Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 295 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 180 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 295 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 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 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 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -92994.383 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 2700 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 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 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 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 -92994.383

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 180 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 360 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 2700 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 295 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 175640,6014.167,-435.017,43,0.9,43,-6.5 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6003.461,-434.641

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.23 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -47.8 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 180325,6014.261,-434.641,18,1.0,24,-6.5 MHEAD_RNG_PITCHd_Wd 186.5,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.013983 _24V_AH 23.9,51.810

SM_CCo 15061,0.00,0.000,0,0,1352,363.04 _10V_AH 10.1,25.743

SM_GC 1.42,11.25,0.00,0.00,0.037,0.000,0.000,421,1959,1352,-10.40,-1.13,363.04 DATA_FILE_SIZE 34915,717

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 117403,0

TT8_MAMPS 0.028379 CFSIZE 254472192,233861120

HUMID 1780 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,41,0,0

TCM_TEMP 17.40 GPS 090109,221620,6014.659,-426.268,41,1.1,60,-6.4

XPDR_PINGS 74

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 81.74 SBE_CT 528 24 302.89

Roll_motor 135 72 235.10 SBE_O2 482 19 218.89

VBD_pump_during_apogee 442 1138 12041.02 WL_BB2F 467 105 1172.77

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 37 103 92.96 nil 0 0 0.00

Iridium_during_connect 43 160 166.27 nil 0 0 0.00

Iridium_during_xfer 185 223 989.97

Transponder_ping 22 420 225.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 24 50 12.35

TT8 1345 19 269.04

LPSleep 11376 2 251.63

TT8_Active 544 19 108.91

TT8_Sampling 1636 39 658.04

TT8_CF8 560 45 259.42

TT8_Kalman 0 81 0.00

Analog_circuits 1390 12 168.49

GPS_charging 0 0 0.00

Compass 1589 8 128.44

RAFOS 0 0 0.00

Transponder 26 30 8.10

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 -0.97 -146.6 0.0 0.0 0 99 0.00 0.00 -81.47 0.000 2 0.000 0.000 419 1972 3268

103 -0.97 -146.6 4.2 -4.6 4 125 10.70 2.50 -3.97 0.000 4 0.133 0.073 2482 590 3431

379 -0.74 -146.6 45.5 -10.6 16 384 0.28 2.50 0.00 0.000 6 0.089 0.049 2540 2002 3432

702 -0.67 -146.6 71.8 -7.5 32 705 0.00 2.53 0.00 0.000 4 0.000 0.061 2540 3416 3432

907 -0.67 -146.6 90.0 -7.9 41 912 0.00 2.53 0.00 0.000 6 0.000 0.048 2540 1990 3432

1237 -0.61 -146.6 116.0 -7.5 57 1239 0.12 0.00 0.00 0.000 6 0.091 0.000 2567 1976 3432

1544 -0.61 -146.6 136.1 -6.4 72 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 1977 3432

1853 -0.61 -146.6 163.8 -9.0 87 1854 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 1967 3432

2163 -0.61 -146.6 190.8 -8.0 102 2164 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 1976 3432

2471 -0.61 -146.6 215.5 -6.7 117 2475 0.00 2.58 0.00 0.000 4 0.000 0.060 2566 3406 3432

2515 -0.61 -146.6 219.3 -8.4 119 2520 0.00 2.47 0.00 0.000 6 0.000 0.048 2567 2003 3432

2837 -0.61 -146.6 241.4 -6.1 135 2838 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2003 3432

3145 -0.61 -146.6 259.0 -5.4 150 3147 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2003 3432

3454 -0.61 -146.6 277.1 -6.2 165 3459 0.00 2.55 0.00 0.000 4 0.000 0.061 2567 3412 3432

3505 -0.61 -146.6 280.5 -7.1 167 3509 0.00 2.47 0.00 0.000 6 0.000 0.049 2567 2015 3432

3821 -0.61 -146.6 298.8 -5.2 182 3822 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2014 3432

4131 -0.61 -146.6 319.3 -7.2 197 4135 0.00 2.53 0.00 0.000 4 0.000 0.061 2567 3409 3432

4154 -0.61 -146.6 321.0 -7.0 198 4158 0.00 2.47 0.00 0.000 6 0.000 0.050 2567 2010 3432

4480 -0.61 -146.6 345.7 -7.8 214 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2009 3432

4789 -0.61 -146.6 368.2 -7.0 229 4794 0.00 2.53 0.00 0.000 4 0.000 0.062 2567 3407 3432

4823 -0.61 -146.6 370.7 -7.4 230 4830 0.00 2.45 0.00 0.000 6 0.000 0.050 2567 2023 3432

5140 -0.61 -146.6 392.2 -7.0 246 5141 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2021 3431

5449 -0.61 -146.6 413.2 -6.9 261 5450 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2021 3432

5759 -0.61 -146.6 435.2 -8.2 276 5763 0.00 2.53 0.00 0.000 4 0.000 0.063 2567 3414 3431

5786 -0.65 -146.6 437.8 -8.9 277 5790 0.00 2.45 0.00 0.000 6 0.000 0.051 2567 2029 3431

6103 -0.65 -146.6 460.6 -5.6 292 6107 0.00 2.55 0.00 0.000 4 0.000 0.066 2566 596 3431

6153 -0.65 -146.6 463.5 -5.8 294 6158 0.00 2.53 0.00 0.000 6 0.000 0.051 2567 2032 3431

6475 -0.65 -146.6 482.6 -5.6 310 6479 0.00 2.47 0.00 0.000 4 0.000 0.065 2566 3413 3431

6503 -0.70 -146.6 484.5 -6.7 311 6508 0.00 2.47 0.00 0.000 6 0.000 0.054 2567 2023 3431

6820 -0.70 -146.6 505.0 -5.3 326 6824 0.00 2.53 0.00 0.000 4 0.000 0.064 2567 3402 3431

6837 -0.75 -146.6 506.0 -6.1 327 6842 0.15 2.45 0.00 0.000 6 0.051 0.051 2524 2018 3431

7168 -1.01 -146.6 521.5 0.0 343 7173 0.17 2.53 0.00 0.000 4 0.058 0.061 2472 3404 3431

7402 end dive: NO_VERTICAL_VELOCITY

state 7402 begin apogee

7411 -0.33 0.0 521.6 0.0 353 7540 0.65 0.00 125.78 1.138 6 0.054 0.000 2628 2161 2832

7541 end apogee: CONTROL_FINISHED_OK

state 7541 begin climb

7544 0.97 146.6 521.0 0.0 360 7677 1.27 2.58 124.70 1.107 4 0.053 0.062 2912 802 2234

7748 1.00 164.5 509.3 5.5 369 7769 0.00 2.53 16.48 1.015 6 0.000 0.052 2912 2200 2161

8086 1.03 183.6 488.3 5.5 386 8109 0.00 2.65 17.50 1.020 4 0.000 0.065 2912 3602 2083

8132 1.03 183.6 485.1 7.5 388 8136 0.00 2.53 0.00 0.000 6 0.000 0.054 2912 2211 2083

8459 1.03 183.6 464.2 6.4 404 8463 0.00 2.55 0.00 0.000 4 0.000 0.065 2912 792 2083

8492 1.03 183.6 462.1 6.1 405 8496 0.00 2.55 0.00 0.000 6 0.000 0.052 2912 2218 2083

8808 1.08 215.3 445.2 5.1 420 8843 0.10 2.70 27.92 1.052 4 0.056 0.064 2946 794 1954

8896 1.00 215.3 439.5 7.1 424 8901 0.15 2.50 0.00 0.000 6 0.085 0.052 2916 2188 1954

9226 1.09 244.2 421.7 5.2 440 9257 0.00 2.65 25.85 1.038 4 0.000 0.064 2916 786 1835

9281 1.15 250.1 418.2 5.8 442 9293 0.15 2.53 6.53 0.852 6 0.050 0.051 2960 2187 1812

9617 1.09 250.1 391.5 8.0 459 9622 0.12 2.60 0.00 0.000 4 0.085 0.064 2934 782 1812

9641 1.09 250.1 389.4 8.1 460 9645 0.00 2.47 0.00 0.000 6 0.000 0.051 2934 2169 1812

9962 1.09 250.1 366.2 7.3 476 9966 0.00 2.53 0.00 0.000 4 0.000 0.065 2934 789 1812

9989 1.09 250.1 364.1 7.6 477 9993 0.00 2.45 0.00 0.000 6 0.000 0.051 2934 2164 1813

10305 1.09 250.1 343.3 6.3 492 10307 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2164 1813

10614 1.09 250.1 324.0 6.6 507 10618 0.00 2.50 0.00 0.000 4 0.000 0.064 2934 792 1813

10670 1.09 250.1 319.9 6.8 509 10674 0.00 2.42 0.00 0.000 6 0.000 0.051 2934 2155 1813

10986 1.09 250.1 297.8 7.1 524 10991 0.00 2.50 0.00 0.000 4 0.000 0.064 2934 784 1813

11020 1.09 250.1 295.2 8.2 525 11026 0.00 2.42 0.00 0.000 6 0.000 0.051 2934 2151 1813

11336 1.09 250.1 271.9 7.2 541 11340 0.00 2.47 0.00 0.000 4 0.000 0.064 2934 790 1813

11363 1.09 250.1 269.5 8.4 542 11368 0.00 2.40 0.00 0.000 6 0.000 0.051 2934 2141 1813

11686 1.10 258.4 248.6 5.8 558 11697 0.00 0.00 9.15 0.845 6 0.000 0.000 2934 2143 1778

11994 1.10 258.4 230.6 6.6 573 11998 0.00 2.47 0.00 0.000 4 0.000 0.064 2934 787 1777

12046 1.10 258.4 226.8 7.7 575 12050 0.00 2.40 0.00 0.000 6 0.000 0.050 2934 2140 1777

12368 1.11 263.4 204.6 5.9 591 12379 0.00 2.47 5.90 0.744 4 0.000 0.063 2934 791 1757

12401 1.11 263.4 202.6 6.1 592 12407 0.00 2.38 0.00 0.000 6 0.000 0.051 2934 2123 1757

12718 1.20 318.6 186.1 4.5 608 12771 0.12 2.53 45.15 0.908 4 0.051 0.064 2974 793 1532

12782 1.15 318.6 181.4 7.9 611 12787 0.12 2.38 0.00 0.000 6 0.081 0.050 2948 2113 1532

13104 1.18 337.8 163.2 5.5 627 13123 0.00 0.00 17.10 0.853 6 0.000 0.000 2948 2114 1454

13433 1.23 337.8 138.7 9.6 643 13438 0.00 2.42 0.00 0.000 4 0.000 0.065 2948 788 1454

13474 1.28 337.8 134.4 10.9 645 13479 0.12 2.33 0.00 0.000 6 0.051 0.051 2985 2108 1454

13808 1.23 337.8 98.7 6.5 661 13812 0.00 2.67 0.00 0.000 4 0.000 0.061 2987 3603 1454

13858 1.18 337.8 95.2 8.0 663 13863 0.15 2.62 0.00 0.000 6 0.082 0.048 2956 2118 1453

14174 1.18 337.8 65.7 12.4 678 14178 0.00 2.38 0.00 0.000 4 0.000 0.064 2956 790 1453

14230 1.18 337.8 59.6 10.4 680 14236 0.00 2.38 0.00 0.000 6 0.000 0.050 2956 2127 1453

14547 1.18 337.8 40.0 10.4 696 14548 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2137 1453

14856 1.31 362.7 14.5 5.3 711 14879 0.12 0.00 20.58 0.777 6 0.051 0.000 2996 2143 1353

14955 end climb: SURFACE_DEPTH_REACHED

state 14955 begin surface coast

14977 end surface coast: CONTROL_FINISHED_OK

state 14977 begin surface

ID	5	HEADING	180	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	295	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	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	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	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-92994.383	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	2700	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	175640,6014.167,-435.017,43,0.9,43,-6.5	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6003.461,-434.641
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.23	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-47.8	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	180325,6014.261,-434.641,18,1.0,24,-6.5	MHEAD_RNG_PITCHd_Wd	186.5,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.013983	_24V_AH	23.9,51.810
SM_CCo	15061,0.00,0.000,0,0,1352,363.04	_10V_AH	10.1,25.743
SM_GC	1.42,11.25,0.00,0.00,0.037,0.000,0.000,421,1959,1352,-10.40,-1.13,363.04	DATA_FILE_SIZE	34915,717
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	117403,0
TT8_MAMPS	0.028379	CFSIZE	254472192,233861120
HUMID	1780	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,41,0,0
TCM_TEMP	17.40	GPS	090109,221620,6014.659,-426.268,41,1.1,60,-6.4
XPDR_PINGS	74

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	81.74	SBE_CT	528	24	302.89
Roll_motor	135	72	235.10	SBE_O2	482	19	218.89
VBD_pump_during_apogee	442	1138	12041.02	WL_BB2F	467	105	1172.77
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	37	103	92.96	nil	0	0	0.00
Iridium_during_connect	43	160	166.27	nil	0	0	0.00
Iridium_during_xfer	185	223	989.97
Transponder_ping	22	420	225.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	24	50	12.35
TT8	1345	19	269.04
LPSleep	11376	2	251.63
TT8_Active	544	19	108.91
TT8_Sampling	1636	39	658.04
TT8_CF8	560	45	259.42
TT8_Kalman	0	81	0.00
Analog_circuits	1390	12	168.49
GPS_charging	0	0	0.00
Compass	1589	8	128.44
RAFOS	0	0	0.00
Transponder	26	30	8.10

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	-0.97	-146.6	0.0	0.0	0	99	0.00	0.00	-81.47	0.000	2	0.000	0.000	419	1972	3268
103	-0.97	-146.6	4.2	-4.6	4	125	10.70	2.50	-3.97	0.000	4	0.133	0.073	2482	590	3431
379	-0.74	-146.6	45.5	-10.6	16	384	0.28	2.50	0.00	0.000	6	0.089	0.049	2540	2002	3432
702	-0.67	-146.6	71.8	-7.5	32	705	0.00	2.53	0.00	0.000	4	0.000	0.061	2540	3416	3432
907	-0.67	-146.6	90.0	-7.9	41	912	0.00	2.53	0.00	0.000	6	0.000	0.048	2540	1990	3432
1237	-0.61	-146.6	116.0	-7.5	57	1239	0.12	0.00	0.00	0.000	6	0.091	0.000	2567	1976	3432
1544	-0.61	-146.6	136.1	-6.4	72	1545	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	1977	3432
1853	-0.61	-146.6	163.8	-9.0	87	1854	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	1967	3432
2163	-0.61	-146.6	190.8	-8.0	102	2164	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	1976	3432
2471	-0.61	-146.6	215.5	-6.7	117	2475	0.00	2.58	0.00	0.000	4	0.000	0.060	2566	3406	3432
2515	-0.61	-146.6	219.3	-8.4	119	2520	0.00	2.47	0.00	0.000	6	0.000	0.048	2567	2003	3432
2837	-0.61	-146.6	241.4	-6.1	135	2838	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2003	3432
3145	-0.61	-146.6	259.0	-5.4	150	3147	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2003	3432
3454	-0.61	-146.6	277.1	-6.2	165	3459	0.00	2.55	0.00	0.000	4	0.000	0.061	2567	3412	3432
3505	-0.61	-146.6	280.5	-7.1	167	3509	0.00	2.47	0.00	0.000	6	0.000	0.049	2567	2015	3432
3821	-0.61	-146.6	298.8	-5.2	182	3822	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2014	3432
4131	-0.61	-146.6	319.3	-7.2	197	4135	0.00	2.53	0.00	0.000	4	0.000	0.061	2567	3409	3432
4154	-0.61	-146.6	321.0	-7.0	198	4158	0.00	2.47	0.00	0.000	6	0.000	0.050	2567	2010	3432
4480	-0.61	-146.6	345.7	-7.8	214	4481	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2009	3432
4789	-0.61	-146.6	368.2	-7.0	229	4794	0.00	2.53	0.00	0.000	4	0.000	0.062	2567	3407	3432
4823	-0.61	-146.6	370.7	-7.4	230	4830	0.00	2.45	0.00	0.000	6	0.000	0.050	2567	2023	3432
5140	-0.61	-146.6	392.2	-7.0	246	5141	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2021	3431
5449	-0.61	-146.6	413.2	-6.9	261	5450	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2021	3432
5759	-0.61	-146.6	435.2	-8.2	276	5763	0.00	2.53	0.00	0.000	4	0.000	0.063	2567	3414	3431
5786	-0.65	-146.6	437.8	-8.9	277	5790	0.00	2.45	0.00	0.000	6	0.000	0.051	2567	2029	3431
6103	-0.65	-146.6	460.6	-5.6	292	6107	0.00	2.55	0.00	0.000	4	0.000	0.066	2566	596	3431
6153	-0.65	-146.6	463.5	-5.8	294	6158	0.00	2.53	0.00	0.000	6	0.000	0.051	2567	2032	3431
6475	-0.65	-146.6	482.6	-5.6	310	6479	0.00	2.47	0.00	0.000	4	0.000	0.065	2566	3413	3431
6503	-0.70	-146.6	484.5	-6.7	311	6508	0.00	2.47	0.00	0.000	6	0.000	0.054	2567	2023	3431
6820	-0.70	-146.6	505.0	-5.3	326	6824	0.00	2.53	0.00	0.000	4	0.000	0.064	2567	3402	3431
6837	-0.75	-146.6	506.0	-6.1	327	6842	0.15	2.45	0.00	0.000	6	0.051	0.051	2524	2018	3431
7168	-1.01	-146.6	521.5	0.0	343	7173	0.17	2.53	0.00	0.000	4	0.058	0.061	2472	3404	3431
7402	end dive: NO_VERTICAL_VELOCITY
state	7402	begin apogee
7411	-0.33	0.0	521.6	0.0	353	7540	0.65	0.00	125.78	1.138	6	0.054	0.000	2628	2161	2832
7541	end apogee: CONTROL_FINISHED_OK
state	7541	begin climb
7544	0.97	146.6	521.0	0.0	360	7677	1.27	2.58	124.70	1.107	4	0.053	0.062	2912	802	2234
7748	1.00	164.5	509.3	5.5	369	7769	0.00	2.53	16.48	1.015	6	0.000	0.052	2912	2200	2161
8086	1.03	183.6	488.3	5.5	386	8109	0.00	2.65	17.50	1.020	4	0.000	0.065	2912	3602	2083
8132	1.03	183.6	485.1	7.5	388	8136	0.00	2.53	0.00	0.000	6	0.000	0.054	2912	2211	2083
8459	1.03	183.6	464.2	6.4	404	8463	0.00	2.55	0.00	0.000	4	0.000	0.065	2912	792	2083
8492	1.03	183.6	462.1	6.1	405	8496	0.00	2.55	0.00	0.000	6	0.000	0.052	2912	2218	2083
8808	1.08	215.3	445.2	5.1	420	8843	0.10	2.70	27.92	1.052	4	0.056	0.064	2946	794	1954
8896	1.00	215.3	439.5	7.1	424	8901	0.15	2.50	0.00	0.000	6	0.085	0.052	2916	2188	1954
9226	1.09	244.2	421.7	5.2	440	9257	0.00	2.65	25.85	1.038	4	0.000	0.064	2916	786	1835
9281	1.15	250.1	418.2	5.8	442	9293	0.15	2.53	6.53	0.852	6	0.050	0.051	2960	2187	1812
9617	1.09	250.1	391.5	8.0	459	9622	0.12	2.60	0.00	0.000	4	0.085	0.064	2934	782	1812
9641	1.09	250.1	389.4	8.1	460	9645	0.00	2.47	0.00	0.000	6	0.000	0.051	2934	2169	1812
9962	1.09	250.1	366.2	7.3	476	9966	0.00	2.53	0.00	0.000	4	0.000	0.065	2934	789	1812
9989	1.09	250.1	364.1	7.6	477	9993	0.00	2.45	0.00	0.000	6	0.000	0.051	2934	2164	1813
10305	1.09	250.1	343.3	6.3	492	10307	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2164	1813
10614	1.09	250.1	324.0	6.6	507	10618	0.00	2.50	0.00	0.000	4	0.000	0.064	2934	792	1813
10670	1.09	250.1	319.9	6.8	509	10674	0.00	2.42	0.00	0.000	6	0.000	0.051	2934	2155	1813
10986	1.09	250.1	297.8	7.1	524	10991	0.00	2.50	0.00	0.000	4	0.000	0.064	2934	784	1813
11020	1.09	250.1	295.2	8.2	525	11026	0.00	2.42	0.00	0.000	6	0.000	0.051	2934	2151	1813
11336	1.09	250.1	271.9	7.2	541	11340	0.00	2.47	0.00	0.000	4	0.000	0.064	2934	790	1813
11363	1.09	250.1	269.5	8.4	542	11368	0.00	2.40	0.00	0.000	6	0.000	0.051	2934	2141	1813
11686	1.10	258.4	248.6	5.8	558	11697	0.00	0.00	9.15	0.845	6	0.000	0.000	2934	2143	1778
11994	1.10	258.4	230.6	6.6	573	11998	0.00	2.47	0.00	0.000	4	0.000	0.064	2934	787	1777
12046	1.10	258.4	226.8	7.7	575	12050	0.00	2.40	0.00	0.000	6	0.000	0.050	2934	2140	1777
12368	1.11	263.4	204.6	5.9	591	12379	0.00	2.47	5.90	0.744	4	0.000	0.063	2934	791	1757
12401	1.11	263.4	202.6	6.1	592	12407	0.00	2.38	0.00	0.000	6	0.000	0.051	2934	2123	1757
12718	1.20	318.6	186.1	4.5	608	12771	0.12	2.53	45.15	0.908	4	0.051	0.064	2974	793	1532
12782	1.15	318.6	181.4	7.9	611	12787	0.12	2.38	0.00	0.000	6	0.081	0.050	2948	2113	1532
13104	1.18	337.8	163.2	5.5	627	13123	0.00	0.00	17.10	0.853	6	0.000	0.000	2948	2114	1454
13433	1.23	337.8	138.7	9.6	643	13438	0.00	2.42	0.00	0.000	4	0.000	0.065	2948	788	1454
13474	1.28	337.8	134.4	10.9	645	13479	0.12	2.33	0.00	0.000	6	0.051	0.051	2985	2108	1454
13808	1.23	337.8	98.7	6.5	661	13812	0.00	2.67	0.00	0.000	4	0.000	0.061	2987	3603	1454
13858	1.18	337.8	95.2	8.0	663	13863	0.15	2.62	0.00	0.000	6	0.082	0.048	2956	2118	1453
14174	1.18	337.8	65.7	12.4	678	14178	0.00	2.38	0.00	0.000	4	0.000	0.064	2956	790	1453
14230	1.18	337.8	59.6	10.4	680	14236	0.00	2.38	0.00	0.000	6	0.000	0.050	2956	2127	1453
14547	1.18	337.8	40.0	10.4	696	14548	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2137	1453
14856	1.31	362.7	14.5	5.3	711	14879	0.12	0.00	20.58	0.777	6	0.051	0.000	2996	2143	1353
14955	end climb: SURFACE_DEPTH_REACHED
state	14955	begin surface coast
14977	end surface coast: CONTROL_FINISHED_OK
state	14977	begin surface