Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 298 * 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 298 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 53 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 -106047.84 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 -106047.84

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 53 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 298 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 072107,6332.105,-1250.848,38,1.1,38,-12.1 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6330.000,-1257.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,-0.085

_SM_DEPTHo 1.45 KALMAN_X 34656.0,-621.8,-51.2,-254893.3,10407.9

_SM_ANGLEo -61.7 KALMAN_Y 16548.6,-580.7,38.0,198005.1,5517.9

GPS2 073032,6332.167,-1250.730,16,1.2,16,-12.1 MHEAD_RNG_PITCHd_Wd 261.9,6554,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027267 ALTIM_BOTTOM_PING 521.2,67.3

SM_CCo 12551,21.12,0.763,0,0,1608,300.00 _24V_AH 23.8,49.105

SM_GC 1.12,0.00,0.00,21.12,0.000,0.000,0.763,421,2155,1608,-10.69,0.62,300.00 _10V_AH 10.1,21.929

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37994,748

TT8_MAMPS 0.029146 CAP_FILE_SIZE 108502,0

HUMID 1824 CFSIZE 254472192,235974656

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 51 GPS 141009,110207,6331.035,-1254.771,33,1.9,33,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 154 92.10 SBE_CT 511 24 291.97

Roll_motor 122 73 214.81 SBE_O2 542 19 245.40

VBD_pump_during_apogee 362 1181 10197.25 WL_BB2F 459 105 1147.95

VBD_pump_during_surface 21 763 383.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 60 160 229.06 nil 0 0 0.00

Iridium_during_xfer 235 223 1249.31

Transponder_ping 17 420 172.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.42

TT8 1328 19 265.76

LPSleep 9103 2 201.36

TT8_Active 493 19 98.65

TT8_Sampling 1566 39 629.72

TT8_CF8 644 45 298.16

TT8_Kalman 33 81 27.57

Analog_circuits 1292 12 156.61

GPS_charging 0 0 0.00

Compass 1527 8 123.43

RAFOS 0 0 0.00

Transponder 32 30 9.95

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -59.08 0.000 2 0.000 0.000 420 2147 2782

83 -1.22 -146.6 2.8 -3.3 3 126 11.10 2.65 -22.05 0.000 4 0.154 0.071 2469 716 3429

173 -1.13 -146.6 13.6 -12.8 7 179 0.12 2.47 0.00 0.000 6 0.104 0.048 2494 2110 3429

503 -1.08 -146.6 51.9 -12.1 23 507 0.00 2.53 0.00 0.000 4 0.000 0.059 2494 712 3429

567 -1.08 -146.6 59.6 -12.0 26 571 0.00 2.50 0.00 0.000 6 0.000 0.049 2494 2115 3430

895 -1.02 -146.6 98.6 -11.8 42 899 0.12 2.53 0.00 0.000 4 0.100 0.058 2521 716 3429

928 -1.02 -146.6 102.6 -10.3 43 934 0.00 2.47 0.00 0.000 6 0.000 0.049 2521 2114 3430

1245 -1.02 -146.6 135.7 -10.6 59 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2114 3430

1559 -1.02 -146.6 169.0 -10.8 77 1564 0.00 2.53 0.00 0.000 4 0.000 0.060 2521 714 3430

1605 -1.06 -146.6 174.0 -10.2 80 1609 0.00 2.47 0.00 0.000 6 0.000 0.049 2521 2109 3430

1932 -1.06 -146.6 210.5 -11.6 101 1937 0.00 2.58 0.00 0.000 4 0.000 0.066 2521 3534 3430

1966 -1.06 -146.6 215.0 -11.9 103 1971 0.00 2.58 0.00 0.000 6 0.000 0.051 2521 2091 3429

2285 -1.06 -146.6 250.8 -11.2 123 2286 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2076 3430

2598 -1.06 -146.6 284.9 -10.7 143 2602 0.00 2.67 0.00 0.000 4 0.000 0.067 2521 3544 3430

2648 -1.06 -146.6 290.4 -10.6 146 2652 0.00 2.58 0.00 0.000 6 0.000 0.053 2521 2105 3429

2969 -1.06 -146.6 323.2 -10.1 166 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2097 3430

3281 -1.06 -146.6 354.4 -9.8 186 3285 0.00 2.65 0.00 0.000 4 0.000 0.068 2521 3540 3430

3343 -1.06 -146.6 360.6 -9.8 190 3347 0.00 2.58 0.00 0.000 6 0.000 0.054 2521 2101 3430

3668 -1.06 -146.6 391.4 -9.2 211 3669 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2090 3429

3980 -1.06 -146.6 420.2 -9.3 231 3985 0.00 2.62 0.00 0.000 4 0.000 0.069 2521 3531 3430

4037 -1.06 -146.6 425.8 -9.7 234 4043 0.00 2.55 0.00 0.000 6 0.000 0.055 2521 2111 3430

4356 -1.06 -146.6 457.7 -10.5 255 4357 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2100 3430

4668 -1.06 -146.6 488.3 -8.9 275 4672 0.00 2.65 0.00 0.000 4 0.000 0.071 2520 3541 3429

4758 -1.06 -146.6 497.2 -10.3 280 4764 0.00 2.55 0.00 0.000 6 0.000 0.056 2521 2122 3429

5077 -1.06 -146.6 529.3 -10.2 301 5081 0.00 2.50 0.00 0.000 4 0.000 0.065 2521 721 3429

5133 -1.11 -146.6 535.2 -10.4 304 5140 0.00 2.45 0.00 0.000 6 0.000 0.051 2521 2103 3429

5453 -1.11 -146.6 566.7 -9.6 325 5457 0.00 2.62 0.00 0.000 4 0.000 0.072 2520 3539 3429

5553 -1.11 -146.6 577.6 -9.4 331 5557 0.00 2.58 0.00 0.000 6 0.000 0.058 2521 2113 3428

5572 end dive: BOTTOM_OBSTACLE_DETECTED

state 5572 begin apogee

5580 -0.33 0.0 579.5 9.1 332 5713 0.70 0.00 129.80 1.182 6 0.071 0.000 2676 1849 2831

5714 end apogee: CONTROL_FINISHED_OK

state 5714 begin climb

5717 1.22 146.6 584.4 0.0 341 5861 1.50 2.67 129.73 1.146 4 0.060 0.065 3005 3261 2233

5918 1.17 147.0 576.0 8.0 353 5922 0.00 2.60 0.00 0.000 6 0.000 0.061 3006 1853 2233

6237 1.18 188.8 553.3 6.5 373 6285 0.00 2.70 37.83 1.114 4 0.000 0.067 3005 3258 2061

6381 1.18 188.8 541.3 9.2 381 6387 0.00 2.58 0.00 0.000 6 0.000 0.062 3006 1863 2061

6702 1.18 188.8 513.8 8.1 402 6706 0.00 2.60 0.00 0.000 4 0.000 0.074 3005 442 2060

6769 1.10 188.8 508.0 8.6 406 6774 0.00 2.55 0.00 0.000 6 0.000 0.055 3006 1858 2060

7089 1.18 234.8 486.4 6.3 426 7137 0.00 2.60 40.58 1.120 4 0.000 0.065 3005 3253 1872

7183 1.18 236.5 479.7 7.9 431 7189 0.00 2.60 0.00 0.000 6 0.000 0.059 3005 1841 1873

7504 1.20 251.2 456.1 7.5 452 7525 0.00 2.67 15.45 1.050 4 0.000 0.063 3006 3261 1806

7566 1.23 251.2 450.9 8.7 456 7570 0.00 2.55 0.00 0.000 6 0.000 0.058 3006 1862 1805

7892 1.23 251.2 423.1 8.4 477 7897 0.00 2.58 0.00 0.000 4 0.000 0.063 3006 3258 1805

7921 1.23 251.2 420.4 9.2 479 7926 0.00 2.50 0.00 0.000 6 0.000 0.058 3006 1874 1805

8245 1.23 251.2 393.3 8.4 500 8249 0.00 2.53 0.00 0.000 4 0.000 0.062 3006 3253 1805

8275 1.26 251.2 390.9 8.8 502 8279 0.00 2.47 0.00 0.000 6 0.000 0.055 3006 1878 1805

8599 1.26 251.2 362.8 8.6 523 8600 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1878 1806

8911 1.26 251.2 333.5 9.5 543 8916 0.00 2.53 0.00 0.000 4 0.000 0.061 3005 3258 1806

8951 1.30 251.2 329.6 9.8 545 8958 0.00 2.47 0.00 0.000 6 0.000 0.054 3006 1883 1806

9271 1.30 251.2 299.4 9.6 566 9272 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1883 1806

9584 1.30 251.2 269.3 9.4 586 9588 0.00 2.50 0.00 0.000 4 0.000 0.061 3006 3255 1806

9623 1.34 251.2 265.3 9.8 588 9629 0.15 2.42 0.00 0.000 6 0.053 0.051 3046 1899 1806

9942 1.28 251.2 229.9 11.0 609 9944 0.12 0.00 0.00 0.000 6 0.097 0.000 3023 1899 1806

10254 1.28 251.2 201.0 8.6 629 10259 0.00 2.47 0.00 0.000 4 0.000 0.059 3023 3262 1806

10300 1.28 251.2 196.8 9.5 632 10304 0.00 2.40 0.00 0.000 6 0.000 0.050 3023 1912 1807

10630 1.28 251.2 168.6 8.5 653 10634 0.00 2.45 0.00 0.000 4 0.000 0.059 3023 3262 1807

10680 1.28 251.2 163.9 9.2 656 10684 0.00 2.40 0.00 0.000 6 0.000 0.049 3023 1911 1807

11003 1.28 251.2 136.4 8.6 674 11005 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1911 1807

11313 1.28 251.2 109.3 8.7 689 11317 0.00 2.45 0.00 0.000 4 0.000 0.058 3023 3265 1807

11354 1.28 251.2 105.4 9.3 691 11358 0.00 2.38 0.00 0.000 6 0.000 0.048 3023 1914 1807

11687 1.28 251.2 75.8 8.8 707 11688 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1914 1807

11997 1.28 251.2 48.1 9.0 722 12001 0.00 2.42 0.00 0.000 4 0.000 0.058 3023 3257 1808

12042 1.31 251.2 43.6 9.5 724 12046 0.00 2.35 0.00 0.000 6 0.000 0.046 3023 1926 1808

12364 1.32 260.0 16.8 7.7 740 12375 0.00 0.00 9.12 0.718 6 0.000 0.000 3023 1926 1771

12505 end climb: SURFACE_DEPTH_REACHED

state 12505 begin surface coast

12527 end surface coast: CONTROL_FINISHED_OK

state 12527 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	298	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	53	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	-106047.84	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	072107,6332.105,-1250.848,38,1.1,38,-12.1	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6330.000,-1257.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,-0.085
_SM_DEPTHo	1.45	KALMAN_X	34656.0,-621.8,-51.2,-254893.3,10407.9
_SM_ANGLEo	-61.7	KALMAN_Y	16548.6,-580.7,38.0,198005.1,5517.9
GPS2	073032,6332.167,-1250.730,16,1.2,16,-12.1	MHEAD_RNG_PITCHd_Wd	261.9,6554,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.9,1.027267	ALTIM_BOTTOM_PING	521.2,67.3
SM_CCo	12551,21.12,0.763,0,0,1608,300.00	_24V_AH	23.8,49.105
SM_GC	1.12,0.00,0.00,21.12,0.000,0.000,0.763,421,2155,1608,-10.69,0.62,300.00	_10V_AH	10.1,21.929
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37994,748
TT8_MAMPS	0.029146	CAP_FILE_SIZE	108502,0
HUMID	1824	CFSIZE	254472192,235974656
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	51	GPS	141009,110207,6331.035,-1254.771,33,1.9,33,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	154	92.10	SBE_CT	511	24	291.97
Roll_motor	122	73	214.81	SBE_O2	542	19	245.40
VBD_pump_during_apogee	362	1181	10197.25	WL_BB2F	459	105	1147.95
VBD_pump_during_surface	21	763	383.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	60	160	229.06	nil	0	0	0.00
Iridium_during_xfer	235	223	1249.31
Transponder_ping	17	420	172.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.42
TT8	1328	19	265.76
LPSleep	9103	2	201.36
TT8_Active	493	19	98.65
TT8_Sampling	1566	39	629.72
TT8_CF8	644	45	298.16
TT8_Kalman	33	81	27.57
Analog_circuits	1292	12	156.61
GPS_charging	0	0	0.00
Compass	1527	8	123.43
RAFOS	0	0	0.00
Transponder	32	30	9.95

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-59.08	0.000	2	0.000	0.000	420	2147	2782
83	-1.22	-146.6	2.8	-3.3	3	126	11.10	2.65	-22.05	0.000	4	0.154	0.071	2469	716	3429
173	-1.13	-146.6	13.6	-12.8	7	179	0.12	2.47	0.00	0.000	6	0.104	0.048	2494	2110	3429
503	-1.08	-146.6	51.9	-12.1	23	507	0.00	2.53	0.00	0.000	4	0.000	0.059	2494	712	3429
567	-1.08	-146.6	59.6	-12.0	26	571	0.00	2.50	0.00	0.000	6	0.000	0.049	2494	2115	3430
895	-1.02	-146.6	98.6	-11.8	42	899	0.12	2.53	0.00	0.000	4	0.100	0.058	2521	716	3429
928	-1.02	-146.6	102.6	-10.3	43	934	0.00	2.47	0.00	0.000	6	0.000	0.049	2521	2114	3430
1245	-1.02	-146.6	135.7	-10.6	59	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2114	3430
1559	-1.02	-146.6	169.0	-10.8	77	1564	0.00	2.53	0.00	0.000	4	0.000	0.060	2521	714	3430
1605	-1.06	-146.6	174.0	-10.2	80	1609	0.00	2.47	0.00	0.000	6	0.000	0.049	2521	2109	3430
1932	-1.06	-146.6	210.5	-11.6	101	1937	0.00	2.58	0.00	0.000	4	0.000	0.066	2521	3534	3430
1966	-1.06	-146.6	215.0	-11.9	103	1971	0.00	2.58	0.00	0.000	6	0.000	0.051	2521	2091	3429
2285	-1.06	-146.6	250.8	-11.2	123	2286	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2076	3430
2598	-1.06	-146.6	284.9	-10.7	143	2602	0.00	2.67	0.00	0.000	4	0.000	0.067	2521	3544	3430
2648	-1.06	-146.6	290.4	-10.6	146	2652	0.00	2.58	0.00	0.000	6	0.000	0.053	2521	2105	3429
2969	-1.06	-146.6	323.2	-10.1	166	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2097	3430
3281	-1.06	-146.6	354.4	-9.8	186	3285	0.00	2.65	0.00	0.000	4	0.000	0.068	2521	3540	3430
3343	-1.06	-146.6	360.6	-9.8	190	3347	0.00	2.58	0.00	0.000	6	0.000	0.054	2521	2101	3430
3668	-1.06	-146.6	391.4	-9.2	211	3669	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2090	3429
3980	-1.06	-146.6	420.2	-9.3	231	3985	0.00	2.62	0.00	0.000	4	0.000	0.069	2521	3531	3430
4037	-1.06	-146.6	425.8	-9.7	234	4043	0.00	2.55	0.00	0.000	6	0.000	0.055	2521	2111	3430
4356	-1.06	-146.6	457.7	-10.5	255	4357	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2100	3430
4668	-1.06	-146.6	488.3	-8.9	275	4672	0.00	2.65	0.00	0.000	4	0.000	0.071	2520	3541	3429
4758	-1.06	-146.6	497.2	-10.3	280	4764	0.00	2.55	0.00	0.000	6	0.000	0.056	2521	2122	3429
5077	-1.06	-146.6	529.3	-10.2	301	5081	0.00	2.50	0.00	0.000	4	0.000	0.065	2521	721	3429
5133	-1.11	-146.6	535.2	-10.4	304	5140	0.00	2.45	0.00	0.000	6	0.000	0.051	2521	2103	3429
5453	-1.11	-146.6	566.7	-9.6	325	5457	0.00	2.62	0.00	0.000	4	0.000	0.072	2520	3539	3429
5553	-1.11	-146.6	577.6	-9.4	331	5557	0.00	2.58	0.00	0.000	6	0.000	0.058	2521	2113	3428
5572	end dive: BOTTOM_OBSTACLE_DETECTED
state	5572	begin apogee
5580	-0.33	0.0	579.5	9.1	332	5713	0.70	0.00	129.80	1.182	6	0.071	0.000	2676	1849	2831
5714	end apogee: CONTROL_FINISHED_OK
state	5714	begin climb
5717	1.22	146.6	584.4	0.0	341	5861	1.50	2.67	129.73	1.146	4	0.060	0.065	3005	3261	2233
5918	1.17	147.0	576.0	8.0	353	5922	0.00	2.60	0.00	0.000	6	0.000	0.061	3006	1853	2233
6237	1.18	188.8	553.3	6.5	373	6285	0.00	2.70	37.83	1.114	4	0.000	0.067	3005	3258	2061
6381	1.18	188.8	541.3	9.2	381	6387	0.00	2.58	0.00	0.000	6	0.000	0.062	3006	1863	2061
6702	1.18	188.8	513.8	8.1	402	6706	0.00	2.60	0.00	0.000	4	0.000	0.074	3005	442	2060
6769	1.10	188.8	508.0	8.6	406	6774	0.00	2.55	0.00	0.000	6	0.000	0.055	3006	1858	2060
7089	1.18	234.8	486.4	6.3	426	7137	0.00	2.60	40.58	1.120	4	0.000	0.065	3005	3253	1872
7183	1.18	236.5	479.7	7.9	431	7189	0.00	2.60	0.00	0.000	6	0.000	0.059	3005	1841	1873
7504	1.20	251.2	456.1	7.5	452	7525	0.00	2.67	15.45	1.050	4	0.000	0.063	3006	3261	1806
7566	1.23	251.2	450.9	8.7	456	7570	0.00	2.55	0.00	0.000	6	0.000	0.058	3006	1862	1805
7892	1.23	251.2	423.1	8.4	477	7897	0.00	2.58	0.00	0.000	4	0.000	0.063	3006	3258	1805
7921	1.23	251.2	420.4	9.2	479	7926	0.00	2.50	0.00	0.000	6	0.000	0.058	3006	1874	1805
8245	1.23	251.2	393.3	8.4	500	8249	0.00	2.53	0.00	0.000	4	0.000	0.062	3006	3253	1805
8275	1.26	251.2	390.9	8.8	502	8279	0.00	2.47	0.00	0.000	6	0.000	0.055	3006	1878	1805
8599	1.26	251.2	362.8	8.6	523	8600	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1878	1806
8911	1.26	251.2	333.5	9.5	543	8916	0.00	2.53	0.00	0.000	4	0.000	0.061	3005	3258	1806
8951	1.30	251.2	329.6	9.8	545	8958	0.00	2.47	0.00	0.000	6	0.000	0.054	3006	1883	1806
9271	1.30	251.2	299.4	9.6	566	9272	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1883	1806
9584	1.30	251.2	269.3	9.4	586	9588	0.00	2.50	0.00	0.000	4	0.000	0.061	3006	3255	1806
9623	1.34	251.2	265.3	9.8	588	9629	0.15	2.42	0.00	0.000	6	0.053	0.051	3046	1899	1806
9942	1.28	251.2	229.9	11.0	609	9944	0.12	0.00	0.00	0.000	6	0.097	0.000	3023	1899	1806
10254	1.28	251.2	201.0	8.6	629	10259	0.00	2.47	0.00	0.000	4	0.000	0.059	3023	3262	1806
10300	1.28	251.2	196.8	9.5	632	10304	0.00	2.40	0.00	0.000	6	0.000	0.050	3023	1912	1807
10630	1.28	251.2	168.6	8.5	653	10634	0.00	2.45	0.00	0.000	4	0.000	0.059	3023	3262	1807
10680	1.28	251.2	163.9	9.2	656	10684	0.00	2.40	0.00	0.000	6	0.000	0.049	3023	1911	1807
11003	1.28	251.2	136.4	8.6	674	11005	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1911	1807
11313	1.28	251.2	109.3	8.7	689	11317	0.00	2.45	0.00	0.000	4	0.000	0.058	3023	3265	1807
11354	1.28	251.2	105.4	9.3	691	11358	0.00	2.38	0.00	0.000	6	0.000	0.048	3023	1914	1807
11687	1.28	251.2	75.8	8.8	707	11688	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1914	1807
11997	1.28	251.2	48.1	9.0	722	12001	0.00	2.42	0.00	0.000	4	0.000	0.058	3023	3257	1808
12042	1.31	251.2	43.6	9.5	724	12046	0.00	2.35	0.00	0.000	6	0.000	0.046	3023	1926	1808
12364	1.32	260.0	16.8	7.7	740	12375	0.00	0.00	9.12	0.718	6	0.000	0.000	3023	1926	1771
12505	end climb: SURFACE_DEPTH_REACHED
state	12505	begin surface coast
12527	end surface coast: CONTROL_FINISHED_OK
state	12527	begin surface