Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 231 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 231 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 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 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1632119.4 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 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 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 -1632119.4

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 41 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 231 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 180407,6155.085,-922.657,32,0.9,32,-9.6 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.86 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -57.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 180914,6155.176,-922.564,15,1.0,15,-9.6 MHEAD_RNG_PITCHd_Wd 170.2,19978,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026813 ALTIM_BOTTOM_PING 475.7,99.9

SM_CCo 13627,0.00,0.000,0,0,1341,365.74 _24V_AH 23.3,51.130

SM_GC 0.96,11.57,0.00,0.00,0.022,0.000,0.000,394,2264,1341,-10.98,0.37,365.74 _10V_AH 10.1,31.203

IRIDIUM_FIX 6135.28,-1007.64,291098,131315 DATA_FILE_SIZE 31715,647

TT8_MAMPS 0.026845 CAP_FILE_SIZE 104812,0

HUMID 1929 CFSIZE 260165632,240934912

INTERNAL_PRESSURE 8.10902 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 14.00 GPS 040809,215755,6154.297,-920.601,37,1.8,37,-9.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 79.14 SBE_CT 532 24 297.68

Roll_motor 135 61 193.47 SBE_O2 481 19 213.19

VBD_pump_during_apogee 438 1145 11707.70 WL_BB2F 444 105 1087.16

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 22 103 54.04 nil 0 0 0.00

Iridium_during_connect 27 160 101.14 nil 0 0 0.00

Iridium_during_xfer 137 223 716.56

Transponder_ping 3 420 36.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.69

TT8 1232 19 246.55

LPSleep 10004 2 221.29

TT8_Active 494 19 98.94

TT8_Sampling 1571 39 631.81

TT8_CF8 631 45 292.00

TT8_Kalman 0 81 0.00

Analog_circuits 1362 12 165.17

GPS_charging 0 0 0.00

Compass 1682 8 135.96

RAFOS 0 0 0.00

Transponder 26 30 8.09

Guidance and control:

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.96 -146.6 0.0 0.0 0 85 0.00 0.00 -61.95 0.000 6 0.000 0.000 391 2225 3431

88 -0.96 -146.6 5.6 -7.9 4 108 11.70 2.42 0.00 0.000 4 0.133 0.038 2583 846 3433

177 -0.96 -146.6 22.3 -7.7 8 182 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2241 3433

504 -0.96 -146.6 45.4 -7.4 24 509 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3652 3434

582 -0.96 -146.6 52.4 -9.0 27 589 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2233 3434

898 -0.96 -146.6 79.2 -8.3 43 903 0.00 2.42 0.00 0.000 4 0.000 0.042 2583 850 3435

931 -0.96 -146.6 82.2 -8.5 44 938 0.00 2.45 0.00 0.000 6 0.000 0.033 2583 2261 3435

1249 -0.96 -146.6 106.8 -7.7 60 1250 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2261 3435

1557 -0.96 -146.6 128.8 -6.9 75 1561 0.00 2.53 0.00 0.000 4 0.000 0.057 2583 3652 3435

1606 -0.96 -146.6 132.6 -7.4 77 1610 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3435

1922 -0.96 -146.6 153.2 -6.4 92 1926 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3651 3435

2029 -0.96 -146.6 160.3 -5.9 97 2034 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2250 3435

2361 -0.96 -146.6 180.7 -5.9 113 2365 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3654 3434

2410 -0.96 -146.6 184.0 -6.9 115 2414 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2250 3434

2727 -0.96 -146.6 205.2 -7.1 130 2731 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3652 3434

2826 -0.96 -146.6 213.6 -8.2 134 2833 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3434

3145 -0.96 -146.6 238.1 -7.8 150 3149 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3653 3434

3206 -0.96 -146.6 243.4 -8.2 153 3211 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2251 3434

3533 -0.96 -146.6 267.4 -7.0 169 3537 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3650 3434

3595 -0.96 -146.6 272.2 -7.7 172 3600 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3434

3925 -0.96 -146.6 294.6 -6.9 188 3929 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3650 3434

3969 -0.96 -146.6 298.0 -7.2 190 3973 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3434

4291 -0.96 -146.6 320.5 -7.2 206 4296 0.00 2.53 0.00 0.000 4 0.000 0.051 2583 3653 3433

4377 -0.96 -146.6 327.5 -8.5 210 4381 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2248 3433

4704 -0.96 -146.6 352.6 -7.4 226 4709 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3650 3433

4795 -0.96 -146.6 359.6 -7.4 230 4799 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3433

5116 -0.96 -146.6 381.0 -6.6 246 5117 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2248 3433

5427 -0.96 -146.6 402.2 -7.3 261 5431 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3649 3433

5517 -0.96 -146.6 409.4 -7.8 265 5521 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3433

5839 -0.96 -146.6 433.6 -7.5 281 5844 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3648 3432

5906 -0.96 -146.6 439.2 -8.2 284 5911 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3432

6227 -0.96 -146.6 464.9 -8.4 300 6232 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3654 3432

6277 -0.96 -146.6 469.6 -10.2 302 6281 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2240 3431

6593 -0.96 -146.6 497.2 -8.8 317 6597 0.00 2.55 0.00 0.000 4 0.000 0.055 2583 3648 3431

6687 -0.96 -146.6 505.8 -8.9 321 6692 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

7006 -0.96 -146.6 529.3 -5.8 336 7011 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3651 3431

7102 -0.96 -146.6 533.7 -3.8 340 7106 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3431

7417 -0.96 -146.6 554.6 -9.1 355 7421 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3649 3430

7517 -0.96 -146.6 562.8 -8.7 359 7524 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2236 3431

7562 end dive: BOTTOM_OBSTACLE_DETECTED

state 7562 begin apogee

7570 -0.36 0.0 566.8 9.0 362 7699 0.65 0.00 126.07 1.146 6 0.070 0.000 2721 1465 2832

7700 end apogee: CONTROL_FINISHED_OK

state 7700 begin climb

7703 0.96 146.6 572.8 0.0 368 7838 1.30 2.28 126.22 1.108 4 0.053 0.061 3007 268 2234

8052 0.96 146.6 556.1 6.5 384 8056 0.00 2.03 0.00 0.000 6 0.000 0.035 3006 1457 2227

8387 0.96 146.6 528.7 9.2 400 8391 0.00 2.47 0.00 0.000 4 0.000 0.046 3007 2854 2225

8442 0.96 146.6 523.8 8.0 402 8448 0.00 2.47 0.00 0.000 6 0.000 0.039 3007 1448 2224

8760 1.23 360.6 518.1 0.1 418 8958 0.22 2.62 186.20 1.098 4 0.034 0.045 3085 2859 1360

9047 1.23 360.6 494.9 9.7 431 9052 0.00 2.50 0.00 0.000 6 0.000 0.041 3085 1458 1354

9366 1.23 360.6 460.6 10.3 446 9370 0.00 2.17 0.00 0.000 4 0.000 0.061 3085 262 1348

9393 1.23 360.6 457.2 10.8 447 9398 0.00 2.05 0.00 0.000 6 0.000 0.034 3085 1456 1349

9720 1.23 360.6 422.7 10.7 463 9721 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1456 1348

10029 1.23 360.6 390.6 10.5 478 10033 0.00 2.17 0.00 0.000 4 0.000 0.059 3085 261 1347

10098 1.23 360.6 382.5 12.3 481 10101 0.00 2.03 0.00 0.000 6 0.000 0.033 3085 1455 1347

10432 1.23 360.6 341.3 12.5 497 10436 0.00 2.17 0.00 0.000 4 0.000 0.059 3085 262 1347

10465 1.23 360.6 336.5 13.0 498 10470 0.00 2.05 0.00 0.000 6 0.000 0.033 3085 1456 1347

10786 1.23 360.6 297.8 12.2 514 10787 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1456 1346

11095 1.23 360.6 260.8 11.8 529 11099 0.00 2.17 0.00 0.000 4 0.000 0.058 3085 261 1346

11113 1.23 360.6 258.8 11.7 529 11119 0.00 2.03 0.00 0.000 6 0.000 0.033 3085 1456 1346

11428 1.23 360.6 224.0 10.5 545 11432 0.00 2.17 0.00 0.000 4 0.000 0.058 3085 259 1346

11456 1.23 360.6 220.9 11.6 546 11459 0.00 2.05 0.00 0.000 6 0.000 0.032 3085 1458 1346

11785 1.23 360.6 188.4 9.8 562 11786 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1458 1346

12092 1.23 360.6 157.0 10.4 577 12096 0.00 2.15 0.00 0.000 4 0.000 0.058 3085 262 1346

12131 1.23 360.6 152.6 11.1 578 12137 0.00 2.03 0.00 0.000 6 0.000 0.032 3085 1456 1346

12447 1.23 360.6 119.2 10.7 594 12448 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1456 1346

12756 1.23 360.6 87.3 10.1 609 12761 0.00 2.20 0.00 0.000 4 0.000 0.058 3085 258 1345

12789 1.23 360.6 83.5 10.5 610 12794 0.00 2.08 0.00 0.000 6 0.000 0.032 3085 1458 1346

13110 1.23 360.6 48.9 11.0 626 13111 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1458 1345

13419 1.23 360.6 13.1 11.0 641 13420 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 1458 1345

13519 end climb: SURFACE_DEPTH_REACHED

state 13519 begin surface coast

13543 end surface coast: CONTROL_FINISHED_OK

state 13543 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	231	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	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	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1632119.4	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	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	180407,6155.085,-922.657,32,0.9,32,-9.6	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.86	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-57.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	180914,6155.176,-922.564,15,1.0,15,-9.6	MHEAD_RNG_PITCHd_Wd	170.2,19978,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.026813	ALTIM_BOTTOM_PING	475.7,99.9
SM_CCo	13627,0.00,0.000,0,0,1341,365.74	_24V_AH	23.3,51.130
SM_GC	0.96,11.57,0.00,0.00,0.022,0.000,0.000,394,2264,1341,-10.98,0.37,365.74	_10V_AH	10.1,31.203
IRIDIUM_FIX	6135.28,-1007.64,291098,131315	DATA_FILE_SIZE	31715,647
TT8_MAMPS	0.026845	CAP_FILE_SIZE	104812,0
HUMID	1929	CFSIZE	260165632,240934912
INTERNAL_PRESSURE	8.10902	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	14.00	GPS	040809,215755,6154.297,-920.601,37,1.8,37,-9.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	79.14	SBE_CT	532	24	297.68
Roll_motor	135	61	193.47	SBE_O2	481	19	213.19
VBD_pump_during_apogee	438	1145	11707.70	WL_BB2F	444	105	1087.16
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	22	103	54.04	nil	0	0	0.00
Iridium_during_connect	27	160	101.14	nil	0	0	0.00
Iridium_during_xfer	137	223	716.56
Transponder_ping	3	420	36.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.69
TT8	1232	19	246.55
LPSleep	10004	2	221.29
TT8_Active	494	19	98.94
TT8_Sampling	1571	39	631.81
TT8_CF8	631	45	292.00
TT8_Kalman	0	81	0.00
Analog_circuits	1362	12	165.17
GPS_charging	0	0	0.00
Compass	1682	8	135.96
RAFOS	0	0	0.00
Transponder	26	30	8.09

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.96	-146.6	0.0	0.0	0	85	0.00	0.00	-61.95	0.000	6	0.000	0.000	391	2225	3431
88	-0.96	-146.6	5.6	-7.9	4	108	11.70	2.42	0.00	0.000	4	0.133	0.038	2583	846	3433
177	-0.96	-146.6	22.3	-7.7	8	182	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2241	3433
504	-0.96	-146.6	45.4	-7.4	24	509	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3652	3434
582	-0.96	-146.6	52.4	-9.0	27	589	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2233	3434
898	-0.96	-146.6	79.2	-8.3	43	903	0.00	2.42	0.00	0.000	4	0.000	0.042	2583	850	3435
931	-0.96	-146.6	82.2	-8.5	44	938	0.00	2.45	0.00	0.000	6	0.000	0.033	2583	2261	3435
1249	-0.96	-146.6	106.8	-7.7	60	1250	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2261	3435
1557	-0.96	-146.6	128.8	-6.9	75	1561	0.00	2.53	0.00	0.000	4	0.000	0.057	2583	3652	3435
1606	-0.96	-146.6	132.6	-7.4	77	1610	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3435
1922	-0.96	-146.6	153.2	-6.4	92	1926	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3651	3435
2029	-0.96	-146.6	160.3	-5.9	97	2034	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2250	3435
2361	-0.96	-146.6	180.7	-5.9	113	2365	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3654	3434
2410	-0.96	-146.6	184.0	-6.9	115	2414	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2250	3434
2727	-0.96	-146.6	205.2	-7.1	130	2731	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3652	3434
2826	-0.96	-146.6	213.6	-8.2	134	2833	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3434
3145	-0.96	-146.6	238.1	-7.8	150	3149	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3653	3434
3206	-0.96	-146.6	243.4	-8.2	153	3211	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2251	3434
3533	-0.96	-146.6	267.4	-7.0	169	3537	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3650	3434
3595	-0.96	-146.6	272.2	-7.7	172	3600	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3434
3925	-0.96	-146.6	294.6	-6.9	188	3929	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3650	3434
3969	-0.96	-146.6	298.0	-7.2	190	3973	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3434
4291	-0.96	-146.6	320.5	-7.2	206	4296	0.00	2.53	0.00	0.000	4	0.000	0.051	2583	3653	3433
4377	-0.96	-146.6	327.5	-8.5	210	4381	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2248	3433
4704	-0.96	-146.6	352.6	-7.4	226	4709	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3650	3433
4795	-0.96	-146.6	359.6	-7.4	230	4799	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3433
5116	-0.96	-146.6	381.0	-6.6	246	5117	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2248	3433
5427	-0.96	-146.6	402.2	-7.3	261	5431	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3649	3433
5517	-0.96	-146.6	409.4	-7.8	265	5521	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3433
5839	-0.96	-146.6	433.6	-7.5	281	5844	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3648	3432
5906	-0.96	-146.6	439.2	-8.2	284	5911	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3432
6227	-0.96	-146.6	464.9	-8.4	300	6232	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3654	3432
6277	-0.96	-146.6	469.6	-10.2	302	6281	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2240	3431
6593	-0.96	-146.6	497.2	-8.8	317	6597	0.00	2.55	0.00	0.000	4	0.000	0.055	2583	3648	3431
6687	-0.96	-146.6	505.8	-8.9	321	6692	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
7006	-0.96	-146.6	529.3	-5.8	336	7011	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3651	3431
7102	-0.96	-146.6	533.7	-3.8	340	7106	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3431
7417	-0.96	-146.6	554.6	-9.1	355	7421	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3649	3430
7517	-0.96	-146.6	562.8	-8.7	359	7524	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2236	3431
7562	end dive: BOTTOM_OBSTACLE_DETECTED
state	7562	begin apogee
7570	-0.36	0.0	566.8	9.0	362	7699	0.65	0.00	126.07	1.146	6	0.070	0.000	2721	1465	2832
7700	end apogee: CONTROL_FINISHED_OK
state	7700	begin climb
7703	0.96	146.6	572.8	0.0	368	7838	1.30	2.28	126.22	1.108	4	0.053	0.061	3007	268	2234
8052	0.96	146.6	556.1	6.5	384	8056	0.00	2.03	0.00	0.000	6	0.000	0.035	3006	1457	2227
8387	0.96	146.6	528.7	9.2	400	8391	0.00	2.47	0.00	0.000	4	0.000	0.046	3007	2854	2225
8442	0.96	146.6	523.8	8.0	402	8448	0.00	2.47	0.00	0.000	6	0.000	0.039	3007	1448	2224
8760	1.23	360.6	518.1	0.1	418	8958	0.22	2.62	186.20	1.098	4	0.034	0.045	3085	2859	1360
9047	1.23	360.6	494.9	9.7	431	9052	0.00	2.50	0.00	0.000	6	0.000	0.041	3085	1458	1354
9366	1.23	360.6	460.6	10.3	446	9370	0.00	2.17	0.00	0.000	4	0.000	0.061	3085	262	1348
9393	1.23	360.6	457.2	10.8	447	9398	0.00	2.05	0.00	0.000	6	0.000	0.034	3085	1456	1349
9720	1.23	360.6	422.7	10.7	463	9721	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1456	1348
10029	1.23	360.6	390.6	10.5	478	10033	0.00	2.17	0.00	0.000	4	0.000	0.059	3085	261	1347
10098	1.23	360.6	382.5	12.3	481	10101	0.00	2.03	0.00	0.000	6	0.000	0.033	3085	1455	1347
10432	1.23	360.6	341.3	12.5	497	10436	0.00	2.17	0.00	0.000	4	0.000	0.059	3085	262	1347
10465	1.23	360.6	336.5	13.0	498	10470	0.00	2.05	0.00	0.000	6	0.000	0.033	3085	1456	1347
10786	1.23	360.6	297.8	12.2	514	10787	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1456	1346
11095	1.23	360.6	260.8	11.8	529	11099	0.00	2.17	0.00	0.000	4	0.000	0.058	3085	261	1346
11113	1.23	360.6	258.8	11.7	529	11119	0.00	2.03	0.00	0.000	6	0.000	0.033	3085	1456	1346
11428	1.23	360.6	224.0	10.5	545	11432	0.00	2.17	0.00	0.000	4	0.000	0.058	3085	259	1346
11456	1.23	360.6	220.9	11.6	546	11459	0.00	2.05	0.00	0.000	6	0.000	0.032	3085	1458	1346
11785	1.23	360.6	188.4	9.8	562	11786	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1458	1346
12092	1.23	360.6	157.0	10.4	577	12096	0.00	2.15	0.00	0.000	4	0.000	0.058	3085	262	1346
12131	1.23	360.6	152.6	11.1	578	12137	0.00	2.03	0.00	0.000	6	0.000	0.032	3085	1456	1346
12447	1.23	360.6	119.2	10.7	594	12448	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1456	1346
12756	1.23	360.6	87.3	10.1	609	12761	0.00	2.20	0.00	0.000	4	0.000	0.058	3085	258	1345
12789	1.23	360.6	83.5	10.5	610	12794	0.00	2.08	0.00	0.000	6	0.000	0.032	3085	1458	1346
13110	1.23	360.6	48.9	11.0	626	13111	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1458	1345
13419	1.23	360.6	13.1	11.0	641	13420	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	1458	1345
13519	end climb: SURFACE_DEPTH_REACHED
state	13519	begin surface coast
13543	end surface coast: CONTROL_FINISHED_OK
state	13543	begin surface