Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 128 * 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 128 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 54 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 -102624.9 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 -102624.9

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 54 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 128 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 011637,6321.571,-1312.877,31,1.7,31,-12.3 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.158,0.188

_SM_DEPTHo 1.25 KALMAN_X -92844.3,-55.8,174.5,-147707.9,3427.6

_SM_ANGLEo -55.9 KALMAN_Y -11247.1,-1.1,-388.6,205955.9,1910.7

GPS2 012214,6321.546,-1312.862,14,1.7,14,-12.3 MHEAD_RNG_PITCHd_Wd 332.3,24978,-14.7,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.011980 ALTIM_BOTTOM_PING 695.1,65.9

SM_CCo 14975,0.00,0.000,0,0,1295,376.78 _24V_AH 23.8,23.758

SM_GC 1.52,11.20,0.00,0.00,0.035,0.000,0.000,420,2143,1295,-10.58,0.40,376.78 _10V_AH 10.1,10.712

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34903,715

TT8_MAMPS 0.029146 CAP_FILE_SIZE 114652,0

HUMID 1820 CFSIZE 254472192,244662272

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

XPDR_PINGS 41 GPS 200909,053355,6322.437,-1320.509,40,1.1,40,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 106.71 SBE_CT 488 24 278.91

Roll_motor 137 71 233.81 SBE_O2 534 19 241.75

VBD_pump_during_apogee 479 1316 15008.54 WL_BB2F 421 105 1053.42

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 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 42 160 162.77 nil 0 0 0.00

Iridium_during_xfer 136 223 722.20

Transponder_ping 16 420 164.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.53

TT8 1320 19 264.06

LPSleep 11295 2 249.85

TT8_Active 628 19 125.68

TT8_Sampling 1566 39 629.68

TT8_CF8 499 45 230.89

TT8_Kalman 33 81 27.56

Analog_circuits 1454 12 176.33

GPS_charging 0 0 0.00

Compass 1530 8 123.69

RAFOS 0 0 0.00

Transponder 42 30 13.02

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 0 101 0.00 0.00 -81.30 0.000 2 0.000 0.000 420 2152 2649

105 -1.22 -146.6 2.6 -1.9 4 152 11.43 2.62 -29.77 0.000 4 0.170 0.069 2470 705 3429

181 -1.11 -146.6 9.0 -13.0 7 188 0.15 2.47 0.00 0.000 6 0.100 0.045 2502 2111 3430

498 -1.07 -146.6 49.9 -13.8 23 502 0.00 2.58 0.00 0.000 4 0.000 0.062 2502 3538 3430

548 -1.04 -146.6 56.6 -13.4 25 552 0.00 2.50 0.00 0.000 6 0.000 0.046 2502 2122 3430

864 -1.04 -146.6 94.0 -13.4 40 869 0.00 2.47 0.00 0.000 4 0.000 0.057 2502 719 3430

950 -1.04 -146.6 106.3 -14.5 44 954 0.00 2.47 0.00 0.000 6 0.000 0.045 2502 2137 3431

1278 -1.04 -146.6 146.7 -11.3 60 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2138 3431

1586 -1.04 -146.6 174.4 -8.1 75 1590 0.00 2.55 0.00 0.000 4 0.000 0.059 2502 723 3431

1686 -1.04 -146.6 183.1 -8.4 79 1692 0.00 2.47 0.00 0.000 6 0.000 0.046 2502 2129 3431

2002 -1.04 -146.6 215.7 -12.0 95 2006 0.00 2.55 0.00 0.000 4 0.000 0.062 2502 719 3431

2057 -1.04 -146.6 222.7 -12.3 97 2063 0.00 2.47 0.00 0.000 6 0.000 0.048 2502 2120 3431

2373 -1.04 -146.6 255.5 -9.1 113 2377 0.00 2.53 0.00 0.000 4 0.000 0.060 2502 719 3431

2424 -1.04 -146.6 260.5 -9.4 115 2428 0.00 2.47 0.00 0.000 6 0.000 0.049 2502 2118 3431

2740 -1.04 -146.6 293.2 -10.8 130 2744 0.00 2.53 0.00 0.000 4 0.000 0.061 2502 719 3431

2785 -1.04 -146.6 298.3 -10.9 132 2789 0.00 2.45 0.00 0.000 6 0.000 0.048 2502 2108 3431

3107 -1.04 -146.6 332.9 -10.9 148 3108 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2108 3431

3416 -1.04 -146.6 367.5 -11.0 163 3420 0.00 2.53 0.00 0.000 4 0.000 0.062 2502 717 3431

3466 -1.04 -146.6 373.4 -11.6 165 3470 0.00 2.45 0.00 0.000 6 0.000 0.049 2502 2099 3431

3782 -1.04 -146.6 409.1 -11.1 180 3786 0.00 2.50 0.00 0.000 4 0.000 0.061 2502 717 3430

3809 -1.04 -146.6 412.3 -11.3 181 3813 0.00 2.45 0.00 0.000 6 0.000 0.049 2502 2100 3430

4125 -1.04 -146.6 447.8 -11.6 196 4126 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2100 3430

4435 -1.04 -146.6 484.7 -12.4 211 4439 0.00 2.50 0.00 0.000 4 0.000 0.064 2502 724 3430

4474 -1.04 -146.6 490.1 -13.7 213 4479 0.00 2.42 0.00 0.000 6 0.000 0.051 2502 2094 3430

4802 -1.04 -146.6 534.3 -13.8 229 4806 0.00 2.50 0.00 0.000 4 0.000 0.062 2502 716 3430

4852 -1.07 -146.6 541.3 -13.3 231 4856 0.00 2.42 0.00 0.000 6 0.000 0.050 2502 2080 3429

5169 -1.07 -146.6 580.2 -11.3 246 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2080 3429

5478 -1.07 -146.6 611.2 -9.4 261 5482 0.00 2.47 0.00 0.000 4 0.000 0.064 2502 720 3429

5517 -1.07 -146.6 615.1 -9.4 263 5521 0.00 2.40 0.00 0.000 6 0.000 0.051 2502 2073 3429

5845 -1.07 -146.6 647.2 -11.5 279 5846 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2073 3429

6154 -1.07 -146.6 682.4 -9.5 294 6158 0.00 2.47 0.00 0.000 4 0.000 0.064 2502 715 3429

6181 -1.07 -146.6 684.8 -8.9 295 6185 0.00 2.38 0.00 0.000 6 0.000 0.051 2502 2050 3429

6497 -1.07 -146.6 708.6 -6.7 310 6502 0.00 2.70 0.00 0.000 4 0.000 0.071 2502 3535 3428

6577 -1.07 -146.6 714.8 -8.6 313 6583 0.00 2.65 0.00 0.000 6 0.000 0.058 2502 2062 3428

6893 -1.07 -146.6 744.8 -9.9 329 6894 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2052 3428

6973 end dive: BOTTOM_OBSTACLE_DETECTED

state 6973 begin apogee

6980 -0.33 0.0 752.7 9.6 333 7117 0.80 0.00 133.15 1.316 6 0.078 0.000 2674 1829 2831

7118 end apogee: CONTROL_FINISHED_OK

state 7118 begin climb

7121 1.22 146.6 756.6 0.0 340 7263 1.52 0.00 135.27 1.280 6 0.060 0.000 3008 1829 2233

7577 1.16 174.6 732.7 7.0 362 7611 0.00 2.72 26.67 1.216 4 0.000 0.066 3008 3255 2119

7758 1.10 174.6 717.2 9.4 370 7763 0.12 2.60 0.00 0.000 6 0.098 0.063 2986 1851 2118

8080 1.10 174.6 691.1 8.4 386 8084 0.00 2.60 0.00 0.000 4 0.000 0.067 2986 3253 2117

8158 1.10 174.6 684.7 8.5 389 8164 0.00 2.58 0.00 0.000 6 0.000 0.062 2985 1853 2117

8474 1.10 174.6 660.3 8.7 405 8478 0.00 2.60 0.00 0.000 4 0.000 0.065 2985 3259 2116

8536 1.12 186.3 654.9 7.6 408 8557 0.00 2.55 11.65 1.146 6 0.000 0.061 2986 1867 2071

8866 1.12 186.3 627.6 8.7 424 8871 0.00 2.60 0.00 0.000 4 0.000 0.071 2986 429 2070

8900 1.06 186.3 624.8 8.1 425 8907 0.00 2.58 0.00 0.000 6 0.000 0.053 2986 1867 2070

9217 1.27 315.8 606.9 3.3 441 9342 0.17 2.75 114.90 1.234 4 0.054 0.069 3034 444 1543

9366 1.16 315.8 599.4 8.2 448 9371 0.20 2.55 0.00 0.000 6 0.088 0.052 2996 1848 1544

9693 1.23 359.1 577.9 6.4 464 9735 0.00 0.00 39.70 1.174 6 0.000 0.000 2996 1864 1366

10043 1.30 377.4 555.9 7.3 481 10068 0.15 2.70 17.77 1.116 4 0.052 0.068 3034 445 1292

10109 1.24 377.4 548.5 11.9 484 10114 0.00 2.53 0.00 0.000 6 0.000 0.051 3034 1845 1292

10436 1.20 377.4 510.3 11.7 500 10441 0.15 2.55 0.00 0.000 4 0.090 0.061 3004 3260 1292

10464 1.24 377.4 507.2 10.6 501 10469 0.00 2.60 0.00 0.000 6 0.000 0.058 3004 1833 1292

10781 1.24 377.4 475.8 10.6 516 10782 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1834 1292

11090 1.24 377.4 444.4 10.1 531 11094 0.00 2.60 0.00 0.000 4 0.000 0.061 3004 3257 1293

11130 1.32 377.4 440.4 10.0 533 11135 0.12 2.58 0.00 0.000 6 0.055 0.057 3039 1838 1293

11458 1.28 377.4 401.6 11.8 549 11459 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1837 1293

11766 1.24 377.4 368.7 9.9 564 11768 0.12 0.00 0.00 0.000 6 0.092 0.000 3014 1838 1293

12075 1.24 377.4 342.0 9.2 579 12080 0.00 2.58 0.00 0.000 4 0.000 0.060 3014 3260 1293

12131 1.31 377.4 336.6 9.4 581 12137 0.00 2.55 0.00 0.000 6 0.000 0.054 3014 1844 1293

12447 1.31 377.4 298.7 13.1 597 12448 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 1843 1294

12756 1.31 377.4 256.0 14.2 612 12757 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 1843 1294

13066 1.31 377.4 212.9 14.2 627 13070 0.00 2.58 0.00 0.000 4 0.000 0.058 3014 3265 1294

13122 1.38 377.4 205.4 13.0 629 13128 0.15 2.53 0.00 0.000 6 0.052 0.051 3056 1853 1294

13438 1.30 377.4 159.6 13.4 645 13443 0.15 2.55 0.00 0.000 4 0.089 0.058 3026 3261 1294

13466 1.30 377.4 156.0 11.4 646 13470 0.00 2.50 0.00 0.000 6 0.000 0.051 3026 1859 1294

13782 1.30 377.4 122.3 12.6 661 13783 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 1859 1294

14091 1.30 377.4 90.4 9.4 676 14096 0.00 2.55 0.00 0.000 4 0.000 0.065 3026 435 1294

14125 1.30 377.4 86.4 11.8 677 14131 0.00 2.55 0.00 0.000 6 0.000 0.048 3026 1881 1294

14442 1.30 377.4 50.2 10.4 693 14447 0.00 2.42 0.00 0.000 4 0.000 0.058 3026 3256 1295

14484 1.37 377.4 45.8 9.8 695 14488 0.00 2.45 0.00 0.000 6 0.000 0.048 3026 1873 1295

14811 1.37 377.4 9.6 11.1 711 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 1874 1295

14869 end climb: SURFACE_DEPTH_REACHED

state 14870 begin surface coast

14891 end surface coast: CONTROL_FINISHED_OK

state 14891 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	128	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	54	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	-102624.9	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	011637,6321.571,-1312.877,31,1.7,31,-12.3	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.158,0.188
_SM_DEPTHo	1.25	KALMAN_X	-92844.3,-55.8,174.5,-147707.9,3427.6
_SM_ANGLEo	-55.9	KALMAN_Y	-11247.1,-1.1,-388.6,205955.9,1910.7
GPS2	012214,6321.546,-1312.862,14,1.7,14,-12.3	MHEAD_RNG_PITCHd_Wd	332.3,24978,-14.7,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.011980	ALTIM_BOTTOM_PING	695.1,65.9
SM_CCo	14975,0.00,0.000,0,0,1295,376.78	_24V_AH	23.8,23.758
SM_GC	1.52,11.20,0.00,0.00,0.035,0.000,0.000,420,2143,1295,-10.58,0.40,376.78	_10V_AH	10.1,10.712
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34903,715
TT8_MAMPS	0.029146	CAP_FILE_SIZE	114652,0
HUMID	1820	CFSIZE	254472192,244662272
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	41	GPS	200909,053355,6322.437,-1320.509,40,1.1,40,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	106.71	SBE_CT	488	24	278.91
Roll_motor	137	71	233.81	SBE_O2	534	19	241.75
VBD_pump_during_apogee	479	1316	15008.54	WL_BB2F	421	105	1053.42
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	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	42	160	162.77	nil	0	0	0.00
Iridium_during_xfer	136	223	722.20
Transponder_ping	16	420	164.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.53
TT8	1320	19	264.06
LPSleep	11295	2	249.85
TT8_Active	628	19	125.68
TT8_Sampling	1566	39	629.68
TT8_CF8	499	45	230.89
TT8_Kalman	33	81	27.56
Analog_circuits	1454	12	176.33
GPS_charging	0	0	0.00
Compass	1530	8	123.69
RAFOS	0	0	0.00
Transponder	42	30	13.02

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	101	0.00	0.00	-81.30	0.000	2	0.000	0.000	420	2152	2649
105	-1.22	-146.6	2.6	-1.9	4	152	11.43	2.62	-29.77	0.000	4	0.170	0.069	2470	705	3429
181	-1.11	-146.6	9.0	-13.0	7	188	0.15	2.47	0.00	0.000	6	0.100	0.045	2502	2111	3430
498	-1.07	-146.6	49.9	-13.8	23	502	0.00	2.58	0.00	0.000	4	0.000	0.062	2502	3538	3430
548	-1.04	-146.6	56.6	-13.4	25	552	0.00	2.50	0.00	0.000	6	0.000	0.046	2502	2122	3430
864	-1.04	-146.6	94.0	-13.4	40	869	0.00	2.47	0.00	0.000	4	0.000	0.057	2502	719	3430
950	-1.04	-146.6	106.3	-14.5	44	954	0.00	2.47	0.00	0.000	6	0.000	0.045	2502	2137	3431
1278	-1.04	-146.6	146.7	-11.3	60	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2138	3431
1586	-1.04	-146.6	174.4	-8.1	75	1590	0.00	2.55	0.00	0.000	4	0.000	0.059	2502	723	3431
1686	-1.04	-146.6	183.1	-8.4	79	1692	0.00	2.47	0.00	0.000	6	0.000	0.046	2502	2129	3431
2002	-1.04	-146.6	215.7	-12.0	95	2006	0.00	2.55	0.00	0.000	4	0.000	0.062	2502	719	3431
2057	-1.04	-146.6	222.7	-12.3	97	2063	0.00	2.47	0.00	0.000	6	0.000	0.048	2502	2120	3431
2373	-1.04	-146.6	255.5	-9.1	113	2377	0.00	2.53	0.00	0.000	4	0.000	0.060	2502	719	3431
2424	-1.04	-146.6	260.5	-9.4	115	2428	0.00	2.47	0.00	0.000	6	0.000	0.049	2502	2118	3431
2740	-1.04	-146.6	293.2	-10.8	130	2744	0.00	2.53	0.00	0.000	4	0.000	0.061	2502	719	3431
2785	-1.04	-146.6	298.3	-10.9	132	2789	0.00	2.45	0.00	0.000	6	0.000	0.048	2502	2108	3431
3107	-1.04	-146.6	332.9	-10.9	148	3108	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2108	3431
3416	-1.04	-146.6	367.5	-11.0	163	3420	0.00	2.53	0.00	0.000	4	0.000	0.062	2502	717	3431
3466	-1.04	-146.6	373.4	-11.6	165	3470	0.00	2.45	0.00	0.000	6	0.000	0.049	2502	2099	3431
3782	-1.04	-146.6	409.1	-11.1	180	3786	0.00	2.50	0.00	0.000	4	0.000	0.061	2502	717	3430
3809	-1.04	-146.6	412.3	-11.3	181	3813	0.00	2.45	0.00	0.000	6	0.000	0.049	2502	2100	3430
4125	-1.04	-146.6	447.8	-11.6	196	4126	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2100	3430
4435	-1.04	-146.6	484.7	-12.4	211	4439	0.00	2.50	0.00	0.000	4	0.000	0.064	2502	724	3430
4474	-1.04	-146.6	490.1	-13.7	213	4479	0.00	2.42	0.00	0.000	6	0.000	0.051	2502	2094	3430
4802	-1.04	-146.6	534.3	-13.8	229	4806	0.00	2.50	0.00	0.000	4	0.000	0.062	2502	716	3430
4852	-1.07	-146.6	541.3	-13.3	231	4856	0.00	2.42	0.00	0.000	6	0.000	0.050	2502	2080	3429
5169	-1.07	-146.6	580.2	-11.3	246	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2080	3429
5478	-1.07	-146.6	611.2	-9.4	261	5482	0.00	2.47	0.00	0.000	4	0.000	0.064	2502	720	3429
5517	-1.07	-146.6	615.1	-9.4	263	5521	0.00	2.40	0.00	0.000	6	0.000	0.051	2502	2073	3429
5845	-1.07	-146.6	647.2	-11.5	279	5846	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2073	3429
6154	-1.07	-146.6	682.4	-9.5	294	6158	0.00	2.47	0.00	0.000	4	0.000	0.064	2502	715	3429
6181	-1.07	-146.6	684.8	-8.9	295	6185	0.00	2.38	0.00	0.000	6	0.000	0.051	2502	2050	3429
6497	-1.07	-146.6	708.6	-6.7	310	6502	0.00	2.70	0.00	0.000	4	0.000	0.071	2502	3535	3428
6577	-1.07	-146.6	714.8	-8.6	313	6583	0.00	2.65	0.00	0.000	6	0.000	0.058	2502	2062	3428
6893	-1.07	-146.6	744.8	-9.9	329	6894	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2052	3428
6973	end dive: BOTTOM_OBSTACLE_DETECTED
state	6973	begin apogee
6980	-0.33	0.0	752.7	9.6	333	7117	0.80	0.00	133.15	1.316	6	0.078	0.000	2674	1829	2831
7118	end apogee: CONTROL_FINISHED_OK
state	7118	begin climb
7121	1.22	146.6	756.6	0.0	340	7263	1.52	0.00	135.27	1.280	6	0.060	0.000	3008	1829	2233
7577	1.16	174.6	732.7	7.0	362	7611	0.00	2.72	26.67	1.216	4	0.000	0.066	3008	3255	2119
7758	1.10	174.6	717.2	9.4	370	7763	0.12	2.60	0.00	0.000	6	0.098	0.063	2986	1851	2118
8080	1.10	174.6	691.1	8.4	386	8084	0.00	2.60	0.00	0.000	4	0.000	0.067	2986	3253	2117
8158	1.10	174.6	684.7	8.5	389	8164	0.00	2.58	0.00	0.000	6	0.000	0.062	2985	1853	2117
8474	1.10	174.6	660.3	8.7	405	8478	0.00	2.60	0.00	0.000	4	0.000	0.065	2985	3259	2116
8536	1.12	186.3	654.9	7.6	408	8557	0.00	2.55	11.65	1.146	6	0.000	0.061	2986	1867	2071
8866	1.12	186.3	627.6	8.7	424	8871	0.00	2.60	0.00	0.000	4	0.000	0.071	2986	429	2070
8900	1.06	186.3	624.8	8.1	425	8907	0.00	2.58	0.00	0.000	6	0.000	0.053	2986	1867	2070
9217	1.27	315.8	606.9	3.3	441	9342	0.17	2.75	114.90	1.234	4	0.054	0.069	3034	444	1543
9366	1.16	315.8	599.4	8.2	448	9371	0.20	2.55	0.00	0.000	6	0.088	0.052	2996	1848	1544
9693	1.23	359.1	577.9	6.4	464	9735	0.00	0.00	39.70	1.174	6	0.000	0.000	2996	1864	1366
10043	1.30	377.4	555.9	7.3	481	10068	0.15	2.70	17.77	1.116	4	0.052	0.068	3034	445	1292
10109	1.24	377.4	548.5	11.9	484	10114	0.00	2.53	0.00	0.000	6	0.000	0.051	3034	1845	1292
10436	1.20	377.4	510.3	11.7	500	10441	0.15	2.55	0.00	0.000	4	0.090	0.061	3004	3260	1292
10464	1.24	377.4	507.2	10.6	501	10469	0.00	2.60	0.00	0.000	6	0.000	0.058	3004	1833	1292
10781	1.24	377.4	475.8	10.6	516	10782	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1834	1292
11090	1.24	377.4	444.4	10.1	531	11094	0.00	2.60	0.00	0.000	4	0.000	0.061	3004	3257	1293
11130	1.32	377.4	440.4	10.0	533	11135	0.12	2.58	0.00	0.000	6	0.055	0.057	3039	1838	1293
11458	1.28	377.4	401.6	11.8	549	11459	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1837	1293
11766	1.24	377.4	368.7	9.9	564	11768	0.12	0.00	0.00	0.000	6	0.092	0.000	3014	1838	1293
12075	1.24	377.4	342.0	9.2	579	12080	0.00	2.58	0.00	0.000	4	0.000	0.060	3014	3260	1293
12131	1.31	377.4	336.6	9.4	581	12137	0.00	2.55	0.00	0.000	6	0.000	0.054	3014	1844	1293
12447	1.31	377.4	298.7	13.1	597	12448	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	1843	1294
12756	1.31	377.4	256.0	14.2	612	12757	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	1843	1294
13066	1.31	377.4	212.9	14.2	627	13070	0.00	2.58	0.00	0.000	4	0.000	0.058	3014	3265	1294
13122	1.38	377.4	205.4	13.0	629	13128	0.15	2.53	0.00	0.000	6	0.052	0.051	3056	1853	1294
13438	1.30	377.4	159.6	13.4	645	13443	0.15	2.55	0.00	0.000	4	0.089	0.058	3026	3261	1294
13466	1.30	377.4	156.0	11.4	646	13470	0.00	2.50	0.00	0.000	6	0.000	0.051	3026	1859	1294
13782	1.30	377.4	122.3	12.6	661	13783	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	1859	1294
14091	1.30	377.4	90.4	9.4	676	14096	0.00	2.55	0.00	0.000	4	0.000	0.065	3026	435	1294
14125	1.30	377.4	86.4	11.8	677	14131	0.00	2.55	0.00	0.000	6	0.000	0.048	3026	1881	1294
14442	1.30	377.4	50.2	10.4	693	14447	0.00	2.42	0.00	0.000	4	0.000	0.058	3026	3256	1295
14484	1.37	377.4	45.8	9.8	695	14488	0.00	2.45	0.00	0.000	6	0.000	0.048	3026	1873	1295
14811	1.37	377.4	9.6	11.1	711	14812	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	1874	1295
14869	end climb: SURFACE_DEPTH_REACHED
state	14870	begin surface coast
14891	end surface coast: CONTROL_FINISHED_OK
state	14891	begin surface