Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 46 * 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 46 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -1628896.4 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 -1628896.4

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 46 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 175230,6215.382,-926.365,39,1.7,39,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6215.372,-949.642

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.79 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -59.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 175720,6215.372,-926.444,13,1.2,13,-9.7 MHEAD_RNG_PITCHd_Wd 279.7,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.027078 ALTIM_BOTTOM_PING 500.8,80.9

SM_CCo 12216,10.93,0.700,0,0,1609,300.00 _24V_AH 23.3,24.682

SM_GC 1.08,0.00,0.00,10.93,0.000,0.000,0.700,397,2452,1609,-11.05,-0.68,300.00 _10V_AH 10.1,10.627

IRIDIUM_FIX 6148.92,-926.22,070998,141422 DATA_FILE_SIZE 28488,583

TT8_MAMPS 0.026845 CAP_FILE_SIZE 99585,0

HUMID 1838 CFSIZE 260165632,255401984

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

TCM_TEMP 17.40 GPS 130609,212237,6215.339,-932.892,31,1.2,31,-9.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 81.69 SBE_CT 513 24 287.27

Roll_motor 131 60 186.18 SBE_O2 399 19 176.66

VBD_pump_during_apogee 373 1136 9892.14 WL_BB2F 395 105 967.07

VBD_pump_during_surface 10 699 178.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.12 nil 0 0 0.00

Iridium_during_connect 26 160 97.78 nil 0 0 0.00

Iridium_during_xfer 128 223 667.64

Transponder_ping 4 420 39.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.89

TT8 1140 19 228.12

LPSleep 8862 2 196.04

TT8_Active 451 19 90.37

TT8_Sampling 1476 39 593.65

TT8_CF8 590 45 273.35

TT8_Kalman 0 81 0.00

Analog_circuits 1266 12 153.48

GPS_charging 0 0 0.00

Compass 1571 8 126.98

RAFOS 0 0 0.00

Transponder 28 30 8.56

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 79 0.00 0.00 -59.88 0.000 6 0.000 0.000 398 2461 3432

82 -1.17 -146.6 4.4 -8.6 3 103 11.45 2.47 0.00 0.000 4 0.136 0.051 2535 3831 3434

441 -1.17 -146.6 53.5 -10.9 19 446 0.00 2.35 0.00 0.000 6 0.000 0.025 2535 2444 3433

773 -1.17 -146.6 84.6 -8.1 35 777 0.00 2.50 0.00 0.000 4 0.000 0.053 2535 3827 3435

925 -1.17 -146.6 96.0 -6.7 42 930 0.00 2.28 0.00 0.000 6 0.000 0.026 2535 2483 3435

1258 -1.17 -146.6 119.9 -7.8 58 1262 0.00 2.42 0.00 0.000 4 0.000 0.036 2535 1077 3434

1347 -1.17 -146.6 127.5 -8.5 62 1351 0.00 2.42 0.00 0.000 6 0.000 0.031 2535 2482 3435

1667 -1.17 -146.6 154.9 -8.7 78 1669 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2482 3435

1979 -1.17 -146.6 181.7 -8.4 93 1983 0.00 2.42 0.00 0.000 4 0.000 0.037 2535 1086 3435

2051 -1.17 -146.6 188.3 -8.8 96 2056 0.00 2.45 0.00 0.000 6 0.000 0.035 2535 2471 3435

2372 -1.17 -146.6 217.6 -9.4 112 2376 0.00 2.42 0.00 0.000 4 0.000 0.038 2535 1078 3435

2404 -1.17 -146.6 221.0 -10.5 113 2411 0.00 2.45 0.00 0.000 6 0.000 0.035 2535 2486 3435

2720 -1.17 -146.6 254.0 -10.7 129 2724 0.00 2.45 0.00 0.000 4 0.000 0.038 2535 1080 3435

2809 -1.17 -146.6 264.0 -11.0 133 2813 0.00 2.45 0.00 0.000 6 0.000 0.037 2535 2480 3435

3130 -1.17 -146.6 298.6 -10.5 149 3131 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2480 3435

3439 -1.17 -146.6 329.7 -9.8 164 3443 0.00 2.42 0.00 0.000 4 0.000 0.039 2535 1088 3435

3495 -1.17 -146.6 335.2 -9.3 166 3501 0.00 2.42 0.00 0.000 6 0.000 0.038 2535 2475 3435

3811 -1.17 -146.6 362.4 -7.7 182 3815 0.00 2.42 0.00 0.000 4 0.000 0.039 2536 1086 3435

3838 -1.17 -146.6 364.3 -7.3 183 3842 0.00 2.45 0.00 0.000 6 0.000 0.038 2535 2486 3435

4156 -1.17 -146.6 383.1 -6.4 198 4160 0.00 2.45 0.00 0.000 4 0.000 0.039 2535 1084 3435

4183 -1.17 -146.6 385.3 -7.1 199 4188 0.00 2.47 0.00 0.000 6 0.000 0.038 2535 2476 3435

4504 -1.17 -146.6 415.3 -9.2 215 4508 0.00 2.42 0.00 0.000 4 0.000 0.039 2535 1088 3435

4727 -1.17 -146.6 438.4 -10.9 225 4731 0.00 2.45 0.00 0.000 6 0.000 0.041 2535 2477 3435

5048 -1.17 -146.6 471.5 -9.7 241 5052 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1084 3434

5091 -1.17 -146.6 475.6 -9.4 243 5095 0.00 2.45 0.00 0.000 6 0.000 0.040 2535 2477 3434

5415 -1.17 -146.6 500.8 -7.8 259 5419 0.00 2.45 0.00 0.000 4 0.000 0.043 2535 1087 3434

5500 -1.17 -146.6 507.9 -8.3 263 5504 0.00 2.45 0.00 0.000 6 0.000 0.041 2535 2476 3434

5826 -1.17 -146.6 532.9 -7.7 279 5830 0.00 2.45 0.00 0.000 4 0.000 0.044 2535 1084 3433

5888 -1.17 -146.6 538.1 -8.7 282 5892 0.00 2.47 0.00 0.000 6 0.000 0.042 2535 2469 3432

6219 -1.17 -146.6 569.6 -9.7 298 6223 0.00 2.42 0.00 0.000 4 0.000 0.044 2535 1094 3431

6238 end dive: BOTTOM_OBSTACLE_DETECTED

state 6238 begin apogee

6245 -0.36 0.0 571.7 9.4 299 6375 0.85 0.00 126.32 1.137 6 0.066 0.000 2720 1470 2832

6376 end apogee: CONTROL_FINISHED_OK

state 6376 begin climb

6378 1.17 146.6 577.8 0.0 305 6510 1.52 0.00 126.95 1.097 6 0.049 0.000 3057 1470 2234

6816 1.18 150.3 558.4 7.4 326 6820 0.00 2.50 0.00 0.000 4 0.000 0.051 3057 2857 2225

6851 1.18 150.3 555.3 8.4 327 6857 0.00 2.45 0.00 0.000 6 0.000 0.041 3057 1479 2224

7166 1.18 150.3 529.6 7.6 343 7170 0.00 2.47 0.00 0.000 4 0.000 0.048 3057 2856 2223

7193 1.19 155.8 527.5 7.3 344 7207 0.00 2.50 7.57 0.911 6 0.000 0.039 3057 1445 2196

7536 1.24 203.1 506.3 5.9 361 7587 0.00 2.62 43.15 1.084 4 0.000 0.044 3057 2857 2002

7610 1.27 221.8 501.3 6.9 364 7634 0.00 2.50 17.83 1.015 6 0.000 0.038 3057 1453 1926

7952 1.27 221.8 469.6 10.5 381 7956 0.00 2.17 0.00 0.000 4 0.000 0.061 3056 259 1920

7968 1.27 221.8 467.3 12.1 381 7975 0.00 2.05 0.00 0.000 6 0.000 0.033 3057 1456 1920

8284 1.27 221.8 433.1 10.5 397 8288 0.00 2.47 0.00 0.000 4 0.000 0.045 3057 2842 1919

8369 1.27 221.8 424.5 10.3 401 8373 0.00 2.45 0.00 0.000 6 0.000 0.038 3057 1452 1918

8697 1.27 221.8 396.7 8.1 417 8701 0.00 2.15 0.00 0.000 4 0.000 0.058 3057 265 1918

8844 1.27 225.8 383.9 7.4 423 8848 0.00 2.03 0.00 0.000 6 0.000 0.031 3057 1459 1917

9165 1.34 280.5 365.9 5.6 439 9223 0.15 2.50 51.67 1.019 4 0.037 0.043 3108 2842 1687

9307 1.34 280.5 353.3 10.3 444 9313 0.00 2.45 0.00 0.000 6 0.000 0.037 3108 1454 1683

9625 1.34 280.5 318.0 11.7 460 9626 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 1454 1680

9932 1.34 280.5 281.3 12.1 475 9935 0.00 2.12 0.00 0.000 4 0.000 0.055 3108 265 1679

9970 1.34 280.5 276.1 13.4 476 9976 0.00 2.00 0.00 0.000 6 0.000 0.028 3108 1467 1679

10286 1.34 280.5 236.4 12.6 492 10290 0.00 2.20 0.00 0.000 4 0.000 0.054 3108 270 1679

10331 1.34 280.5 230.3 13.8 494 10336 0.00 2.03 0.00 0.000 6 0.000 0.030 3108 1452 1679

10663 1.34 280.5 183.6 14.3 510 10667 0.00 2.45 0.00 0.000 4 0.000 0.042 3108 2848 1679

10702 1.34 280.5 177.8 14.3 512 10707 0.00 2.42 0.00 0.000 6 0.000 0.035 3108 1453 1678

11031 1.34 280.5 133.0 12.9 528 11034 0.00 2.12 0.00 0.000 4 0.000 0.054 3108 262 1678

11069 1.34 280.5 127.8 12.7 529 11076 0.00 2.00 0.00 0.000 6 0.000 0.028 3108 1459 1678

11385 1.34 280.5 91.7 10.8 545 11390 0.00 2.17 0.00 0.000 4 0.000 0.052 3108 264 1678

11412 1.34 280.5 88.5 11.9 546 11416 0.00 1.98 0.00 0.000 6 0.000 0.028 3108 1459 1678

11739 1.34 280.5 50.3 11.6 562 11744 0.00 2.40 0.00 0.000 4 0.000 0.040 3108 2838 1678

11791 1.34 280.5 44.6 10.7 564 11795 0.00 2.40 0.00 0.000 6 0.000 0.033 3108 1450 1678

12106 1.34 280.5 9.0 11.8 579 12110 0.00 2.12 0.00 0.000 4 0.000 0.053 3108 259 1678

12134 1.34 280.5 5.6 12.1 580 12137 0.00 1.98 0.00 0.000 6 0.000 0.028 3108 1459 1679

12170 end climb: SURFACE_DEPTH_REACHED

state 12170 begin surface coast

12192 end surface coast: CONTROL_FINISHED_OK

state 12192 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	46	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-1628896.4	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	175230,6215.382,-926.365,39,1.7,39,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6215.372,-949.642
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.79	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-59.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	175720,6215.372,-926.444,13,1.2,13,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	-0.0,1.027078	ALTIM_BOTTOM_PING	500.8,80.9
SM_CCo	12216,10.93,0.700,0,0,1609,300.00	_24V_AH	23.3,24.682
SM_GC	1.08,0.00,0.00,10.93,0.000,0.000,0.700,397,2452,1609,-11.05,-0.68,300.00	_10V_AH	10.1,10.627
IRIDIUM_FIX	6148.92,-926.22,070998,141422	DATA_FILE_SIZE	28488,583
TT8_MAMPS	0.026845	CAP_FILE_SIZE	99585,0
HUMID	1838	CFSIZE	260165632,255401984
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.40	GPS	130609,212237,6215.339,-932.892,31,1.2,31,-9.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	81.69	SBE_CT	513	24	287.27
Roll_motor	131	60	186.18	SBE_O2	399	19	176.66
VBD_pump_during_apogee	373	1136	9892.14	WL_BB2F	395	105	967.07
VBD_pump_during_surface	10	699	178.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.12	nil	0	0	0.00
Iridium_during_connect	26	160	97.78	nil	0	0	0.00
Iridium_during_xfer	128	223	667.64
Transponder_ping	4	420	39.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.89
TT8	1140	19	228.12
LPSleep	8862	2	196.04
TT8_Active	451	19	90.37
TT8_Sampling	1476	39	593.65
TT8_CF8	590	45	273.35
TT8_Kalman	0	81	0.00
Analog_circuits	1266	12	153.48
GPS_charging	0	0	0.00
Compass	1571	8	126.98
RAFOS	0	0	0.00
Transponder	28	30	8.56

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	79	0.00	0.00	-59.88	0.000	6	0.000	0.000	398	2461	3432
82	-1.17	-146.6	4.4	-8.6	3	103	11.45	2.47	0.00	0.000	4	0.136	0.051	2535	3831	3434
441	-1.17	-146.6	53.5	-10.9	19	446	0.00	2.35	0.00	0.000	6	0.000	0.025	2535	2444	3433
773	-1.17	-146.6	84.6	-8.1	35	777	0.00	2.50	0.00	0.000	4	0.000	0.053	2535	3827	3435
925	-1.17	-146.6	96.0	-6.7	42	930	0.00	2.28	0.00	0.000	6	0.000	0.026	2535	2483	3435
1258	-1.17	-146.6	119.9	-7.8	58	1262	0.00	2.42	0.00	0.000	4	0.000	0.036	2535	1077	3434
1347	-1.17	-146.6	127.5	-8.5	62	1351	0.00	2.42	0.00	0.000	6	0.000	0.031	2535	2482	3435
1667	-1.17	-146.6	154.9	-8.7	78	1669	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2482	3435
1979	-1.17	-146.6	181.7	-8.4	93	1983	0.00	2.42	0.00	0.000	4	0.000	0.037	2535	1086	3435
2051	-1.17	-146.6	188.3	-8.8	96	2056	0.00	2.45	0.00	0.000	6	0.000	0.035	2535	2471	3435
2372	-1.17	-146.6	217.6	-9.4	112	2376	0.00	2.42	0.00	0.000	4	0.000	0.038	2535	1078	3435
2404	-1.17	-146.6	221.0	-10.5	113	2411	0.00	2.45	0.00	0.000	6	0.000	0.035	2535	2486	3435
2720	-1.17	-146.6	254.0	-10.7	129	2724	0.00	2.45	0.00	0.000	4	0.000	0.038	2535	1080	3435
2809	-1.17	-146.6	264.0	-11.0	133	2813	0.00	2.45	0.00	0.000	6	0.000	0.037	2535	2480	3435
3130	-1.17	-146.6	298.6	-10.5	149	3131	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2480	3435
3439	-1.17	-146.6	329.7	-9.8	164	3443	0.00	2.42	0.00	0.000	4	0.000	0.039	2535	1088	3435
3495	-1.17	-146.6	335.2	-9.3	166	3501	0.00	2.42	0.00	0.000	6	0.000	0.038	2535	2475	3435
3811	-1.17	-146.6	362.4	-7.7	182	3815	0.00	2.42	0.00	0.000	4	0.000	0.039	2536	1086	3435
3838	-1.17	-146.6	364.3	-7.3	183	3842	0.00	2.45	0.00	0.000	6	0.000	0.038	2535	2486	3435
4156	-1.17	-146.6	383.1	-6.4	198	4160	0.00	2.45	0.00	0.000	4	0.000	0.039	2535	1084	3435
4183	-1.17	-146.6	385.3	-7.1	199	4188	0.00	2.47	0.00	0.000	6	0.000	0.038	2535	2476	3435
4504	-1.17	-146.6	415.3	-9.2	215	4508	0.00	2.42	0.00	0.000	4	0.000	0.039	2535	1088	3435
4727	-1.17	-146.6	438.4	-10.9	225	4731	0.00	2.45	0.00	0.000	6	0.000	0.041	2535	2477	3435
5048	-1.17	-146.6	471.5	-9.7	241	5052	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1084	3434
5091	-1.17	-146.6	475.6	-9.4	243	5095	0.00	2.45	0.00	0.000	6	0.000	0.040	2535	2477	3434
5415	-1.17	-146.6	500.8	-7.8	259	5419	0.00	2.45	0.00	0.000	4	0.000	0.043	2535	1087	3434
5500	-1.17	-146.6	507.9	-8.3	263	5504	0.00	2.45	0.00	0.000	6	0.000	0.041	2535	2476	3434
5826	-1.17	-146.6	532.9	-7.7	279	5830	0.00	2.45	0.00	0.000	4	0.000	0.044	2535	1084	3433
5888	-1.17	-146.6	538.1	-8.7	282	5892	0.00	2.47	0.00	0.000	6	0.000	0.042	2535	2469	3432
6219	-1.17	-146.6	569.6	-9.7	298	6223	0.00	2.42	0.00	0.000	4	0.000	0.044	2535	1094	3431
6238	end dive: BOTTOM_OBSTACLE_DETECTED
state	6238	begin apogee
6245	-0.36	0.0	571.7	9.4	299	6375	0.85	0.00	126.32	1.137	6	0.066	0.000	2720	1470	2832
6376	end apogee: CONTROL_FINISHED_OK
state	6376	begin climb
6378	1.17	146.6	577.8	0.0	305	6510	1.52	0.00	126.95	1.097	6	0.049	0.000	3057	1470	2234
6816	1.18	150.3	558.4	7.4	326	6820	0.00	2.50	0.00	0.000	4	0.000	0.051	3057	2857	2225
6851	1.18	150.3	555.3	8.4	327	6857	0.00	2.45	0.00	0.000	6	0.000	0.041	3057	1479	2224
7166	1.18	150.3	529.6	7.6	343	7170	0.00	2.47	0.00	0.000	4	0.000	0.048	3057	2856	2223
7193	1.19	155.8	527.5	7.3	344	7207	0.00	2.50	7.57	0.911	6	0.000	0.039	3057	1445	2196
7536	1.24	203.1	506.3	5.9	361	7587	0.00	2.62	43.15	1.084	4	0.000	0.044	3057	2857	2002
7610	1.27	221.8	501.3	6.9	364	7634	0.00	2.50	17.83	1.015	6	0.000	0.038	3057	1453	1926
7952	1.27	221.8	469.6	10.5	381	7956	0.00	2.17	0.00	0.000	4	0.000	0.061	3056	259	1920
7968	1.27	221.8	467.3	12.1	381	7975	0.00	2.05	0.00	0.000	6	0.000	0.033	3057	1456	1920
8284	1.27	221.8	433.1	10.5	397	8288	0.00	2.47	0.00	0.000	4	0.000	0.045	3057	2842	1919
8369	1.27	221.8	424.5	10.3	401	8373	0.00	2.45	0.00	0.000	6	0.000	0.038	3057	1452	1918
8697	1.27	221.8	396.7	8.1	417	8701	0.00	2.15	0.00	0.000	4	0.000	0.058	3057	265	1918
8844	1.27	225.8	383.9	7.4	423	8848	0.00	2.03	0.00	0.000	6	0.000	0.031	3057	1459	1917
9165	1.34	280.5	365.9	5.6	439	9223	0.15	2.50	51.67	1.019	4	0.037	0.043	3108	2842	1687
9307	1.34	280.5	353.3	10.3	444	9313	0.00	2.45	0.00	0.000	6	0.000	0.037	3108	1454	1683
9625	1.34	280.5	318.0	11.7	460	9626	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	1454	1680
9932	1.34	280.5	281.3	12.1	475	9935	0.00	2.12	0.00	0.000	4	0.000	0.055	3108	265	1679
9970	1.34	280.5	276.1	13.4	476	9976	0.00	2.00	0.00	0.000	6	0.000	0.028	3108	1467	1679
10286	1.34	280.5	236.4	12.6	492	10290	0.00	2.20	0.00	0.000	4	0.000	0.054	3108	270	1679
10331	1.34	280.5	230.3	13.8	494	10336	0.00	2.03	0.00	0.000	6	0.000	0.030	3108	1452	1679
10663	1.34	280.5	183.6	14.3	510	10667	0.00	2.45	0.00	0.000	4	0.000	0.042	3108	2848	1679
10702	1.34	280.5	177.8	14.3	512	10707	0.00	2.42	0.00	0.000	6	0.000	0.035	3108	1453	1678
11031	1.34	280.5	133.0	12.9	528	11034	0.00	2.12	0.00	0.000	4	0.000	0.054	3108	262	1678
11069	1.34	280.5	127.8	12.7	529	11076	0.00	2.00	0.00	0.000	6	0.000	0.028	3108	1459	1678
11385	1.34	280.5	91.7	10.8	545	11390	0.00	2.17	0.00	0.000	4	0.000	0.052	3108	264	1678
11412	1.34	280.5	88.5	11.9	546	11416	0.00	1.98	0.00	0.000	6	0.000	0.028	3108	1459	1678
11739	1.34	280.5	50.3	11.6	562	11744	0.00	2.40	0.00	0.000	4	0.000	0.040	3108	2838	1678
11791	1.34	280.5	44.6	10.7	564	11795	0.00	2.40	0.00	0.000	6	0.000	0.033	3108	1450	1678
12106	1.34	280.5	9.0	11.8	579	12110	0.00	2.12	0.00	0.000	4	0.000	0.053	3108	259	1678
12134	1.34	280.5	5.6	12.1	580	12137	0.00	1.98	0.00	0.000	6	0.000	0.028	3108	1459	1679
12170	end climb: SURFACE_DEPTH_REACHED
state	12170	begin surface coast
12192	end surface coast: CONTROL_FINISHED_OK
state	12192	begin surface