Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 271 * 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 271 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 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 -105528.55 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 -105528.55

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 271 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 114025,6402.332,-1300.219,87,1.8,87,-12.4 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.242,0.040

_SM_DEPTHo 1.35 KALMAN_X 9686.7,-2930.0,-657.6,-235245.8,18959.6

_SM_ANGLEo -51.9 KALMAN_Y 5805.7,-1574.7,64.5,265875.7,15532.7

GPS2 114625,6402.477,-1300.172,16,1.5,16,-12.4 MHEAD_RNG_PITCHd_Wd 291.7,29126,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.0,1.027221 ALTIM_BOTTOM_PING 545.1,44.8

SM_CCo 12681,0.00,0.000,0,0,1362,360.35 _24V_AH 23.8,44.716

SM_GC 1.18,11.90,0.00,0.00,0.039,0.000,0.000,424,2145,1362,-10.60,0.42,360.35 _10V_AH 10.1,19.763

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38001,751

TT8_MAMPS 0.028379 CAP_FILE_SIZE 108671,0

HUMID 1807 CFSIZE 254472192,237654016

TCM_TEMP 19.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 29 GPS 091009,151955,6404.272,-1300.303,41,1.5,41,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 102.42 SBE_CT 514 24 293.81

Roll_motor 128 78 238.56 SBE_O2 545 19 246.47

VBD_pump_during_apogee 445 1225 12988.32 WL_BB2F 451 105 1127.10

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 92.56 nil 0 0 0.00

Iridium_during_connect 28 160 108.80 nil 0 0 0.00

Iridium_during_xfer 159 223 844.92

Transponder_ping 12 420 122.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.45

TT8 1345 19 269.01

LPSleep 8989 2 198.84

TT8_Active 552 19 110.48

TT8_Sampling 1644 39 660.91

TT8_CF8 507 45 234.65

TT8_Kalman 33 81 27.57

Analog_circuits 1401 12 169.86

GPS_charging 0 0 0.00

Compass 1597 8 129.07

RAFOS 0 0 0.00

Transponder 36 30 11.01

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.08 0.000 2 0.000 0.000 420 2151 2450

83 -1.22 -146.6 2.3 -2.3 3 141 11.30 2.58 -40.70 0.000 4 0.160 0.064 2471 711 3428

153 -1.04 -146.6 8.0 -17.2 5 158 0.22 2.50 0.00 0.000 6 0.099 0.047 2518 2122 3428

469 -1.04 -146.6 49.4 -12.9 20 473 0.00 2.58 0.00 0.000 4 0.000 0.064 2518 3542 3429

726 -1.04 -146.6 73.5 -9.1 31 732 0.00 2.55 0.00 0.000 6 0.000 0.049 2518 2108 3429

1042 -1.04 -146.6 107.0 -10.2 47 1047 0.00 2.62 0.00 0.000 4 0.000 0.063 2519 3537 3429

1189 -1.04 -146.6 122.6 -10.3 53 1195 0.00 2.53 0.00 0.000 6 0.000 0.048 2518 2113 3429

1510 -1.04 -146.6 156.2 -10.3 70 1514 0.00 2.47 0.00 0.000 4 0.000 0.060 2519 717 3429

1550 -1.08 -146.6 160.4 -10.7 72 1556 0.00 2.50 0.00 0.000 6 0.000 0.049 2519 2127 3429

1869 -1.08 -146.6 191.8 -9.5 93 1870 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2126 3429

2181 -1.08 -146.6 219.7 -8.5 113 2186 0.00 2.55 0.00 0.000 4 0.000 0.061 2519 720 3429

2237 -1.13 -146.6 224.7 -9.3 116 2242 0.00 2.47 0.00 0.000 6 0.000 0.051 2519 2115 3429

2558 -1.13 -146.6 252.8 -9.1 136 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2115 3429

2871 -1.13 -146.6 282.9 -9.9 156 2875 0.00 2.53 0.00 0.000 4 0.000 0.061 2519 719 3429

2922 -1.18 -146.6 288.2 -10.0 159 2927 0.15 2.47 0.00 0.000 6 0.056 0.051 2477 2113 3429

3243 -1.12 -146.6 327.0 -12.5 179 3248 0.12 2.53 0.00 0.000 4 0.091 0.062 2503 720 3429

3333 -1.12 -146.6 338.0 -11.3 184 3339 0.00 2.42 0.00 0.000 6 0.000 0.051 2503 2084 3430

3652 -1.12 -146.6 375.9 -11.6 205 3656 0.00 2.47 0.00 0.000 4 0.000 0.064 2503 722 3430

3697 -1.12 -146.6 381.4 -11.7 208 3701 0.00 2.40 0.00 0.000 6 0.000 0.052 2503 2063 3430

4023 -1.12 -146.6 416.3 -10.1 229 4027 0.00 2.45 0.00 0.000 4 0.000 0.066 2503 723 3429

4052 -1.12 -146.6 419.3 -10.3 231 4056 0.00 2.40 0.00 0.000 6 0.000 0.054 2503 2065 3430

4377 -1.12 -146.6 450.9 -9.6 252 4381 0.00 2.45 0.00 0.000 4 0.000 0.067 2503 727 3429

4416 -1.12 -146.6 454.9 -9.9 254 4420 0.00 2.38 0.00 0.000 6 0.000 0.055 2503 2055 3429

4740 -1.12 -146.6 488.4 -9.8 275 4744 0.00 2.45 0.00 0.000 4 0.000 0.071 2503 730 3428

4780 -1.12 -146.6 492.7 -10.7 277 4786 0.00 2.38 0.00 0.000 6 0.000 0.058 2503 2047 3428

5099 -1.12 -146.6 524.4 -9.5 298 5103 0.00 2.45 0.00 0.000 4 0.000 0.071 2503 719 3427

5162 -1.16 -146.6 530.4 -9.8 302 5166 0.00 2.38 0.00 0.000 6 0.000 0.057 2503 2034 3427

5487 -1.16 -146.6 562.0 -10.2 323 5491 0.00 2.75 0.00 0.000 4 0.000 0.078 2503 3529 3427

5525 -1.16 -146.6 566.2 -10.3 325 5532 0.00 2.72 0.00 0.000 6 0.000 0.067 2503 2044 3427

5669 end dive: BOTTOM_OBSTACLE_DETECTED

state 5670 begin apogee

5677 -0.33 0.0 580.5 9.7 335 5809 0.80 0.00 128.27 1.226 6 0.082 0.000 2672 1849 2831

5810 end apogee: CONTROL_FINISHED_OK

state 5810 begin climb

5813 1.22 146.6 585.1 0.0 344 5946 1.55 0.00 128.07 1.180 6 0.069 0.000 3005 1849 2233

6252 1.21 169.3 559.0 7.2 372 6278 0.00 2.70 21.10 1.113 4 0.000 0.071 3005 3258 2140

6318 1.22 174.7 554.1 7.8 375 6330 0.00 2.62 6.45 0.916 6 0.000 0.067 3005 1858 2118

6646 1.21 190.8 531.4 7.4 396 6666 0.00 2.65 14.95 1.097 4 0.000 0.071 3005 3249 2053

6775 1.21 190.8 520.8 8.4 404 6780 0.00 2.55 0.00 0.000 6 0.000 0.067 3005 1877 2053

7101 1.22 197.2 494.9 7.8 425 7117 0.00 2.75 7.18 0.978 4 0.000 0.077 3005 436 2026

7163 1.15 197.2 489.2 9.6 428 7169 0.00 2.62 0.00 0.000 6 0.000 0.058 3004 1878 2026

7482 1.15 197.2 462.3 8.3 449 7486 0.00 2.70 0.00 0.000 4 0.000 0.075 3005 438 2025

7566 1.09 197.2 454.2 9.6 454 7571 0.12 2.58 0.00 0.000 6 0.097 0.057 2982 1860 2025

7888 1.12 197.2 428.3 8.1 474 7892 0.00 2.65 0.00 0.000 4 0.000 0.074 2982 440 2025

7934 1.12 197.2 424.3 8.4 477 7938 0.00 2.55 0.00 0.000 6 0.000 0.057 2982 1850 2025

8258 1.23 242.8 401.9 6.3 498 8303 0.15 0.00 39.75 1.118 6 0.059 0.000 3020 1866 1841

8616 1.23 242.8 368.8 10.5 521 8620 0.00 2.65 0.00 0.000 4 0.000 0.075 3020 438 1841

8696 1.17 242.8 360.4 10.6 526 8700 0.00 2.53 0.00 0.000 6 0.000 0.056 3020 1837 1841

9020 1.13 242.8 331.6 8.5 547 9022 0.15 0.00 0.00 0.000 6 0.094 0.000 2992 1853 1841

9333 1.21 288.8 311.3 6.3 567 9380 0.00 2.67 39.53 1.058 4 0.000 0.070 2992 433 1653

9437 1.26 296.1 303.3 7.7 573 9452 0.12 2.53 8.07 0.903 6 0.058 0.054 3024 1842 1622

9782 1.26 296.1 270.8 9.9 595 9786 0.00 2.55 0.00 0.000 4 0.000 0.063 3024 3244 1623

9810 1.26 296.1 267.3 10.6 597 9815 0.00 2.60 0.00 0.000 6 0.000 0.057 3024 1815 1623

10135 1.26 296.1 237.0 8.3 618 10137 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1815 1623

10447 1.26 296.1 209.6 8.8 638 10451 0.00 2.62 0.00 0.000 4 0.000 0.060 3024 3252 1624

10493 1.26 296.1 205.5 9.2 641 10497 0.00 2.58 0.00 0.000 6 0.000 0.054 3024 1824 1624

10817 1.26 296.1 175.4 9.5 662 10822 0.00 2.60 0.00 0.000 4 0.000 0.060 3024 3249 1624

10851 1.26 296.1 171.9 9.7 664 10855 0.00 2.53 0.00 0.000 6 0.000 0.051 3024 1841 1624

11179 1.26 296.1 139.8 9.4 683 11184 0.00 2.55 0.00 0.000 4 0.000 0.058 3024 3245 1625

11221 1.29 296.1 135.7 10.1 685 11225 0.00 2.50 0.00 0.000 6 0.000 0.051 3024 1843 1625

11548 1.29 296.1 102.0 11.6 701 11549 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1842 1625

11857 1.29 296.1 68.5 9.9 716 11858 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1842 1626

12167 1.29 296.1 38.7 8.4 731 12168 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1842 1626

12477 1.29 296.1 10.7 13.4 746 12481 0.00 2.55 0.00 0.000 4 0.000 0.058 3024 3252 1626

12533 1.68 539.9 8.1 -0.9 748 12592 0.38 2.53 51.88 0.814 2 0.046 0.057 3117 1839 1362

12593 end climb: SURFACE_DEPTH_REACHED

state 12593 begin surface coast

12596 end surface coast: CONTROL_FINISHED_OK

state 12596 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	271	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	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	-105528.55	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	114025,6402.332,-1300.219,87,1.8,87,-12.4	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.242,0.040
_SM_DEPTHo	1.35	KALMAN_X	9686.7,-2930.0,-657.6,-235245.8,18959.6
_SM_ANGLEo	-51.9	KALMAN_Y	5805.7,-1574.7,64.5,265875.7,15532.7
GPS2	114625,6402.477,-1300.172,16,1.5,16,-12.4	MHEAD_RNG_PITCHd_Wd	291.7,29126,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	2.0,1.027221	ALTIM_BOTTOM_PING	545.1,44.8
SM_CCo	12681,0.00,0.000,0,0,1362,360.35	_24V_AH	23.8,44.716
SM_GC	1.18,11.90,0.00,0.00,0.039,0.000,0.000,424,2145,1362,-10.60,0.42,360.35	_10V_AH	10.1,19.763
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38001,751
TT8_MAMPS	0.028379	CAP_FILE_SIZE	108671,0
HUMID	1807	CFSIZE	254472192,237654016
TCM_TEMP	19.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	29	GPS	091009,151955,6404.272,-1300.303,41,1.5,41,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	102.42	SBE_CT	514	24	293.81
Roll_motor	128	78	238.56	SBE_O2	545	19	246.47
VBD_pump_during_apogee	445	1225	12988.32	WL_BB2F	451	105	1127.10
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	92.56	nil	0	0	0.00
Iridium_during_connect	28	160	108.80	nil	0	0	0.00
Iridium_during_xfer	159	223	844.92
Transponder_ping	12	420	122.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.45
TT8	1345	19	269.01
LPSleep	8989	2	198.84
TT8_Active	552	19	110.48
TT8_Sampling	1644	39	660.91
TT8_CF8	507	45	234.65
TT8_Kalman	33	81	27.57
Analog_circuits	1401	12	169.86
GPS_charging	0	0	0.00
Compass	1597	8	129.07
RAFOS	0	0	0.00
Transponder	36	30	11.01

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.08	0.000	2	0.000	0.000	420	2151	2450
83	-1.22	-146.6	2.3	-2.3	3	141	11.30	2.58	-40.70	0.000	4	0.160	0.064	2471	711	3428
153	-1.04	-146.6	8.0	-17.2	5	158	0.22	2.50	0.00	0.000	6	0.099	0.047	2518	2122	3428
469	-1.04	-146.6	49.4	-12.9	20	473	0.00	2.58	0.00	0.000	4	0.000	0.064	2518	3542	3429
726	-1.04	-146.6	73.5	-9.1	31	732	0.00	2.55	0.00	0.000	6	0.000	0.049	2518	2108	3429
1042	-1.04	-146.6	107.0	-10.2	47	1047	0.00	2.62	0.00	0.000	4	0.000	0.063	2519	3537	3429
1189	-1.04	-146.6	122.6	-10.3	53	1195	0.00	2.53	0.00	0.000	6	0.000	0.048	2518	2113	3429
1510	-1.04	-146.6	156.2	-10.3	70	1514	0.00	2.47	0.00	0.000	4	0.000	0.060	2519	717	3429
1550	-1.08	-146.6	160.4	-10.7	72	1556	0.00	2.50	0.00	0.000	6	0.000	0.049	2519	2127	3429
1869	-1.08	-146.6	191.8	-9.5	93	1870	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2126	3429
2181	-1.08	-146.6	219.7	-8.5	113	2186	0.00	2.55	0.00	0.000	4	0.000	0.061	2519	720	3429
2237	-1.13	-146.6	224.7	-9.3	116	2242	0.00	2.47	0.00	0.000	6	0.000	0.051	2519	2115	3429
2558	-1.13	-146.6	252.8	-9.1	136	2560	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2115	3429
2871	-1.13	-146.6	282.9	-9.9	156	2875	0.00	2.53	0.00	0.000	4	0.000	0.061	2519	719	3429
2922	-1.18	-146.6	288.2	-10.0	159	2927	0.15	2.47	0.00	0.000	6	0.056	0.051	2477	2113	3429
3243	-1.12	-146.6	327.0	-12.5	179	3248	0.12	2.53	0.00	0.000	4	0.091	0.062	2503	720	3429
3333	-1.12	-146.6	338.0	-11.3	184	3339	0.00	2.42	0.00	0.000	6	0.000	0.051	2503	2084	3430
3652	-1.12	-146.6	375.9	-11.6	205	3656	0.00	2.47	0.00	0.000	4	0.000	0.064	2503	722	3430
3697	-1.12	-146.6	381.4	-11.7	208	3701	0.00	2.40	0.00	0.000	6	0.000	0.052	2503	2063	3430
4023	-1.12	-146.6	416.3	-10.1	229	4027	0.00	2.45	0.00	0.000	4	0.000	0.066	2503	723	3429
4052	-1.12	-146.6	419.3	-10.3	231	4056	0.00	2.40	0.00	0.000	6	0.000	0.054	2503	2065	3430
4377	-1.12	-146.6	450.9	-9.6	252	4381	0.00	2.45	0.00	0.000	4	0.000	0.067	2503	727	3429
4416	-1.12	-146.6	454.9	-9.9	254	4420	0.00	2.38	0.00	0.000	6	0.000	0.055	2503	2055	3429
4740	-1.12	-146.6	488.4	-9.8	275	4744	0.00	2.45	0.00	0.000	4	0.000	0.071	2503	730	3428
4780	-1.12	-146.6	492.7	-10.7	277	4786	0.00	2.38	0.00	0.000	6	0.000	0.058	2503	2047	3428
5099	-1.12	-146.6	524.4	-9.5	298	5103	0.00	2.45	0.00	0.000	4	0.000	0.071	2503	719	3427
5162	-1.16	-146.6	530.4	-9.8	302	5166	0.00	2.38	0.00	0.000	6	0.000	0.057	2503	2034	3427
5487	-1.16	-146.6	562.0	-10.2	323	5491	0.00	2.75	0.00	0.000	4	0.000	0.078	2503	3529	3427
5525	-1.16	-146.6	566.2	-10.3	325	5532	0.00	2.72	0.00	0.000	6	0.000	0.067	2503	2044	3427
5669	end dive: BOTTOM_OBSTACLE_DETECTED
state	5670	begin apogee
5677	-0.33	0.0	580.5	9.7	335	5809	0.80	0.00	128.27	1.226	6	0.082	0.000	2672	1849	2831
5810	end apogee: CONTROL_FINISHED_OK
state	5810	begin climb
5813	1.22	146.6	585.1	0.0	344	5946	1.55	0.00	128.07	1.180	6	0.069	0.000	3005	1849	2233
6252	1.21	169.3	559.0	7.2	372	6278	0.00	2.70	21.10	1.113	4	0.000	0.071	3005	3258	2140
6318	1.22	174.7	554.1	7.8	375	6330	0.00	2.62	6.45	0.916	6	0.000	0.067	3005	1858	2118
6646	1.21	190.8	531.4	7.4	396	6666	0.00	2.65	14.95	1.097	4	0.000	0.071	3005	3249	2053
6775	1.21	190.8	520.8	8.4	404	6780	0.00	2.55	0.00	0.000	6	0.000	0.067	3005	1877	2053
7101	1.22	197.2	494.9	7.8	425	7117	0.00	2.75	7.18	0.978	4	0.000	0.077	3005	436	2026
7163	1.15	197.2	489.2	9.6	428	7169	0.00	2.62	0.00	0.000	6	0.000	0.058	3004	1878	2026
7482	1.15	197.2	462.3	8.3	449	7486	0.00	2.70	0.00	0.000	4	0.000	0.075	3005	438	2025
7566	1.09	197.2	454.2	9.6	454	7571	0.12	2.58	0.00	0.000	6	0.097	0.057	2982	1860	2025
7888	1.12	197.2	428.3	8.1	474	7892	0.00	2.65	0.00	0.000	4	0.000	0.074	2982	440	2025
7934	1.12	197.2	424.3	8.4	477	7938	0.00	2.55	0.00	0.000	6	0.000	0.057	2982	1850	2025
8258	1.23	242.8	401.9	6.3	498	8303	0.15	0.00	39.75	1.118	6	0.059	0.000	3020	1866	1841
8616	1.23	242.8	368.8	10.5	521	8620	0.00	2.65	0.00	0.000	4	0.000	0.075	3020	438	1841
8696	1.17	242.8	360.4	10.6	526	8700	0.00	2.53	0.00	0.000	6	0.000	0.056	3020	1837	1841
9020	1.13	242.8	331.6	8.5	547	9022	0.15	0.00	0.00	0.000	6	0.094	0.000	2992	1853	1841
9333	1.21	288.8	311.3	6.3	567	9380	0.00	2.67	39.53	1.058	4	0.000	0.070	2992	433	1653
9437	1.26	296.1	303.3	7.7	573	9452	0.12	2.53	8.07	0.903	6	0.058	0.054	3024	1842	1622
9782	1.26	296.1	270.8	9.9	595	9786	0.00	2.55	0.00	0.000	4	0.000	0.063	3024	3244	1623
9810	1.26	296.1	267.3	10.6	597	9815	0.00	2.60	0.00	0.000	6	0.000	0.057	3024	1815	1623
10135	1.26	296.1	237.0	8.3	618	10137	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1815	1623
10447	1.26	296.1	209.6	8.8	638	10451	0.00	2.62	0.00	0.000	4	0.000	0.060	3024	3252	1624
10493	1.26	296.1	205.5	9.2	641	10497	0.00	2.58	0.00	0.000	6	0.000	0.054	3024	1824	1624
10817	1.26	296.1	175.4	9.5	662	10822	0.00	2.60	0.00	0.000	4	0.000	0.060	3024	3249	1624
10851	1.26	296.1	171.9	9.7	664	10855	0.00	2.53	0.00	0.000	6	0.000	0.051	3024	1841	1624
11179	1.26	296.1	139.8	9.4	683	11184	0.00	2.55	0.00	0.000	4	0.000	0.058	3024	3245	1625
11221	1.29	296.1	135.7	10.1	685	11225	0.00	2.50	0.00	0.000	6	0.000	0.051	3024	1843	1625
11548	1.29	296.1	102.0	11.6	701	11549	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1842	1625
11857	1.29	296.1	68.5	9.9	716	11858	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1842	1626
12167	1.29	296.1	38.7	8.4	731	12168	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1842	1626
12477	1.29	296.1	10.7	13.4	746	12481	0.00	2.55	0.00	0.000	4	0.000	0.058	3024	3252	1626
12533	1.68	539.9	8.1	-0.9	748	12592	0.38	2.53	51.88	0.814	2	0.046	0.057	3117	1839	1362
12593	end climb: SURFACE_DEPTH_REACHED
state	12593	begin surface coast
12596	end surface coast: CONTROL_FINISHED_OK
state	12596	begin surface