Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 305 * 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 305 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -106168.09 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 0 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 -106168.09

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 0 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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 305 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 100355,6320.375,-1257.080,58,1.0,58,-12.1 TGT_NAME HE

_CALLS 2 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 12 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.008,-0.245

_SM_DEPTHo 1.63 KALMAN_X 411.1,250.1,-4.0,1144.0,739.5

_SM_ANGLEo -58.4 KALMAN_Y 8861.1,-407.0,-356.8,-22787.8,8192.3

GPS2 101338,6320.350,-1256.873,14,1.2,14,-12.1 MHEAD_RNG_PITCHd_Wd 193.9,10245,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026958 ALTIM_BOTTOM_PING 571.4,38.7

SM_CCo 12773,3.45,0.482,0,0,1608,300.00 _24V_AH 23.8,50.139

SM_GC 2.74,0.00,0.00,3.45,0.000,0.000,0.482,418,2141,1608,-10.70,0.31,300.00 _10V_AH 10.1,22.437

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37880,765

TT8_MAMPS 0.029146 CAP_FILE_SIZE 111548,0

HUMID 1845 CFSIZE 254472192,235573248

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 58 GPS 151009,134836,6317.812,-1257.274,32,2.0,32,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 98.94 SBE_CT 522 24 298.47

Roll_motor 121 79 229.01 SBE_O2 554 19 250.57

VBD_pump_during_apogee 400 1208 11502.55 WL_BB2F 450 105 1126.30

VBD_pump_during_surface 3 481 39.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 118 160 452.44 nil 0 0 0.00

Iridium_during_xfer 198 223 1055.45

Transponder_ping 19 420 194.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.42

TT8 1367 19 273.49

LPSleep 9243 2 204.46

TT8_Active 501 19 100.30

TT8_Sampling 1564 39 628.76

TT8_CF8 681 45 315.19

TT8_Kalman 33 81 27.55

Analog_circuits 1318 12 159.79

GPS_charging 0 0 0.00

Compass 1526 8 123.38

RAFOS 0 0 0.00

Transponder 34 30 10.60

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

18 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -39.30 0.000 2 0.000 0.000 424 2127 2392

63 -1.22 -146.6 2.1 -1.8 2 131 11.12 2.62 -51.28 0.000 4 0.156 0.079 2473 3549 3427

227 -1.13 -146.6 16.7 -14.8 9 235 0.12 2.55 0.00 0.000 6 0.094 0.048 2499 2115 3428

546 -1.09 -146.6 56.5 -12.6 25 547 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2098 3428

853 -1.06 -146.6 92.1 -11.3 40 858 0.00 2.62 0.00 0.000 4 0.000 0.064 2499 3541 3427

909 -1.02 -146.6 98.5 -11.1 42 916 0.10 2.47 0.00 0.000 6 0.102 0.049 2519 2146 3427

1226 -1.02 -146.6 131.5 -9.7 58 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2135 3428

1540 -1.02 -146.6 161.7 -9.4 75 1542 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2134 3428

1853 -1.02 -146.6 192.9 -10.0 95 1858 0.00 2.58 0.00 0.000 4 0.000 0.066 2519 3541 3428

1887 -1.02 -146.6 196.6 -10.8 97 1891 0.00 2.47 0.00 0.000 6 0.000 0.051 2519 2150 3428

2212 -1.02 -146.6 231.4 -11.2 118 2213 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2139 3428

2524 -1.02 -146.6 265.7 -11.1 138 2529 0.00 2.55 0.00 0.000 4 0.000 0.067 2519 3541 3428

2553 -1.02 -146.6 269.2 -11.9 140 2557 0.00 2.47 0.00 0.000 6 0.000 0.052 2519 2155 3428

2880 -1.02 -146.6 303.5 -10.2 161 2884 0.00 2.55 0.00 0.000 4 0.000 0.061 2519 718 3428

2919 -1.07 -146.6 307.8 -10.5 163 2926 0.00 2.58 0.00 0.000 6 0.000 0.051 2519 2171 3428

3238 -1.07 -146.6 339.0 -9.4 184 3240 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2169 3428

3551 -1.07 -146.6 367.6 -9.7 204 3556 0.00 2.62 0.00 0.000 4 0.000 0.063 2519 723 3428

3631 -1.12 -146.6 375.6 -9.9 209 3636 0.00 2.53 0.00 0.000 6 0.000 0.051 2519 2144 3428

3956 -1.12 -146.6 407.4 -9.4 230 3960 0.00 2.58 0.00 0.000 4 0.000 0.061 2519 719 3428

3985 -1.15 -146.6 410.3 -9.9 232 3990 0.12 2.50 0.00 0.000 6 0.061 0.051 2486 2132 3428

4312 -1.10 -146.6 447.9 -11.8 253 4316 0.00 2.58 0.00 0.000 4 0.000 0.070 2485 3546 3427

4346 -1.04 -146.6 452.5 -13.0 255 4351 0.15 2.58 0.00 0.000 6 0.091 0.057 2517 2118 3428

4665 -1.04 -146.6 484.1 -9.7 275 4669 0.00 2.50 0.00 0.000 4 0.000 0.063 2517 715 3428

4698 -1.08 -146.6 487.6 -10.3 277 4702 0.00 2.53 0.00 0.000 6 0.000 0.051 2517 2138 3428

5018 -1.08 -146.6 517.9 -10.2 297 5022 0.00 2.55 0.00 0.000 4 0.000 0.070 2517 3542 3428

5057 -1.08 -146.6 522.1 -10.6 299 5062 0.00 2.55 0.00 0.000 6 0.000 0.057 2517 2129 3427

5377 -1.11 -146.6 556.5 -10.2 319 5381 0.00 2.62 0.00 0.000 4 0.000 0.072 2517 3538 3427

5473 -1.15 -146.6 565.9 -8.9 325 5478 0.00 2.55 0.00 0.000 6 0.000 0.058 2517 2127 3427

5801 -1.18 -146.6 595.7 -9.2 346 5803 0.12 0.00 0.00 0.000 6 0.060 0.000 2483 2113 3427

5842 end dive: BOTTOM_OBSTACLE_DETECTED

state 5842 begin apogee

5850 -0.33 0.0 600.4 10.1 349 5984 0.88 0.00 130.45 1.208 6 0.077 0.000 2670 1838 2831

5985 end apogee: CONTROL_FINISHED_OK

state 5985 begin climb

5988 1.22 146.6 605.7 0.0 358 6133 1.52 2.65 130.62 1.165 4 0.057 0.074 3007 450 2233

6169 1.15 161.1 598.3 7.5 369 6188 0.00 2.58 14.40 1.052 6 0.000 0.054 3007 1862 2174

6518 1.09 161.1 568.7 8.6 391 6520 0.12 0.00 0.00 0.000 6 0.093 0.000 2984 1876 2173

6827 1.16 204.2 547.3 6.4 411 6874 0.00 2.75 38.88 1.143 4 0.000 0.074 2984 450 1998

6914 1.16 204.2 540.8 8.4 416 6918 0.00 2.53 0.00 0.000 6 0.000 0.056 2984 1845 1997

7234 1.17 209.8 516.6 7.8 436 7250 0.00 2.67 6.47 0.929 4 0.000 0.070 2984 3258 1975

7329 1.22 211.9 509.0 7.9 441 7336 0.12 2.55 0.00 0.000 6 0.061 0.064 3017 1879 1975

7651 1.19 211.9 481.0 9.2 462 7655 0.00 2.55 0.00 0.000 4 0.000 0.067 3017 3255 1974

7703 1.19 211.9 475.8 9.2 465 7707 0.00 2.50 0.00 0.000 6 0.000 0.061 3017 1891 1974

8028 1.15 211.9 447.3 8.5 486 8029 0.12 0.00 0.00 0.000 6 0.095 0.000 2994 1890 1974

8340 1.19 235.1 425.3 7.2 506 8372 0.00 2.60 22.67 1.072 4 0.000 0.063 2994 3258 1872

8401 1.28 261.7 420.7 7.0 509 8432 0.15 2.55 24.33 1.068 6 0.055 0.058 3032 1870 1764

8753 1.23 261.7 386.9 10.7 532 8758 0.00 2.58 0.00 0.000 4 0.000 0.063 3032 3264 1763

8792 1.23 261.7 382.5 10.7 534 8798 0.00 2.50 0.00 0.000 6 0.000 0.058 3032 1893 1764

9112 1.19 261.7 350.0 10.5 555 9114 0.15 0.00 0.00 0.000 6 0.091 0.000 3002 1892 1764

9424 1.21 274.0 324.7 7.6 575 9442 0.00 2.58 12.20 0.946 4 0.000 0.061 3003 3254 1712

9465 1.27 276.3 321.5 7.9 577 9469 0.00 2.45 0.00 0.000 6 0.000 0.055 3003 1910 1712

9785 1.30 276.3 294.0 9.4 597 9787 0.12 0.00 0.00 0.000 6 0.056 0.000 3036 1910 1712

10097 1.26 276.3 261.7 9.7 617 10106 0.00 2.47 3.67 0.607 4 0.000 0.061 3037 3249 1704

10136 1.26 276.3 257.6 10.2 619 10140 0.00 2.42 0.00 0.000 6 0.000 0.053 3036 1905 1704

10455 1.23 276.3 225.9 9.8 639 10460 0.12 2.47 0.00 0.000 4 0.092 0.060 3012 3259 1704

10484 1.23 276.3 223.2 9.1 641 10488 0.00 2.40 0.00 0.000 6 0.000 0.052 3012 1920 1704

10809 1.26 293.9 198.6 7.4 662 10830 0.00 2.50 16.38 0.890 4 0.000 0.059 3012 3263 1631

10847 1.30 293.9 195.3 8.5 664 10853 0.00 2.40 0.00 0.000 6 0.000 0.051 3012 1938 1631

11167 1.30 293.9 166.6 9.2 685 11168 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 1937 1632

11479 1.30 293.9 136.6 10.1 703 11483 0.00 2.40 0.00 0.000 4 0.000 0.059 3012 3255 1632

11513 1.36 293.9 132.7 10.4 704 11520 0.15 2.35 0.00 0.000 6 0.053 0.051 3052 1935 1632

11831 1.30 293.9 93.7 12.6 720 11835 0.12 2.40 0.00 0.000 4 0.094 0.058 3029 3265 1632

11871 1.34 293.9 89.1 10.2 722 11875 0.00 2.33 0.00 0.000 6 0.000 0.049 3029 1961 1632

12199 1.34 293.9 56.5 9.1 738 12203 0.00 2.38 0.00 0.000 4 0.000 0.060 3029 3264 1632

12223 1.34 293.9 53.9 10.7 739 12227 0.00 2.30 0.00 0.000 6 0.000 0.048 3029 1969 1632

12544 1.34 293.9 23.5 8.3 755 12545 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1970 1632

12728 end climb: SURFACE_DEPTH_REACHED

state 12728 begin surface coast

12749 end surface coast: CONTROL_FINISHED_OK

state 12749 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	305	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-106168.09	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	0	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	100355,6320.375,-1257.080,58,1.0,58,-12.1	TGT_NAME	HE
_CALLS	2	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	12	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.008,-0.245
_SM_DEPTHo	1.63	KALMAN_X	411.1,250.1,-4.0,1144.0,739.5
_SM_ANGLEo	-58.4	KALMAN_Y	8861.1,-407.0,-356.8,-22787.8,8192.3
GPS2	101338,6320.350,-1256.873,14,1.2,14,-12.1	MHEAD_RNG_PITCHd_Wd	193.9,10245,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.026958	ALTIM_BOTTOM_PING	571.4,38.7
SM_CCo	12773,3.45,0.482,0,0,1608,300.00	_24V_AH	23.8,50.139
SM_GC	2.74,0.00,0.00,3.45,0.000,0.000,0.482,418,2141,1608,-10.70,0.31,300.00	_10V_AH	10.1,22.437
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37880,765
TT8_MAMPS	0.029146	CAP_FILE_SIZE	111548,0
HUMID	1845	CFSIZE	254472192,235573248
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	58	GPS	151009,134836,6317.812,-1257.274,32,2.0,32,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	98.94	SBE_CT	522	24	298.47
Roll_motor	121	79	229.01	SBE_O2	554	19	250.57
VBD_pump_during_apogee	400	1208	11502.55	WL_BB2F	450	105	1126.30
VBD_pump_during_surface	3	481	39.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	118	160	452.44	nil	0	0	0.00
Iridium_during_xfer	198	223	1055.45
Transponder_ping	19	420	194.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.42
TT8	1367	19	273.49
LPSleep	9243	2	204.46
TT8_Active	501	19	100.30
TT8_Sampling	1564	39	628.76
TT8_CF8	681	45	315.19
TT8_Kalman	33	81	27.55
Analog_circuits	1318	12	159.79
GPS_charging	0	0	0.00
Compass	1526	8	123.38
RAFOS	0	0	0.00
Transponder	34	30	10.60

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
18	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-39.30	0.000	2	0.000	0.000	424	2127	2392
63	-1.22	-146.6	2.1	-1.8	2	131	11.12	2.62	-51.28	0.000	4	0.156	0.079	2473	3549	3427
227	-1.13	-146.6	16.7	-14.8	9	235	0.12	2.55	0.00	0.000	6	0.094	0.048	2499	2115	3428
546	-1.09	-146.6	56.5	-12.6	25	547	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2098	3428
853	-1.06	-146.6	92.1	-11.3	40	858	0.00	2.62	0.00	0.000	4	0.000	0.064	2499	3541	3427
909	-1.02	-146.6	98.5	-11.1	42	916	0.10	2.47	0.00	0.000	6	0.102	0.049	2519	2146	3427
1226	-1.02	-146.6	131.5	-9.7	58	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2135	3428
1540	-1.02	-146.6	161.7	-9.4	75	1542	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2134	3428
1853	-1.02	-146.6	192.9	-10.0	95	1858	0.00	2.58	0.00	0.000	4	0.000	0.066	2519	3541	3428
1887	-1.02	-146.6	196.6	-10.8	97	1891	0.00	2.47	0.00	0.000	6	0.000	0.051	2519	2150	3428
2212	-1.02	-146.6	231.4	-11.2	118	2213	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2139	3428
2524	-1.02	-146.6	265.7	-11.1	138	2529	0.00	2.55	0.00	0.000	4	0.000	0.067	2519	3541	3428
2553	-1.02	-146.6	269.2	-11.9	140	2557	0.00	2.47	0.00	0.000	6	0.000	0.052	2519	2155	3428
2880	-1.02	-146.6	303.5	-10.2	161	2884	0.00	2.55	0.00	0.000	4	0.000	0.061	2519	718	3428
2919	-1.07	-146.6	307.8	-10.5	163	2926	0.00	2.58	0.00	0.000	6	0.000	0.051	2519	2171	3428
3238	-1.07	-146.6	339.0	-9.4	184	3240	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2169	3428
3551	-1.07	-146.6	367.6	-9.7	204	3556	0.00	2.62	0.00	0.000	4	0.000	0.063	2519	723	3428
3631	-1.12	-146.6	375.6	-9.9	209	3636	0.00	2.53	0.00	0.000	6	0.000	0.051	2519	2144	3428
3956	-1.12	-146.6	407.4	-9.4	230	3960	0.00	2.58	0.00	0.000	4	0.000	0.061	2519	719	3428
3985	-1.15	-146.6	410.3	-9.9	232	3990	0.12	2.50	0.00	0.000	6	0.061	0.051	2486	2132	3428
4312	-1.10	-146.6	447.9	-11.8	253	4316	0.00	2.58	0.00	0.000	4	0.000	0.070	2485	3546	3427
4346	-1.04	-146.6	452.5	-13.0	255	4351	0.15	2.58	0.00	0.000	6	0.091	0.057	2517	2118	3428
4665	-1.04	-146.6	484.1	-9.7	275	4669	0.00	2.50	0.00	0.000	4	0.000	0.063	2517	715	3428
4698	-1.08	-146.6	487.6	-10.3	277	4702	0.00	2.53	0.00	0.000	6	0.000	0.051	2517	2138	3428
5018	-1.08	-146.6	517.9	-10.2	297	5022	0.00	2.55	0.00	0.000	4	0.000	0.070	2517	3542	3428
5057	-1.08	-146.6	522.1	-10.6	299	5062	0.00	2.55	0.00	0.000	6	0.000	0.057	2517	2129	3427
5377	-1.11	-146.6	556.5	-10.2	319	5381	0.00	2.62	0.00	0.000	4	0.000	0.072	2517	3538	3427
5473	-1.15	-146.6	565.9	-8.9	325	5478	0.00	2.55	0.00	0.000	6	0.000	0.058	2517	2127	3427
5801	-1.18	-146.6	595.7	-9.2	346	5803	0.12	0.00	0.00	0.000	6	0.060	0.000	2483	2113	3427
5842	end dive: BOTTOM_OBSTACLE_DETECTED
state	5842	begin apogee
5850	-0.33	0.0	600.4	10.1	349	5984	0.88	0.00	130.45	1.208	6	0.077	0.000	2670	1838	2831
5985	end apogee: CONTROL_FINISHED_OK
state	5985	begin climb
5988	1.22	146.6	605.7	0.0	358	6133	1.52	2.65	130.62	1.165	4	0.057	0.074	3007	450	2233
6169	1.15	161.1	598.3	7.5	369	6188	0.00	2.58	14.40	1.052	6	0.000	0.054	3007	1862	2174
6518	1.09	161.1	568.7	8.6	391	6520	0.12	0.00	0.00	0.000	6	0.093	0.000	2984	1876	2173
6827	1.16	204.2	547.3	6.4	411	6874	0.00	2.75	38.88	1.143	4	0.000	0.074	2984	450	1998
6914	1.16	204.2	540.8	8.4	416	6918	0.00	2.53	0.00	0.000	6	0.000	0.056	2984	1845	1997
7234	1.17	209.8	516.6	7.8	436	7250	0.00	2.67	6.47	0.929	4	0.000	0.070	2984	3258	1975
7329	1.22	211.9	509.0	7.9	441	7336	0.12	2.55	0.00	0.000	6	0.061	0.064	3017	1879	1975
7651	1.19	211.9	481.0	9.2	462	7655	0.00	2.55	0.00	0.000	4	0.000	0.067	3017	3255	1974
7703	1.19	211.9	475.8	9.2	465	7707	0.00	2.50	0.00	0.000	6	0.000	0.061	3017	1891	1974
8028	1.15	211.9	447.3	8.5	486	8029	0.12	0.00	0.00	0.000	6	0.095	0.000	2994	1890	1974
8340	1.19	235.1	425.3	7.2	506	8372	0.00	2.60	22.67	1.072	4	0.000	0.063	2994	3258	1872
8401	1.28	261.7	420.7	7.0	509	8432	0.15	2.55	24.33	1.068	6	0.055	0.058	3032	1870	1764
8753	1.23	261.7	386.9	10.7	532	8758	0.00	2.58	0.00	0.000	4	0.000	0.063	3032	3264	1763
8792	1.23	261.7	382.5	10.7	534	8798	0.00	2.50	0.00	0.000	6	0.000	0.058	3032	1893	1764
9112	1.19	261.7	350.0	10.5	555	9114	0.15	0.00	0.00	0.000	6	0.091	0.000	3002	1892	1764
9424	1.21	274.0	324.7	7.6	575	9442	0.00	2.58	12.20	0.946	4	0.000	0.061	3003	3254	1712
9465	1.27	276.3	321.5	7.9	577	9469	0.00	2.45	0.00	0.000	6	0.000	0.055	3003	1910	1712
9785	1.30	276.3	294.0	9.4	597	9787	0.12	0.00	0.00	0.000	6	0.056	0.000	3036	1910	1712
10097	1.26	276.3	261.7	9.7	617	10106	0.00	2.47	3.67	0.607	4	0.000	0.061	3037	3249	1704
10136	1.26	276.3	257.6	10.2	619	10140	0.00	2.42	0.00	0.000	6	0.000	0.053	3036	1905	1704
10455	1.23	276.3	225.9	9.8	639	10460	0.12	2.47	0.00	0.000	4	0.092	0.060	3012	3259	1704
10484	1.23	276.3	223.2	9.1	641	10488	0.00	2.40	0.00	0.000	6	0.000	0.052	3012	1920	1704
10809	1.26	293.9	198.6	7.4	662	10830	0.00	2.50	16.38	0.890	4	0.000	0.059	3012	3263	1631
10847	1.30	293.9	195.3	8.5	664	10853	0.00	2.40	0.00	0.000	6	0.000	0.051	3012	1938	1631
11167	1.30	293.9	166.6	9.2	685	11168	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	1937	1632
11479	1.30	293.9	136.6	10.1	703	11483	0.00	2.40	0.00	0.000	4	0.000	0.059	3012	3255	1632
11513	1.36	293.9	132.7	10.4	704	11520	0.15	2.35	0.00	0.000	6	0.053	0.051	3052	1935	1632
11831	1.30	293.9	93.7	12.6	720	11835	0.12	2.40	0.00	0.000	4	0.094	0.058	3029	3265	1632
11871	1.34	293.9	89.1	10.2	722	11875	0.00	2.33	0.00	0.000	6	0.000	0.049	3029	1961	1632
12199	1.34	293.9	56.5	9.1	738	12203	0.00	2.38	0.00	0.000	4	0.000	0.060	3029	3264	1632
12223	1.34	293.9	53.9	10.7	739	12227	0.00	2.30	0.00	0.000	6	0.000	0.048	3029	1969	1632
12544	1.34	293.9	23.5	8.3	755	12545	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1970	1632
12728	end climb: SURFACE_DEPTH_REACHED
state	12728	begin surface coast
12749	end surface coast: CONTROL_FINISHED_OK
state	12749	begin surface