Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 272 * 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 272 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -81752.977 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 -81752.977

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 39 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 272 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 193901,6239.821,-1009.540,42,1.5,42,-10.3 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,-0.134

_SM_DEPTHo 0.63 KALMAN_X -145570.1,2075.1,604.0,180892.0,-19511.1

_SM_ANGLEo -50.0 KALMAN_Y -29957.3,650.3,686.8,85222.6,-7803.5

GPS2 194438,6239.827,-1009.626,16,1.3,33,-10.3 MHEAD_RNG_PITCHd_Wd 137.5,31345,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.026932 ALTIM_BOTTOM_PING 450.6,72.3

SM_CCo 12460,195.82,0.783,0,0,390,547.02 _24V_AH 23.8,51.422

SM_GC 0.55,0.00,0.00,195.82,0.000,0.000,0.783,416,2107,390,-10.64,-1.19,547.02 _10V_AH 10.1,24.845

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31653,594

TT8_MAMPS 0.029146 CAP_FILE_SIZE 100432,0

HUMID 1693 CFSIZE 254472192,234205184

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 327 GPS 040808,231738,6240.886,-1004.623,34,1.9,34,-10.2

ALTIM_TOP_PING 19.2,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.83 SBE_CT 406 24 231.95

Roll_motor 122 71 207.88 SBE_O2 440 19 199.36

VBD_pump_during_apogee 281 1188 7954.33 WL_BB2F 387 105 968.90

VBD_pump_during_surface 195 783 3649.78 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 29 160 113.04 nil 0 0 0.00

Iridium_during_xfer 128 223 682.67

Transponder_ping 85 420 854.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.73

TT8 1135 19 227.03

LPSleep 9392 2 207.76

TT8_Active 638 19 127.77

TT8_Sampling 1371 39 551.34

TT8_CF8 456 45 210.99

TT8_Kalman 33 81 27.56

Analog_circuits 1345 12 163.04

GPS_charging 0 0 0.00

Compass 1324 8 106.99

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 141 0.00 0.00 -111.95 0.000 6 0.000 0.000 422 2132 3099

145 -1.30 -117.3 1.9 -1.5 5 161 10.48 2.45 0.00 0.000 4 0.137 0.050 2439 756 3098

357 -1.07 -117.3 35.8 -14.9 13 364 0.28 2.50 0.00 0.000 6 0.092 0.047 2495 2163 3097

676 -1.00 -117.3 64.0 -5.2 29 680 0.00 2.55 0.00 0.000 4 0.000 0.054 2495 749 3097

688 -0.93 -117.3 64.8 -4.9 29 695 0.15 2.47 0.00 0.000 6 0.092 0.047 2527 2143 3097

1006 -0.93 -117.3 73.7 -4.1 45 1010 0.00 2.50 0.00 0.000 4 0.000 0.055 2527 757 3097

1039 -0.93 -117.3 75.9 -7.0 46 1045 0.00 2.40 0.00 0.000 6 0.000 0.048 2527 2109 3097

1355 -0.93 -117.3 108.5 -13.2 62 1360 0.00 2.58 0.00 0.000 4 0.000 0.058 2527 3553 3098

1367 -0.93 -117.3 110.3 -13.9 62 1373 0.00 2.55 0.00 0.000 6 0.000 0.045 2527 2110 3098

1682 -0.93 -117.3 153.3 -12.1 78 1686 0.00 2.42 0.00 0.000 4 0.000 0.056 2527 743 3098

1733 -0.93 -117.3 158.8 -10.7 80 1737 0.00 2.40 0.00 0.000 6 0.000 0.049 2527 2089 3098

2050 -0.97 -117.3 180.3 -4.3 95 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2089 3098

2359 -1.01 -117.3 193.3 -5.1 110 2363 0.00 2.42 0.00 0.000 4 0.000 0.058 2527 750 3098

2404 -1.01 -117.3 196.2 -6.5 112 2408 0.00 2.40 0.00 0.000 6 0.000 0.050 2527 2095 3098

2726 -1.06 -117.3 220.3 -8.1 128 2727 0.12 0.00 0.00 0.000 6 0.052 0.000 2488 2095 3097

3036 -0.99 -117.3 246.7 -7.8 143 3041 0.12 2.45 0.00 0.000 4 0.094 0.059 2514 750 3097

3058 -0.99 -117.3 248.5 -7.5 144 3062 0.00 2.42 0.00 0.000 6 0.000 0.051 2514 2102 3097

3379 -0.99 -117.3 270.4 -7.4 160 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2102 3097

3688 -0.99 -117.3 296.7 -8.5 175 3689 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2102 3096

3997 -0.99 -117.3 314.3 -3.8 190 3998 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2102 3097

4307 -0.99 -117.3 320.1 -1.7 205 4311 0.00 2.62 0.00 0.000 4 0.000 0.064 2514 3559 3096

4319 -0.99 -117.3 320.4 -2.0 205 4325 0.00 2.60 0.00 0.000 6 0.000 0.052 2515 2103 3096

4635 -0.99 -117.3 344.8 -11.2 221 4636 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2084 3096

4944 -0.99 -117.3 387.0 -13.2 236 4948 0.00 2.67 0.00 0.000 4 0.000 0.065 2514 3553 3096

5000 -0.99 -117.3 393.8 -11.5 238 5006 0.00 2.60 0.00 0.000 6 0.000 0.051 2514 2097 3095

5316 -0.99 -117.3 417.1 -5.1 254 5320 0.00 2.42 0.00 0.000 4 0.000 0.063 2514 742 3095

5326 -0.99 -117.3 417.5 -4.4 254 5332 0.00 2.42 0.00 0.000 6 0.000 0.054 2514 2087 3095

5643 -0.99 -117.3 423.2 -0.7 270 5647 0.00 2.67 0.00 0.000 4 0.000 0.067 2514 3563 3095

5670 -0.99 -117.3 423.3 -0.8 271 5675 0.00 2.60 0.00 0.000 6 0.000 0.054 2515 2116 3095

5987 -0.99 -117.3 426.9 -2.5 286 5991 0.00 2.67 0.00 0.000 4 0.000 0.067 2514 3562 3095

6133 -0.99 -117.3 433.3 -4.8 292 6139 0.00 2.58 0.00 0.000 6 0.000 0.053 2515 2122 3094

6449 -0.99 -117.3 453.8 -7.6 308 6454 0.00 2.65 0.00 0.000 4 0.000 0.071 2514 3551 3093

6513 -0.99 -117.3 459.1 -8.4 311 6518 0.00 2.55 0.00 0.000 6 0.000 0.057 2514 2138 3093

6840 -0.99 -117.3 486.8 -8.7 327 6844 0.00 2.65 0.00 0.000 4 0.000 0.071 2514 3560 3092

6867 -0.99 -117.3 489.0 -8.0 328 6872 0.00 2.58 0.00 0.000 6 0.000 0.057 2514 2132 3092

7180 end dive: BOTTOM_OBSTACLE_DETECTED

state 7180 begin apogee

7188 -0.33 0.0 513.1 6.6 343 7288 0.68 0.00 97.22 1.189 6 0.085 0.000 2655 2113 2620

7289 end apogee: CONTROL_FINISHED_OK

state 7289 begin climb

7292 1.30 117.3 515.6 0.0 348 7398 1.65 2.72 96.55 1.157 4 0.069 0.069 3012 689 2141

7443 1.19 117.3 503.9 11.0 355 7448 0.15 2.60 0.00 0.000 6 0.094 0.060 2984 2098 2140

7764 1.19 117.3 474.6 9.0 371 7769 0.00 2.60 0.00 0.000 4 0.000 0.071 2984 3505 2139

7933 1.19 117.3 457.2 10.5 378 7939 0.00 2.55 0.00 0.000 6 0.000 0.059 2984 2119 2139

8249 1.22 135.5 428.5 7.2 394 8271 0.00 2.67 16.00 1.077 4 0.000 0.069 2984 3514 2067

8350 1.22 135.5 420.5 8.5 398 8354 0.00 2.55 0.00 0.000 6 0.000 0.058 2984 2127 2066

8666 1.22 136.7 394.7 7.9 413 8670 0.00 2.58 0.00 0.000 4 0.000 0.070 2984 3506 2066

8721 1.22 136.7 389.3 10.0 415 8728 0.00 2.50 0.00 0.000 6 0.000 0.058 2984 2134 2066

9037 1.22 136.7 353.3 12.8 431 9042 0.00 2.58 0.00 0.000 4 0.000 0.068 2984 3513 2065

9088 1.22 136.7 346.0 14.1 433 9093 0.00 2.50 0.00 0.000 6 0.000 0.055 2984 2137 2065

9404 1.22 136.7 310.1 9.1 448 9408 0.00 2.53 0.00 0.000 4 0.000 0.066 2984 3507 2064

9459 1.22 136.7 305.1 8.7 450 9465 0.00 2.42 0.00 0.000 6 0.000 0.053 2984 2165 2064

9776 1.22 136.7 278.1 10.1 466 9780 0.00 2.47 0.00 0.000 4 0.000 0.065 2984 3511 2063

9843 1.22 136.7 270.4 11.2 469 9847 0.00 2.38 0.00 0.000 6 0.000 0.051 2984 2193 2063

10164 1.22 136.7 238.8 9.1 485 10165 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2193 2063

10473 1.22 136.7 211.3 9.3 500 10475 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2193 2063

10782 1.22 136.7 181.7 9.1 515 10783 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2193 2064

11092 1.33 206.2 161.7 4.8 530 11155 0.15 2.47 56.47 0.938 4 0.051 0.060 3030 3508 1778

11198 1.30 223.1 155.0 7.2 534 11217 0.00 2.35 14.88 0.867 6 0.000 0.049 3030 2210 1710

11530 1.26 223.1 122.0 14.0 550 11535 0.15 2.75 0.00 0.000 4 0.091 0.059 2999 680 1710

11575 1.31 223.1 114.6 15.9 552 11580 0.00 2.78 0.00 0.000 6 0.000 0.051 2998 2225 1710

11897 1.36 223.1 68.2 14.0 568 11899 0.12 0.00 0.00 0.000 6 0.051 0.000 3034 2225 1710

12208 1.36 223.1 27.9 12.5 583 12213 0.00 2.78 0.00 0.000 4 0.000 0.058 3034 687 1710

12286 1.31 223.1 17.0 13.5 586 12293 0.00 2.70 0.00 0.000 6 0.000 0.050 3034 2208 1710

12416 end climb: SURFACE_DEPTH_REACHED

state 12416 begin surface coast

12436 end surface coast: CONTROL_FINISHED_OK

state 12436 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	272	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-81752.977	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	193901,6239.821,-1009.540,42,1.5,42,-10.3	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,-0.134
_SM_DEPTHo	0.63	KALMAN_X	-145570.1,2075.1,604.0,180892.0,-19511.1
_SM_ANGLEo	-50.0	KALMAN_Y	-29957.3,650.3,686.8,85222.6,-7803.5
GPS2	194438,6239.827,-1009.626,16,1.3,33,-10.3	MHEAD_RNG_PITCHd_Wd	137.5,31345,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.0,1.026932	ALTIM_BOTTOM_PING	450.6,72.3
SM_CCo	12460,195.82,0.783,0,0,390,547.02	_24V_AH	23.8,51.422
SM_GC	0.55,0.00,0.00,195.82,0.000,0.000,0.783,416,2107,390,-10.64,-1.19,547.02	_10V_AH	10.1,24.845
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31653,594
TT8_MAMPS	0.029146	CAP_FILE_SIZE	100432,0
HUMID	1693	CFSIZE	254472192,234205184
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	327	GPS	040808,231738,6240.886,-1004.623,34,1.9,34,-10.2
ALTIM_TOP_PING	19.2,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.83	SBE_CT	406	24	231.95
Roll_motor	122	71	207.88	SBE_O2	440	19	199.36
VBD_pump_during_apogee	281	1188	7954.33	WL_BB2F	387	105	968.90
VBD_pump_during_surface	195	783	3649.78	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	29	160	113.04	nil	0	0	0.00
Iridium_during_xfer	128	223	682.67
Transponder_ping	85	420	854.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.73
TT8	1135	19	227.03
LPSleep	9392	2	207.76
TT8_Active	638	19	127.77
TT8_Sampling	1371	39	551.34
TT8_CF8	456	45	210.99
TT8_Kalman	33	81	27.56
Analog_circuits	1345	12	163.04
GPS_charging	0	0	0.00
Compass	1324	8	106.99
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	141	0.00	0.00	-111.95	0.000	6	0.000	0.000	422	2132	3099
145	-1.30	-117.3	1.9	-1.5	5	161	10.48	2.45	0.00	0.000	4	0.137	0.050	2439	756	3098
357	-1.07	-117.3	35.8	-14.9	13	364	0.28	2.50	0.00	0.000	6	0.092	0.047	2495	2163	3097
676	-1.00	-117.3	64.0	-5.2	29	680	0.00	2.55	0.00	0.000	4	0.000	0.054	2495	749	3097
688	-0.93	-117.3	64.8	-4.9	29	695	0.15	2.47	0.00	0.000	6	0.092	0.047	2527	2143	3097
1006	-0.93	-117.3	73.7	-4.1	45	1010	0.00	2.50	0.00	0.000	4	0.000	0.055	2527	757	3097
1039	-0.93	-117.3	75.9	-7.0	46	1045	0.00	2.40	0.00	0.000	6	0.000	0.048	2527	2109	3097
1355	-0.93	-117.3	108.5	-13.2	62	1360	0.00	2.58	0.00	0.000	4	0.000	0.058	2527	3553	3098
1367	-0.93	-117.3	110.3	-13.9	62	1373	0.00	2.55	0.00	0.000	6	0.000	0.045	2527	2110	3098
1682	-0.93	-117.3	153.3	-12.1	78	1686	0.00	2.42	0.00	0.000	4	0.000	0.056	2527	743	3098
1733	-0.93	-117.3	158.8	-10.7	80	1737	0.00	2.40	0.00	0.000	6	0.000	0.049	2527	2089	3098
2050	-0.97	-117.3	180.3	-4.3	95	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2089	3098
2359	-1.01	-117.3	193.3	-5.1	110	2363	0.00	2.42	0.00	0.000	4	0.000	0.058	2527	750	3098
2404	-1.01	-117.3	196.2	-6.5	112	2408	0.00	2.40	0.00	0.000	6	0.000	0.050	2527	2095	3098
2726	-1.06	-117.3	220.3	-8.1	128	2727	0.12	0.00	0.00	0.000	6	0.052	0.000	2488	2095	3097
3036	-0.99	-117.3	246.7	-7.8	143	3041	0.12	2.45	0.00	0.000	4	0.094	0.059	2514	750	3097
3058	-0.99	-117.3	248.5	-7.5	144	3062	0.00	2.42	0.00	0.000	6	0.000	0.051	2514	2102	3097
3379	-0.99	-117.3	270.4	-7.4	160	3380	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2102	3097
3688	-0.99	-117.3	296.7	-8.5	175	3689	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2102	3096
3997	-0.99	-117.3	314.3	-3.8	190	3998	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2102	3097
4307	-0.99	-117.3	320.1	-1.7	205	4311	0.00	2.62	0.00	0.000	4	0.000	0.064	2514	3559	3096
4319	-0.99	-117.3	320.4	-2.0	205	4325	0.00	2.60	0.00	0.000	6	0.000	0.052	2515	2103	3096
4635	-0.99	-117.3	344.8	-11.2	221	4636	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2084	3096
4944	-0.99	-117.3	387.0	-13.2	236	4948	0.00	2.67	0.00	0.000	4	0.000	0.065	2514	3553	3096
5000	-0.99	-117.3	393.8	-11.5	238	5006	0.00	2.60	0.00	0.000	6	0.000	0.051	2514	2097	3095
5316	-0.99	-117.3	417.1	-5.1	254	5320	0.00	2.42	0.00	0.000	4	0.000	0.063	2514	742	3095
5326	-0.99	-117.3	417.5	-4.4	254	5332	0.00	2.42	0.00	0.000	6	0.000	0.054	2514	2087	3095
5643	-0.99	-117.3	423.2	-0.7	270	5647	0.00	2.67	0.00	0.000	4	0.000	0.067	2514	3563	3095
5670	-0.99	-117.3	423.3	-0.8	271	5675	0.00	2.60	0.00	0.000	6	0.000	0.054	2515	2116	3095
5987	-0.99	-117.3	426.9	-2.5	286	5991	0.00	2.67	0.00	0.000	4	0.000	0.067	2514	3562	3095
6133	-0.99	-117.3	433.3	-4.8	292	6139	0.00	2.58	0.00	0.000	6	0.000	0.053	2515	2122	3094
6449	-0.99	-117.3	453.8	-7.6	308	6454	0.00	2.65	0.00	0.000	4	0.000	0.071	2514	3551	3093
6513	-0.99	-117.3	459.1	-8.4	311	6518	0.00	2.55	0.00	0.000	6	0.000	0.057	2514	2138	3093
6840	-0.99	-117.3	486.8	-8.7	327	6844	0.00	2.65	0.00	0.000	4	0.000	0.071	2514	3560	3092
6867	-0.99	-117.3	489.0	-8.0	328	6872	0.00	2.58	0.00	0.000	6	0.000	0.057	2514	2132	3092
7180	end dive: BOTTOM_OBSTACLE_DETECTED
state	7180	begin apogee
7188	-0.33	0.0	513.1	6.6	343	7288	0.68	0.00	97.22	1.189	6	0.085	0.000	2655	2113	2620
7289	end apogee: CONTROL_FINISHED_OK
state	7289	begin climb
7292	1.30	117.3	515.6	0.0	348	7398	1.65	2.72	96.55	1.157	4	0.069	0.069	3012	689	2141
7443	1.19	117.3	503.9	11.0	355	7448	0.15	2.60	0.00	0.000	6	0.094	0.060	2984	2098	2140
7764	1.19	117.3	474.6	9.0	371	7769	0.00	2.60	0.00	0.000	4	0.000	0.071	2984	3505	2139
7933	1.19	117.3	457.2	10.5	378	7939	0.00	2.55	0.00	0.000	6	0.000	0.059	2984	2119	2139
8249	1.22	135.5	428.5	7.2	394	8271	0.00	2.67	16.00	1.077	4	0.000	0.069	2984	3514	2067
8350	1.22	135.5	420.5	8.5	398	8354	0.00	2.55	0.00	0.000	6	0.000	0.058	2984	2127	2066
8666	1.22	136.7	394.7	7.9	413	8670	0.00	2.58	0.00	0.000	4	0.000	0.070	2984	3506	2066
8721	1.22	136.7	389.3	10.0	415	8728	0.00	2.50	0.00	0.000	6	0.000	0.058	2984	2134	2066
9037	1.22	136.7	353.3	12.8	431	9042	0.00	2.58	0.00	0.000	4	0.000	0.068	2984	3513	2065
9088	1.22	136.7	346.0	14.1	433	9093	0.00	2.50	0.00	0.000	6	0.000	0.055	2984	2137	2065
9404	1.22	136.7	310.1	9.1	448	9408	0.00	2.53	0.00	0.000	4	0.000	0.066	2984	3507	2064
9459	1.22	136.7	305.1	8.7	450	9465	0.00	2.42	0.00	0.000	6	0.000	0.053	2984	2165	2064
9776	1.22	136.7	278.1	10.1	466	9780	0.00	2.47	0.00	0.000	4	0.000	0.065	2984	3511	2063
9843	1.22	136.7	270.4	11.2	469	9847	0.00	2.38	0.00	0.000	6	0.000	0.051	2984	2193	2063
10164	1.22	136.7	238.8	9.1	485	10165	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2193	2063
10473	1.22	136.7	211.3	9.3	500	10475	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2193	2063
10782	1.22	136.7	181.7	9.1	515	10783	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2193	2064
11092	1.33	206.2	161.7	4.8	530	11155	0.15	2.47	56.47	0.938	4	0.051	0.060	3030	3508	1778
11198	1.30	223.1	155.0	7.2	534	11217	0.00	2.35	14.88	0.867	6	0.000	0.049	3030	2210	1710
11530	1.26	223.1	122.0	14.0	550	11535	0.15	2.75	0.00	0.000	4	0.091	0.059	2999	680	1710
11575	1.31	223.1	114.6	15.9	552	11580	0.00	2.78	0.00	0.000	6	0.000	0.051	2998	2225	1710
11897	1.36	223.1	68.2	14.0	568	11899	0.12	0.00	0.00	0.000	6	0.051	0.000	3034	2225	1710
12208	1.36	223.1	27.9	12.5	583	12213	0.00	2.78	0.00	0.000	4	0.000	0.058	3034	687	1710
12286	1.31	223.1	17.0	13.5	586	12293	0.00	2.70	0.00	0.000	6	0.000	0.050	3034	2208	1710
12416	end climb: SURFACE_DEPTH_REACHED
state	12416	begin surface coast
12436	end surface coast: CONTROL_FINISHED_OK
state	12436	begin surface