Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING 270 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 42 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1628835.8 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -1628835.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 42 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 040930,6210.668,-914.190,36,2.0,41,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6210.682,-937.294

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.81 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -57.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 041440,6210.682,-914.156,14,2.1,33,-9.6 MHEAD_RNG_PITCHd_Wd 279.6,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027250 ALTIM_BOTTOM_PING 426.5,91.5

SM_CCo 12281,40.12,0.746,0,0,1609,300.00 _24V_AH 23.4,24.147

SM_GC 1.11,0.00,0.00,40.12,0.000,0.000,0.746,395,2464,1609,-11.06,-0.37,300.00 _10V_AH 10.1,10.374

IRIDIUM_FIX 6144.36,-914.87,070998,000027 DATA_FILE_SIZE 28559,585

TT8_MAMPS 0.027612 CAP_FILE_SIZE 99429,0

HUMID 1810 CFSIZE 260165632,255594496

INTERNAL_PRESSURE 8.10902 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 17.40 GPS 130609,074136,6211.458,-916.646,38,1.4,38,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.57 SBE_CT 501 24 281.56

Roll_motor 126 62 183.97 SBE_O2 408 19 181.41

VBD_pump_during_apogee 332 1073 8355.64 WL_BB2F 452 105 1111.13

VBD_pump_during_surface 40 745 699.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.77 nil 0 0 0.00

Iridium_during_connect 24 160 93.14 nil 0 0 0.00

Iridium_during_xfer 131 223 685.67

Transponder_ping 3 420 31.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.42

TT8 1150 19 230.13

LPSleep 8909 2 197.07

TT8_Active 463 19 92.71

TT8_Sampling 1520 39 611.29

TT8_CF8 591 45 273.54

TT8_Kalman 0 81 0.00

Analog_circuits 1265 12 153.37

GPS_charging 0 0 0.00

Compass 1597 8 129.07

RAFOS 0 0 0.00

Transponder 23 30 7.10

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

17 -1.17 -146.6 0.0 0.0 0 86 0.00 0.00 -67.03 0.000 6 0.000 0.000 396 2467 3433

89 -1.17 -146.6 2.9 -5.2 3 110 11.50 2.47 0.00 0.000 4 0.137 0.051 2542 3821 3434

447 -1.17 -146.6 46.1 -9.4 19 452 0.00 2.33 0.00 0.000 6 0.000 0.026 2542 2453 3434

779 -1.17 -146.6 72.2 -6.7 35 783 0.00 2.47 0.00 0.000 4 0.000 0.054 2542 3822 3434

1021 -1.17 -146.6 87.4 -6.4 46 1025 0.00 2.25 0.00 0.000 6 0.000 0.025 2542 2476 3434

1349 -1.17 -146.6 108.3 -6.9 62 1353 0.00 2.40 0.00 0.000 4 0.000 0.037 2542 1082 3434

1414 -1.17 -146.6 112.7 -7.0 65 1418 0.00 2.40 0.00 0.000 6 0.000 0.031 2542 2473 3434

1740 -1.17 -146.6 133.9 -5.9 81 1745 0.00 2.42 0.00 0.000 4 0.000 0.036 2542 1076 3434

1774 -1.17 -146.6 135.8 -5.3 82 1781 0.00 2.45 0.00 0.000 6 0.000 0.033 2542 2475 3434

2089 -1.17 -146.6 153.1 -5.5 98 2094 0.00 2.42 0.00 0.000 4 0.000 0.037 2542 1078 3434

2152 -1.17 -146.6 156.8 -5.9 101 2157 0.00 2.45 0.00 0.000 6 0.000 0.035 2542 2473 3434

2485 -1.17 -146.6 179.3 -7.2 117 2489 0.00 2.42 0.00 0.000 4 0.000 0.038 2542 1078 3434

2540 -1.17 -146.6 183.5 -7.7 119 2547 0.00 2.45 0.00 0.000 6 0.000 0.035 2542 2487 3434

2855 -1.17 -146.6 209.0 -8.0 135 2860 0.00 2.45 0.00 0.000 4 0.000 0.038 2542 1080 3434

2900 -1.17 -146.6 212.7 -8.0 137 2905 0.00 2.45 0.00 0.000 6 0.000 0.035 2542 2472 3434

3226 -1.17 -146.6 237.3 -7.3 153 3231 0.00 2.42 0.00 0.000 4 0.000 0.038 2542 1078 3434

3291 -1.17 -146.6 241.8 -7.4 156 3295 0.00 2.45 0.00 0.000 6 0.000 0.037 2542 2481 3434

3620 -1.17 -146.6 263.3 -6.3 172 3624 0.00 2.45 0.00 0.000 4 0.000 0.039 2542 1077 3434

3683 -1.17 -146.6 267.4 -5.6 175 3687 0.00 2.45 0.00 0.000 6 0.000 0.038 2542 2479 3434

4009 -1.17 -146.6 290.3 -7.9 191 4013 0.00 2.42 0.00 0.000 4 0.000 0.040 2541 1087 3434

4049 -1.17 -146.6 293.8 -9.2 193 4053 0.00 2.42 0.00 0.000 6 0.000 0.038 2542 2476 3434

4375 -1.17 -146.6 328.1 -11.3 209 4379 0.00 2.42 0.00 0.000 4 0.000 0.040 2542 1083 3434

4447 -1.17 -146.6 336.7 -12.1 212 4451 0.00 2.45 0.00 0.000 6 0.000 0.038 2542 2482 3434

4765 -1.17 -146.6 376.5 -12.1 227 4770 0.00 2.45 0.00 0.000 4 0.000 0.039 2542 1077 3434

4854 -1.17 -146.6 385.3 -11.1 231 4858 0.00 2.45 0.00 0.000 6 0.000 0.038 2542 2482 3433

5175 -1.17 -146.6 419.0 -9.0 247 5176 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2482 3433

5484 -1.17 -146.6 444.4 -7.1 262 5488 0.00 2.45 0.00 0.000 4 0.000 0.041 2542 1081 3433

5517 -1.17 -146.6 447.1 -7.7 263 5523 0.00 2.42 0.00 0.000 6 0.000 0.037 2542 2476 3433

5832 -1.17 -146.6 471.6 -6.6 279 5837 0.00 2.45 0.00 0.000 4 0.000 0.062 2541 3827 3433

6090 -1.17 -146.6 492.5 -10.2 290 6097 0.00 2.30 0.00 0.000 6 0.000 0.030 2542 2484 3433

6301 end dive: BOTTOM_OBSTACLE_DETECTED

state 6301 begin apogee

6309 -0.36 0.0 509.5 7.3 301 6438 0.85 0.00 125.60 1.073 6 0.071 0.000 2723 1472 2832

6438 end apogee: CONTROL_FINISHED_OK

state 6439 begin climb

6441 1.17 146.6 513.5 0.0 307 6575 1.52 2.25 126.12 1.038 4 0.059 0.061 3053 268 2233

6667 1.18 147.4 503.4 7.5 317 6673 0.00 2.05 0.00 0.000 6 0.000 0.033 3053 1470 2228

6985 1.25 205.3 481.7 5.5 333 7041 0.00 2.53 50.90 1.025 4 0.000 0.048 3053 2853 1994

7087 1.28 228.6 475.8 6.7 337 7114 0.08 2.50 21.45 0.976 6 0.033 0.038 3102 1464 1899

7437 1.28 228.6 445.5 9.8 354 7442 0.12 2.47 0.00 0.000 4 0.083 0.040 3077 2858 1892

7532 1.28 228.6 435.6 10.1 358 7536 0.00 2.47 0.00 0.000 6 0.000 0.038 3077 1452 1892

7850 1.28 228.6 408.2 7.7 373 7853 0.00 2.15 0.00 0.000 4 0.000 0.058 3077 265 1890

7922 1.28 231.5 402.4 7.4 376 7927 0.00 2.03 0.00 0.000 6 0.000 0.028 3077 1463 1889

8249 1.28 231.5 374.9 9.6 392 8250 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1465 1889

8558 1.28 231.5 342.6 10.7 407 8559 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1464 1889

8867 1.28 231.5 310.0 10.2 422 8872 0.00 2.20 0.00 0.000 4 0.000 0.055 3077 264 1888

8900 1.28 231.5 306.5 10.2 423 8903 0.00 2.00 0.00 0.000 6 0.000 0.029 3077 1458 1889

9221 1.28 231.5 276.7 8.8 439 9225 0.00 2.42 0.00 0.000 4 0.000 0.041 3077 2841 1888

9262 1.28 231.5 273.1 9.3 441 9266 0.00 2.42 0.00 0.000 6 0.000 0.035 3077 1447 1888

9590 1.28 231.5 244.4 8.9 457 9591 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1447 1888

9897 1.28 231.5 215.4 9.5 472 9898 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1447 1888

10206 1.28 231.5 183.7 10.5 487 10210 0.00 2.45 0.00 0.000 4 0.000 0.038 3077 2845 1888

10261 1.28 231.5 177.7 10.9 489 10268 0.00 2.40 0.00 0.000 6 0.000 0.035 3077 1451 1888

10577 1.28 231.5 144.6 10.3 505 10581 0.00 2.42 0.00 0.000 4 0.000 0.036 3078 2843 1888

10609 1.28 231.5 141.1 10.4 506 10617 0.00 2.42 0.00 0.000 6 0.000 0.034 3077 1460 1888

10925 1.28 231.5 112.6 8.3 522 10930 0.00 2.40 0.00 0.000 4 0.000 0.036 3077 2839 1888

10981 1.28 231.5 108.3 7.5 524 10987 0.00 2.40 0.00 0.000 6 0.000 0.034 3077 1453 1888

11297 1.29 239.2 85.3 7.2 540 11311 0.00 2.45 8.70 0.721 4 0.000 0.035 3077 2842 1856

11351 1.29 239.2 81.0 8.4 542 11355 0.00 2.42 0.00 0.000 6 0.000 0.034 3077 1449 1855

11667 1.29 239.2 55.0 8.2 557 11670 0.00 2.12 0.00 0.000 4 0.000 0.054 3077 260 1855

11712 1.29 239.2 50.7 9.6 559 11717 0.00 2.00 0.00 0.000 6 0.000 0.028 3077 1458 1854

12045 1.29 239.2 20.3 9.3 575 12050 0.00 2.15 0.00 0.000 4 0.000 0.051 3077 270 1854

12122 1.29 239.2 12.4 9.3 578 12126 0.00 1.98 0.00 0.000 6 0.000 0.028 3077 1461 1854

12235 end climb: SURFACE_DEPTH_REACHED

state 12235 begin surface coast

12257 end surface coast: CONTROL_FINISHED_OK

state 12257 begin surface

ID	105	HEADING	270	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	42	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1628835.8	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	040930,6210.668,-914.190,36,2.0,41,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6210.682,-937.294
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.81	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-57.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	041440,6210.682,-914.156,14,2.1,33,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.027250	ALTIM_BOTTOM_PING	426.5,91.5
SM_CCo	12281,40.12,0.746,0,0,1609,300.00	_24V_AH	23.4,24.147
SM_GC	1.11,0.00,0.00,40.12,0.000,0.000,0.746,395,2464,1609,-11.06,-0.37,300.00	_10V_AH	10.1,10.374
IRIDIUM_FIX	6144.36,-914.87,070998,000027	DATA_FILE_SIZE	28559,585
TT8_MAMPS	0.027612	CAP_FILE_SIZE	99429,0
HUMID	1810	CFSIZE	260165632,255594496
INTERNAL_PRESSURE	8.10902	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	17.40	GPS	130609,074136,6211.458,-916.646,38,1.4,38,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.57	SBE_CT	501	24	281.56
Roll_motor	126	62	183.97	SBE_O2	408	19	181.41
VBD_pump_during_apogee	332	1073	8355.64	WL_BB2F	452	105	1111.13
VBD_pump_during_surface	40	745	699.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.77	nil	0	0	0.00
Iridium_during_connect	24	160	93.14	nil	0	0	0.00
Iridium_during_xfer	131	223	685.67
Transponder_ping	3	420	31.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.42
TT8	1150	19	230.13
LPSleep	8909	2	197.07
TT8_Active	463	19	92.71
TT8_Sampling	1520	39	611.29
TT8_CF8	591	45	273.54
TT8_Kalman	0	81	0.00
Analog_circuits	1265	12	153.37
GPS_charging	0	0	0.00
Compass	1597	8	129.07
RAFOS	0	0	0.00
Transponder	23	30	7.10

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
17	-1.17	-146.6	0.0	0.0	0	86	0.00	0.00	-67.03	0.000	6	0.000	0.000	396	2467	3433
89	-1.17	-146.6	2.9	-5.2	3	110	11.50	2.47	0.00	0.000	4	0.137	0.051	2542	3821	3434
447	-1.17	-146.6	46.1	-9.4	19	452	0.00	2.33	0.00	0.000	6	0.000	0.026	2542	2453	3434
779	-1.17	-146.6	72.2	-6.7	35	783	0.00	2.47	0.00	0.000	4	0.000	0.054	2542	3822	3434
1021	-1.17	-146.6	87.4	-6.4	46	1025	0.00	2.25	0.00	0.000	6	0.000	0.025	2542	2476	3434
1349	-1.17	-146.6	108.3	-6.9	62	1353	0.00	2.40	0.00	0.000	4	0.000	0.037	2542	1082	3434
1414	-1.17	-146.6	112.7	-7.0	65	1418	0.00	2.40	0.00	0.000	6	0.000	0.031	2542	2473	3434
1740	-1.17	-146.6	133.9	-5.9	81	1745	0.00	2.42	0.00	0.000	4	0.000	0.036	2542	1076	3434
1774	-1.17	-146.6	135.8	-5.3	82	1781	0.00	2.45	0.00	0.000	6	0.000	0.033	2542	2475	3434
2089	-1.17	-146.6	153.1	-5.5	98	2094	0.00	2.42	0.00	0.000	4	0.000	0.037	2542	1078	3434
2152	-1.17	-146.6	156.8	-5.9	101	2157	0.00	2.45	0.00	0.000	6	0.000	0.035	2542	2473	3434
2485	-1.17	-146.6	179.3	-7.2	117	2489	0.00	2.42	0.00	0.000	4	0.000	0.038	2542	1078	3434
2540	-1.17	-146.6	183.5	-7.7	119	2547	0.00	2.45	0.00	0.000	6	0.000	0.035	2542	2487	3434
2855	-1.17	-146.6	209.0	-8.0	135	2860	0.00	2.45	0.00	0.000	4	0.000	0.038	2542	1080	3434
2900	-1.17	-146.6	212.7	-8.0	137	2905	0.00	2.45	0.00	0.000	6	0.000	0.035	2542	2472	3434
3226	-1.17	-146.6	237.3	-7.3	153	3231	0.00	2.42	0.00	0.000	4	0.000	0.038	2542	1078	3434
3291	-1.17	-146.6	241.8	-7.4	156	3295	0.00	2.45	0.00	0.000	6	0.000	0.037	2542	2481	3434
3620	-1.17	-146.6	263.3	-6.3	172	3624	0.00	2.45	0.00	0.000	4	0.000	0.039	2542	1077	3434
3683	-1.17	-146.6	267.4	-5.6	175	3687	0.00	2.45	0.00	0.000	6	0.000	0.038	2542	2479	3434
4009	-1.17	-146.6	290.3	-7.9	191	4013	0.00	2.42	0.00	0.000	4	0.000	0.040	2541	1087	3434
4049	-1.17	-146.6	293.8	-9.2	193	4053	0.00	2.42	0.00	0.000	6	0.000	0.038	2542	2476	3434
4375	-1.17	-146.6	328.1	-11.3	209	4379	0.00	2.42	0.00	0.000	4	0.000	0.040	2542	1083	3434
4447	-1.17	-146.6	336.7	-12.1	212	4451	0.00	2.45	0.00	0.000	6	0.000	0.038	2542	2482	3434
4765	-1.17	-146.6	376.5	-12.1	227	4770	0.00	2.45	0.00	0.000	4	0.000	0.039	2542	1077	3434
4854	-1.17	-146.6	385.3	-11.1	231	4858	0.00	2.45	0.00	0.000	6	0.000	0.038	2542	2482	3433
5175	-1.17	-146.6	419.0	-9.0	247	5176	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2482	3433
5484	-1.17	-146.6	444.4	-7.1	262	5488	0.00	2.45	0.00	0.000	4	0.000	0.041	2542	1081	3433
5517	-1.17	-146.6	447.1	-7.7	263	5523	0.00	2.42	0.00	0.000	6	0.000	0.037	2542	2476	3433
5832	-1.17	-146.6	471.6	-6.6	279	5837	0.00	2.45	0.00	0.000	4	0.000	0.062	2541	3827	3433
6090	-1.17	-146.6	492.5	-10.2	290	6097	0.00	2.30	0.00	0.000	6	0.000	0.030	2542	2484	3433
6301	end dive: BOTTOM_OBSTACLE_DETECTED
state	6301	begin apogee
6309	-0.36	0.0	509.5	7.3	301	6438	0.85	0.00	125.60	1.073	6	0.071	0.000	2723	1472	2832
6438	end apogee: CONTROL_FINISHED_OK
state	6439	begin climb
6441	1.17	146.6	513.5	0.0	307	6575	1.52	2.25	126.12	1.038	4	0.059	0.061	3053	268	2233
6667	1.18	147.4	503.4	7.5	317	6673	0.00	2.05	0.00	0.000	6	0.000	0.033	3053	1470	2228
6985	1.25	205.3	481.7	5.5	333	7041	0.00	2.53	50.90	1.025	4	0.000	0.048	3053	2853	1994
7087	1.28	228.6	475.8	6.7	337	7114	0.08	2.50	21.45	0.976	6	0.033	0.038	3102	1464	1899
7437	1.28	228.6	445.5	9.8	354	7442	0.12	2.47	0.00	0.000	4	0.083	0.040	3077	2858	1892
7532	1.28	228.6	435.6	10.1	358	7536	0.00	2.47	0.00	0.000	6	0.000	0.038	3077	1452	1892
7850	1.28	228.6	408.2	7.7	373	7853	0.00	2.15	0.00	0.000	4	0.000	0.058	3077	265	1890
7922	1.28	231.5	402.4	7.4	376	7927	0.00	2.03	0.00	0.000	6	0.000	0.028	3077	1463	1889
8249	1.28	231.5	374.9	9.6	392	8250	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1465	1889
8558	1.28	231.5	342.6	10.7	407	8559	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1464	1889
8867	1.28	231.5	310.0	10.2	422	8872	0.00	2.20	0.00	0.000	4	0.000	0.055	3077	264	1888
8900	1.28	231.5	306.5	10.2	423	8903	0.00	2.00	0.00	0.000	6	0.000	0.029	3077	1458	1889
9221	1.28	231.5	276.7	8.8	439	9225	0.00	2.42	0.00	0.000	4	0.000	0.041	3077	2841	1888
9262	1.28	231.5	273.1	9.3	441	9266	0.00	2.42	0.00	0.000	6	0.000	0.035	3077	1447	1888
9590	1.28	231.5	244.4	8.9	457	9591	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1447	1888
9897	1.28	231.5	215.4	9.5	472	9898	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1447	1888
10206	1.28	231.5	183.7	10.5	487	10210	0.00	2.45	0.00	0.000	4	0.000	0.038	3077	2845	1888
10261	1.28	231.5	177.7	10.9	489	10268	0.00	2.40	0.00	0.000	6	0.000	0.035	3077	1451	1888
10577	1.28	231.5	144.6	10.3	505	10581	0.00	2.42	0.00	0.000	4	0.000	0.036	3078	2843	1888
10609	1.28	231.5	141.1	10.4	506	10617	0.00	2.42	0.00	0.000	6	0.000	0.034	3077	1460	1888
10925	1.28	231.5	112.6	8.3	522	10930	0.00	2.40	0.00	0.000	4	0.000	0.036	3077	2839	1888
10981	1.28	231.5	108.3	7.5	524	10987	0.00	2.40	0.00	0.000	6	0.000	0.034	3077	1453	1888
11297	1.29	239.2	85.3	7.2	540	11311	0.00	2.45	8.70	0.721	4	0.000	0.035	3077	2842	1856
11351	1.29	239.2	81.0	8.4	542	11355	0.00	2.42	0.00	0.000	6	0.000	0.034	3077	1449	1855
11667	1.29	239.2	55.0	8.2	557	11670	0.00	2.12	0.00	0.000	4	0.000	0.054	3077	260	1855
11712	1.29	239.2	50.7	9.6	559	11717	0.00	2.00	0.00	0.000	6	0.000	0.028	3077	1458	1854
12045	1.29	239.2	20.3	9.3	575	12050	0.00	2.15	0.00	0.000	4	0.000	0.051	3077	270	1854
12122	1.29	239.2	12.4	9.3	578	12126	0.00	1.98	0.00	0.000	6	0.000	0.028	3077	1461	1854
12235	end climb: SURFACE_DEPTH_REACHED
state	12235	begin surface coast
12257	end surface coast: CONTROL_FINISHED_OK
state	12257	begin surface