Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 45 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING 270 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 45 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 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 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1628882.1 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 440

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 -1628882.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 45 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 142000,6215.476,-921.499,36,1.4,41,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6215.503,-944.706

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.75 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -57.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 142444,6215.503,-921.506,15,1.5,15,-9.7 MHEAD_RNG_PITCHd_Wd 279.7,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027211 ALTIM_BOTTOM_PING 500.9,86.8

SM_CCo 12360,8.80,0.680,0,0,1609,300.00 _24V_AH 23.3,24.554

SM_GC 1.27,0.00,0.00,8.80,0.000,0.000,0.680,398,2461,1609,-11.05,-0.42,300.00 _10V_AH 10.1,10.563

IRIDIUM_FIX 6148.92,-920.16,070998,111100 DATA_FILE_SIZE 28597,589

TT8_MAMPS 0.027612 CAP_FILE_SIZE 98179,0

HUMID 1838 CFSIZE 260165632,255455232

INTERNAL_PRESSURE 8.08949 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 17.30 GPS 130609,175230,6215.382,-926.365,39,1.7,39,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 81.69 SBE_CT 519 24 290.75

Roll_motor 130 62 189.27 SBE_O2 403 19 178.55

VBD_pump_during_apogee 376 1141 10006.64 WL_BB2F 396 105 970.21

VBD_pump_during_surface 8 680 139.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.09 nil 0 0 0.00

Iridium_during_connect 31 160 117.56 nil 0 0 0.00

Iridium_during_xfer 121 223 630.32

Transponder_ping 4 420 39.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.89

TT8 1137 19 227.43

LPSleep 9050 2 200.19

TT8_Active 473 19 94.77

TT8_Sampling 1423 39 572.15

TT8_CF8 575 45 266.23

TT8_Kalman 0 81 0.00

Analog_circuits 1264 12 153.31

GPS_charging 0 0 0.00

Compass 1516 8 122.50

RAFOS 0 0 0.00

Transponder 28 30 8.57

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

15 -1.17 -146.6 0.0 0.0 0 97 0.00 0.00 -75.18 0.000 6 0.000 0.000 393 2452 3432

100 -1.17 -146.6 5.8 -8.3 4 121 11.48 2.50 0.00 0.000 4 0.136 0.053 2534 3832 3433

458 -1.17 -146.6 49.5 -9.1 20 463 0.00 2.35 0.00 0.000 6 0.000 0.026 2534 2448 3434

790 -1.17 -146.6 80.6 -9.7 36 794 0.00 2.50 0.00 0.000 4 0.000 0.054 2534 3828 3434

830 -1.17 -146.6 84.6 -10.3 38 835 0.00 2.30 0.00 0.000 6 0.000 0.026 2534 2477 3434

1162 -1.17 -146.6 115.2 -8.7 54 1167 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1076 3434

1212 -1.17 -146.6 119.4 -8.1 56 1217 0.00 2.42 0.00 0.000 6 0.000 0.031 2534 2481 3434

1528 -1.17 -146.6 143.7 -7.5 71 1532 0.00 2.42 0.00 0.000 4 0.000 0.036 2534 1082 3435

1561 -1.17 -146.6 146.2 -7.5 72 1568 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2474 3434

1877 -1.17 -146.6 172.4 -8.9 88 1881 0.00 2.42 0.00 0.000 4 0.000 0.037 2534 1079 3435

1939 -1.17 -146.6 178.2 -9.5 91 1943 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2475 3435

2265 -1.17 -146.6 209.9 -10.0 107 2270 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1084 3434

2315 -1.17 -146.6 215.2 -10.2 109 2320 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2473 3434

2631 -1.17 -146.6 244.6 -9.1 124 2636 0.00 2.45 0.00 0.000 4 0.000 0.038 2534 1088 3434

2663 -1.17 -146.6 247.7 -8.9 125 2667 0.00 2.42 0.00 0.000 6 0.000 0.037 2534 2477 3435

2980 -1.17 -146.6 275.5 -8.6 140 2984 0.00 2.45 0.00 0.000 4 0.000 0.039 2534 1076 3435

3024 -1.17 -146.6 279.5 -8.7 142 3029 0.00 2.45 0.00 0.000 6 0.000 0.037 2534 2478 3435

3346 -1.17 -146.6 307.3 -9.2 158 3350 0.00 2.42 0.00 0.000 4 0.000 0.039 2534 1085 3434

3435 -1.17 -146.6 315.9 -9.6 162 3439 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2477 3434

3756 -1.17 -146.6 349.4 -11.7 178 3761 0.00 2.45 0.00 0.000 4 0.000 0.039 2534 1076 3434

3789 -1.17 -146.6 353.5 -12.5 179 3793 0.00 2.45 0.00 0.000 6 0.000 0.037 2534 2476 3434

4105 -1.17 -146.6 391.3 -12.1 194 4109 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1085 3435

4161 -1.17 -146.6 397.6 -11.5 196 4167 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2485 3435

4477 -1.17 -146.6 432.9 -10.6 212 4481 0.00 2.45 0.00 0.000 4 0.000 0.062 2534 3833 3434

4545 -1.17 -146.6 440.5 -11.1 215 4549 0.00 2.30 0.00 0.000 6 0.000 0.028 2534 2474 3434

4869 -1.17 -146.6 452.3 0.1 231 4870 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2473 3434

5176 -1.17 -146.6 467.5 -7.1 246 5180 0.00 2.45 0.00 0.000 4 0.000 0.042 2535 1069 3434

5265 -1.17 -146.6 474.9 -8.5 250 5270 0.00 2.47 0.00 0.000 6 0.000 0.040 2534 2476 3433

5591 -1.17 -146.6 504.7 -9.5 266 5596 0.00 2.45 0.00 0.000 4 0.000 0.042 2534 1079 3433

5641 -1.17 -146.6 509.4 -9.1 268 5646 0.00 2.47 0.00 0.000 6 0.000 0.039 2534 2486 3433

5959 -1.17 -146.6 536.1 -8.5 283 5963 0.00 2.47 0.00 0.000 4 0.000 0.041 2534 1077 3432

6000 -1.17 -146.6 539.6 -8.7 285 6004 0.00 2.45 0.00 0.000 6 0.000 0.039 2534 2474 3432

6329 -1.17 -146.6 567.3 -8.2 301 6333 0.00 2.47 0.00 0.000 4 0.000 0.043 2534 1072 3431

6373 -1.17 -146.6 571.4 -8.3 303 6377 0.00 2.47 0.00 0.000 6 0.000 0.040 2534 2480 3431

6464 end dive: BOTTOM_OBSTACLE_DETECTED

state 6464 begin apogee

6472 -0.36 0.0 578.8 7.9 308 6607 0.88 0.00 126.68 1.141 6 0.072 0.000 2719 1467 2831

6607 end apogee: CONTROL_FINISHED_OK

state 6608 begin climb

6610 1.17 146.6 583.5 0.0 315 6745 1.52 2.28 127.22 1.100 4 0.048 0.061 3056 261 2234

6787 1.21 171.9 576.7 6.6 323 6816 0.00 2.10 22.92 1.034 6 0.000 0.034 3056 1478 2131

7133 1.21 171.9 550.4 7.8 340 7137 0.00 2.47 0.00 0.000 4 0.000 0.048 3057 2857 2123

7183 1.21 171.9 546.1 7.7 342 7187 0.00 2.50 0.00 0.000 6 0.000 0.039 3056 1447 2122

7501 1.23 189.9 523.4 6.9 357 7523 0.00 2.58 15.65 1.028 4 0.000 0.044 3056 2856 2056

7592 1.23 189.9 516.2 8.2 361 7596 0.00 2.50 0.00 0.000 6 0.000 0.038 3056 1445 2054

7920 1.23 189.9 487.0 10.0 377 7922 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1445 2053

8227 1.23 189.9 454.2 11.0 392 8231 0.00 2.15 0.00 0.000 4 0.000 0.060 3057 261 2052

8283 1.23 189.9 448.0 11.2 394 8287 0.00 2.03 0.00 0.000 6 0.000 0.030 3056 1464 2052

8607 1.34 283.9 426.6 4.3 410 8698 0.15 2.50 83.82 1.059 4 0.038 0.046 3111 2843 1673

8728 1.34 283.9 418.7 7.8 416 8732 0.00 2.47 0.00 0.000 6 0.000 0.038 3111 1452 1669

9054 1.35 287.5 393.0 7.4 432 9058 0.00 2.15 0.00 0.000 4 0.000 0.057 3111 262 1663

9083 1.35 287.5 390.8 7.8 433 9087 0.00 2.00 0.00 0.000 6 0.000 0.029 3111 1459 1663

9409 1.35 287.5 351.7 14.4 449 9410 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 1461 1661

9719 1.35 287.5 307.4 13.3 464 9724 0.00 2.20 0.00 0.000 4 0.000 0.054 3111 262 1660

9824 1.35 287.5 293.3 13.4 468 9830 0.00 2.03 0.00 0.000 6 0.000 0.030 3111 1458 1660

10139 1.35 287.5 253.1 13.0 484 10143 0.00 2.45 0.00 0.000 4 0.000 0.042 3111 2851 1660

10167 1.35 287.5 249.4 13.2 485 10171 0.00 2.42 0.00 0.000 6 0.000 0.035 3111 1452 1659

10482 1.35 287.5 212.9 11.1 500 10486 0.00 2.12 0.00 0.000 4 0.000 0.054 3111 264 1659

10543 1.35 287.5 205.8 11.2 502 10549 0.00 1.98 0.00 0.000 6 0.000 0.028 3111 1457 1659

10859 1.35 287.5 174.1 9.6 518 10863 0.00 2.15 0.00 0.000 4 0.000 0.053 3111 259 1659

10886 1.35 287.5 171.1 10.7 519 10890 0.00 1.98 0.00 0.000 6 0.000 0.028 3111 1454 1659

11213 1.35 287.5 139.0 10.3 535 11215 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 1456 1659

11524 1.35 287.5 102.4 12.6 550 11525 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 1456 1659

11832 1.35 287.5 62.1 13.1 565 11836 0.00 2.12 0.00 0.000 4 0.000 0.052 3111 265 1660

11954 1.35 287.5 44.9 13.5 570 11959 0.00 2.03 0.00 0.000 6 0.000 0.029 3111 1456 1660

12275 1.35 287.5 7.2 11.2 586 12276 0.00 0.00 0.00 0.000 6 0.000 0.000 3111 1456 1660

12314 end climb: SURFACE_DEPTH_REACHED

state 12314 begin surface coast

12336 end surface coast: CONTROL_FINISHED_OK

state 12336 begin surface

ID	105	HEADING	270	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	45	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	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	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1628882.1	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	142000,6215.476,-921.499,36,1.4,41,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6215.503,-944.706
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.75	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-57.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	142444,6215.503,-921.506,15,1.5,15,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.2,1.027211	ALTIM_BOTTOM_PING	500.9,86.8
SM_CCo	12360,8.80,0.680,0,0,1609,300.00	_24V_AH	23.3,24.554
SM_GC	1.27,0.00,0.00,8.80,0.000,0.000,0.680,398,2461,1609,-11.05,-0.42,300.00	_10V_AH	10.1,10.563
IRIDIUM_FIX	6148.92,-920.16,070998,111100	DATA_FILE_SIZE	28597,589
TT8_MAMPS	0.027612	CAP_FILE_SIZE	98179,0
HUMID	1838	CFSIZE	260165632,255455232
INTERNAL_PRESSURE	8.08949	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.30	GPS	130609,175230,6215.382,-926.365,39,1.7,39,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	81.69	SBE_CT	519	24	290.75
Roll_motor	130	62	189.27	SBE_O2	403	19	178.55
VBD_pump_during_apogee	376	1141	10006.64	WL_BB2F	396	105	970.21
VBD_pump_during_surface	8	680	139.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.09	nil	0	0	0.00
Iridium_during_connect	31	160	117.56	nil	0	0	0.00
Iridium_during_xfer	121	223	630.32
Transponder_ping	4	420	39.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.89
TT8	1137	19	227.43
LPSleep	9050	2	200.19
TT8_Active	473	19	94.77
TT8_Sampling	1423	39	572.15
TT8_CF8	575	45	266.23
TT8_Kalman	0	81	0.00
Analog_circuits	1264	12	153.31
GPS_charging	0	0	0.00
Compass	1516	8	122.50
RAFOS	0	0	0.00
Transponder	28	30	8.57

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
15	-1.17	-146.6	0.0	0.0	0	97	0.00	0.00	-75.18	0.000	6	0.000	0.000	393	2452	3432
100	-1.17	-146.6	5.8	-8.3	4	121	11.48	2.50	0.00	0.000	4	0.136	0.053	2534	3832	3433
458	-1.17	-146.6	49.5	-9.1	20	463	0.00	2.35	0.00	0.000	6	0.000	0.026	2534	2448	3434
790	-1.17	-146.6	80.6	-9.7	36	794	0.00	2.50	0.00	0.000	4	0.000	0.054	2534	3828	3434
830	-1.17	-146.6	84.6	-10.3	38	835	0.00	2.30	0.00	0.000	6	0.000	0.026	2534	2477	3434
1162	-1.17	-146.6	115.2	-8.7	54	1167	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1076	3434
1212	-1.17	-146.6	119.4	-8.1	56	1217	0.00	2.42	0.00	0.000	6	0.000	0.031	2534	2481	3434
1528	-1.17	-146.6	143.7	-7.5	71	1532	0.00	2.42	0.00	0.000	4	0.000	0.036	2534	1082	3435
1561	-1.17	-146.6	146.2	-7.5	72	1568	0.00	2.42	0.00	0.000	6	0.000	0.035	2534	2474	3434
1877	-1.17	-146.6	172.4	-8.9	88	1881	0.00	2.42	0.00	0.000	4	0.000	0.037	2534	1079	3435
1939	-1.17	-146.6	178.2	-9.5	91	1943	0.00	2.42	0.00	0.000	6	0.000	0.035	2534	2475	3435
2265	-1.17	-146.6	209.9	-10.0	107	2270	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1084	3434
2315	-1.17	-146.6	215.2	-10.2	109	2320	0.00	2.42	0.00	0.000	6	0.000	0.036	2534	2473	3434
2631	-1.17	-146.6	244.6	-9.1	124	2636	0.00	2.45	0.00	0.000	4	0.000	0.038	2534	1088	3434
2663	-1.17	-146.6	247.7	-8.9	125	2667	0.00	2.42	0.00	0.000	6	0.000	0.037	2534	2477	3435
2980	-1.17	-146.6	275.5	-8.6	140	2984	0.00	2.45	0.00	0.000	4	0.000	0.039	2534	1076	3435
3024	-1.17	-146.6	279.5	-8.7	142	3029	0.00	2.45	0.00	0.000	6	0.000	0.037	2534	2478	3435
3346	-1.17	-146.6	307.3	-9.2	158	3350	0.00	2.42	0.00	0.000	4	0.000	0.039	2534	1085	3434
3435	-1.17	-146.6	315.9	-9.6	162	3439	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2477	3434
3756	-1.17	-146.6	349.4	-11.7	178	3761	0.00	2.45	0.00	0.000	4	0.000	0.039	2534	1076	3434
3789	-1.17	-146.6	353.5	-12.5	179	3793	0.00	2.45	0.00	0.000	6	0.000	0.037	2534	2476	3434
4105	-1.17	-146.6	391.3	-12.1	194	4109	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1085	3435
4161	-1.17	-146.6	397.6	-11.5	196	4167	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2485	3435
4477	-1.17	-146.6	432.9	-10.6	212	4481	0.00	2.45	0.00	0.000	4	0.000	0.062	2534	3833	3434
4545	-1.17	-146.6	440.5	-11.1	215	4549	0.00	2.30	0.00	0.000	6	0.000	0.028	2534	2474	3434
4869	-1.17	-146.6	452.3	0.1	231	4870	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2473	3434
5176	-1.17	-146.6	467.5	-7.1	246	5180	0.00	2.45	0.00	0.000	4	0.000	0.042	2535	1069	3434
5265	-1.17	-146.6	474.9	-8.5	250	5270	0.00	2.47	0.00	0.000	6	0.000	0.040	2534	2476	3433
5591	-1.17	-146.6	504.7	-9.5	266	5596	0.00	2.45	0.00	0.000	4	0.000	0.042	2534	1079	3433
5641	-1.17	-146.6	509.4	-9.1	268	5646	0.00	2.47	0.00	0.000	6	0.000	0.039	2534	2486	3433
5959	-1.17	-146.6	536.1	-8.5	283	5963	0.00	2.47	0.00	0.000	4	0.000	0.041	2534	1077	3432
6000	-1.17	-146.6	539.6	-8.7	285	6004	0.00	2.45	0.00	0.000	6	0.000	0.039	2534	2474	3432
6329	-1.17	-146.6	567.3	-8.2	301	6333	0.00	2.47	0.00	0.000	4	0.000	0.043	2534	1072	3431
6373	-1.17	-146.6	571.4	-8.3	303	6377	0.00	2.47	0.00	0.000	6	0.000	0.040	2534	2480	3431
6464	end dive: BOTTOM_OBSTACLE_DETECTED
state	6464	begin apogee
6472	-0.36	0.0	578.8	7.9	308	6607	0.88	0.00	126.68	1.141	6	0.072	0.000	2719	1467	2831
6607	end apogee: CONTROL_FINISHED_OK
state	6608	begin climb
6610	1.17	146.6	583.5	0.0	315	6745	1.52	2.28	127.22	1.100	4	0.048	0.061	3056	261	2234
6787	1.21	171.9	576.7	6.6	323	6816	0.00	2.10	22.92	1.034	6	0.000	0.034	3056	1478	2131
7133	1.21	171.9	550.4	7.8	340	7137	0.00	2.47	0.00	0.000	4	0.000	0.048	3057	2857	2123
7183	1.21	171.9	546.1	7.7	342	7187	0.00	2.50	0.00	0.000	6	0.000	0.039	3056	1447	2122
7501	1.23	189.9	523.4	6.9	357	7523	0.00	2.58	15.65	1.028	4	0.000	0.044	3056	2856	2056
7592	1.23	189.9	516.2	8.2	361	7596	0.00	2.50	0.00	0.000	6	0.000	0.038	3056	1445	2054
7920	1.23	189.9	487.0	10.0	377	7922	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1445	2053
8227	1.23	189.9	454.2	11.0	392	8231	0.00	2.15	0.00	0.000	4	0.000	0.060	3057	261	2052
8283	1.23	189.9	448.0	11.2	394	8287	0.00	2.03	0.00	0.000	6	0.000	0.030	3056	1464	2052
8607	1.34	283.9	426.6	4.3	410	8698	0.15	2.50	83.82	1.059	4	0.038	0.046	3111	2843	1673
8728	1.34	283.9	418.7	7.8	416	8732	0.00	2.47	0.00	0.000	6	0.000	0.038	3111	1452	1669
9054	1.35	287.5	393.0	7.4	432	9058	0.00	2.15	0.00	0.000	4	0.000	0.057	3111	262	1663
9083	1.35	287.5	390.8	7.8	433	9087	0.00	2.00	0.00	0.000	6	0.000	0.029	3111	1459	1663
9409	1.35	287.5	351.7	14.4	449	9410	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	1461	1661
9719	1.35	287.5	307.4	13.3	464	9724	0.00	2.20	0.00	0.000	4	0.000	0.054	3111	262	1660
9824	1.35	287.5	293.3	13.4	468	9830	0.00	2.03	0.00	0.000	6	0.000	0.030	3111	1458	1660
10139	1.35	287.5	253.1	13.0	484	10143	0.00	2.45	0.00	0.000	4	0.000	0.042	3111	2851	1660
10167	1.35	287.5	249.4	13.2	485	10171	0.00	2.42	0.00	0.000	6	0.000	0.035	3111	1452	1659
10482	1.35	287.5	212.9	11.1	500	10486	0.00	2.12	0.00	0.000	4	0.000	0.054	3111	264	1659
10543	1.35	287.5	205.8	11.2	502	10549	0.00	1.98	0.00	0.000	6	0.000	0.028	3111	1457	1659
10859	1.35	287.5	174.1	9.6	518	10863	0.00	2.15	0.00	0.000	4	0.000	0.053	3111	259	1659
10886	1.35	287.5	171.1	10.7	519	10890	0.00	1.98	0.00	0.000	6	0.000	0.028	3111	1454	1659
11213	1.35	287.5	139.0	10.3	535	11215	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	1456	1659
11524	1.35	287.5	102.4	12.6	550	11525	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	1456	1659
11832	1.35	287.5	62.1	13.1	565	11836	0.00	2.12	0.00	0.000	4	0.000	0.052	3111	265	1660
11954	1.35	287.5	44.9	13.5	570	11959	0.00	2.03	0.00	0.000	6	0.000	0.029	3111	1456	1660
12275	1.35	287.5	7.2	11.2	586	12276	0.00	0.00	0.00	0.000	6	0.000	0.000	3111	1456	1660
12314	end climb: SURFACE_DEPTH_REACHED
state	12314	begin surface coast
12336	end surface coast: CONTROL_FINISHED_OK
state	12336	begin surface