Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 357 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 357 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -150825.52 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 15

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 -150825.52

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 14 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 357 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 074530,6231.920,-1107.970,47,1.2,52,-10.8 TGT_NAME P2

_CALLS 1 TGT_LATLONG 6245.000,-1000.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,0.121

_SM_DEPTHo 1.68 KALMAN_X -117729.9,-108.6,12.2,213215.0,2411.7

_SM_ANGLEo -61.9 KALMAN_Y -12365.4,186.0,639.6,-22858.0,-7164.4

GPS2 075120,6231.945,-1107.835,17,1.9,17,-10.8 MHEAD_RNG_PITCHd_Wd 71.1,62398,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027388 ALTIM_BOTTOM_PING 651.4,42.3

SM_CCo 15182,0.00,0.000,0,0,1798,270.81 _24V_AH 23.2,59.240

SM_GC 1.35,12.23,0.00,0.00,0.034,0.000,0.000,54,2747,1798,-10.93,-0.08,270.81 _10V_AH 10.1,34.107

IRIDIUM_FIX 6207.28,-1104.91,040898,030343 DATA_FILE_SIZE 34914,722

TT8_MAMPS 0.028379 CAP_FILE_SIZE 111697,0

HUMID 1783 CFSIZE 260165632,235888640

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.00 GPS 100509,120631,6233.269,-1058.583,42,1.9,42,-10.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 158 99.45 SBE_CT 505 24 281.24

Roll_motor 138 96 310.31 SBE_O2 533 19 235.11

VBD_pump_during_apogee 356 1134 9389.58 WL_BB2F 443 105 1081.47

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.38 nil 0 0 0.00

Iridium_during_connect 33 160 125.07 nil 0 0 0.00

Iridium_during_xfer 154 223 801.89

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.87

TT8 1355 19 271.02

LPSleep 11479 2 253.93

TT8_Active 445 19 89.00

TT8_Sampling 1731 39 695.91

TT8_CF8 516 45 238.97

TT8_Kalman 33 81 27.55

Analog_circuits 1322 12 160.28

GPS_charging 0 0 0.00

Compass 1684 8 136.07

RAFOS 0 0 0.00

Transponder 41 30 12.66

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 -1.42 -146.6 0.0 0.0 0 61 0.00 0.00 -41.30 0.000 2 0.000 0.000 54 2750 3359

64 -1.42 -146.6 4.5 -13.5 2 87 11.70 2.00 -2.20 0.000 4 0.159 0.097 2126 3778 3501

339 -1.42 -146.6 47.4 -10.3 14 343 0.00 1.83 0.00 0.000 6 0.000 0.047 2127 2754 3502

668 -1.42 -146.6 79.4 -10.1 30 672 0.00 1.98 0.00 0.000 4 0.000 0.081 2127 3786 3502

725 -1.42 -146.6 85.5 -10.1 32 728 0.00 1.88 0.00 0.000 6 0.000 0.049 2126 2738 3501

1047 -1.42 -146.6 118.7 -10.0 48 1051 0.00 2.55 0.00 0.000 4 0.000 0.066 2127 1337 3501

1091 -1.42 -146.6 123.5 -9.9 50 1095 0.00 2.67 0.00 0.000 6 0.000 0.071 2126 2760 3502

1413 -1.42 -146.6 156.0 -11.1 66 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2759 3501

1721 -1.42 -146.6 189.3 -10.5 81 1726 0.00 2.62 0.00 0.000 4 0.000 0.061 2127 1331 3502

1771 -1.42 -146.6 195.0 -11.1 83 1776 0.00 2.67 0.00 0.000 6 0.000 0.070 2127 2754 3501

2087 -1.42 -146.6 228.2 -10.3 98 2089 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2755 3501

2396 -1.42 -146.6 258.9 -9.7 113 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2755 3501

2706 -1.42 -146.6 288.4 -9.9 128 2707 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2755 3501

3015 -1.42 -146.6 320.2 -10.3 143 3016 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2755 3501

3325 -1.42 -146.6 350.9 -9.6 158 3326 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2755 3501

3633 -1.42 -146.6 382.7 -10.4 173 3638 0.00 2.60 0.00 0.000 4 0.000 0.061 2126 1330 3501

3662 -1.42 -146.6 385.8 -11.6 174 3666 0.00 2.65 0.00 0.000 6 0.000 0.066 2127 2755 3501

3977 -1.42 -146.6 419.4 -10.3 189 3979 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2755 3501

4288 -1.42 -146.6 450.4 -9.4 204 4292 0.00 2.60 0.00 0.000 4 0.000 0.061 2127 1332 3501

4338 -1.42 -146.6 455.2 -9.3 206 4342 0.00 2.62 0.00 0.000 6 0.000 0.063 2127 2754 3501

4654 -1.42 -146.6 482.9 -8.6 221 4658 0.00 2.58 0.00 0.000 4 0.000 0.059 2127 1333 3501

4687 -1.42 -146.6 485.9 -9.0 222 4693 0.00 2.62 0.00 0.000 6 0.000 0.064 2127 2752 3501

5003 -1.42 -146.6 514.0 -9.2 238 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2752 3501

5312 -1.42 -146.6 542.7 -9.3 253 5313 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2752 3501

5621 -1.42 -146.6 572.5 -9.4 268 5626 0.00 2.58 0.00 0.000 4 0.000 0.058 2127 1338 3501

5695 -1.42 -146.6 579.7 -10.0 271 5699 0.00 2.62 0.00 0.000 6 0.000 0.064 2127 2753 3502

6011 -1.42 -146.6 610.1 -9.6 286 6016 0.00 2.60 0.00 0.000 4 0.000 0.061 2127 1333 3501

6056 -1.42 -146.6 614.6 -9.7 288 6061 0.00 2.62 0.00 0.000 6 0.000 0.063 2127 2754 3501

6378 -1.42 -146.6 644.2 -9.1 304 6379 0.00 0.00 0.00 0.000 6 0.000 0.000 2126 2754 3501

6686 -1.42 -146.6 671.6 -9.1 319 6687 0.00 0.00 0.00 0.000 6 0.000 0.000 2127 2754 3500

6828 end dive: BOTTOM_OBSTACLE_DETECTED

state 6828 begin apogee

6837 -0.42 0.0 684.8 9.3 326 6970 1.10 0.00 125.70 1.134 6 0.097 0.000 2344 1994 2902

6971 end apogee: CONTROL_FINISHED_OK

state 6971 begin climb

6975 1.42 146.6 689.6 0.0 333 7108 1.88 2.70 122.97 1.109 4 0.053 0.055 2749 3414 2304

7243 1.52 228.1 683.1 5.0 345 7320 0.10 2.55 69.80 1.081 6 0.054 0.039 2780 1980 1972

7648 1.52 228.1 648.8 9.0 365 7649 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1980 1970

7957 1.52 228.1 620.5 8.9 380 7961 0.00 2.55 0.00 0.000 4 0.000 0.063 2780 592 1970

7985 1.52 228.1 617.9 9.7 381 7989 0.00 2.53 0.00 0.000 6 0.000 0.038 2779 2027 1970

8301 1.52 228.1 590.4 8.9 396 8305 0.00 2.65 0.00 0.000 4 0.000 0.060 2780 588 1969

8424 1.52 228.1 578.3 9.9 401 8430 0.00 2.50 0.00 0.000 6 0.000 0.039 2780 2005 1969

8740 1.52 228.1 551.6 8.2 417 8744 0.00 2.60 0.00 0.000 4 0.000 0.059 2779 590 1969

8880 1.52 228.1 539.9 8.1 423 8884 0.00 2.50 0.00 0.000 6 0.000 0.038 2780 2014 1968

9196 1.52 228.1 514.9 8.6 438 9200 0.00 2.60 0.00 0.000 4 0.000 0.057 2780 592 1968

9274 1.52 228.1 507.6 9.3 441 9280 0.00 2.47 0.00 0.000 6 0.000 0.037 2780 2004 1968

9589 1.52 228.1 478.3 9.3 457 9594 0.00 2.58 0.00 0.000 4 0.000 0.056 2780 590 1968

9646 1.52 228.1 472.8 9.2 459 9652 0.00 2.47 0.00 0.000 6 0.000 0.037 2780 2006 1968

9962 1.52 228.1 445.2 8.7 475 9966 0.00 2.58 0.00 0.000 4 0.000 0.057 2780 592 1968

10069 1.52 228.1 435.6 9.5 480 10073 0.00 2.47 0.00 0.000 6 0.000 0.036 2780 2010 1968

10396 1.52 228.1 408.6 8.1 496 10400 0.00 2.58 0.00 0.000 4 0.000 0.056 2780 594 1968

10475 1.52 228.1 401.6 8.7 499 10481 0.00 2.47 0.00 0.000 6 0.000 0.036 2780 2011 1968

10792 1.52 228.1 375.1 8.6 515 10796 0.00 2.58 0.00 0.000 4 0.000 0.056 2779 595 1969

10905 1.52 228.1 364.7 10.0 520 10909 0.00 2.45 0.00 0.000 6 0.000 0.036 2780 1997 1969

11226 1.52 228.1 336.5 8.6 536 11227 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 1997 1969

11536 1.52 228.1 309.5 8.8 551 11540 0.00 2.55 0.00 0.000 4 0.000 0.057 2779 595 1970

11631 1.52 228.1 300.6 9.4 555 11635 0.00 2.47 0.00 0.000 6 0.000 0.037 2780 2012 1970

11952 1.52 228.1 272.0 8.9 571 11957 0.00 2.60 0.00 0.000 4 0.000 0.058 2780 586 1970

12009 1.52 228.1 266.8 9.2 573 12015 0.00 2.47 0.00 0.000 6 0.000 0.037 2780 2002 1970

12325 1.52 228.1 239.8 8.7 589 12328 0.00 2.55 0.00 0.000 4 0.000 0.057 2779 596 1970

12375 1.52 228.3 235.4 8.0 591 12380 0.00 2.45 0.00 0.000 6 0.000 0.036 2780 2002 1971

12696 1.52 228.3 209.1 8.3 607 12701 0.00 2.58 0.00 0.000 4 0.000 0.058 2780 588 1971

12782 1.52 228.3 201.6 9.6 611 12786 0.00 2.47 0.00 0.000 6 0.000 0.038 2780 2005 1971

13109 1.52 228.3 174.9 8.5 627 13113 0.00 2.58 0.00 0.000 4 0.000 0.057 2780 588 1971

13198 1.52 228.3 166.5 9.3 631 13202 0.00 2.47 0.00 0.000 6 0.000 0.038 2780 2003 1972

13520 1.52 229.5 140.4 8.0 647 13524 0.00 2.58 0.00 0.000 4 0.000 0.058 2780 588 1972

13576 1.53 238.0 135.9 7.7 649 13591 0.00 2.47 9.60 0.709 6 0.000 0.038 2780 2010 1931

13914 1.53 238.0 108.2 8.3 666 13918 0.00 2.60 0.00 0.000 4 0.000 0.059 2780 589 1931

13955 1.55 249.0 104.8 7.6 668 13970 0.00 2.47 10.38 0.700 6 0.000 0.037 2780 2006 1886

14283 1.55 249.0 75.6 9.4 683 14284 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2006 1886

14590 1.55 249.0 46.8 9.5 698 14594 0.00 2.60 0.00 0.000 4 0.000 0.061 2780 592 1886

14653 1.55 249.0 40.9 9.1 701 14657 0.00 2.47 0.00 0.000 6 0.000 0.038 2780 2003 1886

14980 1.55 249.0 11.4 9.3 717 14984 0.00 2.55 0.00 0.000 4 0.000 0.054 2780 596 1886

15068 1.60 288.9 4.0 6.5 721 15091 0.00 2.45 18.33 0.673 2 0.000 0.033 2780 2008 1799

15092 end climb: SURFACE_DEPTH_REACHED

state 15092 begin surface coast

15096 end surface coast: CONTROL_FINISHED_OK

state 15096 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	357	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-150825.52	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	074530,6231.920,-1107.970,47,1.2,52,-10.8	TGT_NAME	P2
_CALLS	1	TGT_LATLONG	6245.000,-1000.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,0.121
_SM_DEPTHo	1.68	KALMAN_X	-117729.9,-108.6,12.2,213215.0,2411.7
_SM_ANGLEo	-61.9	KALMAN_Y	-12365.4,186.0,639.6,-22858.0,-7164.4
GPS2	075120,6231.945,-1107.835,17,1.9,17,-10.8	MHEAD_RNG_PITCHd_Wd	71.1,62398,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.6,1.027388	ALTIM_BOTTOM_PING	651.4,42.3
SM_CCo	15182,0.00,0.000,0,0,1798,270.81	_24V_AH	23.2,59.240
SM_GC	1.35,12.23,0.00,0.00,0.034,0.000,0.000,54,2747,1798,-10.93,-0.08,270.81	_10V_AH	10.1,34.107
IRIDIUM_FIX	6207.28,-1104.91,040898,030343	DATA_FILE_SIZE	34914,722
TT8_MAMPS	0.028379	CAP_FILE_SIZE	111697,0
HUMID	1783	CFSIZE	260165632,235888640
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.00	GPS	100509,120631,6233.269,-1058.583,42,1.9,42,-10.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	158	99.45	SBE_CT	505	24	281.24
Roll_motor	138	96	310.31	SBE_O2	533	19	235.11
VBD_pump_during_apogee	356	1134	9389.58	WL_BB2F	443	105	1081.47
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.38	nil	0	0	0.00
Iridium_during_connect	33	160	125.07	nil	0	0	0.00
Iridium_during_xfer	154	223	801.89
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.87
TT8	1355	19	271.02
LPSleep	11479	2	253.93
TT8_Active	445	19	89.00
TT8_Sampling	1731	39	695.91
TT8_CF8	516	45	238.97
TT8_Kalman	33	81	27.55
Analog_circuits	1322	12	160.28
GPS_charging	0	0	0.00
Compass	1684	8	136.07
RAFOS	0	0	0.00
Transponder	41	30	12.66

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	-1.42	-146.6	0.0	0.0	0	61	0.00	0.00	-41.30	0.000	2	0.000	0.000	54	2750	3359
64	-1.42	-146.6	4.5	-13.5	2	87	11.70	2.00	-2.20	0.000	4	0.159	0.097	2126	3778	3501
339	-1.42	-146.6	47.4	-10.3	14	343	0.00	1.83	0.00	0.000	6	0.000	0.047	2127	2754	3502
668	-1.42	-146.6	79.4	-10.1	30	672	0.00	1.98	0.00	0.000	4	0.000	0.081	2127	3786	3502
725	-1.42	-146.6	85.5	-10.1	32	728	0.00	1.88	0.00	0.000	6	0.000	0.049	2126	2738	3501
1047	-1.42	-146.6	118.7	-10.0	48	1051	0.00	2.55	0.00	0.000	4	0.000	0.066	2127	1337	3501
1091	-1.42	-146.6	123.5	-9.9	50	1095	0.00	2.67	0.00	0.000	6	0.000	0.071	2126	2760	3502
1413	-1.42	-146.6	156.0	-11.1	66	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2759	3501
1721	-1.42	-146.6	189.3	-10.5	81	1726	0.00	2.62	0.00	0.000	4	0.000	0.061	2127	1331	3502
1771	-1.42	-146.6	195.0	-11.1	83	1776	0.00	2.67	0.00	0.000	6	0.000	0.070	2127	2754	3501
2087	-1.42	-146.6	228.2	-10.3	98	2089	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2755	3501
2396	-1.42	-146.6	258.9	-9.7	113	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2755	3501
2706	-1.42	-146.6	288.4	-9.9	128	2707	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2755	3501
3015	-1.42	-146.6	320.2	-10.3	143	3016	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2755	3501
3325	-1.42	-146.6	350.9	-9.6	158	3326	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2755	3501
3633	-1.42	-146.6	382.7	-10.4	173	3638	0.00	2.60	0.00	0.000	4	0.000	0.061	2126	1330	3501
3662	-1.42	-146.6	385.8	-11.6	174	3666	0.00	2.65	0.00	0.000	6	0.000	0.066	2127	2755	3501
3977	-1.42	-146.6	419.4	-10.3	189	3979	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2755	3501
4288	-1.42	-146.6	450.4	-9.4	204	4292	0.00	2.60	0.00	0.000	4	0.000	0.061	2127	1332	3501
4338	-1.42	-146.6	455.2	-9.3	206	4342	0.00	2.62	0.00	0.000	6	0.000	0.063	2127	2754	3501
4654	-1.42	-146.6	482.9	-8.6	221	4658	0.00	2.58	0.00	0.000	4	0.000	0.059	2127	1333	3501
4687	-1.42	-146.6	485.9	-9.0	222	4693	0.00	2.62	0.00	0.000	6	0.000	0.064	2127	2752	3501
5003	-1.42	-146.6	514.0	-9.2	238	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2752	3501
5312	-1.42	-146.6	542.7	-9.3	253	5313	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2752	3501
5621	-1.42	-146.6	572.5	-9.4	268	5626	0.00	2.58	0.00	0.000	4	0.000	0.058	2127	1338	3501
5695	-1.42	-146.6	579.7	-10.0	271	5699	0.00	2.62	0.00	0.000	6	0.000	0.064	2127	2753	3502
6011	-1.42	-146.6	610.1	-9.6	286	6016	0.00	2.60	0.00	0.000	4	0.000	0.061	2127	1333	3501
6056	-1.42	-146.6	614.6	-9.7	288	6061	0.00	2.62	0.00	0.000	6	0.000	0.063	2127	2754	3501
6378	-1.42	-146.6	644.2	-9.1	304	6379	0.00	0.00	0.00	0.000	6	0.000	0.000	2126	2754	3501
6686	-1.42	-146.6	671.6	-9.1	319	6687	0.00	0.00	0.00	0.000	6	0.000	0.000	2127	2754	3500
6828	end dive: BOTTOM_OBSTACLE_DETECTED
state	6828	begin apogee
6837	-0.42	0.0	684.8	9.3	326	6970	1.10	0.00	125.70	1.134	6	0.097	0.000	2344	1994	2902
6971	end apogee: CONTROL_FINISHED_OK
state	6971	begin climb
6975	1.42	146.6	689.6	0.0	333	7108	1.88	2.70	122.97	1.109	4	0.053	0.055	2749	3414	2304
7243	1.52	228.1	683.1	5.0	345	7320	0.10	2.55	69.80	1.081	6	0.054	0.039	2780	1980	1972
7648	1.52	228.1	648.8	9.0	365	7649	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1980	1970
7957	1.52	228.1	620.5	8.9	380	7961	0.00	2.55	0.00	0.000	4	0.000	0.063	2780	592	1970
7985	1.52	228.1	617.9	9.7	381	7989	0.00	2.53	0.00	0.000	6	0.000	0.038	2779	2027	1970
8301	1.52	228.1	590.4	8.9	396	8305	0.00	2.65	0.00	0.000	4	0.000	0.060	2780	588	1969
8424	1.52	228.1	578.3	9.9	401	8430	0.00	2.50	0.00	0.000	6	0.000	0.039	2780	2005	1969
8740	1.52	228.1	551.6	8.2	417	8744	0.00	2.60	0.00	0.000	4	0.000	0.059	2779	590	1969
8880	1.52	228.1	539.9	8.1	423	8884	0.00	2.50	0.00	0.000	6	0.000	0.038	2780	2014	1968
9196	1.52	228.1	514.9	8.6	438	9200	0.00	2.60	0.00	0.000	4	0.000	0.057	2780	592	1968
9274	1.52	228.1	507.6	9.3	441	9280	0.00	2.47	0.00	0.000	6	0.000	0.037	2780	2004	1968
9589	1.52	228.1	478.3	9.3	457	9594	0.00	2.58	0.00	0.000	4	0.000	0.056	2780	590	1968
9646	1.52	228.1	472.8	9.2	459	9652	0.00	2.47	0.00	0.000	6	0.000	0.037	2780	2006	1968
9962	1.52	228.1	445.2	8.7	475	9966	0.00	2.58	0.00	0.000	4	0.000	0.057	2780	592	1968
10069	1.52	228.1	435.6	9.5	480	10073	0.00	2.47	0.00	0.000	6	0.000	0.036	2780	2010	1968
10396	1.52	228.1	408.6	8.1	496	10400	0.00	2.58	0.00	0.000	4	0.000	0.056	2780	594	1968
10475	1.52	228.1	401.6	8.7	499	10481	0.00	2.47	0.00	0.000	6	0.000	0.036	2780	2011	1968
10792	1.52	228.1	375.1	8.6	515	10796	0.00	2.58	0.00	0.000	4	0.000	0.056	2779	595	1969
10905	1.52	228.1	364.7	10.0	520	10909	0.00	2.45	0.00	0.000	6	0.000	0.036	2780	1997	1969
11226	1.52	228.1	336.5	8.6	536	11227	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	1997	1969
11536	1.52	228.1	309.5	8.8	551	11540	0.00	2.55	0.00	0.000	4	0.000	0.057	2779	595	1970
11631	1.52	228.1	300.6	9.4	555	11635	0.00	2.47	0.00	0.000	6	0.000	0.037	2780	2012	1970
11952	1.52	228.1	272.0	8.9	571	11957	0.00	2.60	0.00	0.000	4	0.000	0.058	2780	586	1970
12009	1.52	228.1	266.8	9.2	573	12015	0.00	2.47	0.00	0.000	6	0.000	0.037	2780	2002	1970
12325	1.52	228.1	239.8	8.7	589	12328	0.00	2.55	0.00	0.000	4	0.000	0.057	2779	596	1970
12375	1.52	228.3	235.4	8.0	591	12380	0.00	2.45	0.00	0.000	6	0.000	0.036	2780	2002	1971
12696	1.52	228.3	209.1	8.3	607	12701	0.00	2.58	0.00	0.000	4	0.000	0.058	2780	588	1971
12782	1.52	228.3	201.6	9.6	611	12786	0.00	2.47	0.00	0.000	6	0.000	0.038	2780	2005	1971
13109	1.52	228.3	174.9	8.5	627	13113	0.00	2.58	0.00	0.000	4	0.000	0.057	2780	588	1971
13198	1.52	228.3	166.5	9.3	631	13202	0.00	2.47	0.00	0.000	6	0.000	0.038	2780	2003	1972
13520	1.52	229.5	140.4	8.0	647	13524	0.00	2.58	0.00	0.000	4	0.000	0.058	2780	588	1972
13576	1.53	238.0	135.9	7.7	649	13591	0.00	2.47	9.60	0.709	6	0.000	0.038	2780	2010	1931
13914	1.53	238.0	108.2	8.3	666	13918	0.00	2.60	0.00	0.000	4	0.000	0.059	2780	589	1931
13955	1.55	249.0	104.8	7.6	668	13970	0.00	2.47	10.38	0.700	6	0.000	0.037	2780	2006	1886
14283	1.55	249.0	75.6	9.4	683	14284	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2006	1886
14590	1.55	249.0	46.8	9.5	698	14594	0.00	2.60	0.00	0.000	4	0.000	0.061	2780	592	1886
14653	1.55	249.0	40.9	9.1	701	14657	0.00	2.47	0.00	0.000	6	0.000	0.038	2780	2003	1886
14980	1.55	249.0	11.4	9.3	717	14984	0.00	2.55	0.00	0.000	4	0.000	0.054	2780	596	1886
15068	1.60	288.9	4.0	6.5	721	15091	0.00	2.45	18.33	0.673	2	0.000	0.033	2780	2008	1799
15092	end climb: SURFACE_DEPTH_REACHED
state	15092	begin surface coast
15096	end surface coast: CONTROL_FINISHED_OK
state	15096	begin surface