Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 293 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 293 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -105964.55 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 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 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -105964.55

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 293 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 124554,6339.902,-1255.772,42,1.0,42,-12.2 TGT_NAME IE

_CALLS 1 TGT_LATLONG 6330.000,-1257.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.160

_SM_DEPTHo 1.43 KALMAN_X 19426.8,1165.6,62.9,-246056.4,-5036.2

_SM_ANGLEo -64.1 KALMAN_Y 7276.2,914.9,627.8,219526.8,-5301.4

GPS2 125150,6339.922,-1255.817,12,1.0,12,-12.2 MHEAD_RNG_PITCHd_Wd 143.4,18402,-15.0,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.2,1.027259 ALTIM_BOTTOM_PING 570.4,61.3

SM_CCo 13364,46.33,0.787,0,0,1608,300.00 _24V_AH 23.8,48.393

SM_GC 1.65,0.00,0.00,46.33,0.000,0.000,0.787,424,2086,1608,-10.68,-1.24,300.00 _10V_AH 10.1,21.574

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41180,796

TT8_MAMPS 0.029146 CAP_FILE_SIZE 112809,0

HUMID 1818 CFSIZE 254472192,236240896

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 55 GPS 131009,163736,6338.653,-1250.996,39,1.3,44,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 100.05 SBE_CT 544 24 310.76

Roll_motor 135 75 244.88 SBE_O2 579 19 262.09

VBD_pump_during_apogee 332 1220 9669.16 WL_BB2F 479 105 1199.12

VBD_pump_during_surface 46 786 867.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 28 160 109.01 nil 0 0 0.00

Iridium_during_xfer 157 223 833.57

Transponder_ping 18 420 187.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.39

TT8 1405 19 280.99

LPSleep 9708 2 214.73

TT8_Active 518 19 103.60

TT8_Sampling 1612 39 648.20

TT8_CF8 522 45 241.76

TT8_Kalman 33 81 27.59

Analog_circuits 1340 12 162.53

GPS_charging 0 0 0.00

Compass 1575 8 127.34

RAFOS 0 0 0.00

Transponder 35 30 10.62

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

16 -1.23 -143.2 0.0 0.0 0 79 0.00 0.00 -60.88 0.000 2 0.000 0.000 418 2149 2688

83 -1.24 -146.6 2.7 -3.1 3 129 11.25 2.53 -27.90 0.000 4 0.162 0.076 2469 3520 3429

293 -1.14 -146.6 27.8 -13.0 12 298 0.12 2.50 0.00 0.000 6 0.109 0.047 2492 2118 3430

609 -1.09 -146.6 65.7 -11.7 27 610 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2103 3430

919 -1.05 -146.6 103.4 -12.4 42 924 0.10 2.58 0.00 0.000 4 0.106 0.064 2514 3520 3430

941 -1.00 -146.6 106.5 -12.2 43 946 0.00 2.47 0.00 0.000 6 0.000 0.048 2514 2131 3430

1264 -1.00 -146.6 140.9 -10.2 59 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2118 3430

1585 -1.00 -146.6 176.3 -11.0 78 1589 0.00 2.50 0.00 0.000 4 0.000 0.059 2514 718 3430

1631 -1.04 -146.6 181.3 -11.1 81 1635 0.00 2.50 0.00 0.000 6 0.000 0.049 2514 2127 3430

1957 -1.04 -146.6 216.2 -10.5 102 1961 0.00 2.55 0.00 0.000 4 0.000 0.061 2514 717 3430

1991 -1.04 -146.6 220.1 -11.1 104 1995 0.00 2.50 0.00 0.000 6 0.000 0.050 2514 2127 3429

2310 -1.04 -146.6 256.0 -11.7 124 2311 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2125 3430

2623 -1.04 -146.6 291.1 -11.0 144 2627 0.00 2.55 0.00 0.000 4 0.000 0.063 2514 719 3430

2662 -1.07 -146.6 295.4 -11.0 146 2669 0.00 2.47 0.00 0.000 6 0.000 0.051 2514 2119 3430

2982 -1.07 -146.6 327.7 -10.2 167 2983 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2120 3430

3294 -1.07 -146.6 358.8 -9.5 187 3298 0.00 2.53 0.00 0.000 4 0.000 0.061 2514 719 3430

3339 -1.11 -146.6 363.3 -9.7 190 3344 0.00 2.45 0.00 0.000 6 0.000 0.051 2514 2103 3430

3665 -1.11 -146.6 392.8 -9.1 211 3669 0.00 2.50 0.00 0.000 4 0.000 0.064 2514 722 3430

3710 -1.15 -146.6 397.4 -9.9 213 3716 0.00 2.42 0.00 0.000 6 0.000 0.051 2514 2088 3430

4029 -1.15 -146.6 430.1 -11.3 234 4034 0.00 2.62 0.00 0.000 4 0.000 0.068 2514 3533 3430

4075 -1.15 -146.6 435.4 -11.9 237 4080 0.00 2.62 0.00 0.000 6 0.000 0.056 2514 2070 3430

4400 -1.15 -146.6 469.8 -11.7 258 4405 0.00 2.70 0.00 0.000 4 0.000 0.069 2514 3533 3429

4445 -1.15 -146.6 475.5 -13.5 260 4451 0.00 2.58 0.00 0.000 6 0.000 0.055 2514 2099 3430

4764 -1.15 -146.6 511.7 -11.0 281 4768 0.00 2.45 0.00 0.000 4 0.000 0.064 2514 718 3429

4814 -1.19 -146.6 516.9 -9.3 284 4819 0.12 2.45 0.00 0.000 6 0.061 0.051 2479 2103 3429

5136 -1.15 -146.6 553.1 -11.7 304 5141 0.00 2.53 0.00 0.000 4 0.000 0.066 2479 716 3429

5209 -1.15 -146.6 562.6 -12.1 308 5216 0.00 2.42 0.00 0.000 6 0.000 0.052 2479 2082 3429

5532 -1.10 -146.6 598.9 -10.5 329 5537 0.12 2.50 0.00 0.000 4 0.100 0.068 2505 719 3430

5588 -1.15 -146.6 605.3 -10.4 332 5594 0.00 2.33 0.00 0.000 6 0.000 0.054 2505 2021 3429

5763 end dive: BOTTOM_OBSTACLE_DETECTED

state 5764 begin apogee

5772 -0.33 0.0 623.0 10.7 344 5906 0.77 0.00 130.98 1.220 6 0.072 0.000 2674 1829 2831

5907 end apogee: CONTROL_FINISHED_OK

state 5907 begin climb

5910 1.24 146.6 627.2 0.0 353 6049 1.52 0.00 131.38 1.178 6 0.057 0.000 3010 1828 2233

6364 1.20 159.8 599.4 7.5 382 6379 0.00 0.00 13.23 1.066 6 0.000 0.000 3010 1828 2179

6690 1.17 169.9 574.8 7.6 403 6707 0.00 2.58 10.35 1.043 4 0.000 0.074 3010 460 2138

6747 1.07 169.9 569.8 9.5 406 6753 0.17 2.50 0.00 0.000 6 0.092 0.056 2978 1836 2138

7070 1.13 182.5 546.1 7.5 426 7087 0.00 2.70 12.45 1.083 4 0.000 0.067 2978 3258 2086

7139 1.19 182.5 540.1 8.5 430 7145 0.12 2.55 0.00 0.000 6 0.061 0.064 3010 1881 2086

7465 1.21 194.4 512.4 7.6 451 7482 0.00 2.75 11.62 1.067 4 0.000 0.071 3010 432 2038

7545 1.13 194.4 505.9 8.4 455 7551 0.00 2.60 0.00 0.000 6 0.000 0.054 3010 1869 2038

7865 1.15 205.7 483.0 7.6 476 7882 0.00 2.70 11.43 1.049 4 0.000 0.069 3010 439 1992

7905 1.11 205.7 479.4 8.6 478 7910 0.12 2.58 0.00 0.000 6 0.097 0.053 2986 1863 1992

8225 1.14 205.7 454.7 8.1 498 8230 0.00 2.50 0.00 0.000 4 0.000 0.065 2986 3258 1992

8248 1.19 205.7 452.7 8.1 499 8254 0.00 2.55 0.00 0.000 6 0.000 0.060 2986 1862 1992

8568 1.23 211.8 428.1 7.8 520 8585 0.12 2.62 7.00 0.920 4 0.058 0.063 3019 3255 1967

8591 1.23 211.8 425.9 8.9 521 8596 0.00 2.55 0.00 0.000 6 0.000 0.058 3019 1863 1967

8911 1.20 211.8 396.8 9.1 541 8916 0.00 2.55 0.00 0.000 4 0.000 0.061 3020 3254 1967

8928 1.20 211.8 395.2 8.9 542 8932 0.00 2.50 0.00 0.000 6 0.000 0.056 3020 1874 1967

9248 1.20 211.8 365.3 9.5 562 9251 0.00 2.53 0.00 0.000 4 0.000 0.061 3020 3257 1967

9275 1.20 211.8 362.3 10.2 563 9281 0.00 2.47 0.00 0.000 6 0.000 0.055 3020 1885 1967

9594 1.20 211.8 333.1 9.3 584 9599 0.00 2.53 0.00 0.000 4 0.000 0.061 3020 3265 1967

9624 1.20 211.8 330.4 9.8 586 9629 0.00 2.47 0.00 0.000 6 0.000 0.054 3020 1892 1967

9948 1.20 211.8 300.5 9.7 607 9952 0.00 2.50 0.00 0.000 4 0.000 0.061 3020 3263 1967

9966 1.20 211.8 298.8 9.7 608 9970 0.00 2.42 0.00 0.000 6 0.000 0.054 3020 1904 1967

10291 1.20 211.8 267.2 9.7 629 10292 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1904 1967

10602 1.20 211.8 237.1 9.4 649 10606 0.00 2.47 0.00 0.000 4 0.000 0.060 3020 3261 1967

10641 1.20 211.8 233.3 9.8 651 10647 0.00 2.42 0.00 0.000 6 0.000 0.051 3020 1906 1968

10961 1.20 211.8 204.8 8.9 672 10962 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1906 1968

11272 1.20 211.8 175.5 9.5 692 11274 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1906 1968

11596 1.20 211.8 146.5 8.0 712 11600 0.00 2.45 0.00 0.000 4 0.000 0.058 3020 3261 1968

11636 1.20 211.8 142.9 9.4 713 11642 0.00 2.38 0.00 0.000 6 0.000 0.049 3020 1923 1968

11952 1.20 211.8 117.1 8.3 729 11956 0.00 2.42 0.00 0.000 4 0.000 0.058 3020 3264 1968

11997 1.20 211.8 112.9 9.3 731 12001 0.00 2.38 0.00 0.000 6 0.000 0.048 3020 1922 1968

12319 1.20 211.8 85.8 8.4 747 12323 0.00 2.42 0.00 0.000 4 0.000 0.058 3020 3264 1969

12359 1.20 211.8 82.2 8.7 749 12363 0.00 2.35 0.00 0.000 6 0.000 0.048 3020 1938 1969

12692 1.20 211.8 54.7 8.4 765 12693 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1938 1969

13001 1.20 214.6 30.2 7.9 780 13007 0.00 0.00 4.50 0.600 6 0.000 0.000 3020 1938 1956

13312 1.20 214.6 4.6 9.3 795 13316 0.00 2.40 0.00 0.000 4 0.000 0.058 3020 3265 1956

13327 end climb: SURFACE_DEPTH_REACHED

state 13327 begin surface coast

13338 end surface coast: CONTROL_FINISHED_OK

state 13338 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	293	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-105964.55	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	124554,6339.902,-1255.772,42,1.0,42,-12.2	TGT_NAME	IE
_CALLS	1	TGT_LATLONG	6330.000,-1257.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.160
_SM_DEPTHo	1.43	KALMAN_X	19426.8,1165.6,62.9,-246056.4,-5036.2
_SM_ANGLEo	-64.1	KALMAN_Y	7276.2,914.9,627.8,219526.8,-5301.4
GPS2	125150,6339.922,-1255.817,12,1.0,12,-12.2	MHEAD_RNG_PITCHd_Wd	143.4,18402,-15.0,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	2.2,1.027259	ALTIM_BOTTOM_PING	570.4,61.3
SM_CCo	13364,46.33,0.787,0,0,1608,300.00	_24V_AH	23.8,48.393
SM_GC	1.65,0.00,0.00,46.33,0.000,0.000,0.787,424,2086,1608,-10.68,-1.24,300.00	_10V_AH	10.1,21.574
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41180,796
TT8_MAMPS	0.029146	CAP_FILE_SIZE	112809,0
HUMID	1818	CFSIZE	254472192,236240896
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	55	GPS	131009,163736,6338.653,-1250.996,39,1.3,44,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	100.05	SBE_CT	544	24	310.76
Roll_motor	135	75	244.88	SBE_O2	579	19	262.09
VBD_pump_during_apogee	332	1220	9669.16	WL_BB2F	479	105	1199.12
VBD_pump_during_surface	46	786	867.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	28	160	109.01	nil	0	0	0.00
Iridium_during_xfer	157	223	833.57
Transponder_ping	18	420	187.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.39
TT8	1405	19	280.99
LPSleep	9708	2	214.73
TT8_Active	518	19	103.60
TT8_Sampling	1612	39	648.20
TT8_CF8	522	45	241.76
TT8_Kalman	33	81	27.59
Analog_circuits	1340	12	162.53
GPS_charging	0	0	0.00
Compass	1575	8	127.34
RAFOS	0	0	0.00
Transponder	35	30	10.62

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
16	-1.23	-143.2	0.0	0.0	0	79	0.00	0.00	-60.88	0.000	2	0.000	0.000	418	2149	2688
83	-1.24	-146.6	2.7	-3.1	3	129	11.25	2.53	-27.90	0.000	4	0.162	0.076	2469	3520	3429
293	-1.14	-146.6	27.8	-13.0	12	298	0.12	2.50	0.00	0.000	6	0.109	0.047	2492	2118	3430
609	-1.09	-146.6	65.7	-11.7	27	610	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2103	3430
919	-1.05	-146.6	103.4	-12.4	42	924	0.10	2.58	0.00	0.000	4	0.106	0.064	2514	3520	3430
941	-1.00	-146.6	106.5	-12.2	43	946	0.00	2.47	0.00	0.000	6	0.000	0.048	2514	2131	3430
1264	-1.00	-146.6	140.9	-10.2	59	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2118	3430
1585	-1.00	-146.6	176.3	-11.0	78	1589	0.00	2.50	0.00	0.000	4	0.000	0.059	2514	718	3430
1631	-1.04	-146.6	181.3	-11.1	81	1635	0.00	2.50	0.00	0.000	6	0.000	0.049	2514	2127	3430
1957	-1.04	-146.6	216.2	-10.5	102	1961	0.00	2.55	0.00	0.000	4	0.000	0.061	2514	717	3430
1991	-1.04	-146.6	220.1	-11.1	104	1995	0.00	2.50	0.00	0.000	6	0.000	0.050	2514	2127	3429
2310	-1.04	-146.6	256.0	-11.7	124	2311	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2125	3430
2623	-1.04	-146.6	291.1	-11.0	144	2627	0.00	2.55	0.00	0.000	4	0.000	0.063	2514	719	3430
2662	-1.07	-146.6	295.4	-11.0	146	2669	0.00	2.47	0.00	0.000	6	0.000	0.051	2514	2119	3430
2982	-1.07	-146.6	327.7	-10.2	167	2983	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2120	3430
3294	-1.07	-146.6	358.8	-9.5	187	3298	0.00	2.53	0.00	0.000	4	0.000	0.061	2514	719	3430
3339	-1.11	-146.6	363.3	-9.7	190	3344	0.00	2.45	0.00	0.000	6	0.000	0.051	2514	2103	3430
3665	-1.11	-146.6	392.8	-9.1	211	3669	0.00	2.50	0.00	0.000	4	0.000	0.064	2514	722	3430
3710	-1.15	-146.6	397.4	-9.9	213	3716	0.00	2.42	0.00	0.000	6	0.000	0.051	2514	2088	3430
4029	-1.15	-146.6	430.1	-11.3	234	4034	0.00	2.62	0.00	0.000	4	0.000	0.068	2514	3533	3430
4075	-1.15	-146.6	435.4	-11.9	237	4080	0.00	2.62	0.00	0.000	6	0.000	0.056	2514	2070	3430
4400	-1.15	-146.6	469.8	-11.7	258	4405	0.00	2.70	0.00	0.000	4	0.000	0.069	2514	3533	3429
4445	-1.15	-146.6	475.5	-13.5	260	4451	0.00	2.58	0.00	0.000	6	0.000	0.055	2514	2099	3430
4764	-1.15	-146.6	511.7	-11.0	281	4768	0.00	2.45	0.00	0.000	4	0.000	0.064	2514	718	3429
4814	-1.19	-146.6	516.9	-9.3	284	4819	0.12	2.45	0.00	0.000	6	0.061	0.051	2479	2103	3429
5136	-1.15	-146.6	553.1	-11.7	304	5141	0.00	2.53	0.00	0.000	4	0.000	0.066	2479	716	3429
5209	-1.15	-146.6	562.6	-12.1	308	5216	0.00	2.42	0.00	0.000	6	0.000	0.052	2479	2082	3429
5532	-1.10	-146.6	598.9	-10.5	329	5537	0.12	2.50	0.00	0.000	4	0.100	0.068	2505	719	3430
5588	-1.15	-146.6	605.3	-10.4	332	5594	0.00	2.33	0.00	0.000	6	0.000	0.054	2505	2021	3429
5763	end dive: BOTTOM_OBSTACLE_DETECTED
state	5764	begin apogee
5772	-0.33	0.0	623.0	10.7	344	5906	0.77	0.00	130.98	1.220	6	0.072	0.000	2674	1829	2831
5907	end apogee: CONTROL_FINISHED_OK
state	5907	begin climb
5910	1.24	146.6	627.2	0.0	353	6049	1.52	0.00	131.38	1.178	6	0.057	0.000	3010	1828	2233
6364	1.20	159.8	599.4	7.5	382	6379	0.00	0.00	13.23	1.066	6	0.000	0.000	3010	1828	2179
6690	1.17	169.9	574.8	7.6	403	6707	0.00	2.58	10.35	1.043	4	0.000	0.074	3010	460	2138
6747	1.07	169.9	569.8	9.5	406	6753	0.17	2.50	0.00	0.000	6	0.092	0.056	2978	1836	2138
7070	1.13	182.5	546.1	7.5	426	7087	0.00	2.70	12.45	1.083	4	0.000	0.067	2978	3258	2086
7139	1.19	182.5	540.1	8.5	430	7145	0.12	2.55	0.00	0.000	6	0.061	0.064	3010	1881	2086
7465	1.21	194.4	512.4	7.6	451	7482	0.00	2.75	11.62	1.067	4	0.000	0.071	3010	432	2038
7545	1.13	194.4	505.9	8.4	455	7551	0.00	2.60	0.00	0.000	6	0.000	0.054	3010	1869	2038
7865	1.15	205.7	483.0	7.6	476	7882	0.00	2.70	11.43	1.049	4	0.000	0.069	3010	439	1992
7905	1.11	205.7	479.4	8.6	478	7910	0.12	2.58	0.00	0.000	6	0.097	0.053	2986	1863	1992
8225	1.14	205.7	454.7	8.1	498	8230	0.00	2.50	0.00	0.000	4	0.000	0.065	2986	3258	1992
8248	1.19	205.7	452.7	8.1	499	8254	0.00	2.55	0.00	0.000	6	0.000	0.060	2986	1862	1992
8568	1.23	211.8	428.1	7.8	520	8585	0.12	2.62	7.00	0.920	4	0.058	0.063	3019	3255	1967
8591	1.23	211.8	425.9	8.9	521	8596	0.00	2.55	0.00	0.000	6	0.000	0.058	3019	1863	1967
8911	1.20	211.8	396.8	9.1	541	8916	0.00	2.55	0.00	0.000	4	0.000	0.061	3020	3254	1967
8928	1.20	211.8	395.2	8.9	542	8932	0.00	2.50	0.00	0.000	6	0.000	0.056	3020	1874	1967
9248	1.20	211.8	365.3	9.5	562	9251	0.00	2.53	0.00	0.000	4	0.000	0.061	3020	3257	1967
9275	1.20	211.8	362.3	10.2	563	9281	0.00	2.47	0.00	0.000	6	0.000	0.055	3020	1885	1967
9594	1.20	211.8	333.1	9.3	584	9599	0.00	2.53	0.00	0.000	4	0.000	0.061	3020	3265	1967
9624	1.20	211.8	330.4	9.8	586	9629	0.00	2.47	0.00	0.000	6	0.000	0.054	3020	1892	1967
9948	1.20	211.8	300.5	9.7	607	9952	0.00	2.50	0.00	0.000	4	0.000	0.061	3020	3263	1967
9966	1.20	211.8	298.8	9.7	608	9970	0.00	2.42	0.00	0.000	6	0.000	0.054	3020	1904	1967
10291	1.20	211.8	267.2	9.7	629	10292	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1904	1967
10602	1.20	211.8	237.1	9.4	649	10606	0.00	2.47	0.00	0.000	4	0.000	0.060	3020	3261	1967
10641	1.20	211.8	233.3	9.8	651	10647	0.00	2.42	0.00	0.000	6	0.000	0.051	3020	1906	1968
10961	1.20	211.8	204.8	8.9	672	10962	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1906	1968
11272	1.20	211.8	175.5	9.5	692	11274	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1906	1968
11596	1.20	211.8	146.5	8.0	712	11600	0.00	2.45	0.00	0.000	4	0.000	0.058	3020	3261	1968
11636	1.20	211.8	142.9	9.4	713	11642	0.00	2.38	0.00	0.000	6	0.000	0.049	3020	1923	1968
11952	1.20	211.8	117.1	8.3	729	11956	0.00	2.42	0.00	0.000	4	0.000	0.058	3020	3264	1968
11997	1.20	211.8	112.9	9.3	731	12001	0.00	2.38	0.00	0.000	6	0.000	0.048	3020	1922	1968
12319	1.20	211.8	85.8	8.4	747	12323	0.00	2.42	0.00	0.000	4	0.000	0.058	3020	3264	1969
12359	1.20	211.8	82.2	8.7	749	12363	0.00	2.35	0.00	0.000	6	0.000	0.048	3020	1938	1969
12692	1.20	211.8	54.7	8.4	765	12693	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1938	1969
13001	1.20	214.6	30.2	7.9	780	13007	0.00	0.00	4.50	0.600	6	0.000	0.000	3020	1938	1956
13312	1.20	214.6	4.6	9.3	795	13316	0.00	2.40	0.00	0.000	4	0.000	0.058	3020	3265	1956
13327	end climb: SURFACE_DEPTH_REACHED
state	13327	begin surface coast
13338	end surface coast: CONTROL_FINISHED_OK
state	13338	begin surface