Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 260 * 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 260 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 28 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 -1632683.8 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 -1632683.8

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 28 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 260 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 192437,6159.569,-920.411,37,1.2,37,-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 1.03 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 192937,6159.544,-920.463,12,1.5,12,-9.6 MHEAD_RNG_PITCHd_Wd 175.7,75458,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.005156 ALTIM_BOTTOM_PING 476.5,84.3

SM_CCo 14425,0.00,0.000,0,0,1606,300.49 _24V_AH 23.3,55.631

SM_GC 1.16,11.48,0.00,0.00,0.025,0.000,0.000,385,2241,1606,-10.99,-0.25,300.49 _10V_AH 10.1,33.729

IRIDIUM_FIX 6139.81,-917.93,041198,151543 DATA_FILE_SIZE 34844,686

TT8_MAMPS 0.026845 CAP_FILE_SIZE 107380,0

HUMID 1927 CFSIZE 260165632,239104000

INTERNAL_PRESSURE 8.15785 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 18.00 GPS 100809,233137,6158.106,-922.683,38,1.0,38,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 78.68 SBE_CT 582 24 325.92

Roll_motor 134 60 189.50 SBE_O2 502 19 222.51

VBD_pump_during_apogee 382 1133 10107.78 WL_BB2F 483 105 1183.83

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 30 103 72.12 nil 0 0 0.00

Iridium_during_connect 27 160 101.13 nil 0 0 0.00

Iridium_during_xfer 126 223 655.06

Transponder_ping 3 420 36.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.55

TT8 1300 19 260.10

LPSleep 10682 2 236.28

TT8_Active 461 19 92.23

TT8_Sampling 1634 39 657.23

TT8_CF8 647 45 299.30

TT8_Kalman 0 81 0.00

Analog_circuits 1338 12 162.28

GPS_charging 0 0 0.00

Compass 1756 8 141.90

RAFOS 0 0 0.00

Transponder 26 30 8.08

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 -57.72 0.000 6 0.000 0.000 385 2241 3431

82 -0.96 -146.6 5.7 -11.4 3 104 11.70 2.60 0.00 0.000 4 0.133 0.051 2586 3657 3433

441 -0.96 -146.6 47.0 -7.6 19 446 0.00 2.45 0.00 0.000 6 0.000 0.031 2586 2238 3433

774 -0.96 -146.6 69.4 -5.4 35 779 0.00 2.60 0.00 0.000 4 0.000 0.054 2585 3651 3435

835 -0.96 -146.6 73.5 -7.0 37 842 0.00 2.42 0.00 0.000 6 0.000 0.030 2585 2250 3435

1151 -0.96 -146.6 99.3 -9.1 53 1155 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3435

1200 -0.96 -146.6 104.2 -9.7 55 1205 0.00 2.40 0.00 0.000 6 0.000 0.030 2586 2246 3435

1517 -0.96 -146.6 127.2 -5.7 70 1521 0.00 2.55 0.00 0.000 4 0.000 0.053 2585 3651 3435

1611 -0.96 -146.6 132.5 -5.7 74 1615 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3435

1931 -0.96 -146.6 150.8 -6.7 89 1935 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3651 3435

2020 -0.96 -146.6 158.2 -7.9 93 2024 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2249 3435

2341 -0.96 -146.6 182.5 -7.7 109 2346 0.00 2.55 0.00 0.000 4 0.000 0.053 2586 3642 3434

2401 -0.96 -146.6 187.5 -8.0 111 2407 0.00 2.38 0.00 0.000 6 0.000 0.031 2586 2251 3435

2719 -0.96 -146.6 213.0 -8.9 127 2723 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3649 3434

2791 -0.96 -146.6 220.4 -10.1 130 2795 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3434

3107 -0.96 -146.6 248.1 -8.9 145 3112 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3434

3170 -0.96 -146.6 253.6 -8.6 148 3174 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2252 3434

3501 -0.96 -146.6 279.5 -7.4 164 3505 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3434

3551 -0.96 -146.6 283.3 -7.3 166 3556 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2253 3434

3872 -0.96 -146.6 305.7 -7.0 182 3876 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3650 3434

3927 -0.96 -146.6 309.8 -7.6 184 3933 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3433

4243 -0.96 -146.6 333.3 -7.6 200 4247 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3654 3433

4292 -0.96 -146.6 337.2 -8.1 202 4297 0.00 2.42 0.00 0.000 6 0.000 0.031 2586 2253 3433

4613 -0.96 -146.6 359.5 -6.9 218 4617 0.00 2.53 0.00 0.000 4 0.000 0.052 2586 3651 3433

4697 -0.96 -146.6 366.1 -8.1 222 4701 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3433

5023 -0.96 -146.6 390.5 -7.3 238 5027 0.00 2.53 0.00 0.000 4 0.000 0.053 2586 3651 3432

5101 -0.96 -146.6 396.8 -8.0 241 5107 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3432

5417 -0.96 -146.6 414.3 -4.7 257 5421 0.00 2.55 0.00 0.000 4 0.000 0.054 2586 3650 3432

5468 -0.96 -146.6 416.8 -5.2 259 5472 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2250 3432

5789 -0.96 -146.6 437.6 -7.8 275 5790 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2249 3431

6099 -0.96 -146.6 453.9 -3.4 290 6103 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3651 3431

6216 -0.96 -146.6 459.5 -6.0 295 6220 0.00 2.40 0.00 0.000 6 0.000 0.031 2586 2251 3431

6532 -0.96 -146.6 482.2 -7.0 310 6533 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2250 3431

6840 -0.96 -146.6 505.3 -7.6 325 6842 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2250 3430

7150 -0.96 -146.6 528.4 -6.5 340 7154 0.00 2.53 0.00 0.000 4 0.000 0.054 2586 3651 3430

7267 -0.96 -146.6 537.9 -8.0 345 7271 0.00 2.42 0.00 0.000 6 0.000 0.032 2586 2239 3430

7456 end dive: BOTTOM_OBSTACLE_DETECTED

state 7456 begin apogee

7464 -0.36 0.0 551.0 6.1 354 7593 0.62 0.00 125.55 1.134 6 0.065 0.000 2720 1458 2832

7593 end apogee: CONTROL_FINISHED_OK

state 7594 begin climb

7597 0.96 146.6 554.0 0.0 360 7732 1.33 2.58 125.60 1.095 4 0.054 0.044 3010 2853 2233

7846 0.97 148.3 543.3 6.0 372 7850 0.00 2.50 0.00 0.000 6 0.000 0.039 3010 1446 2228

8167 0.97 148.3 522.5 7.1 388 8168 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1446 2225

8478 0.97 148.3 500.6 6.8 403 8483 0.00 2.55 0.00 0.000 4 0.000 0.047 3009 2863 2223

8551 0.97 148.3 495.4 7.1 406 8556 0.00 2.53 0.00 0.000 6 0.000 0.040 3010 1456 2222

8872 1.06 221.4 478.7 4.0 422 8942 0.00 2.58 64.80 1.099 4 0.000 0.045 3010 2860 1928

8958 1.15 295.9 475.0 4.0 426 9033 0.17 2.53 66.72 1.068 6 0.035 0.040 3078 1449 1625

9341 1.15 295.9 436.9 11.4 445 9345 0.15 2.17 0.00 0.000 4 0.072 0.061 3046 258 1614

9363 1.15 295.9 434.4 10.7 446 9367 0.00 2.08 0.00 0.000 6 0.000 0.033 3046 1472 1614

9690 1.15 295.9 404.4 8.8 462 9691 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1473 1612

9999 1.15 295.9 374.9 10.1 477 10004 0.00 2.45 0.00 0.000 4 0.000 0.046 3046 2837 1611

10032 1.15 295.9 371.2 10.8 478 10036 0.00 2.45 0.00 0.000 6 0.000 0.039 3046 1447 1610

10350 1.15 295.9 341.7 8.9 493 10351 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1447 1610

10657 1.15 295.9 314.6 8.6 508 10661 0.00 2.47 0.00 0.000 4 0.000 0.042 3046 2852 1608

10689 1.15 295.9 311.7 8.0 509 10695 0.00 2.45 0.00 0.000 6 0.000 0.038 3046 1454 1610

11005 1.15 295.9 284.8 8.6 525 11006 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1454 1610

11315 1.15 295.9 258.4 8.5 540 11316 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1454 1610

11626 1.15 295.9 233.6 8.0 555 11630 0.00 2.45 0.00 0.000 4 0.000 0.041 3046 2849 1610

11670 1.15 295.9 229.7 8.2 557 11674 0.00 2.45 0.00 0.000 6 0.000 0.038 3046 1451 1609

11993 1.15 295.9 202.0 8.6 573 11997 0.00 2.15 0.00 0.000 4 0.000 0.058 3046 260 1609

12033 1.15 295.9 198.1 8.8 574 12039 0.00 2.00 0.00 0.000 6 0.000 0.031 3045 1456 1610

12348 1.15 295.9 171.7 9.0 590 12349 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1456 1609

12658 1.15 295.9 140.7 10.5 605 12659 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1456 1610

12967 1.15 295.9 106.2 10.9 620 12968 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1456 1610

13278 1.15 295.9 77.0 8.8 635 13282 0.00 2.45 0.00 0.000 4 0.000 0.043 3046 2851 1610

13341 1.15 295.9 71.7 8.2 638 13345 0.00 2.45 0.00 0.000 6 0.000 0.036 3046 1446 1609

13668 1.15 295.9 47.1 8.5 654 13673 0.00 2.15 0.00 0.000 4 0.000 0.056 3046 264 1610

13803 1.15 295.9 34.8 8.1 660 13806 0.00 2.00 0.00 0.000 6 0.000 0.031 3046 1459 1610

14136 1.15 295.9 13.6 6.3 676 14140 0.00 2.42 0.00 0.000 4 0.000 0.041 3046 2851 1609

14222 1.15 295.9 7.6 7.0 680 14226 0.00 2.42 0.00 0.000 6 0.000 0.035 3045 1453 1609

14301 end climb: SURFACE_DEPTH_REACHED

state 14301 begin surface coast

14341 end surface coast: CONTROL_FINISHED_OK

state 14341 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	260	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	28	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	-1632683.8	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	192437,6159.569,-920.411,37,1.2,37,-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	1.03	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	192937,6159.544,-920.463,12,1.5,12,-9.6	MHEAD_RNG_PITCHd_Wd	175.7,75458,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.005156	ALTIM_BOTTOM_PING	476.5,84.3
SM_CCo	14425,0.00,0.000,0,0,1606,300.49	_24V_AH	23.3,55.631
SM_GC	1.16,11.48,0.00,0.00,0.025,0.000,0.000,385,2241,1606,-10.99,-0.25,300.49	_10V_AH	10.1,33.729
IRIDIUM_FIX	6139.81,-917.93,041198,151543	DATA_FILE_SIZE	34844,686
TT8_MAMPS	0.026845	CAP_FILE_SIZE	107380,0
HUMID	1927	CFSIZE	260165632,239104000
INTERNAL_PRESSURE	8.15785	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	18.00	GPS	100809,233137,6158.106,-922.683,38,1.0,38,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	78.68	SBE_CT	582	24	325.92
Roll_motor	134	60	189.50	SBE_O2	502	19	222.51
VBD_pump_during_apogee	382	1133	10107.78	WL_BB2F	483	105	1183.83
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	30	103	72.12	nil	0	0	0.00
Iridium_during_connect	27	160	101.13	nil	0	0	0.00
Iridium_during_xfer	126	223	655.06
Transponder_ping	3	420	36.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.55
TT8	1300	19	260.10
LPSleep	10682	2	236.28
TT8_Active	461	19	92.23
TT8_Sampling	1634	39	657.23
TT8_CF8	647	45	299.30
TT8_Kalman	0	81	0.00
Analog_circuits	1338	12	162.28
GPS_charging	0	0	0.00
Compass	1756	8	141.90
RAFOS	0	0	0.00
Transponder	26	30	8.08

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	-57.72	0.000	6	0.000	0.000	385	2241	3431
82	-0.96	-146.6	5.7	-11.4	3	104	11.70	2.60	0.00	0.000	4	0.133	0.051	2586	3657	3433
441	-0.96	-146.6	47.0	-7.6	19	446	0.00	2.45	0.00	0.000	6	0.000	0.031	2586	2238	3433
774	-0.96	-146.6	69.4	-5.4	35	779	0.00	2.60	0.00	0.000	4	0.000	0.054	2585	3651	3435
835	-0.96	-146.6	73.5	-7.0	37	842	0.00	2.42	0.00	0.000	6	0.000	0.030	2585	2250	3435
1151	-0.96	-146.6	99.3	-9.1	53	1155	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3435
1200	-0.96	-146.6	104.2	-9.7	55	1205	0.00	2.40	0.00	0.000	6	0.000	0.030	2586	2246	3435
1517	-0.96	-146.6	127.2	-5.7	70	1521	0.00	2.55	0.00	0.000	4	0.000	0.053	2585	3651	3435
1611	-0.96	-146.6	132.5	-5.7	74	1615	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3435
1931	-0.96	-146.6	150.8	-6.7	89	1935	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3651	3435
2020	-0.96	-146.6	158.2	-7.9	93	2024	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2249	3435
2341	-0.96	-146.6	182.5	-7.7	109	2346	0.00	2.55	0.00	0.000	4	0.000	0.053	2586	3642	3434
2401	-0.96	-146.6	187.5	-8.0	111	2407	0.00	2.38	0.00	0.000	6	0.000	0.031	2586	2251	3435
2719	-0.96	-146.6	213.0	-8.9	127	2723	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3649	3434
2791	-0.96	-146.6	220.4	-10.1	130	2795	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3434
3107	-0.96	-146.6	248.1	-8.9	145	3112	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3434
3170	-0.96	-146.6	253.6	-8.6	148	3174	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2252	3434
3501	-0.96	-146.6	279.5	-7.4	164	3505	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3434
3551	-0.96	-146.6	283.3	-7.3	166	3556	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2253	3434
3872	-0.96	-146.6	305.7	-7.0	182	3876	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3650	3434
3927	-0.96	-146.6	309.8	-7.6	184	3933	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3433
4243	-0.96	-146.6	333.3	-7.6	200	4247	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3654	3433
4292	-0.96	-146.6	337.2	-8.1	202	4297	0.00	2.42	0.00	0.000	6	0.000	0.031	2586	2253	3433
4613	-0.96	-146.6	359.5	-6.9	218	4617	0.00	2.53	0.00	0.000	4	0.000	0.052	2586	3651	3433
4697	-0.96	-146.6	366.1	-8.1	222	4701	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3433
5023	-0.96	-146.6	390.5	-7.3	238	5027	0.00	2.53	0.00	0.000	4	0.000	0.053	2586	3651	3432
5101	-0.96	-146.6	396.8	-8.0	241	5107	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3432
5417	-0.96	-146.6	414.3	-4.7	257	5421	0.00	2.55	0.00	0.000	4	0.000	0.054	2586	3650	3432
5468	-0.96	-146.6	416.8	-5.2	259	5472	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2250	3432
5789	-0.96	-146.6	437.6	-7.8	275	5790	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2249	3431
6099	-0.96	-146.6	453.9	-3.4	290	6103	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3651	3431
6216	-0.96	-146.6	459.5	-6.0	295	6220	0.00	2.40	0.00	0.000	6	0.000	0.031	2586	2251	3431
6532	-0.96	-146.6	482.2	-7.0	310	6533	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2250	3431
6840	-0.96	-146.6	505.3	-7.6	325	6842	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2250	3430
7150	-0.96	-146.6	528.4	-6.5	340	7154	0.00	2.53	0.00	0.000	4	0.000	0.054	2586	3651	3430
7267	-0.96	-146.6	537.9	-8.0	345	7271	0.00	2.42	0.00	0.000	6	0.000	0.032	2586	2239	3430
7456	end dive: BOTTOM_OBSTACLE_DETECTED
state	7456	begin apogee
7464	-0.36	0.0	551.0	6.1	354	7593	0.62	0.00	125.55	1.134	6	0.065	0.000	2720	1458	2832
7593	end apogee: CONTROL_FINISHED_OK
state	7594	begin climb
7597	0.96	146.6	554.0	0.0	360	7732	1.33	2.58	125.60	1.095	4	0.054	0.044	3010	2853	2233
7846	0.97	148.3	543.3	6.0	372	7850	0.00	2.50	0.00	0.000	6	0.000	0.039	3010	1446	2228
8167	0.97	148.3	522.5	7.1	388	8168	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	1446	2225
8478	0.97	148.3	500.6	6.8	403	8483	0.00	2.55	0.00	0.000	4	0.000	0.047	3009	2863	2223
8551	0.97	148.3	495.4	7.1	406	8556	0.00	2.53	0.00	0.000	6	0.000	0.040	3010	1456	2222
8872	1.06	221.4	478.7	4.0	422	8942	0.00	2.58	64.80	1.099	4	0.000	0.045	3010	2860	1928
8958	1.15	295.9	475.0	4.0	426	9033	0.17	2.53	66.72	1.068	6	0.035	0.040	3078	1449	1625
9341	1.15	295.9	436.9	11.4	445	9345	0.15	2.17	0.00	0.000	4	0.072	0.061	3046	258	1614
9363	1.15	295.9	434.4	10.7	446	9367	0.00	2.08	0.00	0.000	6	0.000	0.033	3046	1472	1614
9690	1.15	295.9	404.4	8.8	462	9691	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1473	1612
9999	1.15	295.9	374.9	10.1	477	10004	0.00	2.45	0.00	0.000	4	0.000	0.046	3046	2837	1611
10032	1.15	295.9	371.2	10.8	478	10036	0.00	2.45	0.00	0.000	6	0.000	0.039	3046	1447	1610
10350	1.15	295.9	341.7	8.9	493	10351	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1447	1610
10657	1.15	295.9	314.6	8.6	508	10661	0.00	2.47	0.00	0.000	4	0.000	0.042	3046	2852	1608
10689	1.15	295.9	311.7	8.0	509	10695	0.00	2.45	0.00	0.000	6	0.000	0.038	3046	1454	1610
11005	1.15	295.9	284.8	8.6	525	11006	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1454	1610
11315	1.15	295.9	258.4	8.5	540	11316	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1454	1610
11626	1.15	295.9	233.6	8.0	555	11630	0.00	2.45	0.00	0.000	4	0.000	0.041	3046	2849	1610
11670	1.15	295.9	229.7	8.2	557	11674	0.00	2.45	0.00	0.000	6	0.000	0.038	3046	1451	1609
11993	1.15	295.9	202.0	8.6	573	11997	0.00	2.15	0.00	0.000	4	0.000	0.058	3046	260	1609
12033	1.15	295.9	198.1	8.8	574	12039	0.00	2.00	0.00	0.000	6	0.000	0.031	3045	1456	1610
12348	1.15	295.9	171.7	9.0	590	12349	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1456	1609
12658	1.15	295.9	140.7	10.5	605	12659	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1456	1610
12967	1.15	295.9	106.2	10.9	620	12968	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1456	1610
13278	1.15	295.9	77.0	8.8	635	13282	0.00	2.45	0.00	0.000	4	0.000	0.043	3046	2851	1610
13341	1.15	295.9	71.7	8.2	638	13345	0.00	2.45	0.00	0.000	6	0.000	0.036	3046	1446	1609
13668	1.15	295.9	47.1	8.5	654	13673	0.00	2.15	0.00	0.000	4	0.000	0.056	3046	264	1610
13803	1.15	295.9	34.8	8.1	660	13806	0.00	2.00	0.00	0.000	6	0.000	0.031	3046	1459	1610
14136	1.15	295.9	13.6	6.3	676	14140	0.00	2.42	0.00	0.000	4	0.000	0.041	3046	2851	1609
14222	1.15	295.9	7.6	7.0	680	14226	0.00	2.42	0.00	0.000	6	0.000	0.035	3045	1453	1609
14301	end climb: SURFACE_DEPTH_REACHED
state	14301	begin surface coast
14341	end surface coast: CONTROL_FINISHED_OK
state	14341	begin surface