Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 259 * 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 259 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -1632670.1 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 -1632670.1

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 259 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 153006,6203.667,-915.526,37,1.2,42,-9.6 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 1.03 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -62.5 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 153532,6203.594,-915.526,15,1.3,15,-9.6 MHEAD_RNG_PITCHd_Wd 179.9,81906,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026559 ALTIM_BOTTOM_PING 425.0,84.1

SM_CCo 13643,2.35,0.255,0,0,1609,300.00 _24V_AH 23.3,55.501

SM_GC 1.89,0.00,0.00,2.35,0.000,0.000,0.255,385,2241,1609,-11.11,-0.25,300.00 _10V_AH 10.1,33.656

IRIDIUM_FIX 6139.81,-913.40,041198,111105 DATA_FILE_SIZE 31728,650

TT8_MAMPS 0.026845 CAP_FILE_SIZE 108997,0

HUMID 1919 CFSIZE 260165632,239165440

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 14.50 GPS 100809,192437,6159.569,-920.411,37,1.2,37,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.07 SBE_CT 548 24 306.74

Roll_motor 149 59 205.62 SBE_O2 484 19 214.54

VBD_pump_during_apogee 381 1096 9746.50 WL_BB2F 459 105 1123.76

VBD_pump_during_surface 2 255 13.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.77 nil 0 0 0.00

Iridium_during_connect 25 160 96.77 nil 0 0 0.00

Iridium_during_xfer 152 223 793.29

Transponder_ping 3 420 31.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.70

TT8 1261 19 252.29

LPSleep 9961 2 220.33

TT8_Active 460 19 92.14

TT8_Sampling 1618 39 650.61

TT8_CF8 675 45 312.52

TT8_Kalman 0 81 0.00

Analog_circuits 1347 12 163.32

GPS_charging 0 0 0.00

Compass 1740 8 140.60

RAFOS 0 0 0.00

Transponder 23 30 7.10

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 77 0.00 0.00 -57.70 0.000 6 0.000 0.000 385 2247 3430

80 -0.96 -146.6 6.0 -12.0 3 102 11.70 2.60 0.00 0.000 4 0.133 0.051 2583 3657 3432

439 -0.96 -146.6 51.9 -11.3 19 444 0.00 2.47 0.00 0.000 6 0.000 0.030 2584 2229 3433

772 -0.96 -146.6 73.3 -3.4 35 777 0.00 2.60 0.00 0.000 4 0.000 0.051 2584 3650 3434

922 -0.96 -146.6 80.6 -6.6 41 929 0.00 2.40 0.00 0.000 6 0.000 0.029 2584 2232 3434

1238 -0.96 -146.6 107.6 -10.0 57 1239 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2232 3435

1549 -0.96 -146.6 137.0 -8.5 72 1553 0.00 2.58 0.00 0.000 4 0.000 0.053 2584 3650 3435

1688 -0.96 -146.6 148.6 -8.0 78 1692 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2247 3435

2006 -0.96 -146.6 166.0 -5.4 93 2011 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3435

2079 -0.96 -146.6 170.9 -6.3 96 2084 0.00 2.42 0.00 0.000 6 0.000 0.030 2583 2250 3434

2399 -0.96 -146.6 192.0 -7.4 112 2404 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3649 3434

2468 -0.96 -146.6 197.9 -8.8 115 2472 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2248 3434

2792 -0.96 -146.6 226.2 -8.8 131 2796 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3650 3434

2869 -0.96 -146.6 233.8 -8.8 134 2876 0.00 2.38 0.00 0.000 6 0.000 0.031 2584 2250 3434

3185 -0.96 -146.6 259.4 -7.6 150 3190 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3651 3434

3243 -0.96 -146.6 263.7 -7.6 152 3249 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3433

3559 -0.96 -146.6 283.8 -5.8 168 3563 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3651 3433

3623 -0.96 -146.6 287.4 -5.8 171 3627 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3433

3949 -0.96 -146.6 306.2 -6.0 187 3954 0.00 2.55 0.00 0.000 4 0.000 0.052 2584 3650 3433

4010 -0.96 -146.6 310.3 -6.9 189 4016 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3433

4326 -0.96 -146.6 331.9 -7.4 205 4330 0.00 2.53 0.00 0.000 4 0.000 0.052 2584 3653 3433

4392 -0.96 -146.6 337.4 -8.4 208 4396 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3432

4716 -0.96 -146.6 361.4 -7.3 224 4721 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3650 3432

4778 -0.96 -146.6 366.5 -8.0 227 4783 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2249 3432

5105 -0.96 -146.6 389.3 -7.0 243 5109 0.00 2.53 0.00 0.000 4 0.000 0.054 2584 3650 3431

5177 -0.96 -146.6 394.9 -7.6 246 5181 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2250 3431

5492 -0.96 -146.6 417.1 -7.0 261 5497 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3647 3431

5570 -0.96 -146.6 423.1 -7.6 264 5574 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2246 3431

5886 -0.96 -146.6 448.3 -8.7 279 5890 0.00 2.55 0.00 0.000 4 0.000 0.054 2584 3653 3430

5986 -0.96 -146.6 457.0 -9.1 283 5993 0.00 2.42 0.00 0.000 6 0.000 0.031 2584 2254 3430

6301 -0.96 -146.6 481.8 -7.2 299 6306 0.00 2.53 0.00 0.000 4 0.000 0.053 2583 3653 3430

6488 -0.96 -146.6 495.3 -7.6 307 6492 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2251 3430

6554 end dive: BOTTOM_OBSTACLE_DETECTED

state 6554 begin apogee

6562 -0.36 0.0 500.8 8.0 310 6690 0.65 0.00 124.55 1.096 6 0.063 0.000 2724 1463 2832

6690 end apogee: CONTROL_FINISHED_OK

state 6690 begin climb

6694 0.96 146.6 507.0 0.0 316 6828 1.30 2.22 125.38 1.061 4 0.058 0.058 3006 267 2232

6895 0.96 146.6 498.0 6.0 325 6899 0.00 2.05 0.00 0.000 6 0.000 0.032 3006 1476 2228

7219 0.96 146.6 480.6 6.2 341 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1476 2226

7526 1.01 181.2 463.3 5.1 356 7562 0.00 2.50 29.90 1.026 4 0.000 0.044 3007 2850 2092

7630 1.07 232.0 458.0 4.6 360 7683 0.12 2.47 45.47 1.031 6 0.043 0.038 3055 1447 1886

8009 1.07 232.0 432.5 6.2 379 8014 0.00 2.50 0.00 0.000 4 0.000 0.043 3055 2845 1879

8117 1.07 232.0 425.9 6.3 384 8122 0.08 2.47 0.00 0.000 6 0.069 0.039 3033 1460 1877

8450 1.12 270.7 408.2 4.9 400 8492 0.00 2.55 34.20 1.016 4 0.000 0.042 3033 2843 1727

8531 1.15 293.9 403.8 5.4 403 8559 0.00 2.47 22.15 0.975 6 0.000 0.038 3033 1447 1633

8871 1.15 293.9 382.2 7.3 420 8872 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1447 1626

9176 1.15 293.9 356.3 8.8 435 9181 0.00 2.47 0.00 0.000 4 0.000 0.043 3033 2845 1624

9204 1.15 293.9 353.8 9.1 436 9208 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1456 1625

9520 1.15 293.9 325.0 9.5 451 9524 0.00 2.45 0.00 0.000 4 0.000 0.042 3033 2846 1624

9541 1.15 293.9 322.8 9.4 452 9545 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1453 1623

9862 1.15 293.9 292.7 9.2 468 9863 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1454 1623

10174 1.15 293.9 268.4 6.8 483 10179 0.00 2.45 0.00 0.000 4 0.000 0.043 3033 2846 1623

10215 1.15 293.9 265.6 6.8 485 10219 0.00 2.42 0.00 0.000 6 0.000 0.039 3033 1454 1623

10544 1.15 293.9 243.4 7.2 501 10548 0.00 2.45 0.00 0.000 4 0.000 0.043 3033 2847 1623

10565 1.15 293.9 241.6 7.3 502 10570 0.00 2.45 0.00 0.000 6 0.000 0.040 3033 1454 1623

10887 1.15 293.9 217.4 7.3 518 10891 0.00 2.45 0.00 0.000 4 0.000 0.042 3033 2846 1623

10921 1.15 293.9 214.9 7.1 519 10927 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1450 1622

11236 1.15 293.9 191.9 7.5 535 11241 0.00 2.47 0.00 0.000 4 0.000 0.042 3033 2855 1623

11269 1.15 293.9 189.3 7.5 536 11276 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1453 1623

11588 1.15 293.9 166.4 7.2 552 11592 0.00 2.45 0.00 0.000 4 0.000 0.041 3033 2851 1623

11609 1.15 293.9 164.5 7.7 553 11614 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1454 1622

11933 1.15 293.9 141.6 6.7 569 11937 0.00 2.45 0.00 0.000 4 0.000 0.041 3033 2851 1623

11961 1.15 293.9 139.6 6.0 570 11965 0.00 2.45 0.00 0.000 6 0.000 0.038 3033 1453 1622

12277 1.15 293.9 117.2 9.3 585 12281 0.00 2.42 0.00 0.000 4 0.000 0.041 3033 2846 1622

12317 1.15 293.9 113.1 10.7 587 12322 0.00 2.47 0.00 0.000 6 0.000 0.038 3033 1450 1622

12649 1.15 293.9 77.3 10.4 603 12653 0.00 2.12 0.00 0.000 4 0.000 0.059 3032 264 1622

12696 1.15 293.9 71.9 11.2 605 12700 0.00 2.00 0.00 0.000 6 0.000 0.031 3033 1461 1623

13030 1.15 293.9 42.0 8.3 621 13031 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1463 1622

13337 1.15 293.9 18.5 7.4 636 13342 0.00 2.42 0.00 0.000 4 0.000 0.043 3033 2848 1622

13359 1.15 293.9 16.8 7.0 637 13364 0.00 2.45 0.00 0.000 6 0.000 0.037 3033 1443 1622

13575 end climb: SURFACE_DEPTH_REACHED

state 13575 begin surface coast

13619 end surface coast: CONTROL_FINISHED_OK

state 13619 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	259	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-1632670.1	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	153006,6203.667,-915.526,37,1.2,42,-9.6	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	1.03	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-62.5	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	153532,6203.594,-915.526,15,1.3,15,-9.6	MHEAD_RNG_PITCHd_Wd	179.9,81906,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.3,1.026559	ALTIM_BOTTOM_PING	425.0,84.1
SM_CCo	13643,2.35,0.255,0,0,1609,300.00	_24V_AH	23.3,55.501
SM_GC	1.89,0.00,0.00,2.35,0.000,0.000,0.255,385,2241,1609,-11.11,-0.25,300.00	_10V_AH	10.1,33.656
IRIDIUM_FIX	6139.81,-913.40,041198,111105	DATA_FILE_SIZE	31728,650
TT8_MAMPS	0.026845	CAP_FILE_SIZE	108997,0
HUMID	1919	CFSIZE	260165632,239165440
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	14.50	GPS	100809,192437,6159.569,-920.411,37,1.2,37,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.07	SBE_CT	548	24	306.74
Roll_motor	149	59	205.62	SBE_O2	484	19	214.54
VBD_pump_during_apogee	381	1096	9746.50	WL_BB2F	459	105	1123.76
VBD_pump_during_surface	2	255	13.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.77	nil	0	0	0.00
Iridium_during_connect	25	160	96.77	nil	0	0	0.00
Iridium_during_xfer	152	223	793.29
Transponder_ping	3	420	31.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.70
TT8	1261	19	252.29
LPSleep	9961	2	220.33
TT8_Active	460	19	92.14
TT8_Sampling	1618	39	650.61
TT8_CF8	675	45	312.52
TT8_Kalman	0	81	0.00
Analog_circuits	1347	12	163.32
GPS_charging	0	0	0.00
Compass	1740	8	140.60
RAFOS	0	0	0.00
Transponder	23	30	7.10

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	77	0.00	0.00	-57.70	0.000	6	0.000	0.000	385	2247	3430
80	-0.96	-146.6	6.0	-12.0	3	102	11.70	2.60	0.00	0.000	4	0.133	0.051	2583	3657	3432
439	-0.96	-146.6	51.9	-11.3	19	444	0.00	2.47	0.00	0.000	6	0.000	0.030	2584	2229	3433
772	-0.96	-146.6	73.3	-3.4	35	777	0.00	2.60	0.00	0.000	4	0.000	0.051	2584	3650	3434
922	-0.96	-146.6	80.6	-6.6	41	929	0.00	2.40	0.00	0.000	6	0.000	0.029	2584	2232	3434
1238	-0.96	-146.6	107.6	-10.0	57	1239	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2232	3435
1549	-0.96	-146.6	137.0	-8.5	72	1553	0.00	2.58	0.00	0.000	4	0.000	0.053	2584	3650	3435
1688	-0.96	-146.6	148.6	-8.0	78	1692	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2247	3435
2006	-0.96	-146.6	166.0	-5.4	93	2011	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3435
2079	-0.96	-146.6	170.9	-6.3	96	2084	0.00	2.42	0.00	0.000	6	0.000	0.030	2583	2250	3434
2399	-0.96	-146.6	192.0	-7.4	112	2404	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3649	3434
2468	-0.96	-146.6	197.9	-8.8	115	2472	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2248	3434
2792	-0.96	-146.6	226.2	-8.8	131	2796	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3650	3434
2869	-0.96	-146.6	233.8	-8.8	134	2876	0.00	2.38	0.00	0.000	6	0.000	0.031	2584	2250	3434
3185	-0.96	-146.6	259.4	-7.6	150	3190	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3651	3434
3243	-0.96	-146.6	263.7	-7.6	152	3249	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3433
3559	-0.96	-146.6	283.8	-5.8	168	3563	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3651	3433
3623	-0.96	-146.6	287.4	-5.8	171	3627	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3433
3949	-0.96	-146.6	306.2	-6.0	187	3954	0.00	2.55	0.00	0.000	4	0.000	0.052	2584	3650	3433
4010	-0.96	-146.6	310.3	-6.9	189	4016	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3433
4326	-0.96	-146.6	331.9	-7.4	205	4330	0.00	2.53	0.00	0.000	4	0.000	0.052	2584	3653	3433
4392	-0.96	-146.6	337.4	-8.4	208	4396	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3432
4716	-0.96	-146.6	361.4	-7.3	224	4721	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3650	3432
4778	-0.96	-146.6	366.5	-8.0	227	4783	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2249	3432
5105	-0.96	-146.6	389.3	-7.0	243	5109	0.00	2.53	0.00	0.000	4	0.000	0.054	2584	3650	3431
5177	-0.96	-146.6	394.9	-7.6	246	5181	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2250	3431
5492	-0.96	-146.6	417.1	-7.0	261	5497	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3647	3431
5570	-0.96	-146.6	423.1	-7.6	264	5574	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2246	3431
5886	-0.96	-146.6	448.3	-8.7	279	5890	0.00	2.55	0.00	0.000	4	0.000	0.054	2584	3653	3430
5986	-0.96	-146.6	457.0	-9.1	283	5993	0.00	2.42	0.00	0.000	6	0.000	0.031	2584	2254	3430
6301	-0.96	-146.6	481.8	-7.2	299	6306	0.00	2.53	0.00	0.000	4	0.000	0.053	2583	3653	3430
6488	-0.96	-146.6	495.3	-7.6	307	6492	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2251	3430
6554	end dive: BOTTOM_OBSTACLE_DETECTED
state	6554	begin apogee
6562	-0.36	0.0	500.8	8.0	310	6690	0.65	0.00	124.55	1.096	6	0.063	0.000	2724	1463	2832
6690	end apogee: CONTROL_FINISHED_OK
state	6690	begin climb
6694	0.96	146.6	507.0	0.0	316	6828	1.30	2.22	125.38	1.061	4	0.058	0.058	3006	267	2232
6895	0.96	146.6	498.0	6.0	325	6899	0.00	2.05	0.00	0.000	6	0.000	0.032	3006	1476	2228
7219	0.96	146.6	480.6	6.2	341	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1476	2226
7526	1.01	181.2	463.3	5.1	356	7562	0.00	2.50	29.90	1.026	4	0.000	0.044	3007	2850	2092
7630	1.07	232.0	458.0	4.6	360	7683	0.12	2.47	45.47	1.031	6	0.043	0.038	3055	1447	1886
8009	1.07	232.0	432.5	6.2	379	8014	0.00	2.50	0.00	0.000	4	0.000	0.043	3055	2845	1879
8117	1.07	232.0	425.9	6.3	384	8122	0.08	2.47	0.00	0.000	6	0.069	0.039	3033	1460	1877
8450	1.12	270.7	408.2	4.9	400	8492	0.00	2.55	34.20	1.016	4	0.000	0.042	3033	2843	1727
8531	1.15	293.9	403.8	5.4	403	8559	0.00	2.47	22.15	0.975	6	0.000	0.038	3033	1447	1633
8871	1.15	293.9	382.2	7.3	420	8872	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1447	1626
9176	1.15	293.9	356.3	8.8	435	9181	0.00	2.47	0.00	0.000	4	0.000	0.043	3033	2845	1624
9204	1.15	293.9	353.8	9.1	436	9208	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1456	1625
9520	1.15	293.9	325.0	9.5	451	9524	0.00	2.45	0.00	0.000	4	0.000	0.042	3033	2846	1624
9541	1.15	293.9	322.8	9.4	452	9545	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1453	1623
9862	1.15	293.9	292.7	9.2	468	9863	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1454	1623
10174	1.15	293.9	268.4	6.8	483	10179	0.00	2.45	0.00	0.000	4	0.000	0.043	3033	2846	1623
10215	1.15	293.9	265.6	6.8	485	10219	0.00	2.42	0.00	0.000	6	0.000	0.039	3033	1454	1623
10544	1.15	293.9	243.4	7.2	501	10548	0.00	2.45	0.00	0.000	4	0.000	0.043	3033	2847	1623
10565	1.15	293.9	241.6	7.3	502	10570	0.00	2.45	0.00	0.000	6	0.000	0.040	3033	1454	1623
10887	1.15	293.9	217.4	7.3	518	10891	0.00	2.45	0.00	0.000	4	0.000	0.042	3033	2846	1623
10921	1.15	293.9	214.9	7.1	519	10927	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1450	1622
11236	1.15	293.9	191.9	7.5	535	11241	0.00	2.47	0.00	0.000	4	0.000	0.042	3033	2855	1623
11269	1.15	293.9	189.3	7.5	536	11276	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1453	1623
11588	1.15	293.9	166.4	7.2	552	11592	0.00	2.45	0.00	0.000	4	0.000	0.041	3033	2851	1623
11609	1.15	293.9	164.5	7.7	553	11614	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1454	1622
11933	1.15	293.9	141.6	6.7	569	11937	0.00	2.45	0.00	0.000	4	0.000	0.041	3033	2851	1623
11961	1.15	293.9	139.6	6.0	570	11965	0.00	2.45	0.00	0.000	6	0.000	0.038	3033	1453	1622
12277	1.15	293.9	117.2	9.3	585	12281	0.00	2.42	0.00	0.000	4	0.000	0.041	3033	2846	1622
12317	1.15	293.9	113.1	10.7	587	12322	0.00	2.47	0.00	0.000	6	0.000	0.038	3033	1450	1622
12649	1.15	293.9	77.3	10.4	603	12653	0.00	2.12	0.00	0.000	4	0.000	0.059	3032	264	1622
12696	1.15	293.9	71.9	11.2	605	12700	0.00	2.00	0.00	0.000	6	0.000	0.031	3033	1461	1623
13030	1.15	293.9	42.0	8.3	621	13031	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1463	1622
13337	1.15	293.9	18.5	7.4	636	13342	0.00	2.42	0.00	0.000	4	0.000	0.043	3033	2848	1622
13359	1.15	293.9	16.8	7.0	637	13364	0.00	2.45	0.00	0.000	6	0.000	0.037	3033	1443	1622
13575	end climb: SURFACE_DEPTH_REACHED
state	13575	begin surface coast
13619	end surface coast: CONTROL_FINISHED_OK
state	13619	begin surface