Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 372 * 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 372 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 51 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 -107362.29 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 -107362.29

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 51 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 372 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 095137,6239.286,-1130.896,38,1.3,38,-11.0 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.245,-0.014

_SM_DEPTHo 1.54 KALMAN_X -140117.2,1016.0,390.7,211578.0,-12415.6

_SM_ANGLEo -66.1 KALMAN_Y 50765.0,-391.7,-314.1,-140845.7,1390.1

GPS2 095825,6239.252,-1130.949,14,1.0,14,-11.0 MHEAD_RNG_PITCHd_Wd 104.3,26691,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.017819 ALTIM_BOTTOM_PING 620.9,58.1

SM_CCo 13959,3.95,0.521,0,0,1607,300.00 _24V_AH 23.7,60.460

SM_GC 2.60,0.00,0.00,3.95,0.000,0.000,0.521,418,2144,1607,-10.70,0.40,300.00 _10V_AH 10.1,27.435

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41113,836

TT8_MAMPS 0.029146 CAP_FILE_SIZE 118430,0

HUMID 1832 CFSIZE 254472192,231673856

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 56 GPS 261009,135307,6238.760,-1127.917,30,1.7,30,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 97.82 SBE_CT 571 24 325.20

Roll_motor 139 79 264.58 SBE_O2 609 19 274.44

VBD_pump_during_apogee 395 1264 11842.82 WL_BB2F 481 105 1198.00

VBD_pump_during_surface 3 520 48.75 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 46 160 176.43 nil 0 0 0.00

Iridium_during_xfer 183 223 972.26

Transponder_ping 19 420 194.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.17

TT8 1479 19 295.95

LPSleep 10062 2 222.56

TT8_Active 501 19 100.36

TT8_Sampling 1733 39 696.77

TT8_CF8 589 45 272.89

TT8_Kalman 33 81 27.56

Analog_circuits 1394 12 168.97

GPS_charging 0 0 0.00

Compass 1694 8 136.89

RAFOS 0 0 0.00

Transponder 38 30 11.58

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 59 0.00 0.00 -41.55 0.000 2 0.000 0.000 420 2152 2441

64 -1.22 -146.6 2.3 -2.9 2 128 11.12 2.60 -44.53 0.000 4 0.157 0.070 2470 708 3430

297 -1.13 -146.6 26.6 -14.0 12 302 0.12 2.47 0.00 0.000 6 0.106 0.046 2494 2108 3430

614 -1.06 -146.6 66.0 -13.3 27 619 0.00 2.53 0.00 0.000 4 0.000 0.058 2494 708 3431

648 -1.02 -146.6 70.2 -11.8 28 655 0.12 2.50 0.00 0.000 6 0.097 0.048 2520 2123 3430

966 -1.02 -146.6 105.2 -10.8 44 970 0.00 2.55 0.00 0.000 4 0.000 0.059 2520 711 3431

1045 -1.05 -146.6 114.4 -11.1 47 1051 0.00 2.45 0.00 0.000 6 0.000 0.047 2520 2100 3430

1363 -1.05 -146.6 146.3 -9.8 63 1364 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2100 3431

1683 -1.05 -146.6 178.6 -10.3 83 1687 0.00 2.53 0.00 0.000 4 0.000 0.061 2520 705 3431

1736 -1.09 -146.6 183.7 -9.5 86 1740 0.00 2.45 0.00 0.000 6 0.000 0.048 2520 2086 3430

2056 -1.09 -146.6 216.1 -9.9 106 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2086 3431

2369 -1.09 -146.6 246.7 -9.6 126 2373 0.00 2.50 0.00 0.000 4 0.000 0.061 2520 706 3431

2436 -1.12 -146.6 253.5 -9.4 130 2440 0.00 2.42 0.00 0.000 6 0.000 0.049 2520 2074 3431

2755 -1.12 -146.6 284.7 -10.0 150 2756 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2074 3431

3068 -1.12 -146.6 319.0 -11.1 170 3072 0.00 2.47 0.00 0.000 4 0.000 0.063 2520 716 3431

3123 -1.12 -146.6 325.4 -11.8 173 3129 0.00 2.40 0.00 0.000 6 0.000 0.051 2520 2066 3431

3443 -1.12 -146.6 360.9 -11.2 194 3447 0.00 2.47 0.00 0.000 4 0.000 0.063 2520 706 3431

3476 -1.12 -146.6 364.9 -12.0 196 3480 0.00 2.40 0.00 0.000 6 0.000 0.051 2520 2056 3431

3797 -1.12 -146.6 400.0 -10.7 216 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2056 3431

4109 -1.12 -146.6 431.6 -9.9 236 4114 0.00 2.45 0.00 0.000 4 0.000 0.064 2521 713 3430

4160 -1.16 -146.6 437.1 -9.9 239 4165 0.15 2.38 0.00 0.000 6 0.058 0.051 2481 2047 3430

4483 -1.09 -146.6 476.1 -12.5 259 4485 0.12 0.00 0.00 0.000 6 0.099 0.000 2507 2047 3430

4791 -1.09 -146.6 509.0 -9.9 279 4796 0.00 2.42 0.00 0.000 4 0.000 0.063 2507 715 3430

4847 -1.09 -146.6 514.5 -10.0 282 4853 0.00 2.38 0.00 0.000 6 0.000 0.051 2507 2048 3430

5168 -1.09 -146.6 545.1 -9.6 303 5169 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2049 3430

5479 -1.09 -146.6 572.8 -9.3 323 5483 0.00 2.42 0.00 0.000 4 0.000 0.064 2507 717 3429

5576 -1.12 -146.6 582.4 -10.7 329 5580 0.00 2.33 0.00 0.000 6 0.000 0.052 2507 2020 3429

5900 -1.12 -146.6 614.8 -10.1 350 5904 0.00 2.40 0.00 0.000 4 0.000 0.068 2507 716 3429

5939 -1.12 -146.6 618.9 -10.6 352 5945 0.00 2.35 0.00 0.000 6 0.000 0.054 2507 2027 3429

6259 -1.12 -146.6 648.0 -9.7 373 6264 0.00 2.80 0.00 0.000 4 0.000 0.080 2507 3539 3429

6315 -1.12 -146.6 653.7 -10.1 376 6321 0.00 2.80 0.00 0.000 6 0.000 0.069 2507 2021 3428

6490 end dive: BOTTOM_OBSTACLE_DETECTED

state 6490 begin apogee

6499 -0.33 0.0 669.7 9.0 388 6634 0.77 0.00 131.35 1.264 6 0.080 0.000 2672 1838 2832

6634 end apogee: CONTROL_FINISHED_OK

state 6634 begin climb

6637 1.22 146.6 674.7 0.0 397 6779 1.52 2.65 131.00 1.224 4 0.061 0.076 3005 445 2233

6839 1.16 173.0 666.2 7.0 409 6870 0.00 2.55 24.90 1.154 6 0.000 0.056 3005 1862 2125

7200 1.12 174.0 638.0 8.0 432 7204 0.00 2.58 0.00 0.000 4 0.000 0.073 3005 3244 2124

7273 1.09 174.0 631.1 9.7 436 7280 0.12 2.58 0.00 0.000 6 0.098 0.067 2983 1859 2124

7594 1.09 176.1 606.3 7.9 457 7603 0.00 2.60 4.12 0.779 4 0.000 0.071 2982 3244 2112

7683 1.09 176.1 598.9 8.8 462 7688 0.00 2.55 0.00 0.000 6 0.000 0.067 2982 1871 2112

8003 1.18 231.5 576.8 6.0 482 8059 0.00 2.75 49.20 1.205 4 0.000 0.077 2983 440 1887

8077 1.28 293.1 572.3 5.8 486 8138 0.20 2.62 54.75 1.185 6 0.054 0.058 3031 1884 1635

8460 1.23 293.1 536.5 9.4 511 8461 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1884 1636

8771 1.18 293.1 507.1 9.7 531 8776 0.15 2.50 0.00 0.000 4 0.094 0.068 3002 3238 1636

8819 1.24 293.1 503.0 9.0 534 8823 0.00 2.50 0.00 0.000 6 0.000 0.067 3002 1884 1636

9143 1.24 293.1 475.2 8.8 555 9147 0.00 2.53 0.00 0.000 4 0.000 0.066 3002 3247 1636

9176 1.29 293.1 472.1 8.6 557 9181 0.12 2.50 0.00 0.000 6 0.060 0.061 3034 1880 1636

9499 1.24 293.1 437.2 10.8 577 9503 0.00 2.50 0.00 0.000 4 0.000 0.064 3035 3241 1636

9538 1.24 293.1 432.4 11.4 579 9542 0.00 2.42 0.00 0.000 6 0.000 0.058 3034 1904 1636

9864 1.19 293.1 397.9 10.7 600 9868 0.15 2.47 0.00 0.000 4 0.091 0.063 3004 3250 1636

9903 1.24 293.1 393.8 9.7 602 9909 0.00 2.42 0.00 0.000 6 0.000 0.058 3004 1912 1636

10222 1.24 293.1 364.2 9.5 623 10226 0.00 2.45 0.00 0.000 4 0.000 0.063 3004 3246 1636

10252 1.29 293.1 361.5 10.3 625 10256 0.00 2.38 0.00 0.000 6 0.000 0.056 3004 1926 1636

10577 1.29 293.1 331.7 8.9 646 10581 0.00 2.42 0.00 0.000 4 0.000 0.063 3004 3248 1637

10610 1.35 293.1 328.5 9.7 648 10615 0.17 2.35 0.00 0.000 6 0.052 0.055 3048 1943 1637

10933 1.28 293.1 293.2 11.8 668 10935 0.15 0.00 0.00 0.000 6 0.088 0.000 3019 1943 1637

11242 1.28 293.1 261.6 9.8 688 11246 0.00 2.38 0.00 0.000 4 0.000 0.062 3019 3240 1638

11276 1.28 293.1 258.1 10.7 690 11280 0.00 2.33 0.00 0.000 6 0.000 0.053 3019 1944 1638

11595 1.28 293.1 226.4 10.0 710 11599 0.00 2.38 0.00 0.000 4 0.000 0.061 3019 3244 1638

11623 1.28 293.1 223.3 10.7 712 11627 0.00 2.30 0.00 0.000 6 0.000 0.052 3019 1960 1638

11950 1.28 293.1 191.6 9.8 733 11954 0.00 2.35 0.00 0.000 4 0.000 0.061 3019 3246 1638

11967 1.28 293.1 189.5 10.1 734 11971 0.00 2.30 0.00 0.000 6 0.000 0.051 3019 1959 1639

12286 1.28 293.1 157.8 10.3 754 12290 0.00 2.35 0.00 0.000 4 0.000 0.060 3019 3248 1639

12308 1.28 293.1 155.5 10.1 755 12314 0.00 2.28 0.00 0.000 6 0.000 0.049 3019 1973 1639

12625 1.28 293.1 125.2 9.2 772 12626 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1973 1639

12934 1.28 293.1 96.7 9.7 787 12935 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1973 1639

13246 1.28 293.1 64.8 10.1 802 13250 0.00 2.75 0.00 0.000 4 0.000 0.064 3019 436 1639

13263 1.28 293.1 62.6 10.2 803 13268 0.00 2.72 0.00 0.000 6 0.000 0.048 3019 1982 1639

13591 1.28 293.1 30.8 9.2 819 13595 0.00 2.80 0.00 0.000 4 0.000 0.061 3019 440 1640

13609 1.28 293.1 29.0 9.7 820 13614 0.00 2.72 0.00 0.000 6 0.000 0.048 3019 1983 1640

13912 end climb: SURFACE_DEPTH_REACHED

state 13912 begin surface coast

13935 end surface coast: CONTROL_FINISHED_OK

state 13935 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	372	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	51	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	-107362.29	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	095137,6239.286,-1130.896,38,1.3,38,-11.0	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.245,-0.014
_SM_DEPTHo	1.54	KALMAN_X	-140117.2,1016.0,390.7,211578.0,-12415.6
_SM_ANGLEo	-66.1	KALMAN_Y	50765.0,-391.7,-314.1,-140845.7,1390.1
GPS2	095825,6239.252,-1130.949,14,1.0,14,-11.0	MHEAD_RNG_PITCHd_Wd	104.3,26691,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.017819	ALTIM_BOTTOM_PING	620.9,58.1
SM_CCo	13959,3.95,0.521,0,0,1607,300.00	_24V_AH	23.7,60.460
SM_GC	2.60,0.00,0.00,3.95,0.000,0.000,0.521,418,2144,1607,-10.70,0.40,300.00	_10V_AH	10.1,27.435
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41113,836
TT8_MAMPS	0.029146	CAP_FILE_SIZE	118430,0
HUMID	1832	CFSIZE	254472192,231673856
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	56	GPS	261009,135307,6238.760,-1127.917,30,1.7,30,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	97.82	SBE_CT	571	24	325.20
Roll_motor	139	79	264.58	SBE_O2	609	19	274.44
VBD_pump_during_apogee	395	1264	11842.82	WL_BB2F	481	105	1198.00
VBD_pump_during_surface	3	520	48.75	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	46	160	176.43	nil	0	0	0.00
Iridium_during_xfer	183	223	972.26
Transponder_ping	19	420	194.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.17
TT8	1479	19	295.95
LPSleep	10062	2	222.56
TT8_Active	501	19	100.36
TT8_Sampling	1733	39	696.77
TT8_CF8	589	45	272.89
TT8_Kalman	33	81	27.56
Analog_circuits	1394	12	168.97
GPS_charging	0	0	0.00
Compass	1694	8	136.89
RAFOS	0	0	0.00
Transponder	38	30	11.58

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	59	0.00	0.00	-41.55	0.000	2	0.000	0.000	420	2152	2441
64	-1.22	-146.6	2.3	-2.9	2	128	11.12	2.60	-44.53	0.000	4	0.157	0.070	2470	708	3430
297	-1.13	-146.6	26.6	-14.0	12	302	0.12	2.47	0.00	0.000	6	0.106	0.046	2494	2108	3430
614	-1.06	-146.6	66.0	-13.3	27	619	0.00	2.53	0.00	0.000	4	0.000	0.058	2494	708	3431
648	-1.02	-146.6	70.2	-11.8	28	655	0.12	2.50	0.00	0.000	6	0.097	0.048	2520	2123	3430
966	-1.02	-146.6	105.2	-10.8	44	970	0.00	2.55	0.00	0.000	4	0.000	0.059	2520	711	3431
1045	-1.05	-146.6	114.4	-11.1	47	1051	0.00	2.45	0.00	0.000	6	0.000	0.047	2520	2100	3430
1363	-1.05	-146.6	146.3	-9.8	63	1364	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2100	3431
1683	-1.05	-146.6	178.6	-10.3	83	1687	0.00	2.53	0.00	0.000	4	0.000	0.061	2520	705	3431
1736	-1.09	-146.6	183.7	-9.5	86	1740	0.00	2.45	0.00	0.000	6	0.000	0.048	2520	2086	3430
2056	-1.09	-146.6	216.1	-9.9	106	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2086	3431
2369	-1.09	-146.6	246.7	-9.6	126	2373	0.00	2.50	0.00	0.000	4	0.000	0.061	2520	706	3431
2436	-1.12	-146.6	253.5	-9.4	130	2440	0.00	2.42	0.00	0.000	6	0.000	0.049	2520	2074	3431
2755	-1.12	-146.6	284.7	-10.0	150	2756	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2074	3431
3068	-1.12	-146.6	319.0	-11.1	170	3072	0.00	2.47	0.00	0.000	4	0.000	0.063	2520	716	3431
3123	-1.12	-146.6	325.4	-11.8	173	3129	0.00	2.40	0.00	0.000	6	0.000	0.051	2520	2066	3431
3443	-1.12	-146.6	360.9	-11.2	194	3447	0.00	2.47	0.00	0.000	4	0.000	0.063	2520	706	3431
3476	-1.12	-146.6	364.9	-12.0	196	3480	0.00	2.40	0.00	0.000	6	0.000	0.051	2520	2056	3431
3797	-1.12	-146.6	400.0	-10.7	216	3798	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2056	3431
4109	-1.12	-146.6	431.6	-9.9	236	4114	0.00	2.45	0.00	0.000	4	0.000	0.064	2521	713	3430
4160	-1.16	-146.6	437.1	-9.9	239	4165	0.15	2.38	0.00	0.000	6	0.058	0.051	2481	2047	3430
4483	-1.09	-146.6	476.1	-12.5	259	4485	0.12	0.00	0.00	0.000	6	0.099	0.000	2507	2047	3430
4791	-1.09	-146.6	509.0	-9.9	279	4796	0.00	2.42	0.00	0.000	4	0.000	0.063	2507	715	3430
4847	-1.09	-146.6	514.5	-10.0	282	4853	0.00	2.38	0.00	0.000	6	0.000	0.051	2507	2048	3430
5168	-1.09	-146.6	545.1	-9.6	303	5169	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2049	3430
5479	-1.09	-146.6	572.8	-9.3	323	5483	0.00	2.42	0.00	0.000	4	0.000	0.064	2507	717	3429
5576	-1.12	-146.6	582.4	-10.7	329	5580	0.00	2.33	0.00	0.000	6	0.000	0.052	2507	2020	3429
5900	-1.12	-146.6	614.8	-10.1	350	5904	0.00	2.40	0.00	0.000	4	0.000	0.068	2507	716	3429
5939	-1.12	-146.6	618.9	-10.6	352	5945	0.00	2.35	0.00	0.000	6	0.000	0.054	2507	2027	3429
6259	-1.12	-146.6	648.0	-9.7	373	6264	0.00	2.80	0.00	0.000	4	0.000	0.080	2507	3539	3429
6315	-1.12	-146.6	653.7	-10.1	376	6321	0.00	2.80	0.00	0.000	6	0.000	0.069	2507	2021	3428
6490	end dive: BOTTOM_OBSTACLE_DETECTED
state	6490	begin apogee
6499	-0.33	0.0	669.7	9.0	388	6634	0.77	0.00	131.35	1.264	6	0.080	0.000	2672	1838	2832
6634	end apogee: CONTROL_FINISHED_OK
state	6634	begin climb
6637	1.22	146.6	674.7	0.0	397	6779	1.52	2.65	131.00	1.224	4	0.061	0.076	3005	445	2233
6839	1.16	173.0	666.2	7.0	409	6870	0.00	2.55	24.90	1.154	6	0.000	0.056	3005	1862	2125
7200	1.12	174.0	638.0	8.0	432	7204	0.00	2.58	0.00	0.000	4	0.000	0.073	3005	3244	2124
7273	1.09	174.0	631.1	9.7	436	7280	0.12	2.58	0.00	0.000	6	0.098	0.067	2983	1859	2124
7594	1.09	176.1	606.3	7.9	457	7603	0.00	2.60	4.12	0.779	4	0.000	0.071	2982	3244	2112
7683	1.09	176.1	598.9	8.8	462	7688	0.00	2.55	0.00	0.000	6	0.000	0.067	2982	1871	2112
8003	1.18	231.5	576.8	6.0	482	8059	0.00	2.75	49.20	1.205	4	0.000	0.077	2983	440	1887
8077	1.28	293.1	572.3	5.8	486	8138	0.20	2.62	54.75	1.185	6	0.054	0.058	3031	1884	1635
8460	1.23	293.1	536.5	9.4	511	8461	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1884	1636
8771	1.18	293.1	507.1	9.7	531	8776	0.15	2.50	0.00	0.000	4	0.094	0.068	3002	3238	1636
8819	1.24	293.1	503.0	9.0	534	8823	0.00	2.50	0.00	0.000	6	0.000	0.067	3002	1884	1636
9143	1.24	293.1	475.2	8.8	555	9147	0.00	2.53	0.00	0.000	4	0.000	0.066	3002	3247	1636
9176	1.29	293.1	472.1	8.6	557	9181	0.12	2.50	0.00	0.000	6	0.060	0.061	3034	1880	1636
9499	1.24	293.1	437.2	10.8	577	9503	0.00	2.50	0.00	0.000	4	0.000	0.064	3035	3241	1636
9538	1.24	293.1	432.4	11.4	579	9542	0.00	2.42	0.00	0.000	6	0.000	0.058	3034	1904	1636
9864	1.19	293.1	397.9	10.7	600	9868	0.15	2.47	0.00	0.000	4	0.091	0.063	3004	3250	1636
9903	1.24	293.1	393.8	9.7	602	9909	0.00	2.42	0.00	0.000	6	0.000	0.058	3004	1912	1636
10222	1.24	293.1	364.2	9.5	623	10226	0.00	2.45	0.00	0.000	4	0.000	0.063	3004	3246	1636
10252	1.29	293.1	361.5	10.3	625	10256	0.00	2.38	0.00	0.000	6	0.000	0.056	3004	1926	1636
10577	1.29	293.1	331.7	8.9	646	10581	0.00	2.42	0.00	0.000	4	0.000	0.063	3004	3248	1637
10610	1.35	293.1	328.5	9.7	648	10615	0.17	2.35	0.00	0.000	6	0.052	0.055	3048	1943	1637
10933	1.28	293.1	293.2	11.8	668	10935	0.15	0.00	0.00	0.000	6	0.088	0.000	3019	1943	1637
11242	1.28	293.1	261.6	9.8	688	11246	0.00	2.38	0.00	0.000	4	0.000	0.062	3019	3240	1638
11276	1.28	293.1	258.1	10.7	690	11280	0.00	2.33	0.00	0.000	6	0.000	0.053	3019	1944	1638
11595	1.28	293.1	226.4	10.0	710	11599	0.00	2.38	0.00	0.000	4	0.000	0.061	3019	3244	1638
11623	1.28	293.1	223.3	10.7	712	11627	0.00	2.30	0.00	0.000	6	0.000	0.052	3019	1960	1638
11950	1.28	293.1	191.6	9.8	733	11954	0.00	2.35	0.00	0.000	4	0.000	0.061	3019	3246	1638
11967	1.28	293.1	189.5	10.1	734	11971	0.00	2.30	0.00	0.000	6	0.000	0.051	3019	1959	1639
12286	1.28	293.1	157.8	10.3	754	12290	0.00	2.35	0.00	0.000	4	0.000	0.060	3019	3248	1639
12308	1.28	293.1	155.5	10.1	755	12314	0.00	2.28	0.00	0.000	6	0.000	0.049	3019	1973	1639
12625	1.28	293.1	125.2	9.2	772	12626	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1973	1639
12934	1.28	293.1	96.7	9.7	787	12935	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1973	1639
13246	1.28	293.1	64.8	10.1	802	13250	0.00	2.75	0.00	0.000	4	0.000	0.064	3019	436	1639
13263	1.28	293.1	62.6	10.2	803	13268	0.00	2.72	0.00	0.000	6	0.000	0.048	3019	1982	1639
13591	1.28	293.1	30.8	9.2	819	13595	0.00	2.80	0.00	0.000	4	0.000	0.061	3019	440	1640
13609	1.28	293.1	29.0	9.7	820	13614	0.00	2.72	0.00	0.000	6	0.000	0.048	3019	1983	1640
13912	end climb: SURFACE_DEPTH_REACHED
state	13912	begin surface coast
13935	end surface coast: CONTROL_FINISHED_OK
state	13935	begin surface