Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 270 * 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 270 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 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 -105511.19 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 -105511.19

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 21 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 270 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 074906,6401.241,-1259.323,25,1.6,25,-12.4 TGT_NAME P3

_CALLS 2 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.189,-0.157

_SM_DEPTHo 1.40 KALMAN_X 8911.1,-2407.3,-2045.1,-232894.4,23066.8

_SM_ANGLEo -54.7 KALMAN_Y 878.9,-853.3,-754.5,268825.3,13640.3

GPS2 075806,6401.349,-1259.400,27,1.9,27,-12.4 MHEAD_RNG_PITCHd_Wd 242.7,27861,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.022989 ALTIM_BOTTOM_PING 571.1,66.3

SM_CCo 13165,0.00,0.000,0,0,1239,390.27 _24V_AH 23.8,44.561

SM_GC 1.23,11.48,0.00,0.00,0.040,0.000,0.000,421,2155,1239,-10.61,0.68,390.27 _10V_AH 10.1,19.690

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41117,789

TT8_MAMPS 0.029146 CAP_FILE_SIZE 115191,0

HUMID 1844 CFSIZE 254472192,237699072

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 36 GPS 091009,114025,6402.332,-1300.219,87,1.8,87,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 99.78 SBE_CT 540 24 308.66

Roll_motor 128 79 243.95 SBE_O2 576 19 260.77

VBD_pump_during_apogee 472 1267 14248.24 WL_BB2F 440 105 1101.20

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 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 58 160 221.15 nil 0 0 0.00

Iridium_during_xfer 196 223 1042.39

Transponder_ping 14 420 139.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 27 50 13.70

TT8 1396 19 279.36

LPSleep 9408 2 208.11

TT8_Active 593 19 118.76

TT8_Sampling 1669 39 671.09

TT8_CF8 631 45 292.10

TT8_Kalman 33 81 27.57

Analog_circuits 1444 12 175.10

GPS_charging 0 0 0.00

Compass 1616 8 130.64

RAFOS 0 0 0.00

Transponder 37 30 11.50

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.30 0.000 2 0.000 0.000 421 2152 2483

83 -1.22 -146.6 2.1 -1.8 3 147 11.18 2.53 -44.95 0.000 4 0.156 0.077 2472 3531 3429

401 -1.15 -146.6 35.2 -11.3 17 406 0.10 2.50 0.00 0.000 6 0.107 0.045 2492 2121 3429

724 -1.11 -146.6 71.8 -10.7 33 729 0.00 2.60 0.00 0.000 4 0.000 0.064 2492 3534 3430

871 -1.07 -146.6 89.7 -14.4 39 877 0.00 2.47 0.00 0.000 6 0.000 0.047 2492 2135 3430

1188 -1.04 -146.6 129.9 -12.1 55 1190 0.12 0.00 0.00 0.000 6 0.096 0.000 2519 2115 3430

1497 -1.04 -146.6 165.5 -10.7 72 1501 0.00 2.50 0.00 0.000 4 0.000 0.058 2519 722 3430

1531 -1.08 -146.6 169.1 -10.9 74 1536 0.00 2.50 0.00 0.000 6 0.000 0.048 2519 2134 3430

1850 -1.08 -146.6 198.1 -8.7 94 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2135 3430

2163 -1.08 -146.6 223.2 -7.9 114 2168 0.00 2.55 0.00 0.000 4 0.000 0.060 2520 720 3430

2214 -1.13 -146.6 227.5 -7.9 117 2219 0.00 2.50 0.00 0.000 6 0.000 0.049 2519 2133 3430

2535 -1.13 -146.6 253.7 -8.0 137 2539 0.00 2.55 0.00 0.000 4 0.000 0.060 2519 719 3430

2558 -1.13 -146.6 255.7 -7.7 138 2564 0.00 2.47 0.00 0.000 6 0.000 0.050 2519 2115 3431

2877 -1.13 -146.6 281.2 -8.2 159 2881 0.00 2.53 0.00 0.000 4 0.000 0.061 2519 718 3430

2906 -1.17 -146.6 283.7 -8.6 161 2911 0.15 2.47 0.00 0.000 6 0.056 0.050 2478 2114 3430

3234 -1.11 -146.6 317.7 -9.9 182 3239 0.12 2.60 0.00 0.000 4 0.094 0.067 2504 3542 3430

3279 -1.11 -146.6 322.4 -8.8 185 3284 0.00 2.58 0.00 0.000 6 0.000 0.055 2504 2113 3430

3604 -1.11 -146.6 351.6 -8.9 206 3608 0.00 2.47 0.00 0.000 4 0.000 0.063 2504 720 3430

3665 -1.15 -146.6 357.4 -9.8 209 3671 0.00 2.45 0.00 0.000 6 0.000 0.050 2505 2102 3430

3985 -1.15 -146.6 383.8 -7.5 230 3990 0.00 2.53 0.00 0.000 4 0.000 0.064 2504 717 3430

4019 -1.15 -146.6 386.5 -8.0 232 4023 0.00 2.42 0.00 0.000 6 0.000 0.052 2504 2077 3430

4339 -1.15 -146.6 411.7 -7.6 252 4343 0.00 2.65 0.00 0.000 4 0.000 0.070 2505 3534 3430

4440 -1.15 -146.6 420.4 -8.5 258 4445 0.00 2.62 0.00 0.000 6 0.000 0.058 2504 2081 3429

4759 -1.15 -146.6 447.9 -9.3 278 4760 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2067 3429

5072 -1.15 -146.6 477.4 -9.7 298 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2067 3429

5384 -1.15 -146.6 510.6 -10.8 318 5388 0.00 2.70 0.00 0.000 4 0.000 0.074 2505 3532 3428

5406 -1.15 -146.6 513.1 -10.9 319 5412 0.00 2.65 0.00 0.000 6 0.000 0.062 2504 2075 3428

5725 -1.15 -146.6 547.4 -10.5 340 5729 0.00 2.45 0.00 0.000 4 0.000 0.071 2504 719 3428

5809 -1.19 -146.6 556.2 -9.9 345 5813 0.00 2.45 0.00 0.000 6 0.000 0.056 2504 2087 3428

6129 -1.19 -146.6 587.6 -9.8 365 6133 0.00 2.53 0.00 0.000 4 0.000 0.072 2504 718 3427

6175 -1.23 -146.6 593.1 -12.8 368 6180 0.12 2.42 0.00 0.000 6 0.062 0.058 2471 2062 3427

6465 end dive: BOTTOM_OBSTACLE_DETECTED

state 6465 begin apogee

6473 -0.33 0.0 628.4 11.6 387 6605 0.93 0.00 128.18 1.267 6 0.079 0.000 2669 1837 2831

6605 end apogee: CONTROL_FINISHED_OK

state 6605 begin climb

6609 1.22 146.6 634.1 0.0 396 6747 1.60 2.67 129.45 1.218 4 0.061 0.077 3013 452 2233

6774 1.14 179.9 628.3 6.8 407 6810 0.00 2.58 30.42 1.160 6 0.000 0.058 3013 1870 2097

7129 1.06 179.9 599.8 8.7 430 7134 0.17 2.65 0.00 0.000 4 0.093 0.077 2977 452 2096

7213 1.06 179.9 592.7 9.0 435 7218 0.00 2.50 0.00 0.000 6 0.000 0.059 2977 1826 2096

7533 1.18 258.2 574.8 5.2 455 7607 0.12 0.00 68.10 1.209 6 0.062 0.000 3008 1841 1777

7923 1.18 258.2 544.1 9.0 480 7927 0.00 2.60 0.00 0.000 4 0.000 0.080 3009 455 1777

7986 1.14 258.2 537.5 10.5 484 7990 0.00 2.50 0.00 0.000 6 0.000 0.059 3009 1827 1777

8310 1.14 258.2 504.3 10.3 505 8314 0.00 2.60 0.00 0.000 4 0.000 0.076 3009 444 1777

8355 1.10 258.2 499.7 10.5 508 8360 0.12 2.50 0.00 0.000 6 0.095 0.059 2985 1815 1776

8683 1.17 267.6 473.5 7.7 529 8699 0.00 2.70 9.45 1.042 4 0.000 0.069 2985 3263 1740

8739 1.25 271.0 468.9 7.9 532 8752 0.15 2.70 4.80 0.838 6 0.058 0.065 3021 1811 1726

9068 1.25 271.0 438.7 9.2 553 9072 0.00 2.70 0.00 0.000 4 0.000 0.067 3022 3262 1725

9096 1.29 293.4 436.2 7.2 555 9122 0.00 2.65 20.27 1.111 6 0.000 0.066 3022 1824 1635

9440 1.29 293.4 408.2 8.6 576 9444 0.00 2.65 0.00 0.000 4 0.000 0.067 3022 3258 1636

9519 1.30 304.5 401.4 7.6 581 9536 0.00 2.58 11.48 1.034 6 0.000 0.062 3022 1857 1589

9849 1.30 304.5 374.3 8.4 602 9853 0.00 2.60 0.00 0.000 4 0.000 0.066 3022 3261 1589

9882 1.34 304.5 371.3 8.5 604 9886 0.00 2.58 0.00 0.000 6 0.000 0.061 3022 1858 1589

10201 1.34 304.5 342.3 9.8 624 10202 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1858 1589

10514 1.34 304.5 307.9 11.9 644 10515 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1858 1589

10826 1.34 304.5 270.9 11.7 664 10830 0.00 2.58 0.00 0.000 4 0.000 0.063 3022 3259 1589

10876 1.38 304.5 265.0 11.6 667 10881 0.10 2.53 0.00 0.000 6 0.061 0.055 3050 1862 1590

11198 1.32 304.5 223.8 13.0 687 11202 0.00 2.55 0.00 0.000 4 0.000 0.061 3050 3258 1590

11227 1.29 304.5 219.6 13.5 689 11232 0.12 2.47 0.00 0.000 6 0.094 0.054 3026 1881 1590

11554 1.29 304.5 183.9 10.7 710 11555 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 1880 1590

11863 1.29 304.5 148.6 11.7 730 11865 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 1881 1590

12173 1.29 304.5 112.4 11.4 745 12177 0.00 2.50 0.00 0.000 4 0.000 0.059 3026 3258 1591

12207 1.32 304.5 108.5 11.2 746 12214 0.00 2.42 0.00 0.000 6 0.000 0.051 3026 1895 1591

12523 1.32 304.5 73.9 9.4 762 12528 0.00 2.62 0.00 0.000 4 0.000 0.065 3026 432 1591

12579 1.46 389.9 69.7 4.9 764 12657 0.17 2.58 70.32 0.858 6 0.051 0.048 3072 1913 1240

12980 1.38 389.9 13.9 17.0 784 12982 0.15 0.00 0.00 0.000 6 0.088 0.000 3042 1914 1241

13059 end climb: SURFACE_DEPTH_REACHED

state 13060 begin surface coast

13081 end surface coast: CONTROL_FINISHED_OK

state 13081 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	270	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	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	-105511.19	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	074906,6401.241,-1259.323,25,1.6,25,-12.4	TGT_NAME	P3
_CALLS	2	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.189,-0.157
_SM_DEPTHo	1.40	KALMAN_X	8911.1,-2407.3,-2045.1,-232894.4,23066.8
_SM_ANGLEo	-54.7	KALMAN_Y	878.9,-853.3,-754.5,268825.3,13640.3
GPS2	075806,6401.349,-1259.400,27,1.9,27,-12.4	MHEAD_RNG_PITCHd_Wd	242.7,27861,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.022989	ALTIM_BOTTOM_PING	571.1,66.3
SM_CCo	13165,0.00,0.000,0,0,1239,390.27	_24V_AH	23.8,44.561
SM_GC	1.23,11.48,0.00,0.00,0.040,0.000,0.000,421,2155,1239,-10.61,0.68,390.27	_10V_AH	10.1,19.690
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41117,789
TT8_MAMPS	0.029146	CAP_FILE_SIZE	115191,0
HUMID	1844	CFSIZE	254472192,237699072
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	36	GPS	091009,114025,6402.332,-1300.219,87,1.8,87,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	99.78	SBE_CT	540	24	308.66
Roll_motor	128	79	243.95	SBE_O2	576	19	260.77
VBD_pump_during_apogee	472	1267	14248.24	WL_BB2F	440	105	1101.20
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	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	58	160	221.15	nil	0	0	0.00
Iridium_during_xfer	196	223	1042.39
Transponder_ping	14	420	139.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	27	50	13.70
TT8	1396	19	279.36
LPSleep	9408	2	208.11
TT8_Active	593	19	118.76
TT8_Sampling	1669	39	671.09
TT8_CF8	631	45	292.10
TT8_Kalman	33	81	27.57
Analog_circuits	1444	12	175.10
GPS_charging	0	0	0.00
Compass	1616	8	130.64
RAFOS	0	0	0.00
Transponder	37	30	11.50

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.30	0.000	2	0.000	0.000	421	2152	2483
83	-1.22	-146.6	2.1	-1.8	3	147	11.18	2.53	-44.95	0.000	4	0.156	0.077	2472	3531	3429
401	-1.15	-146.6	35.2	-11.3	17	406	0.10	2.50	0.00	0.000	6	0.107	0.045	2492	2121	3429
724	-1.11	-146.6	71.8	-10.7	33	729	0.00	2.60	0.00	0.000	4	0.000	0.064	2492	3534	3430
871	-1.07	-146.6	89.7	-14.4	39	877	0.00	2.47	0.00	0.000	6	0.000	0.047	2492	2135	3430
1188	-1.04	-146.6	129.9	-12.1	55	1190	0.12	0.00	0.00	0.000	6	0.096	0.000	2519	2115	3430
1497	-1.04	-146.6	165.5	-10.7	72	1501	0.00	2.50	0.00	0.000	4	0.000	0.058	2519	722	3430
1531	-1.08	-146.6	169.1	-10.9	74	1536	0.00	2.50	0.00	0.000	6	0.000	0.048	2519	2134	3430
1850	-1.08	-146.6	198.1	-8.7	94	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2135	3430
2163	-1.08	-146.6	223.2	-7.9	114	2168	0.00	2.55	0.00	0.000	4	0.000	0.060	2520	720	3430
2214	-1.13	-146.6	227.5	-7.9	117	2219	0.00	2.50	0.00	0.000	6	0.000	0.049	2519	2133	3430
2535	-1.13	-146.6	253.7	-8.0	137	2539	0.00	2.55	0.00	0.000	4	0.000	0.060	2519	719	3430
2558	-1.13	-146.6	255.7	-7.7	138	2564	0.00	2.47	0.00	0.000	6	0.000	0.050	2519	2115	3431
2877	-1.13	-146.6	281.2	-8.2	159	2881	0.00	2.53	0.00	0.000	4	0.000	0.061	2519	718	3430
2906	-1.17	-146.6	283.7	-8.6	161	2911	0.15	2.47	0.00	0.000	6	0.056	0.050	2478	2114	3430
3234	-1.11	-146.6	317.7	-9.9	182	3239	0.12	2.60	0.00	0.000	4	0.094	0.067	2504	3542	3430
3279	-1.11	-146.6	322.4	-8.8	185	3284	0.00	2.58	0.00	0.000	6	0.000	0.055	2504	2113	3430
3604	-1.11	-146.6	351.6	-8.9	206	3608	0.00	2.47	0.00	0.000	4	0.000	0.063	2504	720	3430
3665	-1.15	-146.6	357.4	-9.8	209	3671	0.00	2.45	0.00	0.000	6	0.000	0.050	2505	2102	3430
3985	-1.15	-146.6	383.8	-7.5	230	3990	0.00	2.53	0.00	0.000	4	0.000	0.064	2504	717	3430
4019	-1.15	-146.6	386.5	-8.0	232	4023	0.00	2.42	0.00	0.000	6	0.000	0.052	2504	2077	3430
4339	-1.15	-146.6	411.7	-7.6	252	4343	0.00	2.65	0.00	0.000	4	0.000	0.070	2505	3534	3430
4440	-1.15	-146.6	420.4	-8.5	258	4445	0.00	2.62	0.00	0.000	6	0.000	0.058	2504	2081	3429
4759	-1.15	-146.6	447.9	-9.3	278	4760	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2067	3429
5072	-1.15	-146.6	477.4	-9.7	298	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2067	3429
5384	-1.15	-146.6	510.6	-10.8	318	5388	0.00	2.70	0.00	0.000	4	0.000	0.074	2505	3532	3428
5406	-1.15	-146.6	513.1	-10.9	319	5412	0.00	2.65	0.00	0.000	6	0.000	0.062	2504	2075	3428
5725	-1.15	-146.6	547.4	-10.5	340	5729	0.00	2.45	0.00	0.000	4	0.000	0.071	2504	719	3428
5809	-1.19	-146.6	556.2	-9.9	345	5813	0.00	2.45	0.00	0.000	6	0.000	0.056	2504	2087	3428
6129	-1.19	-146.6	587.6	-9.8	365	6133	0.00	2.53	0.00	0.000	4	0.000	0.072	2504	718	3427
6175	-1.23	-146.6	593.1	-12.8	368	6180	0.12	2.42	0.00	0.000	6	0.062	0.058	2471	2062	3427
6465	end dive: BOTTOM_OBSTACLE_DETECTED
state	6465	begin apogee
6473	-0.33	0.0	628.4	11.6	387	6605	0.93	0.00	128.18	1.267	6	0.079	0.000	2669	1837	2831
6605	end apogee: CONTROL_FINISHED_OK
state	6605	begin climb
6609	1.22	146.6	634.1	0.0	396	6747	1.60	2.67	129.45	1.218	4	0.061	0.077	3013	452	2233
6774	1.14	179.9	628.3	6.8	407	6810	0.00	2.58	30.42	1.160	6	0.000	0.058	3013	1870	2097
7129	1.06	179.9	599.8	8.7	430	7134	0.17	2.65	0.00	0.000	4	0.093	0.077	2977	452	2096
7213	1.06	179.9	592.7	9.0	435	7218	0.00	2.50	0.00	0.000	6	0.000	0.059	2977	1826	2096
7533	1.18	258.2	574.8	5.2	455	7607	0.12	0.00	68.10	1.209	6	0.062	0.000	3008	1841	1777
7923	1.18	258.2	544.1	9.0	480	7927	0.00	2.60	0.00	0.000	4	0.000	0.080	3009	455	1777
7986	1.14	258.2	537.5	10.5	484	7990	0.00	2.50	0.00	0.000	6	0.000	0.059	3009	1827	1777
8310	1.14	258.2	504.3	10.3	505	8314	0.00	2.60	0.00	0.000	4	0.000	0.076	3009	444	1777
8355	1.10	258.2	499.7	10.5	508	8360	0.12	2.50	0.00	0.000	6	0.095	0.059	2985	1815	1776
8683	1.17	267.6	473.5	7.7	529	8699	0.00	2.70	9.45	1.042	4	0.000	0.069	2985	3263	1740
8739	1.25	271.0	468.9	7.9	532	8752	0.15	2.70	4.80	0.838	6	0.058	0.065	3021	1811	1726
9068	1.25	271.0	438.7	9.2	553	9072	0.00	2.70	0.00	0.000	4	0.000	0.067	3022	3262	1725
9096	1.29	293.4	436.2	7.2	555	9122	0.00	2.65	20.27	1.111	6	0.000	0.066	3022	1824	1635
9440	1.29	293.4	408.2	8.6	576	9444	0.00	2.65	0.00	0.000	4	0.000	0.067	3022	3258	1636
9519	1.30	304.5	401.4	7.6	581	9536	0.00	2.58	11.48	1.034	6	0.000	0.062	3022	1857	1589
9849	1.30	304.5	374.3	8.4	602	9853	0.00	2.60	0.00	0.000	4	0.000	0.066	3022	3261	1589
9882	1.34	304.5	371.3	8.5	604	9886	0.00	2.58	0.00	0.000	6	0.000	0.061	3022	1858	1589
10201	1.34	304.5	342.3	9.8	624	10202	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1858	1589
10514	1.34	304.5	307.9	11.9	644	10515	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1858	1589
10826	1.34	304.5	270.9	11.7	664	10830	0.00	2.58	0.00	0.000	4	0.000	0.063	3022	3259	1589
10876	1.38	304.5	265.0	11.6	667	10881	0.10	2.53	0.00	0.000	6	0.061	0.055	3050	1862	1590
11198	1.32	304.5	223.8	13.0	687	11202	0.00	2.55	0.00	0.000	4	0.000	0.061	3050	3258	1590
11227	1.29	304.5	219.6	13.5	689	11232	0.12	2.47	0.00	0.000	6	0.094	0.054	3026	1881	1590
11554	1.29	304.5	183.9	10.7	710	11555	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	1880	1590
11863	1.29	304.5	148.6	11.7	730	11865	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	1881	1590
12173	1.29	304.5	112.4	11.4	745	12177	0.00	2.50	0.00	0.000	4	0.000	0.059	3026	3258	1591
12207	1.32	304.5	108.5	11.2	746	12214	0.00	2.42	0.00	0.000	6	0.000	0.051	3026	1895	1591
12523	1.32	304.5	73.9	9.4	762	12528	0.00	2.62	0.00	0.000	4	0.000	0.065	3026	432	1591
12579	1.46	389.9	69.7	4.9	764	12657	0.17	2.58	70.32	0.858	6	0.051	0.048	3072	1913	1240
12980	1.38	389.9	13.9	17.0	784	12982	0.15	0.00	0.00	0.000	6	0.088	0.000	3042	1914	1241
13059	end climb: SURFACE_DEPTH_REACHED
state	13060	begin surface coast
13081	end surface coast: CONTROL_FINISHED_OK
state	13081	begin surface