Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 23 * 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 23 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 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1700 ALTIM_PULSE 5

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 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -143418.33 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -143418.33

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 1700 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 10 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 23 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 031822,6122.867,-922.500,41,2.1,60,-9.4 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6130.000,-930.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.045,0.239

_SM_DEPTHo 1.27 KALMAN_X -8258.5,310.2,-647.3,14581.6,-744.1

_SM_ANGLEo -59.1 KALMAN_Y -48160.8,1769.3,512.7,67310.4,-17843.1

GPS2 032328,6122.819,-922.593,11,2.1,30,-9.4 MHEAD_RNG_PITCHd_Wd 358.7,14823,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.008817 ALTIM_BOTTOM_PING 601.0,30.6

SM_CCo 12800,45.60,0.728,0,0,1677,300.00 _24V_AH 23.4,13.232

SM_GC 1.33,0.00,0.00,45.60,0.000,0.000,0.728,53,2745,1677,-10.98,-0.17,300.00 _10V_AH 10.1,5.815

IRIDIUM_FIX 6103.81,-910.74,220598,232358 DATA_FILE_SIZE 31686,613

TT8_MAMPS 0.029146 CAP_FILE_SIZE 95447,0

HUMID 1772 CFSIZE 260165632,256421888

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

TCM_TEMP 17.20 GPS 260209,065937,6124.281,-926.512,34,1.6,34,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 164 104.28 SBE_CT 427 24 240.05

Roll_motor 125 89 263.69 SBE_O2 451 19 200.63

VBD_pump_during_apogee 314 1107 8151.43 WL_BB2F 400 105 984.20

VBD_pump_during_surface 45 727 776.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 58.26 nil 0 0 0.00

Iridium_during_connect 28 160 105.26 nil 0 0 0.00

Iridium_during_xfer 126 223 662.15

Transponder_ping 5 420 49.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.74

TT8 1139 19 227.91

LPSleep 9740 2 215.45

TT8_Active 455 19 91.18

TT8_Sampling 1396 39 561.30

TT8_CF8 422 45 195.28

TT8_Kalman 33 81 27.56

Analog_circuits 1179 12 142.98

GPS_charging 0 0 0.00

Compass 1346 8 108.83

RAFOS 0 0 0.00

Transponder 34 30 10.60

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 -1.42 -146.6 0.0 0.0 0 59 0.00 0.00 -41.33 0.000 2 0.000 0.000 46 2736 3032

62 -1.42 -146.6 3.2 -8.4 2 89 11.90 2.62 -8.77 0.000 4 0.165 0.081 2124 1330 3502

162 -1.42 -146.6 15.6 -7.7 6 169 0.00 2.67 0.00 0.000 6 0.000 0.067 2123 2757 3502

478 -1.42 -146.6 49.3 -12.4 22 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2757 3502

788 -1.42 -146.6 87.8 -9.9 37 791 0.00 1.98 0.00 0.000 4 0.000 0.090 2123 3784 3502

827 -1.42 -146.6 91.5 -9.5 38 833 0.00 1.90 0.00 0.000 6 0.000 0.056 2124 2750 3502

1144 -1.42 -146.6 122.8 -11.3 54 1145 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2749 3502

1452 -1.42 -146.6 153.4 -8.7 69 1456 0.00 2.58 0.00 0.000 4 0.000 0.064 2124 1329 3502

1484 -1.42 -146.6 156.5 -9.5 70 1491 0.00 2.65 0.00 0.000 6 0.000 0.067 2124 2757 3502

1801 -1.42 -146.6 188.8 -11.4 86 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2757 3502

2110 -1.42 -146.6 220.9 -10.2 101 2114 0.00 1.95 0.00 0.000 4 0.000 0.086 2124 3786 3502

2138 -1.42 -146.6 224.7 -12.5 102 2143 0.00 1.88 0.00 0.000 6 0.000 0.053 2124 2753 3502

2464 -1.42 -146.6 260.6 -11.4 118 2469 0.00 2.58 0.00 0.000 4 0.000 0.062 2124 1330 3502

2492 -1.42 -146.6 263.7 -10.6 119 2496 0.00 2.65 0.00 0.000 6 0.000 0.068 2124 2751 3501

2810 -1.42 -146.6 300.4 -10.4 134 2811 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2751 3501

3117 -1.42 -146.6 332.2 -10.3 149 3118 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2751 3501

3426 -1.42 -146.6 363.4 -10.1 164 3427 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2751 3501

3736 -1.42 -146.6 394.4 -10.1 179 3739 0.00 1.95 0.00 0.000 4 0.000 0.086 2124 3782 3501

3775 -1.42 -146.6 398.5 -9.6 180 3781 0.00 1.88 0.00 0.000 6 0.000 0.053 2124 2745 3501

4091 -1.42 -146.6 430.8 -10.2 196 4093 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2745 3501

4400 -1.42 -146.6 462.1 -10.0 211 4405 0.00 2.55 0.00 0.000 4 0.000 0.061 2124 1328 3501

4434 -1.42 -146.6 465.6 -10.3 212 4440 0.00 2.65 0.00 0.000 6 0.000 0.066 2124 2758 3501

4750 -1.42 -146.6 497.6 -10.2 228 4751 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3501

5059 -1.42 -146.6 528.2 -9.8 243 5062 0.00 1.95 0.00 0.000 4 0.000 0.087 2124 3786 3501

5092 -1.42 -146.6 531.6 -9.8 244 5096 0.00 1.83 0.00 0.000 6 0.000 0.048 2124 2750 3501

5414 -1.42 -146.6 562.4 -9.7 260 5418 0.00 2.53 0.00 0.000 4 0.000 0.058 2124 1335 3501

5463 -1.42 -146.6 567.4 -10.3 262 5468 0.00 2.62 0.00 0.000 6 0.000 0.064 2124 2757 3501

5779 -1.42 -146.6 598.7 -10.3 277 5780 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2757 3501

6003 end dive: BOTTOM_OBSTACLE_DETECTED

state 6003 begin apogee

6013 -0.42 0.0 621.8 9.7 288 6139 1.10 0.00 123.15 1.108 6 0.093 0.000 2344 1694 2902

6140 end apogee: CONTROL_FINISHED_OK

state 6140 begin climb

6143 1.42 146.6 626.9 0.0 294 6275 1.90 2.65 121.25 1.074 4 0.058 0.061 2748 289 2304

6424 1.52 230.1 622.0 4.9 307 6500 0.10 2.50 70.12 1.062 6 0.052 0.031 2779 1744 1965

6817 1.52 230.1 591.5 9.1 326 6821 0.00 2.40 0.00 0.000 4 0.000 0.045 2779 3095 1965

6902 1.52 230.1 583.8 8.8 330 6906 0.00 2.47 0.00 0.000 6 0.000 0.038 2779 1693 1964

7228 1.52 230.1 555.1 8.6 346 7233 0.00 2.55 0.00 0.000 4 0.000 0.060 2779 300 1964

7268 1.52 230.1 551.5 9.7 348 7273 0.00 2.40 0.00 0.000 6 0.000 0.033 2779 1698 1965

7595 1.52 230.1 523.1 9.0 364 7600 0.00 2.47 0.00 0.000 4 0.000 0.048 2779 3093 1965

7691 1.52 230.1 513.8 9.8 368 7695 0.00 2.47 0.00 0.000 6 0.000 0.041 2779 1693 1964

8006 1.52 230.1 482.7 10.0 383 8011 0.00 2.50 0.00 0.000 4 0.000 0.048 2779 3091 1964

8051 1.52 230.1 478.0 10.2 385 8055 0.00 2.47 0.00 0.000 6 0.000 0.041 2779 1691 1965

8372 1.52 230.1 446.0 9.9 401 8374 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1691 1964

8682 1.52 230.1 414.5 10.4 416 8686 0.00 2.50 0.00 0.000 4 0.000 0.050 2779 3090 1964

8767 1.52 230.1 405.7 9.8 420 8771 0.00 2.47 0.00 0.000 6 0.000 0.044 2779 1696 1964

9094 1.52 230.1 372.8 9.9 436 9095 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1696 1964

9403 1.52 230.1 342.7 9.7 451 9407 0.00 2.53 0.00 0.000 4 0.000 0.052 2779 3099 1964

9452 1.52 230.1 337.9 9.2 453 9457 0.00 2.50 0.00 0.000 6 0.000 0.045 2779 1694 1964

9768 1.52 230.1 307.4 9.8 468 9772 0.00 2.53 0.00 0.000 4 0.000 0.053 2779 3097 1964

9801 1.52 230.1 304.0 10.0 469 9808 0.00 2.50 0.00 0.000 6 0.000 0.047 2779 1694 1964

10117 1.52 230.1 273.8 9.6 485 10121 0.00 2.53 0.00 0.000 4 0.000 0.054 2779 3097 1964

10163 1.52 230.1 269.3 9.5 487 10167 0.00 2.50 0.00 0.000 6 0.000 0.046 2779 1693 1964

10489 1.52 230.1 236.9 10.4 503 10494 0.00 2.53 0.00 0.000 4 0.000 0.054 2779 3093 1964

10522 1.52 230.1 233.4 10.4 504 10528 0.00 2.50 0.00 0.000 6 0.000 0.048 2779 1693 1964

10838 1.52 230.1 199.2 11.1 520 10842 0.00 2.53 0.00 0.000 4 0.000 0.056 2779 3093 1964

10878 1.52 230.1 194.7 11.2 521 10884 0.00 2.50 0.00 0.000 6 0.000 0.048 2779 1694 1964

11194 1.52 230.1 158.1 11.4 537 11198 0.00 2.53 0.00 0.000 4 0.000 0.056 2779 3091 1964

11243 1.52 230.1 152.2 11.5 539 11248 0.00 2.50 0.00 0.000 6 0.000 0.048 2779 1693 1964

11560 1.52 230.1 117.2 10.0 554 11564 0.00 2.53 0.00 0.000 4 0.000 0.057 2779 3090 1964

11615 1.52 230.1 111.0 11.2 556 11621 0.00 2.47 0.00 0.000 6 0.000 0.049 2779 1699 1964

11931 1.52 230.1 79.9 9.8 572 11935 0.00 2.53 0.00 0.000 4 0.000 0.057 2779 3095 1964

11971 1.52 230.1 75.8 10.6 574 11975 0.00 2.50 0.00 0.000 6 0.000 0.050 2778 1698 1964

12299 1.52 230.1 47.9 8.9 590 12303 0.00 2.58 0.00 0.000 4 0.000 0.062 2779 287 1964

12338 1.52 230.1 43.8 11.1 592 12343 0.00 2.42 0.00 0.000 6 0.000 0.037 2779 1682 1964

12672 1.52 230.1 11.1 9.6 608 12676 0.00 2.58 0.00 0.000 4 0.000 0.056 2779 3121 1964

12727 1.52 230.1 4.4 10.5 610 12733 0.00 2.53 0.00 0.000 6 0.000 0.045 2779 1693 1964

12752 end climb: SURFACE_DEPTH_REACHED

state 12752 begin surface coast

12774 end surface coast: CONTROL_FINISHED_OK

state 12774 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	23	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	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1700	ALTIM_PULSE	5
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	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-143418.33	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	031822,6122.867,-922.500,41,2.1,60,-9.4	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6130.000,-930.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.045,0.239
_SM_DEPTHo	1.27	KALMAN_X	-8258.5,310.2,-647.3,14581.6,-744.1
_SM_ANGLEo	-59.1	KALMAN_Y	-48160.8,1769.3,512.7,67310.4,-17843.1
GPS2	032328,6122.819,-922.593,11,2.1,30,-9.4	MHEAD_RNG_PITCHd_Wd	358.7,14823,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.4,1.008817	ALTIM_BOTTOM_PING	601.0,30.6
SM_CCo	12800,45.60,0.728,0,0,1677,300.00	_24V_AH	23.4,13.232
SM_GC	1.33,0.00,0.00,45.60,0.000,0.000,0.728,53,2745,1677,-10.98,-0.17,300.00	_10V_AH	10.1,5.815
IRIDIUM_FIX	6103.81,-910.74,220598,232358	DATA_FILE_SIZE	31686,613
TT8_MAMPS	0.029146	CAP_FILE_SIZE	95447,0
HUMID	1772	CFSIZE	260165632,256421888
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	260209,065937,6124.281,-926.512,34,1.6,34,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	164	104.28	SBE_CT	427	24	240.05
Roll_motor	125	89	263.69	SBE_O2	451	19	200.63
VBD_pump_during_apogee	314	1107	8151.43	WL_BB2F	400	105	984.20
VBD_pump_during_surface	45	727	776.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	58.26	nil	0	0	0.00
Iridium_during_connect	28	160	105.26	nil	0	0	0.00
Iridium_during_xfer	126	223	662.15
Transponder_ping	5	420	49.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.74
TT8	1139	19	227.91
LPSleep	9740	2	215.45
TT8_Active	455	19	91.18
TT8_Sampling	1396	39	561.30
TT8_CF8	422	45	195.28
TT8_Kalman	33	81	27.56
Analog_circuits	1179	12	142.98
GPS_charging	0	0	0.00
Compass	1346	8	108.83
RAFOS	0	0	0.00
Transponder	34	30	10.60

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	-1.42	-146.6	0.0	0.0	0	59	0.00	0.00	-41.33	0.000	2	0.000	0.000	46	2736	3032
62	-1.42	-146.6	3.2	-8.4	2	89	11.90	2.62	-8.77	0.000	4	0.165	0.081	2124	1330	3502
162	-1.42	-146.6	15.6	-7.7	6	169	0.00	2.67	0.00	0.000	6	0.000	0.067	2123	2757	3502
478	-1.42	-146.6	49.3	-12.4	22	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2757	3502
788	-1.42	-146.6	87.8	-9.9	37	791	0.00	1.98	0.00	0.000	4	0.000	0.090	2123	3784	3502
827	-1.42	-146.6	91.5	-9.5	38	833	0.00	1.90	0.00	0.000	6	0.000	0.056	2124	2750	3502
1144	-1.42	-146.6	122.8	-11.3	54	1145	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2749	3502
1452	-1.42	-146.6	153.4	-8.7	69	1456	0.00	2.58	0.00	0.000	4	0.000	0.064	2124	1329	3502
1484	-1.42	-146.6	156.5	-9.5	70	1491	0.00	2.65	0.00	0.000	6	0.000	0.067	2124	2757	3502
1801	-1.42	-146.6	188.8	-11.4	86	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2757	3502
2110	-1.42	-146.6	220.9	-10.2	101	2114	0.00	1.95	0.00	0.000	4	0.000	0.086	2124	3786	3502
2138	-1.42	-146.6	224.7	-12.5	102	2143	0.00	1.88	0.00	0.000	6	0.000	0.053	2124	2753	3502
2464	-1.42	-146.6	260.6	-11.4	118	2469	0.00	2.58	0.00	0.000	4	0.000	0.062	2124	1330	3502
2492	-1.42	-146.6	263.7	-10.6	119	2496	0.00	2.65	0.00	0.000	6	0.000	0.068	2124	2751	3501
2810	-1.42	-146.6	300.4	-10.4	134	2811	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2751	3501
3117	-1.42	-146.6	332.2	-10.3	149	3118	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2751	3501
3426	-1.42	-146.6	363.4	-10.1	164	3427	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2751	3501
3736	-1.42	-146.6	394.4	-10.1	179	3739	0.00	1.95	0.00	0.000	4	0.000	0.086	2124	3782	3501
3775	-1.42	-146.6	398.5	-9.6	180	3781	0.00	1.88	0.00	0.000	6	0.000	0.053	2124	2745	3501
4091	-1.42	-146.6	430.8	-10.2	196	4093	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2745	3501
4400	-1.42	-146.6	462.1	-10.0	211	4405	0.00	2.55	0.00	0.000	4	0.000	0.061	2124	1328	3501
4434	-1.42	-146.6	465.6	-10.3	212	4440	0.00	2.65	0.00	0.000	6	0.000	0.066	2124	2758	3501
4750	-1.42	-146.6	497.6	-10.2	228	4751	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3501
5059	-1.42	-146.6	528.2	-9.8	243	5062	0.00	1.95	0.00	0.000	4	0.000	0.087	2124	3786	3501
5092	-1.42	-146.6	531.6	-9.8	244	5096	0.00	1.83	0.00	0.000	6	0.000	0.048	2124	2750	3501
5414	-1.42	-146.6	562.4	-9.7	260	5418	0.00	2.53	0.00	0.000	4	0.000	0.058	2124	1335	3501
5463	-1.42	-146.6	567.4	-10.3	262	5468	0.00	2.62	0.00	0.000	6	0.000	0.064	2124	2757	3501
5779	-1.42	-146.6	598.7	-10.3	277	5780	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2757	3501
6003	end dive: BOTTOM_OBSTACLE_DETECTED
state	6003	begin apogee
6013	-0.42	0.0	621.8	9.7	288	6139	1.10	0.00	123.15	1.108	6	0.093	0.000	2344	1694	2902
6140	end apogee: CONTROL_FINISHED_OK
state	6140	begin climb
6143	1.42	146.6	626.9	0.0	294	6275	1.90	2.65	121.25	1.074	4	0.058	0.061	2748	289	2304
6424	1.52	230.1	622.0	4.9	307	6500	0.10	2.50	70.12	1.062	6	0.052	0.031	2779	1744	1965
6817	1.52	230.1	591.5	9.1	326	6821	0.00	2.40	0.00	0.000	4	0.000	0.045	2779	3095	1965
6902	1.52	230.1	583.8	8.8	330	6906	0.00	2.47	0.00	0.000	6	0.000	0.038	2779	1693	1964
7228	1.52	230.1	555.1	8.6	346	7233	0.00	2.55	0.00	0.000	4	0.000	0.060	2779	300	1964
7268	1.52	230.1	551.5	9.7	348	7273	0.00	2.40	0.00	0.000	6	0.000	0.033	2779	1698	1965
7595	1.52	230.1	523.1	9.0	364	7600	0.00	2.47	0.00	0.000	4	0.000	0.048	2779	3093	1965
7691	1.52	230.1	513.8	9.8	368	7695	0.00	2.47	0.00	0.000	6	0.000	0.041	2779	1693	1964
8006	1.52	230.1	482.7	10.0	383	8011	0.00	2.50	0.00	0.000	4	0.000	0.048	2779	3091	1964
8051	1.52	230.1	478.0	10.2	385	8055	0.00	2.47	0.00	0.000	6	0.000	0.041	2779	1691	1965
8372	1.52	230.1	446.0	9.9	401	8374	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1691	1964
8682	1.52	230.1	414.5	10.4	416	8686	0.00	2.50	0.00	0.000	4	0.000	0.050	2779	3090	1964
8767	1.52	230.1	405.7	9.8	420	8771	0.00	2.47	0.00	0.000	6	0.000	0.044	2779	1696	1964
9094	1.52	230.1	372.8	9.9	436	9095	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1696	1964
9403	1.52	230.1	342.7	9.7	451	9407	0.00	2.53	0.00	0.000	4	0.000	0.052	2779	3099	1964
9452	1.52	230.1	337.9	9.2	453	9457	0.00	2.50	0.00	0.000	6	0.000	0.045	2779	1694	1964
9768	1.52	230.1	307.4	9.8	468	9772	0.00	2.53	0.00	0.000	4	0.000	0.053	2779	3097	1964
9801	1.52	230.1	304.0	10.0	469	9808	0.00	2.50	0.00	0.000	6	0.000	0.047	2779	1694	1964
10117	1.52	230.1	273.8	9.6	485	10121	0.00	2.53	0.00	0.000	4	0.000	0.054	2779	3097	1964
10163	1.52	230.1	269.3	9.5	487	10167	0.00	2.50	0.00	0.000	6	0.000	0.046	2779	1693	1964
10489	1.52	230.1	236.9	10.4	503	10494	0.00	2.53	0.00	0.000	4	0.000	0.054	2779	3093	1964
10522	1.52	230.1	233.4	10.4	504	10528	0.00	2.50	0.00	0.000	6	0.000	0.048	2779	1693	1964
10838	1.52	230.1	199.2	11.1	520	10842	0.00	2.53	0.00	0.000	4	0.000	0.056	2779	3093	1964
10878	1.52	230.1	194.7	11.2	521	10884	0.00	2.50	0.00	0.000	6	0.000	0.048	2779	1694	1964
11194	1.52	230.1	158.1	11.4	537	11198	0.00	2.53	0.00	0.000	4	0.000	0.056	2779	3091	1964
11243	1.52	230.1	152.2	11.5	539	11248	0.00	2.50	0.00	0.000	6	0.000	0.048	2779	1693	1964
11560	1.52	230.1	117.2	10.0	554	11564	0.00	2.53	0.00	0.000	4	0.000	0.057	2779	3090	1964
11615	1.52	230.1	111.0	11.2	556	11621	0.00	2.47	0.00	0.000	6	0.000	0.049	2779	1699	1964
11931	1.52	230.1	79.9	9.8	572	11935	0.00	2.53	0.00	0.000	4	0.000	0.057	2779	3095	1964
11971	1.52	230.1	75.8	10.6	574	11975	0.00	2.50	0.00	0.000	6	0.000	0.050	2778	1698	1964
12299	1.52	230.1	47.9	8.9	590	12303	0.00	2.58	0.00	0.000	4	0.000	0.062	2779	287	1964
12338	1.52	230.1	43.8	11.1	592	12343	0.00	2.42	0.00	0.000	6	0.000	0.037	2779	1682	1964
12672	1.52	230.1	11.1	9.6	608	12676	0.00	2.58	0.00	0.000	4	0.000	0.056	2779	3121	1964
12727	1.52	230.1	4.4	10.5	610	12733	0.00	2.53	0.00	0.000	6	0.000	0.045	2779	1693	1964
12752	end climb: SURFACE_DEPTH_REACHED
state	12752	begin surface coast
12774	end surface coast: CONTROL_FINISHED_OK
state	12774	begin surface