Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 43 * 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 43 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 34 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 -1628853 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 -1628853

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 34 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 43 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 074136,6211.458,-916.646,38,1.4,38,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6211.496,-939.798

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.87 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 074627,6211.496,-916.649,15,1.5,16,-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 0.2,1.027228 ALTIM_BOTTOM_PING 500.1,56.7

SM_CCo 11901,17.08,0.726,0,0,1609,300.00 _24V_AH 23.3,24.271

SM_GC 0.59,0.00,0.00,17.08,0.000,0.000,0.726,397,2457,1609,-11.05,-0.54,300.00 _10V_AH 10.1,10.437

IRIDIUM_FIX 6144.36,-914.87,070998,040454 DATA_FILE_SIZE 28582,568

TT8_MAMPS 0.027612 CAP_FILE_SIZE 97440,0

HUMID 1822 CFSIZE 260165632,255549440

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 13.90 GPS 130609,110637,6213.625,-919.456,33,1.0,33,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 82.91 SBE_CT 515 24 288.29

Roll_motor 129 62 189.55 SBE_O2 388 19 171.96

VBD_pump_during_apogee 369 1106 9522.71 WL_BB2F 403 105 987.14

VBD_pump_during_surface 17 725 288.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 70.31 nil 0 0 0.00

Iridium_during_connect 29 160 111.28 nil 0 0 0.00

Iridium_during_xfer 122 223 637.13

Transponder_ping 4 420 39.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.40

TT8 1108 19 221.68

LPSleep 8672 2 191.82

TT8_Active 455 19 91.12

TT8_Sampling 1402 39 563.60

TT8_CF8 576 45 266.79

TT8_Kalman 0 81 0.00

Analog_circuits 1230 12 149.11

GPS_charging 0 0 0.00

Compass 1506 8 121.69

RAFOS 0 0 0.00

Transponder 28 30 8.54

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

12 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.17 -146.6 0.0 0.0 0 78 0.00 0.00 -59.45 0.000 6 0.000 0.000 395 2466 3432

81 -1.17 -146.6 4.4 -8.6 3 102 11.52 2.50 0.00 0.000 4 0.138 0.053 2541 3825 3434

439 -1.17 -146.6 50.7 -10.4 19 444 0.00 2.33 0.00 0.000 6 0.000 0.026 2541 2453 3434

771 -1.17 -146.6 79.2 -8.0 35 775 0.00 2.47 0.00 0.000 4 0.000 0.052 2541 3822 3434

837 -1.17 -146.6 84.9 -8.5 38 841 0.00 2.25 0.00 0.000 6 0.000 0.025 2540 2476 3434

1159 -1.17 -146.6 106.7 -5.9 54 1163 0.00 2.40 0.00 0.000 4 0.000 0.036 2541 1084 3434

1199 -1.17 -146.6 109.1 -6.4 56 1204 0.00 2.42 0.00 0.000 6 0.000 0.032 2541 2470 3434

1532 -1.17 -146.6 129.2 -6.6 72 1536 0.00 2.42 0.00 0.000 4 0.000 0.035 2541 1092 3434

1564 -1.17 -146.6 131.6 -7.1 73 1569 0.00 2.42 0.00 0.000 6 0.000 0.033 2540 2475 3434

1885 -1.17 -146.6 156.6 -8.3 89 1890 0.00 2.40 0.00 0.000 4 0.000 0.036 2540 1089 3434

1930 -1.17 -146.6 160.4 -8.2 91 1934 0.00 2.40 0.00 0.000 6 0.000 0.035 2540 2475 3434

2250 -1.17 -146.6 184.0 -7.0 107 2255 0.00 2.42 0.00 0.000 4 0.000 0.037 2540 1078 3434

2313 -1.17 -146.6 188.1 -6.7 110 2317 0.00 2.42 0.00 0.000 6 0.000 0.034 2540 2476 3434

2640 -1.17 -146.6 209.8 -7.2 126 2644 0.00 2.40 0.00 0.000 4 0.000 0.038 2541 1091 3434

2683 -1.17 -146.6 213.3 -7.6 128 2688 0.00 2.42 0.00 0.000 6 0.000 0.036 2540 2483 3435

3005 -1.17 -146.6 246.8 -11.9 144 3009 0.00 2.42 0.00 0.000 4 0.000 0.038 2541 1091 3434

3060 -1.17 -146.6 253.5 -12.5 146 3066 0.00 2.45 0.00 0.000 6 0.000 0.038 2541 2473 3434

3375 -1.17 -146.6 291.6 -12.0 162 3379 0.00 2.42 0.00 0.000 4 0.000 0.039 2540 1084 3434

3424 -1.17 -146.6 297.5 -11.5 164 3429 0.00 2.45 0.00 0.000 6 0.000 0.038 2541 2483 3434

3740 -1.17 -146.6 330.3 -9.4 179 3744 0.00 2.42 0.00 0.000 4 0.000 0.040 2541 1092 3434

3779 -1.17 -146.6 333.7 -8.6 181 3783 0.00 2.42 0.00 0.000 6 0.000 0.038 2540 2482 3434

4106 -1.17 -146.6 358.8 -7.2 197 4111 0.00 2.45 0.00 0.000 4 0.000 0.040 2540 1082 3434

4173 -1.17 -146.6 363.4 -6.2 200 4178 0.00 2.42 0.00 0.000 6 0.000 0.038 2540 2475 3434

4495 -1.17 -146.6 383.3 -6.6 216 4499 0.00 2.42 0.00 0.000 4 0.000 0.041 2541 1089 3434

4545 -1.17 -146.6 386.6 -6.1 218 4549 0.00 2.42 0.00 0.000 6 0.000 0.038 2541 2474 3434

4861 -1.17 -146.6 419.3 -14.0 233 4862 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2475 3434

5169 -1.17 -146.6 462.8 -11.2 248 5174 0.00 2.42 0.00 0.000 4 0.000 0.041 2541 1094 3434

5258 -1.17 -146.6 471.0 -7.6 252 5262 0.00 2.42 0.00 0.000 6 0.000 0.039 2540 2479 3434

5579 -1.17 -146.6 497.2 -8.3 268 5583 0.00 2.45 0.00 0.000 4 0.000 0.042 2541 1086 3433

5721 -1.17 -146.6 508.7 -7.9 274 5725 0.00 2.45 0.00 0.000 6 0.000 0.040 2540 2480 3433

6039 -1.17 -146.6 531.3 -7.3 289 6043 0.00 2.45 0.00 0.000 4 0.000 0.043 2540 1088 3433

6118 -1.17 -146.6 537.4 -7.4 292 6124 0.00 2.45 0.00 0.000 6 0.000 0.041 2540 2482 3433

6246 end dive: BOTTOM_OBSTACLE_DETECTED

state 6246 begin apogee

6254 -0.36 0.0 548.0 8.3 299 6383 0.85 0.00 125.85 1.106 6 0.071 0.000 2721 1485 2832

6384 end apogee: CONTROL_FINISHED_OK

state 6384 begin climb

6386 1.17 146.6 552.4 0.0 305 6521 1.52 2.30 126.38 1.068 4 0.050 0.063 3058 265 2233

6596 1.21 175.3 544.5 6.5 315 6628 0.00 2.05 25.75 1.012 6 0.000 0.033 3058 1473 2116

6940 1.25 204.9 521.8 6.5 332 6973 0.00 2.50 26.65 1.027 4 0.000 0.048 3058 2842 1994

7030 1.29 237.1 515.8 6.4 336 7067 0.00 2.47 29.38 1.025 6 0.000 0.039 3058 1451 1865

7379 1.30 249.6 491.5 7.1 353 7400 0.10 2.25 11.73 0.956 4 0.047 0.060 3099 264 1814

7416 1.30 249.6 487.8 9.2 354 7423 0.00 2.05 0.00 0.000 6 0.000 0.033 3099 1459 1813

7732 1.30 249.6 451.3 13.6 370 7735 0.00 2.17 0.00 0.000 4 0.000 0.058 3099 264 1810

7810 1.30 249.6 440.1 13.5 373 7814 0.00 2.05 0.00 0.000 6 0.000 0.031 3099 1463 1809

8134 1.31 257.0 413.0 7.2 389 8148 0.00 2.53 7.22 0.864 4 0.000 0.044 3100 2846 1783

8182 1.33 273.5 409.6 6.9 391 8206 0.00 2.47 16.58 0.977 6 0.000 0.037 3099 1444 1717

8528 1.33 273.5 381.8 9.7 408 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1444 1713

8837 1.33 273.5 344.1 13.9 423 8841 0.00 2.12 0.00 0.000 4 0.000 0.057 3100 264 1712

8907 1.33 273.5 333.7 15.7 426 8911 0.00 2.00 0.00 0.000 6 0.000 0.029 3099 1459 1712

9239 1.33 273.5 291.5 11.7 442 9244 0.00 2.45 0.00 0.000 4 0.000 0.043 3099 2837 1712

9277 1.33 273.5 286.9 11.5 443 9283 0.00 2.42 0.00 0.000 6 0.000 0.035 3100 1447 1711

9595 1.33 273.5 253.0 10.8 459 9599 0.00 2.12 0.00 0.000 4 0.000 0.055 3099 262 1711

9618 1.33 273.5 250.2 10.9 460 9622 0.00 1.98 0.00 0.000 6 0.000 0.028 3099 1458 1711

9950 1.33 273.5 213.9 10.8 476 9954 0.00 2.15 0.00 0.000 4 0.000 0.054 3099 262 1711

9983 1.33 273.5 209.8 11.7 477 9987 0.00 2.00 0.00 0.000 6 0.000 0.029 3099 1454 1711

10304 1.33 273.5 174.8 10.7 493 10305 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 1456 1711

10614 1.33 273.5 141.3 10.6 508 10618 0.00 2.15 0.00 0.000 4 0.000 0.053 3099 258 1711

10642 1.33 273.5 138.1 11.6 509 10646 0.00 1.98 0.00 0.000 6 0.000 0.028 3099 1455 1711

10970 1.33 273.5 103.3 11.0 525 10972 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1456 1711

11278 1.33 273.5 67.5 12.0 540 11283 0.00 2.42 0.00 0.000 4 0.000 0.040 3099 2849 1711

11328 1.33 273.5 61.4 11.9 542 11332 0.00 2.42 0.00 0.000 6 0.000 0.034 3099 1451 1711

11644 1.33 273.5 25.4 11.4 557 11648 0.00 2.10 0.00 0.000 4 0.000 0.054 3100 265 1712

11668 1.33 273.5 22.6 12.0 558 11671 0.00 1.98 0.00 0.000 6 0.000 0.029 3099 1463 1712

11853 end climb: SURFACE_DEPTH_REACHED

state 11853 begin surface coast

11877 end surface coast: CONTROL_FINISHED_OK

state 11877 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	43	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	34	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	-1628853	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	074136,6211.458,-916.646,38,1.4,38,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6211.496,-939.798
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.87	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	074627,6211.496,-916.649,15,1.5,16,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.2,1.027228	ALTIM_BOTTOM_PING	500.1,56.7
SM_CCo	11901,17.08,0.726,0,0,1609,300.00	_24V_AH	23.3,24.271
SM_GC	0.59,0.00,0.00,17.08,0.000,0.000,0.726,397,2457,1609,-11.05,-0.54,300.00	_10V_AH	10.1,10.437
IRIDIUM_FIX	6144.36,-914.87,070998,040454	DATA_FILE_SIZE	28582,568
TT8_MAMPS	0.027612	CAP_FILE_SIZE	97440,0
HUMID	1822	CFSIZE	260165632,255549440
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	13.90	GPS	130609,110637,6213.625,-919.456,33,1.0,33,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	82.91	SBE_CT	515	24	288.29
Roll_motor	129	62	189.55	SBE_O2	388	19	171.96
VBD_pump_during_apogee	369	1106	9522.71	WL_BB2F	403	105	987.14
VBD_pump_during_surface	17	725	288.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	70.31	nil	0	0	0.00
Iridium_during_connect	29	160	111.28	nil	0	0	0.00
Iridium_during_xfer	122	223	637.13
Transponder_ping	4	420	39.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.40
TT8	1108	19	221.68
LPSleep	8672	2	191.82
TT8_Active	455	19	91.12
TT8_Sampling	1402	39	563.60
TT8_CF8	576	45	266.79
TT8_Kalman	0	81	0.00
Analog_circuits	1230	12	149.11
GPS_charging	0	0	0.00
Compass	1506	8	121.69
RAFOS	0	0	0.00
Transponder	28	30	8.54

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
12	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.17	-146.6	0.0	0.0	0	78	0.00	0.00	-59.45	0.000	6	0.000	0.000	395	2466	3432
81	-1.17	-146.6	4.4	-8.6	3	102	11.52	2.50	0.00	0.000	4	0.138	0.053	2541	3825	3434
439	-1.17	-146.6	50.7	-10.4	19	444	0.00	2.33	0.00	0.000	6	0.000	0.026	2541	2453	3434
771	-1.17	-146.6	79.2	-8.0	35	775	0.00	2.47	0.00	0.000	4	0.000	0.052	2541	3822	3434
837	-1.17	-146.6	84.9	-8.5	38	841	0.00	2.25	0.00	0.000	6	0.000	0.025	2540	2476	3434
1159	-1.17	-146.6	106.7	-5.9	54	1163	0.00	2.40	0.00	0.000	4	0.000	0.036	2541	1084	3434
1199	-1.17	-146.6	109.1	-6.4	56	1204	0.00	2.42	0.00	0.000	6	0.000	0.032	2541	2470	3434
1532	-1.17	-146.6	129.2	-6.6	72	1536	0.00	2.42	0.00	0.000	4	0.000	0.035	2541	1092	3434
1564	-1.17	-146.6	131.6	-7.1	73	1569	0.00	2.42	0.00	0.000	6	0.000	0.033	2540	2475	3434
1885	-1.17	-146.6	156.6	-8.3	89	1890	0.00	2.40	0.00	0.000	4	0.000	0.036	2540	1089	3434
1930	-1.17	-146.6	160.4	-8.2	91	1934	0.00	2.40	0.00	0.000	6	0.000	0.035	2540	2475	3434
2250	-1.17	-146.6	184.0	-7.0	107	2255	0.00	2.42	0.00	0.000	4	0.000	0.037	2540	1078	3434
2313	-1.17	-146.6	188.1	-6.7	110	2317	0.00	2.42	0.00	0.000	6	0.000	0.034	2540	2476	3434
2640	-1.17	-146.6	209.8	-7.2	126	2644	0.00	2.40	0.00	0.000	4	0.000	0.038	2541	1091	3434
2683	-1.17	-146.6	213.3	-7.6	128	2688	0.00	2.42	0.00	0.000	6	0.000	0.036	2540	2483	3435
3005	-1.17	-146.6	246.8	-11.9	144	3009	0.00	2.42	0.00	0.000	4	0.000	0.038	2541	1091	3434
3060	-1.17	-146.6	253.5	-12.5	146	3066	0.00	2.45	0.00	0.000	6	0.000	0.038	2541	2473	3434
3375	-1.17	-146.6	291.6	-12.0	162	3379	0.00	2.42	0.00	0.000	4	0.000	0.039	2540	1084	3434
3424	-1.17	-146.6	297.5	-11.5	164	3429	0.00	2.45	0.00	0.000	6	0.000	0.038	2541	2483	3434
3740	-1.17	-146.6	330.3	-9.4	179	3744	0.00	2.42	0.00	0.000	4	0.000	0.040	2541	1092	3434
3779	-1.17	-146.6	333.7	-8.6	181	3783	0.00	2.42	0.00	0.000	6	0.000	0.038	2540	2482	3434
4106	-1.17	-146.6	358.8	-7.2	197	4111	0.00	2.45	0.00	0.000	4	0.000	0.040	2540	1082	3434
4173	-1.17	-146.6	363.4	-6.2	200	4178	0.00	2.42	0.00	0.000	6	0.000	0.038	2540	2475	3434
4495	-1.17	-146.6	383.3	-6.6	216	4499	0.00	2.42	0.00	0.000	4	0.000	0.041	2541	1089	3434
4545	-1.17	-146.6	386.6	-6.1	218	4549	0.00	2.42	0.00	0.000	6	0.000	0.038	2541	2474	3434
4861	-1.17	-146.6	419.3	-14.0	233	4862	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2475	3434
5169	-1.17	-146.6	462.8	-11.2	248	5174	0.00	2.42	0.00	0.000	4	0.000	0.041	2541	1094	3434
5258	-1.17	-146.6	471.0	-7.6	252	5262	0.00	2.42	0.00	0.000	6	0.000	0.039	2540	2479	3434
5579	-1.17	-146.6	497.2	-8.3	268	5583	0.00	2.45	0.00	0.000	4	0.000	0.042	2541	1086	3433
5721	-1.17	-146.6	508.7	-7.9	274	5725	0.00	2.45	0.00	0.000	6	0.000	0.040	2540	2480	3433
6039	-1.17	-146.6	531.3	-7.3	289	6043	0.00	2.45	0.00	0.000	4	0.000	0.043	2540	1088	3433
6118	-1.17	-146.6	537.4	-7.4	292	6124	0.00	2.45	0.00	0.000	6	0.000	0.041	2540	2482	3433
6246	end dive: BOTTOM_OBSTACLE_DETECTED
state	6246	begin apogee
6254	-0.36	0.0	548.0	8.3	299	6383	0.85	0.00	125.85	1.106	6	0.071	0.000	2721	1485	2832
6384	end apogee: CONTROL_FINISHED_OK
state	6384	begin climb
6386	1.17	146.6	552.4	0.0	305	6521	1.52	2.30	126.38	1.068	4	0.050	0.063	3058	265	2233
6596	1.21	175.3	544.5	6.5	315	6628	0.00	2.05	25.75	1.012	6	0.000	0.033	3058	1473	2116
6940	1.25	204.9	521.8	6.5	332	6973	0.00	2.50	26.65	1.027	4	0.000	0.048	3058	2842	1994
7030	1.29	237.1	515.8	6.4	336	7067	0.00	2.47	29.38	1.025	6	0.000	0.039	3058	1451	1865
7379	1.30	249.6	491.5	7.1	353	7400	0.10	2.25	11.73	0.956	4	0.047	0.060	3099	264	1814
7416	1.30	249.6	487.8	9.2	354	7423	0.00	2.05	0.00	0.000	6	0.000	0.033	3099	1459	1813
7732	1.30	249.6	451.3	13.6	370	7735	0.00	2.17	0.00	0.000	4	0.000	0.058	3099	264	1810
7810	1.30	249.6	440.1	13.5	373	7814	0.00	2.05	0.00	0.000	6	0.000	0.031	3099	1463	1809
8134	1.31	257.0	413.0	7.2	389	8148	0.00	2.53	7.22	0.864	4	0.000	0.044	3100	2846	1783
8182	1.33	273.5	409.6	6.9	391	8206	0.00	2.47	16.58	0.977	6	0.000	0.037	3099	1444	1717
8528	1.33	273.5	381.8	9.7	408	8529	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1444	1713
8837	1.33	273.5	344.1	13.9	423	8841	0.00	2.12	0.00	0.000	4	0.000	0.057	3100	264	1712
8907	1.33	273.5	333.7	15.7	426	8911	0.00	2.00	0.00	0.000	6	0.000	0.029	3099	1459	1712
9239	1.33	273.5	291.5	11.7	442	9244	0.00	2.45	0.00	0.000	4	0.000	0.043	3099	2837	1712
9277	1.33	273.5	286.9	11.5	443	9283	0.00	2.42	0.00	0.000	6	0.000	0.035	3100	1447	1711
9595	1.33	273.5	253.0	10.8	459	9599	0.00	2.12	0.00	0.000	4	0.000	0.055	3099	262	1711
9618	1.33	273.5	250.2	10.9	460	9622	0.00	1.98	0.00	0.000	6	0.000	0.028	3099	1458	1711
9950	1.33	273.5	213.9	10.8	476	9954	0.00	2.15	0.00	0.000	4	0.000	0.054	3099	262	1711
9983	1.33	273.5	209.8	11.7	477	9987	0.00	2.00	0.00	0.000	6	0.000	0.029	3099	1454	1711
10304	1.33	273.5	174.8	10.7	493	10305	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	1456	1711
10614	1.33	273.5	141.3	10.6	508	10618	0.00	2.15	0.00	0.000	4	0.000	0.053	3099	258	1711
10642	1.33	273.5	138.1	11.6	509	10646	0.00	1.98	0.00	0.000	6	0.000	0.028	3099	1455	1711
10970	1.33	273.5	103.3	11.0	525	10972	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1456	1711
11278	1.33	273.5	67.5	12.0	540	11283	0.00	2.42	0.00	0.000	4	0.000	0.040	3099	2849	1711
11328	1.33	273.5	61.4	11.9	542	11332	0.00	2.42	0.00	0.000	6	0.000	0.034	3099	1451	1711
11644	1.33	273.5	25.4	11.4	557	11648	0.00	2.10	0.00	0.000	4	0.000	0.054	3100	265	1712
11668	1.33	273.5	22.6	12.0	558	11671	0.00	1.98	0.00	0.000	6	0.000	0.029	3099	1463	1712
11853	end climb: SURFACE_DEPTH_REACHED
state	11853	begin surface coast
11877	end surface coast: CONTROL_FINISHED_OK
state	11877	begin surface