Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 151 * 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 151 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -103040.27 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 -103040.27

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 151 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 182330,6401.293,-1307.697,36,2.0,42,-12.5 TGT_NAME K1

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.204,-0.136

_SM_DEPTHo 1.30 KALMAN_X -71423.3,1706.7,-2239.0,-163670.4,34028.1

_SM_ANGLEo -63.9 KALMAN_Y -22297.1,1310.4,-622.8,289517.5,3211.2

GPS2 182837,6401.264,-1307.508,15,1.9,15,-12.5 MHEAD_RNG_PITCHd_Wd 248.9,20961,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026940 ALTIM_BOTTOM_PING 571.4,86.9

SM_CCo 13944,29.35,0.788,0,0,1608,300.00 _24V_AH 23.8,27.432

SM_GC 1.31,0.00,0.00,29.35,0.000,0.000,0.788,417,2138,1608,-10.71,0.23,300.00 _10V_AH 10.1,12.295

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44399,836

TT8_MAMPS 0.029146 CAP_FILE_SIZE 114607,0

HUMID 1821 CFSIZE 254472192,243404800

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 35 GPS 230909,222337,6359.722,-1307.254,36,1.0,36,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 102.36 SBE_CT 572 24 327.26

Roll_motor 128 79 240.95 SBE_O2 612 19 276.86

VBD_pump_during_apogee 352 1256 10549.83 WL_BB2F 502 105 1255.03

VBD_pump_during_surface 29 788 550.77 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 35 160 134.39 nil 0 0 0.00

Iridium_during_xfer 120 223 641.11

Transponder_ping 13 420 137.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.84

TT8 1474 19 294.89

LPSleep 10157 2 224.68

TT8_Active 510 19 102.05

TT8_Sampling 1665 39 669.49

TT8_CF8 477 45 221.01

TT8_Kalman 33 81 27.56

Analog_circuits 1348 12 163.49

GPS_charging 0 0 0.00

Compass 1630 8 131.75

RAFOS 0 0 0.00

Transponder 34 30 10.54

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

15 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.28 0.000 2 0.000 0.000 417 2143 2776

83 -1.22 -146.6 2.8 -3.5 3 119 11.50 0.00 -21.12 0.000 6 0.163 0.000 2472 2143 3430

431 -1.13 -146.6 45.9 -12.7 20 433 0.12 0.00 0.00 0.000 6 0.110 0.000 2497 2143 3430

738 -1.13 -146.6 81.8 -12.0 35 742 0.00 2.50 0.00 0.000 4 0.000 0.062 2497 3534 3431

778 -1.13 -146.6 87.0 -13.5 37 782 0.00 2.50 0.00 0.000 6 0.000 0.047 2497 2120 3431

1106 -1.13 -146.6 120.5 -8.9 53 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2108 3431

1414 -1.13 -146.6 147.7 -9.3 68 1418 0.00 2.58 0.00 0.000 4 0.000 0.064 2497 3533 3431

1497 -1.13 -146.6 156.3 -10.1 73 1501 0.00 2.47 0.00 0.000 6 0.000 0.048 2497 2137 3431

1817 -1.13 -146.6 188.5 -9.6 93 1821 0.00 2.55 0.00 0.000 4 0.000 0.064 2497 3537 3431

1884 -1.13 -146.6 195.5 -10.3 97 1888 0.00 2.47 0.00 0.000 6 0.000 0.050 2497 2144 3431

2203 -1.13 -146.6 225.7 -9.5 117 2204 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2131 3431

2515 -1.13 -146.6 259.4 -10.8 137 2519 0.00 2.55 0.00 0.000 4 0.000 0.067 2497 3538 3431

2543 -1.13 -146.6 262.5 -10.8 139 2548 0.00 2.47 0.00 0.000 6 0.000 0.052 2497 2150 3431

2871 -1.13 -146.6 296.2 -10.4 160 2872 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2138 3431

3180 -1.13 -146.6 327.6 -10.1 180 3185 0.00 2.55 0.00 0.000 4 0.000 0.068 2498 3531 3431

3202 -1.13 -146.6 329.9 -9.9 181 3209 0.00 2.45 0.00 0.000 6 0.000 0.054 2497 2164 3431

3522 -1.13 -146.6 362.7 -10.8 202 3526 0.00 2.53 0.00 0.000 4 0.000 0.069 2498 3529 3431

3571 -1.13 -146.6 368.6 -11.5 205 3576 0.00 2.42 0.00 0.000 6 0.000 0.054 2497 2174 3431

3891 -1.13 -146.6 402.2 -9.9 225 3895 0.00 2.53 0.00 0.000 4 0.000 0.070 2498 3537 3431

3924 -1.13 -146.6 405.7 -10.3 227 3928 0.00 2.42 0.00 0.000 6 0.000 0.056 2497 2187 3430

4243 -1.13 -146.6 434.9 -9.5 247 4247 0.00 2.62 0.00 0.000 4 0.000 0.063 2498 715 3431

4264 -1.13 -146.6 437.1 -9.8 248 4270 0.00 2.60 0.00 0.000 6 0.000 0.051 2497 2177 3431

4584 -1.13 -146.6 462.2 -7.0 269 4585 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2179 3430

4897 -1.13 -146.6 490.9 -11.1 289 4901 0.00 2.65 0.00 0.000 4 0.000 0.064 2498 719 3430

4919 -1.13 -146.6 493.4 -9.9 290 4925 0.00 2.60 0.00 0.000 6 0.000 0.053 2497 2184 3430

5238 -1.13 -146.6 529.6 -11.0 311 5243 0.00 2.67 0.00 0.000 4 0.000 0.067 2498 718 3430

5260 -1.13 -146.6 532.3 -11.5 312 5267 0.00 2.60 0.00 0.000 6 0.000 0.054 2498 2176 3430

5580 -1.13 -146.6 562.1 -11.3 333 5581 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2176 3429

5892 -1.13 -146.6 594.5 -13.3 353 5896 0.00 2.67 0.00 0.000 4 0.000 0.072 2497 723 3429

5947 -1.13 -146.6 599.7 -9.6 356 5953 0.00 2.55 0.00 0.000 6 0.000 0.057 2498 2143 3428

6266 -1.13 -146.6 634.0 -12.8 377 6270 0.00 2.60 0.00 0.000 4 0.000 0.070 2497 722 3427

6352 -1.19 -146.6 641.8 -13.2 382 6356 0.00 2.50 0.00 0.000 6 0.000 0.058 2497 2120 3427

6423 end dive: BOTTOM_OBSTACLE_DETECTED

state 6423 begin apogee

6431 -0.33 0.0 649.0 9.6 387 6565 0.80 0.00 130.68 1.256 6 0.081 0.000 2668 1838 2832

6566 end apogee: CONTROL_FINISHED_OK

state 6566 begin climb

6569 1.22 146.6 650.4 0.0 396 6709 1.55 2.65 128.50 1.223 4 0.062 0.076 3008 468 2233

6774 1.11 146.6 633.7 12.2 408 6780 0.00 2.53 0.00 0.000 6 0.000 0.056 3008 1855 2233

7093 1.05 166.6 609.1 7.3 429 7115 0.17 0.00 18.90 1.138 6 0.102 0.000 2974 1871 2151

7426 1.17 213.8 586.6 6.3 450 7475 0.12 2.62 42.15 1.194 4 0.061 0.070 3004 3254 1958

7556 1.14 213.8 574.5 10.2 457 7562 0.00 2.60 0.00 0.000 6 0.000 0.066 3004 1857 1958

7876 1.10 215.3 547.6 7.9 478 7881 0.00 2.62 0.00 0.000 4 0.000 0.079 3004 436 1957

7923 1.01 215.3 543.2 9.6 481 7928 0.20 2.50 0.00 0.000 6 0.096 0.058 2965 1827 1957

8251 1.06 215.3 521.3 8.2 502 8252 0.00 0.00 0.00 0.000 6 0.000 0.000 2965 1842 1957

8560 1.10 215.3 495.5 8.3 522 8565 0.00 2.60 0.00 0.000 4 0.000 0.068 2965 3257 1957

8595 1.17 219.2 492.7 7.9 524 8607 0.17 2.65 5.65 0.913 6 0.056 0.064 3008 1817 1937

8922 1.13 219.2 457.1 11.4 545 8923 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1817 1937

9231 1.09 219.2 423.7 10.5 565 9236 0.15 2.65 0.00 0.000 4 0.093 0.064 2979 3256 1937

9345 1.13 219.2 413.4 8.6 572 9350 0.00 2.58 0.00 0.000 6 0.000 0.059 2979 1834 1936

9670 1.13 219.2 382.6 10.8 593 9674 0.00 2.60 0.00 0.000 4 0.000 0.063 2979 3255 1936

9703 1.17 219.2 379.0 10.8 595 9707 0.00 2.55 0.00 0.000 6 0.000 0.057 2978 1847 1936

10023 1.21 219.2 347.8 9.8 615 10028 0.12 2.58 0.00 0.000 4 0.058 0.061 3013 3255 1936

10073 1.18 219.2 341.9 11.9 618 10078 0.00 2.50 0.00 0.000 6 0.000 0.056 3013 1869 1936

10393 1.13 219.2 306.7 10.7 638 10397 0.00 2.58 0.00 0.000 4 0.000 0.069 3012 440 1936

10422 1.05 219.2 303.3 12.6 640 10427 0.20 2.55 0.00 0.000 6 0.087 0.050 2974 1879 1937

10751 1.11 219.2 274.8 8.5 661 10755 0.00 2.45 0.00 0.000 4 0.000 0.060 2974 3257 1937

10781 1.17 219.2 271.9 9.3 663 10785 0.12 2.47 0.00 0.000 6 0.056 0.054 3008 1870 1937

11107 1.14 219.2 241.5 9.6 684 11109 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1870 1937

11417 1.14 219.2 211.7 9.6 704 11422 0.00 2.53 0.00 0.000 4 0.000 0.060 3008 3262 1938

11456 1.14 219.2 207.6 10.5 706 11463 0.00 2.47 0.00 0.000 6 0.000 0.052 3008 1874 1938

11775 1.14 219.2 178.8 8.6 727 11776 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1874 1938

12088 1.14 219.2 152.6 8.4 747 12089 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1874 1939

12403 1.14 219.2 127.0 8.0 763 12407 0.00 2.50 0.00 0.000 4 0.000 0.058 3008 3259 1939

12448 1.16 228.0 123.2 7.7 765 12465 0.00 2.42 9.30 0.797 6 0.000 0.050 3008 1893 1900

12777 1.17 233.6 97.9 7.8 781 12785 0.00 0.00 6.70 0.735 6 0.000 0.000 3008 1893 1878

13085 1.17 233.6 73.7 8.0 796 13087 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1893 1878

13393 1.17 233.6 45.4 10.1 811 13398 0.00 2.60 0.00 0.000 4 0.000 0.064 3008 439 1878

13438 1.12 233.6 40.2 11.4 813 13443 0.00 2.60 0.00 0.000 6 0.000 0.046 3008 1916 1878

13761 1.14 245.2 13.2 7.6 829 13776 0.00 2.40 10.95 0.751 4 0.000 0.058 3008 3255 1830

13827 1.14 245.2 7.8 8.9 831 13831 0.00 2.40 0.00 0.000 6 0.000 0.048 3008 1910 1830

13900 end climb: SURFACE_DEPTH_REACHED

state 13900 begin surface coast

13921 end surface coast: CONTROL_FINISHED_OK

state 13921 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	151	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-103040.27	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	182330,6401.293,-1307.697,36,2.0,42,-12.5	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.204,-0.136
_SM_DEPTHo	1.30	KALMAN_X	-71423.3,1706.7,-2239.0,-163670.4,34028.1
_SM_ANGLEo	-63.9	KALMAN_Y	-22297.1,1310.4,-622.8,289517.5,3211.2
GPS2	182837,6401.264,-1307.508,15,1.9,15,-12.5	MHEAD_RNG_PITCHd_Wd	248.9,20961,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.026940	ALTIM_BOTTOM_PING	571.4,86.9
SM_CCo	13944,29.35,0.788,0,0,1608,300.00	_24V_AH	23.8,27.432
SM_GC	1.31,0.00,0.00,29.35,0.000,0.000,0.788,417,2138,1608,-10.71,0.23,300.00	_10V_AH	10.1,12.295
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44399,836
TT8_MAMPS	0.029146	CAP_FILE_SIZE	114607,0
HUMID	1821	CFSIZE	254472192,243404800
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	35	GPS	230909,222337,6359.722,-1307.254,36,1.0,36,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	102.36	SBE_CT	572	24	327.26
Roll_motor	128	79	240.95	SBE_O2	612	19	276.86
VBD_pump_during_apogee	352	1256	10549.83	WL_BB2F	502	105	1255.03
VBD_pump_during_surface	29	788	550.77	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	35	160	134.39	nil	0	0	0.00
Iridium_during_xfer	120	223	641.11
Transponder_ping	13	420	137.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.84
TT8	1474	19	294.89
LPSleep	10157	2	224.68
TT8_Active	510	19	102.05
TT8_Sampling	1665	39	669.49
TT8_CF8	477	45	221.01
TT8_Kalman	33	81	27.56
Analog_circuits	1348	12	163.49
GPS_charging	0	0	0.00
Compass	1630	8	131.75
RAFOS	0	0	0.00
Transponder	34	30	10.54

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
15	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.28	0.000	2	0.000	0.000	417	2143	2776
83	-1.22	-146.6	2.8	-3.5	3	119	11.50	0.00	-21.12	0.000	6	0.163	0.000	2472	2143	3430
431	-1.13	-146.6	45.9	-12.7	20	433	0.12	0.00	0.00	0.000	6	0.110	0.000	2497	2143	3430
738	-1.13	-146.6	81.8	-12.0	35	742	0.00	2.50	0.00	0.000	4	0.000	0.062	2497	3534	3431
778	-1.13	-146.6	87.0	-13.5	37	782	0.00	2.50	0.00	0.000	6	0.000	0.047	2497	2120	3431
1106	-1.13	-146.6	120.5	-8.9	53	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2108	3431
1414	-1.13	-146.6	147.7	-9.3	68	1418	0.00	2.58	0.00	0.000	4	0.000	0.064	2497	3533	3431
1497	-1.13	-146.6	156.3	-10.1	73	1501	0.00	2.47	0.00	0.000	6	0.000	0.048	2497	2137	3431
1817	-1.13	-146.6	188.5	-9.6	93	1821	0.00	2.55	0.00	0.000	4	0.000	0.064	2497	3537	3431
1884	-1.13	-146.6	195.5	-10.3	97	1888	0.00	2.47	0.00	0.000	6	0.000	0.050	2497	2144	3431
2203	-1.13	-146.6	225.7	-9.5	117	2204	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2131	3431
2515	-1.13	-146.6	259.4	-10.8	137	2519	0.00	2.55	0.00	0.000	4	0.000	0.067	2497	3538	3431
2543	-1.13	-146.6	262.5	-10.8	139	2548	0.00	2.47	0.00	0.000	6	0.000	0.052	2497	2150	3431
2871	-1.13	-146.6	296.2	-10.4	160	2872	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2138	3431
3180	-1.13	-146.6	327.6	-10.1	180	3185	0.00	2.55	0.00	0.000	4	0.000	0.068	2498	3531	3431
3202	-1.13	-146.6	329.9	-9.9	181	3209	0.00	2.45	0.00	0.000	6	0.000	0.054	2497	2164	3431
3522	-1.13	-146.6	362.7	-10.8	202	3526	0.00	2.53	0.00	0.000	4	0.000	0.069	2498	3529	3431
3571	-1.13	-146.6	368.6	-11.5	205	3576	0.00	2.42	0.00	0.000	6	0.000	0.054	2497	2174	3431
3891	-1.13	-146.6	402.2	-9.9	225	3895	0.00	2.53	0.00	0.000	4	0.000	0.070	2498	3537	3431
3924	-1.13	-146.6	405.7	-10.3	227	3928	0.00	2.42	0.00	0.000	6	0.000	0.056	2497	2187	3430
4243	-1.13	-146.6	434.9	-9.5	247	4247	0.00	2.62	0.00	0.000	4	0.000	0.063	2498	715	3431
4264	-1.13	-146.6	437.1	-9.8	248	4270	0.00	2.60	0.00	0.000	6	0.000	0.051	2497	2177	3431
4584	-1.13	-146.6	462.2	-7.0	269	4585	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2179	3430
4897	-1.13	-146.6	490.9	-11.1	289	4901	0.00	2.65	0.00	0.000	4	0.000	0.064	2498	719	3430
4919	-1.13	-146.6	493.4	-9.9	290	4925	0.00	2.60	0.00	0.000	6	0.000	0.053	2497	2184	3430
5238	-1.13	-146.6	529.6	-11.0	311	5243	0.00	2.67	0.00	0.000	4	0.000	0.067	2498	718	3430
5260	-1.13	-146.6	532.3	-11.5	312	5267	0.00	2.60	0.00	0.000	6	0.000	0.054	2498	2176	3430
5580	-1.13	-146.6	562.1	-11.3	333	5581	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2176	3429
5892	-1.13	-146.6	594.5	-13.3	353	5896	0.00	2.67	0.00	0.000	4	0.000	0.072	2497	723	3429
5947	-1.13	-146.6	599.7	-9.6	356	5953	0.00	2.55	0.00	0.000	6	0.000	0.057	2498	2143	3428
6266	-1.13	-146.6	634.0	-12.8	377	6270	0.00	2.60	0.00	0.000	4	0.000	0.070	2497	722	3427
6352	-1.19	-146.6	641.8	-13.2	382	6356	0.00	2.50	0.00	0.000	6	0.000	0.058	2497	2120	3427
6423	end dive: BOTTOM_OBSTACLE_DETECTED
state	6423	begin apogee
6431	-0.33	0.0	649.0	9.6	387	6565	0.80	0.00	130.68	1.256	6	0.081	0.000	2668	1838	2832
6566	end apogee: CONTROL_FINISHED_OK
state	6566	begin climb
6569	1.22	146.6	650.4	0.0	396	6709	1.55	2.65	128.50	1.223	4	0.062	0.076	3008	468	2233
6774	1.11	146.6	633.7	12.2	408	6780	0.00	2.53	0.00	0.000	6	0.000	0.056	3008	1855	2233
7093	1.05	166.6	609.1	7.3	429	7115	0.17	0.00	18.90	1.138	6	0.102	0.000	2974	1871	2151
7426	1.17	213.8	586.6	6.3	450	7475	0.12	2.62	42.15	1.194	4	0.061	0.070	3004	3254	1958
7556	1.14	213.8	574.5	10.2	457	7562	0.00	2.60	0.00	0.000	6	0.000	0.066	3004	1857	1958
7876	1.10	215.3	547.6	7.9	478	7881	0.00	2.62	0.00	0.000	4	0.000	0.079	3004	436	1957
7923	1.01	215.3	543.2	9.6	481	7928	0.20	2.50	0.00	0.000	6	0.096	0.058	2965	1827	1957
8251	1.06	215.3	521.3	8.2	502	8252	0.00	0.00	0.00	0.000	6	0.000	0.000	2965	1842	1957
8560	1.10	215.3	495.5	8.3	522	8565	0.00	2.60	0.00	0.000	4	0.000	0.068	2965	3257	1957
8595	1.17	219.2	492.7	7.9	524	8607	0.17	2.65	5.65	0.913	6	0.056	0.064	3008	1817	1937
8922	1.13	219.2	457.1	11.4	545	8923	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1817	1937
9231	1.09	219.2	423.7	10.5	565	9236	0.15	2.65	0.00	0.000	4	0.093	0.064	2979	3256	1937
9345	1.13	219.2	413.4	8.6	572	9350	0.00	2.58	0.00	0.000	6	0.000	0.059	2979	1834	1936
9670	1.13	219.2	382.6	10.8	593	9674	0.00	2.60	0.00	0.000	4	0.000	0.063	2979	3255	1936
9703	1.17	219.2	379.0	10.8	595	9707	0.00	2.55	0.00	0.000	6	0.000	0.057	2978	1847	1936
10023	1.21	219.2	347.8	9.8	615	10028	0.12	2.58	0.00	0.000	4	0.058	0.061	3013	3255	1936
10073	1.18	219.2	341.9	11.9	618	10078	0.00	2.50	0.00	0.000	6	0.000	0.056	3013	1869	1936
10393	1.13	219.2	306.7	10.7	638	10397	0.00	2.58	0.00	0.000	4	0.000	0.069	3012	440	1936
10422	1.05	219.2	303.3	12.6	640	10427	0.20	2.55	0.00	0.000	6	0.087	0.050	2974	1879	1937
10751	1.11	219.2	274.8	8.5	661	10755	0.00	2.45	0.00	0.000	4	0.000	0.060	2974	3257	1937
10781	1.17	219.2	271.9	9.3	663	10785	0.12	2.47	0.00	0.000	6	0.056	0.054	3008	1870	1937
11107	1.14	219.2	241.5	9.6	684	11109	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1870	1937
11417	1.14	219.2	211.7	9.6	704	11422	0.00	2.53	0.00	0.000	4	0.000	0.060	3008	3262	1938
11456	1.14	219.2	207.6	10.5	706	11463	0.00	2.47	0.00	0.000	6	0.000	0.052	3008	1874	1938
11775	1.14	219.2	178.8	8.6	727	11776	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1874	1938
12088	1.14	219.2	152.6	8.4	747	12089	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1874	1939
12403	1.14	219.2	127.0	8.0	763	12407	0.00	2.50	0.00	0.000	4	0.000	0.058	3008	3259	1939
12448	1.16	228.0	123.2	7.7	765	12465	0.00	2.42	9.30	0.797	6	0.000	0.050	3008	1893	1900
12777	1.17	233.6	97.9	7.8	781	12785	0.00	0.00	6.70	0.735	6	0.000	0.000	3008	1893	1878
13085	1.17	233.6	73.7	8.0	796	13087	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1893	1878
13393	1.17	233.6	45.4	10.1	811	13398	0.00	2.60	0.00	0.000	4	0.000	0.064	3008	439	1878
13438	1.12	233.6	40.2	11.4	813	13443	0.00	2.60	0.00	0.000	6	0.000	0.046	3008	1916	1878
13761	1.14	245.2	13.2	7.6	829	13776	0.00	2.40	10.95	0.751	4	0.000	0.058	3008	3255	1830
13827	1.14	245.2	7.8	8.9	831	13831	0.00	2.40	0.00	0.000	6	0.000	0.048	3008	1910	1830
13900	end climb: SURFACE_DEPTH_REACHED
state	13900	begin surface coast
13921	end surface coast: CONTROL_FINISHED_OK
state	13921	begin surface