Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 369 * 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 369 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 -107315.92 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 -107315.92

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 369 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 211755,6243.294,-1136.113,39,1.1,39,-11.1 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.210,-0.126

_SM_DEPTHo 1.46 KALMAN_X -131318.5,1301.4,532.2,198030.0,-11786.6

_SM_ANGLEo -60.5 KALMAN_Y 52499.4,-807.9,-484.4,-134556.6,5677.8

GPS2 212407,6243.263,-1136.166,11,0.9,16,-11.1 MHEAD_RNG_PITCHd_Wd 132.1,32917,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.0,1.027216 ALTIM_BOTTOM_PING 621.1,45.0

SM_CCo 14411,22.98,0.765,0,0,1607,300.00 _24V_AH 23.7,60.015

SM_GC 1.34,0.00,0.00,22.98,0.000,0.000,0.765,416,2143,1607,-10.71,0.59,300.00 _10V_AH 10.1,27.203

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44282,862

TT8_MAMPS 0.029146 CAP_FILE_SIZE 117148,0

HUMID 1829 CFSIZE 254472192,231858176

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 57 GPS 261009,012654,6242.164,-1134.283,42,1.7,42,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 95.39 SBE_CT 590 24 335.68

Roll_motor 138 77 253.41 SBE_O2 632 19 284.94

VBD_pump_during_apogee 373 1250 11066.17 WL_BB2F 498 105 1240.52

VBD_pump_during_surface 22 764 416.38 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 37 160 143.27 nil 0 0 0.00

Iridium_during_xfer 157 223 832.27

Transponder_ping 19 420 196.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.07

TT8 1522 19 304.38

LPSleep 10487 2 231.97

TT8_Active 506 19 101.33

TT8_Sampling 1740 39 699.62

TT8_CF8 549 45 253.98

TT8_Kalman 33 81 27.56

Analog_circuits 1388 12 168.27

GPS_charging 0 0 0.00

Compass 1700 8 137.38

RAFOS 0 0 0.00

Transponder 38 30 11.57

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

16 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -60.78 0.000 2 0.000 0.000 424 2462 2847

83 -1.22 -146.6 3.2 -4.2 3 118 11.23 3.25 -17.23 0.000 4 0.158 0.072 2470 716 3430

320 -1.14 -146.6 39.0 -12.7 13 327 0.12 2.50 0.00 0.000 6 0.113 0.048 2494 2131 3430

639 -1.07 -146.6 76.2 -12.0 29 644 0.00 2.58 0.00 0.000 4 0.000 0.059 2494 708 3431

684 -1.04 -146.6 82.3 -12.8 31 689 0.10 2.50 0.00 0.000 6 0.110 0.049 2515 2117 3431

1007 -1.04 -146.6 121.0 -12.1 47 1011 0.00 2.55 0.00 0.000 4 0.000 0.059 2515 704 3431

1047 -1.04 -146.6 126.0 -12.8 49 1052 0.00 2.50 0.00 0.000 6 0.000 0.049 2515 2114 3431

1365 -1.04 -146.6 162.4 -10.8 66 1370 0.00 2.58 0.00 0.000 4 0.000 0.066 2515 3534 3431

1411 -1.04 -146.6 167.3 -11.0 69 1416 0.00 2.58 0.00 0.000 6 0.000 0.052 2515 2095 3431

1736 -1.04 -146.6 201.4 -10.6 90 1741 0.00 2.45 0.00 0.000 4 0.000 0.060 2515 712 3432

1770 -1.04 -146.6 205.0 -10.6 92 1774 0.00 2.47 0.00 0.000 6 0.000 0.048 2515 2110 3431

2089 -1.04 -146.6 238.7 -10.5 112 2093 0.00 2.53 0.00 0.000 4 0.000 0.060 2515 714 3431

2123 -1.04 -146.6 242.5 -10.7 114 2127 0.00 2.45 0.00 0.000 6 0.000 0.049 2515 2096 3431

2442 -1.04 -146.6 276.3 -10.5 134 2443 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2097 3431

2755 -1.04 -146.6 309.4 -10.5 154 2759 0.00 2.50 0.00 0.000 4 0.000 0.061 2515 713 3431

2804 -1.04 -146.6 315.0 -10.8 157 2808 0.00 2.42 0.00 0.000 6 0.000 0.051 2515 2084 3431

3129 -1.04 -146.6 349.4 -10.6 178 3130 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2084 3431

3442 -1.04 -146.6 382.0 -10.2 198 3446 0.00 2.47 0.00 0.000 4 0.000 0.062 2515 717 3431

3475 -1.04 -146.6 385.5 -9.8 200 3479 0.00 2.42 0.00 0.000 6 0.000 0.051 2515 2082 3432

3794 -1.04 -146.6 416.9 -9.8 220 3795 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2082 3431

4107 -1.04 -146.6 449.9 -10.8 240 4111 0.00 2.47 0.00 0.000 4 0.000 0.064 2515 721 3431

4145 -1.04 -146.6 454.4 -11.1 242 4151 0.00 2.40 0.00 0.000 6 0.000 0.053 2515 2067 3431

4467 -1.04 -146.6 488.3 -10.2 263 4468 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2067 3431

4777 -1.04 -146.6 518.8 -9.9 283 4781 0.00 2.45 0.00 0.000 4 0.000 0.064 2515 720 3431

4827 -1.08 -146.6 523.9 -10.3 286 4831 0.00 2.40 0.00 0.000 6 0.000 0.052 2515 2066 3431

5147 -1.08 -146.6 550.9 -7.5 306 5149 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2067 3430

5460 -1.08 -146.6 577.1 -8.9 326 5461 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2067 3430

5773 -1.08 -146.6 601.8 -8.4 346 5777 0.00 2.47 0.00 0.000 4 0.000 0.069 2515 717 3430

5802 -1.11 -146.6 604.6 -9.4 348 5806 0.00 2.33 0.00 0.000 6 0.000 0.055 2515 2018 3430

6132 -1.11 -146.6 635.6 -9.1 369 6137 0.00 2.80 0.00 0.000 4 0.000 0.077 2515 3538 3430

6178 -1.11 -146.6 639.5 -9.3 372 6183 0.00 2.80 0.00 0.000 6 0.000 0.069 2515 2016 3429

6358 end dive: BOTTOM_OBSTACLE_DETECTED

state 6359 begin apogee

6366 -0.33 0.0 656.9 9.3 384 6502 0.75 0.00 132.25 1.251 6 0.082 0.000 2675 1838 2831

6503 end apogee: CONTROL_FINISHED_OK

state 6503 begin climb

6506 1.22 146.6 662.2 0.0 393 6652 1.52 2.67 134.18 1.206 4 0.060 0.077 3009 450 2233

6751 1.09 146.6 649.4 9.4 408 6758 0.15 2.55 0.00 0.000 6 0.092 0.055 2980 1853 2233

7071 1.15 185.7 628.4 6.6 429 7112 0.00 2.62 35.60 1.180 4 0.000 0.071 2980 3252 2074

7152 1.15 185.7 622.5 8.2 433 7156 0.00 2.60 0.00 0.000 6 0.000 0.068 2980 1866 2074

7472 1.20 215.3 600.1 6.9 453 7505 0.12 2.70 27.17 1.175 4 0.061 0.071 3013 3253 1953

7557 1.16 215.3 592.0 9.0 458 7561 0.00 2.58 0.00 0.000 6 0.000 0.069 3013 1877 1952

7882 1.13 220.4 564.1 7.8 479 7893 0.12 2.62 6.03 0.940 4 0.097 0.071 2989 3259 1931

7940 1.16 220.4 558.8 8.9 481 7946 0.00 2.50 0.00 0.000 6 0.000 0.067 2990 1918 1931

8260 1.16 220.4 532.5 8.5 502 8265 0.00 2.70 0.00 0.000 4 0.000 0.073 2989 439 1931

8290 1.16 220.4 529.8 9.2 504 8294 0.00 2.67 0.00 0.000 6 0.000 0.055 2989 1919 1931

8614 1.17 225.8 503.4 7.8 525 8625 0.00 2.45 6.18 0.937 4 0.000 0.068 2989 3252 1910

8671 1.22 225.8 498.4 8.9 527 8677 0.00 2.45 0.00 0.000 6 0.000 0.064 2989 1924 1910

8990 1.22 225.8 473.0 8.1 548 8992 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 1924 1910

9302 1.23 230.6 448.7 7.8 568 9314 0.10 2.47 6.05 0.900 4 0.064 0.064 3016 3252 1890

9354 1.23 230.6 443.9 9.4 570 9358 0.00 2.45 0.00 0.000 6 0.000 0.061 3016 1916 1890

9673 1.19 230.6 416.0 8.5 590 9674 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1916 1890

9986 1.19 247.5 392.2 7.4 610 10007 0.00 2.53 16.15 1.025 4 0.000 0.064 3016 3255 1821

10059 1.20 257.0 386.3 7.7 614 10073 0.00 2.42 9.65 0.956 6 0.000 0.058 3016 1930 1783

10396 1.20 257.0 358.7 8.8 636 10400 0.00 2.45 0.00 0.000 4 0.000 0.064 3016 3257 1783

10418 1.20 257.0 356.4 9.0 637 10423 0.00 2.38 0.00 0.000 6 0.000 0.059 3016 1948 1782

10737 1.20 257.0 327.3 9.5 657 10739 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1948 1783

11050 1.20 257.0 297.0 10.1 677 11054 0.00 2.40 0.00 0.000 4 0.000 0.064 3016 3252 1783

11084 1.20 257.0 293.5 10.0 679 11088 0.00 2.35 0.00 0.000 6 0.000 0.056 3016 1952 1783

11403 1.20 257.0 262.2 10.0 699 11404 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1951 1784

11715 1.20 257.0 232.2 9.4 719 11719 0.00 2.40 0.00 0.000 4 0.000 0.063 3016 3259 1784

11749 1.20 257.0 228.9 9.6 721 11753 0.00 2.35 0.00 0.000 6 0.000 0.054 3016 1953 1784

12068 1.20 257.0 198.9 9.4 741 12069 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1953 1784

12381 1.20 257.0 170.1 9.1 761 12385 0.00 2.38 0.00 0.000 4 0.000 0.062 3016 3253 1784

12403 1.20 257.0 167.9 9.4 762 12409 0.00 2.30 0.00 0.000 6 0.000 0.052 3016 1968 1784

12738 1.20 257.0 138.4 8.3 782 12739 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1969 1784

13046 1.20 257.0 113.4 8.0 797 13048 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1969 1784

13355 1.20 257.0 89.0 8.2 812 13359 0.00 2.72 0.00 0.000 4 0.000 0.063 3016 439 1785

13388 1.20 257.0 85.9 9.4 813 13394 0.00 2.75 0.00 0.000 6 0.000 0.048 3016 1994 1785

13706 1.20 257.0 59.4 8.7 829 13707 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1994 1785

14014 1.20 257.0 32.2 9.2 844 14019 0.00 2.83 0.00 0.000 4 0.000 0.061 3016 433 1786

14033 1.20 257.0 30.8 8.7 845 14037 0.00 2.72 0.00 0.000 6 0.000 0.047 3016 1977 1785

14361 1.20 257.0 4.4 9.3 861 14366 0.00 2.80 0.00 0.000 4 0.000 0.061 3016 435 1786

14377 end climb: SURFACE_DEPTH_REACHED

state 14377 begin surface coast

14383 end surface coast: CONTROL_FINISHED_OK

state 14383 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	369	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	-107315.92	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	211755,6243.294,-1136.113,39,1.1,39,-11.1	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.210,-0.126
_SM_DEPTHo	1.46	KALMAN_X	-131318.5,1301.4,532.2,198030.0,-11786.6
_SM_ANGLEo	-60.5	KALMAN_Y	52499.4,-807.9,-484.4,-134556.6,5677.8
GPS2	212407,6243.263,-1136.166,11,0.9,16,-11.1	MHEAD_RNG_PITCHd_Wd	132.1,32917,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	2.0,1.027216	ALTIM_BOTTOM_PING	621.1,45.0
SM_CCo	14411,22.98,0.765,0,0,1607,300.00	_24V_AH	23.7,60.015
SM_GC	1.34,0.00,0.00,22.98,0.000,0.000,0.765,416,2143,1607,-10.71,0.59,300.00	_10V_AH	10.1,27.203
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44282,862
TT8_MAMPS	0.029146	CAP_FILE_SIZE	117148,0
HUMID	1829	CFSIZE	254472192,231858176
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	57	GPS	261009,012654,6242.164,-1134.283,42,1.7,42,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	95.39	SBE_CT	590	24	335.68
Roll_motor	138	77	253.41	SBE_O2	632	19	284.94
VBD_pump_during_apogee	373	1250	11066.17	WL_BB2F	498	105	1240.52
VBD_pump_during_surface	22	764	416.38	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	37	160	143.27	nil	0	0	0.00
Iridium_during_xfer	157	223	832.27
Transponder_ping	19	420	196.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.07
TT8	1522	19	304.38
LPSleep	10487	2	231.97
TT8_Active	506	19	101.33
TT8_Sampling	1740	39	699.62
TT8_CF8	549	45	253.98
TT8_Kalman	33	81	27.56
Analog_circuits	1388	12	168.27
GPS_charging	0	0	0.00
Compass	1700	8	137.38
RAFOS	0	0	0.00
Transponder	38	30	11.57

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
16	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-60.78	0.000	2	0.000	0.000	424	2462	2847
83	-1.22	-146.6	3.2	-4.2	3	118	11.23	3.25	-17.23	0.000	4	0.158	0.072	2470	716	3430
320	-1.14	-146.6	39.0	-12.7	13	327	0.12	2.50	0.00	0.000	6	0.113	0.048	2494	2131	3430
639	-1.07	-146.6	76.2	-12.0	29	644	0.00	2.58	0.00	0.000	4	0.000	0.059	2494	708	3431
684	-1.04	-146.6	82.3	-12.8	31	689	0.10	2.50	0.00	0.000	6	0.110	0.049	2515	2117	3431
1007	-1.04	-146.6	121.0	-12.1	47	1011	0.00	2.55	0.00	0.000	4	0.000	0.059	2515	704	3431
1047	-1.04	-146.6	126.0	-12.8	49	1052	0.00	2.50	0.00	0.000	6	0.000	0.049	2515	2114	3431
1365	-1.04	-146.6	162.4	-10.8	66	1370	0.00	2.58	0.00	0.000	4	0.000	0.066	2515	3534	3431
1411	-1.04	-146.6	167.3	-11.0	69	1416	0.00	2.58	0.00	0.000	6	0.000	0.052	2515	2095	3431
1736	-1.04	-146.6	201.4	-10.6	90	1741	0.00	2.45	0.00	0.000	4	0.000	0.060	2515	712	3432
1770	-1.04	-146.6	205.0	-10.6	92	1774	0.00	2.47	0.00	0.000	6	0.000	0.048	2515	2110	3431
2089	-1.04	-146.6	238.7	-10.5	112	2093	0.00	2.53	0.00	0.000	4	0.000	0.060	2515	714	3431
2123	-1.04	-146.6	242.5	-10.7	114	2127	0.00	2.45	0.00	0.000	6	0.000	0.049	2515	2096	3431
2442	-1.04	-146.6	276.3	-10.5	134	2443	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2097	3431
2755	-1.04	-146.6	309.4	-10.5	154	2759	0.00	2.50	0.00	0.000	4	0.000	0.061	2515	713	3431
2804	-1.04	-146.6	315.0	-10.8	157	2808	0.00	2.42	0.00	0.000	6	0.000	0.051	2515	2084	3431
3129	-1.04	-146.6	349.4	-10.6	178	3130	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2084	3431
3442	-1.04	-146.6	382.0	-10.2	198	3446	0.00	2.47	0.00	0.000	4	0.000	0.062	2515	717	3431
3475	-1.04	-146.6	385.5	-9.8	200	3479	0.00	2.42	0.00	0.000	6	0.000	0.051	2515	2082	3432
3794	-1.04	-146.6	416.9	-9.8	220	3795	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2082	3431
4107	-1.04	-146.6	449.9	-10.8	240	4111	0.00	2.47	0.00	0.000	4	0.000	0.064	2515	721	3431
4145	-1.04	-146.6	454.4	-11.1	242	4151	0.00	2.40	0.00	0.000	6	0.000	0.053	2515	2067	3431
4467	-1.04	-146.6	488.3	-10.2	263	4468	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2067	3431
4777	-1.04	-146.6	518.8	-9.9	283	4781	0.00	2.45	0.00	0.000	4	0.000	0.064	2515	720	3431
4827	-1.08	-146.6	523.9	-10.3	286	4831	0.00	2.40	0.00	0.000	6	0.000	0.052	2515	2066	3431
5147	-1.08	-146.6	550.9	-7.5	306	5149	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2067	3430
5460	-1.08	-146.6	577.1	-8.9	326	5461	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2067	3430
5773	-1.08	-146.6	601.8	-8.4	346	5777	0.00	2.47	0.00	0.000	4	0.000	0.069	2515	717	3430
5802	-1.11	-146.6	604.6	-9.4	348	5806	0.00	2.33	0.00	0.000	6	0.000	0.055	2515	2018	3430
6132	-1.11	-146.6	635.6	-9.1	369	6137	0.00	2.80	0.00	0.000	4	0.000	0.077	2515	3538	3430
6178	-1.11	-146.6	639.5	-9.3	372	6183	0.00	2.80	0.00	0.000	6	0.000	0.069	2515	2016	3429
6358	end dive: BOTTOM_OBSTACLE_DETECTED
state	6359	begin apogee
6366	-0.33	0.0	656.9	9.3	384	6502	0.75	0.00	132.25	1.251	6	0.082	0.000	2675	1838	2831
6503	end apogee: CONTROL_FINISHED_OK
state	6503	begin climb
6506	1.22	146.6	662.2	0.0	393	6652	1.52	2.67	134.18	1.206	4	0.060	0.077	3009	450	2233
6751	1.09	146.6	649.4	9.4	408	6758	0.15	2.55	0.00	0.000	6	0.092	0.055	2980	1853	2233
7071	1.15	185.7	628.4	6.6	429	7112	0.00	2.62	35.60	1.180	4	0.000	0.071	2980	3252	2074
7152	1.15	185.7	622.5	8.2	433	7156	0.00	2.60	0.00	0.000	6	0.000	0.068	2980	1866	2074
7472	1.20	215.3	600.1	6.9	453	7505	0.12	2.70	27.17	1.175	4	0.061	0.071	3013	3253	1953
7557	1.16	215.3	592.0	9.0	458	7561	0.00	2.58	0.00	0.000	6	0.000	0.069	3013	1877	1952
7882	1.13	220.4	564.1	7.8	479	7893	0.12	2.62	6.03	0.940	4	0.097	0.071	2989	3259	1931
7940	1.16	220.4	558.8	8.9	481	7946	0.00	2.50	0.00	0.000	6	0.000	0.067	2990	1918	1931
8260	1.16	220.4	532.5	8.5	502	8265	0.00	2.70	0.00	0.000	4	0.000	0.073	2989	439	1931
8290	1.16	220.4	529.8	9.2	504	8294	0.00	2.67	0.00	0.000	6	0.000	0.055	2989	1919	1931
8614	1.17	225.8	503.4	7.8	525	8625	0.00	2.45	6.18	0.937	4	0.000	0.068	2989	3252	1910
8671	1.22	225.8	498.4	8.9	527	8677	0.00	2.45	0.00	0.000	6	0.000	0.064	2989	1924	1910
8990	1.22	225.8	473.0	8.1	548	8992	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	1924	1910
9302	1.23	230.6	448.7	7.8	568	9314	0.10	2.47	6.05	0.900	4	0.064	0.064	3016	3252	1890
9354	1.23	230.6	443.9	9.4	570	9358	0.00	2.45	0.00	0.000	6	0.000	0.061	3016	1916	1890
9673	1.19	230.6	416.0	8.5	590	9674	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1916	1890
9986	1.19	247.5	392.2	7.4	610	10007	0.00	2.53	16.15	1.025	4	0.000	0.064	3016	3255	1821
10059	1.20	257.0	386.3	7.7	614	10073	0.00	2.42	9.65	0.956	6	0.000	0.058	3016	1930	1783
10396	1.20	257.0	358.7	8.8	636	10400	0.00	2.45	0.00	0.000	4	0.000	0.064	3016	3257	1783
10418	1.20	257.0	356.4	9.0	637	10423	0.00	2.38	0.00	0.000	6	0.000	0.059	3016	1948	1782
10737	1.20	257.0	327.3	9.5	657	10739	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1948	1783
11050	1.20	257.0	297.0	10.1	677	11054	0.00	2.40	0.00	0.000	4	0.000	0.064	3016	3252	1783
11084	1.20	257.0	293.5	10.0	679	11088	0.00	2.35	0.00	0.000	6	0.000	0.056	3016	1952	1783
11403	1.20	257.0	262.2	10.0	699	11404	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1951	1784
11715	1.20	257.0	232.2	9.4	719	11719	0.00	2.40	0.00	0.000	4	0.000	0.063	3016	3259	1784
11749	1.20	257.0	228.9	9.6	721	11753	0.00	2.35	0.00	0.000	6	0.000	0.054	3016	1953	1784
12068	1.20	257.0	198.9	9.4	741	12069	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1953	1784
12381	1.20	257.0	170.1	9.1	761	12385	0.00	2.38	0.00	0.000	4	0.000	0.062	3016	3253	1784
12403	1.20	257.0	167.9	9.4	762	12409	0.00	2.30	0.00	0.000	6	0.000	0.052	3016	1968	1784
12738	1.20	257.0	138.4	8.3	782	12739	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1969	1784
13046	1.20	257.0	113.4	8.0	797	13048	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1969	1784
13355	1.20	257.0	89.0	8.2	812	13359	0.00	2.72	0.00	0.000	4	0.000	0.063	3016	439	1785
13388	1.20	257.0	85.9	9.4	813	13394	0.00	2.75	0.00	0.000	6	0.000	0.048	3016	1994	1785
13706	1.20	257.0	59.4	8.7	829	13707	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1994	1785
14014	1.20	257.0	32.2	9.2	844	14019	0.00	2.83	0.00	0.000	4	0.000	0.061	3016	433	1786
14033	1.20	257.0	30.8	8.7	845	14037	0.00	2.72	0.00	0.000	6	0.000	0.047	3016	1977	1785
14361	1.20	257.0	4.4	9.3	861	14366	0.00	2.80	0.00	0.000	4	0.000	0.061	3016	435	1786
14377	end climb: SURFACE_DEPTH_REACHED
state	14377	begin surface coast
14383	end surface coast: CONTROL_FINISHED_OK
state	14383	begin surface