Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 256 * 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 256 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 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 49 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 -1632621.6 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 -1632621.6

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 41 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 49 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 256 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 034837,6211.246,-911.977,38,1.1,38,-9.6 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.96 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -61.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 035331,6211.212,-911.987,11,1.3,16,-9.6 MHEAD_RNG_PITCHd_Wd 183.2,95441,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.001765 ALTIM_BOTTOM_PING 400.1,100.0

SM_CCo 13343,4.78,0.577,0,0,1609,300.00 _24V_AH 23.3,55.133

SM_GC 2.02,0.00,0.00,4.78,0.000,0.000,0.577,390,2238,1609,-11.09,-0.34,300.00 _10V_AH 10.1,33.439

IRIDIUM_FIX 6148.92,-916.36,041198,000045 DATA_FILE_SIZE 31625,637

TT8_MAMPS 0.027612 CAP_FILE_SIZE 106680,0

HUMID 1912 CFSIZE 260165632,239325184

INTERNAL_PRESSURE 8.14809 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 14.40 GPS 100809,073736,6207.859,-914.459,37,1.0,37,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.14 SBE_CT 522 24 292.44

Roll_motor 148 59 207.24 SBE_O2 476 19 210.95

VBD_pump_during_apogee 379 1090 9640.31 WL_BB2F 453 105 1109.55

VBD_pump_during_surface 4 576 64.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.73 nil 0 0 0.00

Iridium_during_connect 29 160 110.95 nil 0 0 0.00

Iridium_during_xfer 124 223 649.09

Transponder_ping 3 420 29.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.27

TT8 1237 19 247.47

LPSleep 9759 2 215.87

TT8_Active 459 19 91.87

TT8_Sampling 1573 39 632.37

TT8_CF8 618 45 286.08

TT8_Kalman 0 81 0.00

Analog_circuits 1317 12 159.73

GPS_charging 0 0 0.00

Compass 1680 8 135.81

RAFOS 0 0 0.00

Transponder 21 30 6.62

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.96 -146.6 0.0 0.0 0 75 0.00 0.00 -58.08 0.000 6 0.000 0.000 393 2223 3431

78 -0.96 -146.6 3.5 -5.4 3 100 11.65 2.60 0.00 0.000 4 0.133 0.049 2586 3638 3432

240 -0.96 -146.6 27.4 -7.6 10 244 0.00 2.38 0.00 0.000 6 0.000 0.028 2586 2250 3433

561 -0.96 -146.6 48.6 -6.4 26 565 0.00 2.50 0.00 0.000 4 0.000 0.051 2586 3632 3434

700 -0.96 -146.6 58.2 -6.6 32 704 0.00 2.35 0.00 0.000 6 0.000 0.029 2586 2252 3434

1015 -0.96 -146.6 78.4 -6.5 47 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2252 3435

1326 -0.96 -146.6 100.9 -8.4 62 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2251 3435

1634 -0.96 -146.6 133.0 -11.3 77 1638 0.00 2.50 0.00 0.000 4 0.000 0.053 2586 3628 3435

1741 -0.96 -146.6 145.6 -12.2 82 1745 0.00 2.35 0.00 0.000 6 0.000 0.029 2586 2251 3435

2070 -0.96 -146.6 181.7 -10.4 98 2074 0.00 2.50 0.00 0.000 4 0.000 0.053 2586 3632 3435

2159 -0.96 -146.6 191.3 -10.3 102 2163 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2240 3435

2482 -0.96 -146.6 219.3 -8.0 118 2486 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3631 3435

2599 -0.96 -146.6 229.5 -8.3 123 2603 0.00 2.38 0.00 0.000 6 0.000 0.031 2586 2257 3435

2919 -0.96 -146.6 252.7 -7.2 139 2923 0.00 2.50 0.00 0.000 4 0.000 0.054 2586 3632 3435

3008 -0.96 -146.6 259.8 -8.2 143 3012 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2247 3430

3329 -0.96 -146.6 283.8 -7.6 159 3333 0.00 2.50 0.00 0.000 4 0.000 0.054 2586 3628 3434

3413 -0.96 -146.6 290.8 -8.9 163 3417 0.00 2.38 0.00 0.000 6 0.000 0.031 2586 2237 3434

3739 -0.96 -146.6 316.1 -7.7 179 3744 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3634 3434

3819 -0.96 -146.6 322.7 -8.5 182 3826 0.00 2.38 0.00 0.000 6 0.000 0.031 2587 2249 3434

4134 -0.96 -146.6 346.3 -7.3 198 4138 0.00 2.50 0.00 0.000 4 0.000 0.053 2586 3631 3433

4219 -0.96 -146.6 352.9 -7.5 202 4224 0.00 2.38 0.00 0.000 6 0.000 0.031 2586 2239 3433

4547 -0.96 -146.6 375.4 -6.6 218 4551 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3631 3433

4624 -0.96 -146.6 380.7 -6.8 221 4630 0.00 2.38 0.00 0.000 6 0.000 0.031 2586 2243 3432

4940 -0.96 -146.6 397.5 -5.4 237 4945 0.00 2.53 0.00 0.000 4 0.000 0.055 2586 3621 3432

5004 -0.96 -146.6 401.3 -6.2 239 5010 0.00 2.35 0.00 0.000 6 0.000 0.031 2586 2250 3432

5319 -0.96 -146.6 421.1 -6.8 255 5323 0.00 2.50 0.00 0.000 4 0.000 0.054 2586 3628 3432

5408 -0.96 -146.6 427.8 -7.4 259 5412 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2236 3432

5729 -0.96 -146.6 450.2 -7.1 275 5733 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3633 3431

5847 -0.96 -146.6 459.4 -8.2 280 5851 0.00 2.38 0.00 0.000 6 0.000 0.030 2586 2247 3431

6165 -0.96 -146.6 481.1 -6.8 295 6166 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2247 3431

6304 end dive: BOTTOM_OBSTACLE_DETECTED

state 6304 begin apogee

6312 -0.36 0.0 490.5 6.5 302 6441 0.62 0.00 125.20 1.091 6 0.064 0.000 2721 1463 2832

6441 end apogee: CONTROL_FINISHED_OK

state 6441 begin climb

6445 0.96 146.6 494.7 0.0 308 6578 1.33 2.25 125.32 1.055 4 0.055 0.060 3010 274 2233

6675 1.01 187.0 486.0 4.9 318 6716 0.00 2.03 35.60 1.016 6 0.000 0.032 3010 1448 2068

7036 1.04 211.3 467.8 5.3 336 7062 0.00 2.53 21.52 1.000 4 0.000 0.044 3010 2842 1969

7102 1.04 211.7 463.8 6.0 339 7106 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1455 1967

7424 1.04 211.7 445.1 6.3 355 7428 0.00 2.47 0.00 0.000 4 0.000 0.043 3010 2851 1965

7486 1.04 211.7 441.1 6.5 358 7490 0.00 2.47 0.00 0.000 6 0.000 0.038 3010 1446 1964

7812 1.04 211.7 419.5 7.3 374 7816 0.00 2.50 0.00 0.000 4 0.000 0.041 3010 2851 1964

7840 1.04 211.7 417.5 7.4 375 7844 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1454 1963

8155 1.04 211.7 393.7 7.3 390 8160 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2853 1963

8205 1.04 211.7 390.0 7.2 392 8210 0.00 2.47 0.00 0.000 6 0.000 0.037 3010 1463 1962

8526 1.04 211.7 367.2 7.3 408 8530 0.00 2.45 0.00 0.000 4 0.000 0.040 3010 2845 1962

8576 1.04 211.7 363.5 7.0 410 8580 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1446 1962

8892 1.04 211.7 341.0 7.3 425 8896 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2845 1962

8942 1.04 211.7 337.1 7.6 427 8947 0.00 2.47 0.00 0.000 6 0.000 0.037 3010 1451 1962

9262 1.04 211.7 311.6 8.6 443 9266 0.00 2.47 0.00 0.000 4 0.000 0.042 3010 2843 1962

9311 1.04 211.7 307.3 8.4 445 9316 0.00 2.45 0.00 0.000 6 0.000 0.038 3010 1448 1961

9627 1.04 211.7 280.0 8.4 460 9631 0.00 2.47 0.00 0.000 4 0.000 0.043 3010 2843 1961

9677 1.04 211.7 275.7 8.0 462 9682 0.00 2.45 0.00 0.000 6 0.000 0.038 3010 1463 1961

9998 1.04 211.7 250.8 7.5 478 10003 0.00 2.45 0.00 0.000 4 0.000 0.041 3010 2846 1961

10038 1.04 211.7 247.7 7.6 480 10042 0.00 2.42 0.00 0.000 6 0.000 0.036 3010 1452 1962

10366 1.04 211.7 224.4 7.0 496 10370 0.00 2.47 0.00 0.000 4 0.000 0.042 3010 2848 1961

10415 1.04 211.7 220.7 7.1 498 10419 0.00 2.45 0.00 0.000 6 0.000 0.037 3010 1446 1961

10731 1.04 211.7 200.0 6.4 513 10735 0.00 2.47 0.00 0.000 4 0.000 0.041 3010 2845 1961

10780 1.04 211.7 196.8 6.2 515 10784 0.00 2.42 0.00 0.000 6 0.000 0.037 3010 1455 1961

11098 1.10 259.6 179.9 4.7 530 11147 0.12 2.53 41.42 0.897 4 0.042 0.041 3062 2838 1772

11198 1.10 259.6 173.5 6.4 534 11203 0.08 2.47 0.00 0.000 6 0.070 0.037 3040 1457 1769

11519 1.14 293.1 156.7 5.1 550 11551 0.00 0.00 30.27 0.865 6 0.000 0.000 3040 1457 1636

11849 1.14 293.1 130.4 10.2 566 11853 0.00 2.45 0.00 0.000 4 0.000 0.041 3040 2848 1630

11881 1.14 293.1 126.7 10.5 567 11888 0.00 2.42 0.00 0.000 6 0.000 0.038 3040 1453 1630

12199 1.14 293.1 96.0 8.6 583 12203 0.00 2.47 0.00 0.000 4 0.000 0.040 3040 2850 1629

12222 1.14 293.1 94.2 7.8 584 12227 0.00 2.45 0.00 0.000 6 0.000 0.037 3040 1454 1628

12544 1.14 293.1 66.5 9.1 600 12549 0.00 2.17 0.00 0.000 4 0.000 0.059 3040 266 1629

12617 1.14 293.1 59.7 9.0 603 12621 0.00 2.00 0.00 0.000 6 0.000 0.030 3040 1465 1629

12944 1.14 293.1 27.5 9.0 619 12949 0.00 2.45 0.00 0.000 4 0.000 0.041 3040 2843 1627

12977 1.14 293.1 24.5 8.5 620 12982 0.00 2.45 0.00 0.000 6 0.000 0.035 3040 1453 1627

13275 end climb: SURFACE_DEPTH_REACHED

state 13275 begin surface coast

13319 end surface coast: CONTROL_FINISHED_OK

state 13319 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	256	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	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	49	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	-1632621.6	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	034837,6211.246,-911.977,38,1.1,38,-9.6	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.96	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-61.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	035331,6211.212,-911.987,11,1.3,16,-9.6	MHEAD_RNG_PITCHd_Wd	183.2,95441,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.001765	ALTIM_BOTTOM_PING	400.1,100.0
SM_CCo	13343,4.78,0.577,0,0,1609,300.00	_24V_AH	23.3,55.133
SM_GC	2.02,0.00,0.00,4.78,0.000,0.000,0.577,390,2238,1609,-11.09,-0.34,300.00	_10V_AH	10.1,33.439
IRIDIUM_FIX	6148.92,-916.36,041198,000045	DATA_FILE_SIZE	31625,637
TT8_MAMPS	0.027612	CAP_FILE_SIZE	106680,0
HUMID	1912	CFSIZE	260165632,239325184
INTERNAL_PRESSURE	8.14809	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	14.40	GPS	100809,073736,6207.859,-914.459,37,1.0,37,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.14	SBE_CT	522	24	292.44
Roll_motor	148	59	207.24	SBE_O2	476	19	210.95
VBD_pump_during_apogee	379	1090	9640.31	WL_BB2F	453	105	1109.55
VBD_pump_during_surface	4	576	64.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.73	nil	0	0	0.00
Iridium_during_connect	29	160	110.95	nil	0	0	0.00
Iridium_during_xfer	124	223	649.09
Transponder_ping	3	420	29.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.27
TT8	1237	19	247.47
LPSleep	9759	2	215.87
TT8_Active	459	19	91.87
TT8_Sampling	1573	39	632.37
TT8_CF8	618	45	286.08
TT8_Kalman	0	81	0.00
Analog_circuits	1317	12	159.73
GPS_charging	0	0	0.00
Compass	1680	8	135.81
RAFOS	0	0	0.00
Transponder	21	30	6.62

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.96	-146.6	0.0	0.0	0	75	0.00	0.00	-58.08	0.000	6	0.000	0.000	393	2223	3431
78	-0.96	-146.6	3.5	-5.4	3	100	11.65	2.60	0.00	0.000	4	0.133	0.049	2586	3638	3432
240	-0.96	-146.6	27.4	-7.6	10	244	0.00	2.38	0.00	0.000	6	0.000	0.028	2586	2250	3433
561	-0.96	-146.6	48.6	-6.4	26	565	0.00	2.50	0.00	0.000	4	0.000	0.051	2586	3632	3434
700	-0.96	-146.6	58.2	-6.6	32	704	0.00	2.35	0.00	0.000	6	0.000	0.029	2586	2252	3434
1015	-0.96	-146.6	78.4	-6.5	47	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2252	3435
1326	-0.96	-146.6	100.9	-8.4	62	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2251	3435
1634	-0.96	-146.6	133.0	-11.3	77	1638	0.00	2.50	0.00	0.000	4	0.000	0.053	2586	3628	3435
1741	-0.96	-146.6	145.6	-12.2	82	1745	0.00	2.35	0.00	0.000	6	0.000	0.029	2586	2251	3435
2070	-0.96	-146.6	181.7	-10.4	98	2074	0.00	2.50	0.00	0.000	4	0.000	0.053	2586	3632	3435
2159	-0.96	-146.6	191.3	-10.3	102	2163	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2240	3435
2482	-0.96	-146.6	219.3	-8.0	118	2486	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3631	3435
2599	-0.96	-146.6	229.5	-8.3	123	2603	0.00	2.38	0.00	0.000	6	0.000	0.031	2586	2257	3435
2919	-0.96	-146.6	252.7	-7.2	139	2923	0.00	2.50	0.00	0.000	4	0.000	0.054	2586	3632	3435
3008	-0.96	-146.6	259.8	-8.2	143	3012	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2247	3430
3329	-0.96	-146.6	283.8	-7.6	159	3333	0.00	2.50	0.00	0.000	4	0.000	0.054	2586	3628	3434
3413	-0.96	-146.6	290.8	-8.9	163	3417	0.00	2.38	0.00	0.000	6	0.000	0.031	2586	2237	3434
3739	-0.96	-146.6	316.1	-7.7	179	3744	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3634	3434
3819	-0.96	-146.6	322.7	-8.5	182	3826	0.00	2.38	0.00	0.000	6	0.000	0.031	2587	2249	3434
4134	-0.96	-146.6	346.3	-7.3	198	4138	0.00	2.50	0.00	0.000	4	0.000	0.053	2586	3631	3433
4219	-0.96	-146.6	352.9	-7.5	202	4224	0.00	2.38	0.00	0.000	6	0.000	0.031	2586	2239	3433
4547	-0.96	-146.6	375.4	-6.6	218	4551	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3631	3433
4624	-0.96	-146.6	380.7	-6.8	221	4630	0.00	2.38	0.00	0.000	6	0.000	0.031	2586	2243	3432
4940	-0.96	-146.6	397.5	-5.4	237	4945	0.00	2.53	0.00	0.000	4	0.000	0.055	2586	3621	3432
5004	-0.96	-146.6	401.3	-6.2	239	5010	0.00	2.35	0.00	0.000	6	0.000	0.031	2586	2250	3432
5319	-0.96	-146.6	421.1	-6.8	255	5323	0.00	2.50	0.00	0.000	4	0.000	0.054	2586	3628	3432
5408	-0.96	-146.6	427.8	-7.4	259	5412	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2236	3432
5729	-0.96	-146.6	450.2	-7.1	275	5733	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3633	3431
5847	-0.96	-146.6	459.4	-8.2	280	5851	0.00	2.38	0.00	0.000	6	0.000	0.030	2586	2247	3431
6165	-0.96	-146.6	481.1	-6.8	295	6166	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2247	3431
6304	end dive: BOTTOM_OBSTACLE_DETECTED
state	6304	begin apogee
6312	-0.36	0.0	490.5	6.5	302	6441	0.62	0.00	125.20	1.091	6	0.064	0.000	2721	1463	2832
6441	end apogee: CONTROL_FINISHED_OK
state	6441	begin climb
6445	0.96	146.6	494.7	0.0	308	6578	1.33	2.25	125.32	1.055	4	0.055	0.060	3010	274	2233
6675	1.01	187.0	486.0	4.9	318	6716	0.00	2.03	35.60	1.016	6	0.000	0.032	3010	1448	2068
7036	1.04	211.3	467.8	5.3	336	7062	0.00	2.53	21.52	1.000	4	0.000	0.044	3010	2842	1969
7102	1.04	211.7	463.8	6.0	339	7106	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1455	1967
7424	1.04	211.7	445.1	6.3	355	7428	0.00	2.47	0.00	0.000	4	0.000	0.043	3010	2851	1965
7486	1.04	211.7	441.1	6.5	358	7490	0.00	2.47	0.00	0.000	6	0.000	0.038	3010	1446	1964
7812	1.04	211.7	419.5	7.3	374	7816	0.00	2.50	0.00	0.000	4	0.000	0.041	3010	2851	1964
7840	1.04	211.7	417.5	7.4	375	7844	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1454	1963
8155	1.04	211.7	393.7	7.3	390	8160	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2853	1963
8205	1.04	211.7	390.0	7.2	392	8210	0.00	2.47	0.00	0.000	6	0.000	0.037	3010	1463	1962
8526	1.04	211.7	367.2	7.3	408	8530	0.00	2.45	0.00	0.000	4	0.000	0.040	3010	2845	1962
8576	1.04	211.7	363.5	7.0	410	8580	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1446	1962
8892	1.04	211.7	341.0	7.3	425	8896	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2845	1962
8942	1.04	211.7	337.1	7.6	427	8947	0.00	2.47	0.00	0.000	6	0.000	0.037	3010	1451	1962
9262	1.04	211.7	311.6	8.6	443	9266	0.00	2.47	0.00	0.000	4	0.000	0.042	3010	2843	1962
9311	1.04	211.7	307.3	8.4	445	9316	0.00	2.45	0.00	0.000	6	0.000	0.038	3010	1448	1961
9627	1.04	211.7	280.0	8.4	460	9631	0.00	2.47	0.00	0.000	4	0.000	0.043	3010	2843	1961
9677	1.04	211.7	275.7	8.0	462	9682	0.00	2.45	0.00	0.000	6	0.000	0.038	3010	1463	1961
9998	1.04	211.7	250.8	7.5	478	10003	0.00	2.45	0.00	0.000	4	0.000	0.041	3010	2846	1961
10038	1.04	211.7	247.7	7.6	480	10042	0.00	2.42	0.00	0.000	6	0.000	0.036	3010	1452	1962
10366	1.04	211.7	224.4	7.0	496	10370	0.00	2.47	0.00	0.000	4	0.000	0.042	3010	2848	1961
10415	1.04	211.7	220.7	7.1	498	10419	0.00	2.45	0.00	0.000	6	0.000	0.037	3010	1446	1961
10731	1.04	211.7	200.0	6.4	513	10735	0.00	2.47	0.00	0.000	4	0.000	0.041	3010	2845	1961
10780	1.04	211.7	196.8	6.2	515	10784	0.00	2.42	0.00	0.000	6	0.000	0.037	3010	1455	1961
11098	1.10	259.6	179.9	4.7	530	11147	0.12	2.53	41.42	0.897	4	0.042	0.041	3062	2838	1772
11198	1.10	259.6	173.5	6.4	534	11203	0.08	2.47	0.00	0.000	6	0.070	0.037	3040	1457	1769
11519	1.14	293.1	156.7	5.1	550	11551	0.00	0.00	30.27	0.865	6	0.000	0.000	3040	1457	1636
11849	1.14	293.1	130.4	10.2	566	11853	0.00	2.45	0.00	0.000	4	0.000	0.041	3040	2848	1630
11881	1.14	293.1	126.7	10.5	567	11888	0.00	2.42	0.00	0.000	6	0.000	0.038	3040	1453	1630
12199	1.14	293.1	96.0	8.6	583	12203	0.00	2.47	0.00	0.000	4	0.000	0.040	3040	2850	1629
12222	1.14	293.1	94.2	7.8	584	12227	0.00	2.45	0.00	0.000	6	0.000	0.037	3040	1454	1628
12544	1.14	293.1	66.5	9.1	600	12549	0.00	2.17	0.00	0.000	4	0.000	0.059	3040	266	1629
12617	1.14	293.1	59.7	9.0	603	12621	0.00	2.00	0.00	0.000	6	0.000	0.030	3040	1465	1629
12944	1.14	293.1	27.5	9.0	619	12949	0.00	2.45	0.00	0.000	4	0.000	0.041	3040	2843	1627
12977	1.14	293.1	24.5	8.5	620	12982	0.00	2.45	0.00	0.000	6	0.000	0.035	3040	1453	1627
13275	end climb: SURFACE_DEPTH_REACHED
state	13275	begin surface coast
13319	end surface coast: CONTROL_FINISHED_OK
state	13319	begin surface