Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 382 * 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 382 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 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 -107533.73 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 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 -107533.73

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 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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 382 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 202700,6239.670,-1104.644,64,1.5,64,-10.8 TGT_NAME DE

_CALLS 2 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.226,-0.135

_SM_DEPTHo 1.55 KALMAN_X -161349.7,1301.8,695.2,253783.7,-12049.0

_SM_ANGLEo -58.2 KALMAN_Y 50078.8,-331.1,-381.0,-139371.7,4622.9

GPS2 203532,6239.685,-1104.867,14,1.8,14,-10.8 MHEAD_RNG_PITCHd_Wd 131.6,6474,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027212 ALTIM_BOTTOM_PING 596.0,39.6

SM_CCo 11375,21.10,0.766,0,0,1608,300.00 _24V_AH 23.7,61.954

SM_GC 1.07,0.00,0.00,21.10,0.000,0.000,0.766,421,2152,1608,-10.69,0.62,300.00 _10V_AH 10.1,28.089

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34815,680

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102960,0

HUMID 1838 CFSIZE 254472192,231174144

TCM_TEMP 17.30 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 67 GPS 271009,234807,6238.575,-1104.659,67,1.1,67,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 99.59 SBE_CT 464 24 264.25

Roll_motor 134 81 259.02 SBE_O2 492 19 221.58

VBD_pump_during_apogee 374 1231 10930.12 WL_BB2F 409 105 1019.03

VBD_pump_during_surface 21 766 383.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 184.36 nil 0 0 0.00

Iridium_during_connect 59 160 224.02 nil 0 0 0.00

Iridium_during_xfer 191 223 1010.89

Transponder_ping 22 420 218.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.31

TT8 1215 19 243.07

LPSleep 8212 2 181.65

TT8_Active 510 19 102.11

TT8_Sampling 1369 39 550.49

TT8_CF8 603 45 279.35

TT8_Kalman 33 81 27.56

Analog_circuits 1241 12 150.43

GPS_charging 0 0 0.00

Compass 1331 8 107.61

RAFOS 0 0 0.00

Transponder 40 30 12.34

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 59 0.00 0.00 -40.88 0.000 2 0.000 0.000 421 2137 2410

63 -1.44 -146.6 2.0 -3.4 2 128 11.00 2.58 -46.22 0.000 4 0.157 0.069 2422 705 3427

134 -1.22 -146.6 5.6 -11.7 5 139 0.28 2.55 0.00 0.000 6 0.097 0.048 2477 2135 3427

456 -1.22 -146.6 41.5 -10.5 21 460 0.00 2.58 0.00 0.000 4 0.000 0.058 2477 706 3427

484 -1.22 -146.6 44.7 -10.8 22 489 0.00 2.50 0.00 0.000 6 0.000 0.047 2477 2117 3428

802 -1.22 -146.6 84.8 -15.3 37 806 0.00 2.55 0.00 0.000 4 0.000 0.061 2478 711 3428

835 -1.25 -146.6 90.0 -13.7 38 842 0.00 2.45 0.00 0.000 6 0.000 0.048 2478 2100 3428

1154 -1.25 -146.6 127.6 -11.5 54 1158 0.00 2.62 0.00 0.000 4 0.000 0.068 2478 3540 3428

1198 -1.25 -146.6 133.1 -10.7 56 1202 0.00 2.65 0.00 0.000 6 0.000 0.052 2478 2062 3428

1528 -1.25 -146.6 171.2 -12.7 75 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2063 3428

1839 -1.25 -146.6 208.9 -12.0 95 1843 0.00 2.72 0.00 0.000 4 0.000 0.069 2478 3531 3428

1872 -1.25 -146.6 213.1 -12.0 97 1876 0.00 2.62 0.00 0.000 6 0.000 0.055 2478 2081 3428

2191 -1.25 -146.6 251.7 -11.7 117 2193 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2081 3428

2504 -1.25 -146.6 288.5 -12.1 137 2509 0.00 2.70 0.00 0.000 4 0.000 0.071 2478 3530 3428

2538 -1.25 -146.6 292.9 -12.4 139 2542 0.00 2.62 0.00 0.000 6 0.000 0.057 2478 2077 3428

2857 -1.25 -146.6 332.3 -12.5 159 2859 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2079 3428

3170 -1.25 -146.6 370.5 -11.8 179 3174 0.00 2.72 0.00 0.000 4 0.000 0.074 2478 3535 3428

3215 -1.25 -146.6 376.0 -11.8 182 3219 0.00 2.62 0.00 0.000 6 0.000 0.059 2478 2087 3428

3540 -1.25 -146.6 414.4 -12.1 203 3544 0.00 2.45 0.00 0.000 4 0.000 0.064 2478 716 3428

3573 -1.30 -146.6 418.7 -12.3 205 3578 0.00 2.47 0.00 0.000 6 0.000 0.054 2478 2110 3428

3893 -1.30 -146.6 457.1 -12.0 225 3894 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2110 3428

4205 -1.30 -146.6 493.5 -10.3 245 4209 0.00 2.53 0.00 0.000 4 0.000 0.067 2478 717 3428

4250 -1.37 -146.6 498.3 -11.0 248 4255 0.15 2.42 0.00 0.000 6 0.058 0.053 2440 2086 3428

4578 -1.33 -146.6 544.5 -14.4 269 4586 0.00 2.67 0.00 0.000 4 0.000 0.078 2440 3536 3428

4603 -1.29 -146.6 548.4 -13.4 270 4608 0.12 2.65 0.00 0.000 6 0.102 0.064 2463 2090 3428

4923 -1.29 -146.6 585.6 -10.9 290 4924 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2074 3428

5234 -1.29 -146.6 619.6 -10.2 310 5235 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2073 3427

5294 end dive: BOTTOM_OBSTACLE_DETECTED

state 5294 begin apogee

5302 -0.33 0.0 626.6 11.0 314 5440 0.98 0.00 133.95 1.232 6 0.084 0.000 2670 1844 2831

5441 end apogee: CONTROL_FINISHED_OK

state 5441 begin climb

5444 1.44 146.6 631.9 0.0 323 5588 1.77 2.70 135.18 1.185 4 0.059 0.081 3058 446 2233

5648 1.30 146.6 621.9 10.2 335 5655 0.15 2.55 0.00 0.000 6 0.100 0.055 3031 1851 2233

5968 1.35 174.4 593.0 8.7 356 6000 0.00 2.72 25.77 1.142 4 0.000 0.077 3031 442 2119

6011 1.35 176.2 588.6 9.9 358 6018 0.00 2.58 0.00 0.000 6 0.000 0.058 3031 1841 2119

6332 1.40 209.5 559.3 8.5 379 6369 0.00 2.67 31.98 1.163 4 0.000 0.074 3031 3261 1976

6377 1.42 221.9 555.0 9.4 382 6395 0.12 2.67 12.15 1.067 6 0.067 0.070 3060 1846 1926

6709 1.38 221.9 517.1 11.1 403 6714 0.00 2.65 0.00 0.000 4 0.000 0.072 3060 3257 1925

6748 1.38 221.9 512.0 12.0 405 6755 0.00 2.58 0.00 0.000 6 0.000 0.067 3060 1864 1924

7068 1.34 221.9 474.3 13.0 426 7073 0.12 2.62 0.00 0.000 4 0.110 0.071 3038 3263 1924

7091 1.34 221.9 471.2 13.0 427 7098 0.00 2.55 0.00 0.000 6 0.000 0.064 3037 1873 1923

7410 1.34 221.9 435.6 11.1 448 7415 0.00 2.58 0.00 0.000 4 0.000 0.068 3038 3255 1922

7461 1.38 221.9 429.8 11.3 451 7465 0.00 2.47 0.00 0.000 6 0.000 0.061 3038 1902 1922

7782 1.43 251.1 399.8 8.7 471 7814 0.00 2.58 25.80 1.085 4 0.000 0.065 3038 3258 1806

7837 1.48 260.1 394.4 9.6 474 7852 0.15 2.50 9.57 0.981 6 0.062 0.058 3074 1901 1770

8183 1.43 260.1 354.9 12.4 496 8187 0.00 2.53 0.00 0.000 4 0.000 0.065 3074 3262 1771

8205 1.39 260.1 351.4 13.0 497 8211 0.15 2.45 0.00 0.000 6 0.104 0.057 3046 1916 1770

8524 1.39 260.1 314.8 11.5 518 8529 0.00 2.47 0.00 0.000 4 0.000 0.064 3046 3257 1771

8547 1.39 260.1 312.0 11.1 519 8553 0.00 2.40 0.00 0.000 6 0.000 0.055 3045 1930 1771

8866 1.39 260.1 276.8 11.0 540 8870 0.00 2.45 0.00 0.000 4 0.000 0.063 3046 3260 1771

8894 1.42 260.1 273.5 11.4 542 8899 0.00 2.40 0.00 0.000 6 0.000 0.054 3046 1930 1771

9220 1.42 260.1 238.8 10.8 563 9221 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1930 1771

9531 1.42 260.1 205.2 10.6 583 9535 0.00 2.45 0.00 0.000 4 0.000 0.061 3046 3265 1771

9554 1.45 260.1 202.6 11.2 584 9560 0.00 2.38 0.00 0.000 6 0.000 0.051 3046 1939 1771

9873 1.45 260.1 169.2 10.1 605 9877 0.00 2.42 0.00 0.000 4 0.000 0.061 3046 3264 1771

9912 1.50 260.1 165.1 10.8 607 9918 0.12 2.35 0.00 0.000 6 0.062 0.050 3077 1948 1771

10246 1.45 260.1 126.8 11.9 626 10250 0.00 2.40 0.00 0.000 4 0.000 0.060 3077 3265 1771

10269 1.45 260.1 123.8 12.4 627 10273 0.00 2.30 0.00 0.000 6 0.000 0.050 3078 1970 1772

10597 1.42 260.1 84.1 11.6 643 10602 0.12 2.72 0.00 0.000 4 0.100 0.060 3054 437 1772

10611 1.37 260.1 82.8 10.4 643 10617 0.00 2.78 0.00 0.000 6 0.000 0.048 3054 2011 1772

10928 1.41 260.1 48.4 10.9 659 10932 0.00 2.88 0.00 0.000 4 0.000 0.062 3054 432 1772

10938 1.41 260.1 47.2 10.5 659 10945 0.00 2.72 0.00 0.000 6 0.000 0.047 3054 1979 1772

11256 1.41 260.1 12.1 11.8 675 11260 0.00 2.80 0.00 0.000 4 0.000 0.061 3054 432 1772

11273 1.41 260.1 9.2 15.0 676 11277 0.00 2.70 0.00 0.000 6 0.000 0.047 3054 1964 1772

11329 end climb: SURFACE_DEPTH_REACHED

state 11329 begin surface coast

11351 end surface coast: CONTROL_FINISHED_OK

state 11351 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	382	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	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	-107533.73	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	202700,6239.670,-1104.644,64,1.5,64,-10.8	TGT_NAME	DE
_CALLS	2	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.226,-0.135
_SM_DEPTHo	1.55	KALMAN_X	-161349.7,1301.8,695.2,253783.7,-12049.0
_SM_ANGLEo	-58.2	KALMAN_Y	50078.8,-331.1,-381.0,-139371.7,4622.9
GPS2	203532,6239.685,-1104.867,14,1.8,14,-10.8	MHEAD_RNG_PITCHd_Wd	131.6,6474,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.9,1.027212	ALTIM_BOTTOM_PING	596.0,39.6
SM_CCo	11375,21.10,0.766,0,0,1608,300.00	_24V_AH	23.7,61.954
SM_GC	1.07,0.00,0.00,21.10,0.000,0.000,0.766,421,2152,1608,-10.69,0.62,300.00	_10V_AH	10.1,28.089
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34815,680
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102960,0
HUMID	1838	CFSIZE	254472192,231174144
TCM_TEMP	17.30	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	67	GPS	271009,234807,6238.575,-1104.659,67,1.1,67,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	99.59	SBE_CT	464	24	264.25
Roll_motor	134	81	259.02	SBE_O2	492	19	221.58
VBD_pump_during_apogee	374	1231	10930.12	WL_BB2F	409	105	1019.03
VBD_pump_during_surface	21	766	383.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	184.36	nil	0	0	0.00
Iridium_during_connect	59	160	224.02	nil	0	0	0.00
Iridium_during_xfer	191	223	1010.89
Transponder_ping	22	420	218.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.31
TT8	1215	19	243.07
LPSleep	8212	2	181.65
TT8_Active	510	19	102.11
TT8_Sampling	1369	39	550.49
TT8_CF8	603	45	279.35
TT8_Kalman	33	81	27.56
Analog_circuits	1241	12	150.43
GPS_charging	0	0	0.00
Compass	1331	8	107.61
RAFOS	0	0	0.00
Transponder	40	30	12.34

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	59	0.00	0.00	-40.88	0.000	2	0.000	0.000	421	2137	2410
63	-1.44	-146.6	2.0	-3.4	2	128	11.00	2.58	-46.22	0.000	4	0.157	0.069	2422	705	3427
134	-1.22	-146.6	5.6	-11.7	5	139	0.28	2.55	0.00	0.000	6	0.097	0.048	2477	2135	3427
456	-1.22	-146.6	41.5	-10.5	21	460	0.00	2.58	0.00	0.000	4	0.000	0.058	2477	706	3427
484	-1.22	-146.6	44.7	-10.8	22	489	0.00	2.50	0.00	0.000	6	0.000	0.047	2477	2117	3428
802	-1.22	-146.6	84.8	-15.3	37	806	0.00	2.55	0.00	0.000	4	0.000	0.061	2478	711	3428
835	-1.25	-146.6	90.0	-13.7	38	842	0.00	2.45	0.00	0.000	6	0.000	0.048	2478	2100	3428
1154	-1.25	-146.6	127.6	-11.5	54	1158	0.00	2.62	0.00	0.000	4	0.000	0.068	2478	3540	3428
1198	-1.25	-146.6	133.1	-10.7	56	1202	0.00	2.65	0.00	0.000	6	0.000	0.052	2478	2062	3428
1528	-1.25	-146.6	171.2	-12.7	75	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2063	3428
1839	-1.25	-146.6	208.9	-12.0	95	1843	0.00	2.72	0.00	0.000	4	0.000	0.069	2478	3531	3428
1872	-1.25	-146.6	213.1	-12.0	97	1876	0.00	2.62	0.00	0.000	6	0.000	0.055	2478	2081	3428
2191	-1.25	-146.6	251.7	-11.7	117	2193	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2081	3428
2504	-1.25	-146.6	288.5	-12.1	137	2509	0.00	2.70	0.00	0.000	4	0.000	0.071	2478	3530	3428
2538	-1.25	-146.6	292.9	-12.4	139	2542	0.00	2.62	0.00	0.000	6	0.000	0.057	2478	2077	3428
2857	-1.25	-146.6	332.3	-12.5	159	2859	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2079	3428
3170	-1.25	-146.6	370.5	-11.8	179	3174	0.00	2.72	0.00	0.000	4	0.000	0.074	2478	3535	3428
3215	-1.25	-146.6	376.0	-11.8	182	3219	0.00	2.62	0.00	0.000	6	0.000	0.059	2478	2087	3428
3540	-1.25	-146.6	414.4	-12.1	203	3544	0.00	2.45	0.00	0.000	4	0.000	0.064	2478	716	3428
3573	-1.30	-146.6	418.7	-12.3	205	3578	0.00	2.47	0.00	0.000	6	0.000	0.054	2478	2110	3428
3893	-1.30	-146.6	457.1	-12.0	225	3894	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2110	3428
4205	-1.30	-146.6	493.5	-10.3	245	4209	0.00	2.53	0.00	0.000	4	0.000	0.067	2478	717	3428
4250	-1.37	-146.6	498.3	-11.0	248	4255	0.15	2.42	0.00	0.000	6	0.058	0.053	2440	2086	3428
4578	-1.33	-146.6	544.5	-14.4	269	4586	0.00	2.67	0.00	0.000	4	0.000	0.078	2440	3536	3428
4603	-1.29	-146.6	548.4	-13.4	270	4608	0.12	2.65	0.00	0.000	6	0.102	0.064	2463	2090	3428
4923	-1.29	-146.6	585.6	-10.9	290	4924	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2074	3428
5234	-1.29	-146.6	619.6	-10.2	310	5235	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2073	3427
5294	end dive: BOTTOM_OBSTACLE_DETECTED
state	5294	begin apogee
5302	-0.33	0.0	626.6	11.0	314	5440	0.98	0.00	133.95	1.232	6	0.084	0.000	2670	1844	2831
5441	end apogee: CONTROL_FINISHED_OK
state	5441	begin climb
5444	1.44	146.6	631.9	0.0	323	5588	1.77	2.70	135.18	1.185	4	0.059	0.081	3058	446	2233
5648	1.30	146.6	621.9	10.2	335	5655	0.15	2.55	0.00	0.000	6	0.100	0.055	3031	1851	2233
5968	1.35	174.4	593.0	8.7	356	6000	0.00	2.72	25.77	1.142	4	0.000	0.077	3031	442	2119
6011	1.35	176.2	588.6	9.9	358	6018	0.00	2.58	0.00	0.000	6	0.000	0.058	3031	1841	2119
6332	1.40	209.5	559.3	8.5	379	6369	0.00	2.67	31.98	1.163	4	0.000	0.074	3031	3261	1976
6377	1.42	221.9	555.0	9.4	382	6395	0.12	2.67	12.15	1.067	6	0.067	0.070	3060	1846	1926
6709	1.38	221.9	517.1	11.1	403	6714	0.00	2.65	0.00	0.000	4	0.000	0.072	3060	3257	1925
6748	1.38	221.9	512.0	12.0	405	6755	0.00	2.58	0.00	0.000	6	0.000	0.067	3060	1864	1924
7068	1.34	221.9	474.3	13.0	426	7073	0.12	2.62	0.00	0.000	4	0.110	0.071	3038	3263	1924
7091	1.34	221.9	471.2	13.0	427	7098	0.00	2.55	0.00	0.000	6	0.000	0.064	3037	1873	1923
7410	1.34	221.9	435.6	11.1	448	7415	0.00	2.58	0.00	0.000	4	0.000	0.068	3038	3255	1922
7461	1.38	221.9	429.8	11.3	451	7465	0.00	2.47	0.00	0.000	6	0.000	0.061	3038	1902	1922
7782	1.43	251.1	399.8	8.7	471	7814	0.00	2.58	25.80	1.085	4	0.000	0.065	3038	3258	1806
7837	1.48	260.1	394.4	9.6	474	7852	0.15	2.50	9.57	0.981	6	0.062	0.058	3074	1901	1770
8183	1.43	260.1	354.9	12.4	496	8187	0.00	2.53	0.00	0.000	4	0.000	0.065	3074	3262	1771
8205	1.39	260.1	351.4	13.0	497	8211	0.15	2.45	0.00	0.000	6	0.104	0.057	3046	1916	1770
8524	1.39	260.1	314.8	11.5	518	8529	0.00	2.47	0.00	0.000	4	0.000	0.064	3046	3257	1771
8547	1.39	260.1	312.0	11.1	519	8553	0.00	2.40	0.00	0.000	6	0.000	0.055	3045	1930	1771
8866	1.39	260.1	276.8	11.0	540	8870	0.00	2.45	0.00	0.000	4	0.000	0.063	3046	3260	1771
8894	1.42	260.1	273.5	11.4	542	8899	0.00	2.40	0.00	0.000	6	0.000	0.054	3046	1930	1771
9220	1.42	260.1	238.8	10.8	563	9221	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1930	1771
9531	1.42	260.1	205.2	10.6	583	9535	0.00	2.45	0.00	0.000	4	0.000	0.061	3046	3265	1771
9554	1.45	260.1	202.6	11.2	584	9560	0.00	2.38	0.00	0.000	6	0.000	0.051	3046	1939	1771
9873	1.45	260.1	169.2	10.1	605	9877	0.00	2.42	0.00	0.000	4	0.000	0.061	3046	3264	1771
9912	1.50	260.1	165.1	10.8	607	9918	0.12	2.35	0.00	0.000	6	0.062	0.050	3077	1948	1771
10246	1.45	260.1	126.8	11.9	626	10250	0.00	2.40	0.00	0.000	4	0.000	0.060	3077	3265	1771
10269	1.45	260.1	123.8	12.4	627	10273	0.00	2.30	0.00	0.000	6	0.000	0.050	3078	1970	1772
10597	1.42	260.1	84.1	11.6	643	10602	0.12	2.72	0.00	0.000	4	0.100	0.060	3054	437	1772
10611	1.37	260.1	82.8	10.4	643	10617	0.00	2.78	0.00	0.000	6	0.000	0.048	3054	2011	1772
10928	1.41	260.1	48.4	10.9	659	10932	0.00	2.88	0.00	0.000	4	0.000	0.062	3054	432	1772
10938	1.41	260.1	47.2	10.5	659	10945	0.00	2.72	0.00	0.000	6	0.000	0.047	3054	1979	1772
11256	1.41	260.1	12.1	11.8	675	11260	0.00	2.80	0.00	0.000	4	0.000	0.061	3054	432	1772
11273	1.41	260.1	9.2	15.0	676	11277	0.00	2.70	0.00	0.000	6	0.000	0.047	3054	1964	1772
11329	end climb: SURFACE_DEPTH_REACHED
state	11329	begin surface coast
11351	end surface coast: CONTROL_FINISHED_OK
state	11351	begin surface