Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 181 * 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 181 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 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 -146565.09 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 0 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 550

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 -146565.09

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

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 0 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 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 181 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 140600,6254.719,-1149.810,74,1.2,74,-11.3 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6130.000,-930.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.218,-0.012

_SM_DEPTHo 1.49 KALMAN_X -9574.8,404.2,-2.3,16272.1,-13959.6

_SM_ANGLEo -61.0 KALMAN_Y 6612.1,-653.2,-558.6,-19608.3,9424.8

GPS2 141145,6254.679,-1149.747,17,1.4,17,-11.3 MHEAD_RNG_PITCHd_Wd 104.4,199612,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027480 ALTIM_BOTTOM_PING 500.1,52.4

SM_CCo 14221,0.00,0.000,0,0,1439,358.87 _24V_AH 23.4,34.520

SM_GC 1.12,11.70,0.00,0.00,0.028,0.000,0.000,45,2635,1439,-10.92,-0.42,358.87 _10V_AH 10.1,19.072

IRIDIUM_FIX 6230.49,-1153.81,260698,101011 DATA_FILE_SIZE 34927,678

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102725,0

HUMID 1786 CFSIZE 260165632,246792192

INTERNAL_PRESSURE 8.53548 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 010409,181106,6250.613,-1148.265,43,1.7,48,-11.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 95.46 SBE_CT 486 24 273.50

Roll_motor 119 102 286.03 SBE_O2 491 19 218.59

VBD_pump_during_apogee 429 1035 10394.47 WL_BB2F 467 105 1147.76

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 26 103 63.61 nil 0 0 0.00

Iridium_during_connect 27 160 103.67 nil 0 0 0.00

Iridium_during_xfer 173 223 905.86

Transponder_ping 4 420 44.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.98

TT8 1256 19 251.20

LPSleep 10786 2 238.59

TT8_Active 486 19 97.39

TT8_Sampling 1542 39 620.16

TT8_CF8 498 45 230.49

TT8_Kalman 33 81 27.57

Analog_circuits 1288 12 156.13

GPS_charging 0 0 0.00

Compass 1509 8 121.94

RAFOS 0 0 0.00

Transponder 32 30 9.73

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.10 -146.6 0.0 0.0 0 59 0.00 0.00 -41.28 0.000 2 0.000 0.000 50 2669 3265

62 -1.10 -146.6 3.7 -10.9 2 85 12.05 2.12 -3.97 0.000 4 0.156 0.102 2195 3770 3503

321 -1.10 -146.6 32.0 -5.6 13 325 0.00 2.08 0.00 0.000 6 0.000 0.067 2195 2655 3503

643 -1.10 -146.6 57.6 -8.0 29 644 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2656 3503

952 -1.10 -146.6 80.3 -6.5 44 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2655 3502

1261 -1.10 -146.6 101.9 -7.2 59 1263 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2656 3502

1571 -1.10 -146.6 121.8 -6.7 74 1572 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2656 3502

1882 -1.10 -146.6 142.0 -6.6 89 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2655 3503

2189 -1.10 -146.6 162.6 -6.4 104 2192 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3768 3503

2222 -1.10 -146.6 164.9 -6.7 105 2226 0.00 2.08 0.00 0.000 6 0.000 0.062 2195 2637 3503

2544 -1.10 -146.6 184.4 -6.1 121 2545 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2637 3503

2853 -1.10 -146.6 203.7 -6.8 136 2857 0.00 2.17 0.00 0.000 4 0.000 0.088 2196 3765 3503

2921 -1.10 -146.6 209.2 -8.8 139 2925 0.00 2.05 0.00 0.000 6 0.000 0.062 2196 2645 3503

3254 -1.10 -146.6 240.5 -10.2 155 3255 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2645 3502

3563 -1.10 -146.6 273.8 -10.3 170 3567 0.00 2.17 0.00 0.000 4 0.000 0.091 2195 3764 3503

3614 -1.10 -146.6 278.8 -9.6 172 3617 0.00 2.05 0.00 0.000 6 0.000 0.061 2195 2643 3503

3942 -1.10 -146.6 306.4 -7.9 188 3943 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2642 3503

4250 -1.10 -146.6 329.4 -7.0 203 4254 0.00 2.17 0.00 0.000 4 0.000 0.089 2195 3770 3503

4289 -1.10 -146.6 332.3 -7.4 204 4295 0.00 2.05 0.00 0.000 6 0.000 0.061 2195 2647 3503

4605 -1.10 -146.6 358.9 -8.9 220 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2647 3503

4914 -1.10 -146.6 384.5 -7.7 235 4915 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2647 3503

5223 -1.10 -146.6 406.9 -6.6 250 5227 0.00 2.15 0.00 0.000 4 0.000 0.085 2196 3772 3503

5262 -1.10 -146.6 409.6 -7.1 251 5268 0.00 2.05 0.00 0.000 6 0.000 0.058 2195 2643 3503

5581 -1.10 -146.6 425.3 -4.6 267 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3503

5887 -1.10 -146.6 448.1 -9.1 282 5889 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2643 3503

6197 -1.10 -146.6 469.9 -4.9 297 6201 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3765 3503

6231 -1.10 -146.6 471.6 -4.7 298 6235 0.00 2.03 0.00 0.000 6 0.000 0.058 2195 2648 3503

6553 -1.10 -146.6 493.7 -8.9 314 6556 0.00 2.15 0.00 0.000 4 0.000 0.087 2195 3768 3503

6626 -1.10 -146.6 501.4 -11.0 317 6630 0.00 2.03 0.00 0.000 6 0.000 0.058 2195 2650 3503

6953 -1.10 -146.6 533.7 -8.7 333 6957 0.00 2.58 0.00 0.000 4 0.000 0.068 2195 1235 3502

6981 -1.10 -146.6 536.1 -8.5 334 6986 0.00 2.55 0.00 0.000 6 0.000 0.060 2195 2630 3502

7073 end dive: BOTTOM_OBSTACLE_DETECTED

state 7073 begin apogee

7082 -0.42 0.0 544.3 8.5 339 7208 0.77 0.00 122.95 1.035 6 0.106 0.000 2346 1987 2902

7208 end apogee: CONTROL_FINISHED_OK

state 7209 begin climb

7212 1.10 146.6 548.8 0.0 345 7341 1.55 2.65 120.85 1.006 4 0.055 0.063 2679 580 2304

7594 1.12 159.2 539.8 5.7 362 7613 0.00 2.53 12.23 0.928 6 0.000 0.038 2679 2015 2252

7930 1.23 252.7 526.6 3.4 379 8014 0.12 2.72 76.43 1.022 4 0.045 0.066 2720 588 1872

8057 1.26 273.5 521.4 5.4 384 8084 0.00 2.53 18.90 0.954 6 0.000 0.039 2720 2007 1787

8394 1.26 273.5 503.9 6.3 401 8395 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 2007 1786

8703 1.26 273.5 472.9 11.6 416 8708 0.00 2.62 0.00 0.000 4 0.000 0.073 2720 3410 1785

8759 1.26 273.5 465.8 13.1 418 8765 0.00 2.60 0.00 0.000 6 0.000 0.054 2720 1986 1785

9075 1.26 273.5 429.1 9.9 434 9076 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1986 1785

9385 1.31 318.5 410.1 4.8 449 9428 0.00 2.78 37.60 0.966 4 0.000 0.067 2720 3403 1603

9497 1.35 343.8 404.6 5.3 454 9526 0.00 2.58 22.08 0.928 6 0.000 0.054 2720 1994 1500

9849 1.35 350.1 386.8 5.8 471 9863 0.00 2.75 7.12 0.806 4 0.000 0.069 2720 3410 1474

9887 1.35 350.1 384.1 6.7 472 9893 0.00 2.60 0.00 0.000 6 0.000 0.053 2720 1992 1474

10203 1.36 354.7 364.5 5.9 488 10214 0.00 2.67 5.45 0.729 4 0.000 0.069 2720 3405 1455

10243 1.36 359.0 362.2 5.9 490 10254 0.00 2.58 5.40 0.722 6 0.000 0.054 2720 1994 1438

10571 1.36 359.6 343.3 6.0 506 10575 0.00 2.65 0.00 0.000 4 0.000 0.070 2720 3410 1438

10610 1.36 359.6 340.3 7.5 508 10614 0.00 2.58 0.00 0.000 6 0.000 0.054 2720 1998 1438

10937 1.36 359.6 312.6 9.2 524 10941 0.00 2.62 0.00 0.000 4 0.000 0.071 2720 3403 1438

10981 1.36 359.6 308.0 10.2 526 10985 0.00 2.58 0.00 0.000 6 0.000 0.056 2720 1994 1439

11302 1.36 359.6 275.9 10.5 542 11306 0.00 2.65 0.00 0.000 4 0.000 0.071 2720 3403 1438

11329 1.36 359.6 272.7 11.5 543 11334 0.00 2.58 0.00 0.000 6 0.000 0.057 2720 1994 1438

11645 1.36 359.6 238.3 11.0 558 11649 0.00 2.65 0.00 0.000 4 0.000 0.071 2720 3408 1438

11689 1.36 359.6 233.5 10.8 560 11693 0.00 2.58 0.00 0.000 6 0.000 0.056 2720 1998 1438

12011 1.36 359.6 200.9 10.2 576 12015 0.00 2.65 0.00 0.000 4 0.000 0.071 2720 3410 1438

12055 1.36 359.6 196.1 10.3 578 12059 0.00 2.58 0.00 0.000 6 0.000 0.056 2720 1997 1438

12376 1.36 359.6 162.7 10.5 594 12380 0.00 2.65 0.00 0.000 4 0.000 0.071 2720 3410 1439

12431 1.36 359.6 156.7 10.2 596 12437 0.00 2.58 0.00 0.000 6 0.000 0.057 2720 2000 1439

12747 1.36 359.6 124.0 9.8 612 12752 0.00 2.62 0.00 0.000 4 0.000 0.071 2720 3403 1439

12775 1.36 359.6 121.3 9.8 613 12780 0.00 2.58 0.00 0.000 6 0.000 0.057 2720 1990 1439

13092 1.36 359.6 91.5 9.7 628 13096 0.00 2.65 0.00 0.000 4 0.000 0.071 2720 3406 1439

13119 1.36 359.6 88.6 10.5 629 13123 0.00 2.58 0.00 0.000 6 0.000 0.056 2720 1994 1439

13437 1.36 359.6 62.5 7.5 644 13438 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1994 1439

13745 1.36 359.6 35.5 9.6 659 13749 0.00 2.65 0.00 0.000 4 0.000 0.073 2720 3403 1439

13800 1.36 359.6 29.0 11.6 661 13806 0.00 2.55 0.00 0.000 6 0.000 0.058 2720 1998 1439

14113 end climb: SURFACE_DEPTH_REACHED

state 14113 begin surface coast

14137 end surface coast: CONTROL_FINISHED_OK

state 14137 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	181	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	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	-146565.09	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	0	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	140600,6254.719,-1149.810,74,1.2,74,-11.3	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6130.000,-930.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.218,-0.012
_SM_DEPTHo	1.49	KALMAN_X	-9574.8,404.2,-2.3,16272.1,-13959.6
_SM_ANGLEo	-61.0	KALMAN_Y	6612.1,-653.2,-558.6,-19608.3,9424.8
GPS2	141145,6254.679,-1149.747,17,1.4,17,-11.3	MHEAD_RNG_PITCHd_Wd	104.4,199612,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.5,1.027480	ALTIM_BOTTOM_PING	500.1,52.4
SM_CCo	14221,0.00,0.000,0,0,1439,358.87	_24V_AH	23.4,34.520
SM_GC	1.12,11.70,0.00,0.00,0.028,0.000,0.000,45,2635,1439,-10.92,-0.42,358.87	_10V_AH	10.1,19.072
IRIDIUM_FIX	6230.49,-1153.81,260698,101011	DATA_FILE_SIZE	34927,678
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102725,0
HUMID	1786	CFSIZE	260165632,246792192
INTERNAL_PRESSURE	8.53548	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	010409,181106,6250.613,-1148.265,43,1.7,48,-11.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	95.46	SBE_CT	486	24	273.50
Roll_motor	119	102	286.03	SBE_O2	491	19	218.59
VBD_pump_during_apogee	429	1035	10394.47	WL_BB2F	467	105	1147.76
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	26	103	63.61	nil	0	0	0.00
Iridium_during_connect	27	160	103.67	nil	0	0	0.00
Iridium_during_xfer	173	223	905.86
Transponder_ping	4	420	44.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.98
TT8	1256	19	251.20
LPSleep	10786	2	238.59
TT8_Active	486	19	97.39
TT8_Sampling	1542	39	620.16
TT8_CF8	498	45	230.49
TT8_Kalman	33	81	27.57
Analog_circuits	1288	12	156.13
GPS_charging	0	0	0.00
Compass	1509	8	121.94
RAFOS	0	0	0.00
Transponder	32	30	9.73

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.10	-146.6	0.0	0.0	0	59	0.00	0.00	-41.28	0.000	2	0.000	0.000	50	2669	3265
62	-1.10	-146.6	3.7	-10.9	2	85	12.05	2.12	-3.97	0.000	4	0.156	0.102	2195	3770	3503
321	-1.10	-146.6	32.0	-5.6	13	325	0.00	2.08	0.00	0.000	6	0.000	0.067	2195	2655	3503
643	-1.10	-146.6	57.6	-8.0	29	644	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2656	3503
952	-1.10	-146.6	80.3	-6.5	44	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2655	3502
1261	-1.10	-146.6	101.9	-7.2	59	1263	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2656	3502
1571	-1.10	-146.6	121.8	-6.7	74	1572	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2656	3502
1882	-1.10	-146.6	142.0	-6.6	89	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2655	3503
2189	-1.10	-146.6	162.6	-6.4	104	2192	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3768	3503
2222	-1.10	-146.6	164.9	-6.7	105	2226	0.00	2.08	0.00	0.000	6	0.000	0.062	2195	2637	3503
2544	-1.10	-146.6	184.4	-6.1	121	2545	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2637	3503
2853	-1.10	-146.6	203.7	-6.8	136	2857	0.00	2.17	0.00	0.000	4	0.000	0.088	2196	3765	3503
2921	-1.10	-146.6	209.2	-8.8	139	2925	0.00	2.05	0.00	0.000	6	0.000	0.062	2196	2645	3503
3254	-1.10	-146.6	240.5	-10.2	155	3255	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2645	3502
3563	-1.10	-146.6	273.8	-10.3	170	3567	0.00	2.17	0.00	0.000	4	0.000	0.091	2195	3764	3503
3614	-1.10	-146.6	278.8	-9.6	172	3617	0.00	2.05	0.00	0.000	6	0.000	0.061	2195	2643	3503
3942	-1.10	-146.6	306.4	-7.9	188	3943	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2642	3503
4250	-1.10	-146.6	329.4	-7.0	203	4254	0.00	2.17	0.00	0.000	4	0.000	0.089	2195	3770	3503
4289	-1.10	-146.6	332.3	-7.4	204	4295	0.00	2.05	0.00	0.000	6	0.000	0.061	2195	2647	3503
4605	-1.10	-146.6	358.9	-8.9	220	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2647	3503
4914	-1.10	-146.6	384.5	-7.7	235	4915	0.00	0.00	0.00	0.000	6	0.000	0.000	2196	2647	3503
5223	-1.10	-146.6	406.9	-6.6	250	5227	0.00	2.15	0.00	0.000	4	0.000	0.085	2196	3772	3503
5262	-1.10	-146.6	409.6	-7.1	251	5268	0.00	2.05	0.00	0.000	6	0.000	0.058	2195	2643	3503
5581	-1.10	-146.6	425.3	-4.6	267	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3503
5887	-1.10	-146.6	448.1	-9.1	282	5889	0.00	0.00	0.00	0.000	6	0.000	0.000	2195	2643	3503
6197	-1.10	-146.6	469.9	-4.9	297	6201	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3765	3503
6231	-1.10	-146.6	471.6	-4.7	298	6235	0.00	2.03	0.00	0.000	6	0.000	0.058	2195	2648	3503
6553	-1.10	-146.6	493.7	-8.9	314	6556	0.00	2.15	0.00	0.000	4	0.000	0.087	2195	3768	3503
6626	-1.10	-146.6	501.4	-11.0	317	6630	0.00	2.03	0.00	0.000	6	0.000	0.058	2195	2650	3503
6953	-1.10	-146.6	533.7	-8.7	333	6957	0.00	2.58	0.00	0.000	4	0.000	0.068	2195	1235	3502
6981	-1.10	-146.6	536.1	-8.5	334	6986	0.00	2.55	0.00	0.000	6	0.000	0.060	2195	2630	3502
7073	end dive: BOTTOM_OBSTACLE_DETECTED
state	7073	begin apogee
7082	-0.42	0.0	544.3	8.5	339	7208	0.77	0.00	122.95	1.035	6	0.106	0.000	2346	1987	2902
7208	end apogee: CONTROL_FINISHED_OK
state	7209	begin climb
7212	1.10	146.6	548.8	0.0	345	7341	1.55	2.65	120.85	1.006	4	0.055	0.063	2679	580	2304
7594	1.12	159.2	539.8	5.7	362	7613	0.00	2.53	12.23	0.928	6	0.000	0.038	2679	2015	2252
7930	1.23	252.7	526.6	3.4	379	8014	0.12	2.72	76.43	1.022	4	0.045	0.066	2720	588	1872
8057	1.26	273.5	521.4	5.4	384	8084	0.00	2.53	18.90	0.954	6	0.000	0.039	2720	2007	1787
8394	1.26	273.5	503.9	6.3	401	8395	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	2007	1786
8703	1.26	273.5	472.9	11.6	416	8708	0.00	2.62	0.00	0.000	4	0.000	0.073	2720	3410	1785
8759	1.26	273.5	465.8	13.1	418	8765	0.00	2.60	0.00	0.000	6	0.000	0.054	2720	1986	1785
9075	1.26	273.5	429.1	9.9	434	9076	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1986	1785
9385	1.31	318.5	410.1	4.8	449	9428	0.00	2.78	37.60	0.966	4	0.000	0.067	2720	3403	1603
9497	1.35	343.8	404.6	5.3	454	9526	0.00	2.58	22.08	0.928	6	0.000	0.054	2720	1994	1500
9849	1.35	350.1	386.8	5.8	471	9863	0.00	2.75	7.12	0.806	4	0.000	0.069	2720	3410	1474
9887	1.35	350.1	384.1	6.7	472	9893	0.00	2.60	0.00	0.000	6	0.000	0.053	2720	1992	1474
10203	1.36	354.7	364.5	5.9	488	10214	0.00	2.67	5.45	0.729	4	0.000	0.069	2720	3405	1455
10243	1.36	359.0	362.2	5.9	490	10254	0.00	2.58	5.40	0.722	6	0.000	0.054	2720	1994	1438
10571	1.36	359.6	343.3	6.0	506	10575	0.00	2.65	0.00	0.000	4	0.000	0.070	2720	3410	1438
10610	1.36	359.6	340.3	7.5	508	10614	0.00	2.58	0.00	0.000	6	0.000	0.054	2720	1998	1438
10937	1.36	359.6	312.6	9.2	524	10941	0.00	2.62	0.00	0.000	4	0.000	0.071	2720	3403	1438
10981	1.36	359.6	308.0	10.2	526	10985	0.00	2.58	0.00	0.000	6	0.000	0.056	2720	1994	1439
11302	1.36	359.6	275.9	10.5	542	11306	0.00	2.65	0.00	0.000	4	0.000	0.071	2720	3403	1438
11329	1.36	359.6	272.7	11.5	543	11334	0.00	2.58	0.00	0.000	6	0.000	0.057	2720	1994	1438
11645	1.36	359.6	238.3	11.0	558	11649	0.00	2.65	0.00	0.000	4	0.000	0.071	2720	3408	1438
11689	1.36	359.6	233.5	10.8	560	11693	0.00	2.58	0.00	0.000	6	0.000	0.056	2720	1998	1438
12011	1.36	359.6	200.9	10.2	576	12015	0.00	2.65	0.00	0.000	4	0.000	0.071	2720	3410	1438
12055	1.36	359.6	196.1	10.3	578	12059	0.00	2.58	0.00	0.000	6	0.000	0.056	2720	1997	1438
12376	1.36	359.6	162.7	10.5	594	12380	0.00	2.65	0.00	0.000	4	0.000	0.071	2720	3410	1439
12431	1.36	359.6	156.7	10.2	596	12437	0.00	2.58	0.00	0.000	6	0.000	0.057	2720	2000	1439
12747	1.36	359.6	124.0	9.8	612	12752	0.00	2.62	0.00	0.000	4	0.000	0.071	2720	3403	1439
12775	1.36	359.6	121.3	9.8	613	12780	0.00	2.58	0.00	0.000	6	0.000	0.057	2720	1990	1439
13092	1.36	359.6	91.5	9.7	628	13096	0.00	2.65	0.00	0.000	4	0.000	0.071	2720	3406	1439
13119	1.36	359.6	88.6	10.5	629	13123	0.00	2.58	0.00	0.000	6	0.000	0.056	2720	1994	1439
13437	1.36	359.6	62.5	7.5	644	13438	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1994	1439
13745	1.36	359.6	35.5	9.6	659	13749	0.00	2.65	0.00	0.000	4	0.000	0.073	2720	3403	1439
13800	1.36	359.6	29.0	11.6	661	13806	0.00	2.55	0.00	0.000	6	0.000	0.058	2720	1998	1439
14113	end climb: SURFACE_DEPTH_REACHED
state	14113	begin surface coast
14137	end surface coast: CONTROL_FINISHED_OK
state	14137	begin surface