Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 197 * 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 197 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -103967.27 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 0.029999999 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 -103967.27

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 26 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 197 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 221706,6354.587,-1318.317,34,1.3,34,-12.6 TGT_NAME P6

_CALLS 1 TGT_LATLONG 6402.820,-1325.500

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,0.190

_SM_DEPTHo 1.68 KALMAN_X -57276.3,618.8,1229.6,-189760.0,-2971.0

_SM_ANGLEo -62.7 KALMAN_Y -20049.9,332.3,845.5,274353.3,-6767.8

GPS2 222302,6354.584,-1318.266,15,1.3,15,-12.6 MHEAD_RNG_PITCHd_Wd 51.7,16340,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.019755 ALTIM_BOTTOM_PING 721.2,53.6

SM_CCo 14945,0.00,0.000,0,0,1384,354.95 _24V_AH 23.8,34.760

SM_GC 1.60,11.43,0.00,0.00,0.038,0.000,0.000,422,2147,1384,-10.58,0.45,354.95 _10V_AH 10.1,15.950

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47365,905

TT8_MAMPS 0.029146 CAP_FILE_SIZE 122025,0

HUMID 1827 CFSIZE 254472192,240590848

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 54 GPS 021009,023406,6354.682,-1315.132,31,1.0,31,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 102.92 SBE_CT 619 24 353.85

Roll_motor 137 79 257.83 SBE_O2 661 19 299.35

VBD_pump_during_apogee 449 1344 14382.54 WL_BB2F 483 105 1207.72

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 26 160 102.49 nil 0 0 0.00

Iridium_during_xfer 156 223 832.14

Transponder_ping 20 420 199.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.69

TT8 1568 19 313.62

LPSleep 10859 2 240.20

TT8_Active 546 19 109.32

TT8_Sampling 1789 39 719.37

TT8_CF8 530 45 245.58

TT8_Kalman 33 81 27.57

Analog_circuits 1467 12 177.87

GPS_charging 0 0 0.00

Compass 1751 8 141.50

RAFOS 0 0 0.00

Transponder 44 30 13.50

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.05 0.000 2 0.000 0.000 416 2087 2426

63 -1.22 -146.6 2.3 -2.5 2 122 11.52 0.00 -44.78 0.000 6 0.160 0.000 2475 2090 3430

430 -1.14 -146.6 42.5 -12.6 20 432 0.10 0.00 0.00 0.000 6 0.108 0.000 2493 2089 3430

738 -1.09 -146.6 76.9 -10.6 35 742 0.00 2.60 0.00 0.000 4 0.000 0.064 2493 3532 3430

806 -1.05 -146.6 84.5 -10.3 38 810 0.10 2.50 0.00 0.000 6 0.100 0.049 2515 2128 3431

1129 -1.05 -146.6 121.5 -11.1 54 1134 0.00 2.50 0.00 0.000 4 0.000 0.060 2515 720 3430

1158 -1.09 -146.6 125.5 -12.0 55 1162 0.00 2.50 0.00 0.000 6 0.000 0.049 2515 2128 3430

1485 -1.09 -146.6 159.7 -9.8 72 1490 0.00 2.55 0.00 0.000 4 0.000 0.061 2515 719 3430

1587 -1.12 -146.6 169.6 -9.8 78 1595 0.00 2.47 0.00 0.000 6 0.000 0.049 2515 2117 3430

1914 -1.12 -146.6 198.1 -8.2 99 1919 0.00 2.53 0.00 0.000 4 0.000 0.061 2515 720 3430

1948 -1.15 -146.6 201.1 -8.5 101 1953 0.00 2.47 0.00 0.000 6 0.000 0.049 2515 2118 3430

2267 -1.15 -146.6 229.7 -9.5 121 2271 0.00 2.53 0.00 0.000 4 0.000 0.061 2515 717 3431

2302 -1.15 -146.6 233.1 -9.7 123 2307 0.00 2.45 0.00 0.000 6 0.000 0.049 2515 2102 3431

2627 -1.15 -146.6 264.5 -9.7 144 2628 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2102 3431

2940 -1.15 -146.6 295.9 -10.2 164 2944 0.00 2.53 0.00 0.000 4 0.000 0.063 2515 709 3431

3020 -1.19 -146.6 304.7 -11.0 169 3025 0.15 2.47 0.00 0.000 6 0.056 0.050 2474 2104 3431

3346 -1.12 -146.6 349.1 -13.9 190 3348 0.12 0.00 0.00 0.000 6 0.094 0.000 2499 2104 3431

3657 -1.12 -146.6 388.1 -12.2 210 3658 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2102 3431

3969 -1.12 -146.6 425.5 -12.7 230 3973 0.00 2.53 0.00 0.000 4 0.000 0.062 2499 709 3431

4002 -1.12 -146.6 430.2 -13.7 232 4006 0.00 2.47 0.00 0.000 6 0.000 0.051 2499 2104 3431

4322 -1.12 -146.6 471.5 -12.7 252 4327 0.00 2.53 0.00 0.000 4 0.000 0.064 2499 713 3430

4351 -1.12 -146.6 475.4 -13.9 254 4355 0.00 2.45 0.00 0.000 6 0.000 0.052 2499 2092 3431

4676 -1.12 -146.6 516.8 -10.9 275 4677 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2091 3431

4987 -1.12 -146.6 554.4 -13.9 295 4992 0.00 2.50 0.00 0.000 4 0.000 0.062 2499 713 3431

5039 -1.12 -146.6 561.8 -14.0 298 5043 0.00 2.45 0.00 0.000 6 0.000 0.051 2499 2091 3431

5359 -1.12 -146.6 605.5 -14.5 318 5363 0.00 2.60 0.00 0.000 4 0.000 0.068 2499 3531 3431

5425 -1.12 -146.6 614.6 -12.8 322 5430 0.00 2.58 0.00 0.000 6 0.000 0.055 2499 2097 3430

5745 -1.12 -146.6 652.2 -11.8 342 5749 0.00 2.47 0.00 0.000 4 0.000 0.066 2499 713 3431

5879 -1.12 -146.6 667.7 -9.7 350 5883 0.00 2.42 0.00 0.000 6 0.000 0.051 2499 2081 3430

6199 -1.12 -146.6 696.1 -8.1 370 6203 0.00 2.50 0.00 0.000 4 0.000 0.068 2499 719 3430

6266 -1.16 -146.6 702.5 -9.9 374 6270 0.00 2.42 0.00 0.000 6 0.000 0.055 2499 2071 3430

6585 -1.16 -146.6 730.7 -8.7 394 6589 0.00 2.47 0.00 0.000 4 0.000 0.068 2499 722 3429

6614 -1.16 -146.6 733.1 -8.7 396 6618 0.00 2.40 0.00 0.000 6 0.000 0.054 2499 2059 3429

6938 -1.16 -146.6 757.7 -7.8 417 6940 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2061 3429

7029 end dive: BOTTOM_OBSTACLE_DETECTED

state 7029 begin apogee

7036 -0.33 0.0 765.7 8.0 423 7170 0.80 0.00 130.38 1.345 6 0.076 0.000 2671 1826 2831

7171 end apogee: CONTROL_FINISHED_OK

state 7171 begin climb

7175 1.22 146.6 772.1 0.0 432 7316 1.55 2.65 130.30 1.307 4 0.061 0.076 3009 459 2233

7331 1.32 267.3 768.6 3.6 441 7446 0.12 2.55 108.28 1.275 6 0.057 0.058 3041 1863 1741

7758 1.23 267.3 719.8 12.2 469 7760 0.15 0.00 0.00 0.000 6 0.102 0.000 3014 1863 1741

8071 1.19 267.3 690.3 8.3 489 8072 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1863 1739

8383 1.15 267.3 661.6 9.9 509 8387 0.00 2.62 0.00 0.000 4 0.000 0.079 3014 455 1738

8412 1.09 267.3 658.5 11.3 511 8417 0.17 2.50 0.00 0.000 6 0.094 0.059 2980 1830 1738

8740 1.20 319.7 632.8 6.1 532 8792 0.12 2.65 46.28 1.254 4 0.061 0.073 3012 448 1526

8833 1.17 319.7 624.6 10.7 538 8837 0.00 2.53 0.00 0.000 6 0.000 0.058 3012 1837 1526

9158 1.17 319.7 597.6 8.6 559 9162 0.00 2.60 0.00 0.000 4 0.000 0.074 3011 449 1527

9187 1.13 319.7 595.0 9.4 561 9191 0.00 2.50 0.00 0.000 6 0.000 0.057 3012 1832 1527

9511 1.14 326.3 567.3 7.8 582 9524 0.00 0.00 7.35 1.015 6 0.000 0.000 3012 1848 1500

9838 1.14 326.3 541.2 8.7 603 9842 0.00 2.58 0.00 0.000 4 0.000 0.071 3012 446 1500

9871 1.10 326.3 537.9 9.8 605 9876 0.15 2.47 0.00 0.000 6 0.090 0.053 2982 1827 1501

10194 1.23 355.8 516.1 6.9 625 10223 0.12 0.00 26.88 1.151 6 0.058 0.000 3016 1843 1380

10533 1.23 355.8 485.3 9.3 647 10537 0.00 2.55 0.00 0.000 4 0.000 0.071 3016 453 1381

10571 1.23 355.8 481.2 10.9 649 10577 0.00 2.45 0.00 0.000 6 0.000 0.052 3016 1822 1381

10891 1.23 355.8 452.1 8.9 670 10894 0.00 2.53 0.00 0.000 4 0.000 0.068 3016 454 1381

10918 1.23 355.8 449.3 9.9 671 10924 0.00 2.42 0.00 0.000 6 0.000 0.051 3016 1814 1381

11239 1.23 355.8 422.3 8.6 692 11240 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1830 1381

11549 1.23 355.8 393.5 9.2 712 11553 0.00 2.50 0.00 0.000 4 0.000 0.067 3016 444 1382

11577 1.23 355.8 390.7 9.7 713 11583 0.00 2.42 0.00 0.000 6 0.000 0.051 3016 1808 1382

11897 1.23 355.8 360.3 10.2 734 11898 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1825 1382

12208 1.23 355.8 325.5 11.4 754 12213 0.00 2.50 0.00 0.000 4 0.000 0.066 3016 444 1382

12238 1.23 355.8 321.9 13.0 756 12242 0.00 2.40 0.00 0.000 6 0.000 0.049 3016 1801 1383

12562 1.23 355.8 283.3 12.6 777 12563 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 1817 1383

12874 1.23 355.8 243.5 13.1 797 12878 0.00 2.47 0.00 0.000 4 0.000 0.067 3016 452 1383

12907 1.23 355.8 238.7 14.3 799 12911 0.00 2.38 0.00 0.000 6 0.000 0.050 3016 1791 1383

13226 1.23 355.8 197.1 11.9 819 13230 0.00 2.60 0.00 0.000 4 0.000 0.058 3016 3257 1383

13259 1.29 355.8 192.8 12.1 821 13264 0.00 2.62 0.00 0.000 6 0.000 0.053 3016 1794 1384

13579 1.29 355.8 157.1 10.9 841 13583 0.00 2.65 0.00 0.000 4 0.000 0.058 3016 3261 1384

13618 1.37 355.8 152.9 9.5 843 13625 0.12 2.60 0.00 0.000 6 0.054 0.051 3052 1805 1384

13946 1.30 355.8 107.9 14.1 860 13948 0.12 0.00 0.00 0.000 6 0.089 0.000 3027 1805 1384

14255 1.30 355.8 68.0 12.4 875 14259 0.00 2.62 0.00 0.000 4 0.000 0.057 3027 3259 1384

14295 1.36 355.8 63.4 10.7 877 14299 0.00 2.60 0.00 0.000 6 0.000 0.050 3027 1799 1384

14622 1.36 355.8 28.1 10.7 893 14626 0.00 2.62 0.00 0.000 4 0.000 0.056 3027 3255 1384

14645 1.40 355.8 25.6 10.5 894 14650 0.10 2.60 0.00 0.000 6 0.060 0.050 3057 1795 1384

14840 end climb: SURFACE_DEPTH_REACHED

state 14840 begin surface coast

14861 end surface coast: CONTROL_FINISHED_OK

state 14862 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	197	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-103967.27	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	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	221706,6354.587,-1318.317,34,1.3,34,-12.6	TGT_NAME	P6
_CALLS	1	TGT_LATLONG	6402.820,-1325.500
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,0.190
_SM_DEPTHo	1.68	KALMAN_X	-57276.3,618.8,1229.6,-189760.0,-2971.0
_SM_ANGLEo	-62.7	KALMAN_Y	-20049.9,332.3,845.5,274353.3,-6767.8
GPS2	222302,6354.584,-1318.266,15,1.3,15,-12.6	MHEAD_RNG_PITCHd_Wd	51.7,16340,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.019755	ALTIM_BOTTOM_PING	721.2,53.6
SM_CCo	14945,0.00,0.000,0,0,1384,354.95	_24V_AH	23.8,34.760
SM_GC	1.60,11.43,0.00,0.00,0.038,0.000,0.000,422,2147,1384,-10.58,0.45,354.95	_10V_AH	10.1,15.950
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47365,905
TT8_MAMPS	0.029146	CAP_FILE_SIZE	122025,0
HUMID	1827	CFSIZE	254472192,240590848
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	54	GPS	021009,023406,6354.682,-1315.132,31,1.0,31,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	102.92	SBE_CT	619	24	353.85
Roll_motor	137	79	257.83	SBE_O2	661	19	299.35
VBD_pump_during_apogee	449	1344	14382.54	WL_BB2F	483	105	1207.72
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	26	160	102.49	nil	0	0	0.00
Iridium_during_xfer	156	223	832.14
Transponder_ping	20	420	199.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.69
TT8	1568	19	313.62
LPSleep	10859	2	240.20
TT8_Active	546	19	109.32
TT8_Sampling	1789	39	719.37
TT8_CF8	530	45	245.58
TT8_Kalman	33	81	27.57
Analog_circuits	1467	12	177.87
GPS_charging	0	0	0.00
Compass	1751	8	141.50
RAFOS	0	0	0.00
Transponder	44	30	13.50

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.05	0.000	2	0.000	0.000	416	2087	2426
63	-1.22	-146.6	2.3	-2.5	2	122	11.52	0.00	-44.78	0.000	6	0.160	0.000	2475	2090	3430
430	-1.14	-146.6	42.5	-12.6	20	432	0.10	0.00	0.00	0.000	6	0.108	0.000	2493	2089	3430
738	-1.09	-146.6	76.9	-10.6	35	742	0.00	2.60	0.00	0.000	4	0.000	0.064	2493	3532	3430
806	-1.05	-146.6	84.5	-10.3	38	810	0.10	2.50	0.00	0.000	6	0.100	0.049	2515	2128	3431
1129	-1.05	-146.6	121.5	-11.1	54	1134	0.00	2.50	0.00	0.000	4	0.000	0.060	2515	720	3430
1158	-1.09	-146.6	125.5	-12.0	55	1162	0.00	2.50	0.00	0.000	6	0.000	0.049	2515	2128	3430
1485	-1.09	-146.6	159.7	-9.8	72	1490	0.00	2.55	0.00	0.000	4	0.000	0.061	2515	719	3430
1587	-1.12	-146.6	169.6	-9.8	78	1595	0.00	2.47	0.00	0.000	6	0.000	0.049	2515	2117	3430
1914	-1.12	-146.6	198.1	-8.2	99	1919	0.00	2.53	0.00	0.000	4	0.000	0.061	2515	720	3430
1948	-1.15	-146.6	201.1	-8.5	101	1953	0.00	2.47	0.00	0.000	6	0.000	0.049	2515	2118	3430
2267	-1.15	-146.6	229.7	-9.5	121	2271	0.00	2.53	0.00	0.000	4	0.000	0.061	2515	717	3431
2302	-1.15	-146.6	233.1	-9.7	123	2307	0.00	2.45	0.00	0.000	6	0.000	0.049	2515	2102	3431
2627	-1.15	-146.6	264.5	-9.7	144	2628	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2102	3431
2940	-1.15	-146.6	295.9	-10.2	164	2944	0.00	2.53	0.00	0.000	4	0.000	0.063	2515	709	3431
3020	-1.19	-146.6	304.7	-11.0	169	3025	0.15	2.47	0.00	0.000	6	0.056	0.050	2474	2104	3431
3346	-1.12	-146.6	349.1	-13.9	190	3348	0.12	0.00	0.00	0.000	6	0.094	0.000	2499	2104	3431
3657	-1.12	-146.6	388.1	-12.2	210	3658	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2102	3431
3969	-1.12	-146.6	425.5	-12.7	230	3973	0.00	2.53	0.00	0.000	4	0.000	0.062	2499	709	3431
4002	-1.12	-146.6	430.2	-13.7	232	4006	0.00	2.47	0.00	0.000	6	0.000	0.051	2499	2104	3431
4322	-1.12	-146.6	471.5	-12.7	252	4327	0.00	2.53	0.00	0.000	4	0.000	0.064	2499	713	3430
4351	-1.12	-146.6	475.4	-13.9	254	4355	0.00	2.45	0.00	0.000	6	0.000	0.052	2499	2092	3431
4676	-1.12	-146.6	516.8	-10.9	275	4677	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2091	3431
4987	-1.12	-146.6	554.4	-13.9	295	4992	0.00	2.50	0.00	0.000	4	0.000	0.062	2499	713	3431
5039	-1.12	-146.6	561.8	-14.0	298	5043	0.00	2.45	0.00	0.000	6	0.000	0.051	2499	2091	3431
5359	-1.12	-146.6	605.5	-14.5	318	5363	0.00	2.60	0.00	0.000	4	0.000	0.068	2499	3531	3431
5425	-1.12	-146.6	614.6	-12.8	322	5430	0.00	2.58	0.00	0.000	6	0.000	0.055	2499	2097	3430
5745	-1.12	-146.6	652.2	-11.8	342	5749	0.00	2.47	0.00	0.000	4	0.000	0.066	2499	713	3431
5879	-1.12	-146.6	667.7	-9.7	350	5883	0.00	2.42	0.00	0.000	6	0.000	0.051	2499	2081	3430
6199	-1.12	-146.6	696.1	-8.1	370	6203	0.00	2.50	0.00	0.000	4	0.000	0.068	2499	719	3430
6266	-1.16	-146.6	702.5	-9.9	374	6270	0.00	2.42	0.00	0.000	6	0.000	0.055	2499	2071	3430
6585	-1.16	-146.6	730.7	-8.7	394	6589	0.00	2.47	0.00	0.000	4	0.000	0.068	2499	722	3429
6614	-1.16	-146.6	733.1	-8.7	396	6618	0.00	2.40	0.00	0.000	6	0.000	0.054	2499	2059	3429
6938	-1.16	-146.6	757.7	-7.8	417	6940	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2061	3429
7029	end dive: BOTTOM_OBSTACLE_DETECTED
state	7029	begin apogee
7036	-0.33	0.0	765.7	8.0	423	7170	0.80	0.00	130.38	1.345	6	0.076	0.000	2671	1826	2831
7171	end apogee: CONTROL_FINISHED_OK
state	7171	begin climb
7175	1.22	146.6	772.1	0.0	432	7316	1.55	2.65	130.30	1.307	4	0.061	0.076	3009	459	2233
7331	1.32	267.3	768.6	3.6	441	7446	0.12	2.55	108.28	1.275	6	0.057	0.058	3041	1863	1741
7758	1.23	267.3	719.8	12.2	469	7760	0.15	0.00	0.00	0.000	6	0.102	0.000	3014	1863	1741
8071	1.19	267.3	690.3	8.3	489	8072	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1863	1739
8383	1.15	267.3	661.6	9.9	509	8387	0.00	2.62	0.00	0.000	4	0.000	0.079	3014	455	1738
8412	1.09	267.3	658.5	11.3	511	8417	0.17	2.50	0.00	0.000	6	0.094	0.059	2980	1830	1738
8740	1.20	319.7	632.8	6.1	532	8792	0.12	2.65	46.28	1.254	4	0.061	0.073	3012	448	1526
8833	1.17	319.7	624.6	10.7	538	8837	0.00	2.53	0.00	0.000	6	0.000	0.058	3012	1837	1526
9158	1.17	319.7	597.6	8.6	559	9162	0.00	2.60	0.00	0.000	4	0.000	0.074	3011	449	1527
9187	1.13	319.7	595.0	9.4	561	9191	0.00	2.50	0.00	0.000	6	0.000	0.057	3012	1832	1527
9511	1.14	326.3	567.3	7.8	582	9524	0.00	0.00	7.35	1.015	6	0.000	0.000	3012	1848	1500
9838	1.14	326.3	541.2	8.7	603	9842	0.00	2.58	0.00	0.000	4	0.000	0.071	3012	446	1500
9871	1.10	326.3	537.9	9.8	605	9876	0.15	2.47	0.00	0.000	6	0.090	0.053	2982	1827	1501
10194	1.23	355.8	516.1	6.9	625	10223	0.12	0.00	26.88	1.151	6	0.058	0.000	3016	1843	1380
10533	1.23	355.8	485.3	9.3	647	10537	0.00	2.55	0.00	0.000	4	0.000	0.071	3016	453	1381
10571	1.23	355.8	481.2	10.9	649	10577	0.00	2.45	0.00	0.000	6	0.000	0.052	3016	1822	1381
10891	1.23	355.8	452.1	8.9	670	10894	0.00	2.53	0.00	0.000	4	0.000	0.068	3016	454	1381
10918	1.23	355.8	449.3	9.9	671	10924	0.00	2.42	0.00	0.000	6	0.000	0.051	3016	1814	1381
11239	1.23	355.8	422.3	8.6	692	11240	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1830	1381
11549	1.23	355.8	393.5	9.2	712	11553	0.00	2.50	0.00	0.000	4	0.000	0.067	3016	444	1382
11577	1.23	355.8	390.7	9.7	713	11583	0.00	2.42	0.00	0.000	6	0.000	0.051	3016	1808	1382
11897	1.23	355.8	360.3	10.2	734	11898	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1825	1382
12208	1.23	355.8	325.5	11.4	754	12213	0.00	2.50	0.00	0.000	4	0.000	0.066	3016	444	1382
12238	1.23	355.8	321.9	13.0	756	12242	0.00	2.40	0.00	0.000	6	0.000	0.049	3016	1801	1383
12562	1.23	355.8	283.3	12.6	777	12563	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	1817	1383
12874	1.23	355.8	243.5	13.1	797	12878	0.00	2.47	0.00	0.000	4	0.000	0.067	3016	452	1383
12907	1.23	355.8	238.7	14.3	799	12911	0.00	2.38	0.00	0.000	6	0.000	0.050	3016	1791	1383
13226	1.23	355.8	197.1	11.9	819	13230	0.00	2.60	0.00	0.000	4	0.000	0.058	3016	3257	1383
13259	1.29	355.8	192.8	12.1	821	13264	0.00	2.62	0.00	0.000	6	0.000	0.053	3016	1794	1384
13579	1.29	355.8	157.1	10.9	841	13583	0.00	2.65	0.00	0.000	4	0.000	0.058	3016	3261	1384
13618	1.37	355.8	152.9	9.5	843	13625	0.12	2.60	0.00	0.000	6	0.054	0.051	3052	1805	1384
13946	1.30	355.8	107.9	14.1	860	13948	0.12	0.00	0.00	0.000	6	0.089	0.000	3027	1805	1384
14255	1.30	355.8	68.0	12.4	875	14259	0.00	2.62	0.00	0.000	4	0.000	0.057	3027	3259	1384
14295	1.36	355.8	63.4	10.7	877	14299	0.00	2.60	0.00	0.000	6	0.000	0.050	3027	1799	1384
14622	1.36	355.8	28.1	10.7	893	14626	0.00	2.62	0.00	0.000	4	0.000	0.056	3027	3255	1384
14645	1.40	355.8	25.6	10.5	894	14650	0.10	2.60	0.00	0.000	6	0.060	0.050	3057	1795	1384
14840	end climb: SURFACE_DEPTH_REACHED
state	14840	begin surface coast
14861	end surface coast: CONTROL_FINISHED_OK
state	14862	begin surface