Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 80 * 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 80 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -101780.27 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 -101780.27

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 80 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 165654,6209.251,-1013.569,42,1.6,42,-10.1 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,-0.131

_SM_DEPTHo 1.66 KALMAN_X -78421.9,130.2,-477.1,-3676.6,6307.8

_SM_ANGLEo -64.3 KALMAN_Y 38480.2,-1177.8,-1124.4,24218.4,1588.2

GPS2 170220,6209.212,-1013.463,12,1.6,12,-10.1 MHEAD_RNG_PITCHd_Wd 250.3,21444,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.002035 ALTIM_BOTTOM_PING 770.9,74.6

SM_CCo 14337,0.00,0.000,0,0,1167,408.18 _24V_AH 23.8,15.942

SM_GC 1.56,11.80,0.00,0.00,0.042,0.000,0.000,419,2156,1167,-10.59,0.76,408.18 _10V_AH 10.1,7.094

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34999,681

TT8_MAMPS 0.028379 CAP_FILE_SIZE 114337,0

HUMID 1825 CFSIZE 254472192,247476224

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

XPDR_PINGS 25 GPS 100909,210330,6206.913,-1016.295,42,1.3,42,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 161 109.68 SBE_CT 465 24 265.90

Roll_motor 140 82 276.45 SBE_O2 510 19 230.87

VBD_pump_during_apogee 496 1383 16352.04 WL_BB2F 405 105 1014.11

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 26 160 102.45 nil 0 0 0.00

Iridium_during_xfer 145 223 770.56

Transponder_ping 13 420 132.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.45

TT8 1271 19 254.20

LPSleep 10850 2 239.99

TT8_Active 592 19 118.43

TT8_Sampling 1470 39 590.99

TT8_CF8 482 45 223.34

TT8_Kalman 33 81 27.56

Analog_circuits 1390 12 168.57

GPS_charging 0 0 0.00

Compass 1433 8 115.82

RAFOS 0 0 0.00

Transponder 47 30 14.47

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 -1.44 -146.6 0.0 0.0 0 58 0.00 0.00 -40.97 0.000 2 0.000 0.000 418 2134 2490

62 -1.44 -146.6 2.2 -2.5 2 117 11.10 2.62 -38.20 0.000 4 0.162 0.071 2422 713 3429

148 -1.27 -146.6 9.2 -16.6 6 153 0.22 2.50 0.00 0.000 6 0.092 0.047 2468 2131 3429

475 -1.27 -146.6 57.3 -13.4 22 479 0.00 2.55 0.00 0.000 4 0.000 0.064 2468 3542 3430

492 -1.27 -146.6 59.5 -12.9 23 497 0.00 2.53 0.00 0.000 6 0.000 0.047 2468 2121 3430

820 -1.27 -146.6 101.9 -12.6 39 825 0.00 2.50 0.00 0.000 4 0.000 0.058 2468 712 3431

861 -1.33 -146.6 107.3 -13.6 41 866 0.00 2.50 0.00 0.000 6 0.000 0.047 2468 2128 3431

1188 -1.33 -146.6 151.6 -13.5 57 1190 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 2128 3431

1499 -1.33 -146.6 195.2 -14.5 72 1504 0.00 2.58 0.00 0.000 4 0.000 0.063 2468 714 3432

1535 -1.40 -146.6 200.5 -14.2 73 1541 0.12 2.50 0.00 0.000 6 0.058 0.049 2433 2122 3432

1851 -1.34 -146.6 251.6 -15.9 89 1852 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2122 3432

2160 -1.28 -146.6 299.6 -15.8 104 2165 0.15 2.55 0.00 0.000 4 0.094 0.061 2463 717 3432

2183 -1.28 -146.6 303.1 -14.8 105 2188 0.00 2.47 0.00 0.000 6 0.000 0.050 2463 2112 3432

2506 -1.28 -146.6 348.6 -14.0 121 2510 0.00 2.60 0.00 0.000 4 0.000 0.071 2463 3538 3431

2535 -1.28 -146.6 352.9 -14.6 122 2539 0.00 2.60 0.00 0.000 6 0.000 0.055 2463 2094 3431

2851 -1.28 -146.6 397.2 -14.0 137 2853 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2092 3431

3160 -1.28 -146.6 440.7 -13.9 152 3161 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2092 3431

3469 -1.28 -146.6 483.7 -13.8 167 3473 0.00 2.67 0.00 0.000 4 0.000 0.070 2463 3538 3431

3524 -1.28 -146.6 491.8 -14.3 169 3530 0.00 2.60 0.00 0.000 6 0.000 0.056 2463 2091 3431

3841 -1.32 -146.6 536.9 -14.6 185 3845 0.00 2.67 0.00 0.000 4 0.000 0.071 2463 3537 3431

3868 -1.32 -146.6 541.2 -15.1 186 3872 0.00 2.58 0.00 0.000 6 0.000 0.057 2463 2105 3430

4184 -1.32 -146.6 585.7 -13.7 201 4186 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2099 3430

4493 -1.32 -146.6 622.1 -10.4 216 4495 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2097 3430

4804 -1.36 -146.6 650.6 -9.8 231 4808 0.00 2.65 0.00 0.000 4 0.000 0.071 2463 3532 3430

4860 -1.41 -146.6 657.7 -12.8 233 4867 0.12 2.55 0.00 0.000 6 0.058 0.056 2428 2110 3430

5175 -1.41 -146.6 701.5 -12.7 249 5180 0.00 2.50 0.00 0.000 4 0.000 0.067 2428 717 3429

5203 -1.41 -146.6 704.9 -11.8 250 5208 0.00 2.47 0.00 0.000 6 0.000 0.051 2428 2113 3429

5519 -1.41 -146.6 742.8 -12.0 265 5524 0.00 2.60 0.00 0.000 4 0.000 0.073 2428 3535 3429

5668 -1.37 -146.6 758.6 -10.2 271 5674 0.00 2.53 0.00 0.000 6 0.000 0.059 2428 2138 3429

5984 -1.37 -146.6 789.9 -10.6 287 5988 0.00 2.58 0.00 0.000 4 0.000 0.073 2428 717 3429

6056 -1.37 -146.6 798.2 -11.6 290 6061 0.00 2.53 0.00 0.000 6 0.000 0.057 2428 2128 3428

6372 -1.37 -146.6 833.1 -11.8 305 6376 0.00 2.62 0.00 0.000 4 0.000 0.083 2428 3537 3427

6391 end dive: BOTTOM_OBSTACLE_DETECTED

state 6391 begin apogee

6402 -0.33 0.0 835.7 11.4 306 6540 1.10 0.00 134.50 1.384 6 0.085 0.000 2665 1854 2831

6541 end apogee: CONTROL_FINISHED_OK

state 6541 begin climb

6544 1.44 146.6 840.8 0.0 313 6687 1.80 0.00 136.90 1.337 6 0.059 0.000 3058 1854 2233

6997 1.32 153.3 803.6 9.7 335 7011 0.12 2.67 7.60 1.085 4 0.109 0.071 3037 3252 2205

7064 1.35 167.4 797.6 9.4 338 7085 0.00 2.62 13.70 1.215 6 0.000 0.070 3037 1850 2148

7395 1.32 191.3 768.2 8.9 354 7424 0.00 2.75 21.90 1.282 4 0.000 0.081 3037 436 2051

7471 1.20 191.3 760.4 10.9 357 7476 0.17 2.58 0.00 0.000 6 0.101 0.058 3004 1847 2051

7788 1.29 211.8 732.5 9.1 372 7813 0.00 2.75 19.42 1.272 4 0.000 0.081 3004 439 1967

7837 1.29 212.7 727.6 10.0 374 7841 0.00 2.58 0.00 0.000 6 0.000 0.058 3004 1841 1967

8159 1.43 260.2 699.6 7.8 390 8210 0.20 2.70 42.90 1.309 4 0.056 0.071 3056 3256 1770

8261 1.43 260.2 688.6 12.1 394 8267 0.00 2.65 0.00 0.000 6 0.000 0.068 3056 1842 1770

8577 1.37 260.2 653.7 11.0 410 8581 0.00 2.60 0.00 0.000 4 0.000 0.078 3056 436 1770

8610 1.26 260.2 649.5 12.3 411 8617 0.20 2.58 0.00 0.000 6 0.099 0.056 3019 1860 1770

8927 1.32 260.2 616.3 11.4 427 8928 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1874 1769

9236 1.38 260.2 581.5 11.1 442 9241 0.12 2.65 0.00 0.000 4 0.059 0.073 3050 435 1770

9287 1.31 260.2 574.7 13.6 444 9291 0.00 2.53 0.00 0.000 6 0.000 0.051 3050 1848 1769

9603 1.31 260.2 539.0 10.8 459 9607 0.00 2.62 0.00 0.000 4 0.000 0.072 3050 436 1769

9630 1.24 260.2 535.7 12.2 460 9635 0.20 2.50 0.00 0.000 6 0.094 0.051 3012 1838 1769

9947 1.32 260.2 505.9 10.0 475 9951 0.00 2.55 0.00 0.000 4 0.000 0.063 3012 3259 1770

9968 1.43 260.2 503.4 11.0 476 9974 0.20 2.60 0.00 0.000 6 0.051 0.058 3063 1828 1770

10290 1.38 260.2 460.0 13.5 492 10292 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 1828 1770

10600 1.33 260.2 421.8 11.7 507 10605 0.15 2.62 0.00 0.000 4 0.093 0.061 3033 3264 1771

10628 1.37 260.2 418.7 10.2 508 10632 0.00 2.58 0.00 0.000 6 0.000 0.057 3033 1841 1770

10944 1.37 261.7 388.6 9.9 523 10945 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 1841 1771

11253 1.37 261.7 354.7 11.3 538 11257 0.00 2.58 0.00 0.000 4 0.000 0.061 3033 3254 1771

11280 1.44 261.7 351.4 12.0 539 11285 0.10 2.55 0.00 0.000 6 0.062 0.055 3063 1838 1771

11597 1.39 261.7 309.7 13.3 554 11598 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 1838 1771

11906 1.34 261.7 268.3 13.6 569 11911 0.12 2.58 0.00 0.000 4 0.095 0.060 3039 3261 1771

11933 1.34 261.7 264.6 12.4 570 11938 0.00 2.53 0.00 0.000 6 0.000 0.053 3038 1853 1771

12249 1.34 261.7 224.0 13.5 585 12251 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1853 1771

12558 1.34 261.7 182.7 13.2 600 12562 0.00 2.55 0.00 0.000 4 0.000 0.060 3039 3259 1771

12586 1.40 261.7 178.9 13.5 601 12590 0.00 2.50 0.00 0.000 6 0.000 0.052 3038 1859 1772

12916 1.40 261.7 136.5 13.1 617 12917 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1859 1772

13223 1.40 261.7 99.3 10.9 632 13227 0.00 2.53 0.00 0.000 4 0.000 0.059 3038 3255 1772

13251 1.47 261.7 96.4 10.0 633 13263 0.12 2.47 3.95 0.584 6 0.057 0.050 3074 1862 1763

13577 1.41 262.4 60.4 10.0 649 13578 0.12 0.00 0.00 0.000 6 0.099 0.000 3049 1861 1763

13881 1.64 408.3 46.6 3.4 664 14008 0.20 2.60 115.68 0.825 4 0.050 0.054 3107 3255 1166

14041 1.64 408.3 32.4 14.1 671 14046 0.00 2.53 0.00 0.000 6 0.000 0.049 3107 1856 1166

14232 end climb: SURFACE_DEPTH_REACHED

state 14232 begin surface coast

14253 end surface coast: CONTROL_FINISHED_OK

state 14253 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	80	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-101780.27	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	165654,6209.251,-1013.569,42,1.6,42,-10.1	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,-0.131
_SM_DEPTHo	1.66	KALMAN_X	-78421.9,130.2,-477.1,-3676.6,6307.8
_SM_ANGLEo	-64.3	KALMAN_Y	38480.2,-1177.8,-1124.4,24218.4,1588.2
GPS2	170220,6209.212,-1013.463,12,1.6,12,-10.1	MHEAD_RNG_PITCHd_Wd	250.3,21444,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.9,1.002035	ALTIM_BOTTOM_PING	770.9,74.6
SM_CCo	14337,0.00,0.000,0,0,1167,408.18	_24V_AH	23.8,15.942
SM_GC	1.56,11.80,0.00,0.00,0.042,0.000,0.000,419,2156,1167,-10.59,0.76,408.18	_10V_AH	10.1,7.094
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34999,681
TT8_MAMPS	0.028379	CAP_FILE_SIZE	114337,0
HUMID	1825	CFSIZE	254472192,247476224
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	25	GPS	100909,210330,6206.913,-1016.295,42,1.3,42,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	161	109.68	SBE_CT	465	24	265.90
Roll_motor	140	82	276.45	SBE_O2	510	19	230.87
VBD_pump_during_apogee	496	1383	16352.04	WL_BB2F	405	105	1014.11
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	102.45	nil	0	0	0.00
Iridium_during_xfer	145	223	770.56
Transponder_ping	13	420	132.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.45
TT8	1271	19	254.20
LPSleep	10850	2	239.99
TT8_Active	592	19	118.43
TT8_Sampling	1470	39	590.99
TT8_CF8	482	45	223.34
TT8_Kalman	33	81	27.56
Analog_circuits	1390	12	168.57
GPS_charging	0	0	0.00
Compass	1433	8	115.82
RAFOS	0	0	0.00
Transponder	47	30	14.47

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	-1.44	-146.6	0.0	0.0	0	58	0.00	0.00	-40.97	0.000	2	0.000	0.000	418	2134	2490
62	-1.44	-146.6	2.2	-2.5	2	117	11.10	2.62	-38.20	0.000	4	0.162	0.071	2422	713	3429
148	-1.27	-146.6	9.2	-16.6	6	153	0.22	2.50	0.00	0.000	6	0.092	0.047	2468	2131	3429
475	-1.27	-146.6	57.3	-13.4	22	479	0.00	2.55	0.00	0.000	4	0.000	0.064	2468	3542	3430
492	-1.27	-146.6	59.5	-12.9	23	497	0.00	2.53	0.00	0.000	6	0.000	0.047	2468	2121	3430
820	-1.27	-146.6	101.9	-12.6	39	825	0.00	2.50	0.00	0.000	4	0.000	0.058	2468	712	3431
861	-1.33	-146.6	107.3	-13.6	41	866	0.00	2.50	0.00	0.000	6	0.000	0.047	2468	2128	3431
1188	-1.33	-146.6	151.6	-13.5	57	1190	0.00	0.00	0.00	0.000	6	0.000	0.000	2468	2128	3431
1499	-1.33	-146.6	195.2	-14.5	72	1504	0.00	2.58	0.00	0.000	4	0.000	0.063	2468	714	3432
1535	-1.40	-146.6	200.5	-14.2	73	1541	0.12	2.50	0.00	0.000	6	0.058	0.049	2433	2122	3432
1851	-1.34	-146.6	251.6	-15.9	89	1852	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2122	3432
2160	-1.28	-146.6	299.6	-15.8	104	2165	0.15	2.55	0.00	0.000	4	0.094	0.061	2463	717	3432
2183	-1.28	-146.6	303.1	-14.8	105	2188	0.00	2.47	0.00	0.000	6	0.000	0.050	2463	2112	3432
2506	-1.28	-146.6	348.6	-14.0	121	2510	0.00	2.60	0.00	0.000	4	0.000	0.071	2463	3538	3431
2535	-1.28	-146.6	352.9	-14.6	122	2539	0.00	2.60	0.00	0.000	6	0.000	0.055	2463	2094	3431
2851	-1.28	-146.6	397.2	-14.0	137	2853	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2092	3431
3160	-1.28	-146.6	440.7	-13.9	152	3161	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2092	3431
3469	-1.28	-146.6	483.7	-13.8	167	3473	0.00	2.67	0.00	0.000	4	0.000	0.070	2463	3538	3431
3524	-1.28	-146.6	491.8	-14.3	169	3530	0.00	2.60	0.00	0.000	6	0.000	0.056	2463	2091	3431
3841	-1.32	-146.6	536.9	-14.6	185	3845	0.00	2.67	0.00	0.000	4	0.000	0.071	2463	3537	3431
3868	-1.32	-146.6	541.2	-15.1	186	3872	0.00	2.58	0.00	0.000	6	0.000	0.057	2463	2105	3430
4184	-1.32	-146.6	585.7	-13.7	201	4186	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2099	3430
4493	-1.32	-146.6	622.1	-10.4	216	4495	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2097	3430
4804	-1.36	-146.6	650.6	-9.8	231	4808	0.00	2.65	0.00	0.000	4	0.000	0.071	2463	3532	3430
4860	-1.41	-146.6	657.7	-12.8	233	4867	0.12	2.55	0.00	0.000	6	0.058	0.056	2428	2110	3430
5175	-1.41	-146.6	701.5	-12.7	249	5180	0.00	2.50	0.00	0.000	4	0.000	0.067	2428	717	3429
5203	-1.41	-146.6	704.9	-11.8	250	5208	0.00	2.47	0.00	0.000	6	0.000	0.051	2428	2113	3429
5519	-1.41	-146.6	742.8	-12.0	265	5524	0.00	2.60	0.00	0.000	4	0.000	0.073	2428	3535	3429
5668	-1.37	-146.6	758.6	-10.2	271	5674	0.00	2.53	0.00	0.000	6	0.000	0.059	2428	2138	3429
5984	-1.37	-146.6	789.9	-10.6	287	5988	0.00	2.58	0.00	0.000	4	0.000	0.073	2428	717	3429
6056	-1.37	-146.6	798.2	-11.6	290	6061	0.00	2.53	0.00	0.000	6	0.000	0.057	2428	2128	3428
6372	-1.37	-146.6	833.1	-11.8	305	6376	0.00	2.62	0.00	0.000	4	0.000	0.083	2428	3537	3427
6391	end dive: BOTTOM_OBSTACLE_DETECTED
state	6391	begin apogee
6402	-0.33	0.0	835.7	11.4	306	6540	1.10	0.00	134.50	1.384	6	0.085	0.000	2665	1854	2831
6541	end apogee: CONTROL_FINISHED_OK
state	6541	begin climb
6544	1.44	146.6	840.8	0.0	313	6687	1.80	0.00	136.90	1.337	6	0.059	0.000	3058	1854	2233
6997	1.32	153.3	803.6	9.7	335	7011	0.12	2.67	7.60	1.085	4	0.109	0.071	3037	3252	2205
7064	1.35	167.4	797.6	9.4	338	7085	0.00	2.62	13.70	1.215	6	0.000	0.070	3037	1850	2148
7395	1.32	191.3	768.2	8.9	354	7424	0.00	2.75	21.90	1.282	4	0.000	0.081	3037	436	2051
7471	1.20	191.3	760.4	10.9	357	7476	0.17	2.58	0.00	0.000	6	0.101	0.058	3004	1847	2051
7788	1.29	211.8	732.5	9.1	372	7813	0.00	2.75	19.42	1.272	4	0.000	0.081	3004	439	1967
7837	1.29	212.7	727.6	10.0	374	7841	0.00	2.58	0.00	0.000	6	0.000	0.058	3004	1841	1967
8159	1.43	260.2	699.6	7.8	390	8210	0.20	2.70	42.90	1.309	4	0.056	0.071	3056	3256	1770
8261	1.43	260.2	688.6	12.1	394	8267	0.00	2.65	0.00	0.000	6	0.000	0.068	3056	1842	1770
8577	1.37	260.2	653.7	11.0	410	8581	0.00	2.60	0.00	0.000	4	0.000	0.078	3056	436	1770
8610	1.26	260.2	649.5	12.3	411	8617	0.20	2.58	0.00	0.000	6	0.099	0.056	3019	1860	1770
8927	1.32	260.2	616.3	11.4	427	8928	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1874	1769
9236	1.38	260.2	581.5	11.1	442	9241	0.12	2.65	0.00	0.000	4	0.059	0.073	3050	435	1770
9287	1.31	260.2	574.7	13.6	444	9291	0.00	2.53	0.00	0.000	6	0.000	0.051	3050	1848	1769
9603	1.31	260.2	539.0	10.8	459	9607	0.00	2.62	0.00	0.000	4	0.000	0.072	3050	436	1769
9630	1.24	260.2	535.7	12.2	460	9635	0.20	2.50	0.00	0.000	6	0.094	0.051	3012	1838	1769
9947	1.32	260.2	505.9	10.0	475	9951	0.00	2.55	0.00	0.000	4	0.000	0.063	3012	3259	1770
9968	1.43	260.2	503.4	11.0	476	9974	0.20	2.60	0.00	0.000	6	0.051	0.058	3063	1828	1770
10290	1.38	260.2	460.0	13.5	492	10292	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	1828	1770
10600	1.33	260.2	421.8	11.7	507	10605	0.15	2.62	0.00	0.000	4	0.093	0.061	3033	3264	1771
10628	1.37	260.2	418.7	10.2	508	10632	0.00	2.58	0.00	0.000	6	0.000	0.057	3033	1841	1770
10944	1.37	261.7	388.6	9.9	523	10945	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	1841	1771
11253	1.37	261.7	354.7	11.3	538	11257	0.00	2.58	0.00	0.000	4	0.000	0.061	3033	3254	1771
11280	1.44	261.7	351.4	12.0	539	11285	0.10	2.55	0.00	0.000	6	0.062	0.055	3063	1838	1771
11597	1.39	261.7	309.7	13.3	554	11598	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	1838	1771
11906	1.34	261.7	268.3	13.6	569	11911	0.12	2.58	0.00	0.000	4	0.095	0.060	3039	3261	1771
11933	1.34	261.7	264.6	12.4	570	11938	0.00	2.53	0.00	0.000	6	0.000	0.053	3038	1853	1771
12249	1.34	261.7	224.0	13.5	585	12251	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1853	1771
12558	1.34	261.7	182.7	13.2	600	12562	0.00	2.55	0.00	0.000	4	0.000	0.060	3039	3259	1771
12586	1.40	261.7	178.9	13.5	601	12590	0.00	2.50	0.00	0.000	6	0.000	0.052	3038	1859	1772
12916	1.40	261.7	136.5	13.1	617	12917	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1859	1772
13223	1.40	261.7	99.3	10.9	632	13227	0.00	2.53	0.00	0.000	4	0.000	0.059	3038	3255	1772
13251	1.47	261.7	96.4	10.0	633	13263	0.12	2.47	3.95	0.584	6	0.057	0.050	3074	1862	1763
13577	1.41	262.4	60.4	10.0	649	13578	0.12	0.00	0.00	0.000	6	0.099	0.000	3049	1861	1763
13881	1.64	408.3	46.6	3.4	664	14008	0.20	2.60	115.68	0.825	4	0.050	0.054	3107	3255	1166
14041	1.64	408.3	32.4	14.1	671	14046	0.00	2.53	0.00	0.000	6	0.000	0.049	3107	1856	1166
14232	end climb: SURFACE_DEPTH_REACHED
state	14232	begin surface coast
14253	end surface coast: CONTROL_FINISHED_OK
state	14253	begin surface