Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 50 * 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 50 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -1628954.8 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 -1628954.8

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 28 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 50 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 091906,6212.881,-944.745,39,1.1,39,-9.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6212.865,-1007.940

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.82 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -61.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 092408,6212.865,-944.774,14,1.0,14,-9.9 MHEAD_RNG_PITCHd_Wd 279.9,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027197 ALTIM_BOTTOM_PING 576.3,70.6

SM_CCo 14690,40.53,0.750,0,0,1609,300.00 _24V_AH 23.3,25.190

SM_GC 0.85,0.00,0.00,40.53,0.000,0.000,0.750,397,2453,1609,-11.05,-0.65,300.00 _10V_AH 10.1,10.913

IRIDIUM_FIX 6230.49,143.86,080998,050514 DATA_FILE_SIZE 34887,701

TT8_MAMPS 0.027612 CAP_FILE_SIZE 111627,0

HUMID 1813 CFSIZE 260165632,255168512

INTERNAL_PRESSURE 8.08949 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 13.70 GPS 140609,133107,6211.879,-946.568,27,1.6,27,-9.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.45 SBE_CT 624 24 349.28

Roll_motor 138 62 199.94 SBE_O2 489 19 216.77

VBD_pump_during_apogee 338 1166 9201.77 WL_BB2F 437 105 1070.53

VBD_pump_during_surface 40 750 708.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.48 nil 0 0 0.00

Iridium_during_connect 27 160 101.58 nil 0 0 0.00

Iridium_during_xfer 135 223 701.51

Transponder_ping 4 420 46.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.44

TT8 1335 19 266.99

LPSleep 10935 2 241.89

TT8_Active 473 19 94.64

TT8_Sampling 1650 39 663.32

TT8_CF8 645 45 298.54

TT8_Kalman 0 81 0.00

Analog_circuits 1361 12 164.98

GPS_charging 0 0 0.00

Compass 1778 8 143.72

RAFOS 0 0 0.00

Transponder 33 30 10.03

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 77 0.00 0.00 -59.15 0.000 6 0.000 0.000 395 2459 3431

80 -1.17 -146.6 4.5 -8.7 3 101 11.45 2.53 0.00 0.000 4 0.134 0.051 2536 3829 3432

438 -1.17 -146.6 57.2 -14.2 19 443 0.00 2.33 0.00 0.000 6 0.000 0.026 2536 2458 3433

770 -1.17 -146.6 101.5 -12.3 35 774 0.00 2.47 0.00 0.000 4 0.000 0.052 2536 3828 3433

859 -1.17 -146.6 111.6 -11.0 39 863 0.00 2.28 0.00 0.000 6 0.000 0.025 2536 2468 3433

1180 -1.17 -146.6 137.8 -8.3 55 1184 0.00 2.38 0.00 0.000 4 0.000 0.035 2536 1088 3434

1243 -1.17 -146.6 143.0 -8.0 58 1247 0.00 2.40 0.00 0.000 6 0.000 0.033 2536 2475 3434

1569 -1.17 -146.6 167.0 -7.5 74 1573 0.00 2.42 0.00 0.000 4 0.000 0.036 2536 1078 3434

1647 -1.17 -146.6 173.3 -7.9 77 1653 0.00 2.42 0.00 0.000 6 0.000 0.034 2536 2475 3434

1965 -1.17 -146.6 202.3 -9.3 93 1969 0.00 2.42 0.00 0.000 4 0.000 0.037 2536 1080 3434

2054 -1.17 -146.6 211.0 -9.0 97 2059 0.00 2.42 0.00 0.000 6 0.000 0.035 2536 2480 3434

2378 -1.17 -146.6 239.6 -8.9 113 2382 0.00 2.42 0.00 0.000 4 0.000 0.038 2536 1084 3433

2422 -1.17 -146.6 243.8 -8.6 115 2426 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2473 3433

2744 -1.17 -146.6 271.0 -8.1 131 2748 0.00 2.42 0.00 0.000 4 0.000 0.038 2536 1082 3434

2793 -1.17 -146.6 275.3 -8.0 133 2798 0.00 2.45 0.00 0.000 6 0.000 0.038 2536 2479 3433

3109 -1.17 -146.6 298.0 -6.8 148 3114 0.00 2.45 0.00 0.000 4 0.000 0.039 2536 1095 3434

3155 -1.17 -146.6 301.5 -8.0 150 3159 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2481 3433

3483 -1.17 -146.6 327.3 -8.1 166 3487 0.00 2.42 0.00 0.000 4 0.000 0.039 2536 1091 3434

3555 -1.17 -146.6 333.8 -9.2 169 3559 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2473 3433

3871 -1.17 -146.6 360.7 -7.6 184 3875 0.00 2.42 0.00 0.000 4 0.000 0.040 2536 1087 3433

3903 -1.17 -146.6 363.6 -8.1 185 3910 0.00 2.45 0.00 0.000 6 0.000 0.038 2536 2486 3434

4220 -1.17 -146.6 389.0 -8.4 201 4225 0.00 2.45 0.00 0.000 4 0.000 0.040 2536 1087 3433

4271 -1.17 -146.6 392.9 -6.9 203 4275 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2478 3433

4586 -1.17 -146.6 417.6 -8.2 218 4591 0.00 2.45 0.00 0.000 4 0.000 0.041 2536 1097 3433

4642 -1.17 -146.6 422.2 -7.8 220 4647 0.00 2.42 0.00 0.000 6 0.000 0.037 2536 2485 3433

4958 -1.17 -146.6 446.0 -9.1 235 4962 0.00 2.45 0.00 0.000 4 0.000 0.041 2536 1087 3433

4997 -1.17 -146.6 449.8 -9.8 237 5006 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2476 3433

5333 -1.17 -146.6 480.2 -9.8 253 5334 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2476 3432

5643 -1.17 -146.6 504.6 -7.2 268 5644 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2476 3432

5952 -1.17 -146.6 526.0 -8.2 283 5956 0.00 2.42 0.00 0.000 4 0.000 0.041 2536 1093 3432

6023 -1.17 -146.6 532.4 -8.3 286 6028 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2480 3432

6340 -1.17 -146.6 552.1 -5.5 301 6344 0.00 2.47 0.00 0.000 4 0.000 0.061 2536 3827 3432

6468 -1.17 -146.6 562.6 -9.3 306 6474 0.00 2.28 0.00 0.000 6 0.000 0.029 2536 2482 3432

6783 -1.17 -146.6 593.7 -8.5 322 6787 0.00 2.45 0.00 0.000 4 0.000 0.041 2536 1077 3432

6816 -1.17 -146.6 596.4 -8.0 323 6822 0.00 2.45 0.00 0.000 6 0.000 0.038 2536 2484 3432

7131 -1.17 -146.6 623.7 -9.1 339 7136 0.00 2.50 0.00 0.000 4 0.000 0.042 2536 1081 3431

7227 -1.17 -146.6 632.2 -8.6 343 7232 0.00 2.45 0.00 0.000 6 0.000 0.040 2536 2477 3431

7298 end dive: BOTTOM_OBSTACLE_DETECTED

state 7298 begin apogee

7306 -0.36 0.0 638.3 8.4 347 7440 0.88 0.00 127.35 1.167 6 0.070 0.000 2722 1465 2832

7441 end apogee: CONTROL_FINISHED_OK

state 7441 begin climb

7444 1.17 146.6 644.4 0.0 354 7582 1.50 2.30 128.27 1.132 4 0.049 0.062 3054 267 2233

7707 1.18 146.8 633.1 7.5 366 7711 0.00 2.05 0.00 0.000 6 0.000 0.032 3054 1474 2227

8034 1.25 203.6 610.9 5.6 382 8090 0.00 2.28 50.22 1.124 4 0.000 0.061 3054 261 2001

8124 1.25 206.6 605.5 7.4 386 8133 0.00 2.08 3.88 0.659 6 0.000 0.033 3054 1454 1988

8451 1.25 206.6 581.6 8.0 402 8455 0.00 2.50 0.00 0.000 4 0.000 0.048 3054 2852 1983

8539 1.26 216.5 575.0 7.2 406 8555 0.00 2.47 9.35 0.989 6 0.000 0.039 3054 1454 1949

8867 1.26 216.5 547.8 10.5 422 8871 0.00 2.50 0.00 0.000 4 0.000 0.044 3054 2852 1946

9057 1.26 216.5 530.2 8.7 430 9064 0.00 2.47 0.00 0.000 6 0.000 0.038 3054 1450 1944

9374 1.27 221.1 505.1 7.3 446 9384 0.00 2.53 5.15 0.823 4 0.000 0.041 3054 2845 1929

9429 1.28 235.0 500.9 7.0 448 9449 0.12 2.45 14.30 1.035 6 0.040 0.036 3109 1445 1872

9771 1.28 235.0 467.5 10.0 465 9773 0.15 0.00 0.00 0.000 6 0.079 0.000 3078 1445 1869

10080 1.28 235.0 438.3 9.3 480 10081 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1445 1869

10389 1.28 235.0 407.7 10.0 495 10390 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1445 1868

10699 1.28 235.0 379.0 8.7 510 10700 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1445 1869

11010 1.28 235.0 354.3 9.4 525 11015 0.00 2.47 0.00 0.000 4 0.000 0.038 3078 2857 1868

11050 1.28 235.0 350.3 9.9 527 11054 0.00 2.45 0.00 0.000 6 0.000 0.034 3078 1446 1868

11376 1.28 235.0 319.4 9.6 543 11377 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1446 1868

11688 1.28 235.0 288.5 9.7 558 11692 0.00 2.45 0.00 0.000 4 0.000 0.038 3078 2848 1868

11720 1.28 235.0 284.9 9.4 559 11727 0.00 2.45 0.00 0.000 6 0.000 0.034 3078 1456 1868

12036 1.28 235.0 255.1 9.6 575 12037 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1456 1868

12345 1.28 235.0 223.6 9.9 590 12349 0.00 2.42 0.00 0.000 4 0.000 0.038 3078 2849 1868

12372 1.28 235.0 220.8 10.3 591 12376 0.00 2.42 0.00 0.000 6 0.000 0.033 3078 1450 1869

12690 1.28 235.0 188.2 10.1 606 12691 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1450 1869

12999 1.28 235.0 157.0 9.9 621 13003 0.00 2.45 0.00 0.000 4 0.000 0.038 3078 2850 1869

13026 1.28 235.0 153.9 10.8 622 13031 0.00 2.45 0.00 0.000 6 0.000 0.033 3078 1453 1869

13348 1.28 235.0 124.5 8.2 638 13349 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1453 1869

13656 1.28 235.0 98.2 8.8 653 13660 0.00 2.42 0.00 0.000 4 0.000 0.037 3078 2851 1869

13684 1.28 235.0 95.5 10.0 654 13688 0.00 2.42 0.00 0.000 6 0.000 0.032 3078 1448 1869

13999 1.28 235.0 62.5 11.9 669 14001 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 1448 1870

14310 1.28 235.0 31.7 8.5 684 14314 0.00 2.10 0.00 0.000 4 0.000 0.053 3078 264 1870

14360 1.28 235.0 27.1 8.7 686 14364 0.00 2.00 0.00 0.000 6 0.000 0.027 3078 1474 1869

14643 end climb: SURFACE_DEPTH_REACHED

state 14643 begin surface coast

14667 end surface coast: CONTROL_FINISHED_OK

state 14667 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	50	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-1628954.8	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	091906,6212.881,-944.745,39,1.1,39,-9.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6212.865,-1007.940
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.82	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-61.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	092408,6212.865,-944.774,14,1.0,14,-9.9	MHEAD_RNG_PITCHd_Wd	279.9,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.027197	ALTIM_BOTTOM_PING	576.3,70.6
SM_CCo	14690,40.53,0.750,0,0,1609,300.00	_24V_AH	23.3,25.190
SM_GC	0.85,0.00,0.00,40.53,0.000,0.000,0.750,397,2453,1609,-11.05,-0.65,300.00	_10V_AH	10.1,10.913
IRIDIUM_FIX	6230.49,143.86,080998,050514	DATA_FILE_SIZE	34887,701
TT8_MAMPS	0.027612	CAP_FILE_SIZE	111627,0
HUMID	1813	CFSIZE	260165632,255168512
INTERNAL_PRESSURE	8.08949	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	13.70	GPS	140609,133107,6211.879,-946.568,27,1.6,27,-9.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.45	SBE_CT	624	24	349.28
Roll_motor	138	62	199.94	SBE_O2	489	19	216.77
VBD_pump_during_apogee	338	1166	9201.77	WL_BB2F	437	105	1070.53
VBD_pump_during_surface	40	750	708.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.48	nil	0	0	0.00
Iridium_during_connect	27	160	101.58	nil	0	0	0.00
Iridium_during_xfer	135	223	701.51
Transponder_ping	4	420	46.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.44
TT8	1335	19	266.99
LPSleep	10935	2	241.89
TT8_Active	473	19	94.64
TT8_Sampling	1650	39	663.32
TT8_CF8	645	45	298.54
TT8_Kalman	0	81	0.00
Analog_circuits	1361	12	164.98
GPS_charging	0	0	0.00
Compass	1778	8	143.72
RAFOS	0	0	0.00
Transponder	33	30	10.03

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	77	0.00	0.00	-59.15	0.000	6	0.000	0.000	395	2459	3431
80	-1.17	-146.6	4.5	-8.7	3	101	11.45	2.53	0.00	0.000	4	0.134	0.051	2536	3829	3432
438	-1.17	-146.6	57.2	-14.2	19	443	0.00	2.33	0.00	0.000	6	0.000	0.026	2536	2458	3433
770	-1.17	-146.6	101.5	-12.3	35	774	0.00	2.47	0.00	0.000	4	0.000	0.052	2536	3828	3433
859	-1.17	-146.6	111.6	-11.0	39	863	0.00	2.28	0.00	0.000	6	0.000	0.025	2536	2468	3433
1180	-1.17	-146.6	137.8	-8.3	55	1184	0.00	2.38	0.00	0.000	4	0.000	0.035	2536	1088	3434
1243	-1.17	-146.6	143.0	-8.0	58	1247	0.00	2.40	0.00	0.000	6	0.000	0.033	2536	2475	3434
1569	-1.17	-146.6	167.0	-7.5	74	1573	0.00	2.42	0.00	0.000	4	0.000	0.036	2536	1078	3434
1647	-1.17	-146.6	173.3	-7.9	77	1653	0.00	2.42	0.00	0.000	6	0.000	0.034	2536	2475	3434
1965	-1.17	-146.6	202.3	-9.3	93	1969	0.00	2.42	0.00	0.000	4	0.000	0.037	2536	1080	3434
2054	-1.17	-146.6	211.0	-9.0	97	2059	0.00	2.42	0.00	0.000	6	0.000	0.035	2536	2480	3434
2378	-1.17	-146.6	239.6	-8.9	113	2382	0.00	2.42	0.00	0.000	4	0.000	0.038	2536	1084	3433
2422	-1.17	-146.6	243.8	-8.6	115	2426	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2473	3433
2744	-1.17	-146.6	271.0	-8.1	131	2748	0.00	2.42	0.00	0.000	4	0.000	0.038	2536	1082	3434
2793	-1.17	-146.6	275.3	-8.0	133	2798	0.00	2.45	0.00	0.000	6	0.000	0.038	2536	2479	3433
3109	-1.17	-146.6	298.0	-6.8	148	3114	0.00	2.45	0.00	0.000	4	0.000	0.039	2536	1095	3434
3155	-1.17	-146.6	301.5	-8.0	150	3159	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2481	3433
3483	-1.17	-146.6	327.3	-8.1	166	3487	0.00	2.42	0.00	0.000	4	0.000	0.039	2536	1091	3434
3555	-1.17	-146.6	333.8	-9.2	169	3559	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2473	3433
3871	-1.17	-146.6	360.7	-7.6	184	3875	0.00	2.42	0.00	0.000	4	0.000	0.040	2536	1087	3433
3903	-1.17	-146.6	363.6	-8.1	185	3910	0.00	2.45	0.00	0.000	6	0.000	0.038	2536	2486	3434
4220	-1.17	-146.6	389.0	-8.4	201	4225	0.00	2.45	0.00	0.000	4	0.000	0.040	2536	1087	3433
4271	-1.17	-146.6	392.9	-6.9	203	4275	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2478	3433
4586	-1.17	-146.6	417.6	-8.2	218	4591	0.00	2.45	0.00	0.000	4	0.000	0.041	2536	1097	3433
4642	-1.17	-146.6	422.2	-7.8	220	4647	0.00	2.42	0.00	0.000	6	0.000	0.037	2536	2485	3433
4958	-1.17	-146.6	446.0	-9.1	235	4962	0.00	2.45	0.00	0.000	4	0.000	0.041	2536	1087	3433
4997	-1.17	-146.6	449.8	-9.8	237	5006	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2476	3433
5333	-1.17	-146.6	480.2	-9.8	253	5334	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2476	3432
5643	-1.17	-146.6	504.6	-7.2	268	5644	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2476	3432
5952	-1.17	-146.6	526.0	-8.2	283	5956	0.00	2.42	0.00	0.000	4	0.000	0.041	2536	1093	3432
6023	-1.17	-146.6	532.4	-8.3	286	6028	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2480	3432
6340	-1.17	-146.6	552.1	-5.5	301	6344	0.00	2.47	0.00	0.000	4	0.000	0.061	2536	3827	3432
6468	-1.17	-146.6	562.6	-9.3	306	6474	0.00	2.28	0.00	0.000	6	0.000	0.029	2536	2482	3432
6783	-1.17	-146.6	593.7	-8.5	322	6787	0.00	2.45	0.00	0.000	4	0.000	0.041	2536	1077	3432
6816	-1.17	-146.6	596.4	-8.0	323	6822	0.00	2.45	0.00	0.000	6	0.000	0.038	2536	2484	3432
7131	-1.17	-146.6	623.7	-9.1	339	7136	0.00	2.50	0.00	0.000	4	0.000	0.042	2536	1081	3431
7227	-1.17	-146.6	632.2	-8.6	343	7232	0.00	2.45	0.00	0.000	6	0.000	0.040	2536	2477	3431
7298	end dive: BOTTOM_OBSTACLE_DETECTED
state	7298	begin apogee
7306	-0.36	0.0	638.3	8.4	347	7440	0.88	0.00	127.35	1.167	6	0.070	0.000	2722	1465	2832
7441	end apogee: CONTROL_FINISHED_OK
state	7441	begin climb
7444	1.17	146.6	644.4	0.0	354	7582	1.50	2.30	128.27	1.132	4	0.049	0.062	3054	267	2233
7707	1.18	146.8	633.1	7.5	366	7711	0.00	2.05	0.00	0.000	6	0.000	0.032	3054	1474	2227
8034	1.25	203.6	610.9	5.6	382	8090	0.00	2.28	50.22	1.124	4	0.000	0.061	3054	261	2001
8124	1.25	206.6	605.5	7.4	386	8133	0.00	2.08	3.88	0.659	6	0.000	0.033	3054	1454	1988
8451	1.25	206.6	581.6	8.0	402	8455	0.00	2.50	0.00	0.000	4	0.000	0.048	3054	2852	1983
8539	1.26	216.5	575.0	7.2	406	8555	0.00	2.47	9.35	0.989	6	0.000	0.039	3054	1454	1949
8867	1.26	216.5	547.8	10.5	422	8871	0.00	2.50	0.00	0.000	4	0.000	0.044	3054	2852	1946
9057	1.26	216.5	530.2	8.7	430	9064	0.00	2.47	0.00	0.000	6	0.000	0.038	3054	1450	1944
9374	1.27	221.1	505.1	7.3	446	9384	0.00	2.53	5.15	0.823	4	0.000	0.041	3054	2845	1929
9429	1.28	235.0	500.9	7.0	448	9449	0.12	2.45	14.30	1.035	6	0.040	0.036	3109	1445	1872
9771	1.28	235.0	467.5	10.0	465	9773	0.15	0.00	0.00	0.000	6	0.079	0.000	3078	1445	1869
10080	1.28	235.0	438.3	9.3	480	10081	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1445	1869
10389	1.28	235.0	407.7	10.0	495	10390	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1445	1868
10699	1.28	235.0	379.0	8.7	510	10700	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1445	1869
11010	1.28	235.0	354.3	9.4	525	11015	0.00	2.47	0.00	0.000	4	0.000	0.038	3078	2857	1868
11050	1.28	235.0	350.3	9.9	527	11054	0.00	2.45	0.00	0.000	6	0.000	0.034	3078	1446	1868
11376	1.28	235.0	319.4	9.6	543	11377	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1446	1868
11688	1.28	235.0	288.5	9.7	558	11692	0.00	2.45	0.00	0.000	4	0.000	0.038	3078	2848	1868
11720	1.28	235.0	284.9	9.4	559	11727	0.00	2.45	0.00	0.000	6	0.000	0.034	3078	1456	1868
12036	1.28	235.0	255.1	9.6	575	12037	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1456	1868
12345	1.28	235.0	223.6	9.9	590	12349	0.00	2.42	0.00	0.000	4	0.000	0.038	3078	2849	1868
12372	1.28	235.0	220.8	10.3	591	12376	0.00	2.42	0.00	0.000	6	0.000	0.033	3078	1450	1869
12690	1.28	235.0	188.2	10.1	606	12691	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1450	1869
12999	1.28	235.0	157.0	9.9	621	13003	0.00	2.45	0.00	0.000	4	0.000	0.038	3078	2850	1869
13026	1.28	235.0	153.9	10.8	622	13031	0.00	2.45	0.00	0.000	6	0.000	0.033	3078	1453	1869
13348	1.28	235.0	124.5	8.2	638	13349	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1453	1869
13656	1.28	235.0	98.2	8.8	653	13660	0.00	2.42	0.00	0.000	4	0.000	0.037	3078	2851	1869
13684	1.28	235.0	95.5	10.0	654	13688	0.00	2.42	0.00	0.000	6	0.000	0.032	3078	1448	1869
13999	1.28	235.0	62.5	11.9	669	14001	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	1448	1870
14310	1.28	235.0	31.7	8.5	684	14314	0.00	2.10	0.00	0.000	4	0.000	0.053	3078	264	1870
14360	1.28	235.0	27.1	8.7	686	14364	0.00	2.00	0.00	0.000	6	0.000	0.027	3078	1474	1869
14643	end climb: SURFACE_DEPTH_REACHED
state	14643	begin surface coast
14667	end surface coast: CONTROL_FINISHED_OK
state	14667	begin surface