Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 347 * 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 347 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 -106961.18 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 -106961.18

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 347 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 051736,6252.616,-1219.758,43,1.8,49,-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 0.237,-0.064

_SM_DEPTHo 1.34 KALMAN_X -75504.8,1886.7,714.9,105289.4,-18471.5

_SM_ANGLEo -58.9 KALMAN_Y 44090.2,-147.4,-458.3,-109537.9,-1412.9

GPS2 052314,6252.602,-1219.855,13,1.9,13,-11.6 MHEAD_RNG_PITCHd_Wd 116.6,32738,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027212 ALTIM_BOTTOM_PING 595.4,43.7

SM_CCo 13094,6.80,0.664,0,0,1607,300.00 _24V_AH 23.7,56.652

SM_GC 2.41,0.00,0.00,6.80,0.000,0.000,0.664,420,2151,1607,-10.70,0.59,300.00 _10V_AH 10.1,25.538

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41199,784

TT8_MAMPS 0.029146 CAP_FILE_SIZE 111339,0

HUMID 1830 CFSIZE 254472192,233152512

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 64 GPS 221009,090337,6251.749,-1219.619,31,1.2,31,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 98.34 SBE_CT 536 24 304.90

Roll_motor 132 75 239.12 SBE_O2 571 19 257.18

VBD_pump_during_apogee 394 1244 11641.04 WL_BB2F 467 105 1164.26

VBD_pump_during_surface 6 664 107.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 33 160 125.33 nil 0 0 0.00

Iridium_during_xfer 140 223 744.50

Transponder_ping 21 420 214.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 1380 19 276.06

LPSleep 9450 2 209.03

TT8_Active 531 19 106.25

TT8_Sampling 1562 39 628.23

TT8_CF8 515 45 238.58

TT8_Kalman 33 81 27.56

Analog_circuits 1331 12 161.42

GPS_charging 0 0 0.00

Compass 1525 8 123.28

RAFOS 0 0 0.00

Transponder 39 30 11.96

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 81 0.00 0.00 -60.83 0.000 2 0.000 0.000 421 2150 2681

85 -1.22 -146.6 2.5 -3.1 3 129 11.23 2.65 -27.33 0.000 4 0.156 0.065 2472 706 3429

154 -1.14 -146.6 9.0 -11.8 6 159 0.12 2.55 0.00 0.000 6 0.100 0.048 2498 2141 3430

482 -1.09 -146.6 46.3 -11.5 22 483 0.00 0.00 0.00 0.000 6 0.000 0.000 2497 2140 3430

791 -1.03 -146.6 80.6 -11.5 37 793 0.10 0.00 0.00 0.000 6 0.099 0.000 2518 2140 3430

1101 -1.03 -146.6 114.1 -10.4 52 1105 0.00 2.58 0.00 0.000 4 0.000 0.058 2519 714 3430

1224 -1.07 -146.6 127.2 -10.3 57 1230 0.00 2.50 0.00 0.000 6 0.000 0.048 2519 2130 3430

1552 -1.07 -146.6 161.0 -10.0 75 1556 0.00 2.58 0.00 0.000 4 0.000 0.061 2519 708 3430

1584 -1.07 -146.6 164.5 -10.1 77 1589 0.00 2.50 0.00 0.000 6 0.000 0.049 2518 2118 3430

1906 -1.07 -146.6 195.7 -9.5 97 1910 0.00 2.58 0.00 0.000 4 0.000 0.066 2518 3537 3430

1952 -1.07 -146.6 200.5 -10.0 100 1956 0.00 2.58 0.00 0.000 6 0.000 0.053 2518 2102 3430

2276 -1.07 -146.6 232.7 -10.3 121 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2102 3430

2589 -1.07 -146.6 265.0 -10.2 141 2593 0.00 2.47 0.00 0.000 4 0.000 0.062 2518 709 3430

2628 -1.11 -146.6 269.3 -10.5 143 2633 0.00 2.50 0.00 0.000 6 0.000 0.049 2518 2122 3430

2947 -1.11 -146.6 302.5 -10.6 163 2948 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2122 3430

3260 -1.11 -146.6 335.2 -10.6 183 3264 0.00 2.55 0.00 0.000 4 0.000 0.062 2519 717 3430

3324 -1.15 -146.6 341.9 -10.5 187 3329 0.12 2.47 0.00 0.000 6 0.063 0.050 2485 2114 3430

3652 -1.09 -146.6 382.1 -13.1 208 3657 0.10 2.55 0.00 0.000 4 0.099 0.062 2505 704 3430

3685 -1.09 -146.6 387.0 -13.1 210 3689 0.00 2.47 0.00 0.000 6 0.000 0.050 2505 2099 3430

4004 -1.09 -146.6 425.1 -11.7 230 4008 0.00 2.53 0.00 0.000 4 0.000 0.064 2505 714 3430

4050 -1.09 -146.6 430.6 -11.9 233 4054 0.00 2.45 0.00 0.000 6 0.000 0.051 2505 2090 3430

4374 -1.09 -146.6 467.3 -10.9 254 4378 0.00 2.50 0.00 0.000 4 0.000 0.062 2505 712 3430

4412 -1.09 -146.6 471.7 -11.3 256 4418 0.00 2.42 0.00 0.000 6 0.000 0.051 2505 2077 3430

4732 -1.09 -146.6 506.9 -11.0 277 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2077 3430

5043 -1.09 -146.6 543.3 -12.3 297 5044 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2078 3430

5356 -1.09 -146.6 579.4 -10.8 317 5361 0.00 2.67 0.00 0.000 4 0.000 0.076 2505 3533 3429

5385 -1.09 -146.6 582.5 -11.1 319 5390 0.00 2.70 0.00 0.000 6 0.000 0.064 2505 2051 3429

5709 -1.09 -146.6 613.3 -10.3 340 5714 0.00 2.78 0.00 0.000 4 0.000 0.075 2505 3536 3429

5766 -1.09 -146.6 619.3 -11.4 343 5772 0.00 2.70 0.00 0.000 6 0.000 0.064 2505 2059 3429

5848 end dive: BOTTOM_OBSTACLE_DETECTED

state 5848 begin apogee

5855 -0.33 0.0 629.5 12.5 349 5990 0.77 0.00 131.50 1.245 6 0.079 0.000 2670 1835 2832

5991 end apogee: CONTROL_FINISHED_OK

state 5991 begin climb

5995 1.22 146.6 637.0 0.0 358 6136 1.50 2.65 131.32 1.203 4 0.048 0.075 3010 443 2233

6179 1.12 163.5 630.4 7.4 369 6206 0.12 2.58 16.62 1.102 6 0.095 0.056 2988 1861 2164

6521 1.26 253.9 610.4 4.7 391 6607 0.15 0.00 80.62 1.185 6 0.058 0.000 3024 1871 1796

6923 1.20 253.9 572.7 9.9 417 6927 0.00 2.55 0.00 0.000 4 0.000 0.072 3024 3249 1796

6952 1.17 253.9 569.7 10.2 419 6958 0.15 2.60 0.00 0.000 6 0.094 0.067 2997 1854 1795

7279 1.20 272.4 545.6 7.3 440 7304 0.00 2.70 17.65 1.123 4 0.000 0.070 2997 3245 1720

7356 1.25 272.4 539.3 8.3 444 7362 0.00 2.60 0.00 0.000 6 0.000 0.065 2997 1850 1720

7676 1.25 272.4 510.9 9.8 465 7680 0.00 2.60 0.00 0.000 4 0.000 0.068 2996 3246 1720

7739 1.31 272.4 504.3 10.7 469 7744 0.15 2.53 0.00 0.000 6 0.058 0.062 3033 1871 1720

8067 1.25 272.4 464.6 12.3 490 8070 0.00 2.55 0.00 0.000 4 0.000 0.066 3034 3250 1719

8085 1.20 272.4 461.8 13.2 491 8090 0.15 2.47 0.00 0.000 6 0.093 0.061 3004 1890 1719

8409 1.20 272.4 426.5 10.1 512 8413 0.00 2.50 0.00 0.000 4 0.000 0.064 3005 3246 1719

8432 1.20 272.4 424.2 10.5 513 8436 0.00 2.45 0.00 0.000 6 0.000 0.059 3004 1899 1719

8751 1.20 272.4 395.7 8.3 533 8755 0.00 2.47 0.00 0.000 4 0.000 0.064 3004 3247 1719

8784 1.24 272.4 392.9 8.1 535 8789 0.00 2.45 0.00 0.000 6 0.000 0.057 3004 1895 1719

9104 1.26 284.7 368.1 7.6 555 9122 0.00 2.53 11.75 0.985 4 0.000 0.061 3005 3251 1670

9162 1.32 284.7 363.4 8.1 558 9167 0.12 2.42 0.00 0.000 6 0.058 0.055 3037 1917 1670

9484 1.26 284.7 332.4 10.0 578 9488 0.00 2.45 0.00 0.000 4 0.000 0.062 3037 3257 1670

9507 1.22 284.7 329.6 10.2 579 9512 0.15 2.42 0.00 0.000 6 0.092 0.055 3007 1914 1670

9826 1.22 284.7 302.8 8.3 599 9830 0.00 2.42 0.00 0.000 4 0.000 0.062 3007 3247 1670

9865 1.27 284.7 299.5 8.0 601 9871 0.00 2.35 0.00 0.000 6 0.000 0.054 3007 1943 1670

10186 1.27 288.2 274.1 7.9 622 10193 0.00 0.00 5.10 0.750 6 0.000 0.000 3007 1943 1656

10497 1.27 288.2 248.9 8.1 642 10501 0.00 2.40 0.00 0.000 4 0.000 0.061 3007 3255 1656

10536 1.33 289.1 245.5 8.0 644 10543 0.12 2.35 0.00 0.000 6 0.058 0.052 3041 1945 1656

10858 1.28 289.1 213.7 10.0 665 10859 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 1946 1656

11169 1.23 289.1 181.9 10.3 685 11173 0.15 2.38 0.00 0.000 4 0.089 0.059 3011 3248 1656

11197 1.23 289.1 179.2 9.0 687 11201 0.00 2.30 0.00 0.000 6 0.000 0.051 3011 1957 1656

11522 1.23 289.1 150.2 8.8 708 11523 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 1957 1656

11847 1.23 289.1 120.3 9.6 724 11851 0.00 2.72 0.00 0.000 4 0.000 0.064 3011 433 1657

11880 1.23 289.1 116.7 10.0 725 11886 0.00 2.67 0.00 0.000 6 0.000 0.048 3011 1947 1657

12197 1.26 289.1 85.5 10.1 741 12202 0.00 2.75 0.00 0.000 4 0.000 0.064 3011 437 1657

12215 1.26 289.1 83.6 10.0 742 12219 0.00 2.67 0.00 0.000 6 0.000 0.048 3012 1951 1657

12542 1.29 289.1 52.0 9.2 758 12547 0.00 2.75 0.00 0.000 4 0.000 0.062 3011 440 1657

12560 1.29 289.1 50.2 9.6 759 12564 0.00 2.65 0.00 0.000 6 0.000 0.047 3011 1938 1658

12888 1.33 289.1 19.4 9.6 775 12890 0.10 0.00 0.00 0.000 6 0.061 0.000 3040 1954 1658

13050 end climb: SURFACE_DEPTH_REACHED

state 13050 begin surface coast

13070 end surface coast: CONTROL_FINISHED_OK

state 13070 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	347	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	-106961.18	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	051736,6252.616,-1219.758,43,1.8,49,-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	0.237,-0.064
_SM_DEPTHo	1.34	KALMAN_X	-75504.8,1886.7,714.9,105289.4,-18471.5
_SM_ANGLEo	-58.9	KALMAN_Y	44090.2,-147.4,-458.3,-109537.9,-1412.9
GPS2	052314,6252.602,-1219.855,13,1.9,13,-11.6	MHEAD_RNG_PITCHd_Wd	116.6,32738,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027212	ALTIM_BOTTOM_PING	595.4,43.7
SM_CCo	13094,6.80,0.664,0,0,1607,300.00	_24V_AH	23.7,56.652
SM_GC	2.41,0.00,0.00,6.80,0.000,0.000,0.664,420,2151,1607,-10.70,0.59,300.00	_10V_AH	10.1,25.538
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41199,784
TT8_MAMPS	0.029146	CAP_FILE_SIZE	111339,0
HUMID	1830	CFSIZE	254472192,233152512
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	64	GPS	221009,090337,6251.749,-1219.619,31,1.2,31,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	98.34	SBE_CT	536	24	304.90
Roll_motor	132	75	239.12	SBE_O2	571	19	257.18
VBD_pump_during_apogee	394	1244	11641.04	WL_BB2F	467	105	1164.26
VBD_pump_during_surface	6	664	107.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	33	160	125.33	nil	0	0	0.00
Iridium_during_xfer	140	223	744.50
Transponder_ping	21	420	214.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	1380	19	276.06
LPSleep	9450	2	209.03
TT8_Active	531	19	106.25
TT8_Sampling	1562	39	628.23
TT8_CF8	515	45	238.58
TT8_Kalman	33	81	27.56
Analog_circuits	1331	12	161.42
GPS_charging	0	0	0.00
Compass	1525	8	123.28
RAFOS	0	0	0.00
Transponder	39	30	11.96

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	81	0.00	0.00	-60.83	0.000	2	0.000	0.000	421	2150	2681
85	-1.22	-146.6	2.5	-3.1	3	129	11.23	2.65	-27.33	0.000	4	0.156	0.065	2472	706	3429
154	-1.14	-146.6	9.0	-11.8	6	159	0.12	2.55	0.00	0.000	6	0.100	0.048	2498	2141	3430
482	-1.09	-146.6	46.3	-11.5	22	483	0.00	0.00	0.00	0.000	6	0.000	0.000	2497	2140	3430
791	-1.03	-146.6	80.6	-11.5	37	793	0.10	0.00	0.00	0.000	6	0.099	0.000	2518	2140	3430
1101	-1.03	-146.6	114.1	-10.4	52	1105	0.00	2.58	0.00	0.000	4	0.000	0.058	2519	714	3430
1224	-1.07	-146.6	127.2	-10.3	57	1230	0.00	2.50	0.00	0.000	6	0.000	0.048	2519	2130	3430
1552	-1.07	-146.6	161.0	-10.0	75	1556	0.00	2.58	0.00	0.000	4	0.000	0.061	2519	708	3430
1584	-1.07	-146.6	164.5	-10.1	77	1589	0.00	2.50	0.00	0.000	6	0.000	0.049	2518	2118	3430
1906	-1.07	-146.6	195.7	-9.5	97	1910	0.00	2.58	0.00	0.000	4	0.000	0.066	2518	3537	3430
1952	-1.07	-146.6	200.5	-10.0	100	1956	0.00	2.58	0.00	0.000	6	0.000	0.053	2518	2102	3430
2276	-1.07	-146.6	232.7	-10.3	121	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2102	3430
2589	-1.07	-146.6	265.0	-10.2	141	2593	0.00	2.47	0.00	0.000	4	0.000	0.062	2518	709	3430
2628	-1.11	-146.6	269.3	-10.5	143	2633	0.00	2.50	0.00	0.000	6	0.000	0.049	2518	2122	3430
2947	-1.11	-146.6	302.5	-10.6	163	2948	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2122	3430
3260	-1.11	-146.6	335.2	-10.6	183	3264	0.00	2.55	0.00	0.000	4	0.000	0.062	2519	717	3430
3324	-1.15	-146.6	341.9	-10.5	187	3329	0.12	2.47	0.00	0.000	6	0.063	0.050	2485	2114	3430
3652	-1.09	-146.6	382.1	-13.1	208	3657	0.10	2.55	0.00	0.000	4	0.099	0.062	2505	704	3430
3685	-1.09	-146.6	387.0	-13.1	210	3689	0.00	2.47	0.00	0.000	6	0.000	0.050	2505	2099	3430
4004	-1.09	-146.6	425.1	-11.7	230	4008	0.00	2.53	0.00	0.000	4	0.000	0.064	2505	714	3430
4050	-1.09	-146.6	430.6	-11.9	233	4054	0.00	2.45	0.00	0.000	6	0.000	0.051	2505	2090	3430
4374	-1.09	-146.6	467.3	-10.9	254	4378	0.00	2.50	0.00	0.000	4	0.000	0.062	2505	712	3430
4412	-1.09	-146.6	471.7	-11.3	256	4418	0.00	2.42	0.00	0.000	6	0.000	0.051	2505	2077	3430
4732	-1.09	-146.6	506.9	-11.0	277	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2077	3430
5043	-1.09	-146.6	543.3	-12.3	297	5044	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2078	3430
5356	-1.09	-146.6	579.4	-10.8	317	5361	0.00	2.67	0.00	0.000	4	0.000	0.076	2505	3533	3429
5385	-1.09	-146.6	582.5	-11.1	319	5390	0.00	2.70	0.00	0.000	6	0.000	0.064	2505	2051	3429
5709	-1.09	-146.6	613.3	-10.3	340	5714	0.00	2.78	0.00	0.000	4	0.000	0.075	2505	3536	3429
5766	-1.09	-146.6	619.3	-11.4	343	5772	0.00	2.70	0.00	0.000	6	0.000	0.064	2505	2059	3429
5848	end dive: BOTTOM_OBSTACLE_DETECTED
state	5848	begin apogee
5855	-0.33	0.0	629.5	12.5	349	5990	0.77	0.00	131.50	1.245	6	0.079	0.000	2670	1835	2832
5991	end apogee: CONTROL_FINISHED_OK
state	5991	begin climb
5995	1.22	146.6	637.0	0.0	358	6136	1.50	2.65	131.32	1.203	4	0.048	0.075	3010	443	2233
6179	1.12	163.5	630.4	7.4	369	6206	0.12	2.58	16.62	1.102	6	0.095	0.056	2988	1861	2164
6521	1.26	253.9	610.4	4.7	391	6607	0.15	0.00	80.62	1.185	6	0.058	0.000	3024	1871	1796
6923	1.20	253.9	572.7	9.9	417	6927	0.00	2.55	0.00	0.000	4	0.000	0.072	3024	3249	1796
6952	1.17	253.9	569.7	10.2	419	6958	0.15	2.60	0.00	0.000	6	0.094	0.067	2997	1854	1795
7279	1.20	272.4	545.6	7.3	440	7304	0.00	2.70	17.65	1.123	4	0.000	0.070	2997	3245	1720
7356	1.25	272.4	539.3	8.3	444	7362	0.00	2.60	0.00	0.000	6	0.000	0.065	2997	1850	1720
7676	1.25	272.4	510.9	9.8	465	7680	0.00	2.60	0.00	0.000	4	0.000	0.068	2996	3246	1720
7739	1.31	272.4	504.3	10.7	469	7744	0.15	2.53	0.00	0.000	6	0.058	0.062	3033	1871	1720
8067	1.25	272.4	464.6	12.3	490	8070	0.00	2.55	0.00	0.000	4	0.000	0.066	3034	3250	1719
8085	1.20	272.4	461.8	13.2	491	8090	0.15	2.47	0.00	0.000	6	0.093	0.061	3004	1890	1719
8409	1.20	272.4	426.5	10.1	512	8413	0.00	2.50	0.00	0.000	4	0.000	0.064	3005	3246	1719
8432	1.20	272.4	424.2	10.5	513	8436	0.00	2.45	0.00	0.000	6	0.000	0.059	3004	1899	1719
8751	1.20	272.4	395.7	8.3	533	8755	0.00	2.47	0.00	0.000	4	0.000	0.064	3004	3247	1719
8784	1.24	272.4	392.9	8.1	535	8789	0.00	2.45	0.00	0.000	6	0.000	0.057	3004	1895	1719
9104	1.26	284.7	368.1	7.6	555	9122	0.00	2.53	11.75	0.985	4	0.000	0.061	3005	3251	1670
9162	1.32	284.7	363.4	8.1	558	9167	0.12	2.42	0.00	0.000	6	0.058	0.055	3037	1917	1670
9484	1.26	284.7	332.4	10.0	578	9488	0.00	2.45	0.00	0.000	4	0.000	0.062	3037	3257	1670
9507	1.22	284.7	329.6	10.2	579	9512	0.15	2.42	0.00	0.000	6	0.092	0.055	3007	1914	1670
9826	1.22	284.7	302.8	8.3	599	9830	0.00	2.42	0.00	0.000	4	0.000	0.062	3007	3247	1670
9865	1.27	284.7	299.5	8.0	601	9871	0.00	2.35	0.00	0.000	6	0.000	0.054	3007	1943	1670
10186	1.27	288.2	274.1	7.9	622	10193	0.00	0.00	5.10	0.750	6	0.000	0.000	3007	1943	1656
10497	1.27	288.2	248.9	8.1	642	10501	0.00	2.40	0.00	0.000	4	0.000	0.061	3007	3255	1656
10536	1.33	289.1	245.5	8.0	644	10543	0.12	2.35	0.00	0.000	6	0.058	0.052	3041	1945	1656
10858	1.28	289.1	213.7	10.0	665	10859	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	1946	1656
11169	1.23	289.1	181.9	10.3	685	11173	0.15	2.38	0.00	0.000	4	0.089	0.059	3011	3248	1656
11197	1.23	289.1	179.2	9.0	687	11201	0.00	2.30	0.00	0.000	6	0.000	0.051	3011	1957	1656
11522	1.23	289.1	150.2	8.8	708	11523	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	1957	1656
11847	1.23	289.1	120.3	9.6	724	11851	0.00	2.72	0.00	0.000	4	0.000	0.064	3011	433	1657
11880	1.23	289.1	116.7	10.0	725	11886	0.00	2.67	0.00	0.000	6	0.000	0.048	3011	1947	1657
12197	1.26	289.1	85.5	10.1	741	12202	0.00	2.75	0.00	0.000	4	0.000	0.064	3011	437	1657
12215	1.26	289.1	83.6	10.0	742	12219	0.00	2.67	0.00	0.000	6	0.000	0.048	3012	1951	1657
12542	1.29	289.1	52.0	9.2	758	12547	0.00	2.75	0.00	0.000	4	0.000	0.062	3011	440	1657
12560	1.29	289.1	50.2	9.6	759	12564	0.00	2.65	0.00	0.000	6	0.000	0.047	3011	1938	1658
12888	1.33	289.1	19.4	9.6	775	12890	0.10	0.00	0.00	0.000	6	0.061	0.000	3040	1954	1658
13050	end climb: SURFACE_DEPTH_REACHED
state	13050	begin surface coast
13070	end surface coast: CONTROL_FINISHED_OK
state	13070	begin surface