Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 124 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 124 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

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 11 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 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 200 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -145459.28 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 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 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 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -145459.28

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 11 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 124 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 103436,6236.977,-1058.241,41,1.6,53,-10.7 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.226,-0.089

_SM_DEPTHo 1.47 KALMAN_X -1818.1,-1818.1,-1818.1,-7449.3,2534.9

_SM_ANGLEo -60.0 KALMAN_Y -782.9,-782.9,-782.9,-2898.2,1091.6

GPS2 104002,6236.922,-1058.588,15,1.4,15,-10.7 MHEAD_RNG_PITCHd_Wd 259.2,37662,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013876 ALTIM_BOTTOM_PING 626.7,37.2

SM_CCo 13376,0.00,0.000,0,0,1882,249.96 _24V_AH 23.4,26.633

SM_GC 2.01,12.00,0.00,0.00,0.028,0.000,0.000,48,2648,1882,-10.93,-0.06,249.96 _10V_AH 10.1,14.085

IRIDIUM_FIX 6216.53,-1040.92,130698,070714 DATA_FILE_SIZE 31577,633

TT8_MAMPS 0.029146 CAP_FILE_SIZE 101323,0

HUMID 1773 CFSIZE 260165632,250392576

INTERNAL_PRESSURE 8.57455 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 190309,142500,6234.830,-1113.073,39,1.6,39,-10.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 100.72 SBE_CT 449 24 252.48

Roll_motor 127 94 280.80 SBE_O2 459 19 204.09

VBD_pump_during_apogee 332 1110 8637.90 WL_BB2F 407 105 1001.25

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.15 nil 0 0 0.00

Iridium_during_connect 28 160 108.39 nil 0 0 0.00

Iridium_during_xfer 158 223 827.64

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.62

TT8 1214 19 242.96

LPSleep 10013 2 221.49

TT8_Active 409 19 81.86

TT8_Sampling 1597 39 642.14

TT8_CF8 465 45 215.40

TT8_Kalman 30 81 24.94

Analog_circuits 1221 12 148.05

GPS_charging 0 0 0.00

Compass 1558 8 125.95

RAFOS 0 0 0.00

Transponder 42 30 12.89

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

16 -1.42 -146.6 0.0 0.0 0 59 0.00 0.00 -41.03 0.000 2 0.000 0.000 50 2653 3244

62 -1.42 -146.6 4.2 -10.7 2 85 11.75 2.62 -4.32 0.000 4 0.160 0.078 2123 1236 3502

225 -1.42 -146.6 28.0 -11.5 9 229 0.00 2.65 0.00 0.000 6 0.000 0.066 2124 2660 3502

553 -1.42 -146.6 63.1 -10.8 25 556 0.00 2.15 0.00 0.000 4 0.000 0.084 2123 3787 3502

637 -1.42 -146.6 72.9 -11.4 28 643 0.00 2.03 0.00 0.000 6 0.000 0.053 2124 2651 3502

955 -1.42 -146.6 106.6 -10.7 44 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2652 3502

1262 -1.42 -146.6 139.1 -10.4 59 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2652 3502

1571 -1.42 -146.6 173.9 -11.6 74 1575 0.00 2.17 0.00 0.000 4 0.000 0.081 2124 3789 3502

1605 -1.42 -146.6 178.0 -12.7 75 1608 0.00 2.05 0.00 0.000 6 0.000 0.051 2124 2646 3502

1926 -1.42 -146.6 216.8 -11.9 91 1930 0.00 2.17 0.00 0.000 4 0.000 0.082 2124 3783 3502

1960 -1.42 -146.6 221.1 -12.6 92 1963 0.00 2.05 0.00 0.000 6 0.000 0.051 2124 2640 3502

2281 -1.42 -146.6 257.9 -11.1 108 2283 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2639 3502

2590 -1.42 -146.6 294.2 -12.1 123 2594 0.00 2.20 0.00 0.000 4 0.000 0.081 2123 3791 3502

2646 -1.42 -146.6 301.4 -12.8 125 2650 0.00 2.03 0.00 0.000 6 0.000 0.051 2123 2650 3502

2968 -1.42 -146.6 341.0 -12.2 141 2969 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2650 3502

3280 -1.42 -146.6 375.3 -10.2 156 3283 0.00 2.17 0.00 0.000 4 0.000 0.084 2124 3787 3502

3370 -1.42 -146.6 385.2 -10.7 160 3374 0.00 2.03 0.00 0.000 6 0.000 0.051 2124 2651 3502

3704 -1.42 -146.6 418.1 -10.2 176 3705 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2651 3502

4013 -1.42 -146.6 453.3 -12.2 191 4016 0.00 2.17 0.00 0.000 4 0.000 0.082 2124 3789 3502

4069 -1.42 -146.6 460.2 -12.0 193 4072 0.00 2.05 0.00 0.000 6 0.000 0.050 2123 2638 3502

4390 -1.42 -146.6 496.4 -10.9 209 4391 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2638 3502

4699 -1.42 -146.6 528.2 -10.5 224 4703 0.00 2.20 0.00 0.000 4 0.000 0.084 2123 3786 3503

4761 -1.42 -146.6 534.9 -10.4 226 4767 0.00 2.03 0.00 0.000 6 0.000 0.049 2123 2645 3502

5077 -1.42 -146.6 562.5 -7.4 242 5081 0.00 2.20 0.00 0.000 4 0.000 0.084 2124 3792 3502

5139 -1.42 -146.6 567.3 -7.9 244 5145 0.00 2.03 0.00 0.000 6 0.000 0.050 2124 2650 3502

5455 -1.42 -146.6 596.4 -10.4 260 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2650 3502

5764 -1.42 -146.6 629.2 -12.2 275 5768 0.00 2.20 0.00 0.000 4 0.000 0.090 2123 3785 3502

5871 -1.42 -146.6 639.9 -9.3 279 5877 0.00 2.05 0.00 0.000 6 0.000 0.054 2124 2644 3503

6019 end dive: BOTTOM_OBSTACLE_DETECTED

state 6019 begin apogee

6028 -0.42 0.0 655.5 11.1 287 6155 1.12 0.00 123.95 1.111 6 0.097 0.000 2347 2002 2902

6156 end apogee: CONTROL_FINISHED_OK

state 6156 begin climb

6159 1.42 146.6 660.3 0.0 293 6288 1.85 2.72 120.00 1.097 4 0.048 0.069 2750 584 2304

6319 1.55 246.9 656.5 4.3 300 6409 0.12 2.55 83.95 1.055 6 0.045 0.038 2789 2025 1895

6717 1.55 246.9 620.9 9.2 320 6722 0.00 2.70 0.00 0.000 4 0.000 0.068 2789 586 1894

6880 1.55 246.9 604.0 11.6 327 6885 0.00 2.50 0.00 0.000 6 0.000 0.041 2789 1992 1893

7196 1.55 246.9 576.5 8.3 342 7200 0.00 2.62 0.00 0.000 4 0.000 0.068 2789 3409 1892

7268 1.55 246.9 569.8 9.6 345 7273 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 1994 1892

7585 1.55 246.9 544.5 8.1 360 7589 0.00 2.60 0.00 0.000 4 0.000 0.067 2789 586 1891

7707 1.55 246.9 533.7 9.0 365 7714 0.00 2.50 0.00 0.000 6 0.000 0.039 2789 2010 1890

8024 1.55 246.9 506.4 9.1 381 8028 0.00 2.62 0.00 0.000 4 0.000 0.063 2789 588 1890

8118 1.55 246.9 496.3 10.9 385 8123 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2002 1890

8434 1.55 246.9 461.9 11.8 400 8439 0.00 2.60 0.00 0.000 4 0.000 0.061 2789 587 1890

8502 1.55 246.9 453.5 12.4 403 8506 0.00 2.47 0.00 0.000 6 0.000 0.036 2789 2004 1890

8823 1.55 246.9 419.4 9.7 419 8827 0.00 2.60 0.00 0.000 4 0.000 0.061 2789 588 1890

8890 1.55 246.9 412.7 10.2 422 8894 0.00 2.47 0.00 0.000 6 0.000 0.036 2789 2009 1890

9217 1.55 246.9 384.2 9.0 438 9218 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2009 1891

9526 1.55 246.9 352.4 11.0 453 9530 0.00 2.60 0.00 0.000 4 0.000 0.061 2789 588 1892

9633 1.55 246.9 339.4 12.1 458 9637 0.00 2.45 0.00 0.000 6 0.000 0.038 2789 2002 1892

9966 1.55 246.9 303.2 10.2 474 9970 0.00 2.58 0.00 0.000 4 0.000 0.060 2789 590 1892

10066 1.55 246.9 292.7 9.9 478 10072 0.00 2.47 0.00 0.000 6 0.000 0.037 2789 2007 1892

10382 1.55 246.9 265.0 8.5 494 10386 0.00 2.60 0.00 0.000 4 0.000 0.059 2789 584 1893

10460 1.55 246.9 258.2 8.7 497 10464 0.00 2.47 0.00 0.000 6 0.000 0.037 2789 2000 1894

10776 1.55 250.4 232.9 7.9 512 10785 0.00 2.60 4.47 0.614 4 0.000 0.060 2789 588 1881

10876 1.55 250.4 224.2 8.7 516 10882 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2002 1881

11191 1.55 250.4 198.2 8.4 532 11195 0.00 2.58 0.00 0.000 4 0.000 0.060 2789 589 1881

11275 1.55 250.4 190.4 9.9 535 11282 0.00 2.45 0.00 0.000 6 0.000 0.038 2789 2000 1881

11592 1.55 250.4 162.1 9.0 551 11596 0.00 2.58 0.00 0.000 4 0.000 0.059 2789 586 1882

11692 1.55 250.4 152.3 10.3 555 11696 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2000 1882

12014 1.55 250.4 123.6 9.2 571 12018 0.00 2.58 0.00 0.000 4 0.000 0.060 2789 586 1882

12121 1.55 250.4 113.1 10.0 576 12125 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2000 1882

12448 1.55 250.4 81.7 9.7 592 12452 0.00 2.58 0.00 0.000 4 0.000 0.061 2789 586 1882

12534 1.55 250.4 72.8 11.0 596 12538 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2003 1882

12861 1.55 250.4 41.2 10.2 612 12865 0.00 2.58 0.00 0.000 4 0.000 0.060 2789 589 1882

12950 1.55 250.4 31.7 10.4 616 12954 0.00 2.47 0.00 0.000 6 0.000 0.038 2789 2006 1882

13268 end climb: SURFACE_DEPTH_REACHED

state 13268 begin surface coast

13290 end surface coast: CONTROL_FINISHED_OK

state 13290 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	124	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
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	11	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	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	200	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-145459.28	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	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	103436,6236.977,-1058.241,41,1.6,53,-10.7	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.226,-0.089
_SM_DEPTHo	1.47	KALMAN_X	-1818.1,-1818.1,-1818.1,-7449.3,2534.9
_SM_ANGLEo	-60.0	KALMAN_Y	-782.9,-782.9,-782.9,-2898.2,1091.6
GPS2	104002,6236.922,-1058.588,15,1.4,15,-10.7	MHEAD_RNG_PITCHd_Wd	259.2,37662,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.6,1.013876	ALTIM_BOTTOM_PING	626.7,37.2
SM_CCo	13376,0.00,0.000,0,0,1882,249.96	_24V_AH	23.4,26.633
SM_GC	2.01,12.00,0.00,0.00,0.028,0.000,0.000,48,2648,1882,-10.93,-0.06,249.96	_10V_AH	10.1,14.085
IRIDIUM_FIX	6216.53,-1040.92,130698,070714	DATA_FILE_SIZE	31577,633
TT8_MAMPS	0.029146	CAP_FILE_SIZE	101323,0
HUMID	1773	CFSIZE	260165632,250392576
INTERNAL_PRESSURE	8.57455	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	190309,142500,6234.830,-1113.073,39,1.6,39,-10.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	100.72	SBE_CT	449	24	252.48
Roll_motor	127	94	280.80	SBE_O2	459	19	204.09
VBD_pump_during_apogee	332	1110	8637.90	WL_BB2F	407	105	1001.25
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.15	nil	0	0	0.00
Iridium_during_connect	28	160	108.39	nil	0	0	0.00
Iridium_during_xfer	158	223	827.64
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.62
TT8	1214	19	242.96
LPSleep	10013	2	221.49
TT8_Active	409	19	81.86
TT8_Sampling	1597	39	642.14
TT8_CF8	465	45	215.40
TT8_Kalman	30	81	24.94
Analog_circuits	1221	12	148.05
GPS_charging	0	0	0.00
Compass	1558	8	125.95
RAFOS	0	0	0.00
Transponder	42	30	12.89

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
16	-1.42	-146.6	0.0	0.0	0	59	0.00	0.00	-41.03	0.000	2	0.000	0.000	50	2653	3244
62	-1.42	-146.6	4.2	-10.7	2	85	11.75	2.62	-4.32	0.000	4	0.160	0.078	2123	1236	3502
225	-1.42	-146.6	28.0	-11.5	9	229	0.00	2.65	0.00	0.000	6	0.000	0.066	2124	2660	3502
553	-1.42	-146.6	63.1	-10.8	25	556	0.00	2.15	0.00	0.000	4	0.000	0.084	2123	3787	3502
637	-1.42	-146.6	72.9	-11.4	28	643	0.00	2.03	0.00	0.000	6	0.000	0.053	2124	2651	3502
955	-1.42	-146.6	106.6	-10.7	44	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2652	3502
1262	-1.42	-146.6	139.1	-10.4	59	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2652	3502
1571	-1.42	-146.6	173.9	-11.6	74	1575	0.00	2.17	0.00	0.000	4	0.000	0.081	2124	3789	3502
1605	-1.42	-146.6	178.0	-12.7	75	1608	0.00	2.05	0.00	0.000	6	0.000	0.051	2124	2646	3502
1926	-1.42	-146.6	216.8	-11.9	91	1930	0.00	2.17	0.00	0.000	4	0.000	0.082	2124	3783	3502
1960	-1.42	-146.6	221.1	-12.6	92	1963	0.00	2.05	0.00	0.000	6	0.000	0.051	2124	2640	3502
2281	-1.42	-146.6	257.9	-11.1	108	2283	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2639	3502
2590	-1.42	-146.6	294.2	-12.1	123	2594	0.00	2.20	0.00	0.000	4	0.000	0.081	2123	3791	3502
2646	-1.42	-146.6	301.4	-12.8	125	2650	0.00	2.03	0.00	0.000	6	0.000	0.051	2123	2650	3502
2968	-1.42	-146.6	341.0	-12.2	141	2969	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2650	3502
3280	-1.42	-146.6	375.3	-10.2	156	3283	0.00	2.17	0.00	0.000	4	0.000	0.084	2124	3787	3502
3370	-1.42	-146.6	385.2	-10.7	160	3374	0.00	2.03	0.00	0.000	6	0.000	0.051	2124	2651	3502
3704	-1.42	-146.6	418.1	-10.2	176	3705	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2651	3502
4013	-1.42	-146.6	453.3	-12.2	191	4016	0.00	2.17	0.00	0.000	4	0.000	0.082	2124	3789	3502
4069	-1.42	-146.6	460.2	-12.0	193	4072	0.00	2.05	0.00	0.000	6	0.000	0.050	2123	2638	3502
4390	-1.42	-146.6	496.4	-10.9	209	4391	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2638	3502
4699	-1.42	-146.6	528.2	-10.5	224	4703	0.00	2.20	0.00	0.000	4	0.000	0.084	2123	3786	3503
4761	-1.42	-146.6	534.9	-10.4	226	4767	0.00	2.03	0.00	0.000	6	0.000	0.049	2123	2645	3502
5077	-1.42	-146.6	562.5	-7.4	242	5081	0.00	2.20	0.00	0.000	4	0.000	0.084	2124	3792	3502
5139	-1.42	-146.6	567.3	-7.9	244	5145	0.00	2.03	0.00	0.000	6	0.000	0.050	2124	2650	3502
5455	-1.42	-146.6	596.4	-10.4	260	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2650	3502
5764	-1.42	-146.6	629.2	-12.2	275	5768	0.00	2.20	0.00	0.000	4	0.000	0.090	2123	3785	3502
5871	-1.42	-146.6	639.9	-9.3	279	5877	0.00	2.05	0.00	0.000	6	0.000	0.054	2124	2644	3503
6019	end dive: BOTTOM_OBSTACLE_DETECTED
state	6019	begin apogee
6028	-0.42	0.0	655.5	11.1	287	6155	1.12	0.00	123.95	1.111	6	0.097	0.000	2347	2002	2902
6156	end apogee: CONTROL_FINISHED_OK
state	6156	begin climb
6159	1.42	146.6	660.3	0.0	293	6288	1.85	2.72	120.00	1.097	4	0.048	0.069	2750	584	2304
6319	1.55	246.9	656.5	4.3	300	6409	0.12	2.55	83.95	1.055	6	0.045	0.038	2789	2025	1895
6717	1.55	246.9	620.9	9.2	320	6722	0.00	2.70	0.00	0.000	4	0.000	0.068	2789	586	1894
6880	1.55	246.9	604.0	11.6	327	6885	0.00	2.50	0.00	0.000	6	0.000	0.041	2789	1992	1893
7196	1.55	246.9	576.5	8.3	342	7200	0.00	2.62	0.00	0.000	4	0.000	0.068	2789	3409	1892
7268	1.55	246.9	569.8	9.6	345	7273	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	1994	1892
7585	1.55	246.9	544.5	8.1	360	7589	0.00	2.60	0.00	0.000	4	0.000	0.067	2789	586	1891
7707	1.55	246.9	533.7	9.0	365	7714	0.00	2.50	0.00	0.000	6	0.000	0.039	2789	2010	1890
8024	1.55	246.9	506.4	9.1	381	8028	0.00	2.62	0.00	0.000	4	0.000	0.063	2789	588	1890
8118	1.55	246.9	496.3	10.9	385	8123	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2002	1890
8434	1.55	246.9	461.9	11.8	400	8439	0.00	2.60	0.00	0.000	4	0.000	0.061	2789	587	1890
8502	1.55	246.9	453.5	12.4	403	8506	0.00	2.47	0.00	0.000	6	0.000	0.036	2789	2004	1890
8823	1.55	246.9	419.4	9.7	419	8827	0.00	2.60	0.00	0.000	4	0.000	0.061	2789	588	1890
8890	1.55	246.9	412.7	10.2	422	8894	0.00	2.47	0.00	0.000	6	0.000	0.036	2789	2009	1890
9217	1.55	246.9	384.2	9.0	438	9218	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2009	1891
9526	1.55	246.9	352.4	11.0	453	9530	0.00	2.60	0.00	0.000	4	0.000	0.061	2789	588	1892
9633	1.55	246.9	339.4	12.1	458	9637	0.00	2.45	0.00	0.000	6	0.000	0.038	2789	2002	1892
9966	1.55	246.9	303.2	10.2	474	9970	0.00	2.58	0.00	0.000	4	0.000	0.060	2789	590	1892
10066	1.55	246.9	292.7	9.9	478	10072	0.00	2.47	0.00	0.000	6	0.000	0.037	2789	2007	1892
10382	1.55	246.9	265.0	8.5	494	10386	0.00	2.60	0.00	0.000	4	0.000	0.059	2789	584	1893
10460	1.55	246.9	258.2	8.7	497	10464	0.00	2.47	0.00	0.000	6	0.000	0.037	2789	2000	1894
10776	1.55	250.4	232.9	7.9	512	10785	0.00	2.60	4.47	0.614	4	0.000	0.060	2789	588	1881
10876	1.55	250.4	224.2	8.7	516	10882	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2002	1881
11191	1.55	250.4	198.2	8.4	532	11195	0.00	2.58	0.00	0.000	4	0.000	0.060	2789	589	1881
11275	1.55	250.4	190.4	9.9	535	11282	0.00	2.45	0.00	0.000	6	0.000	0.038	2789	2000	1881
11592	1.55	250.4	162.1	9.0	551	11596	0.00	2.58	0.00	0.000	4	0.000	0.059	2789	586	1882
11692	1.55	250.4	152.3	10.3	555	11696	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2000	1882
12014	1.55	250.4	123.6	9.2	571	12018	0.00	2.58	0.00	0.000	4	0.000	0.060	2789	586	1882
12121	1.55	250.4	113.1	10.0	576	12125	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2000	1882
12448	1.55	250.4	81.7	9.7	592	12452	0.00	2.58	0.00	0.000	4	0.000	0.061	2789	586	1882
12534	1.55	250.4	72.8	11.0	596	12538	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2003	1882
12861	1.55	250.4	41.2	10.2	612	12865	0.00	2.58	0.00	0.000	4	0.000	0.060	2789	589	1882
12950	1.55	250.4	31.7	10.4	616	12954	0.00	2.47	0.00	0.000	6	0.000	0.038	2789	2006	1882
13268	end climb: SURFACE_DEPTH_REACHED
state	13268	begin surface coast
13290	end surface coast: CONTROL_FINISHED_OK
state	13290	begin surface