Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 186 * 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 186 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 22 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 -103755.84 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 -103755.84

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 22 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 186 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 152207,6358.938,-1311.410,36,1.0,36,-12.5 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.117,-0.216

_SM_DEPTHo 1.49 KALMAN_X -57662.0,-1236.5,757.7,-180951.2,-8515.3

_SM_ANGLEo -57.9 KALMAN_Y -7554.4,2603.4,-786.6,269342.9,1306.6

GPS2 152755,6358.947,-1311.356,15,1.4,15,-12.5 MHEAD_RNG_PITCHd_Wd 164.0,16606,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027215 ALTIM_BOTTOM_PING 620.5,84.9

SM_CCo 14198,1.98,0.123,0,0,1608,300.00 _24V_AH 23.8,32.904

SM_GC 2.08,0.00,0.00,1.98,0.000,0.000,0.123,418,2424,1608,-10.70,0.76,300.00 _10V_AH 10.1,14.961

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44403,850

TT8_MAMPS 0.029146 CAP_FILE_SIZE 120027,0

HUMID 1818 CFSIZE 254472192,241344512

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 65 GPS 290909,192637,6357.714,-1308.567,30,1.1,30,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 99.95 SBE_CT 581 24 332.17

Roll_motor 150 77 277.80 SBE_O2 619 19 280.11

VBD_pump_during_apogee 408 1287 12507.28 WL_BB2F 479 105 1198.61

VBD_pump_during_surface 1 123 5.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 26 160 102.60 nil 0 0 0.00

Iridium_during_xfer 166 223 882.25

Transponder_ping 21 420 217.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.58

TT8 1512 19 302.41

LPSleep 10138 2 224.25

TT8_Active 524 19 104.91

TT8_Sampling 1848 39 743.16

TT8_CF8 528 45 244.34

TT8_Kalman 33 81 27.56

Analog_circuits 1471 12 178.32

GPS_charging 0 0 0.00

Compass 1804 8 145.78

RAFOS 0 0 0.00

Transponder 38 30 11.60

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 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 421 2146 2407

63 -1.22 -146.6 2.2 -2.7 2 128 11.43 2.60 -47.33 0.000 4 0.162 0.077 2472 3536 3429

354 -1.14 -146.6 34.4 -13.4 15 359 0.12 2.53 0.00 0.000 6 0.101 0.048 2498 2121 3429

682 -1.14 -146.6 71.7 -10.5 31 686 0.00 2.50 0.00 0.000 4 0.000 0.060 2498 714 3429

768 -1.14 -146.6 81.2 -11.1 35 773 0.00 2.50 0.00 0.000 6 0.000 0.049 2498 2121 3430

1096 -1.14 -146.6 119.6 -11.8 51 1104 0.00 2.55 0.00 0.000 4 0.000 0.061 2498 714 3430

1132 -1.14 -146.6 124.1 -11.8 52 1136 0.00 2.47 0.00 0.000 6 0.000 0.049 2498 2110 3430

1454 -1.14 -146.6 158.6 -10.6 69 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2110 3430

1766 -1.14 -146.6 190.4 -9.9 89 1770 0.00 2.53 0.00 0.000 4 0.000 0.061 2498 717 3430

1795 -1.14 -146.6 193.3 -10.0 91 1799 0.00 2.42 0.00 0.000 6 0.000 0.050 2498 2081 3430

2120 -1.14 -146.6 225.9 -10.1 112 2124 0.00 2.62 0.00 0.000 4 0.000 0.067 2498 3534 3430

2182 -1.14 -146.6 232.3 -9.9 116 2187 0.00 2.60 0.00 0.000 6 0.000 0.054 2498 2085 3430

2507 -1.14 -146.6 266.6 -11.5 137 2509 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2083 3430

2819 -1.14 -146.6 303.3 -12.3 157 2824 0.00 2.67 0.00 0.000 4 0.000 0.067 2498 3534 3430

2859 -1.14 -146.6 308.4 -12.4 159 2865 0.00 2.60 0.00 0.000 6 0.000 0.055 2498 2087 3430

3178 -1.14 -146.6 347.4 -12.1 180 3179 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2087 3430

3490 -1.14 -146.6 381.7 -10.4 200 3491 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2078 3430

3803 -1.14 -146.6 412.2 -9.4 220 3804 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2066 3430

4115 -1.14 -146.6 439.1 -8.8 240 4119 0.00 2.67 0.00 0.000 4 0.000 0.068 2498 3535 3430

4136 -1.14 -146.6 441.1 -9.2 241 4142 0.00 2.60 0.00 0.000 6 0.000 0.056 2498 2091 3430

4458 -1.14 -146.6 470.3 -8.8 262 4462 0.00 2.45 0.00 0.000 4 0.000 0.064 2498 716 3430

4496 -1.14 -146.6 474.1 -9.2 264 4503 0.00 2.47 0.00 0.000 6 0.000 0.051 2498 2112 3430

4816 -1.14 -146.6 505.8 -10.0 285 4817 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2112 3430

5128 -1.14 -146.6 535.5 -10.3 305 5132 0.00 2.60 0.00 0.000 4 0.000 0.070 2498 3540 3430

5200 -1.14 -146.6 543.9 -11.1 309 5206 0.00 2.60 0.00 0.000 6 0.000 0.057 2498 2098 3430

5519 -1.14 -146.6 576.4 -10.1 330 5524 0.00 2.67 0.00 0.000 4 0.000 0.071 2498 3539 3430

5582 -1.14 -146.6 582.8 -10.3 334 5586 0.00 2.55 0.00 0.000 6 0.000 0.058 2498 2124 3429

5906 -1.14 -146.6 615.2 -9.7 355 5911 0.00 2.62 0.00 0.000 4 0.000 0.071 2498 3535 3429

6007 -1.14 -146.6 624.7 -8.8 361 6011 0.00 2.53 0.00 0.000 6 0.000 0.059 2498 2141 3429

6326 -1.14 -146.6 654.5 -8.8 381 6330 0.00 2.60 0.00 0.000 4 0.000 0.073 2498 3535 3429

6422 -1.14 -146.6 663.7 -9.1 387 6427 0.00 2.50 0.00 0.000 6 0.000 0.061 2498 2155 3429

6728 end dive: BOTTOM_OBSTACLE_DETECTED

state 6728 begin apogee

6736 -0.33 0.0 697.3 12.0 407 6873 0.80 0.00 133.12 1.288 6 0.077 0.000 2670 1840 2831

6873 end apogee: CONTROL_FINISHED_OK

state 6873 begin climb

6877 1.22 146.6 705.0 0.0 416 7021 1.55 2.72 134.73 1.244 4 0.058 0.068 3008 3257 2233

7279 1.13 146.6 679.3 9.4 440 7283 0.00 2.62 0.00 0.000 6 0.000 0.067 3009 1846 2233

7599 1.13 195.9 656.5 6.2 460 7649 0.00 2.70 44.33 1.233 4 0.000 0.069 3008 3248 2032

7791 1.09 195.9 641.0 8.2 471 7798 0.15 2.60 0.00 0.000 6 0.097 0.067 2980 1852 2031

8111 1.10 204.6 618.1 7.7 492 8127 0.00 2.65 9.23 1.091 4 0.000 0.070 2981 3255 1996

8201 1.13 224.1 611.0 7.3 497 8228 0.00 2.55 18.08 1.185 6 0.000 0.066 2980 1879 1916

8543 1.17 247.0 586.0 7.2 519 8569 0.00 2.62 21.40 1.191 4 0.000 0.067 2981 3258 1823

8668 1.30 295.3 577.2 6.2 525 8721 0.22 2.47 42.80 1.213 6 0.053 0.063 3034 1914 1627

9034 1.25 295.3 538.6 11.6 549 9038 0.00 2.50 0.00 0.000 4 0.000 0.066 3035 3261 1627

9067 1.25 295.3 534.7 11.0 551 9071 0.00 2.50 0.00 0.000 6 0.000 0.063 3035 1905 1628

9387 1.20 295.3 497.2 12.0 571 9392 0.15 2.70 0.00 0.000 4 0.091 0.073 3006 433 1628

9404 1.16 295.3 495.0 12.0 572 9408 0.00 2.67 0.00 0.000 6 0.000 0.054 3006 1919 1628

9723 1.16 295.3 464.7 9.2 592 9727 0.00 2.75 0.00 0.000 4 0.000 0.071 3006 442 1628

9778 1.16 295.3 459.0 10.3 595 9785 0.00 2.60 0.00 0.000 6 0.000 0.051 3005 1894 1628

10098 1.16 295.3 427.9 10.4 616 10102 0.00 2.70 0.00 0.000 4 0.000 0.071 3006 442 1628

10131 1.16 295.3 424.1 11.1 618 10135 0.00 2.58 0.00 0.000 6 0.000 0.051 3006 1882 1628

10450 1.16 295.3 391.6 10.3 638 10454 0.00 2.67 0.00 0.000 4 0.000 0.068 3005 433 1629

10466 1.16 295.3 389.6 10.7 639 10471 0.00 2.58 0.00 0.000 6 0.000 0.051 3006 1878 1629

10785 1.16 295.3 353.0 12.0 659 10786 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1893 1629

11099 1.16 295.3 315.4 12.4 679 11103 0.00 2.65 0.00 0.000 4 0.000 0.067 3005 436 1629

11115 1.16 295.3 313.2 12.1 680 11120 0.00 2.55 0.00 0.000 6 0.000 0.049 3006 1874 1629

11434 1.16 295.3 277.5 10.3 700 11439 0.00 2.65 0.00 0.000 4 0.000 0.067 3005 431 1629

11456 1.16 295.3 274.8 12.0 701 11462 0.00 2.55 0.00 0.000 6 0.000 0.050 3006 1867 1630

11776 1.16 295.3 242.1 10.7 722 11780 0.00 2.62 0.00 0.000 4 0.000 0.067 3005 437 1630

11797 1.16 295.3 239.4 11.1 723 11803 0.00 2.53 0.00 0.000 6 0.000 0.049 3005 1861 1630

12116 1.16 295.3 206.1 10.6 744 12121 0.00 2.60 0.00 0.000 4 0.000 0.065 3005 440 1630

12134 1.16 295.3 204.2 10.6 745 12138 0.00 2.50 0.00 0.000 6 0.000 0.048 3005 1852 1630

12452 1.16 295.3 172.5 9.7 765 12454 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1868 1631

12775 1.16 295.3 138.6 10.2 784 12779 0.00 2.60 0.00 0.000 4 0.000 0.065 3005 430 1631

12802 1.16 295.3 135.6 10.1 785 12807 0.00 2.50 0.00 0.000 6 0.000 0.049 3006 1844 1631

13120 1.16 295.3 106.0 9.5 800 13125 0.00 2.58 0.00 0.000 4 0.000 0.066 3006 437 1631

13138 1.16 295.3 104.1 9.5 801 13142 0.00 2.45 0.00 0.000 6 0.000 0.049 3005 1826 1631

13472 1.19 295.3 71.6 9.6 817 13476 0.00 2.55 0.00 0.000 4 0.000 0.058 3006 3264 1631

13500 1.25 295.3 68.7 10.4 818 13504 0.00 2.58 0.00 0.000 6 0.000 0.051 3006 1822 1631

13818 1.30 295.3 39.5 8.4 833 13822 0.00 2.60 0.00 0.000 4 0.000 0.058 3006 3262 1631

13897 1.39 296.8 32.3 7.9 836 13908 0.17 2.47 4.40 0.589 6 0.050 0.050 3053 1863 1619

14150 end climb: SURFACE_DEPTH_REACHED

state 14150 begin surface coast

14174 end surface coast: CONTROL_FINISHED_OK

state 14175 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	186	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	22	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	-103755.84	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	152207,6358.938,-1311.410,36,1.0,36,-12.5	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.117,-0.216
_SM_DEPTHo	1.49	KALMAN_X	-57662.0,-1236.5,757.7,-180951.2,-8515.3
_SM_ANGLEo	-57.9	KALMAN_Y	-7554.4,2603.4,-786.6,269342.9,1306.6
GPS2	152755,6358.947,-1311.356,15,1.4,15,-12.5	MHEAD_RNG_PITCHd_Wd	164.0,16606,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.027215	ALTIM_BOTTOM_PING	620.5,84.9
SM_CCo	14198,1.98,0.123,0,0,1608,300.00	_24V_AH	23.8,32.904
SM_GC	2.08,0.00,0.00,1.98,0.000,0.000,0.123,418,2424,1608,-10.70,0.76,300.00	_10V_AH	10.1,14.961
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44403,850
TT8_MAMPS	0.029146	CAP_FILE_SIZE	120027,0
HUMID	1818	CFSIZE	254472192,241344512
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	65	GPS	290909,192637,6357.714,-1308.567,30,1.1,30,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	99.95	SBE_CT	581	24	332.17
Roll_motor	150	77	277.80	SBE_O2	619	19	280.11
VBD_pump_during_apogee	408	1287	12507.28	WL_BB2F	479	105	1198.61
VBD_pump_during_surface	1	123	5.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	26	160	102.60	nil	0	0	0.00
Iridium_during_xfer	166	223	882.25
Transponder_ping	21	420	217.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.58
TT8	1512	19	302.41
LPSleep	10138	2	224.25
TT8_Active	524	19	104.91
TT8_Sampling	1848	39	743.16
TT8_CF8	528	45	244.34
TT8_Kalman	33	81	27.56
Analog_circuits	1471	12	178.32
GPS_charging	0	0	0.00
Compass	1804	8	145.78
RAFOS	0	0	0.00
Transponder	38	30	11.60

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	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	421	2146	2407
63	-1.22	-146.6	2.2	-2.7	2	128	11.43	2.60	-47.33	0.000	4	0.162	0.077	2472	3536	3429
354	-1.14	-146.6	34.4	-13.4	15	359	0.12	2.53	0.00	0.000	6	0.101	0.048	2498	2121	3429
682	-1.14	-146.6	71.7	-10.5	31	686	0.00	2.50	0.00	0.000	4	0.000	0.060	2498	714	3429
768	-1.14	-146.6	81.2	-11.1	35	773	0.00	2.50	0.00	0.000	6	0.000	0.049	2498	2121	3430
1096	-1.14	-146.6	119.6	-11.8	51	1104	0.00	2.55	0.00	0.000	4	0.000	0.061	2498	714	3430
1132	-1.14	-146.6	124.1	-11.8	52	1136	0.00	2.47	0.00	0.000	6	0.000	0.049	2498	2110	3430
1454	-1.14	-146.6	158.6	-10.6	69	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2110	3430
1766	-1.14	-146.6	190.4	-9.9	89	1770	0.00	2.53	0.00	0.000	4	0.000	0.061	2498	717	3430
1795	-1.14	-146.6	193.3	-10.0	91	1799	0.00	2.42	0.00	0.000	6	0.000	0.050	2498	2081	3430
2120	-1.14	-146.6	225.9	-10.1	112	2124	0.00	2.62	0.00	0.000	4	0.000	0.067	2498	3534	3430
2182	-1.14	-146.6	232.3	-9.9	116	2187	0.00	2.60	0.00	0.000	6	0.000	0.054	2498	2085	3430
2507	-1.14	-146.6	266.6	-11.5	137	2509	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2083	3430
2819	-1.14	-146.6	303.3	-12.3	157	2824	0.00	2.67	0.00	0.000	4	0.000	0.067	2498	3534	3430
2859	-1.14	-146.6	308.4	-12.4	159	2865	0.00	2.60	0.00	0.000	6	0.000	0.055	2498	2087	3430
3178	-1.14	-146.6	347.4	-12.1	180	3179	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2087	3430
3490	-1.14	-146.6	381.7	-10.4	200	3491	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2078	3430
3803	-1.14	-146.6	412.2	-9.4	220	3804	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2066	3430
4115	-1.14	-146.6	439.1	-8.8	240	4119	0.00	2.67	0.00	0.000	4	0.000	0.068	2498	3535	3430
4136	-1.14	-146.6	441.1	-9.2	241	4142	0.00	2.60	0.00	0.000	6	0.000	0.056	2498	2091	3430
4458	-1.14	-146.6	470.3	-8.8	262	4462	0.00	2.45	0.00	0.000	4	0.000	0.064	2498	716	3430
4496	-1.14	-146.6	474.1	-9.2	264	4503	0.00	2.47	0.00	0.000	6	0.000	0.051	2498	2112	3430
4816	-1.14	-146.6	505.8	-10.0	285	4817	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2112	3430
5128	-1.14	-146.6	535.5	-10.3	305	5132	0.00	2.60	0.00	0.000	4	0.000	0.070	2498	3540	3430
5200	-1.14	-146.6	543.9	-11.1	309	5206	0.00	2.60	0.00	0.000	6	0.000	0.057	2498	2098	3430
5519	-1.14	-146.6	576.4	-10.1	330	5524	0.00	2.67	0.00	0.000	4	0.000	0.071	2498	3539	3430
5582	-1.14	-146.6	582.8	-10.3	334	5586	0.00	2.55	0.00	0.000	6	0.000	0.058	2498	2124	3429
5906	-1.14	-146.6	615.2	-9.7	355	5911	0.00	2.62	0.00	0.000	4	0.000	0.071	2498	3535	3429
6007	-1.14	-146.6	624.7	-8.8	361	6011	0.00	2.53	0.00	0.000	6	0.000	0.059	2498	2141	3429
6326	-1.14	-146.6	654.5	-8.8	381	6330	0.00	2.60	0.00	0.000	4	0.000	0.073	2498	3535	3429
6422	-1.14	-146.6	663.7	-9.1	387	6427	0.00	2.50	0.00	0.000	6	0.000	0.061	2498	2155	3429
6728	end dive: BOTTOM_OBSTACLE_DETECTED
state	6728	begin apogee
6736	-0.33	0.0	697.3	12.0	407	6873	0.80	0.00	133.12	1.288	6	0.077	0.000	2670	1840	2831
6873	end apogee: CONTROL_FINISHED_OK
state	6873	begin climb
6877	1.22	146.6	705.0	0.0	416	7021	1.55	2.72	134.73	1.244	4	0.058	0.068	3008	3257	2233
7279	1.13	146.6	679.3	9.4	440	7283	0.00	2.62	0.00	0.000	6	0.000	0.067	3009	1846	2233
7599	1.13	195.9	656.5	6.2	460	7649	0.00	2.70	44.33	1.233	4	0.000	0.069	3008	3248	2032
7791	1.09	195.9	641.0	8.2	471	7798	0.15	2.60	0.00	0.000	6	0.097	0.067	2980	1852	2031
8111	1.10	204.6	618.1	7.7	492	8127	0.00	2.65	9.23	1.091	4	0.000	0.070	2981	3255	1996
8201	1.13	224.1	611.0	7.3	497	8228	0.00	2.55	18.08	1.185	6	0.000	0.066	2980	1879	1916
8543	1.17	247.0	586.0	7.2	519	8569	0.00	2.62	21.40	1.191	4	0.000	0.067	2981	3258	1823
8668	1.30	295.3	577.2	6.2	525	8721	0.22	2.47	42.80	1.213	6	0.053	0.063	3034	1914	1627
9034	1.25	295.3	538.6	11.6	549	9038	0.00	2.50	0.00	0.000	4	0.000	0.066	3035	3261	1627
9067	1.25	295.3	534.7	11.0	551	9071	0.00	2.50	0.00	0.000	6	0.000	0.063	3035	1905	1628
9387	1.20	295.3	497.2	12.0	571	9392	0.15	2.70	0.00	0.000	4	0.091	0.073	3006	433	1628
9404	1.16	295.3	495.0	12.0	572	9408	0.00	2.67	0.00	0.000	6	0.000	0.054	3006	1919	1628
9723	1.16	295.3	464.7	9.2	592	9727	0.00	2.75	0.00	0.000	4	0.000	0.071	3006	442	1628
9778	1.16	295.3	459.0	10.3	595	9785	0.00	2.60	0.00	0.000	6	0.000	0.051	3005	1894	1628
10098	1.16	295.3	427.9	10.4	616	10102	0.00	2.70	0.00	0.000	4	0.000	0.071	3006	442	1628
10131	1.16	295.3	424.1	11.1	618	10135	0.00	2.58	0.00	0.000	6	0.000	0.051	3006	1882	1628
10450	1.16	295.3	391.6	10.3	638	10454	0.00	2.67	0.00	0.000	4	0.000	0.068	3005	433	1629
10466	1.16	295.3	389.6	10.7	639	10471	0.00	2.58	0.00	0.000	6	0.000	0.051	3006	1878	1629
10785	1.16	295.3	353.0	12.0	659	10786	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1893	1629
11099	1.16	295.3	315.4	12.4	679	11103	0.00	2.65	0.00	0.000	4	0.000	0.067	3005	436	1629
11115	1.16	295.3	313.2	12.1	680	11120	0.00	2.55	0.00	0.000	6	0.000	0.049	3006	1874	1629
11434	1.16	295.3	277.5	10.3	700	11439	0.00	2.65	0.00	0.000	4	0.000	0.067	3005	431	1629
11456	1.16	295.3	274.8	12.0	701	11462	0.00	2.55	0.00	0.000	6	0.000	0.050	3006	1867	1630
11776	1.16	295.3	242.1	10.7	722	11780	0.00	2.62	0.00	0.000	4	0.000	0.067	3005	437	1630
11797	1.16	295.3	239.4	11.1	723	11803	0.00	2.53	0.00	0.000	6	0.000	0.049	3005	1861	1630
12116	1.16	295.3	206.1	10.6	744	12121	0.00	2.60	0.00	0.000	4	0.000	0.065	3005	440	1630
12134	1.16	295.3	204.2	10.6	745	12138	0.00	2.50	0.00	0.000	6	0.000	0.048	3005	1852	1630
12452	1.16	295.3	172.5	9.7	765	12454	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1868	1631
12775	1.16	295.3	138.6	10.2	784	12779	0.00	2.60	0.00	0.000	4	0.000	0.065	3005	430	1631
12802	1.16	295.3	135.6	10.1	785	12807	0.00	2.50	0.00	0.000	6	0.000	0.049	3006	1844	1631
13120	1.16	295.3	106.0	9.5	800	13125	0.00	2.58	0.00	0.000	4	0.000	0.066	3006	437	1631
13138	1.16	295.3	104.1	9.5	801	13142	0.00	2.45	0.00	0.000	6	0.000	0.049	3005	1826	1631
13472	1.19	295.3	71.6	9.6	817	13476	0.00	2.55	0.00	0.000	4	0.000	0.058	3006	3264	1631
13500	1.25	295.3	68.7	10.4	818	13504	0.00	2.58	0.00	0.000	6	0.000	0.051	3006	1822	1631
13818	1.30	295.3	39.5	8.4	833	13822	0.00	2.60	0.00	0.000	4	0.000	0.058	3006	3262	1631
13897	1.39	296.8	32.3	7.9	836	13908	0.17	2.47	4.40	0.589	6	0.050	0.050	3053	1863	1619
14150	end climb: SURFACE_DEPTH_REACHED
state	14150	begin surface coast
14174	end surface coast: CONTROL_FINISHED_OK
state	14175	begin surface