Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 77 * 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 77 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 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 -101728.62 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 0.039999999 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 330

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 -101728.62

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 77 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 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 045954,6215.747,-1001.822,42,1.4,42,-10.1 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.241,-0.107

_SM_DEPTHo 1.54 KALMAN_X -76682.6,-1635.1,-1314.3,7479.1,16650.2

_SM_ANGLEo -62.2 KALMAN_Y 55334.4,-1463.8,-2311.9,20925.1,18959.3

GPS2 050452,6215.706,-1001.864,12,1.7,14,-10.1 MHEAD_RNG_PITCHd_Wd 256.2,28603,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026808 ALTIM_BOTTOM_PING 722.7,45.3

SM_CCo 12919,0.00,0.000,0,0,1546,315.46 _24V_AH 23.8,15.420

SM_GC 1.64,11.48,0.00,0.00,0.031,0.000,0.000,419,2155,1546,-10.59,0.88,315.46 _10V_AH 10.1,6.890

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31700,618

TT8_MAMPS 0.029146 CAP_FILE_SIZE 103532,0

HUMID 1845 CFSIZE 254472192,247652352

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 24 GPS 100909,084207,6212.722,-1009.401,28,2.0,28,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 161 105.32 SBE_CT 422 24 241.39

Roll_motor 133 81 257.55 SBE_O2 457 19 206.69

VBD_pump_during_apogee 424 1335 13484.79 WL_BB2F 371 105 929.21

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 26 160 99.83 nil 0 0 0.00

Iridium_during_xfer 123 223 654.14

Transponder_ping 12 420 124.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.26

TT8 1159 19 231.79

LPSleep 9710 2 214.80

TT8_Active 537 19 107.41

TT8_Sampling 1378 39 554.18

TT8_CF8 434 45 200.95

TT8_Kalman 33 81 27.56

Analog_circuits 1274 12 154.44

GPS_charging 0 0 0.00

Compass 1341 8 108.42

RAFOS 0 0 0.00

Transponder 44 30 13.49

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 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 59 0.00 0.00 -41.17 0.000 2 0.000 0.000 416 2149 2522

63 -1.44 -146.6 2.5 -4.2 2 120 11.05 2.53 -36.92 0.000 4 0.161 0.075 2427 3519 3430

149 -1.27 -146.6 8.5 -14.0 6 154 0.20 2.50 0.00 0.000 6 0.097 0.046 2467 2112 3429

471 -1.27 -146.6 50.5 -12.3 22 475 0.00 2.60 0.00 0.000 4 0.000 0.063 2467 3527 3430

511 -1.27 -146.6 55.6 -12.5 24 515 0.00 2.47 0.00 0.000 6 0.000 0.046 2467 2128 3430

838 -1.27 -146.6 91.4 -10.7 40 839 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2115 3431

1147 -1.27 -146.6 127.3 -11.5 55 1151 0.00 2.58 0.00 0.000 4 0.000 0.064 2467 3530 3431

1191 -1.27 -146.6 133.3 -13.7 57 1196 0.00 2.47 0.00 0.000 6 0.000 0.048 2467 2133 3431

1513 -1.27 -146.6 184.3 -16.4 73 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2120 3431

1822 -1.27 -146.6 224.8 -11.3 88 1826 0.00 2.50 0.00 0.000 4 0.000 0.061 2467 722 3432

1862 -1.36 -146.6 229.2 -11.0 90 1866 0.00 2.50 0.00 0.000 6 0.000 0.047 2467 2144 3432

2189 -1.36 -146.6 267.2 -12.1 106 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2144 3432

2499 -1.36 -146.6 306.6 -12.5 121 2503 0.00 2.58 0.00 0.000 4 0.000 0.062 2467 723 3432

2584 -1.43 -146.6 317.4 -12.8 125 2589 0.15 2.50 0.00 0.000 6 0.052 0.048 2426 2142 3432

2914 -1.37 -146.6 364.1 -14.6 141 2919 0.10 2.58 0.00 0.000 4 0.103 0.061 2445 717 3432

2971 -1.37 -146.6 372.4 -13.1 143 2977 0.00 2.50 0.00 0.000 6 0.000 0.048 2445 2133 3432

3287 -1.37 -146.6 414.0 -13.6 159 3291 0.00 2.55 0.00 0.000 4 0.000 0.062 2445 723 3432

3320 -1.37 -146.6 419.0 -14.5 160 3326 0.00 2.47 0.00 0.000 6 0.000 0.049 2445 2125 3432

3636 -1.37 -146.6 464.1 -13.7 176 3640 0.00 2.55 0.00 0.000 4 0.000 0.063 2445 717 3432

3709 -1.37 -146.6 473.7 -12.4 179 3713 0.00 2.47 0.00 0.000 6 0.000 0.048 2445 2117 3432

4024 -1.37 -146.6 509.5 -10.9 194 4029 0.00 2.53 0.00 0.000 4 0.000 0.063 2445 722 3431

4075 -1.37 -146.6 515.3 -11.0 196 4079 0.00 2.42 0.00 0.000 6 0.000 0.050 2445 2102 3431

4396 -1.37 -146.6 549.9 -11.8 212 4398 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2103 3431

4705 -1.37 -146.6 591.6 -13.1 227 4710 0.00 2.62 0.00 0.000 4 0.000 0.075 2445 3535 3430

4738 -1.37 -146.6 595.9 -12.5 228 4745 0.00 2.65 0.00 0.000 6 0.000 0.059 2444 2066 3430

5055 -1.37 -146.6 629.1 -9.8 244 5059 0.00 2.72 0.00 0.000 4 0.000 0.072 2445 3536 3430

5184 -1.37 -146.6 642.0 -10.6 250 5189 0.00 2.60 0.00 0.000 6 0.000 0.058 2445 2091 3429

5511 -1.37 -146.6 676.4 -12.1 266 5512 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2087 3429

5820 -1.37 -146.6 720.0 -14.0 281 5821 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2080 3429

6130 -1.37 -146.6 757.3 -11.1 296 6134 0.00 2.50 0.00 0.000 6 0.000 0.077 2445 720 3427

6135 end dive: BOTTOM_OBSTACLE_DETECTED

state 6135 begin apogee

6144 -0.33 0.0 758.1 11.3 296 6281 1.02 0.00 133.32 1.335 6 0.087 0.000 2666 1870 2831

6282 end apogee: CONTROL_FINISHED_OK

state 6282 begin climb

6285 1.44 146.6 763.8 0.0 303 6429 1.80 0.00 135.80 1.287 6 0.067 0.000 3053 1871 2232

6739 1.33 146.6 725.2 10.2 325 6743 0.00 2.70 0.00 0.000 4 0.000 0.081 3053 441 2231

6794 1.11 146.6 719.2 10.6 327 6801 0.35 2.58 0.00 0.000 6 0.100 0.059 2986 1851 2231

7111 1.33 244.1 699.0 5.6 343 7206 0.22 2.75 88.82 1.274 4 0.054 0.081 3039 445 1835

7231 1.27 256.3 689.6 9.4 348 7252 0.00 2.60 12.52 1.134 6 0.000 0.061 3039 1863 1786

7562 1.27 256.3 656.4 10.1 364 7563 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1866 1786

7871 1.27 256.3 623.1 12.6 379 7875 0.00 2.58 0.00 0.000 4 0.000 0.073 3039 3252 1784

7911 1.27 256.3 617.7 14.5 381 7915 0.00 2.58 0.00 0.000 6 0.000 0.069 3039 1869 1784

8238 1.27 256.3 577.1 10.4 397 8242 0.00 2.58 0.00 0.000 4 0.000 0.071 3039 3249 1784

8305 1.34 300.7 571.0 8.0 400 8350 0.00 2.53 39.60 1.220 6 0.000 0.064 3039 1878 1605

8676 1.34 300.7 535.9 13.2 418 8680 0.00 2.55 0.00 0.000 4 0.000 0.067 3039 3252 1605

8716 1.41 300.7 529.9 14.8 420 8720 0.00 2.47 0.00 0.000 6 0.000 0.061 3039 1902 1605

9043 1.41 300.7 485.2 12.0 436 9047 0.00 2.50 0.00 0.000 4 0.000 0.066 3039 3257 1605

9071 1.46 300.7 481.8 11.5 437 9076 0.12 2.42 0.00 0.000 6 0.060 0.059 3072 1915 1605

9387 1.41 300.7 439.4 14.9 452 9392 0.00 2.67 0.00 0.000 4 0.000 0.071 3073 442 1606

9420 1.29 300.7 434.1 15.9 453 9427 0.22 2.62 0.00 0.000 6 0.092 0.051 3028 1911 1606

9737 1.37 301.4 398.3 10.0 469 9738 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1923 1606

10046 1.45 301.4 366.6 10.7 484 10048 0.15 0.00 0.00 0.000 6 0.054 0.000 3067 1926 1607

10355 1.45 301.4 322.9 14.2 499 10359 0.00 2.72 0.00 0.000 4 0.000 0.068 3067 434 1607

10396 1.36 301.4 317.0 14.7 501 10401 0.12 2.60 0.00 0.000 6 0.098 0.049 3044 1898 1607

10723 1.36 301.4 279.0 11.5 517 10727 0.00 2.67 0.00 0.000 4 0.000 0.066 3043 441 1607

10750 1.36 301.4 275.3 13.7 518 10754 0.00 2.58 0.00 0.000 6 0.000 0.048 3043 1896 1607

11066 1.41 301.4 235.1 12.5 533 11071 0.00 2.67 0.00 0.000 4 0.000 0.065 3043 436 1608

11100 1.41 301.4 230.4 12.6 534 11106 0.00 2.58 0.00 0.000 6 0.000 0.048 3043 1892 1608

11416 1.45 301.4 195.8 11.4 550 11420 0.00 2.65 0.00 0.000 4 0.000 0.067 3043 442 1608

11443 1.45 301.4 191.9 13.4 551 11448 0.00 2.55 0.00 0.000 6 0.000 0.048 3043 1882 1608

11760 1.50 301.4 145.8 15.1 566 11765 0.12 2.45 0.00 0.000 4 0.054 0.058 3077 3264 1609

11782 1.50 301.4 142.3 15.1 567 11787 0.00 2.50 0.00 0.000 6 0.000 0.051 3077 1860 1609

12105 1.48 315.2 106.8 9.4 583 12127 0.00 2.62 14.23 0.816 4 0.000 0.065 3077 442 1545

12167 1.41 315.2 97.8 15.5 585 12174 0.15 2.55 0.00 0.000 6 0.092 0.047 3048 1878 1545

12484 1.48 315.2 52.4 15.4 601 12488 0.00 2.45 0.00 0.000 4 0.000 0.057 3048 3262 1546

12569 1.60 315.2 40.5 12.9 605 12574 0.20 2.42 0.00 0.000 6 0.049 0.048 3103 1893 1546

12811 end climb: SURFACE_DEPTH_REACHED

state 12811 begin surface coast

12833 end surface coast: CONTROL_FINISHED_OK

state 12835 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	77	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	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	-101728.62	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	045954,6215.747,-1001.822,42,1.4,42,-10.1	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.241,-0.107
_SM_DEPTHo	1.54	KALMAN_X	-76682.6,-1635.1,-1314.3,7479.1,16650.2
_SM_ANGLEo	-62.2	KALMAN_Y	55334.4,-1463.8,-2311.9,20925.1,18959.3
GPS2	050452,6215.706,-1001.864,12,1.7,14,-10.1	MHEAD_RNG_PITCHd_Wd	256.2,28603,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.026808	ALTIM_BOTTOM_PING	722.7,45.3
SM_CCo	12919,0.00,0.000,0,0,1546,315.46	_24V_AH	23.8,15.420
SM_GC	1.64,11.48,0.00,0.00,0.031,0.000,0.000,419,2155,1546,-10.59,0.88,315.46	_10V_AH	10.1,6.890
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31700,618
TT8_MAMPS	0.029146	CAP_FILE_SIZE	103532,0
HUMID	1845	CFSIZE	254472192,247652352
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	24	GPS	100909,084207,6212.722,-1009.401,28,2.0,28,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	161	105.32	SBE_CT	422	24	241.39
Roll_motor	133	81	257.55	SBE_O2	457	19	206.69
VBD_pump_during_apogee	424	1335	13484.79	WL_BB2F	371	105	929.21
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	26	160	99.83	nil	0	0	0.00
Iridium_during_xfer	123	223	654.14
Transponder_ping	12	420	124.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.26
TT8	1159	19	231.79
LPSleep	9710	2	214.80
TT8_Active	537	19	107.41
TT8_Sampling	1378	39	554.18
TT8_CF8	434	45	200.95
TT8_Kalman	33	81	27.56
Analog_circuits	1274	12	154.44
GPS_charging	0	0	0.00
Compass	1341	8	108.42
RAFOS	0	0	0.00
Transponder	44	30	13.49

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	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	59	0.00	0.00	-41.17	0.000	2	0.000	0.000	416	2149	2522
63	-1.44	-146.6	2.5	-4.2	2	120	11.05	2.53	-36.92	0.000	4	0.161	0.075	2427	3519	3430
149	-1.27	-146.6	8.5	-14.0	6	154	0.20	2.50	0.00	0.000	6	0.097	0.046	2467	2112	3429
471	-1.27	-146.6	50.5	-12.3	22	475	0.00	2.60	0.00	0.000	4	0.000	0.063	2467	3527	3430
511	-1.27	-146.6	55.6	-12.5	24	515	0.00	2.47	0.00	0.000	6	0.000	0.046	2467	2128	3430
838	-1.27	-146.6	91.4	-10.7	40	839	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2115	3431
1147	-1.27	-146.6	127.3	-11.5	55	1151	0.00	2.58	0.00	0.000	4	0.000	0.064	2467	3530	3431
1191	-1.27	-146.6	133.3	-13.7	57	1196	0.00	2.47	0.00	0.000	6	0.000	0.048	2467	2133	3431
1513	-1.27	-146.6	184.3	-16.4	73	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2120	3431
1822	-1.27	-146.6	224.8	-11.3	88	1826	0.00	2.50	0.00	0.000	4	0.000	0.061	2467	722	3432
1862	-1.36	-146.6	229.2	-11.0	90	1866	0.00	2.50	0.00	0.000	6	0.000	0.047	2467	2144	3432
2189	-1.36	-146.6	267.2	-12.1	106	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2144	3432
2499	-1.36	-146.6	306.6	-12.5	121	2503	0.00	2.58	0.00	0.000	4	0.000	0.062	2467	723	3432
2584	-1.43	-146.6	317.4	-12.8	125	2589	0.15	2.50	0.00	0.000	6	0.052	0.048	2426	2142	3432
2914	-1.37	-146.6	364.1	-14.6	141	2919	0.10	2.58	0.00	0.000	4	0.103	0.061	2445	717	3432
2971	-1.37	-146.6	372.4	-13.1	143	2977	0.00	2.50	0.00	0.000	6	0.000	0.048	2445	2133	3432
3287	-1.37	-146.6	414.0	-13.6	159	3291	0.00	2.55	0.00	0.000	4	0.000	0.062	2445	723	3432
3320	-1.37	-146.6	419.0	-14.5	160	3326	0.00	2.47	0.00	0.000	6	0.000	0.049	2445	2125	3432
3636	-1.37	-146.6	464.1	-13.7	176	3640	0.00	2.55	0.00	0.000	4	0.000	0.063	2445	717	3432
3709	-1.37	-146.6	473.7	-12.4	179	3713	0.00	2.47	0.00	0.000	6	0.000	0.048	2445	2117	3432
4024	-1.37	-146.6	509.5	-10.9	194	4029	0.00	2.53	0.00	0.000	4	0.000	0.063	2445	722	3431
4075	-1.37	-146.6	515.3	-11.0	196	4079	0.00	2.42	0.00	0.000	6	0.000	0.050	2445	2102	3431
4396	-1.37	-146.6	549.9	-11.8	212	4398	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2103	3431
4705	-1.37	-146.6	591.6	-13.1	227	4710	0.00	2.62	0.00	0.000	4	0.000	0.075	2445	3535	3430
4738	-1.37	-146.6	595.9	-12.5	228	4745	0.00	2.65	0.00	0.000	6	0.000	0.059	2444	2066	3430
5055	-1.37	-146.6	629.1	-9.8	244	5059	0.00	2.72	0.00	0.000	4	0.000	0.072	2445	3536	3430
5184	-1.37	-146.6	642.0	-10.6	250	5189	0.00	2.60	0.00	0.000	6	0.000	0.058	2445	2091	3429
5511	-1.37	-146.6	676.4	-12.1	266	5512	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2087	3429
5820	-1.37	-146.6	720.0	-14.0	281	5821	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2080	3429
6130	-1.37	-146.6	757.3	-11.1	296	6134	0.00	2.50	0.00	0.000	6	0.000	0.077	2445	720	3427
6135	end dive: BOTTOM_OBSTACLE_DETECTED
state	6135	begin apogee
6144	-0.33	0.0	758.1	11.3	296	6281	1.02	0.00	133.32	1.335	6	0.087	0.000	2666	1870	2831
6282	end apogee: CONTROL_FINISHED_OK
state	6282	begin climb
6285	1.44	146.6	763.8	0.0	303	6429	1.80	0.00	135.80	1.287	6	0.067	0.000	3053	1871	2232
6739	1.33	146.6	725.2	10.2	325	6743	0.00	2.70	0.00	0.000	4	0.000	0.081	3053	441	2231
6794	1.11	146.6	719.2	10.6	327	6801	0.35	2.58	0.00	0.000	6	0.100	0.059	2986	1851	2231
7111	1.33	244.1	699.0	5.6	343	7206	0.22	2.75	88.82	1.274	4	0.054	0.081	3039	445	1835
7231	1.27	256.3	689.6	9.4	348	7252	0.00	2.60	12.52	1.134	6	0.000	0.061	3039	1863	1786
7562	1.27	256.3	656.4	10.1	364	7563	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1866	1786
7871	1.27	256.3	623.1	12.6	379	7875	0.00	2.58	0.00	0.000	4	0.000	0.073	3039	3252	1784
7911	1.27	256.3	617.7	14.5	381	7915	0.00	2.58	0.00	0.000	6	0.000	0.069	3039	1869	1784
8238	1.27	256.3	577.1	10.4	397	8242	0.00	2.58	0.00	0.000	4	0.000	0.071	3039	3249	1784
8305	1.34	300.7	571.0	8.0	400	8350	0.00	2.53	39.60	1.220	6	0.000	0.064	3039	1878	1605
8676	1.34	300.7	535.9	13.2	418	8680	0.00	2.55	0.00	0.000	4	0.000	0.067	3039	3252	1605
8716	1.41	300.7	529.9	14.8	420	8720	0.00	2.47	0.00	0.000	6	0.000	0.061	3039	1902	1605
9043	1.41	300.7	485.2	12.0	436	9047	0.00	2.50	0.00	0.000	4	0.000	0.066	3039	3257	1605
9071	1.46	300.7	481.8	11.5	437	9076	0.12	2.42	0.00	0.000	6	0.060	0.059	3072	1915	1605
9387	1.41	300.7	439.4	14.9	452	9392	0.00	2.67	0.00	0.000	4	0.000	0.071	3073	442	1606
9420	1.29	300.7	434.1	15.9	453	9427	0.22	2.62	0.00	0.000	6	0.092	0.051	3028	1911	1606
9737	1.37	301.4	398.3	10.0	469	9738	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1923	1606
10046	1.45	301.4	366.6	10.7	484	10048	0.15	0.00	0.00	0.000	6	0.054	0.000	3067	1926	1607
10355	1.45	301.4	322.9	14.2	499	10359	0.00	2.72	0.00	0.000	4	0.000	0.068	3067	434	1607
10396	1.36	301.4	317.0	14.7	501	10401	0.12	2.60	0.00	0.000	6	0.098	0.049	3044	1898	1607
10723	1.36	301.4	279.0	11.5	517	10727	0.00	2.67	0.00	0.000	4	0.000	0.066	3043	441	1607
10750	1.36	301.4	275.3	13.7	518	10754	0.00	2.58	0.00	0.000	6	0.000	0.048	3043	1896	1607
11066	1.41	301.4	235.1	12.5	533	11071	0.00	2.67	0.00	0.000	4	0.000	0.065	3043	436	1608
11100	1.41	301.4	230.4	12.6	534	11106	0.00	2.58	0.00	0.000	6	0.000	0.048	3043	1892	1608
11416	1.45	301.4	195.8	11.4	550	11420	0.00	2.65	0.00	0.000	4	0.000	0.067	3043	442	1608
11443	1.45	301.4	191.9	13.4	551	11448	0.00	2.55	0.00	0.000	6	0.000	0.048	3043	1882	1608
11760	1.50	301.4	145.8	15.1	566	11765	0.12	2.45	0.00	0.000	4	0.054	0.058	3077	3264	1609
11782	1.50	301.4	142.3	15.1	567	11787	0.00	2.50	0.00	0.000	6	0.000	0.051	3077	1860	1609
12105	1.48	315.2	106.8	9.4	583	12127	0.00	2.62	14.23	0.816	4	0.000	0.065	3077	442	1545
12167	1.41	315.2	97.8	15.5	585	12174	0.15	2.55	0.00	0.000	6	0.092	0.047	3048	1878	1545
12484	1.48	315.2	52.4	15.4	601	12488	0.00	2.45	0.00	0.000	4	0.000	0.057	3048	3262	1546
12569	1.60	315.2	40.5	12.9	605	12574	0.20	2.42	0.00	0.000	6	0.049	0.048	3103	1893	1546
12811	end climb: SURFACE_DEPTH_REACHED
state	12811	begin surface coast
12833	end surface coast: CONTROL_FINISHED_OK
state	12835	begin surface