Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 344 * 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 344 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 30 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 -106916.83 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 -106916.83

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 344 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 181606,6253.486,-1226.168,40,1.1,45,-11.6 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.239,-0.057

_SM_DEPTHo 1.29 KALMAN_X -71260.9,2275.4,988.6,95057.7,-24563.6

_SM_ANGLEo -58.1 KALMAN_Y 44288.5,-86.9,396.8,-109032.5,-1748.2

GPS2 182120,6253.486,-1226.293,16,1.2,16,-11.6 MHEAD_RNG_PITCHd_Wd 115.0,38381,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027221 ALTIM_BOTTOM_PING 546.2,69.9

SM_CCo 13156,24.98,0.775,0,0,1608,300.00 _24V_AH 23.8,56.216

SM_GC 1.29,0.00,0.00,24.98,0.000,0.000,0.775,424,2123,1608,-10.68,-0.17,300.00 _10V_AH 10.1,25.328

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41224,784

TT8_MAMPS 0.029146 CAP_FILE_SIZE 108621,0

HUMID 1825 CFSIZE 254472192,233316352

TCM_TEMP 16.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 60 GPS 211009,220307,6253.652,-1224.344,36,1.2,36,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 154 94.94 SBE_CT 536 24 306.48

Roll_motor 131 73 229.75 SBE_O2 573 19 259.24

VBD_pump_during_apogee 362 1218 10528.66 WL_BB2F 467 105 1168.50

VBD_pump_during_surface 24 774 460.47 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 26 160 102.62 nil 0 0 0.00

Iridium_during_xfer 127 223 675.49

Transponder_ping 19 420 197.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.19

TT8 1390 19 278.05

LPSleep 9522 2 210.63

TT8_Active 493 19 98.60

TT8_Sampling 1613 39 648.55

TT8_CF8 476 45 220.25

TT8_Kalman 33 81 27.56

Analog_circuits 1322 12 160.25

GPS_charging 0 0 0.00

Compass 1575 8 127.28

RAFOS 0 0 0.00

Transponder 33 30 10.15

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.20 0.000 2 0.000 0.000 418 2120 2684

83 -1.22 -146.6 2.7 -3.2 3 126 11.23 2.53 -26.02 0.000 4 0.154 0.068 2471 709 3430

248 -1.14 -146.6 22.6 -13.2 10 253 0.12 2.50 0.00 0.000 6 0.104 0.046 2496 2126 3429

570 -1.09 -146.6 62.3 -9.6 26 571 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2127 3430

880 -1.04 -146.6 90.6 -8.4 41 882 0.10 0.00 0.00 0.000 6 0.106 0.000 2516 2126 3430

1190 -1.04 -146.6 114.9 -7.8 56 1194 0.00 2.58 0.00 0.000 4 0.000 0.062 2517 709 3430

1240 -1.04 -146.6 119.7 -8.9 58 1248 0.00 2.50 0.00 0.000 6 0.000 0.048 2516 2120 3430

1566 -1.04 -146.6 149.2 -9.4 74 1570 0.00 2.55 0.00 0.000 4 0.000 0.060 2517 714 3430

1632 -1.04 -146.6 155.9 -10.0 78 1637 0.00 2.47 0.00 0.000 6 0.000 0.048 2517 2113 3430

1951 -1.04 -146.6 187.4 -9.9 98 1952 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2114 3430

2264 -1.04 -146.6 218.9 -10.2 118 2268 0.00 2.53 0.00 0.000 4 0.000 0.061 2516 717 3430

2337 -1.07 -146.6 226.4 -10.3 122 2342 0.00 2.45 0.00 0.000 6 0.000 0.049 2516 2099 3430

2657 -1.07 -146.6 257.5 -9.9 142 2661 0.00 2.50 0.00 0.000 4 0.000 0.062 2517 717 3430

2696 -1.11 -146.6 261.5 -9.6 144 2700 0.00 2.42 0.00 0.000 6 0.000 0.050 2517 2086 3430

3020 -1.11 -146.6 293.3 -9.9 165 3021 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2086 3430

3333 -1.11 -146.6 324.5 -10.2 185 3338 0.00 2.50 0.00 0.000 4 0.000 0.063 2517 716 3430

3384 -1.15 -146.6 330.0 -10.6 188 3388 0.00 2.42 0.00 0.000 6 0.000 0.051 2517 2079 3430

3703 -1.15 -146.6 361.8 -9.8 208 3704 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2078 3430

4016 -1.15 -146.6 391.3 -9.2 228 4017 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2079 3430

4331 -1.15 -146.6 420.3 -9.3 248 4335 0.00 2.50 0.00 0.000 4 0.000 0.065 2517 706 3430

4360 -1.15 -146.6 423.3 -9.6 250 4364 0.00 2.42 0.00 0.000 6 0.000 0.051 2516 2067 3430

4690 -1.15 -146.6 453.7 -9.3 271 4695 0.00 2.67 0.00 0.000 4 0.000 0.071 2517 3535 3430

4712 -1.15 -146.6 456.0 -9.4 272 4718 0.00 2.67 0.00 0.000 6 0.000 0.060 2516 2058 3430

5032 -1.15 -146.6 484.5 -8.8 293 5033 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2050 3430

5344 -1.15 -146.6 512.5 -8.8 313 5348 0.00 2.75 0.00 0.000 4 0.000 0.071 2516 3539 3430

5376 -1.15 -146.6 515.5 -9.3 315 5381 0.00 2.67 0.00 0.000 6 0.000 0.059 2516 2059 3429

5698 -1.15 -146.6 540.4 -8.0 335 5703 0.00 2.72 0.00 0.000 4 0.000 0.071 2517 3530 3429

5731 -1.15 -146.6 543.4 -8.0 337 5736 0.00 2.62 0.00 0.000 6 0.000 0.060 2517 2081 3429

6051 -1.15 -146.6 570.3 -8.4 357 6055 0.00 2.70 0.00 0.000 4 0.000 0.072 2516 3533 3429

6097 -1.18 -146.6 574.4 -8.9 360 6102 0.12 2.58 0.00 0.000 6 0.061 0.062 2482 2119 3429

6419 end dive: BOTTOM_OBSTACLE_DETECTED

state 6421 begin apogee

6430 -0.33 0.0 607.6 10.9 381 6565 0.85 0.00 131.88 1.219 6 0.076 0.000 2668 1839 2831

6566 end apogee: CONTROL_FINISHED_OK

state 6566 begin climb

6569 1.22 146.6 612.7 0.0 390 6711 1.55 2.67 133.55 1.173 4 0.060 0.074 3007 446 2233

6818 1.12 151.6 598.9 7.8 405 6834 0.00 2.55 6.32 0.900 6 0.000 0.054 3007 1854 2212

7150 1.05 151.6 571.4 8.1 426 7155 0.17 2.58 0.00 0.000 4 0.094 0.069 2974 3258 2211

7223 1.12 198.0 566.5 6.3 430 7270 0.00 2.58 41.42 1.152 6 0.000 0.065 2975 1865 2024

7584 1.25 253.3 544.2 6.0 453 7640 0.20 2.67 49.80 1.157 4 0.054 0.070 3026 3262 1798

7703 1.25 253.3 533.4 10.0 460 7708 0.00 2.62 0.00 0.000 6 0.000 0.065 3026 1855 1798

8023 1.20 253.3 502.6 9.9 480 8027 0.00 2.60 0.00 0.000 4 0.000 0.069 3026 3252 1798

8078 1.20 253.3 496.6 11.0 483 8084 0.00 2.53 0.00 0.000 6 0.000 0.063 3026 1881 1798

8398 1.15 253.3 465.9 9.3 504 8403 0.17 2.55 0.00 0.000 4 0.091 0.067 2993 3254 1797

8437 1.21 253.3 462.4 8.8 506 8444 0.00 2.50 0.00 0.000 6 0.000 0.061 2993 1890 1797

8758 1.24 253.3 436.4 8.7 527 8762 0.10 2.53 0.00 0.000 4 0.064 0.066 3020 3262 1796

8803 1.24 253.3 431.9 10.2 530 8807 0.00 2.45 0.00 0.000 6 0.000 0.058 3020 1908 1797

9127 1.24 253.3 399.6 9.8 551 9131 0.00 2.47 0.00 0.000 4 0.000 0.064 3020 3259 1796

9167 1.24 253.3 395.5 10.4 553 9171 0.00 2.42 0.00 0.000 6 0.000 0.059 3020 1915 1796

9491 1.24 253.3 364.2 9.5 574 9495 0.00 2.45 0.00 0.000 4 0.000 0.064 3020 3255 1796

9542 1.24 253.3 359.0 10.1 577 9546 0.00 2.38 0.00 0.000 6 0.000 0.055 3020 1941 1796

9861 1.24 253.3 327.8 10.0 597 9865 0.00 2.40 0.00 0.000 4 0.000 0.064 3020 3257 1797

9895 1.24 253.3 324.1 10.0 599 9899 0.00 2.35 0.00 0.000 6 0.000 0.055 3020 1959 1797

10214 1.24 253.3 290.7 10.8 619 10218 0.00 2.38 0.00 0.000 4 0.000 0.062 3020 3254 1797

10236 1.24 253.3 288.2 11.0 620 10242 0.00 2.35 0.00 0.000 6 0.000 0.054 3020 1946 1797

10556 1.24 253.3 256.2 9.4 641 10557 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1946 1797

10868 1.24 253.3 227.1 9.0 661 10873 0.00 2.40 0.00 0.000 4 0.000 0.062 3020 3258 1798

10915 1.24 253.3 222.8 8.8 664 10919 0.00 2.33 0.00 0.000 6 0.000 0.052 3020 1964 1797

11240 1.24 253.3 194.9 8.5 685 11241 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1964 1798

11553 1.24 253.3 166.3 9.6 705 11554 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1964 1798

11869 1.24 253.3 134.4 10.3 723 11873 0.00 2.38 0.00 0.000 4 0.000 0.061 3020 3266 1798

11896 1.24 253.3 131.2 10.8 724 11901 0.00 2.33 0.00 0.000 6 0.000 0.049 3020 1967 1798

12214 1.24 253.3 95.4 12.1 739 12218 0.00 2.35 0.00 0.000 4 0.000 0.060 3020 3258 1799

12232 1.24 253.3 93.0 12.2 740 12236 0.00 2.28 0.00 0.000 6 0.000 0.050 3020 1980 1799

12559 1.24 253.3 54.0 11.0 756 12564 0.00 2.33 0.00 0.000 4 0.000 0.058 3020 3261 1799

12578 1.24 253.3 52.0 10.2 757 12582 0.00 2.28 0.00 0.000 6 0.000 0.048 3020 1979 1799

12911 1.24 253.3 20.8 8.4 773 12916 0.00 2.75 0.00 0.000 4 0.000 0.062 3020 436 1799

12929 1.24 253.3 19.1 8.8 774 12933 0.00 2.75 0.00 0.000 6 0.000 0.047 3020 1997 1799

13108 end climb: SURFACE_DEPTH_REACHED

state 13108 begin surface coast

13132 end surface coast: CONTROL_FINISHED_OK

state 13132 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	344	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	30	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	-106916.83	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	181606,6253.486,-1226.168,40,1.1,45,-11.6	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.239,-0.057
_SM_DEPTHo	1.29	KALMAN_X	-71260.9,2275.4,988.6,95057.7,-24563.6
_SM_ANGLEo	-58.1	KALMAN_Y	44288.5,-86.9,396.8,-109032.5,-1748.2
GPS2	182120,6253.486,-1226.293,16,1.2,16,-11.6	MHEAD_RNG_PITCHd_Wd	115.0,38381,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027221	ALTIM_BOTTOM_PING	546.2,69.9
SM_CCo	13156,24.98,0.775,0,0,1608,300.00	_24V_AH	23.8,56.216
SM_GC	1.29,0.00,0.00,24.98,0.000,0.000,0.775,424,2123,1608,-10.68,-0.17,300.00	_10V_AH	10.1,25.328
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41224,784
TT8_MAMPS	0.029146	CAP_FILE_SIZE	108621,0
HUMID	1825	CFSIZE	254472192,233316352
TCM_TEMP	16.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	60	GPS	211009,220307,6253.652,-1224.344,36,1.2,36,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	154	94.94	SBE_CT	536	24	306.48
Roll_motor	131	73	229.75	SBE_O2	573	19	259.24
VBD_pump_during_apogee	362	1218	10528.66	WL_BB2F	467	105	1168.50
VBD_pump_during_surface	24	774	460.47	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	26	160	102.62	nil	0	0	0.00
Iridium_during_xfer	127	223	675.49
Transponder_ping	19	420	197.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.19
TT8	1390	19	278.05
LPSleep	9522	2	210.63
TT8_Active	493	19	98.60
TT8_Sampling	1613	39	648.55
TT8_CF8	476	45	220.25
TT8_Kalman	33	81	27.56
Analog_circuits	1322	12	160.25
GPS_charging	0	0	0.00
Compass	1575	8	127.28
RAFOS	0	0	0.00
Transponder	33	30	10.15

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.20	0.000	2	0.000	0.000	418	2120	2684
83	-1.22	-146.6	2.7	-3.2	3	126	11.23	2.53	-26.02	0.000	4	0.154	0.068	2471	709	3430
248	-1.14	-146.6	22.6	-13.2	10	253	0.12	2.50	0.00	0.000	6	0.104	0.046	2496	2126	3429
570	-1.09	-146.6	62.3	-9.6	26	571	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2127	3430
880	-1.04	-146.6	90.6	-8.4	41	882	0.10	0.00	0.00	0.000	6	0.106	0.000	2516	2126	3430
1190	-1.04	-146.6	114.9	-7.8	56	1194	0.00	2.58	0.00	0.000	4	0.000	0.062	2517	709	3430
1240	-1.04	-146.6	119.7	-8.9	58	1248	0.00	2.50	0.00	0.000	6	0.000	0.048	2516	2120	3430
1566	-1.04	-146.6	149.2	-9.4	74	1570	0.00	2.55	0.00	0.000	4	0.000	0.060	2517	714	3430
1632	-1.04	-146.6	155.9	-10.0	78	1637	0.00	2.47	0.00	0.000	6	0.000	0.048	2517	2113	3430
1951	-1.04	-146.6	187.4	-9.9	98	1952	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2114	3430
2264	-1.04	-146.6	218.9	-10.2	118	2268	0.00	2.53	0.00	0.000	4	0.000	0.061	2516	717	3430
2337	-1.07	-146.6	226.4	-10.3	122	2342	0.00	2.45	0.00	0.000	6	0.000	0.049	2516	2099	3430
2657	-1.07	-146.6	257.5	-9.9	142	2661	0.00	2.50	0.00	0.000	4	0.000	0.062	2517	717	3430
2696	-1.11	-146.6	261.5	-9.6	144	2700	0.00	2.42	0.00	0.000	6	0.000	0.050	2517	2086	3430
3020	-1.11	-146.6	293.3	-9.9	165	3021	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2086	3430
3333	-1.11	-146.6	324.5	-10.2	185	3338	0.00	2.50	0.00	0.000	4	0.000	0.063	2517	716	3430
3384	-1.15	-146.6	330.0	-10.6	188	3388	0.00	2.42	0.00	0.000	6	0.000	0.051	2517	2079	3430
3703	-1.15	-146.6	361.8	-9.8	208	3704	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2078	3430
4016	-1.15	-146.6	391.3	-9.2	228	4017	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2079	3430
4331	-1.15	-146.6	420.3	-9.3	248	4335	0.00	2.50	0.00	0.000	4	0.000	0.065	2517	706	3430
4360	-1.15	-146.6	423.3	-9.6	250	4364	0.00	2.42	0.00	0.000	6	0.000	0.051	2516	2067	3430
4690	-1.15	-146.6	453.7	-9.3	271	4695	0.00	2.67	0.00	0.000	4	0.000	0.071	2517	3535	3430
4712	-1.15	-146.6	456.0	-9.4	272	4718	0.00	2.67	0.00	0.000	6	0.000	0.060	2516	2058	3430
5032	-1.15	-146.6	484.5	-8.8	293	5033	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2050	3430
5344	-1.15	-146.6	512.5	-8.8	313	5348	0.00	2.75	0.00	0.000	4	0.000	0.071	2516	3539	3430
5376	-1.15	-146.6	515.5	-9.3	315	5381	0.00	2.67	0.00	0.000	6	0.000	0.059	2516	2059	3429
5698	-1.15	-146.6	540.4	-8.0	335	5703	0.00	2.72	0.00	0.000	4	0.000	0.071	2517	3530	3429
5731	-1.15	-146.6	543.4	-8.0	337	5736	0.00	2.62	0.00	0.000	6	0.000	0.060	2517	2081	3429
6051	-1.15	-146.6	570.3	-8.4	357	6055	0.00	2.70	0.00	0.000	4	0.000	0.072	2516	3533	3429
6097	-1.18	-146.6	574.4	-8.9	360	6102	0.12	2.58	0.00	0.000	6	0.061	0.062	2482	2119	3429
6419	end dive: BOTTOM_OBSTACLE_DETECTED
state	6421	begin apogee
6430	-0.33	0.0	607.6	10.9	381	6565	0.85	0.00	131.88	1.219	6	0.076	0.000	2668	1839	2831
6566	end apogee: CONTROL_FINISHED_OK
state	6566	begin climb
6569	1.22	146.6	612.7	0.0	390	6711	1.55	2.67	133.55	1.173	4	0.060	0.074	3007	446	2233
6818	1.12	151.6	598.9	7.8	405	6834	0.00	2.55	6.32	0.900	6	0.000	0.054	3007	1854	2212
7150	1.05	151.6	571.4	8.1	426	7155	0.17	2.58	0.00	0.000	4	0.094	0.069	2974	3258	2211
7223	1.12	198.0	566.5	6.3	430	7270	0.00	2.58	41.42	1.152	6	0.000	0.065	2975	1865	2024
7584	1.25	253.3	544.2	6.0	453	7640	0.20	2.67	49.80	1.157	4	0.054	0.070	3026	3262	1798
7703	1.25	253.3	533.4	10.0	460	7708	0.00	2.62	0.00	0.000	6	0.000	0.065	3026	1855	1798
8023	1.20	253.3	502.6	9.9	480	8027	0.00	2.60	0.00	0.000	4	0.000	0.069	3026	3252	1798
8078	1.20	253.3	496.6	11.0	483	8084	0.00	2.53	0.00	0.000	6	0.000	0.063	3026	1881	1798
8398	1.15	253.3	465.9	9.3	504	8403	0.17	2.55	0.00	0.000	4	0.091	0.067	2993	3254	1797
8437	1.21	253.3	462.4	8.8	506	8444	0.00	2.50	0.00	0.000	6	0.000	0.061	2993	1890	1797
8758	1.24	253.3	436.4	8.7	527	8762	0.10	2.53	0.00	0.000	4	0.064	0.066	3020	3262	1796
8803	1.24	253.3	431.9	10.2	530	8807	0.00	2.45	0.00	0.000	6	0.000	0.058	3020	1908	1797
9127	1.24	253.3	399.6	9.8	551	9131	0.00	2.47	0.00	0.000	4	0.000	0.064	3020	3259	1796
9167	1.24	253.3	395.5	10.4	553	9171	0.00	2.42	0.00	0.000	6	0.000	0.059	3020	1915	1796
9491	1.24	253.3	364.2	9.5	574	9495	0.00	2.45	0.00	0.000	4	0.000	0.064	3020	3255	1796
9542	1.24	253.3	359.0	10.1	577	9546	0.00	2.38	0.00	0.000	6	0.000	0.055	3020	1941	1796
9861	1.24	253.3	327.8	10.0	597	9865	0.00	2.40	0.00	0.000	4	0.000	0.064	3020	3257	1797
9895	1.24	253.3	324.1	10.0	599	9899	0.00	2.35	0.00	0.000	6	0.000	0.055	3020	1959	1797
10214	1.24	253.3	290.7	10.8	619	10218	0.00	2.38	0.00	0.000	4	0.000	0.062	3020	3254	1797
10236	1.24	253.3	288.2	11.0	620	10242	0.00	2.35	0.00	0.000	6	0.000	0.054	3020	1946	1797
10556	1.24	253.3	256.2	9.4	641	10557	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1946	1797
10868	1.24	253.3	227.1	9.0	661	10873	0.00	2.40	0.00	0.000	4	0.000	0.062	3020	3258	1798
10915	1.24	253.3	222.8	8.8	664	10919	0.00	2.33	0.00	0.000	6	0.000	0.052	3020	1964	1797
11240	1.24	253.3	194.9	8.5	685	11241	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1964	1798
11553	1.24	253.3	166.3	9.6	705	11554	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1964	1798
11869	1.24	253.3	134.4	10.3	723	11873	0.00	2.38	0.00	0.000	4	0.000	0.061	3020	3266	1798
11896	1.24	253.3	131.2	10.8	724	11901	0.00	2.33	0.00	0.000	6	0.000	0.049	3020	1967	1798
12214	1.24	253.3	95.4	12.1	739	12218	0.00	2.35	0.00	0.000	4	0.000	0.060	3020	3258	1799
12232	1.24	253.3	93.0	12.2	740	12236	0.00	2.28	0.00	0.000	6	0.000	0.050	3020	1980	1799
12559	1.24	253.3	54.0	11.0	756	12564	0.00	2.33	0.00	0.000	4	0.000	0.058	3020	3261	1799
12578	1.24	253.3	52.0	10.2	757	12582	0.00	2.28	0.00	0.000	6	0.000	0.048	3020	1979	1799
12911	1.24	253.3	20.8	8.4	773	12916	0.00	2.75	0.00	0.000	4	0.000	0.062	3020	436	1799
12929	1.24	253.3	19.1	8.8	774	12933	0.00	2.75	0.00	0.000	6	0.000	0.047	3020	1997	1799
13108	end climb: SURFACE_DEPTH_REACHED
state	13108	begin surface coast
13132	end surface coast: CONTROL_FINISHED_OK
state	13132	begin surface