Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 257 * 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 257 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -1632636.2 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 -1632636.2

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 257 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 073736,6207.859,-914.459,37,1.0,37,-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 1.02 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -65.4 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 074237,6207.843,-914.450,14,1.0,14,-9.6 MHEAD_RNG_PITCHd_Wd 181.4,89531,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.004690 ALTIM_BOTTOM_PING 425.0,86.3

SM_CCo 13665,21.73,0.760,0,0,1609,300.00 _24V_AH 23.3,55.255

SM_GC 0.66,0.00,0.00,21.73,0.000,0.000,0.760,389,2235,1609,-11.09,-0.42,300.00 _10V_AH 10.1,33.509

IRIDIUM_FIX 6144.36,-915.61,041198,040407 DATA_FILE_SIZE 31690,653

TT8_MAMPS 0.027612 CAP_FILE_SIZE 103871,0

HUMID 1918 CFSIZE 260165632,239276032

INTERNAL_PRESSURE 8.16762 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 17.80 GPS 100809,113207,6206.734,-914.943,23,1.9,23,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 130 76.33 SBE_CT 531 24 297.36

Roll_motor 135 59 185.77 SBE_O2 491 19 217.73

VBD_pump_during_apogee 362 1096 9256.81 WL_BB2F 457 105 1119.25

VBD_pump_during_surface 21 760 384.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.24 nil 0 0 0.00

Iridium_during_connect 25 160 93.51 nil 0 0 0.00

Iridium_during_xfer 127 223 662.50

Transponder_ping 3 420 34.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1241 19 248.22

LPSleep 10114 2 223.71

TT8_Active 477 19 95.57

TT8_Sampling 1528 39 614.42

TT8_CF8 631 45 291.95

TT8_Kalman 0 81 0.00

Analog_circuits 1306 12 158.32

GPS_charging 0 0 0.00

Compass 1637 8 132.35

RAFOS 0 0 0.00

Transponder 26 30 8.00

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 79 0.00 0.00 -57.97 0.000 6 0.000 0.000 389 2239 3431

82 -0.96 -146.6 5.3 -10.3 3 103 11.60 2.60 0.00 0.000 4 0.130 0.050 2583 3656 3432

351 -0.96 -146.6 46.6 -13.2 15 355 0.00 2.42 0.00 0.000 6 0.000 0.029 2583 2231 3433

677 -0.96 -146.6 83.5 -8.8 31 681 0.00 2.58 0.00 0.000 4 0.000 0.052 2583 3650 3434

739 -0.96 -146.6 88.7 -8.1 34 744 0.00 2.38 0.00 0.000 6 0.000 0.028 2583 2253 3434

1066 -0.96 -146.6 109.5 -6.5 50 1070 0.00 2.45 0.00 0.000 4 0.000 0.041 2583 853 3435

1094 -0.96 -146.6 111.4 -6.7 51 1098 0.00 2.42 0.00 0.000 6 0.000 0.032 2583 2250 3435

1410 -0.96 -146.6 132.7 -6.6 66 1415 0.00 2.58 0.00 0.000 4 0.000 0.058 2583 3650 3435

1504 -0.96 -146.6 139.8 -7.4 70 1509 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2249 3435

1826 -0.96 -146.6 160.3 -6.2 86 1831 0.00 2.58 0.00 0.000 4 0.000 0.053 2583 3650 3435

1916 -0.96 -146.6 166.4 -7.3 90 1920 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2247 3434

2242 -0.96 -146.6 188.0 -6.9 106 2247 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3652 3435

2356 -0.96 -146.6 196.7 -7.7 111 2360 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3435

2677 -0.96 -146.6 220.4 -7.5 127 2681 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3644 3434

2748 -0.96 -146.6 226.2 -8.2 130 2753 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2246 3434

3071 -0.96 -146.6 249.7 -7.1 146 3075 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3653 3434

3148 -0.96 -146.6 255.8 -7.9 149 3152 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3434

3463 -0.96 -146.6 277.8 -7.0 164 3468 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3653 3434

3553 -0.96 -146.6 285.1 -8.2 168 3557 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3434

3873 -0.96 -146.6 310.3 -8.1 184 3878 0.00 2.53 0.00 0.000 4 0.000 0.052 2583 3650 3434

3951 -0.96 -146.6 316.8 -8.3 187 3957 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2247 3434

4267 -0.96 -146.6 341.1 -7.6 203 4272 0.00 2.55 0.00 0.000 4 0.000 0.053 2583 3645 3433

4322 -0.96 -146.6 345.6 -8.3 205 4327 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2242 3433

4638 -0.96 -146.6 368.4 -7.3 220 4643 0.00 2.55 0.00 0.000 4 0.000 0.054 2583 3649 3433

4761 -0.96 -146.6 378.2 -8.2 225 4768 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3432

5082 -0.96 -146.6 401.1 -7.3 241 5087 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3650 3432

5155 -0.96 -146.6 407.0 -7.7 244 5159 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

5471 -0.96 -146.6 427.7 -6.6 259 5475 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3649 3432

5555 -0.96 -146.6 433.8 -6.9 263 5559 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2251 3431

5883 -0.96 -146.6 456.8 -7.3 279 5887 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3648 3431

5962 -0.96 -146.6 462.7 -7.5 282 5968 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3431

6278 -0.96 -146.6 481.9 -5.9 298 6282 0.00 2.53 0.00 0.000 4 0.000 0.054 2583 3650 3431

6321 -0.96 -146.6 484.6 -6.2 300 6325 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3430

6622 end dive: BOTTOM_OBSTACLE_DETECTED

state 6622 begin apogee

6630 -0.36 0.0 501.5 5.2 315 6762 0.65 0.00 125.25 1.096 6 0.065 0.000 2723 1463 2831

6763 end apogee: CONTROL_FINISHED_OK

state 6763 begin climb

6766 0.96 146.6 503.9 0.0 322 6900 1.30 2.28 124.95 1.062 4 0.054 0.059 3008 268 2233

6935 1.02 187.8 498.2 4.9 330 6977 0.00 2.05 36.30 1.019 6 0.000 0.033 3008 1470 2066

7289 1.03 201.1 477.3 5.6 347 7306 0.00 0.00 12.00 0.943 6 0.000 0.000 3008 1470 2011

7618 1.04 210.9 458.4 5.7 363 7633 0.00 2.50 9.85 0.924 4 0.000 0.044 3008 2855 1971

7661 1.04 210.9 455.6 6.3 364 7665 0.00 2.47 0.00 0.000 6 0.000 0.038 3008 1456 1970

7984 1.06 222.8 436.8 5.7 380 8008 0.10 2.55 11.82 0.956 4 0.052 0.043 3051 2847 1922

8031 1.06 222.8 433.3 7.6 382 8035 0.00 2.45 0.00 0.000 6 0.000 0.038 3051 1453 1922

8360 1.06 222.8 407.7 8.1 398 8361 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1453 1921

8666 1.06 222.8 383.6 7.7 413 8671 0.00 2.50 0.00 0.000 4 0.000 0.044 3050 2852 1920

8695 1.06 222.8 381.3 8.0 414 8700 0.00 2.47 0.00 0.000 6 0.000 0.038 3051 1448 1920

9011 1.06 222.8 357.3 7.7 429 9015 0.00 2.50 0.00 0.000 4 0.000 0.041 3051 2854 1920

9043 1.06 222.8 354.7 7.6 430 9050 0.00 2.47 0.00 0.000 6 0.000 0.038 3051 1448 1919

9362 1.06 222.8 332.5 7.1 446 9363 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1448 1919

9670 1.06 222.8 311.8 6.5 461 9674 0.00 2.50 0.00 0.000 4 0.000 0.044 3051 2851 1919

9714 1.06 222.8 308.6 6.5 463 9718 0.00 2.45 0.00 0.000 6 0.000 0.038 3051 1456 1918

10034 1.06 222.8 285.7 7.4 479 10035 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1456 1919

10346 1.06 222.8 263.0 7.2 494 10350 0.00 2.47 0.00 0.000 4 0.000 0.041 3051 2852 1918

10379 1.06 222.8 260.3 6.9 495 10385 0.00 2.45 0.00 0.000 6 0.000 0.038 3051 1453 1918

10695 1.06 222.8 237.9 7.0 511 10696 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1453 1918

11004 1.09 245.0 219.1 5.4 526 11029 0.00 2.53 19.95 0.900 4 0.000 0.044 3051 2846 1832

11058 1.11 268.6 216.1 5.4 528 11085 0.00 2.47 22.35 0.887 6 0.000 0.038 3051 1451 1736

11396 1.11 268.6 193.3 8.1 545 11397 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1450 1731

11703 1.11 268.6 163.6 10.0 560 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1450 1731

12013 1.11 268.6 134.6 9.6 575 12017 0.00 2.47 0.00 0.000 4 0.000 0.041 3051 2847 1730

12062 1.11 268.6 129.7 10.0 577 12066 0.00 2.45 0.00 0.000 6 0.000 0.038 3051 1452 1730

12378 1.11 268.6 100.3 9.3 592 12379 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 1452 1729

12687 1.11 268.6 73.0 8.6 607 12691 0.00 2.47 0.00 0.000 4 0.000 0.041 3051 2850 1729

12743 1.11 268.6 67.7 9.4 609 12749 0.00 2.45 0.00 0.000 6 0.000 0.038 3051 1449 1729

13059 1.11 268.6 42.6 7.4 625 13060 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 1448 1729

13370 1.11 268.6 17.7 7.3 640 13373 0.00 2.12 0.00 0.000 4 0.000 0.058 3051 264 1729

13408 1.11 268.6 14.5 7.3 641 13415 0.00 2.03 0.00 0.000 6 0.000 0.030 3051 1458 1729

13598 end climb: SURFACE_DEPTH_REACHED

state 13598 begin surface coast

13640 end surface coast: CONTROL_FINISHED_OK

state 13640 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	257	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-1632636.2	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	073736,6207.859,-914.459,37,1.0,37,-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	1.02	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-65.4	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	074237,6207.843,-914.450,14,1.0,14,-9.6	MHEAD_RNG_PITCHd_Wd	181.4,89531,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.004690	ALTIM_BOTTOM_PING	425.0,86.3
SM_CCo	13665,21.73,0.760,0,0,1609,300.00	_24V_AH	23.3,55.255
SM_GC	0.66,0.00,0.00,21.73,0.000,0.000,0.760,389,2235,1609,-11.09,-0.42,300.00	_10V_AH	10.1,33.509
IRIDIUM_FIX	6144.36,-915.61,041198,040407	DATA_FILE_SIZE	31690,653
TT8_MAMPS	0.027612	CAP_FILE_SIZE	103871,0
HUMID	1918	CFSIZE	260165632,239276032
INTERNAL_PRESSURE	8.16762	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	17.80	GPS	100809,113207,6206.734,-914.943,23,1.9,23,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	130	76.33	SBE_CT	531	24	297.36
Roll_motor	135	59	185.77	SBE_O2	491	19	217.73
VBD_pump_during_apogee	362	1096	9256.81	WL_BB2F	457	105	1119.25
VBD_pump_during_surface	21	760	384.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.24	nil	0	0	0.00
Iridium_during_connect	25	160	93.51	nil	0	0	0.00
Iridium_during_xfer	127	223	662.50
Transponder_ping	3	420	34.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1241	19	248.22
LPSleep	10114	2	223.71
TT8_Active	477	19	95.57
TT8_Sampling	1528	39	614.42
TT8_CF8	631	45	291.95
TT8_Kalman	0	81	0.00
Analog_circuits	1306	12	158.32
GPS_charging	0	0	0.00
Compass	1637	8	132.35
RAFOS	0	0	0.00
Transponder	26	30	8.00

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	79	0.00	0.00	-57.97	0.000	6	0.000	0.000	389	2239	3431
82	-0.96	-146.6	5.3	-10.3	3	103	11.60	2.60	0.00	0.000	4	0.130	0.050	2583	3656	3432
351	-0.96	-146.6	46.6	-13.2	15	355	0.00	2.42	0.00	0.000	6	0.000	0.029	2583	2231	3433
677	-0.96	-146.6	83.5	-8.8	31	681	0.00	2.58	0.00	0.000	4	0.000	0.052	2583	3650	3434
739	-0.96	-146.6	88.7	-8.1	34	744	0.00	2.38	0.00	0.000	6	0.000	0.028	2583	2253	3434
1066	-0.96	-146.6	109.5	-6.5	50	1070	0.00	2.45	0.00	0.000	4	0.000	0.041	2583	853	3435
1094	-0.96	-146.6	111.4	-6.7	51	1098	0.00	2.42	0.00	0.000	6	0.000	0.032	2583	2250	3435
1410	-0.96	-146.6	132.7	-6.6	66	1415	0.00	2.58	0.00	0.000	4	0.000	0.058	2583	3650	3435
1504	-0.96	-146.6	139.8	-7.4	70	1509	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2249	3435
1826	-0.96	-146.6	160.3	-6.2	86	1831	0.00	2.58	0.00	0.000	4	0.000	0.053	2583	3650	3435
1916	-0.96	-146.6	166.4	-7.3	90	1920	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2247	3434
2242	-0.96	-146.6	188.0	-6.9	106	2247	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3652	3435
2356	-0.96	-146.6	196.7	-7.7	111	2360	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3435
2677	-0.96	-146.6	220.4	-7.5	127	2681	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3644	3434
2748	-0.96	-146.6	226.2	-8.2	130	2753	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2246	3434
3071	-0.96	-146.6	249.7	-7.1	146	3075	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3653	3434
3148	-0.96	-146.6	255.8	-7.9	149	3152	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3434
3463	-0.96	-146.6	277.8	-7.0	164	3468	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3653	3434
3553	-0.96	-146.6	285.1	-8.2	168	3557	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3434
3873	-0.96	-146.6	310.3	-8.1	184	3878	0.00	2.53	0.00	0.000	4	0.000	0.052	2583	3650	3434
3951	-0.96	-146.6	316.8	-8.3	187	3957	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2247	3434
4267	-0.96	-146.6	341.1	-7.6	203	4272	0.00	2.55	0.00	0.000	4	0.000	0.053	2583	3645	3433
4322	-0.96	-146.6	345.6	-8.3	205	4327	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2242	3433
4638	-0.96	-146.6	368.4	-7.3	220	4643	0.00	2.55	0.00	0.000	4	0.000	0.054	2583	3649	3433
4761	-0.96	-146.6	378.2	-8.2	225	4768	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3432
5082	-0.96	-146.6	401.1	-7.3	241	5087	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3650	3432
5155	-0.96	-146.6	407.0	-7.7	244	5159	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
5471	-0.96	-146.6	427.7	-6.6	259	5475	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3649	3432
5555	-0.96	-146.6	433.8	-6.9	263	5559	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2251	3431
5883	-0.96	-146.6	456.8	-7.3	279	5887	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3648	3431
5962	-0.96	-146.6	462.7	-7.5	282	5968	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3431
6278	-0.96	-146.6	481.9	-5.9	298	6282	0.00	2.53	0.00	0.000	4	0.000	0.054	2583	3650	3431
6321	-0.96	-146.6	484.6	-6.2	300	6325	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3430
6622	end dive: BOTTOM_OBSTACLE_DETECTED
state	6622	begin apogee
6630	-0.36	0.0	501.5	5.2	315	6762	0.65	0.00	125.25	1.096	6	0.065	0.000	2723	1463	2831
6763	end apogee: CONTROL_FINISHED_OK
state	6763	begin climb
6766	0.96	146.6	503.9	0.0	322	6900	1.30	2.28	124.95	1.062	4	0.054	0.059	3008	268	2233
6935	1.02	187.8	498.2	4.9	330	6977	0.00	2.05	36.30	1.019	6	0.000	0.033	3008	1470	2066
7289	1.03	201.1	477.3	5.6	347	7306	0.00	0.00	12.00	0.943	6	0.000	0.000	3008	1470	2011
7618	1.04	210.9	458.4	5.7	363	7633	0.00	2.50	9.85	0.924	4	0.000	0.044	3008	2855	1971
7661	1.04	210.9	455.6	6.3	364	7665	0.00	2.47	0.00	0.000	6	0.000	0.038	3008	1456	1970
7984	1.06	222.8	436.8	5.7	380	8008	0.10	2.55	11.82	0.956	4	0.052	0.043	3051	2847	1922
8031	1.06	222.8	433.3	7.6	382	8035	0.00	2.45	0.00	0.000	6	0.000	0.038	3051	1453	1922
8360	1.06	222.8	407.7	8.1	398	8361	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1453	1921
8666	1.06	222.8	383.6	7.7	413	8671	0.00	2.50	0.00	0.000	4	0.000	0.044	3050	2852	1920
8695	1.06	222.8	381.3	8.0	414	8700	0.00	2.47	0.00	0.000	6	0.000	0.038	3051	1448	1920
9011	1.06	222.8	357.3	7.7	429	9015	0.00	2.50	0.00	0.000	4	0.000	0.041	3051	2854	1920
9043	1.06	222.8	354.7	7.6	430	9050	0.00	2.47	0.00	0.000	6	0.000	0.038	3051	1448	1919
9362	1.06	222.8	332.5	7.1	446	9363	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1448	1919
9670	1.06	222.8	311.8	6.5	461	9674	0.00	2.50	0.00	0.000	4	0.000	0.044	3051	2851	1919
9714	1.06	222.8	308.6	6.5	463	9718	0.00	2.45	0.00	0.000	6	0.000	0.038	3051	1456	1918
10034	1.06	222.8	285.7	7.4	479	10035	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1456	1919
10346	1.06	222.8	263.0	7.2	494	10350	0.00	2.47	0.00	0.000	4	0.000	0.041	3051	2852	1918
10379	1.06	222.8	260.3	6.9	495	10385	0.00	2.45	0.00	0.000	6	0.000	0.038	3051	1453	1918
10695	1.06	222.8	237.9	7.0	511	10696	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1453	1918
11004	1.09	245.0	219.1	5.4	526	11029	0.00	2.53	19.95	0.900	4	0.000	0.044	3051	2846	1832
11058	1.11	268.6	216.1	5.4	528	11085	0.00	2.47	22.35	0.887	6	0.000	0.038	3051	1451	1736
11396	1.11	268.6	193.3	8.1	545	11397	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1450	1731
11703	1.11	268.6	163.6	10.0	560	11705	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1450	1731
12013	1.11	268.6	134.6	9.6	575	12017	0.00	2.47	0.00	0.000	4	0.000	0.041	3051	2847	1730
12062	1.11	268.6	129.7	10.0	577	12066	0.00	2.45	0.00	0.000	6	0.000	0.038	3051	1452	1730
12378	1.11	268.6	100.3	9.3	592	12379	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	1452	1729
12687	1.11	268.6	73.0	8.6	607	12691	0.00	2.47	0.00	0.000	4	0.000	0.041	3051	2850	1729
12743	1.11	268.6	67.7	9.4	609	12749	0.00	2.45	0.00	0.000	6	0.000	0.038	3051	1449	1729
13059	1.11	268.6	42.6	7.4	625	13060	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	1448	1729
13370	1.11	268.6	17.7	7.3	640	13373	0.00	2.12	0.00	0.000	4	0.000	0.058	3051	264	1729
13408	1.11	268.6	14.5	7.3	641	13415	0.00	2.03	0.00	0.000	6	0.000	0.030	3051	1458	1729
13598	end climb: SURFACE_DEPTH_REACHED
state	13598	begin surface coast
13640	end surface coast: CONTROL_FINISHED_OK
state	13640	begin surface