Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 220 * 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 220 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 25 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 -104445.35 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 -104445.35

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 25 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 220 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 201836,6356.604,-1329.952,41,0.9,41,-12.7 TGT_NAME P6

_CALLS 1 TGT_LATLONG 6402.820,-1325.500

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.114,0.217

_SM_DEPTHo 1.35 KALMAN_X -41844.7,-544.4,546.9,-213496.6,-629.2

_SM_ANGLEo -59.3 KALMAN_Y -13845.1,-1117.2,201.3,274259.4,1119.6

GPS2 202432,6356.708,-1329.845,15,1.8,15,-12.7 MHEAD_RNG_PITCHd_Wd 40.4,11855,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027140 ALTIM_BOTTOM_PING 670.0,19.1

SM_CCo 14204,0.00,0.000,0,0,1525,320.36 _24V_AH 23.7,38.451

SM_GC 1.29,11.30,0.00,0.00,0.039,0.000,0.000,419,2152,1525,-10.61,0.31,320.36 _10V_AH 10.1,17.365

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44197,854

TT8_MAMPS 0.029146 CAP_FILE_SIZE 109941,0

HUMID 1848 CFSIZE 254472192,239505408

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 22 GPS 051009,002324,6359.331,-1325.842,40,1.2,40,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.74 SBE_CT 587 24 334.41

Roll_motor 104 85 210.35 SBE_O2 624 19 281.28

VBD_pump_during_apogee 418 1344 13341.44 WL_BB2F 480 105 1195.64

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 92.17 nil 0 0 0.00

Iridium_during_connect 27 160 104.92 nil 0 0 0.00

Iridium_during_xfer 155 223 819.80

Transponder_ping 11 420 114.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.80

TT8 1474 19 294.90

LPSleep 10349 2 228.91

TT8_Active 536 19 107.31

TT8_Sampling 1681 39 676.12

TT8_CF8 512 45 237.07

TT8_Kalman 33 81 27.56

Analog_circuits 1378 12 167.09

GPS_charging 0 0 0.00

Compass 1644 8 132.87

RAFOS 0 0 0.00

Transponder 41 30 12.51

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 99 0.00 0.00 -80.60 0.000 2 0.000 0.000 418 2152 2735

103 -1.22 -146.6 2.8 -2.4 4 146 11.10 2.62 -23.45 0.000 4 0.158 0.074 2468 720 3430

194 -1.15 -146.6 12.4 -12.7 8 199 0.12 2.53 0.00 0.000 6 0.104 0.048 2492 2141 3430

523 -1.11 -146.6 52.0 -12.3 24 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2140 3430

831 -1.07 -146.6 90.5 -12.4 39 835 0.00 2.60 0.00 0.000 4 0.000 0.061 2493 711 3430

875 -1.07 -146.6 96.2 -12.6 41 879 0.00 2.53 0.00 0.000 6 0.000 0.049 2493 2133 3430

1197 -1.04 -146.6 135.4 -12.0 57 1202 0.10 2.60 0.00 0.000 4 0.103 0.062 2514 703 3430

1231 -1.08 -146.6 139.5 -11.1 58 1238 0.00 2.53 0.00 0.000 6 0.000 0.049 2515 2130 3430

1560 -1.08 -146.6 171.4 -9.0 78 1561 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2130 3431

1873 -1.08 -146.6 200.3 -9.5 98 1877 0.00 2.58 0.00 0.000 4 0.000 0.065 2514 712 3431

1952 -1.11 -146.6 208.2 -9.6 103 1957 0.00 2.53 0.00 0.000 6 0.000 0.050 2514 2129 3431

2277 -1.11 -146.6 242.0 -9.8 124 2281 0.00 2.60 0.00 0.000 4 0.000 0.066 2515 706 3431

2316 -1.16 -146.6 245.9 -9.4 126 2323 0.00 2.50 0.00 0.000 6 0.000 0.051 2514 2113 3431

2636 -1.16 -146.6 273.8 -7.5 147 2640 0.00 2.55 0.00 0.000 4 0.000 0.065 2515 711 3431

2720 -1.20 -146.6 280.7 -8.4 152 2725 0.15 2.45 0.00 0.000 6 0.057 0.051 2473 2089 3431

3042 -1.15 -146.6 316.3 -10.7 172 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2088 3430

3352 -1.09 -146.6 350.1 -11.3 192 3354 0.15 0.00 0.00 0.000 6 0.098 0.000 2504 2087 3430

3664 -1.09 -146.6 384.2 -11.4 212 3669 0.00 2.53 0.00 0.000 4 0.000 0.070 2504 717 3430

3889 -1.09 -146.6 414.1 -13.0 225 3896 0.00 2.45 0.00 0.000 6 0.000 0.054 2504 2090 3431

4209 -1.09 -146.6 451.8 -11.0 246 4210 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2091 3430

4522 -1.09 -146.6 487.7 -11.9 266 4524 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2091 3429

4834 -1.09 -146.6 518.3 -10.7 286 4838 0.00 2.58 0.00 0.000 4 0.000 0.076 2504 708 3428

4946 -1.09 -146.6 530.9 -9.7 292 4952 0.00 2.50 0.00 0.000 6 0.000 0.061 2504 2086 3428

5266 -1.09 -146.6 565.5 -11.0 313 5267 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2086 3427

5577 -1.09 -146.6 597.1 -9.1 333 5582 0.00 2.58 0.00 0.000 4 0.000 0.077 2504 709 3426

5623 -1.09 -146.6 601.5 -9.9 336 5628 0.00 2.50 0.00 0.000 6 0.000 0.064 2504 2074 3426

5949 -1.09 -146.6 631.8 -10.0 357 5953 0.00 2.58 0.00 0.000 4 0.000 0.084 2504 716 3425

5982 -1.13 -146.6 634.9 -8.9 359 5986 0.00 2.47 0.00 0.000 6 0.000 0.067 2504 2063 3424

6301 -1.13 -146.6 663.8 -9.2 379 6303 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2064 3423

6486 end dive: BOTTOM_OBSTACLE_DETECTED

state 6486 begin apogee

6493 -0.33 0.0 679.3 8.8 391 6627 0.80 0.00 129.70 1.345 6 0.091 0.000 2671 1833 2831

6627 end apogee: CONTROL_FINISHED_OK

state 6627 begin climb

6631 1.22 146.6 683.3 0.0 400 6769 1.58 0.00 131.00 1.290 6 0.071 0.000 3007 1833 2233

7082 1.14 146.6 651.2 9.9 429 7087 0.00 2.67 0.00 0.000 4 0.000 0.076 3007 3254 2232

7128 1.07 146.6 646.5 10.3 432 7133 0.15 2.60 0.00 0.000 6 0.098 0.073 2979 1871 2231

7456 1.13 181.0 621.3 6.7 453 7492 0.00 2.75 31.02 1.249 4 0.000 0.085 2979 437 2093

7516 1.13 181.0 617.0 8.2 457 7520 0.00 2.62 0.00 0.000 6 0.000 0.063 2979 1855 2093

7840 1.21 233.6 596.1 6.1 478 7890 0.12 0.00 47.47 1.266 6 0.067 0.000 3010 1871 1878

8200 1.25 257.0 568.6 7.1 501 8231 0.00 2.78 21.62 1.216 4 0.000 0.083 3010 436 1783

8271 1.19 257.0 562.6 8.7 505 8276 0.00 2.62 0.00 0.000 6 0.000 0.064 3010 1854 1783

8591 1.21 271.1 537.3 7.5 525 8606 0.00 0.00 14.02 1.170 6 0.000 0.000 3010 1870 1725

8918 1.21 271.1 507.8 10.2 546 8923 0.00 2.67 0.00 0.000 4 0.000 0.081 3010 436 1725

8958 1.16 271.1 503.8 10.0 548 8964 0.00 2.60 0.00 0.000 6 0.000 0.063 3010 1853 1725

9277 1.16 271.1 473.8 9.6 569 9278 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1868 1725

9590 1.16 271.1 445.5 9.2 589 9591 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 1868 1725

9902 1.16 271.1 416.5 9.0 609 9907 0.00 2.67 0.00 0.000 4 0.000 0.077 3010 430 1724

9949 1.12 271.1 412.2 10.7 612 9954 0.12 2.58 0.00 0.000 6 0.104 0.061 2987 1841 1725

10276 1.24 321.5 388.8 6.2 633 10328 0.12 2.75 43.83 1.164 4 0.064 0.078 3018 443 1520

10358 1.21 321.5 381.8 9.7 638 10362 0.00 2.58 0.00 0.000 6 0.000 0.060 3018 1844 1520

10683 1.21 321.5 350.9 10.4 659 10687 0.00 2.65 0.00 0.000 4 0.000 0.078 3018 437 1521

10712 1.13 321.5 347.5 12.7 661 10717 0.15 2.55 0.00 0.000 6 0.097 0.059 2990 1838 1521

11040 1.19 321.5 318.1 9.0 682 11042 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 1856 1521

11351 1.25 321.5 293.2 8.5 702 11353 0.12 0.00 0.00 0.000 6 0.062 0.000 3021 1856 1521

11662 1.25 321.5 257.0 12.0 722 11667 0.00 2.60 0.00 0.000 4 0.000 0.071 3021 435 1521

11697 1.25 321.5 252.9 9.5 724 11701 0.00 2.50 0.00 0.000 6 0.000 0.054 3021 1827 1521

12016 1.25 321.5 214.2 11.5 744 12017 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1844 1522

12328 1.25 321.5 180.6 10.6 764 12329 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1844 1522

12646 1.25 321.5 147.9 10.0 784 12648 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1844 1522

12955 1.25 321.5 118.2 9.9 799 12956 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1844 1524

13264 1.25 321.5 88.2 10.0 814 13268 0.00 2.55 0.00 0.000 4 0.000 0.059 3021 3258 1524

13292 1.29 321.5 85.3 9.5 815 13297 0.00 2.60 0.00 0.000 6 0.000 0.052 3021 1809 1525

13610 1.29 321.5 52.8 10.0 830 13611 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1809 1525

13918 1.29 321.5 21.9 9.7 845 13922 0.00 2.62 0.00 0.000 4 0.000 0.058 3021 3261 1526

13991 1.35 321.5 15.1 9.6 848 13995 0.00 2.55 0.00 0.000 6 0.000 0.051 3021 1833 1526

14098 end climb: SURFACE_DEPTH_REACHED

state 14098 begin surface coast

14120 end surface coast: CONTROL_FINISHED_OK

state 14120 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	220	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	25	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	-104445.35	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	201836,6356.604,-1329.952,41,0.9,41,-12.7	TGT_NAME	P6
_CALLS	1	TGT_LATLONG	6402.820,-1325.500
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.114,0.217
_SM_DEPTHo	1.35	KALMAN_X	-41844.7,-544.4,546.9,-213496.6,-629.2
_SM_ANGLEo	-59.3	KALMAN_Y	-13845.1,-1117.2,201.3,274259.4,1119.6
GPS2	202432,6356.708,-1329.845,15,1.8,15,-12.7	MHEAD_RNG_PITCHd_Wd	40.4,11855,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027140	ALTIM_BOTTOM_PING	670.0,19.1
SM_CCo	14204,0.00,0.000,0,0,1525,320.36	_24V_AH	23.7,38.451
SM_GC	1.29,11.30,0.00,0.00,0.039,0.000,0.000,419,2152,1525,-10.61,0.31,320.36	_10V_AH	10.1,17.365
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44197,854
TT8_MAMPS	0.029146	CAP_FILE_SIZE	109941,0
HUMID	1848	CFSIZE	254472192,239505408
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	22	GPS	051009,002324,6359.331,-1325.842,40,1.2,40,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.74	SBE_CT	587	24	334.41
Roll_motor	104	85	210.35	SBE_O2	624	19	281.28
VBD_pump_during_apogee	418	1344	13341.44	WL_BB2F	480	105	1195.64
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	92.17	nil	0	0	0.00
Iridium_during_connect	27	160	104.92	nil	0	0	0.00
Iridium_during_xfer	155	223	819.80
Transponder_ping	11	420	114.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.80
TT8	1474	19	294.90
LPSleep	10349	2	228.91
TT8_Active	536	19	107.31
TT8_Sampling	1681	39	676.12
TT8_CF8	512	45	237.07
TT8_Kalman	33	81	27.56
Analog_circuits	1378	12	167.09
GPS_charging	0	0	0.00
Compass	1644	8	132.87
RAFOS	0	0	0.00
Transponder	41	30	12.51

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	99	0.00	0.00	-80.60	0.000	2	0.000	0.000	418	2152	2735
103	-1.22	-146.6	2.8	-2.4	4	146	11.10	2.62	-23.45	0.000	4	0.158	0.074	2468	720	3430
194	-1.15	-146.6	12.4	-12.7	8	199	0.12	2.53	0.00	0.000	6	0.104	0.048	2492	2141	3430
523	-1.11	-146.6	52.0	-12.3	24	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2140	3430
831	-1.07	-146.6	90.5	-12.4	39	835	0.00	2.60	0.00	0.000	4	0.000	0.061	2493	711	3430
875	-1.07	-146.6	96.2	-12.6	41	879	0.00	2.53	0.00	0.000	6	0.000	0.049	2493	2133	3430
1197	-1.04	-146.6	135.4	-12.0	57	1202	0.10	2.60	0.00	0.000	4	0.103	0.062	2514	703	3430
1231	-1.08	-146.6	139.5	-11.1	58	1238	0.00	2.53	0.00	0.000	6	0.000	0.049	2515	2130	3430
1560	-1.08	-146.6	171.4	-9.0	78	1561	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2130	3431
1873	-1.08	-146.6	200.3	-9.5	98	1877	0.00	2.58	0.00	0.000	4	0.000	0.065	2514	712	3431
1952	-1.11	-146.6	208.2	-9.6	103	1957	0.00	2.53	0.00	0.000	6	0.000	0.050	2514	2129	3431
2277	-1.11	-146.6	242.0	-9.8	124	2281	0.00	2.60	0.00	0.000	4	0.000	0.066	2515	706	3431
2316	-1.16	-146.6	245.9	-9.4	126	2323	0.00	2.50	0.00	0.000	6	0.000	0.051	2514	2113	3431
2636	-1.16	-146.6	273.8	-7.5	147	2640	0.00	2.55	0.00	0.000	4	0.000	0.065	2515	711	3431
2720	-1.20	-146.6	280.7	-8.4	152	2725	0.15	2.45	0.00	0.000	6	0.057	0.051	2473	2089	3431
3042	-1.15	-146.6	316.3	-10.7	172	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2088	3430
3352	-1.09	-146.6	350.1	-11.3	192	3354	0.15	0.00	0.00	0.000	6	0.098	0.000	2504	2087	3430
3664	-1.09	-146.6	384.2	-11.4	212	3669	0.00	2.53	0.00	0.000	4	0.000	0.070	2504	717	3430
3889	-1.09	-146.6	414.1	-13.0	225	3896	0.00	2.45	0.00	0.000	6	0.000	0.054	2504	2090	3431
4209	-1.09	-146.6	451.8	-11.0	246	4210	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2091	3430
4522	-1.09	-146.6	487.7	-11.9	266	4524	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2091	3429
4834	-1.09	-146.6	518.3	-10.7	286	4838	0.00	2.58	0.00	0.000	4	0.000	0.076	2504	708	3428
4946	-1.09	-146.6	530.9	-9.7	292	4952	0.00	2.50	0.00	0.000	6	0.000	0.061	2504	2086	3428
5266	-1.09	-146.6	565.5	-11.0	313	5267	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2086	3427
5577	-1.09	-146.6	597.1	-9.1	333	5582	0.00	2.58	0.00	0.000	4	0.000	0.077	2504	709	3426
5623	-1.09	-146.6	601.5	-9.9	336	5628	0.00	2.50	0.00	0.000	6	0.000	0.064	2504	2074	3426
5949	-1.09	-146.6	631.8	-10.0	357	5953	0.00	2.58	0.00	0.000	4	0.000	0.084	2504	716	3425
5982	-1.13	-146.6	634.9	-8.9	359	5986	0.00	2.47	0.00	0.000	6	0.000	0.067	2504	2063	3424
6301	-1.13	-146.6	663.8	-9.2	379	6303	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2064	3423
6486	end dive: BOTTOM_OBSTACLE_DETECTED
state	6486	begin apogee
6493	-0.33	0.0	679.3	8.8	391	6627	0.80	0.00	129.70	1.345	6	0.091	0.000	2671	1833	2831
6627	end apogee: CONTROL_FINISHED_OK
state	6627	begin climb
6631	1.22	146.6	683.3	0.0	400	6769	1.58	0.00	131.00	1.290	6	0.071	0.000	3007	1833	2233
7082	1.14	146.6	651.2	9.9	429	7087	0.00	2.67	0.00	0.000	4	0.000	0.076	3007	3254	2232
7128	1.07	146.6	646.5	10.3	432	7133	0.15	2.60	0.00	0.000	6	0.098	0.073	2979	1871	2231
7456	1.13	181.0	621.3	6.7	453	7492	0.00	2.75	31.02	1.249	4	0.000	0.085	2979	437	2093
7516	1.13	181.0	617.0	8.2	457	7520	0.00	2.62	0.00	0.000	6	0.000	0.063	2979	1855	2093
7840	1.21	233.6	596.1	6.1	478	7890	0.12	0.00	47.47	1.266	6	0.067	0.000	3010	1871	1878
8200	1.25	257.0	568.6	7.1	501	8231	0.00	2.78	21.62	1.216	4	0.000	0.083	3010	436	1783
8271	1.19	257.0	562.6	8.7	505	8276	0.00	2.62	0.00	0.000	6	0.000	0.064	3010	1854	1783
8591	1.21	271.1	537.3	7.5	525	8606	0.00	0.00	14.02	1.170	6	0.000	0.000	3010	1870	1725
8918	1.21	271.1	507.8	10.2	546	8923	0.00	2.67	0.00	0.000	4	0.000	0.081	3010	436	1725
8958	1.16	271.1	503.8	10.0	548	8964	0.00	2.60	0.00	0.000	6	0.000	0.063	3010	1853	1725
9277	1.16	271.1	473.8	9.6	569	9278	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	1868	1725
9590	1.16	271.1	445.5	9.2	589	9591	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	1868	1725
9902	1.16	271.1	416.5	9.0	609	9907	0.00	2.67	0.00	0.000	4	0.000	0.077	3010	430	1724
9949	1.12	271.1	412.2	10.7	612	9954	0.12	2.58	0.00	0.000	6	0.104	0.061	2987	1841	1725
10276	1.24	321.5	388.8	6.2	633	10328	0.12	2.75	43.83	1.164	4	0.064	0.078	3018	443	1520
10358	1.21	321.5	381.8	9.7	638	10362	0.00	2.58	0.00	0.000	6	0.000	0.060	3018	1844	1520
10683	1.21	321.5	350.9	10.4	659	10687	0.00	2.65	0.00	0.000	4	0.000	0.078	3018	437	1521
10712	1.13	321.5	347.5	12.7	661	10717	0.15	2.55	0.00	0.000	6	0.097	0.059	2990	1838	1521
11040	1.19	321.5	318.1	9.0	682	11042	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	1856	1521
11351	1.25	321.5	293.2	8.5	702	11353	0.12	0.00	0.00	0.000	6	0.062	0.000	3021	1856	1521
11662	1.25	321.5	257.0	12.0	722	11667	0.00	2.60	0.00	0.000	4	0.000	0.071	3021	435	1521
11697	1.25	321.5	252.9	9.5	724	11701	0.00	2.50	0.00	0.000	6	0.000	0.054	3021	1827	1521
12016	1.25	321.5	214.2	11.5	744	12017	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1844	1522
12328	1.25	321.5	180.6	10.6	764	12329	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1844	1522
12646	1.25	321.5	147.9	10.0	784	12648	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1844	1522
12955	1.25	321.5	118.2	9.9	799	12956	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1844	1524
13264	1.25	321.5	88.2	10.0	814	13268	0.00	2.55	0.00	0.000	4	0.000	0.059	3021	3258	1524
13292	1.29	321.5	85.3	9.5	815	13297	0.00	2.60	0.00	0.000	6	0.000	0.052	3021	1809	1525
13610	1.29	321.5	52.8	10.0	830	13611	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1809	1525
13918	1.29	321.5	21.9	9.7	845	13922	0.00	2.62	0.00	0.000	4	0.000	0.058	3021	3261	1526
13991	1.35	321.5	15.1	9.6	848	13995	0.00	2.55	0.00	0.000	6	0.000	0.051	3021	1833	1526
14098	end climb: SURFACE_DEPTH_REACHED
state	14098	begin surface coast
14120	end surface coast: CONTROL_FINISHED_OK
state	14120	begin surface