Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 254 * 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 254 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -105227.92 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 0.029999999 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 412.5

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 -105227.92

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 254 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 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 214300,6401.137,-1253.882,38,1.2,43,-12.4 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.082,-0.231

_SM_DEPTHo 1.18 KALMAN_X -59597.8,3938.2,833.3,-168595.8,-18747.7

_SM_ANGLEo -55.8 KALMAN_Y -28387.3,-950.9,675.6,296370.2,-5533.0

GPS2 214908,6401.177,-1253.541,14,1.2,14,-12.4 MHEAD_RNG_PITCHd_Wd 211.8,30909,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027189 ALTIM_BOTTOM_PING 545.6,81.9

SM_CCo 13210,15.25,0.762,0,0,1608,300.00 _24V_AH 23.7,41.993

SM_GC 1.50,0.00,0.00,15.25,0.000,0.000,0.762,422,2160,1608,-10.69,0.85,300.00 _10V_AH 10.1,18.571

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41167,787

TT8_MAMPS 0.029146 CAP_FILE_SIZE 116788,0

HUMID 1832 CFSIZE 254472192,238579712

TCM_TEMP 16.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 37 GPS 071009,013207,6400.416,-1246.131,62,1.0,62,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 101.04 SBE_CT 540 24 307.31

Roll_motor 151 85 308.34 SBE_O2 569 19 256.38

VBD_pump_during_apogee 378 1286 11532.99 WL_BB2F 462 105 1151.21

VBD_pump_during_surface 15 761 275.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 34 160 131.20 nil 0 0 0.00

Iridium_during_xfer 165 223 875.19

Transponder_ping 14 420 139.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1413 19 282.67

LPSleep 9435 2 208.70

TT8_Active 516 19 103.33

TT8_Sampling 1690 39 679.63

TT8_CF8 539 45 249.35

TT8_Kalman 33 81 27.55

Analog_circuits 1392 12 168.78

GPS_charging 0 0 0.00

Compass 1650 8 133.38

RAFOS 0 0 0.00

Transponder 33 30 10.15

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

16 -1.22 -146.6 0.0 0.0 0 64 0.00 0.00 -45.95 0.000 2 0.000 0.000 421 2155 2379

68 -1.22 -146.6 2.1 -2.1 3 131 11.48 2.65 -43.58 0.000 4 0.164 0.074 2479 718 3430

351 -1.18 -146.6 32.2 -9.2 15 358 0.00 2.50 0.00 0.000 6 0.000 0.050 2479 2123 3430

670 -1.12 -146.6 73.1 -12.3 31 674 0.00 2.55 0.00 0.000 4 0.000 0.060 2479 716 3431

698 -1.08 -146.6 76.9 -12.3 32 703 0.15 2.50 0.00 0.000 6 0.097 0.049 2511 2122 3431

1014 -1.08 -146.6 109.4 -10.3 47 1018 0.00 2.55 0.00 0.000 4 0.000 0.061 2511 715 3431

1094 -1.12 -146.6 117.4 -9.9 50 1100 0.00 2.42 0.00 0.000 6 0.000 0.048 2511 2084 3431

1410 -1.12 -146.6 149.4 -10.4 66 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2083 3432

1727 -1.12 -146.6 179.9 -8.9 86 1732 0.00 2.62 0.00 0.000 4 0.000 0.066 2511 3532 3432

1761 -1.12 -146.6 183.1 -9.4 88 1765 0.00 2.62 0.00 0.000 6 0.000 0.053 2511 2069 3432

2080 -1.12 -146.6 210.9 -9.1 108 2085 0.00 2.70 0.00 0.000 4 0.000 0.067 2511 3532 3432

2113 -1.12 -146.6 214.0 -9.6 110 2118 0.00 2.60 0.00 0.000 6 0.000 0.054 2511 2086 3432

2432 -1.12 -146.6 243.7 -9.2 130 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2085 3432

2744 -1.12 -146.6 273.5 -9.7 150 2749 0.00 2.67 0.00 0.000 4 0.000 0.067 2511 3533 3432

2808 -1.12 -146.6 279.5 -9.8 154 2813 0.00 2.60 0.00 0.000 6 0.000 0.054 2511 2087 3432

3132 -1.12 -146.6 309.6 -9.1 175 3133 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2088 3432

3445 -1.12 -146.6 339.9 -9.5 195 3449 0.00 2.67 0.00 0.000 4 0.000 0.069 2511 3533 3432

3517 -1.12 -146.6 346.6 -9.1 199 3524 0.00 2.55 0.00 0.000 6 0.000 0.056 2511 2118 3432

3836 -1.12 -146.6 383.1 -14.4 220 3841 0.00 2.62 0.00 0.000 4 0.000 0.071 2511 3531 3432

3893 -1.12 -146.6 390.9 -13.4 223 3899 0.00 2.53 0.00 0.000 6 0.000 0.058 2511 2137 3432

4212 -1.12 -146.6 424.0 -8.6 244 4216 0.00 2.60 0.00 0.000 4 0.000 0.071 2511 3530 3432

4295 -1.12 -146.6 431.2 -9.3 249 4300 0.00 2.47 0.00 0.000 6 0.000 0.058 2511 2166 3432

4615 -1.12 -146.6 459.5 -9.2 269 4619 0.00 2.62 0.00 0.000 4 0.000 0.070 2511 714 3433

4699 -1.16 -146.6 468.2 -10.3 274 4703 0.00 2.55 0.00 0.000 6 0.000 0.053 2511 2139 3433

5018 -1.16 -146.6 499.5 -9.0 294 5022 0.00 2.58 0.00 0.000 4 0.000 0.077 2511 3534 3432

5063 -1.16 -146.6 503.8 -9.6 297 5068 0.00 2.55 0.00 0.000 6 0.000 0.065 2511 2146 3432

5391 -1.20 -146.6 530.4 -7.9 318 5396 0.12 2.65 0.00 0.000 4 0.064 0.079 2477 3542 3431

5421 -1.16 -146.6 533.3 -9.8 320 5425 0.00 2.58 0.00 0.000 6 0.000 0.069 2477 2151 3431

5745 -1.16 -146.6 566.2 -10.0 341 5750 0.00 2.65 0.00 0.000 4 0.000 0.082 2477 3541 3430

5797 -1.12 -146.6 571.6 -10.3 344 5802 0.12 2.58 0.00 0.000 6 0.109 0.071 2501 2154 3430

6116 -1.12 -146.6 602.0 -9.4 364 6120 0.00 2.65 0.00 0.000 4 0.000 0.086 2501 3537 3429

6154 -1.12 -146.6 605.9 -10.1 366 6160 0.00 2.58 0.00 0.000 6 0.000 0.073 2501 2157 3428

6283 end dive: BOTTOM_OBSTACLE_DETECTED

state 6283 begin apogee

6291 -0.33 0.0 618.4 9.6 375 6423 0.80 0.00 129.02 1.286 6 0.083 0.000 2670 1849 2831

6424 end apogee: CONTROL_FINISHED_OK

state 6424 begin climb

6427 1.22 146.6 623.6 0.0 384 6561 1.55 0.00 129.00 1.239 6 0.065 0.000 3006 1849 2233

6866 1.21 173.8 599.5 7.0 412 6898 0.00 2.72 24.80 1.187 4 0.000 0.078 3005 3254 2122

6943 1.18 182.1 593.4 7.7 416 6958 0.00 2.67 9.02 1.061 6 0.000 0.074 3005 1847 2088

7283 1.19 213.7 568.4 6.9 438 7318 0.00 2.78 28.25 1.212 4 0.000 0.079 3006 3256 1960

7358 1.20 219.7 562.5 7.8 442 7372 0.00 2.65 6.75 1.003 6 0.000 0.076 3006 1859 1936

7695 1.21 224.5 538.1 7.8 464 7706 0.00 2.70 5.97 0.983 4 0.000 0.079 3005 3258 1915

7751 1.21 224.5 533.2 9.0 466 7757 0.00 2.62 0.00 0.000 6 0.000 0.077 3005 1880 1915

8071 1.21 224.5 506.0 8.8 487 8072 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1880 1913

8383 1.25 252.9 481.3 7.0 507 8415 0.00 2.67 25.75 1.212 4 0.000 0.076 3005 3257 1799

8505 1.29 274.4 472.6 7.2 514 8533 0.00 2.60 19.75 1.179 6 0.000 0.074 3005 1879 1712

8848 1.29 274.4 443.7 9.0 536 8852 0.00 2.60 0.00 0.000 4 0.000 0.075 3005 3256 1712

8869 1.29 274.4 441.1 9.9 537 8876 0.00 2.55 0.00 0.000 6 0.000 0.071 3006 1898 1712

9189 1.29 274.4 407.6 10.6 558 9193 0.00 2.70 0.00 0.000 4 0.000 0.077 3006 438 1712

9222 1.29 274.4 403.7 11.5 560 9226 0.00 2.67 0.00 0.000 6 0.000 0.059 3005 1904 1712

9540 1.29 274.4 371.3 9.9 580 9545 0.00 2.47 0.00 0.000 4 0.000 0.071 3005 3261 1711

9604 1.33 274.4 364.8 11.2 584 9609 0.12 2.50 0.00 0.000 6 0.064 0.062 3037 1899 1711

9931 1.28 274.4 328.8 10.7 605 9932 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 1899 1711

10242 1.25 274.4 295.5 10.0 625 10243 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 1899 1712

10553 1.21 274.4 262.3 11.3 645 10559 0.15 2.65 0.00 0.000 4 0.094 0.069 3009 438 1712

10609 1.21 274.4 255.7 11.8 648 10615 0.00 2.60 0.00 0.000 6 0.000 0.051 3009 1894 1713

10929 1.21 274.4 222.1 10.8 669 10933 0.00 2.70 0.00 0.000 4 0.000 0.068 3009 432 1714

10950 1.21 274.4 219.4 12.1 670 10957 0.00 2.58 0.00 0.000 6 0.000 0.051 3009 1877 1714

11270 1.21 274.4 186.7 10.2 691 11274 0.00 2.65 0.00 0.000 4 0.000 0.067 3009 437 1714

11299 1.21 274.4 183.3 11.9 693 11303 0.00 2.55 0.00 0.000 6 0.000 0.051 3009 1867 1714

11623 1.21 274.4 149.0 10.7 714 11628 0.00 2.62 0.00 0.000 4 0.000 0.067 3009 439 1716

11651 1.21 274.4 145.8 11.1 715 11655 0.00 2.53 0.00 0.000 6 0.000 0.049 3009 1860 1716

11968 1.21 274.4 114.7 9.3 730 11972 0.00 2.50 0.00 0.000 4 0.000 0.058 3009 3264 1716

11986 1.25 274.4 113.0 9.1 731 11990 0.00 2.53 0.00 0.000 6 0.000 0.051 3009 1852 1716

12313 1.25 274.4 83.2 9.0 747 12317 0.00 2.55 0.00 0.000 4 0.000 0.058 3009 3258 1717

12341 1.30 274.4 80.2 10.6 748 12346 0.00 2.47 0.00 0.000 6 0.000 0.051 3009 1871 1717

12658 1.34 274.4 49.6 9.4 763 12663 0.12 2.58 0.00 0.000 4 0.056 0.065 3044 439 1717

12732 1.27 274.4 40.6 12.7 766 12737 0.12 2.50 0.00 0.000 6 0.094 0.048 3020 1854 1717

13049 1.27 274.4 10.0 10.1 781 13054 0.00 2.60 0.00 0.000 4 0.000 0.065 3020 433 1718

13077 1.27 274.4 6.6 10.7 782 13082 0.00 2.50 0.00 0.000 6 0.000 0.048 3019 1843 1718

13143 end climb: SURFACE_DEPTH_REACHED

state 13143 begin surface coast

13186 end surface coast: CONTROL_FINISHED_OK

state 13186 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	254	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-105227.92	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	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	214300,6401.137,-1253.882,38,1.2,43,-12.4	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.082,-0.231
_SM_DEPTHo	1.18	KALMAN_X	-59597.8,3938.2,833.3,-168595.8,-18747.7
_SM_ANGLEo	-55.8	KALMAN_Y	-28387.3,-950.9,675.6,296370.2,-5533.0
GPS2	214908,6401.177,-1253.541,14,1.2,14,-12.4	MHEAD_RNG_PITCHd_Wd	211.8,30909,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027189	ALTIM_BOTTOM_PING	545.6,81.9
SM_CCo	13210,15.25,0.762,0,0,1608,300.00	_24V_AH	23.7,41.993
SM_GC	1.50,0.00,0.00,15.25,0.000,0.000,0.762,422,2160,1608,-10.69,0.85,300.00	_10V_AH	10.1,18.571
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41167,787
TT8_MAMPS	0.029146	CAP_FILE_SIZE	116788,0
HUMID	1832	CFSIZE	254472192,238579712
TCM_TEMP	16.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	37	GPS	071009,013207,6400.416,-1246.131,62,1.0,62,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	101.04	SBE_CT	540	24	307.31
Roll_motor	151	85	308.34	SBE_O2	569	19	256.38
VBD_pump_during_apogee	378	1286	11532.99	WL_BB2F	462	105	1151.21
VBD_pump_during_surface	15	761	275.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	34	160	131.20	nil	0	0	0.00
Iridium_during_xfer	165	223	875.19
Transponder_ping	14	420	139.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1413	19	282.67
LPSleep	9435	2	208.70
TT8_Active	516	19	103.33
TT8_Sampling	1690	39	679.63
TT8_CF8	539	45	249.35
TT8_Kalman	33	81	27.55
Analog_circuits	1392	12	168.78
GPS_charging	0	0	0.00
Compass	1650	8	133.38
RAFOS	0	0	0.00
Transponder	33	30	10.15

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
16	-1.22	-146.6	0.0	0.0	0	64	0.00	0.00	-45.95	0.000	2	0.000	0.000	421	2155	2379
68	-1.22	-146.6	2.1	-2.1	3	131	11.48	2.65	-43.58	0.000	4	0.164	0.074	2479	718	3430
351	-1.18	-146.6	32.2	-9.2	15	358	0.00	2.50	0.00	0.000	6	0.000	0.050	2479	2123	3430
670	-1.12	-146.6	73.1	-12.3	31	674	0.00	2.55	0.00	0.000	4	0.000	0.060	2479	716	3431
698	-1.08	-146.6	76.9	-12.3	32	703	0.15	2.50	0.00	0.000	6	0.097	0.049	2511	2122	3431
1014	-1.08	-146.6	109.4	-10.3	47	1018	0.00	2.55	0.00	0.000	4	0.000	0.061	2511	715	3431
1094	-1.12	-146.6	117.4	-9.9	50	1100	0.00	2.42	0.00	0.000	6	0.000	0.048	2511	2084	3431
1410	-1.12	-146.6	149.4	-10.4	66	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2083	3432
1727	-1.12	-146.6	179.9	-8.9	86	1732	0.00	2.62	0.00	0.000	4	0.000	0.066	2511	3532	3432
1761	-1.12	-146.6	183.1	-9.4	88	1765	0.00	2.62	0.00	0.000	6	0.000	0.053	2511	2069	3432
2080	-1.12	-146.6	210.9	-9.1	108	2085	0.00	2.70	0.00	0.000	4	0.000	0.067	2511	3532	3432
2113	-1.12	-146.6	214.0	-9.6	110	2118	0.00	2.60	0.00	0.000	6	0.000	0.054	2511	2086	3432
2432	-1.12	-146.6	243.7	-9.2	130	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2085	3432
2744	-1.12	-146.6	273.5	-9.7	150	2749	0.00	2.67	0.00	0.000	4	0.000	0.067	2511	3533	3432
2808	-1.12	-146.6	279.5	-9.8	154	2813	0.00	2.60	0.00	0.000	6	0.000	0.054	2511	2087	3432
3132	-1.12	-146.6	309.6	-9.1	175	3133	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2088	3432
3445	-1.12	-146.6	339.9	-9.5	195	3449	0.00	2.67	0.00	0.000	4	0.000	0.069	2511	3533	3432
3517	-1.12	-146.6	346.6	-9.1	199	3524	0.00	2.55	0.00	0.000	6	0.000	0.056	2511	2118	3432
3836	-1.12	-146.6	383.1	-14.4	220	3841	0.00	2.62	0.00	0.000	4	0.000	0.071	2511	3531	3432
3893	-1.12	-146.6	390.9	-13.4	223	3899	0.00	2.53	0.00	0.000	6	0.000	0.058	2511	2137	3432
4212	-1.12	-146.6	424.0	-8.6	244	4216	0.00	2.60	0.00	0.000	4	0.000	0.071	2511	3530	3432
4295	-1.12	-146.6	431.2	-9.3	249	4300	0.00	2.47	0.00	0.000	6	0.000	0.058	2511	2166	3432
4615	-1.12	-146.6	459.5	-9.2	269	4619	0.00	2.62	0.00	0.000	4	0.000	0.070	2511	714	3433
4699	-1.16	-146.6	468.2	-10.3	274	4703	0.00	2.55	0.00	0.000	6	0.000	0.053	2511	2139	3433
5018	-1.16	-146.6	499.5	-9.0	294	5022	0.00	2.58	0.00	0.000	4	0.000	0.077	2511	3534	3432
5063	-1.16	-146.6	503.8	-9.6	297	5068	0.00	2.55	0.00	0.000	6	0.000	0.065	2511	2146	3432
5391	-1.20	-146.6	530.4	-7.9	318	5396	0.12	2.65	0.00	0.000	4	0.064	0.079	2477	3542	3431
5421	-1.16	-146.6	533.3	-9.8	320	5425	0.00	2.58	0.00	0.000	6	0.000	0.069	2477	2151	3431
5745	-1.16	-146.6	566.2	-10.0	341	5750	0.00	2.65	0.00	0.000	4	0.000	0.082	2477	3541	3430
5797	-1.12	-146.6	571.6	-10.3	344	5802	0.12	2.58	0.00	0.000	6	0.109	0.071	2501	2154	3430
6116	-1.12	-146.6	602.0	-9.4	364	6120	0.00	2.65	0.00	0.000	4	0.000	0.086	2501	3537	3429
6154	-1.12	-146.6	605.9	-10.1	366	6160	0.00	2.58	0.00	0.000	6	0.000	0.073	2501	2157	3428
6283	end dive: BOTTOM_OBSTACLE_DETECTED
state	6283	begin apogee
6291	-0.33	0.0	618.4	9.6	375	6423	0.80	0.00	129.02	1.286	6	0.083	0.000	2670	1849	2831
6424	end apogee: CONTROL_FINISHED_OK
state	6424	begin climb
6427	1.22	146.6	623.6	0.0	384	6561	1.55	0.00	129.00	1.239	6	0.065	0.000	3006	1849	2233
6866	1.21	173.8	599.5	7.0	412	6898	0.00	2.72	24.80	1.187	4	0.000	0.078	3005	3254	2122
6943	1.18	182.1	593.4	7.7	416	6958	0.00	2.67	9.02	1.061	6	0.000	0.074	3005	1847	2088
7283	1.19	213.7	568.4	6.9	438	7318	0.00	2.78	28.25	1.212	4	0.000	0.079	3006	3256	1960
7358	1.20	219.7	562.5	7.8	442	7372	0.00	2.65	6.75	1.003	6	0.000	0.076	3006	1859	1936
7695	1.21	224.5	538.1	7.8	464	7706	0.00	2.70	5.97	0.983	4	0.000	0.079	3005	3258	1915
7751	1.21	224.5	533.2	9.0	466	7757	0.00	2.62	0.00	0.000	6	0.000	0.077	3005	1880	1915
8071	1.21	224.5	506.0	8.8	487	8072	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1880	1913
8383	1.25	252.9	481.3	7.0	507	8415	0.00	2.67	25.75	1.212	4	0.000	0.076	3005	3257	1799
8505	1.29	274.4	472.6	7.2	514	8533	0.00	2.60	19.75	1.179	6	0.000	0.074	3005	1879	1712
8848	1.29	274.4	443.7	9.0	536	8852	0.00	2.60	0.00	0.000	4	0.000	0.075	3005	3256	1712
8869	1.29	274.4	441.1	9.9	537	8876	0.00	2.55	0.00	0.000	6	0.000	0.071	3006	1898	1712
9189	1.29	274.4	407.6	10.6	558	9193	0.00	2.70	0.00	0.000	4	0.000	0.077	3006	438	1712
9222	1.29	274.4	403.7	11.5	560	9226	0.00	2.67	0.00	0.000	6	0.000	0.059	3005	1904	1712
9540	1.29	274.4	371.3	9.9	580	9545	0.00	2.47	0.00	0.000	4	0.000	0.071	3005	3261	1711
9604	1.33	274.4	364.8	11.2	584	9609	0.12	2.50	0.00	0.000	6	0.064	0.062	3037	1899	1711
9931	1.28	274.4	328.8	10.7	605	9932	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	1899	1711
10242	1.25	274.4	295.5	10.0	625	10243	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	1899	1712
10553	1.21	274.4	262.3	11.3	645	10559	0.15	2.65	0.00	0.000	4	0.094	0.069	3009	438	1712
10609	1.21	274.4	255.7	11.8	648	10615	0.00	2.60	0.00	0.000	6	0.000	0.051	3009	1894	1713
10929	1.21	274.4	222.1	10.8	669	10933	0.00	2.70	0.00	0.000	4	0.000	0.068	3009	432	1714
10950	1.21	274.4	219.4	12.1	670	10957	0.00	2.58	0.00	0.000	6	0.000	0.051	3009	1877	1714
11270	1.21	274.4	186.7	10.2	691	11274	0.00	2.65	0.00	0.000	4	0.000	0.067	3009	437	1714
11299	1.21	274.4	183.3	11.9	693	11303	0.00	2.55	0.00	0.000	6	0.000	0.051	3009	1867	1714
11623	1.21	274.4	149.0	10.7	714	11628	0.00	2.62	0.00	0.000	4	0.000	0.067	3009	439	1716
11651	1.21	274.4	145.8	11.1	715	11655	0.00	2.53	0.00	0.000	6	0.000	0.049	3009	1860	1716
11968	1.21	274.4	114.7	9.3	730	11972	0.00	2.50	0.00	0.000	4	0.000	0.058	3009	3264	1716
11986	1.25	274.4	113.0	9.1	731	11990	0.00	2.53	0.00	0.000	6	0.000	0.051	3009	1852	1716
12313	1.25	274.4	83.2	9.0	747	12317	0.00	2.55	0.00	0.000	4	0.000	0.058	3009	3258	1717
12341	1.30	274.4	80.2	10.6	748	12346	0.00	2.47	0.00	0.000	6	0.000	0.051	3009	1871	1717
12658	1.34	274.4	49.6	9.4	763	12663	0.12	2.58	0.00	0.000	4	0.056	0.065	3044	439	1717
12732	1.27	274.4	40.6	12.7	766	12737	0.12	2.50	0.00	0.000	6	0.094	0.048	3020	1854	1717
13049	1.27	274.4	10.0	10.1	781	13054	0.00	2.60	0.00	0.000	4	0.000	0.065	3020	433	1718
13077	1.27	274.4	6.6	10.7	782	13082	0.00	2.50	0.00	0.000	6	0.000	0.048	3019	1843	1718
13143	end climb: SURFACE_DEPTH_REACHED
state	13143	begin surface coast
13186	end surface coast: CONTROL_FINISHED_OK
state	13186	begin surface