Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 78 * 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 78 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -101750.33 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 -101750.33

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 78 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 084207,6212.722,-1009.401,28,2.0,28,-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 -0.261,-0.039

_SM_DEPTHo 1.66 KALMAN_X -82360.5,-1470.7,-927.7,6035.7,9171.0

_SM_ANGLEo -65.2 KALMAN_Y 47885.3,-2567.2,-1159.6,22837.5,8860.4

GPS2 084725,6212.729,-1009.355,16,1.8,21,-10.1 MHEAD_RNG_PITCHd_Wd 271.6,22511,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026800 ALTIM_BOTTOM_PING 771.2,60.5

SM_CCo 14345,0.00,0.000,0,0,1411,348.33 _24V_AH 23.8,15.589

SM_GC 1.67,11.45,0.00,0.00,0.036,0.000,0.000,426,2149,1411,-10.58,0.51,348.33 _10V_AH 10.1,6.958

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34846,683

TT8_MAMPS 0.029146 CAP_FILE_SIZE 115880,0

HUMID 1829 CFSIZE 254472192,247582720

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 27 GPS 100909,124837,6211.036,-1011.501,40,1.2,40,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 160 107.78 SBE_CT 467 24 267.21

Roll_motor 139 83 276.92 SBE_O2 507 19 229.63

VBD_pump_during_apogee 453 1382 14926.89 WL_BB2F 404 105 1010.25

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 92.57 nil 0 0 0.00

Iridium_during_connect 26 160 101.45 nil 0 0 0.00

Iridium_during_xfer 130 223 693.67

Transponder_ping 14 420 139.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 21 50 10.65

TT8 1290 19 258.10

LPSleep 10835 2 239.68

TT8_Active 558 19 111.66

TT8_Sampling 1510 39 607.16

TT8_CF8 467 45 216.48

TT8_Kalman 33 81 27.57

Analog_circuits 1360 12 164.95

GPS_charging 0 0 0.00

Compass 1457 8 117.75

RAFOS 0 0 0.00

Transponder 50 30 15.36

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.44 -146.6 0.0 0.0 0 61 0.00 0.00 -41.25 0.000 2 0.000 0.000 418 2164 2459

65 -1.44 -146.6 2.3 -2.5 2 122 11.10 2.55 -40.17 0.000 4 0.160 0.075 2429 3534 3430

135 -1.22 -146.6 6.4 -9.2 5 140 0.25 2.53 0.00 0.000 6 0.092 0.047 2479 2115 3430

451 -1.22 -146.6 44.0 -10.3 20 452 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2102 3430

760 -1.22 -146.6 78.6 -12.0 35 764 0.00 2.58 0.00 0.000 4 0.000 0.062 2480 3520 3430

833 -1.27 -146.6 87.5 -11.2 38 837 0.00 2.47 0.00 0.000 6 0.000 0.045 2480 2121 3430

1150 -1.32 -146.6 128.4 -12.7 53 1154 0.00 2.47 0.00 0.000 4 0.000 0.058 2480 720 3431

1235 -1.40 -146.6 139.1 -12.0 57 1240 0.20 2.45 0.00 0.000 6 0.047 0.045 2427 2115 3431

1565 -1.31 -146.6 190.2 -16.7 73 1567 0.15 0.00 0.00 0.000 6 0.097 0.000 2457 2116 3432

1871 -1.31 -146.6 239.0 -15.8 88 1876 0.00 2.53 0.00 0.000 4 0.000 0.058 2456 714 3432

1916 -1.31 -146.6 246.5 -16.6 90 1920 0.00 2.47 0.00 0.000 6 0.000 0.047 2456 2115 3432

2245 -1.31 -146.6 295.6 -14.9 106 2246 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2116 3432

2553 -1.31 -146.6 340.3 -14.4 121 2558 0.00 2.53 0.00 0.000 4 0.000 0.062 2456 721 3432

2581 -1.31 -146.6 344.6 -14.8 122 2586 0.00 2.47 0.00 0.000 6 0.000 0.049 2456 2123 3432

2902 -1.31 -146.6 389.5 -13.6 138 2907 0.00 2.55 0.00 0.000 4 0.000 0.062 2456 713 3432

2943 -1.35 -146.6 394.8 -13.2 140 2951 0.00 2.50 0.00 0.000 6 0.000 0.048 2456 2123 3432

3279 -1.35 -146.6 435.4 -11.5 156 3283 0.00 2.53 0.00 0.000 4 0.000 0.063 2455 721 3432

3312 -1.35 -146.6 439.5 -11.7 157 3316 0.00 2.45 0.00 0.000 6 0.000 0.048 2456 2108 3432

3628 -1.35 -146.6 474.7 -11.7 172 3629 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2109 3431

3937 -1.35 -146.6 515.0 -12.5 187 3938 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2110 3431

4246 -1.35 -146.6 551.0 -11.3 202 4251 0.00 2.53 0.00 0.000 4 0.000 0.064 2456 715 3431

4269 -1.35 -146.6 553.6 -10.9 203 4273 0.00 2.47 0.00 0.000 6 0.000 0.050 2456 2111 3431

4590 -1.35 -146.6 591.8 -12.3 219 4594 0.00 2.53 0.00 0.000 4 0.000 0.064 2456 720 3430

4675 -1.41 -146.6 602.4 -12.2 223 4679 0.00 2.42 0.00 0.000 6 0.000 0.050 2456 2090 3430

5002 -1.41 -146.6 635.0 -9.3 239 5004 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2090 3430

5312 -1.45 -146.6 666.7 -9.1 254 5317 0.12 2.65 0.00 0.000 4 0.061 0.073 2420 3540 3429

5391 -1.37 -146.6 675.3 -10.8 257 5397 0.12 2.65 0.00 0.000 6 0.093 0.058 2445 2071 3429

5707 -1.37 -146.6 705.8 -9.4 273 5711 0.00 2.72 0.00 0.000 4 0.000 0.076 2445 3531 3429

5736 -1.37 -146.6 708.4 -9.3 274 5740 0.00 2.65 0.00 0.000 6 0.000 0.061 2445 2069 3429

6052 -1.37 -146.6 741.7 -11.5 289 6053 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2058 3428

6361 -1.37 -146.6 778.3 -11.5 304 6365 0.00 2.75 0.00 0.000 4 0.000 0.080 2445 3532 3427

6401 -1.37 -146.6 783.1 -12.0 306 6405 0.00 2.65 0.00 0.000 6 0.000 0.065 2445 2087 3427

6728 -1.37 -146.6 820.4 -11.7 322 6732 0.00 2.50 0.00 0.000 4 0.000 0.077 2445 719 3427

6736 end dive: BOTTOM_OBSTACLE_DETECTED

state 6736 begin apogee

6745 -0.33 0.0 821.9 11.8 322 6883 1.02 0.00 133.98 1.383 6 0.085 0.000 2665 1864 2832

6883 end apogee: CONTROL_FINISHED_OK

state 6884 begin climb

6887 1.44 146.6 827.2 0.0 329 7031 1.80 0.00 138.70 1.332 6 0.061 0.000 3058 1864 2233

7341 1.31 149.9 792.2 9.8 351 7352 0.15 2.72 4.80 0.903 4 0.104 0.084 3030 437 2219

7392 1.19 162.4 787.1 9.4 353 7412 0.15 2.60 12.60 1.189 6 0.105 0.058 3003 1866 2170

7736 1.23 188.5 757.8 8.8 370 7767 0.00 2.78 24.55 1.277 4 0.000 0.080 3003 443 2062

7796 1.23 188.5 751.7 10.2 372 7802 0.00 2.55 0.00 0.000 6 0.000 0.059 3002 1833 2062

8113 1.36 235.8 723.3 7.8 388 8163 0.17 2.75 42.97 1.302 4 0.058 0.081 3045 441 1869

8199 1.24 235.8 714.9 10.7 392 8204 0.15 2.55 0.00 0.000 6 0.102 0.058 3018 1829 1869

8526 1.24 235.8 685.9 10.2 408 8530 0.00 2.62 0.00 0.000 4 0.000 0.072 3017 3256 1869

8570 1.30 235.8 680.2 12.4 410 8575 0.00 2.70 0.00 0.000 6 0.000 0.068 3017 1806 1869

8892 1.30 235.8 637.3 11.7 426 8897 0.00 2.70 0.00 0.000 4 0.000 0.069 3017 3255 1868

8932 1.38 235.8 632.8 10.8 428 8937 0.12 2.67 0.00 0.000 6 0.063 0.065 3048 1803 1868

9259 1.33 235.8 592.3 13.0 444 9264 0.00 2.67 0.00 0.000 4 0.000 0.067 3048 3255 1867

9300 1.33 235.8 587.1 12.8 446 9305 0.00 2.62 0.00 0.000 6 0.000 0.062 3048 1823 1867

9628 1.29 235.8 550.4 11.6 462 9630 0.12 0.00 0.00 0.000 6 0.101 0.000 3025 1823 1867

9937 1.29 235.8 513.2 12.4 477 9941 0.00 2.62 0.00 0.000 4 0.000 0.064 3025 3258 1867

9970 1.35 235.8 509.0 13.1 478 9976 0.00 2.62 0.00 0.000 6 0.000 0.059 3025 1816 1866

10286 1.35 235.8 467.3 14.6 494 10290 0.00 2.62 0.00 0.000 4 0.000 0.062 3025 3258 1867

10313 1.40 235.8 463.1 14.9 495 10318 0.10 2.58 0.00 0.000 6 0.065 0.058 3053 1839 1867

10630 1.35 235.8 415.1 15.1 510 10631 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1839 1868

10938 1.35 235.8 369.5 13.8 525 10939 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1839 1868

11248 1.35 235.8 333.9 10.2 540 11252 0.00 2.58 0.00 0.000 4 0.000 0.061 3053 3259 1868

11275 1.35 235.8 331.1 10.1 541 11279 0.00 2.55 0.00 0.000 6 0.000 0.055 3053 1844 1868

11592 1.36 242.7 299.5 9.7 556 11606 0.00 2.60 7.47 0.859 4 0.000 0.068 3053 439 1841

11641 1.28 242.7 294.0 10.7 558 11646 0.15 2.53 0.00 0.000 6 0.095 0.048 3023 1860 1841

11963 1.33 242.7 263.7 10.1 574 11964 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1874 1841

12272 1.38 242.7 230.7 10.7 589 12277 0.10 2.62 0.00 0.000 4 0.063 0.067 3051 432 1842

12323 1.32 242.7 223.9 14.0 591 12327 0.00 2.50 0.00 0.000 6 0.000 0.048 3051 1848 1841

12639 1.32 242.7 184.4 12.6 606 12643 0.00 2.60 0.00 0.000 4 0.000 0.069 3050 438 1842

12689 1.25 242.7 177.6 13.1 608 12694 0.17 2.47 0.00 0.000 6 0.089 0.048 3017 1840 1842

13007 1.34 251.4 146.0 9.6 623 13017 0.00 0.00 8.88 0.806 6 0.000 0.000 3017 1855 1806

13317 1.45 263.2 118.5 9.5 638 13339 0.17 2.67 11.48 0.818 4 0.051 0.064 3068 433 1756

13401 1.36 263.2 106.9 13.7 641 13408 0.15 2.47 0.00 0.000 6 0.093 0.047 3038 1830 1757

13720 1.53 347.9 76.7 6.1 657 13791 0.17 0.00 68.10 0.847 6 0.051 0.000 3089 1845 1411

14097 1.53 347.9 24.8 16.0 675 14101 0.00 2.55 0.00 0.000 4 0.000 0.063 3089 437 1412

14183 1.47 347.9 9.9 17.8 679 14188 0.12 2.42 0.00 0.000 6 0.094 0.045 3066 1813 1412

14239 end climb: SURFACE_DEPTH_REACHED

state 14239 begin surface coast

14261 end surface coast: CONTROL_FINISHED_OK

state 14261 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	78	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-101750.33	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	084207,6212.722,-1009.401,28,2.0,28,-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	-0.261,-0.039
_SM_DEPTHo	1.66	KALMAN_X	-82360.5,-1470.7,-927.7,6035.7,9171.0
_SM_ANGLEo	-65.2	KALMAN_Y	47885.3,-2567.2,-1159.6,22837.5,8860.4
GPS2	084725,6212.729,-1009.355,16,1.8,21,-10.1	MHEAD_RNG_PITCHd_Wd	271.6,22511,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.1,1.026800	ALTIM_BOTTOM_PING	771.2,60.5
SM_CCo	14345,0.00,0.000,0,0,1411,348.33	_24V_AH	23.8,15.589
SM_GC	1.67,11.45,0.00,0.00,0.036,0.000,0.000,426,2149,1411,-10.58,0.51,348.33	_10V_AH	10.1,6.958
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34846,683
TT8_MAMPS	0.029146	CAP_FILE_SIZE	115880,0
HUMID	1829	CFSIZE	254472192,247582720
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	27	GPS	100909,124837,6211.036,-1011.501,40,1.2,40,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	160	107.78	SBE_CT	467	24	267.21
Roll_motor	139	83	276.92	SBE_O2	507	19	229.63
VBD_pump_during_apogee	453	1382	14926.89	WL_BB2F	404	105	1010.25
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	92.57	nil	0	0	0.00
Iridium_during_connect	26	160	101.45	nil	0	0	0.00
Iridium_during_xfer	130	223	693.67
Transponder_ping	14	420	139.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	21	50	10.65
TT8	1290	19	258.10
LPSleep	10835	2	239.68
TT8_Active	558	19	111.66
TT8_Sampling	1510	39	607.16
TT8_CF8	467	45	216.48
TT8_Kalman	33	81	27.57
Analog_circuits	1360	12	164.95
GPS_charging	0	0	0.00
Compass	1457	8	117.75
RAFOS	0	0	0.00
Transponder	50	30	15.36

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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.44	-146.6	0.0	0.0	0	61	0.00	0.00	-41.25	0.000	2	0.000	0.000	418	2164	2459
65	-1.44	-146.6	2.3	-2.5	2	122	11.10	2.55	-40.17	0.000	4	0.160	0.075	2429	3534	3430
135	-1.22	-146.6	6.4	-9.2	5	140	0.25	2.53	0.00	0.000	6	0.092	0.047	2479	2115	3430
451	-1.22	-146.6	44.0	-10.3	20	452	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2102	3430
760	-1.22	-146.6	78.6	-12.0	35	764	0.00	2.58	0.00	0.000	4	0.000	0.062	2480	3520	3430
833	-1.27	-146.6	87.5	-11.2	38	837	0.00	2.47	0.00	0.000	6	0.000	0.045	2480	2121	3430
1150	-1.32	-146.6	128.4	-12.7	53	1154	0.00	2.47	0.00	0.000	4	0.000	0.058	2480	720	3431
1235	-1.40	-146.6	139.1	-12.0	57	1240	0.20	2.45	0.00	0.000	6	0.047	0.045	2427	2115	3431
1565	-1.31	-146.6	190.2	-16.7	73	1567	0.15	0.00	0.00	0.000	6	0.097	0.000	2457	2116	3432
1871	-1.31	-146.6	239.0	-15.8	88	1876	0.00	2.53	0.00	0.000	4	0.000	0.058	2456	714	3432
1916	-1.31	-146.6	246.5	-16.6	90	1920	0.00	2.47	0.00	0.000	6	0.000	0.047	2456	2115	3432
2245	-1.31	-146.6	295.6	-14.9	106	2246	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2116	3432
2553	-1.31	-146.6	340.3	-14.4	121	2558	0.00	2.53	0.00	0.000	4	0.000	0.062	2456	721	3432
2581	-1.31	-146.6	344.6	-14.8	122	2586	0.00	2.47	0.00	0.000	6	0.000	0.049	2456	2123	3432
2902	-1.31	-146.6	389.5	-13.6	138	2907	0.00	2.55	0.00	0.000	4	0.000	0.062	2456	713	3432
2943	-1.35	-146.6	394.8	-13.2	140	2951	0.00	2.50	0.00	0.000	6	0.000	0.048	2456	2123	3432
3279	-1.35	-146.6	435.4	-11.5	156	3283	0.00	2.53	0.00	0.000	4	0.000	0.063	2455	721	3432
3312	-1.35	-146.6	439.5	-11.7	157	3316	0.00	2.45	0.00	0.000	6	0.000	0.048	2456	2108	3432
3628	-1.35	-146.6	474.7	-11.7	172	3629	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2109	3431
3937	-1.35	-146.6	515.0	-12.5	187	3938	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2110	3431
4246	-1.35	-146.6	551.0	-11.3	202	4251	0.00	2.53	0.00	0.000	4	0.000	0.064	2456	715	3431
4269	-1.35	-146.6	553.6	-10.9	203	4273	0.00	2.47	0.00	0.000	6	0.000	0.050	2456	2111	3431
4590	-1.35	-146.6	591.8	-12.3	219	4594	0.00	2.53	0.00	0.000	4	0.000	0.064	2456	720	3430
4675	-1.41	-146.6	602.4	-12.2	223	4679	0.00	2.42	0.00	0.000	6	0.000	0.050	2456	2090	3430
5002	-1.41	-146.6	635.0	-9.3	239	5004	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2090	3430
5312	-1.45	-146.6	666.7	-9.1	254	5317	0.12	2.65	0.00	0.000	4	0.061	0.073	2420	3540	3429
5391	-1.37	-146.6	675.3	-10.8	257	5397	0.12	2.65	0.00	0.000	6	0.093	0.058	2445	2071	3429
5707	-1.37	-146.6	705.8	-9.4	273	5711	0.00	2.72	0.00	0.000	4	0.000	0.076	2445	3531	3429
5736	-1.37	-146.6	708.4	-9.3	274	5740	0.00	2.65	0.00	0.000	6	0.000	0.061	2445	2069	3429
6052	-1.37	-146.6	741.7	-11.5	289	6053	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2058	3428
6361	-1.37	-146.6	778.3	-11.5	304	6365	0.00	2.75	0.00	0.000	4	0.000	0.080	2445	3532	3427
6401	-1.37	-146.6	783.1	-12.0	306	6405	0.00	2.65	0.00	0.000	6	0.000	0.065	2445	2087	3427
6728	-1.37	-146.6	820.4	-11.7	322	6732	0.00	2.50	0.00	0.000	4	0.000	0.077	2445	719	3427
6736	end dive: BOTTOM_OBSTACLE_DETECTED
state	6736	begin apogee
6745	-0.33	0.0	821.9	11.8	322	6883	1.02	0.00	133.98	1.383	6	0.085	0.000	2665	1864	2832
6883	end apogee: CONTROL_FINISHED_OK
state	6884	begin climb
6887	1.44	146.6	827.2	0.0	329	7031	1.80	0.00	138.70	1.332	6	0.061	0.000	3058	1864	2233
7341	1.31	149.9	792.2	9.8	351	7352	0.15	2.72	4.80	0.903	4	0.104	0.084	3030	437	2219
7392	1.19	162.4	787.1	9.4	353	7412	0.15	2.60	12.60	1.189	6	0.105	0.058	3003	1866	2170
7736	1.23	188.5	757.8	8.8	370	7767	0.00	2.78	24.55	1.277	4	0.000	0.080	3003	443	2062
7796	1.23	188.5	751.7	10.2	372	7802	0.00	2.55	0.00	0.000	6	0.000	0.059	3002	1833	2062
8113	1.36	235.8	723.3	7.8	388	8163	0.17	2.75	42.97	1.302	4	0.058	0.081	3045	441	1869
8199	1.24	235.8	714.9	10.7	392	8204	0.15	2.55	0.00	0.000	6	0.102	0.058	3018	1829	1869
8526	1.24	235.8	685.9	10.2	408	8530	0.00	2.62	0.00	0.000	4	0.000	0.072	3017	3256	1869
8570	1.30	235.8	680.2	12.4	410	8575	0.00	2.70	0.00	0.000	6	0.000	0.068	3017	1806	1869
8892	1.30	235.8	637.3	11.7	426	8897	0.00	2.70	0.00	0.000	4	0.000	0.069	3017	3255	1868
8932	1.38	235.8	632.8	10.8	428	8937	0.12	2.67	0.00	0.000	6	0.063	0.065	3048	1803	1868
9259	1.33	235.8	592.3	13.0	444	9264	0.00	2.67	0.00	0.000	4	0.000	0.067	3048	3255	1867
9300	1.33	235.8	587.1	12.8	446	9305	0.00	2.62	0.00	0.000	6	0.000	0.062	3048	1823	1867
9628	1.29	235.8	550.4	11.6	462	9630	0.12	0.00	0.00	0.000	6	0.101	0.000	3025	1823	1867
9937	1.29	235.8	513.2	12.4	477	9941	0.00	2.62	0.00	0.000	4	0.000	0.064	3025	3258	1867
9970	1.35	235.8	509.0	13.1	478	9976	0.00	2.62	0.00	0.000	6	0.000	0.059	3025	1816	1866
10286	1.35	235.8	467.3	14.6	494	10290	0.00	2.62	0.00	0.000	4	0.000	0.062	3025	3258	1867
10313	1.40	235.8	463.1	14.9	495	10318	0.10	2.58	0.00	0.000	6	0.065	0.058	3053	1839	1867
10630	1.35	235.8	415.1	15.1	510	10631	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1839	1868
10938	1.35	235.8	369.5	13.8	525	10939	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1839	1868
11248	1.35	235.8	333.9	10.2	540	11252	0.00	2.58	0.00	0.000	4	0.000	0.061	3053	3259	1868
11275	1.35	235.8	331.1	10.1	541	11279	0.00	2.55	0.00	0.000	6	0.000	0.055	3053	1844	1868
11592	1.36	242.7	299.5	9.7	556	11606	0.00	2.60	7.47	0.859	4	0.000	0.068	3053	439	1841
11641	1.28	242.7	294.0	10.7	558	11646	0.15	2.53	0.00	0.000	6	0.095	0.048	3023	1860	1841
11963	1.33	242.7	263.7	10.1	574	11964	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1874	1841
12272	1.38	242.7	230.7	10.7	589	12277	0.10	2.62	0.00	0.000	4	0.063	0.067	3051	432	1842
12323	1.32	242.7	223.9	14.0	591	12327	0.00	2.50	0.00	0.000	6	0.000	0.048	3051	1848	1841
12639	1.32	242.7	184.4	12.6	606	12643	0.00	2.60	0.00	0.000	4	0.000	0.069	3050	438	1842
12689	1.25	242.7	177.6	13.1	608	12694	0.17	2.47	0.00	0.000	6	0.089	0.048	3017	1840	1842
13007	1.34	251.4	146.0	9.6	623	13017	0.00	0.00	8.88	0.806	6	0.000	0.000	3017	1855	1806
13317	1.45	263.2	118.5	9.5	638	13339	0.17	2.67	11.48	0.818	4	0.051	0.064	3068	433	1756
13401	1.36	263.2	106.9	13.7	641	13408	0.15	2.47	0.00	0.000	6	0.093	0.047	3038	1830	1757
13720	1.53	347.9	76.7	6.1	657	13791	0.17	0.00	68.10	0.847	6	0.051	0.000	3089	1845	1411
14097	1.53	347.9	24.8	16.0	675	14101	0.00	2.55	0.00	0.000	4	0.000	0.063	3089	437	1412
14183	1.47	347.9	9.9	17.8	679	14188	0.12	2.42	0.00	0.000	6	0.094	0.045	3066	1813	1412
14239	end climb: SURFACE_DEPTH_REACHED
state	14239	begin surface coast
14261	end surface coast: CONTROL_FINISHED_OK
state	14261	begin surface