Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 269 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 269 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -81686.398 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -81686.398

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2730 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 269 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 084227,6242.676,-1014.066,36,3.2,55,-10.3 TGT_NAME IFRSILL

_CALLS 2 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.209,-0.074

_SM_DEPTHo 0.59 KALMAN_X -137701.7,696.7,906.7,170240.7,-17617.8

_SM_ANGLEo -51.8 KALMAN_Y -26477.2,-1241.3,736.9,88872.1,-3875.9

GPS2 085059,6242.670,-1014.103,12,3.7,31,-10.3 MHEAD_RNG_PITCHd_Wd 119.9,31872,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027014 ALTIM_BOTTOM_PING 475.1,30.7

SM_CCo 12284,192.70,0.785,0,0,390,547.02 _24V_AH 23.8,50.959

SM_GC 0.51,0.00,0.00,192.70,0.000,0.000,0.785,420,2131,390,-10.62,-0.59,547.02 _10V_AH 10.1,24.652

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28513,588

TT8_MAMPS 0.029146 CAP_FILE_SIZE 105211,0

HUMID 1713 CFSIZE 254472192,234364928

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 366 GPS 040808,122107,6243.434,-1010.063,37,1.4,42,-10.3

ALTIM_TOP_PING 18.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 86.57 SBE_CT 402 24 229.73

Roll_motor 127 72 218.95 SBE_O2 437 19 197.68

VBD_pump_during_apogee 288 1164 7987.55 WL_BB2F 440 105 1102.04

VBD_pump_during_surface 192 785 3602.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 58 160 220.97 nil 0 0 0.00

Iridium_during_xfer 174 223 925.97

Transponder_ping 95 420 954.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.46

TT8 1142 19 228.55

LPSleep 9230 2 204.17

TT8_Active 642 19 128.40

TT8_Sampling 1403 39 564.32

TT8_CF8 571 45 264.40

TT8_Kalman 33 81 27.56

Analog_circuits 1362 12 165.13

GPS_charging 0 0 0.00

Compass 1353 8 109.39

RAFOS 0 0 0.00

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

21 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 146 0.00 0.00 -112.40 0.000 6 0.000 0.000 420 2165 3099

150 -1.30 -117.3 3.6 -3.5 6 166 10.55 2.58 0.00 0.000 4 0.141 0.052 2436 734 3098

290 -1.04 -117.3 24.5 -11.5 11 295 0.32 2.50 0.00 0.000 6 0.096 0.047 2503 2149 3098

607 -0.98 -117.3 52.6 -8.4 26 611 0.00 2.55 0.00 0.000 4 0.000 0.055 2503 741 3097

865 -0.92 -117.3 72.4 -7.0 37 872 0.12 2.45 0.00 0.000 6 0.097 0.048 2528 2123 3097

1184 -0.92 -117.3 90.1 -5.3 53 1188 0.00 2.58 0.00 0.000 4 0.000 0.058 2528 3563 3098

1194 -0.92 -117.3 90.9 -5.4 53 1201 0.00 2.58 0.00 0.000 6 0.000 0.045 2528 2104 3098

1512 -0.92 -117.3 107.6 -5.2 69 1517 0.00 2.65 0.00 0.000 4 0.000 0.058 2528 3562 3098

1578 -0.92 -117.3 111.4 -5.7 72 1582 0.00 2.55 0.00 0.000 6 0.000 0.045 2528 2124 3098

1907 -0.97 -117.3 131.6 -7.0 88 1911 0.00 2.62 0.00 0.000 4 0.000 0.059 2529 3564 3098

1962 -0.97 -117.3 136.3 -8.0 90 1968 0.00 2.53 0.00 0.000 6 0.000 0.045 2528 2138 3099

2279 -1.01 -117.3 162.2 -8.5 106 2280 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2135 3098

2589 -1.06 -117.3 187.7 -7.7 121 2591 0.15 0.00 0.00 0.000 6 0.051 0.000 2485 2136 3098

2898 -0.98 -117.3 213.7 -7.9 136 2900 0.15 0.00 0.00 0.000 6 0.091 0.000 2517 2136 3098

3206 -0.98 -117.3 231.9 -5.2 151 3207 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2135 3098

3515 -0.98 -117.3 248.9 -5.8 166 3520 0.00 2.47 0.00 0.000 4 0.000 0.059 2517 739 3097

3527 -0.98 -117.3 249.7 -5.8 166 3534 0.00 2.50 0.00 0.000 6 0.000 0.051 2517 2131 3097

3845 -0.98 -117.3 276.4 -10.0 182 3849 0.00 2.53 0.00 0.000 4 0.000 0.059 2517 742 3097

3855 -0.98 -117.3 277.8 -10.4 182 3862 0.00 2.47 0.00 0.000 6 0.000 0.053 2516 2127 3097

4172 -0.98 -117.3 310.1 -9.3 198 4173 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2127 3097

4481 -0.98 -117.3 335.5 -7.6 213 4485 0.00 2.58 0.00 0.000 4 0.000 0.064 2517 3557 3097

4491 -0.98 -117.3 336.3 -6.8 213 4497 0.00 2.55 0.00 0.000 6 0.000 0.051 2517 2133 3097

4808 -0.98 -117.3 355.1 -5.8 229 4812 0.00 2.62 0.00 0.000 4 0.000 0.064 2517 3557 3096

4870 -0.98 -117.3 359.0 -6.2 232 4875 0.00 2.50 0.00 0.000 6 0.000 0.050 2517 2151 3096

5197 -0.98 -117.3 373.8 -3.5 248 5198 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2134 3096

5506 -0.98 -117.3 382.5 -3.1 263 5510 0.00 2.58 0.00 0.000 4 0.000 0.066 2517 3555 3096

5573 -0.98 -117.3 385.4 -4.9 266 5577 0.00 2.50 0.00 0.000 6 0.000 0.051 2517 2144 3095

5894 -0.98 -117.3 412.0 -10.3 282 5899 0.00 2.60 0.00 0.000 4 0.000 0.066 2517 3557 3095

5905 -0.98 -117.3 413.3 -10.6 282 5911 0.00 2.55 0.00 0.000 6 0.000 0.054 2517 2137 3095

6221 -0.98 -117.3 446.6 -9.3 298 6225 0.00 2.47 0.00 0.000 4 0.000 0.063 2517 747 3095

6266 -0.98 -117.3 450.7 -9.4 300 6270 0.00 2.47 0.00 0.000 6 0.000 0.056 2517 2119 3095

6588 -0.98 -117.3 473.4 -6.0 316 6592 0.00 2.62 0.00 0.000 4 0.000 0.069 2517 3563 3094

6660 -0.98 -117.3 477.9 -6.3 319 6664 0.00 2.55 0.00 0.000 6 0.000 0.056 2517 2147 3094

6976 -0.98 -117.3 495.3 -6.0 334 6981 0.00 2.62 0.00 0.000 4 0.000 0.071 2517 3564 3093

6984 end dive: BOTTOM_OBSTACLE_DETECTED

state 6984 begin apogee

6994 -0.33 0.0 496.0 6.2 334 7094 0.62 0.00 97.62 1.164 6 0.084 0.000 2650 2096 2620

7095 end apogee: CONTROL_FINISHED_OK

state 7095 begin climb

7098 1.30 117.3 498.7 0.0 339 7204 1.65 2.65 96.55 1.136 4 0.066 0.069 3010 692 2141

7255 1.20 117.3 486.7 10.1 346 7260 0.00 2.60 0.00 0.000 6 0.000 0.059 3010 2106 2141

7572 1.12 117.3 458.2 8.8 361 7577 0.15 2.60 0.00 0.000 4 0.096 0.070 2978 3513 2139

7746 1.12 117.3 442.8 8.8 369 7751 0.00 2.55 0.00 0.000 6 0.000 0.058 2978 2118 2139

8073 1.13 123.3 417.6 7.7 385 8081 0.00 0.00 6.10 0.890 6 0.000 0.000 2978 2116 2117

8383 1.18 154.3 396.6 6.6 400 8417 0.00 2.65 27.00 1.096 4 0.000 0.067 2978 3511 1990

8471 1.21 173.0 390.4 7.1 404 8492 0.00 2.50 16.38 1.055 6 0.000 0.057 2978 2135 1913

8802 1.27 173.0 365.0 9.4 420 8804 0.12 0.00 0.00 0.000 6 0.055 0.000 3011 2117 1912

9110 1.27 173.0 328.2 11.9 435 9115 0.00 2.55 0.00 0.000 4 0.000 0.066 3011 3513 1912

9196 1.22 173.0 317.7 11.9 439 9200 0.00 2.47 0.00 0.000 6 0.000 0.053 3011 2136 1911

9523 1.22 173.0 279.7 11.4 455 9527 0.00 2.55 0.00 0.000 4 0.000 0.064 3012 3512 1911

9563 1.18 173.0 275.0 12.4 457 9568 0.12 2.45 0.00 0.000 6 0.097 0.051 2987 2151 1911

9891 1.22 173.0 239.3 10.9 473 9892 0.00 0.00 0.00 0.000 6 0.000 0.000 2987 2151 1911

10199 1.27 173.0 207.9 9.7 488 10203 0.00 2.47 0.00 0.000 4 0.000 0.062 2987 3509 1911

10254 1.27 173.0 202.3 9.9 490 10260 0.00 2.42 0.00 0.000 6 0.000 0.050 2987 2158 1911

10571 1.31 173.0 172.7 9.9 506 10576 0.12 2.62 0.00 0.000 4 0.052 0.061 3022 692 1911

10612 1.24 173.0 167.7 13.0 508 10617 0.12 2.62 0.00 0.000 6 0.094 0.054 3000 2167 1911

10939 1.24 173.0 130.0 11.6 524 10943 0.00 2.42 0.00 0.000 4 0.000 0.061 3000 3517 1912

11003 1.24 173.0 122.7 11.3 527 11007 0.00 2.42 0.00 0.000 6 0.000 0.049 3000 2160 1912

11330 1.25 177.5 93.2 7.8 543 11340 0.00 2.65 5.30 0.696 4 0.000 0.061 3000 688 1895

11370 1.25 177.5 89.7 9.8 545 11374 0.00 2.65 0.00 0.000 6 0.000 0.051 3000 2175 1895

11698 1.27 194.6 61.0 7.2 561 11720 0.00 2.42 15.32 0.825 4 0.000 0.059 3000 3509 1825

11748 1.37 223.9 57.7 6.7 563 11778 0.15 2.42 23.98 0.838 6 0.050 0.048 3039 2167 1706

12099 1.32 223.9 18.2 12.7 580 12104 0.00 2.65 0.00 0.000 4 0.000 0.061 3039 685 1706

12140 1.26 223.9 12.5 13.9 582 12145 0.17 2.67 0.00 0.000 6 0.087 0.049 3006 2189 1706

12239 end climb: SURFACE_DEPTH_REACHED

state 12239 begin surface coast

12260 end surface coast: CONTROL_FINISHED_OK

state 12260 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	269	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-81686.398	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	084227,6242.676,-1014.066,36,3.2,55,-10.3	TGT_NAME	IFRSILL
_CALLS	2	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.209,-0.074
_SM_DEPTHo	0.59	KALMAN_X	-137701.7,696.7,906.7,170240.7,-17617.8
_SM_ANGLEo	-51.8	KALMAN_Y	-26477.2,-1241.3,736.9,88872.1,-3875.9
GPS2	085059,6242.670,-1014.103,12,3.7,31,-10.3	MHEAD_RNG_PITCHd_Wd	119.9,31872,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.1,1.027014	ALTIM_BOTTOM_PING	475.1,30.7
SM_CCo	12284,192.70,0.785,0,0,390,547.02	_24V_AH	23.8,50.959
SM_GC	0.51,0.00,0.00,192.70,0.000,0.000,0.785,420,2131,390,-10.62,-0.59,547.02	_10V_AH	10.1,24.652
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28513,588
TT8_MAMPS	0.029146	CAP_FILE_SIZE	105211,0
HUMID	1713	CFSIZE	254472192,234364928
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	366	GPS	040808,122107,6243.434,-1010.063,37,1.4,42,-10.3
ALTIM_TOP_PING	18.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	86.57	SBE_CT	402	24	229.73
Roll_motor	127	72	218.95	SBE_O2	437	19	197.68
VBD_pump_during_apogee	288	1164	7987.55	WL_BB2F	440	105	1102.04
VBD_pump_during_surface	192	785	3602.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	58	160	220.97	nil	0	0	0.00
Iridium_during_xfer	174	223	925.97
Transponder_ping	95	420	954.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.46
TT8	1142	19	228.55
LPSleep	9230	2	204.17
TT8_Active	642	19	128.40
TT8_Sampling	1403	39	564.32
TT8_CF8	571	45	264.40
TT8_Kalman	33	81	27.56
Analog_circuits	1362	12	165.13
GPS_charging	0	0	0.00
Compass	1353	8	109.39
RAFOS	0	0	0.00

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
21	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	146	0.00	0.00	-112.40	0.000	6	0.000	0.000	420	2165	3099
150	-1.30	-117.3	3.6	-3.5	6	166	10.55	2.58	0.00	0.000	4	0.141	0.052	2436	734	3098
290	-1.04	-117.3	24.5	-11.5	11	295	0.32	2.50	0.00	0.000	6	0.096	0.047	2503	2149	3098
607	-0.98	-117.3	52.6	-8.4	26	611	0.00	2.55	0.00	0.000	4	0.000	0.055	2503	741	3097
865	-0.92	-117.3	72.4	-7.0	37	872	0.12	2.45	0.00	0.000	6	0.097	0.048	2528	2123	3097
1184	-0.92	-117.3	90.1	-5.3	53	1188	0.00	2.58	0.00	0.000	4	0.000	0.058	2528	3563	3098
1194	-0.92	-117.3	90.9	-5.4	53	1201	0.00	2.58	0.00	0.000	6	0.000	0.045	2528	2104	3098
1512	-0.92	-117.3	107.6	-5.2	69	1517	0.00	2.65	0.00	0.000	4	0.000	0.058	2528	3562	3098
1578	-0.92	-117.3	111.4	-5.7	72	1582	0.00	2.55	0.00	0.000	6	0.000	0.045	2528	2124	3098
1907	-0.97	-117.3	131.6	-7.0	88	1911	0.00	2.62	0.00	0.000	4	0.000	0.059	2529	3564	3098
1962	-0.97	-117.3	136.3	-8.0	90	1968	0.00	2.53	0.00	0.000	6	0.000	0.045	2528	2138	3099
2279	-1.01	-117.3	162.2	-8.5	106	2280	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2135	3098
2589	-1.06	-117.3	187.7	-7.7	121	2591	0.15	0.00	0.00	0.000	6	0.051	0.000	2485	2136	3098
2898	-0.98	-117.3	213.7	-7.9	136	2900	0.15	0.00	0.00	0.000	6	0.091	0.000	2517	2136	3098
3206	-0.98	-117.3	231.9	-5.2	151	3207	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2135	3098
3515	-0.98	-117.3	248.9	-5.8	166	3520	0.00	2.47	0.00	0.000	4	0.000	0.059	2517	739	3097
3527	-0.98	-117.3	249.7	-5.8	166	3534	0.00	2.50	0.00	0.000	6	0.000	0.051	2517	2131	3097
3845	-0.98	-117.3	276.4	-10.0	182	3849	0.00	2.53	0.00	0.000	4	0.000	0.059	2517	742	3097
3855	-0.98	-117.3	277.8	-10.4	182	3862	0.00	2.47	0.00	0.000	6	0.000	0.053	2516	2127	3097
4172	-0.98	-117.3	310.1	-9.3	198	4173	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2127	3097
4481	-0.98	-117.3	335.5	-7.6	213	4485	0.00	2.58	0.00	0.000	4	0.000	0.064	2517	3557	3097
4491	-0.98	-117.3	336.3	-6.8	213	4497	0.00	2.55	0.00	0.000	6	0.000	0.051	2517	2133	3097
4808	-0.98	-117.3	355.1	-5.8	229	4812	0.00	2.62	0.00	0.000	4	0.000	0.064	2517	3557	3096
4870	-0.98	-117.3	359.0	-6.2	232	4875	0.00	2.50	0.00	0.000	6	0.000	0.050	2517	2151	3096
5197	-0.98	-117.3	373.8	-3.5	248	5198	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2134	3096
5506	-0.98	-117.3	382.5	-3.1	263	5510	0.00	2.58	0.00	0.000	4	0.000	0.066	2517	3555	3096
5573	-0.98	-117.3	385.4	-4.9	266	5577	0.00	2.50	0.00	0.000	6	0.000	0.051	2517	2144	3095
5894	-0.98	-117.3	412.0	-10.3	282	5899	0.00	2.60	0.00	0.000	4	0.000	0.066	2517	3557	3095
5905	-0.98	-117.3	413.3	-10.6	282	5911	0.00	2.55	0.00	0.000	6	0.000	0.054	2517	2137	3095
6221	-0.98	-117.3	446.6	-9.3	298	6225	0.00	2.47	0.00	0.000	4	0.000	0.063	2517	747	3095
6266	-0.98	-117.3	450.7	-9.4	300	6270	0.00	2.47	0.00	0.000	6	0.000	0.056	2517	2119	3095
6588	-0.98	-117.3	473.4	-6.0	316	6592	0.00	2.62	0.00	0.000	4	0.000	0.069	2517	3563	3094
6660	-0.98	-117.3	477.9	-6.3	319	6664	0.00	2.55	0.00	0.000	6	0.000	0.056	2517	2147	3094
6976	-0.98	-117.3	495.3	-6.0	334	6981	0.00	2.62	0.00	0.000	4	0.000	0.071	2517	3564	3093
6984	end dive: BOTTOM_OBSTACLE_DETECTED
state	6984	begin apogee
6994	-0.33	0.0	496.0	6.2	334	7094	0.62	0.00	97.62	1.164	6	0.084	0.000	2650	2096	2620
7095	end apogee: CONTROL_FINISHED_OK
state	7095	begin climb
7098	1.30	117.3	498.7	0.0	339	7204	1.65	2.65	96.55	1.136	4	0.066	0.069	3010	692	2141
7255	1.20	117.3	486.7	10.1	346	7260	0.00	2.60	0.00	0.000	6	0.000	0.059	3010	2106	2141
7572	1.12	117.3	458.2	8.8	361	7577	0.15	2.60	0.00	0.000	4	0.096	0.070	2978	3513	2139
7746	1.12	117.3	442.8	8.8	369	7751	0.00	2.55	0.00	0.000	6	0.000	0.058	2978	2118	2139
8073	1.13	123.3	417.6	7.7	385	8081	0.00	0.00	6.10	0.890	6	0.000	0.000	2978	2116	2117
8383	1.18	154.3	396.6	6.6	400	8417	0.00	2.65	27.00	1.096	4	0.000	0.067	2978	3511	1990
8471	1.21	173.0	390.4	7.1	404	8492	0.00	2.50	16.38	1.055	6	0.000	0.057	2978	2135	1913
8802	1.27	173.0	365.0	9.4	420	8804	0.12	0.00	0.00	0.000	6	0.055	0.000	3011	2117	1912
9110	1.27	173.0	328.2	11.9	435	9115	0.00	2.55	0.00	0.000	4	0.000	0.066	3011	3513	1912
9196	1.22	173.0	317.7	11.9	439	9200	0.00	2.47	0.00	0.000	6	0.000	0.053	3011	2136	1911
9523	1.22	173.0	279.7	11.4	455	9527	0.00	2.55	0.00	0.000	4	0.000	0.064	3012	3512	1911
9563	1.18	173.0	275.0	12.4	457	9568	0.12	2.45	0.00	0.000	6	0.097	0.051	2987	2151	1911
9891	1.22	173.0	239.3	10.9	473	9892	0.00	0.00	0.00	0.000	6	0.000	0.000	2987	2151	1911
10199	1.27	173.0	207.9	9.7	488	10203	0.00	2.47	0.00	0.000	4	0.000	0.062	2987	3509	1911
10254	1.27	173.0	202.3	9.9	490	10260	0.00	2.42	0.00	0.000	6	0.000	0.050	2987	2158	1911
10571	1.31	173.0	172.7	9.9	506	10576	0.12	2.62	0.00	0.000	4	0.052	0.061	3022	692	1911
10612	1.24	173.0	167.7	13.0	508	10617	0.12	2.62	0.00	0.000	6	0.094	0.054	3000	2167	1911
10939	1.24	173.0	130.0	11.6	524	10943	0.00	2.42	0.00	0.000	4	0.000	0.061	3000	3517	1912
11003	1.24	173.0	122.7	11.3	527	11007	0.00	2.42	0.00	0.000	6	0.000	0.049	3000	2160	1912
11330	1.25	177.5	93.2	7.8	543	11340	0.00	2.65	5.30	0.696	4	0.000	0.061	3000	688	1895
11370	1.25	177.5	89.7	9.8	545	11374	0.00	2.65	0.00	0.000	6	0.000	0.051	3000	2175	1895
11698	1.27	194.6	61.0	7.2	561	11720	0.00	2.42	15.32	0.825	4	0.000	0.059	3000	3509	1825
11748	1.37	223.9	57.7	6.7	563	11778	0.15	2.42	23.98	0.838	6	0.050	0.048	3039	2167	1706
12099	1.32	223.9	18.2	12.7	580	12104	0.00	2.65	0.00	0.000	4	0.000	0.061	3039	685	1706
12140	1.26	223.9	12.5	13.9	582	12145	0.17	2.67	0.00	0.000	6	0.087	0.049	3006	2189	1706
12239	end climb: SURFACE_DEPTH_REACHED
state	12239	begin surface coast
12260	end surface coast: CONTROL_FINISHED_OK
state	12260	begin surface