 0.051 2496 2100 3429

4737 -1.15 -146.6 511.6 -9.0 227 4741 0.00 2.60 0.00 0.000 4 0.000 0.069 2496 3534 3429

4764 -1.15 -146.6 514.2 -9.0 228 4769 0.00 2.60 0.00 0.000 6 0.000 0.058 2496 2081 3429

5080 -1.15 -146.6 544.2 -9.9 243 5081 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2066 3428

5389 -1.15 -146.6 574.4 -9.7 258 5394 0.00 2.67 0.00 0.000 4 0.000 0.070 2495 3539 3428

5417 -1.15 -146.6 577.3 -10.2 259 5421 0.00 2.60 0.00 0.000 6 0.000 0.058 2495 2094 3428

5733 -1.15 -146.6 605.9 -8.8 274 5734 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2087 3429

6042 -1.15 -146.6 631.6 -8.4 289 6043 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2087 3428

6351 -1.15 -146.6 659.7 -9.8 304 6356 0.00 2.67 0.00 0.000 4 0.000 0.072 2495 3538 3428

6402 -1.15 -146.6 665.2 -11.1 306 6406 0.00 2.62 0.00 0.000 6 0.000 0.060 2496 2079 3427

6718 -1.15 -146.6 700.6 -11.2 321 6723 0.00 2.45 0.00 0.000 4 0.000 0.071 2496 718 3427

6759 -1.18 -146.6 705.1 -10.7 323 6763 0.00 2.42 0.00 0.000 6 0.000 0.054 2496 2078 3427

6960 end dive: BOTTOM_OBSTACLE_DETECTED

state 6960 begin apogee

6967 -0.33 0.0 725.4 9.7 333 7103 0.82 0.00 132.65 1.295 6 0.080 0.000 2673 1844 2831

7104 end apogee: CONTROL_FINISHED_OK

state 7104 begin climb

7107 1.22 146.6 730.4 0.0 340 7246 1.58 0.00 134.48 1.259 6 0.059 0.000 3013 1844 2233

7558 1.11 146.6 700.7 8.1 362 7563 0.15 2.60 0.00 0.000 4 0.099 0.077 2985 440 2232

7695 1.01 146.6 689.3 8.1 368 7700 0.00 2.53 0.00 0.000 6 0.000 0.056 2985 1834 2232

8018 1.00 163.2 665.1 7.4 384 8037 0.12 0.00 15.75 1.178 6 0.100 0.000 2961 1848 2165

8346 1.04 184.0 641.7 7.2 400 8371 0.00 2.67 19.27 1.210 4 0.000 0.068 2962 3248 2080

8414 1.08 184.0 636.3 8.6 403 8418 0.00 2.65 0.00 0.000 6 0.000 0.065 2962 1819 2079

8741 1.18 223.6 613.0 6.6 419 8784 0.20 2.60 34.53 1.239 4 0.053 0.075 3013 441 1919

8808 1.08 223.6 606.9 10.0 422 8813 0.17 2.50 0.00 0.000 6 0.092 0.055 2980 1814 1918

9135 1.12 244.3 583.1 7.2 438 9160 0.00 2.67 19.27 1.181 4 0.000 0.064 2980 3254 1835

9206 1.17 252.9 577.6 7.7 441 9223 0.00 2.65 9.25 1.070 6 0.000 0.062 2980 1812 1799

9532 1.17 252.9 551.6 8.2 457 9537 0.00 2.67 0.00 0.000 4 0.000 0.064 2980 3261 1799

9573 1.23 253.0 548.3 8.0 459 9578 0.15 2.62 0.00 0.000 6 0.055 0.061 3019 1820 1798

9900 1.17 253.0 515.4 10.4 475 9901 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1821 1799

10209 1.12 253.0 482.9 10.9 490 10215 0.17 2.62 0.00 0.000 4 0.087 0.061 2985 3254 1799

10272 1.17 253.0 476.8 9.5 493 10277 0.00 2.58 0.00 0.000 6 0.000 0.058 2985 1835 1799

10599 1.17 253.0 446.7 9.2 509 10604 0.00 2.60 0.00 0.000 4 0.000 0.062 2984 3256 1799

10633 1.22 253.0 443.3 10.0 510 10640 0.12 2.55 0.00 0.000 6 0.057 0.058 3018 1849 1799

10950 1.17 253.0 408.9 10.9 526 10951 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1849 1799

11259 1.13 253.0 376.3 10.5 541 11264 0.15 2.58 0.00 0.000 4 0.088 0.061 2988 3259 1799

11310 1.17 253.0 371.3 9.1 543 11314 0.00 2.53 0.00 0.000 6 0.000 0.055 2988 1858 1799

11626 1.17 253.0 344.7 8.3 558 11627 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 1859 1799

11935 1.18 257.9 320.0 7.8 573 11948 0.00 2.55 6.35 0.835 4 0.000 0.060 2988 3254 1778

12003 1.23 257.9 314.6 8.1 576 12007 0.10 2.47 0.00 0.000 6 0.060 0.054 3017 1872 1779

12330 1.19 257.9 284.1 9.3 592 12331 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1872 1779

12639 1.16 257.9 254.1 10.1 607 12643 0.00 2.50 0.00 0.000 4 0.000 0.060 3017 3259 1779

12691 1.16 257.9 248.7 10.5 609 12695 0.00 2.47 0.00 0.000 6 0.000 0.052 3017 1874 1779

13013 1.13 257.9 215.7 10.8 625 13015 0.15 0.00 0.00 0.000 6 0.086 0.000 2986 1874 1779

13322 1.16 257.9 188.5 8.5 640 13326 0.00 2.50 0.00 0.000 4 0.000 0.059 2986 3255 1779

13372 1.22 257.9 184.1 8.1 642 13377 0.12 2.45 0.00 0.000 6 0.055 0.051 3021 1879 1779

13689 1.19 257.9 153.1 9.7 657 13690 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1879 1779

13998 1.15 257.9 120.6 10.6 672 14003 0.12 2.50 0.00 0.000 4 0.090 0.058 2997 3262 1780

14043 1.20 257.9 116.0 9.4 674 14047 0.00 2.45 0.00 0.000 6 0.000 0.049 2997 1881 1779

14364 1.20 257.9 87.3 8.7 690 14368 0.00 2.47 0.00 0.000 4 0.000 0.058 2997 3255 1780

14398 1.25 257.9 84.2 8.5 691 14404 0.00 2.40 0.00 0.000 6 0.000 0.049 2997 1900 1779

14716 1.29 257.9 56.4 8.8 707 14721 0.15 2.62 0.00 0.000 4 0.051 0.065 3037 433 1780

14767 1.21 257.9 50.9 11.0 709 14772 0.15 2.58 0.00 0.000 6 0.088 0.046 3007 1900 1780

15085 1.21 257.9 21.9 8.5 724 15086 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 1916 1780

15308 end climb: SURFACE_DEPTH_REACHED

state 15308 begin surface coast

15329 end surface coast: CONTROL_FINISHED_OK

state 15329 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	113	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-102347.18	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	035506,6250.606,-1251.319,39,1.1,44,-11.9	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.211,0.125
_SM_DEPTHo	1.41	KALMAN_X	-106660.5,404.1,-148.3,-115063.7,-2888.7
_SM_ANGLEo	-57.1	KALMAN_Y	-10329.5,193.8,311.7,146901.6,-3871.4
GPS2	040031,6250.631,-1251.365,10,1.1,15,-11.9	MHEAD_RNG_PITCHd_Wd	312.4,11589,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.026889	ALTIM_BOTTOM_PING	696.1,38.2
SM_CCo	15353,22.23,0.769,0,0,1608,300.00	_24V_AH	23.8,21.316
SM_GC	1.11,0.00,0.00,22.23,0.000,0.000,0.769,419,2150,1608,-10.70,0.57,300.00	_10V_AH	10.1,9.586
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37979,736
TT8_MAMPS	0.029146	CAP_FILE_SIZE	117501,0
HUMID	1826	CFSIZE	254472192,245522432
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	39	GPS	170909,081855,6252.646,-1256.135,40,1.8,40,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	102.14	SBE_CT	504	24	287.90
Roll_motor	133	76	243.47	SBE_O2	548	19	248.12
VBD_pump_during_apogee	371	1294	11448.85	WL_BB2F	443	105	1109.20
VBD_pump_during_surface	22	769	406.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	26	160	100.43	nil	0	0	0.00
Iridium_during_xfer	139	223	739.33
Transponder_ping	16	420	162.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.78
TT8	1376	19	275.37
LPSleep	11721	2	259.27
TT8_Active	526	19	105.21
TT8_Sampling	1587	39	638.26
TT8_CF8	488	45	225.96
TT8_Kalman	33	81	27.56
Analog_circuits	1336	12	161.96
GPS_charging	0	0	0.00
Compass	1549	8	125.21
RAFOS	0	0	0.00
Transponder	45	30	13.88

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	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.72	0.000	2	0.000	0.000	421	2163	2488
65	-1.22	-146.6	2.4	-4.3	2	118	11.23	2.62	-36.05	0.000	4	0.160	0.067	2470	710	3429
316	-1.15	-146.6	32.4	-12.9	13	321	0.12	2.47	0.00	0.000	6	0.104	0.044	2495	2115	3429
632	-1.15	-146.6	70.3	-12.8	28	633	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2117	3429
941	-1.15	-146.6	107.6	-11.8	43	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2116	3431
1252	-1.15	-146.6	141.0	-10.7	58	1256	0.00	2.53	0.00	0.000	4	0.000	0.060	2495	717	3430
1314	-1.15	-146.6	147.9	-10.9	61	1318	0.00	2.50	0.00	0.000	6	0.000	0.048	2495	2136	3430
1641	-1.15	-146.6	182.8	-10.4	77	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2137	3430
1950	-1.15	-146.6	215.1	-10.4	92	1954	0.00	2.58	0.00	0.000	4	0.000	0.061	2496	710	3430
1977	-1.15	-146.6	218.0	-10.7	93	1981	0.00	2.53	0.00	0.000	6	0.000	0.048	2495	2139	3430
2293	-1.15	-146.6	251.6	-10.9	108	2297	0.00	2.58	0.00	0.000	4	0.000	0.061	2495	715	3430
2348	-1.15	-146.6	258.0	-11.3	110	2355	0.00	2.50	0.00	0.000	6	0.000	0.049	2496	2128	3430
2665	-1.15	-146.6	292.3	-10.8	126	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2129	3430
2974	-1.15	-146.6	326.3	-11.0	141	2978	0.00	2.58	0.00	0.000	4	0.000	0.064	2496	710	3430
3014	-1.15	-146.6	330.8	-11.4	143	3018	0.00	2.50	0.00	0.000	6	0.000	0.050	2495	2121	3430
3341	-1.15	-146.6	367.5	-11.6	159	3345	0.00	2.55	0.00	0.000	4	0.000	0.063	2495	715	3430
3381	-1.15	-146.6	372.2	-12.1	161	3385	0.00	2.47	0.00	0.000	6	0.000	0.049	2496	2115	3430
3707	-1.15	-146.6	410.3	-11.6	177	3712	0.00	2.53	0.00	0.000	4	0.000	0.063	2495	720	3430
3741	-1.15	-146.6	414.4	-11.6	178	3747	0.00	2.45	0.00	0.000	6	0.000	0.050	2496	2105	3430
4057	-1.15	-146.6	448.3	-10.3	194	4058	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2105	3429
4366	-1.15	-146.6	477.9	-9.2	209	4370	0.00	2.53	0.00	0.000	4	0.000	0.066	2496	718	3429
4421	-1.15	-146.6	483.2	-9.8	211	4427	0.00	2.45	0.00	0.000	6	0.000	0.051	2496	2100	3429
4737	-1.15	-146.6	511.6	-9.0	227	4741	0.00	2.60	0.00	0.000	4	0.000	0.069	2496	3534	3429
4764	-1.15	-146.6	514.2	-9.0	228	4769	0.00	2.60	0.00	0.000	6	0.000	0.058	2496	2081	3429
5080	-1.15	-146.6	544.2	-9.9	243	5081	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2066	3428
5389	-1.15	-146.6	574.4	-9.7	258	5394	0.00	2.67	0.00	0.000	4	0.000	0.070	2495	3539	3428
5417	-1.15	-146.6	577.3	-10.2	259	5421	0.00	2.60	0.00	0.000	6	0.000	0.058	2495	2094	3428
5733	-1.15	-146.6	605.9	-8.8	274	5734	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2087	3429
6042	-1.15	-146.6	631.6	-8.4	289	6043	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2087	3428
6351	-1.15	-146.6	659.7	-9.8	304	6356	0.00	2.67	0.00	0.000	4	0.000	0.072	2495	3538	3428
6402	-1.15	-146.6	665.2	-11.1	306	6406	0.00	2.62	0.00	0.000	6	0.000	0.060	2496	2079	3427
6718	-1.15	-146.6	700.6	-11.2	321	6723	0.00	2.45	0.00	0.000	4	0.000	0.071	2496	718	3427
6759	-1.18	-146.6	705.1	-10.7	323	6763	0.00	2.42	0.00	0.000	6	0.000	0.054	2496	2078	3427
6960	end dive: BOTTOM_OBSTACLE_DETECTED
state	6960	begin apogee
6967	-0.33	0.0	725.4	9.7	333	7103	0.82	0.00	132.65	1.295	6	0.080	0.000	2673	1844	2831
7104	end apogee: CONTROL_FINISHED_OK
state	7104	begin climb
7107	1.22	146.6	730.4	0.0	340	7246	1.58	0.00	134.48	1.259	6	0.059	0.000	3013	1844	2233
7558	1.11	146.6	700.7	8.1	362	7563	0.15	2.60	0.00	0.000	4	0.099	0.077	2985	440	2232
7695	1.01	146.6	689.3	8.1	368	7700	0.00	2.53	0.00	0.000	6	0.000	0.056	2985	1834	2232
8018	1.00	163.2	665.1	7.4	384	8037	0.12	0.00	15.75	1.178	6	0.100	0.000	2961	1848	2165
8346	1.04	184.0	641.7	7.2	400	8371	0.00	2.67	19.27	1.210	4	0.000	0.068	2962	3248	2080
8414	1.08	184.0	636.3	8.6	403	8418	0.00	2.65	0.00	0.000	6	0.000	0.065	2962	1819	2079
8741	1.18	223.6	613.0	6.6	419	8784	0.20	2.60	34.53	1.239	4	0.053	0.075	3013	441	1919
8808	1.08	223.6	606.9	10.0	422	8813	0.17	2.50	0.00	0.000	6	0.092	0.055	2980	1814	1918
9135	1.12	244.3	583.1	7.2	438	9160	0.00	2.67	19.27	1.181	4	0.000	0.064	2980	3254	1835
9206	1.17	252.9	577.6	7.7	441	9223	0.00	2.65	9.25	1.070	6	0.000	0.062	2980	1812	1799
9532	1.17	252.9	551.6	8.2	457	9537	0.00	2.67	0.00	0.000	4	0.000	0.064	2980	3261	1799
9573	1.23	253.0	548.3	8.0	459	9578	0.15	2.62	0.00	0.000	6	0.055	0.061	3019	1820	1798
9900	1.17	253.0	515.4	10.4	475	9901	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1821	1799
10209	1.12	253.0	482.9	10.9	490	10215	0.17	2.62	0.00	0.000	4	0.087	0.061	2985	3254	1799
10272	1.17	253.0	476.8	9.5	493	10277	0.00	2.58	0.00	0.000	6	0.000	0.058	2985	1835	1799
10599	1.17	253.0	446.7	9.2	509	10604	0.00	2.60	0.00	0.000	4	0.000	0.062	2984	3256	1799
10633	1.22	253.0	443.3	10.0	510	10640	0.12	2.55	0.00	0.000	6	0.057	0.058	3018	1849	1799
10950	1.17	253.0	408.9	10.9	526	10951	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1849	1799
11259	1.13	253.0	376.3	10.5	541	11264	0.15	2.58	0.00	0.000	4	0.088	0.061	2988	3259	1799
11310	1.17	253.0	371.3	9.1	543	11314	0.00	2.53	0.00	0.000	6	0.000	0.055	2988	1858	1799
11626	1.17	253.0	344.7	8.3	558	11627	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	1859	1799
11935	1.18	257.9	320.0	7.8	573	11948	0.00	2.55	6.35	0.835	4	0.000	0.060	2988	3254	1778
12003	1.23	257.9	314.6	8.1	576	12007	0.10	2.47	0.00	0.000	6	0.060	0.054	3017	1872	1779
12330	1.19	257.9	284.1	9.3	592	12331	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1872	1779
12639	1.16	257.9	254.1	10.1	607	12643	0.00	2.50	0.00	0.000	4	0.000	0.060	3017	3259	1779
12691	1.16	257.9	248.7	10.5	609	12695	0.00	2.47	0.00	0.000	6	0.000	0.052	3017	1874	1779
13013	1.13	257.9	215.7	10.8	625	13015	0.15	0.00	0.00	0.000	6	0.086	0.000	2986	1874	1779
13322	1.16	257.9	188.5	8.5	640	13326	0.00	2.50	0.00	0.000	4	0.000	0.059	2986	3255	1779
13372	1.22	257.9	184.1	8.1	642	13377	0.12	2.45	0.00	0.000	6	0.055	0.051	3021	1879	1779
13689	1.19	257.9	153.1	9.7	657	13690	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1879	1779
13998	1.15	257.9	120.6	10.6	672	14003	0.12	2.50	0.00	0.000	4	0.090	0.058	2997	3262	1780
14043	1.20	257.9	116.0	9.4	674	14047	0.00	2.45	0.00	0.000	6	0.000	0.049	2997	1881	1779
14364	1.20	257.9	87.3	8.7	690	14368	0.00	2.47	0.00	0.000	4	0.000	0.058	2997	3255	1780
14398	1.25	257.9	84.2	8.5	691	14404	0.00	2.40	0.00	0.000	6	0.000	0.049	2997	1900	1779
14716	1.29	257.9	56.4	8.8	707	14721	0.15	2.62	0.00	0.000	4	0.051	0.065	3037	433	1780
14767	1.21	257.9	50.9	11.0	709	14772	0.15	2.58	0.00	0.000	6	0.088	0.046	3007	1900	1780
15085	1.21	257.9	21.9	8.5	724	15086	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	1916	1780
15308	end climb: SURFACE_DEPTH_REACHED
state	15308	begin surface coast
15329	end surface coast: CONTROL_FINISHED_OK
state	15329	begin surface