Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 26 * 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 26 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 1920 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 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 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 -100723.3 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0.039999999 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 330

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 -100723.3

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

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 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 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 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 26 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 052954,6129.234,-835.401,31,1.2,49,-9.0 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.123,-0.233

_SM_DEPTHo 1.28 KALMAN_X -53219.5,1728.4,614.8,54697.6,-7004.5

_SM_ANGLEo -67.5 KALMAN_Y 54776.4,-1283.5,-1042.3,-66044.0,10563.7

GPS2 053537,6129.249,-835.458,14,1.2,19,-9.0 MHEAD_RNG_PITCHd_Wd 216.7,27728,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.002876 ALTIM_BOTTOM_PING 647.4,70.5

SM_CCo 12643,7.38,0.680,0,0,1608,300.00 _24V_AH 23.8,6.971

SM_GC 2.42,0.00,0.00,7.38,0.000,0.000,0.680,421,2137,1608,-10.69,0.20,300.00 _10V_AH 10.1,3.557

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31659,609

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97526,0

HUMID 1826 CFSIZE 254472192,250281984

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,40,0,0

XPDR_PINGS 36 GPS 020909,090840,6127.882,-837.238,36,1.2,39,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 100.04 SBE_CT 415 24 237.33

Roll_motor 107 80 205.14 SBE_O2 452 19 204.63

VBD_pump_during_apogee 385 1267 11633.16 WL_BB2F 364 105 911.00

VBD_pump_during_surface 7 680 119.41 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 34 160 130.29 nil 0 0 0.00

Iridium_during_xfer 150 223 797.69

Transponder_ping 14 420 147.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 10.05

TT8 1123 19 224.59

LPSleep 9636 2 213.15

TT8_Active 499 19 99.92

TT8_Sampling 1278 39 513.74

TT8_CF8 462 45 214.01

TT8_Kalman 33 81 27.56

Analog_circuits 1177 12 142.66

GPS_charging 0 0 0.00

Compass 1241 8 100.33

RAFOS 0 0 0.00

Transponder 39 30 11.95

Guidance and control:

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.44 -146.6 0.0 0.0 0 58 0.00 0.00 -41.08 0.000 2 0.000 0.000 415 2164 2466

62 -1.44 -146.6 2.1 -3.8 2 118 10.90 2.50 -39.03 0.000 4 0.159 0.081 2421 3515 3430

254 -1.28 -146.6 27.6 -17.9 10 261 0.22 2.47 0.00 0.000 6 0.098 0.050 2466 2113 3431

571 -1.28 -146.6 74.3 -13.7 26 576 0.00 2.55 0.00 0.000 4 0.000 0.068 2467 3518 3431

605 -1.28 -146.6 79.2 -13.5 27 611 0.00 2.47 0.00 0.000 6 0.000 0.050 2467 2119 3431

922 -1.28 -146.6 120.6 -13.2 43 926 0.00 2.47 0.00 0.000 4 0.000 0.062 2466 718 3431

968 -1.33 -146.6 126.6 -13.2 45 973 0.00 2.42 0.00 0.000 6 0.000 0.048 2467 2107 3431

1296 -1.33 -146.6 165.6 -11.4 61 1297 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2107 3431

1605 -1.33 -146.6 201.9 -12.1 76 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2107 3431

1914 -1.33 -146.6 237.1 -11.1 91 1919 0.00 2.60 0.00 0.000 4 0.000 0.071 2467 3534 3431

1942 -1.33 -146.6 240.5 -11.8 92 1947 0.00 2.53 0.00 0.000 6 0.000 0.054 2467 2115 3431

2258 -1.33 -146.6 274.7 -10.9 107 2259 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2102 3431

2567 -1.33 -146.6 310.4 -11.9 122 2572 0.00 2.60 0.00 0.000 4 0.000 0.070 2467 3530 3431

2623 -1.33 -146.6 317.6 -12.7 124 2630 0.00 2.53 0.00 0.000 6 0.000 0.056 2467 2116 3431

2939 -1.33 -146.6 356.9 -12.6 140 2940 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2105 3431

3249 -1.33 -146.6 395.9 -12.6 155 3250 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2104 3431

3558 -1.37 -146.6 435.7 -12.9 170 3563 0.00 2.60 0.00 0.000 4 0.000 0.071 2467 3527 3431

3598 -1.37 -146.6 441.2 -13.3 172 3603 0.00 2.50 0.00 0.000 6 0.000 0.058 2467 2127 3431

3926 -1.37 -146.6 482.5 -12.7 188 3930 0.00 2.58 0.00 0.000 4 0.000 0.072 2467 3526 3431

3953 -1.37 -146.6 486.2 -13.3 189 3957 0.00 2.50 0.00 0.000 6 0.000 0.058 2467 2130 3431

4269 -1.41 -146.6 525.0 -12.2 204 4271 0.15 0.00 0.00 0.000 6 0.054 0.000 2427 2116 3431

4579 -1.35 -146.6 570.2 -14.5 219 4581 0.12 0.00 0.00 0.000 6 0.103 0.000 2451 2116 3431

4887 -1.35 -146.6 609.5 -12.3 234 4891 0.00 2.58 0.00 0.000 4 0.000 0.072 2450 3528 3430

4908 -1.35 -146.6 612.5 -12.9 235 4913 0.00 2.47 0.00 0.000 6 0.000 0.058 2450 2145 3430

5230 -1.35 -146.6 652.7 -12.6 251 5231 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2133 3430

5539 -1.35 -146.6 690.7 -11.9 266 5543 0.00 2.55 0.00 0.000 4 0.000 0.068 2450 719 3430

5579 -1.40 -146.6 696.0 -14.1 268 5583 0.00 2.53 0.00 0.000 6 0.000 0.054 2450 2148 3430

5696 end dive: BOTTOM_OBSTACLE_DETECTED

state 5696 begin apogee

5704 -0.33 0.0 710.4 12.2 274 5840 0.98 0.00 127.97 1.268 6 0.055 0.000 2673 1898 2831

5840 end apogee: CONTROL_FINISHED_OK

state 5840 begin climb

5843 1.44 146.6 710.2 0.0 281 5983 1.75 2.62 127.07 1.236 4 0.044 0.070 3068 525 2233

6000 1.21 153.8 703.8 9.7 288 6016 0.30 2.53 8.10 0.999 6 0.096 0.050 3010 1935 2203

6340 1.28 200.0 673.7 7.9 305 6387 0.00 2.67 40.92 1.181 4 0.000 0.072 3010 519 2015

6438 1.30 209.5 664.8 9.6 309 6454 0.00 2.42 10.10 1.046 6 0.000 0.051 3010 1888 1976

6776 1.31 218.6 633.1 9.6 326 6787 0.00 0.00 9.27 1.027 6 0.000 0.000 3010 1901 1939

7086 1.32 224.5 602.7 9.7 341 7100 0.10 2.58 6.60 0.942 4 0.061 0.070 3038 521 1915

7123 1.23 224.5 598.3 11.6 342 7129 0.12 2.42 0.00 0.000 6 0.097 0.050 3015 1881 1915

7439 1.25 235.6 567.5 9.5 358 7452 0.00 0.00 11.50 1.056 6 0.000 0.000 3015 1896 1870

7748 1.30 235.6 536.9 10.1 373 7752 0.00 2.53 0.00 0.000 4 0.000 0.071 3014 516 1870

7781 1.30 235.6 533.3 10.7 374 7785 0.00 2.40 0.00 0.000 6 0.000 0.052 3014 1869 1870

8097 1.34 237.5 501.9 9.9 389 8098 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 1874 1870

8407 1.41 255.2 471.9 9.2 404 8427 0.17 0.00 17.85 1.062 6 0.051 0.000 3060 1883 1790

8736 1.34 255.2 432.1 11.9 420 8740 0.12 2.50 0.00 0.000 4 0.095 0.071 3036 517 1790

8764 1.28 255.2 428.7 12.1 421 8768 0.00 2.38 0.00 0.000 6 0.000 0.049 3036 1861 1790

9085 1.28 255.2 392.5 11.4 437 9086 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1865 1790

9394 1.28 255.2 357.0 11.5 452 9395 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1874 1790

9704 1.28 255.2 324.1 10.4 467 9708 0.00 2.45 0.00 0.000 4 0.000 0.071 3036 519 1790

9726 1.28 255.2 321.6 10.6 468 9730 0.00 2.35 0.00 0.000 6 0.000 0.048 3036 1860 1790

10047 1.28 255.2 287.4 10.5 484 10051 0.00 2.62 0.00 0.000 4 0.000 0.064 3036 3333 1790

10068 1.28 255.2 285.0 10.9 485 10073 0.00 2.62 0.00 0.000 6 0.000 0.056 3036 1867 1790

10390 1.28 255.2 251.0 10.7 501 10395 0.00 2.65 0.00 0.000 4 0.000 0.064 3037 3328 1790

10412 1.28 255.2 248.5 11.2 502 10417 0.00 2.60 0.00 0.000 6 0.000 0.057 3036 1875 1790

10733 1.28 255.2 214.7 10.4 518 10737 0.00 2.62 0.00 0.000 4 0.000 0.062 3036 3325 1790

10760 1.28 255.2 211.7 11.0 519 10765 0.00 2.58 0.00 0.000 6 0.000 0.054 3036 1876 1790

11076 1.33 285.9 183.1 8.6 534 11104 0.00 0.00 26.12 0.904 6 0.000 0.000 3036 1876 1665

11405 1.33 285.9 152.8 10.8 550 11410 0.00 2.62 0.00 0.000 4 0.000 0.063 3036 3325 1665

11439 1.40 285.9 148.9 11.5 551 11445 0.00 2.58 0.00 0.000 6 0.000 0.053 3036 1887 1665

11755 1.40 285.9 111.6 11.7 567 11757 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1887 1665

12065 1.44 285.9 70.4 12.9 582 12070 0.10 2.60 0.00 0.000 4 0.061 0.059 3067 3330 1665

12106 1.44 285.9 65.1 13.3 584 12110 0.00 2.55 0.00 0.000 6 0.000 0.052 3067 1890 1665

12433 1.44 285.9 22.7 11.9 600 12437 0.00 2.50 0.00 0.000 4 0.000 0.068 3067 504 1665

12489 1.38 285.9 15.2 12.6 602 12495 0.00 2.42 0.00 0.000 6 0.000 0.047 3067 1903 1665

12596 end climb: SURFACE_DEPTH_REACHED

state 12596 begin surface coast

12619 end surface coast: CONTROL_FINISHED_OK

state 12620 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	26	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	1920	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	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	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	-100723.3	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	052954,6129.234,-835.401,31,1.2,49,-9.0	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.123,-0.233
_SM_DEPTHo	1.28	KALMAN_X	-53219.5,1728.4,614.8,54697.6,-7004.5
_SM_ANGLEo	-67.5	KALMAN_Y	54776.4,-1283.5,-1042.3,-66044.0,10563.7
GPS2	053537,6129.249,-835.458,14,1.2,19,-9.0	MHEAD_RNG_PITCHd_Wd	216.7,27728,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.002876	ALTIM_BOTTOM_PING	647.4,70.5
SM_CCo	12643,7.38,0.680,0,0,1608,300.00	_24V_AH	23.8,6.971
SM_GC	2.42,0.00,0.00,7.38,0.000,0.000,0.680,421,2137,1608,-10.69,0.20,300.00	_10V_AH	10.1,3.557
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31659,609
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97526,0
HUMID	1826	CFSIZE	254472192,250281984
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
XPDR_PINGS	36	GPS	020909,090840,6127.882,-837.238,36,1.2,39,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	100.04	SBE_CT	415	24	237.33
Roll_motor	107	80	205.14	SBE_O2	452	19	204.63
VBD_pump_during_apogee	385	1267	11633.16	WL_BB2F	364	105	911.00
VBD_pump_during_surface	7	680	119.41	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	34	160	130.29	nil	0	0	0.00
Iridium_during_xfer	150	223	797.69
Transponder_ping	14	420	147.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	10.05
TT8	1123	19	224.59
LPSleep	9636	2	213.15
TT8_Active	499	19	99.92
TT8_Sampling	1278	39	513.74
TT8_CF8	462	45	214.01
TT8_Kalman	33	81	27.56
Analog_circuits	1177	12	142.66
GPS_charging	0	0	0.00
Compass	1241	8	100.33
RAFOS	0	0	0.00
Transponder	39	30	11.95

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.44	-146.6	0.0	0.0	0	58	0.00	0.00	-41.08	0.000	2	0.000	0.000	415	2164	2466
62	-1.44	-146.6	2.1	-3.8	2	118	10.90	2.50	-39.03	0.000	4	0.159	0.081	2421	3515	3430
254	-1.28	-146.6	27.6	-17.9	10	261	0.22	2.47	0.00	0.000	6	0.098	0.050	2466	2113	3431
571	-1.28	-146.6	74.3	-13.7	26	576	0.00	2.55	0.00	0.000	4	0.000	0.068	2467	3518	3431
605	-1.28	-146.6	79.2	-13.5	27	611	0.00	2.47	0.00	0.000	6	0.000	0.050	2467	2119	3431
922	-1.28	-146.6	120.6	-13.2	43	926	0.00	2.47	0.00	0.000	4	0.000	0.062	2466	718	3431
968	-1.33	-146.6	126.6	-13.2	45	973	0.00	2.42	0.00	0.000	6	0.000	0.048	2467	2107	3431
1296	-1.33	-146.6	165.6	-11.4	61	1297	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2107	3431
1605	-1.33	-146.6	201.9	-12.1	76	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2107	3431
1914	-1.33	-146.6	237.1	-11.1	91	1919	0.00	2.60	0.00	0.000	4	0.000	0.071	2467	3534	3431
1942	-1.33	-146.6	240.5	-11.8	92	1947	0.00	2.53	0.00	0.000	6	0.000	0.054	2467	2115	3431
2258	-1.33	-146.6	274.7	-10.9	107	2259	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2102	3431
2567	-1.33	-146.6	310.4	-11.9	122	2572	0.00	2.60	0.00	0.000	4	0.000	0.070	2467	3530	3431
2623	-1.33	-146.6	317.6	-12.7	124	2630	0.00	2.53	0.00	0.000	6	0.000	0.056	2467	2116	3431
2939	-1.33	-146.6	356.9	-12.6	140	2940	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2105	3431
3249	-1.33	-146.6	395.9	-12.6	155	3250	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2104	3431
3558	-1.37	-146.6	435.7	-12.9	170	3563	0.00	2.60	0.00	0.000	4	0.000	0.071	2467	3527	3431
3598	-1.37	-146.6	441.2	-13.3	172	3603	0.00	2.50	0.00	0.000	6	0.000	0.058	2467	2127	3431
3926	-1.37	-146.6	482.5	-12.7	188	3930	0.00	2.58	0.00	0.000	4	0.000	0.072	2467	3526	3431
3953	-1.37	-146.6	486.2	-13.3	189	3957	0.00	2.50	0.00	0.000	6	0.000	0.058	2467	2130	3431
4269	-1.41	-146.6	525.0	-12.2	204	4271	0.15	0.00	0.00	0.000	6	0.054	0.000	2427	2116	3431
4579	-1.35	-146.6	570.2	-14.5	219	4581	0.12	0.00	0.00	0.000	6	0.103	0.000	2451	2116	3431
4887	-1.35	-146.6	609.5	-12.3	234	4891	0.00	2.58	0.00	0.000	4	0.000	0.072	2450	3528	3430
4908	-1.35	-146.6	612.5	-12.9	235	4913	0.00	2.47	0.00	0.000	6	0.000	0.058	2450	2145	3430
5230	-1.35	-146.6	652.7	-12.6	251	5231	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2133	3430
5539	-1.35	-146.6	690.7	-11.9	266	5543	0.00	2.55	0.00	0.000	4	0.000	0.068	2450	719	3430
5579	-1.40	-146.6	696.0	-14.1	268	5583	0.00	2.53	0.00	0.000	6	0.000	0.054	2450	2148	3430
5696	end dive: BOTTOM_OBSTACLE_DETECTED
state	5696	begin apogee
5704	-0.33	0.0	710.4	12.2	274	5840	0.98	0.00	127.97	1.268	6	0.055	0.000	2673	1898	2831
5840	end apogee: CONTROL_FINISHED_OK
state	5840	begin climb
5843	1.44	146.6	710.2	0.0	281	5983	1.75	2.62	127.07	1.236	4	0.044	0.070	3068	525	2233
6000	1.21	153.8	703.8	9.7	288	6016	0.30	2.53	8.10	0.999	6	0.096	0.050	3010	1935	2203
6340	1.28	200.0	673.7	7.9	305	6387	0.00	2.67	40.92	1.181	4	0.000	0.072	3010	519	2015
6438	1.30	209.5	664.8	9.6	309	6454	0.00	2.42	10.10	1.046	6	0.000	0.051	3010	1888	1976
6776	1.31	218.6	633.1	9.6	326	6787	0.00	0.00	9.27	1.027	6	0.000	0.000	3010	1901	1939
7086	1.32	224.5	602.7	9.7	341	7100	0.10	2.58	6.60	0.942	4	0.061	0.070	3038	521	1915
7123	1.23	224.5	598.3	11.6	342	7129	0.12	2.42	0.00	0.000	6	0.097	0.050	3015	1881	1915
7439	1.25	235.6	567.5	9.5	358	7452	0.00	0.00	11.50	1.056	6	0.000	0.000	3015	1896	1870
7748	1.30	235.6	536.9	10.1	373	7752	0.00	2.53	0.00	0.000	4	0.000	0.071	3014	516	1870
7781	1.30	235.6	533.3	10.7	374	7785	0.00	2.40	0.00	0.000	6	0.000	0.052	3014	1869	1870
8097	1.34	237.5	501.9	9.9	389	8098	0.00	0.00	0.00	0.000	6	0.000	0.000	3015	1874	1870
8407	1.41	255.2	471.9	9.2	404	8427	0.17	0.00	17.85	1.062	6	0.051	0.000	3060	1883	1790
8736	1.34	255.2	432.1	11.9	420	8740	0.12	2.50	0.00	0.000	4	0.095	0.071	3036	517	1790
8764	1.28	255.2	428.7	12.1	421	8768	0.00	2.38	0.00	0.000	6	0.000	0.049	3036	1861	1790
9085	1.28	255.2	392.5	11.4	437	9086	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1865	1790
9394	1.28	255.2	357.0	11.5	452	9395	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1874	1790
9704	1.28	255.2	324.1	10.4	467	9708	0.00	2.45	0.00	0.000	4	0.000	0.071	3036	519	1790
9726	1.28	255.2	321.6	10.6	468	9730	0.00	2.35	0.00	0.000	6	0.000	0.048	3036	1860	1790
10047	1.28	255.2	287.4	10.5	484	10051	0.00	2.62	0.00	0.000	4	0.000	0.064	3036	3333	1790
10068	1.28	255.2	285.0	10.9	485	10073	0.00	2.62	0.00	0.000	6	0.000	0.056	3036	1867	1790
10390	1.28	255.2	251.0	10.7	501	10395	0.00	2.65	0.00	0.000	4	0.000	0.064	3037	3328	1790
10412	1.28	255.2	248.5	11.2	502	10417	0.00	2.60	0.00	0.000	6	0.000	0.057	3036	1875	1790
10733	1.28	255.2	214.7	10.4	518	10737	0.00	2.62	0.00	0.000	4	0.000	0.062	3036	3325	1790
10760	1.28	255.2	211.7	11.0	519	10765	0.00	2.58	0.00	0.000	6	0.000	0.054	3036	1876	1790
11076	1.33	285.9	183.1	8.6	534	11104	0.00	0.00	26.12	0.904	6	0.000	0.000	3036	1876	1665
11405	1.33	285.9	152.8	10.8	550	11410	0.00	2.62	0.00	0.000	4	0.000	0.063	3036	3325	1665
11439	1.40	285.9	148.9	11.5	551	11445	0.00	2.58	0.00	0.000	6	0.000	0.053	3036	1887	1665
11755	1.40	285.9	111.6	11.7	567	11757	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1887	1665
12065	1.44	285.9	70.4	12.9	582	12070	0.10	2.60	0.00	0.000	4	0.061	0.059	3067	3330	1665
12106	1.44	285.9	65.1	13.3	584	12110	0.00	2.55	0.00	0.000	6	0.000	0.052	3067	1890	1665
12433	1.44	285.9	22.7	11.9	600	12437	0.00	2.50	0.00	0.000	4	0.000	0.068	3067	504	1665
12489	1.38	285.9	15.2	12.6	602	12495	0.00	2.42	0.00	0.000	6	0.000	0.047	3067	1903	1665
12596	end climb: SURFACE_DEPTH_REACHED
state	12596	begin surface coast
12619	end surface coast: CONTROL_FINISHED_OK
state	12620	begin surface