Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 345 * 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 345 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 29 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 -106930.84 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 -106930.84

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 29 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 345 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 220307,6253.652,-1224.344,36,1.2,36,-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 0.234,-0.075

_SM_DEPTHo 1.33 KALMAN_X -73289.6,1995.2,1559.6,98339.1,-23058.8

_SM_ANGLEo -61.3 KALMAN_Y 46879.2,-411.8,337.6,-110893.0,1687.8

GPS2 220844,6253.687,-1224.410,13,1.4,13,-11.6 MHEAD_RNG_PITCHd_Wd 119.3,37090,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027222 ALTIM_BOTTOM_PING 520.8,84.4

SM_CCo 12546,34.30,0.798,0,0,1608,300.00 _24V_AH 23.8,56.350

SM_GC 1.45,0.00,0.00,34.30,0.000,0.000,0.798,421,2134,1608,-10.69,0.08,300.00 _10V_AH 10.1,25.397

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37929,749

TT8_MAMPS 0.029146 CAP_FILE_SIZE 106045,0

HUMID 1821 CFSIZE 254472192,233271296

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 47 GPS 221009,014046,6253.376,-1220.788,44,1.7,52,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 157 97.11 SBE_CT 511 24 292.39

Roll_motor 129 73 227.20 SBE_O2 545 19 246.84

VBD_pump_during_apogee 344 1214 9954.81 WL_BB2F 465 105 1164.18

VBD_pump_during_surface 34 797 651.18 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 30 160 117.36 nil 0 0 0.00

Iridium_during_xfer 140 223 747.09

Transponder_ping 16 420 162.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.76

TT8 1328 19 265.57

LPSleep 9053 2 200.25

TT8_Active 512 19 102.41

TT8_Sampling 1532 39 615.93

TT8_CF8 491 45 227.58

TT8_Kalman 33 81 27.56

Analog_circuits 1301 12 157.72

GPS_charging 0 0 0.00

Compass 1501 8 121.34

RAFOS 0 0 0.00

Transponder 31 30 9.68

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 15 begin dive

18 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.12 0.000 2 0.000 0.000 424 2129 2416

65 -1.22 -146.6 2.2 -4.2 2 136 11.27 2.60 -53.20 0.000 4 0.157 0.072 2470 717 3430

154 -1.10 -146.6 6.6 -15.8 6 160 0.17 2.50 0.00 0.000 6 0.097 0.047 2507 2128 3429

477 -1.06 -146.6 44.0 -11.2 22 478 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2128 3430

786 -1.03 -146.6 76.4 -9.9 37 790 0.00 2.58 0.00 0.000 4 0.000 0.061 2507 711 3430

814 -1.03 -146.6 79.2 -9.8 38 818 0.00 2.50 0.00 0.000 6 0.000 0.048 2507 2123 3430

1131 -1.03 -146.6 111.6 -10.9 53 1136 0.00 2.58 0.00 0.000 4 0.000 0.061 2507 705 3430

1172 -1.03 -146.6 116.2 -11.3 55 1176 0.00 2.50 0.00 0.000 6 0.000 0.048 2507 2117 3430

1495 -1.03 -146.6 152.1 -11.4 71 1499 0.00 2.55 0.00 0.000 4 0.000 0.061 2507 708 3431

1540 -1.03 -146.6 157.6 -11.7 74 1545 0.00 2.47 0.00 0.000 6 0.000 0.048 2508 2102 3431

1866 -1.03 -146.6 194.6 -11.5 95 1870 0.00 2.53 0.00 0.000 4 0.000 0.063 2507 712 3431

1904 -1.03 -146.6 199.4 -12.0 97 1908 0.00 2.45 0.00 0.000 6 0.000 0.049 2507 2096 3430

2223 -1.03 -146.6 236.3 -11.8 117 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2096 3431

2536 -1.03 -146.6 273.3 -12.1 137 2540 0.00 2.50 0.00 0.000 4 0.000 0.061 2507 716 3431

2587 -1.03 -146.6 279.7 -11.9 140 2591 0.00 2.42 0.00 0.000 6 0.000 0.050 2507 2084 3430

2911 -1.03 -146.6 316.0 -11.0 161 2913 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2084 3431

3226 -1.03 -146.6 349.3 -10.3 181 3227 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2084 3431

3538 -1.03 -146.6 380.6 -10.4 201 3542 0.00 2.50 0.00 0.000 4 0.000 0.065 2507 715 3430

3601 -1.03 -146.6 387.5 -10.5 205 3605 0.00 2.42 0.00 0.000 6 0.000 0.051 2507 2074 3431

3926 -1.03 -146.6 420.5 -9.9 226 3931 0.00 2.67 0.00 0.000 4 0.000 0.071 2507 3538 3430

3972 -1.03 -146.6 425.4 -10.0 229 3977 0.00 2.67 0.00 0.000 6 0.000 0.060 2507 2066 3430

4297 -1.03 -146.6 459.8 -11.4 250 4302 0.00 2.42 0.00 0.000 4 0.000 0.065 2507 713 3430

4344 -1.06 -146.6 465.2 -11.4 253 4348 0.00 2.42 0.00 0.000 6 0.000 0.051 2507 2077 3430

4669 -1.06 -146.6 501.2 -10.7 274 4673 0.00 2.65 0.00 0.000 4 0.000 0.073 2507 3527 3430

4698 -1.06 -146.6 504.4 -11.4 276 4702 0.00 2.65 0.00 0.000 6 0.000 0.061 2507 2064 3430

5022 -1.06 -146.6 534.0 -8.4 297 5026 0.00 2.42 0.00 0.000 4 0.000 0.068 2507 716 3430

5067 -1.11 -146.6 537.9 -8.5 299 5073 0.00 2.40 0.00 0.000 6 0.000 0.052 2507 2063 3430

5386 -1.11 -146.6 566.6 -9.4 320 5391 0.00 2.70 0.00 0.000 4 0.000 0.074 2507 3535 3430

5442 -1.11 -146.6 571.7 -9.4 323 5448 0.00 2.67 0.00 0.000 6 0.000 0.061 2507 2062 3430

5697 end dive: BOTTOM_OBSTACLE_DETECTED

state 5697 begin apogee

5706 -0.33 0.0 596.6 10.3 340 5841 0.77 0.00 131.48 1.215 6 0.079 0.000 2672 1843 2831

5841 end apogee: CONTROL_FINISHED_OK

state 5841 begin climb

5845 1.22 146.6 602.4 0.0 349 5990 1.52 2.65 133.52 1.168 4 0.055 0.074 3010 458 2233

6039 1.19 198.7 594.9 6.1 361 6092 0.00 2.53 45.60 1.154 6 0.000 0.054 3009 1862 2020

6405 1.15 198.7 563.2 8.9 385 6410 0.00 2.58 0.00 0.000 4 0.000 0.073 3009 3244 2020

6458 1.15 198.7 558.1 9.7 388 6462 0.00 2.55 0.00 0.000 6 0.000 0.066 3009 1871 2019

6777 1.11 198.7 528.1 9.0 408 6782 0.12 2.58 0.00 0.000 4 0.095 0.070 2986 3245 2018

6833 1.11 198.7 522.9 8.8 411 6839 0.00 2.53 0.00 0.000 6 0.000 0.067 2986 1882 2018

7153 1.11 198.7 495.6 8.2 432 7154 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1882 2017

7464 1.11 198.7 466.2 10.4 452 7468 0.00 2.53 0.00 0.000 4 0.000 0.069 2986 3238 2016

7579 1.11 198.7 454.2 10.7 459 7583 0.00 2.47 0.00 0.000 6 0.000 0.062 2986 1885 2016

7903 1.11 198.7 420.0 11.4 480 7904 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 1885 2016

8215 1.11 198.7 386.7 10.4 500 8219 0.00 2.50 0.00 0.000 4 0.000 0.065 2987 3248 2016

8255 1.16 198.7 382.6 10.0 502 8261 0.00 2.47 0.00 0.000 6 0.000 0.058 2987 1884 2016

8574 1.16 198.7 354.6 8.6 523 8579 0.00 2.50 0.00 0.000 4 0.000 0.064 2986 3244 2016

8632 1.20 198.7 349.5 9.0 526 8638 0.00 2.42 0.00 0.000 6 0.000 0.057 2986 1901 2015

8951 1.24 204.4 323.9 7.8 547 8963 0.12 2.47 5.90 0.831 4 0.059 0.062 3021 3238 1997

8991 1.24 204.4 320.1 9.1 548 8997 0.00 2.40 0.00 0.000 6 0.000 0.055 3021 1914 1996

9311 1.21 204.4 289.7 9.5 569 9315 0.00 2.45 0.00 0.000 4 0.000 0.062 3021 3250 1996

9350 1.21 204.4 285.6 9.4 571 9356 0.00 2.40 0.00 0.000 6 0.000 0.054 3021 1913 1996

9670 1.17 204.4 255.0 10.1 592 9674 0.00 2.42 0.00 0.000 4 0.000 0.061 3021 3238 1997

9698 1.17 204.4 252.0 10.3 594 9702 0.00 2.35 0.00 0.000 6 0.000 0.053 3021 1927 1997

10023 1.14 204.4 220.1 9.7 615 10024 0.15 0.00 0.00 0.000 6 0.089 0.000 2992 1927 1997

10335 1.17 204.4 193.5 8.1 635 10340 0.00 2.40 0.00 0.000 4 0.000 0.061 2992 3242 1997

10382 1.23 204.4 189.4 8.9 638 10386 0.00 2.35 0.00 0.000 6 0.000 0.051 2992 1923 1998

10707 1.27 210.0 163.5 7.8 659 10723 0.15 2.42 6.65 0.770 4 0.054 0.060 3032 3238 1973

10769 1.24 210.0 157.4 10.9 662 10775 0.00 2.33 0.00 0.000 6 0.000 0.050 3032 1938 1973

11102 1.19 210.0 124.5 10.0 680 11107 0.15 2.38 0.00 0.000 4 0.087 0.059 3002 3243 1973

11136 1.22 210.0 121.2 8.7 681 11142 0.00 2.30 0.00 0.000 6 0.000 0.050 3002 1950 1973

11454 1.22 210.0 93.2 8.8 697 11458 0.00 2.35 0.00 0.000 4 0.000 0.059 3002 3244 1973

11510 1.26 210.0 88.3 8.5 699 11516 0.00 2.28 0.00 0.000 6 0.000 0.048 3002 1979 1974

11827 1.26 210.0 62.3 8.5 715 11828 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 1979 1974

12135 1.30 234.6 38.4 7.1 730 12162 0.12 2.35 21.12 0.814 4 0.056 0.058 3036 3245 1873

12179 1.30 234.6 34.0 10.5 732 12183 0.00 2.28 0.00 0.000 6 0.000 0.048 3036 1979 1873

12498 end climb: SURFACE_DEPTH_REACHED

state 12498 begin surface coast

12519 end surface coast: CONTROL_FINISHED_OK

state 12523 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	345	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	29	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	-106930.84	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	220307,6253.652,-1224.344,36,1.2,36,-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	0.234,-0.075
_SM_DEPTHo	1.33	KALMAN_X	-73289.6,1995.2,1559.6,98339.1,-23058.8
_SM_ANGLEo	-61.3	KALMAN_Y	46879.2,-411.8,337.6,-110893.0,1687.8
GPS2	220844,6253.687,-1224.410,13,1.4,13,-11.6	MHEAD_RNG_PITCHd_Wd	119.3,37090,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027222	ALTIM_BOTTOM_PING	520.8,84.4
SM_CCo	12546,34.30,0.798,0,0,1608,300.00	_24V_AH	23.8,56.350
SM_GC	1.45,0.00,0.00,34.30,0.000,0.000,0.798,421,2134,1608,-10.69,0.08,300.00	_10V_AH	10.1,25.397
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37929,749
TT8_MAMPS	0.029146	CAP_FILE_SIZE	106045,0
HUMID	1821	CFSIZE	254472192,233271296
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	47	GPS	221009,014046,6253.376,-1220.788,44,1.7,52,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	157	97.11	SBE_CT	511	24	292.39
Roll_motor	129	73	227.20	SBE_O2	545	19	246.84
VBD_pump_during_apogee	344	1214	9954.81	WL_BB2F	465	105	1164.18
VBD_pump_during_surface	34	797	651.18	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	30	160	117.36	nil	0	0	0.00
Iridium_during_xfer	140	223	747.09
Transponder_ping	16	420	162.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.76
TT8	1328	19	265.57
LPSleep	9053	2	200.25
TT8_Active	512	19	102.41
TT8_Sampling	1532	39	615.93
TT8_CF8	491	45	227.58
TT8_Kalman	33	81	27.56
Analog_circuits	1301	12	157.72
GPS_charging	0	0	0.00
Compass	1501	8	121.34
RAFOS	0	0	0.00
Transponder	31	30	9.68

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	15	begin dive
18	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.12	0.000	2	0.000	0.000	424	2129	2416
65	-1.22	-146.6	2.2	-4.2	2	136	11.27	2.60	-53.20	0.000	4	0.157	0.072	2470	717	3430
154	-1.10	-146.6	6.6	-15.8	6	160	0.17	2.50	0.00	0.000	6	0.097	0.047	2507	2128	3429
477	-1.06	-146.6	44.0	-11.2	22	478	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2128	3430
786	-1.03	-146.6	76.4	-9.9	37	790	0.00	2.58	0.00	0.000	4	0.000	0.061	2507	711	3430
814	-1.03	-146.6	79.2	-9.8	38	818	0.00	2.50	0.00	0.000	6	0.000	0.048	2507	2123	3430
1131	-1.03	-146.6	111.6	-10.9	53	1136	0.00	2.58	0.00	0.000	4	0.000	0.061	2507	705	3430
1172	-1.03	-146.6	116.2	-11.3	55	1176	0.00	2.50	0.00	0.000	6	0.000	0.048	2507	2117	3430
1495	-1.03	-146.6	152.1	-11.4	71	1499	0.00	2.55	0.00	0.000	4	0.000	0.061	2507	708	3431
1540	-1.03	-146.6	157.6	-11.7	74	1545	0.00	2.47	0.00	0.000	6	0.000	0.048	2508	2102	3431
1866	-1.03	-146.6	194.6	-11.5	95	1870	0.00	2.53	0.00	0.000	4	0.000	0.063	2507	712	3431
1904	-1.03	-146.6	199.4	-12.0	97	1908	0.00	2.45	0.00	0.000	6	0.000	0.049	2507	2096	3430
2223	-1.03	-146.6	236.3	-11.8	117	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2096	3431
2536	-1.03	-146.6	273.3	-12.1	137	2540	0.00	2.50	0.00	0.000	4	0.000	0.061	2507	716	3431
2587	-1.03	-146.6	279.7	-11.9	140	2591	0.00	2.42	0.00	0.000	6	0.000	0.050	2507	2084	3430
2911	-1.03	-146.6	316.0	-11.0	161	2913	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2084	3431
3226	-1.03	-146.6	349.3	-10.3	181	3227	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2084	3431
3538	-1.03	-146.6	380.6	-10.4	201	3542	0.00	2.50	0.00	0.000	4	0.000	0.065	2507	715	3430
3601	-1.03	-146.6	387.5	-10.5	205	3605	0.00	2.42	0.00	0.000	6	0.000	0.051	2507	2074	3431
3926	-1.03	-146.6	420.5	-9.9	226	3931	0.00	2.67	0.00	0.000	4	0.000	0.071	2507	3538	3430
3972	-1.03	-146.6	425.4	-10.0	229	3977	0.00	2.67	0.00	0.000	6	0.000	0.060	2507	2066	3430
4297	-1.03	-146.6	459.8	-11.4	250	4302	0.00	2.42	0.00	0.000	4	0.000	0.065	2507	713	3430
4344	-1.06	-146.6	465.2	-11.4	253	4348	0.00	2.42	0.00	0.000	6	0.000	0.051	2507	2077	3430
4669	-1.06	-146.6	501.2	-10.7	274	4673	0.00	2.65	0.00	0.000	4	0.000	0.073	2507	3527	3430
4698	-1.06	-146.6	504.4	-11.4	276	4702	0.00	2.65	0.00	0.000	6	0.000	0.061	2507	2064	3430
5022	-1.06	-146.6	534.0	-8.4	297	5026	0.00	2.42	0.00	0.000	4	0.000	0.068	2507	716	3430
5067	-1.11	-146.6	537.9	-8.5	299	5073	0.00	2.40	0.00	0.000	6	0.000	0.052	2507	2063	3430
5386	-1.11	-146.6	566.6	-9.4	320	5391	0.00	2.70	0.00	0.000	4	0.000	0.074	2507	3535	3430
5442	-1.11	-146.6	571.7	-9.4	323	5448	0.00	2.67	0.00	0.000	6	0.000	0.061	2507	2062	3430
5697	end dive: BOTTOM_OBSTACLE_DETECTED
state	5697	begin apogee
5706	-0.33	0.0	596.6	10.3	340	5841	0.77	0.00	131.48	1.215	6	0.079	0.000	2672	1843	2831
5841	end apogee: CONTROL_FINISHED_OK
state	5841	begin climb
5845	1.22	146.6	602.4	0.0	349	5990	1.52	2.65	133.52	1.168	4	0.055	0.074	3010	458	2233
6039	1.19	198.7	594.9	6.1	361	6092	0.00	2.53	45.60	1.154	6	0.000	0.054	3009	1862	2020
6405	1.15	198.7	563.2	8.9	385	6410	0.00	2.58	0.00	0.000	4	0.000	0.073	3009	3244	2020
6458	1.15	198.7	558.1	9.7	388	6462	0.00	2.55	0.00	0.000	6	0.000	0.066	3009	1871	2019
6777	1.11	198.7	528.1	9.0	408	6782	0.12	2.58	0.00	0.000	4	0.095	0.070	2986	3245	2018
6833	1.11	198.7	522.9	8.8	411	6839	0.00	2.53	0.00	0.000	6	0.000	0.067	2986	1882	2018
7153	1.11	198.7	495.6	8.2	432	7154	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	1882	2017
7464	1.11	198.7	466.2	10.4	452	7468	0.00	2.53	0.00	0.000	4	0.000	0.069	2986	3238	2016
7579	1.11	198.7	454.2	10.7	459	7583	0.00	2.47	0.00	0.000	6	0.000	0.062	2986	1885	2016
7903	1.11	198.7	420.0	11.4	480	7904	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	1885	2016
8215	1.11	198.7	386.7	10.4	500	8219	0.00	2.50	0.00	0.000	4	0.000	0.065	2987	3248	2016
8255	1.16	198.7	382.6	10.0	502	8261	0.00	2.47	0.00	0.000	6	0.000	0.058	2987	1884	2016
8574	1.16	198.7	354.6	8.6	523	8579	0.00	2.50	0.00	0.000	4	0.000	0.064	2986	3244	2016
8632	1.20	198.7	349.5	9.0	526	8638	0.00	2.42	0.00	0.000	6	0.000	0.057	2986	1901	2015
8951	1.24	204.4	323.9	7.8	547	8963	0.12	2.47	5.90	0.831	4	0.059	0.062	3021	3238	1997
8991	1.24	204.4	320.1	9.1	548	8997	0.00	2.40	0.00	0.000	6	0.000	0.055	3021	1914	1996
9311	1.21	204.4	289.7	9.5	569	9315	0.00	2.45	0.00	0.000	4	0.000	0.062	3021	3250	1996
9350	1.21	204.4	285.6	9.4	571	9356	0.00	2.40	0.00	0.000	6	0.000	0.054	3021	1913	1996
9670	1.17	204.4	255.0	10.1	592	9674	0.00	2.42	0.00	0.000	4	0.000	0.061	3021	3238	1997
9698	1.17	204.4	252.0	10.3	594	9702	0.00	2.35	0.00	0.000	6	0.000	0.053	3021	1927	1997
10023	1.14	204.4	220.1	9.7	615	10024	0.15	0.00	0.00	0.000	6	0.089	0.000	2992	1927	1997
10335	1.17	204.4	193.5	8.1	635	10340	0.00	2.40	0.00	0.000	4	0.000	0.061	2992	3242	1997
10382	1.23	204.4	189.4	8.9	638	10386	0.00	2.35	0.00	0.000	6	0.000	0.051	2992	1923	1998
10707	1.27	210.0	163.5	7.8	659	10723	0.15	2.42	6.65	0.770	4	0.054	0.060	3032	3238	1973
10769	1.24	210.0	157.4	10.9	662	10775	0.00	2.33	0.00	0.000	6	0.000	0.050	3032	1938	1973
11102	1.19	210.0	124.5	10.0	680	11107	0.15	2.38	0.00	0.000	4	0.087	0.059	3002	3243	1973
11136	1.22	210.0	121.2	8.7	681	11142	0.00	2.30	0.00	0.000	6	0.000	0.050	3002	1950	1973
11454	1.22	210.0	93.2	8.8	697	11458	0.00	2.35	0.00	0.000	4	0.000	0.059	3002	3244	1973
11510	1.26	210.0	88.3	8.5	699	11516	0.00	2.28	0.00	0.000	6	0.000	0.048	3002	1979	1974
11827	1.26	210.0	62.3	8.5	715	11828	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	1979	1974
12135	1.30	234.6	38.4	7.1	730	12162	0.12	2.35	21.12	0.814	4	0.056	0.058	3036	3245	1873
12179	1.30	234.6	34.0	10.5	732	12183	0.00	2.28	0.00	0.000	6	0.000	0.048	3036	1979	1873
12498	end climb: SURFACE_DEPTH_REACHED
state	12498	begin surface coast
12519	end surface coast: CONTROL_FINISHED_OK
state	12523	begin surface