Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 423 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 423 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -151984.16 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 0 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 15

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 -151984.16

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 0 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 19 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 423 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 094900,6330.419,-824.044,38,1.9,38,-9.6 TGT_NAME P4

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.110,0.217

_SM_DEPTHo 0.78 KALMAN_X -21529.6,545.9,-178.0,122005.2,1432.8

_SM_ANGLEo -60.0 KALMAN_Y -44238.5,1385.8,531.3,128729.1,-10358.6

GPS2 095720,6330.368,-824.154,12,1.9,12,-9.6 MHEAD_RNG_PITCHd_Wd 36.6,33552,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.014769 ALTIM_BOTTOM_PING 676.5,28.5

SM_CCo 15040,0.00,0.000,0,0,1807,268.60 _24V_AH 22.8,67.509

SM_GC 1.03,12.25,0.00,0.00,0.036,0.000,0.000,53,2743,1807,-10.93,-0.20,268.60 _10V_AH 10.1,37.915

IRIDIUM_FIX 6303.50,-828.27,130898,101046 DATA_FILE_SIZE 37994,718

TT8_MAMPS 0.029146 CAP_FILE_SIZE 96245,0

HUMID 1844 CFSIZE 260165632,233136128

INTERNAL_PRESSURE 8.48665 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 GPS 190509,141006,6332.212,-821.419,38,1.2,38,-9.6

XPDR_PINGS 52

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 162 101.30 SBE_CT 537 24 293.87

Roll_motor 92 90 191.24 SBE_O2 506 19 219.26

VBD_pump_during_apogee 363 1226 10174.22 WL_BB2F 434 105 1039.19

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 63 103 147.95 nil 0 0 0.00

Iridium_during_connect 127 160 464.38 nil 0 0 0.00

Iridium_during_xfer 127 223 649.60

Transponder_ping 18 420 179.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.34

TT8 1276 19 255.30

LPSleep 11748 2 259.87

TT8_Active 434 19 86.84

TT8_Sampling 1483 39 596.18

TT8_CF8 594 45 275.07

TT8_Kalman 33 81 27.56

Analog_circuits 1191 12 144.39

GPS_charging 0 0 0.00

Compass 1455 8 117.63

RAFOS 0 0 0.00

Transponder 40 30 12.33

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 14 begin dive

18 -1.42 -146.6 0.0 0.0 0 61 0.00 0.00 -41.40 0.000 2 0.000 0.000 49 2753 3161

65 -1.42 -146.6 3.4 -10.9 2 87 11.88 0.00 -5.75 0.000 6 0.163 0.000 2124 2754 3504

398 -1.42 -146.6 48.9 -11.6 18 402 0.00 2.65 0.00 0.000 4 0.000 0.064 2124 1329 3504

448 -1.42 -146.6 55.2 -11.5 20 452 0.00 2.72 0.00 0.000 6 0.000 0.074 2124 2756 3504

765 -1.42 -146.6 91.0 -11.0 35 766 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2756 3505

1074 -1.42 -146.6 125.1 -10.8 50 1078 0.00 2.65 0.00 0.000 4 0.000 0.066 2124 1333 3505

1114 -1.42 -146.6 129.7 -11.4 52 1118 0.00 2.67 0.00 0.000 6 0.000 0.069 2124 2755 3505

1441 -1.42 -146.6 166.3 -10.9 68 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2756 3505

1750 -1.42 -146.6 198.2 -9.9 83 1751 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2755 3506

2059 -1.42 -146.6 228.1 -9.7 98 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2755 3506

2368 -1.42 -146.6 257.4 -9.6 113 2373 0.00 2.65 0.00 0.000 4 0.000 0.067 2124 1332 3506

2447 -1.42 -146.6 265.4 -9.8 116 2453 0.00 2.70 0.00 0.000 6 0.000 0.072 2124 2755 3506

2763 -1.42 -146.6 296.8 -10.0 132 2764 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2756 3506

3072 -1.42 -146.6 328.3 -10.3 147 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2755 3505

3382 -1.42 -146.6 358.0 -9.6 162 3386 0.00 2.67 0.00 0.000 4 0.000 0.074 2124 1336 3505

3415 -1.42 -146.6 361.3 -9.4 163 3421 0.00 2.70 0.00 0.000 6 0.000 0.072 2124 2758 3505

3731 -1.42 -146.6 391.2 -9.4 179 3732 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2759 3503

4041 -1.42 -146.6 421.4 -9.9 194 4042 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3502

4349 -1.42 -146.6 453.2 -10.4 209 4351 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3501

4659 -1.42 -146.6 484.6 -10.1 224 4663 0.00 2.70 0.00 0.000 4 0.000 0.074 2124 1335 3500

4692 -1.42 -146.6 488.1 -10.4 225 4699 0.00 2.70 0.00 0.000 6 0.000 0.077 2124 2750 3501

5009 -1.42 -146.6 519.5 -10.0 241 5010 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3499

5318 -1.42 -146.6 550.0 -9.9 256 5319 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3498

5628 -1.42 -146.6 580.0 -9.6 271 5629 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3497

5937 -1.42 -146.6 609.9 -9.7 286 5938 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3496

6246 -1.42 -146.6 640.0 -9.5 301 6247 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3496

6556 -1.42 -146.6 670.1 -9.8 316 6557 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2750 3494

6820 end dive: BOTTOM_OBSTACLE_DETECTED

state 6820 begin apogee

6829 -0.42 0.0 696.7 9.8 329 6963 1.12 0.00 128.55 1.226 6 0.100 0.000 2344 1995 2902

6964 end apogee: CONTROL_FINISHED_OK

state 6964 begin climb

6967 1.42 146.6 703.0 0.0 336 7105 1.92 2.80 127.22 1.183 4 0.064 0.072 2748 583 2304

7171 1.57 265.9 701.3 3.6 345 7286 0.15 2.60 103.95 1.162 6 0.045 0.043 2789 2030 1817

7595 1.57 265.9 666.2 8.7 366 7596 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2031 1817

7904 1.57 265.9 639.9 8.6 381 7905 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2031 1817

8213 1.57 265.9 613.1 8.7 396 8214 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2031 1816

8523 1.57 265.9 586.5 8.6 411 8527 0.00 2.75 0.00 0.000 4 0.000 0.072 2789 575 1815

8556 1.57 265.9 583.3 9.4 412 8562 0.00 2.55 0.00 0.000 6 0.000 0.045 2789 1992 1815

8871 1.57 265.9 555.0 9.1 428 8873 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1992 1815

9181 1.57 265.9 527.0 9.2 443 9182 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1992 1815

9490 1.57 265.9 499.5 8.8 458 9494 0.00 2.65 0.00 0.000 4 0.000 0.074 2789 3405 1815

9517 1.57 265.9 496.9 9.7 459 9522 0.00 2.60 0.00 0.000 6 0.000 0.052 2789 1982 1815

9834 1.57 265.9 468.9 9.0 474 9835 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1982 1815

10142 1.57 265.9 439.3 9.8 489 10144 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1982 1815

10452 1.57 265.9 408.6 10.0 504 10453 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1982 1815

10761 1.57 265.9 378.0 9.6 519 10762 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1982 1815

11071 1.57 265.9 349.8 8.7 534 11075 0.00 2.72 0.00 0.000 4 0.000 0.076 2789 3406 1814

11155 1.57 265.9 342.3 9.7 538 11160 0.00 2.58 0.00 0.000 6 0.000 0.056 2789 1997 1814

11483 1.57 265.9 313.0 8.9 554 11487 0.00 2.65 0.00 0.000 4 0.000 0.074 2789 585 1814

11555 1.57 265.9 306.5 9.5 557 11560 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 1994 1814

11871 1.57 265.9 279.4 8.5 572 11876 0.00 2.67 0.00 0.000 4 0.000 0.071 2789 580 1814

11950 1.57 265.9 272.0 9.4 575 11956 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 2000 1814

12266 1.57 265.9 243.0 9.3 591 12270 0.00 2.67 0.00 0.000 4 0.000 0.077 2789 3418 1814

12328 1.57 265.9 236.9 10.1 594 12333 0.00 2.62 0.00 0.000 6 0.000 0.058 2789 1991 1814

12656 1.57 265.9 206.9 9.1 610 12660 0.00 2.60 0.00 0.000 4 0.000 0.071 2789 588 1814

12706 1.57 265.9 202.1 9.4 612 12710 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 2000 1814

13021 1.57 265.9 174.6 8.8 627 13026 0.00 2.65 0.00 0.000 4 0.000 0.070 2789 588 1814

13078 1.57 265.9 169.5 9.1 629 13084 0.00 2.55 0.00 0.000 6 0.000 0.046 2789 2004 1814

13395 1.57 268.4 144.2 7.9 645 13399 0.00 2.65 0.00 0.000 4 0.000 0.068 2789 588 1814

13467 1.57 268.4 137.8 9.1 648 13471 0.00 2.55 0.00 0.000 6 0.000 0.044 2789 2009 1814

13785 1.57 268.4 110.6 8.9 663 13790 0.00 2.65 0.00 0.000 4 0.000 0.067 2789 588 1815

13948 1.57 268.4 94.1 9.9 670 13952 0.00 2.53 0.00 0.000 6 0.000 0.042 2789 2007 1815

14266 1.57 268.4 66.0 8.8 685 14275 0.00 2.67 4.12 0.586 4 0.000 0.066 2789 585 1806

14350 1.57 268.4 57.8 9.5 688 14357 0.00 2.53 0.00 0.000 6 0.000 0.041 2789 2004 1806

14666 1.57 268.4 28.4 9.3 704 14667 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2004 1807

14931 end climb: SURFACE_DEPTH_REACHED

state 14931 begin surface coast

14954 end surface coast: CONTROL_FINISHED_OK

state 14954 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	423	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-151984.16	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	0	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	094900,6330.419,-824.044,38,1.9,38,-9.6	TGT_NAME	P4
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.110,0.217
_SM_DEPTHo	0.78	KALMAN_X	-21529.6,545.9,-178.0,122005.2,1432.8
_SM_ANGLEo	-60.0	KALMAN_Y	-44238.5,1385.8,531.3,128729.1,-10358.6
GPS2	095720,6330.368,-824.154,12,1.9,12,-9.6	MHEAD_RNG_PITCHd_Wd	36.6,33552,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	-0.1,1.014769	ALTIM_BOTTOM_PING	676.5,28.5
SM_CCo	15040,0.00,0.000,0,0,1807,268.60	_24V_AH	22.8,67.509
SM_GC	1.03,12.25,0.00,0.00,0.036,0.000,0.000,53,2743,1807,-10.93,-0.20,268.60	_10V_AH	10.1,37.915
IRIDIUM_FIX	6303.50,-828.27,130898,101046	DATA_FILE_SIZE	37994,718
TT8_MAMPS	0.029146	CAP_FILE_SIZE	96245,0
HUMID	1844	CFSIZE	260165632,233136128
INTERNAL_PRESSURE	8.48665	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	GPS	190509,141006,6332.212,-821.419,38,1.2,38,-9.6
XPDR_PINGS	52

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	162	101.30	SBE_CT	537	24	293.87
Roll_motor	92	90	191.24	SBE_O2	506	19	219.26
VBD_pump_during_apogee	363	1226	10174.22	WL_BB2F	434	105	1039.19
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	63	103	147.95	nil	0	0	0.00
Iridium_during_connect	127	160	464.38	nil	0	0	0.00
Iridium_during_xfer	127	223	649.60
Transponder_ping	18	420	179.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.34
TT8	1276	19	255.30
LPSleep	11748	2	259.87
TT8_Active	434	19	86.84
TT8_Sampling	1483	39	596.18
TT8_CF8	594	45	275.07
TT8_Kalman	33	81	27.56
Analog_circuits	1191	12	144.39
GPS_charging	0	0	0.00
Compass	1455	8	117.63
RAFOS	0	0	0.00
Transponder	40	30	12.33

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	14	begin dive
18	-1.42	-146.6	0.0	0.0	0	61	0.00	0.00	-41.40	0.000	2	0.000	0.000	49	2753	3161
65	-1.42	-146.6	3.4	-10.9	2	87	11.88	0.00	-5.75	0.000	6	0.163	0.000	2124	2754	3504
398	-1.42	-146.6	48.9	-11.6	18	402	0.00	2.65	0.00	0.000	4	0.000	0.064	2124	1329	3504
448	-1.42	-146.6	55.2	-11.5	20	452	0.00	2.72	0.00	0.000	6	0.000	0.074	2124	2756	3504
765	-1.42	-146.6	91.0	-11.0	35	766	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2756	3505
1074	-1.42	-146.6	125.1	-10.8	50	1078	0.00	2.65	0.00	0.000	4	0.000	0.066	2124	1333	3505
1114	-1.42	-146.6	129.7	-11.4	52	1118	0.00	2.67	0.00	0.000	6	0.000	0.069	2124	2755	3505
1441	-1.42	-146.6	166.3	-10.9	68	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2756	3505
1750	-1.42	-146.6	198.2	-9.9	83	1751	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2755	3506
2059	-1.42	-146.6	228.1	-9.7	98	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2755	3506
2368	-1.42	-146.6	257.4	-9.6	113	2373	0.00	2.65	0.00	0.000	4	0.000	0.067	2124	1332	3506
2447	-1.42	-146.6	265.4	-9.8	116	2453	0.00	2.70	0.00	0.000	6	0.000	0.072	2124	2755	3506
2763	-1.42	-146.6	296.8	-10.0	132	2764	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2756	3506
3072	-1.42	-146.6	328.3	-10.3	147	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2755	3505
3382	-1.42	-146.6	358.0	-9.6	162	3386	0.00	2.67	0.00	0.000	4	0.000	0.074	2124	1336	3505
3415	-1.42	-146.6	361.3	-9.4	163	3421	0.00	2.70	0.00	0.000	6	0.000	0.072	2124	2758	3505
3731	-1.42	-146.6	391.2	-9.4	179	3732	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2759	3503
4041	-1.42	-146.6	421.4	-9.9	194	4042	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3502
4349	-1.42	-146.6	453.2	-10.4	209	4351	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3501
4659	-1.42	-146.6	484.6	-10.1	224	4663	0.00	2.70	0.00	0.000	4	0.000	0.074	2124	1335	3500
4692	-1.42	-146.6	488.1	-10.4	225	4699	0.00	2.70	0.00	0.000	6	0.000	0.077	2124	2750	3501
5009	-1.42	-146.6	519.5	-10.0	241	5010	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3499
5318	-1.42	-146.6	550.0	-9.9	256	5319	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3498
5628	-1.42	-146.6	580.0	-9.6	271	5629	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3497
5937	-1.42	-146.6	609.9	-9.7	286	5938	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3496
6246	-1.42	-146.6	640.0	-9.5	301	6247	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3496
6556	-1.42	-146.6	670.1	-9.8	316	6557	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2750	3494
6820	end dive: BOTTOM_OBSTACLE_DETECTED
state	6820	begin apogee
6829	-0.42	0.0	696.7	9.8	329	6963	1.12	0.00	128.55	1.226	6	0.100	0.000	2344	1995	2902
6964	end apogee: CONTROL_FINISHED_OK
state	6964	begin climb
6967	1.42	146.6	703.0	0.0	336	7105	1.92	2.80	127.22	1.183	4	0.064	0.072	2748	583	2304
7171	1.57	265.9	701.3	3.6	345	7286	0.15	2.60	103.95	1.162	6	0.045	0.043	2789	2030	1817
7595	1.57	265.9	666.2	8.7	366	7596	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2031	1817
7904	1.57	265.9	639.9	8.6	381	7905	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2031	1817
8213	1.57	265.9	613.1	8.7	396	8214	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2031	1816
8523	1.57	265.9	586.5	8.6	411	8527	0.00	2.75	0.00	0.000	4	0.000	0.072	2789	575	1815
8556	1.57	265.9	583.3	9.4	412	8562	0.00	2.55	0.00	0.000	6	0.000	0.045	2789	1992	1815
8871	1.57	265.9	555.0	9.1	428	8873	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1992	1815
9181	1.57	265.9	527.0	9.2	443	9182	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1992	1815
9490	1.57	265.9	499.5	8.8	458	9494	0.00	2.65	0.00	0.000	4	0.000	0.074	2789	3405	1815
9517	1.57	265.9	496.9	9.7	459	9522	0.00	2.60	0.00	0.000	6	0.000	0.052	2789	1982	1815
9834	1.57	265.9	468.9	9.0	474	9835	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1982	1815
10142	1.57	265.9	439.3	9.8	489	10144	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1982	1815
10452	1.57	265.9	408.6	10.0	504	10453	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1982	1815
10761	1.57	265.9	378.0	9.6	519	10762	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1982	1815
11071	1.57	265.9	349.8	8.7	534	11075	0.00	2.72	0.00	0.000	4	0.000	0.076	2789	3406	1814
11155	1.57	265.9	342.3	9.7	538	11160	0.00	2.58	0.00	0.000	6	0.000	0.056	2789	1997	1814
11483	1.57	265.9	313.0	8.9	554	11487	0.00	2.65	0.00	0.000	4	0.000	0.074	2789	585	1814
11555	1.57	265.9	306.5	9.5	557	11560	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	1994	1814
11871	1.57	265.9	279.4	8.5	572	11876	0.00	2.67	0.00	0.000	4	0.000	0.071	2789	580	1814
11950	1.57	265.9	272.0	9.4	575	11956	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	2000	1814
12266	1.57	265.9	243.0	9.3	591	12270	0.00	2.67	0.00	0.000	4	0.000	0.077	2789	3418	1814
12328	1.57	265.9	236.9	10.1	594	12333	0.00	2.62	0.00	0.000	6	0.000	0.058	2789	1991	1814
12656	1.57	265.9	206.9	9.1	610	12660	0.00	2.60	0.00	0.000	4	0.000	0.071	2789	588	1814
12706	1.57	265.9	202.1	9.4	612	12710	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	2000	1814
13021	1.57	265.9	174.6	8.8	627	13026	0.00	2.65	0.00	0.000	4	0.000	0.070	2789	588	1814
13078	1.57	265.9	169.5	9.1	629	13084	0.00	2.55	0.00	0.000	6	0.000	0.046	2789	2004	1814
13395	1.57	268.4	144.2	7.9	645	13399	0.00	2.65	0.00	0.000	4	0.000	0.068	2789	588	1814
13467	1.57	268.4	137.8	9.1	648	13471	0.00	2.55	0.00	0.000	6	0.000	0.044	2789	2009	1814
13785	1.57	268.4	110.6	8.9	663	13790	0.00	2.65	0.00	0.000	4	0.000	0.067	2789	588	1815
13948	1.57	268.4	94.1	9.9	670	13952	0.00	2.53	0.00	0.000	6	0.000	0.042	2789	2007	1815
14266	1.57	268.4	66.0	8.8	685	14275	0.00	2.67	4.12	0.586	4	0.000	0.066	2789	585	1806
14350	1.57	268.4	57.8	9.5	688	14357	0.00	2.53	0.00	0.000	6	0.000	0.041	2789	2004	1806
14666	1.57	268.4	28.4	9.3	704	14667	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2004	1807
14931	end climb: SURFACE_DEPTH_REACHED
state	14931	begin surface coast
14954	end surface coast: CONTROL_FINISHED_OK
state	14954	begin surface