Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 139 * 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 139 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 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 -102813.06 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 -102813.06

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 47 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 139 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 012801,6346.011,-1304.999,40,1.8,40,-12.4 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.059,0.238

_SM_DEPTHo 1.22 KALMAN_X -98802.0,29.5,772.3,-135543.3,-111.5

_SM_ANGLEo -62.9 KALMAN_Y -22301.5,406.0,423.2,260921.1,-3166.2

GPS2 013438,6345.929,-1305.024,12,1.8,12,-12.4 MHEAD_RNG_PITCHd_Wd 358.6,8565,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026994 ALTIM_BOTTOM_PING 720.4,30.3

SM_CCo 13786,0.00,0.000,0,0,1308,373.59 _24V_AH 23.8,25.676

SM_GC 1.32,11.27,0.00,0.00,0.035,0.000,0.000,422,2110,1308,-10.58,-0.57,373.59 _10V_AH 10.1,11.504

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41046,833

TT8_MAMPS 0.029146 CAP_FILE_SIZE 106600,0

HUMID 1838 CFSIZE 254472192,244035584

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 51 GPS 220909,052630,6346.909,-1309.126,40,1.9,40,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 97.83 SBE_CT 569 24 325.37

Roll_motor 101 75 181.04 SBE_O2 609 19 275.47

VBD_pump_during_apogee 468 1309 14596.41 WL_BB2F 455 105 1139.08

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 29 160 113.03 nil 0 0 0.00

Iridium_during_xfer 211 223 1124.14

Transponder_ping 19 420 194.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.29

TT8 1421 19 284.26

LPSleep 10067 2 222.67

TT8_Active 549 19 109.88

TT8_Sampling 1600 39 643.28

TT8_CF8 542 45 250.82

TT8_Kalman 33 81 27.56

Analog_circuits 1366 12 165.59

GPS_charging 0 0 0.00

Compass 1565 8 126.50

RAFOS 0 0 0.00

Transponder 47 30 14.36

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 12 begin dive

15 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.28 0.000 2 0.000 0.000 419 2150 2876

83 -1.22 -146.6 3.2 -4.7 3 120 11.30 2.53 -15.82 0.000 4 0.156 0.075 2473 3513 3429

148 -1.11 -146.6 13.4 -14.9 6 153 0.15 2.47 0.00 0.000 6 0.090 0.048 2505 2129 3430

470 -1.11 -146.6 50.4 -11.8 22 474 0.00 2.55 0.00 0.000 4 0.000 0.062 2505 3517 3430

537 -1.11 -146.6 58.7 -12.2 25 541 0.00 2.47 0.00 0.000 6 0.000 0.045 2505 2120 3430

860 -1.11 -146.6 98.2 -12.1 41 861 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2108 3430

1167 -1.11 -146.6 127.9 -9.0 56 1169 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2108 3430

1483 -1.11 -146.6 163.3 -11.6 73 1487 0.00 2.47 0.00 0.000 4 0.000 0.058 2506 720 3430

1538 -1.14 -146.6 169.8 -11.5 76 1549 0.00 2.45 0.00 0.000 6 0.000 0.047 2505 2108 3430

1857 -1.14 -146.6 205.2 -11.0 97 1859 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2110 3430

2170 -1.14 -146.6 237.8 -9.9 117 2171 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2110 3430

2482 -1.14 -146.6 269.2 -10.6 137 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2109 3430

2795 -1.14 -146.6 303.4 -11.3 157 2799 0.00 2.50 0.00 0.000 4 0.000 0.060 2505 721 3430

2845 -1.17 -146.6 309.2 -12.1 160 2849 0.00 2.47 0.00 0.000 6 0.000 0.049 2505 2120 3430

3164 -1.17 -146.6 343.9 -10.2 180 3165 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2120 3430

3477 -1.17 -146.6 372.2 -7.9 200 3481 0.00 2.53 0.00 0.000 4 0.000 0.061 2505 718 3430

3539 -1.20 -146.6 377.4 -8.5 204 3544 0.00 2.47 0.00 0.000 6 0.000 0.050 2505 2112 3430

3864 -1.20 -146.6 405.6 -8.9 225 3869 0.00 2.53 0.00 0.000 4 0.000 0.061 2505 713 3429

3893 -1.20 -146.6 408.4 -9.7 227 3898 0.00 2.47 0.00 0.000 6 0.000 0.050 2505 2107 3429

4217 -1.20 -146.6 435.6 -7.5 248 4219 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2106 3429

4530 -1.20 -146.6 462.6 -10.0 268 4534 0.00 2.50 0.00 0.000 4 0.000 0.062 2505 721 3429

4580 -1.24 -146.6 468.2 -10.8 271 4585 0.15 2.45 0.00 0.000 6 0.057 0.053 2464 2105 3429

4905 -1.17 -146.6 522.1 -18.7 291 4906 0.12 0.00 0.00 0.000 6 0.095 0.000 2488 2106 3429

5212 -1.17 -146.6 560.2 -9.7 311 5216 0.00 2.53 0.00 0.000 4 0.000 0.064 2488 715 3428

5261 -1.17 -146.6 566.4 -12.4 314 5266 0.00 2.45 0.00 0.000 6 0.000 0.051 2488 2094 3428

5581 -1.17 -146.6 611.1 -13.3 334 5582 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2095 3428

5893 -1.17 -146.6 650.5 -12.4 354 5894 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2095 3428

6205 -1.17 -146.6 679.8 -9.5 374 6209 0.00 2.50 0.00 0.000 4 0.000 0.064 2488 718 3427

6261 -1.17 -146.6 685.5 -9.3 377 6268 0.00 2.47 0.00 0.000 6 0.000 0.053 2488 2108 3427

6580 -1.17 -146.6 718.5 -11.1 398 6585 0.00 2.55 0.00 0.000 4 0.000 0.069 2489 715 3427

6603 -1.17 -146.6 721.1 -10.7 399 6609 0.00 2.47 0.00 0.000 6 0.000 0.055 2488 2097 3427

6795 end dive: BOTTOM_OBSTACLE_DETECTED

state 6795 begin apogee

6802 -0.33 0.0 741.3 9.9 412 6937 0.85 0.00 131.27 1.309 6 0.078 0.000 2672 1838 2831

6938 end apogee: CONTROL_FINISHED_OK

state 6938 begin climb

6941 1.22 146.6 747.5 0.0 421 7078 1.52 0.00 131.60 1.269 6 0.059 0.000 3006 1838 2233

7383 1.12 146.6 720.9 8.5 450 7384 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1838 2232

7696 1.03 146.6 691.9 8.6 470 7698 0.20 0.00 0.00 0.000 6 0.089 0.000 2969 1838 2232

8008 1.23 269.6 675.4 3.5 490 8126 0.17 2.72 109.55 1.246 4 0.054 0.065 3016 3254 1731

8159 1.30 312.0 667.0 6.5 499 8205 0.00 2.58 38.97 1.196 6 0.000 0.063 3016 1868 1557

8529 1.33 335.0 638.9 7.2 523 8554 0.00 0.00 21.42 1.159 6 0.000 0.000 3016 1868 1465

8868 1.39 374.1 616.8 6.6 545 8910 0.15 2.62 35.60 1.187 4 0.057 0.064 3055 3260 1305

8939 1.34 374.1 611.1 8.1 548 8945 0.00 2.60 0.00 0.000 6 0.000 0.061 3056 1858 1305

9258 1.25 374.1 565.5 17.4 569 9263 0.17 2.60 0.00 0.000 4 0.093 0.070 3018 432 1306

9304 1.25 374.1 557.9 15.9 572 9308 0.00 2.55 0.00 0.000 6 0.000 0.052 3018 1856 1306

9628 1.25 374.1 508.0 15.2 593 9632 0.00 2.62 0.00 0.000 4 0.000 0.068 3018 439 1306

9662 1.22 374.1 502.9 15.3 595 9666 0.00 2.53 0.00 0.000 6 0.000 0.051 3018 1851 1307

9981 1.22 374.1 457.5 14.1 615 9982 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1865 1306

10293 1.22 374.1 413.6 13.9 635 10294 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1865 1307

10607 1.22 374.1 374.5 11.9 655 10611 0.00 2.60 0.00 0.000 4 0.000 0.065 3018 432 1307

10640 1.22 374.1 370.1 12.1 657 10644 0.00 2.50 0.00 0.000 6 0.000 0.049 3017 1838 1307

10959 1.22 374.1 335.1 10.7 677 10963 0.00 2.53 0.00 0.000 4 0.000 0.061 3018 3255 1307

10992 1.28 374.1 331.4 10.7 679 10997 0.00 2.58 0.00 0.000 6 0.000 0.054 3018 1825 1307

11311 1.28 374.1 295.7 11.7 699 11312 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1825 1307

11624 1.28 374.1 257.0 13.4 719 11628 0.00 2.60 0.00 0.000 4 0.000 0.059 3018 3258 1307

11680 1.35 374.1 249.8 12.4 722 11686 0.00 2.50 0.00 0.000 6 0.000 0.053 3018 1854 1307

11999 1.35 374.1 210.2 11.7 743 12000 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1854 1308

12311 1.35 374.1 174.9 11.3 763 12315 0.00 2.55 0.00 0.000 4 0.000 0.058 3018 3261 1308

12350 1.42 374.1 170.5 10.4 765 12357 0.17 2.53 0.00 0.000 6 0.050 0.052 3065 1850 1308

12684 1.33 374.1 121.9 15.2 784 12686 0.15 0.00 0.00 0.000 6 0.091 0.000 3035 1850 1308

12992 1.33 374.1 83.1 12.0 799 12997 0.00 2.55 0.00 0.000 4 0.000 0.059 3035 3257 1308

13037 1.33 374.1 76.9 13.4 801 13041 0.00 2.50 0.00 0.000 6 0.000 0.050 3035 1852 1308

13359 1.33 374.1 41.3 11.1 817 13360 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 1852 1309

13669 1.33 374.1 4.6 13.0 832 13673 0.00 2.55 0.00 0.000 4 0.000 0.057 3036 3264 1308

13677 end climb: SURFACE_DEPTH_REACHED

state 13677 begin surface coast

13700 end surface coast: CONTROL_FINISHED_OK

state 13700 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	139	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	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	-102813.06	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	012801,6346.011,-1304.999,40,1.8,40,-12.4	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.059,0.238
_SM_DEPTHo	1.22	KALMAN_X	-98802.0,29.5,772.3,-135543.3,-111.5
_SM_ANGLEo	-62.9	KALMAN_Y	-22301.5,406.0,423.2,260921.1,-3166.2
GPS2	013438,6345.929,-1305.024,12,1.8,12,-12.4	MHEAD_RNG_PITCHd_Wd	358.6,8565,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.026994	ALTIM_BOTTOM_PING	720.4,30.3
SM_CCo	13786,0.00,0.000,0,0,1308,373.59	_24V_AH	23.8,25.676
SM_GC	1.32,11.27,0.00,0.00,0.035,0.000,0.000,422,2110,1308,-10.58,-0.57,373.59	_10V_AH	10.1,11.504
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41046,833
TT8_MAMPS	0.029146	CAP_FILE_SIZE	106600,0
HUMID	1838	CFSIZE	254472192,244035584
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	51	GPS	220909,052630,6346.909,-1309.126,40,1.9,40,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	97.83	SBE_CT	569	24	325.37
Roll_motor	101	75	181.04	SBE_O2	609	19	275.47
VBD_pump_during_apogee	468	1309	14596.41	WL_BB2F	455	105	1139.08
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	29	160	113.03	nil	0	0	0.00
Iridium_during_xfer	211	223	1124.14
Transponder_ping	19	420	194.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.29
TT8	1421	19	284.26
LPSleep	10067	2	222.67
TT8_Active	549	19	109.88
TT8_Sampling	1600	39	643.28
TT8_CF8	542	45	250.82
TT8_Kalman	33	81	27.56
Analog_circuits	1366	12	165.59
GPS_charging	0	0	0.00
Compass	1565	8	126.50
RAFOS	0	0	0.00
Transponder	47	30	14.36

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	12	begin dive
15	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.28	0.000	2	0.000	0.000	419	2150	2876
83	-1.22	-146.6	3.2	-4.7	3	120	11.30	2.53	-15.82	0.000	4	0.156	0.075	2473	3513	3429
148	-1.11	-146.6	13.4	-14.9	6	153	0.15	2.47	0.00	0.000	6	0.090	0.048	2505	2129	3430
470	-1.11	-146.6	50.4	-11.8	22	474	0.00	2.55	0.00	0.000	4	0.000	0.062	2505	3517	3430
537	-1.11	-146.6	58.7	-12.2	25	541	0.00	2.47	0.00	0.000	6	0.000	0.045	2505	2120	3430
860	-1.11	-146.6	98.2	-12.1	41	861	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2108	3430
1167	-1.11	-146.6	127.9	-9.0	56	1169	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2108	3430
1483	-1.11	-146.6	163.3	-11.6	73	1487	0.00	2.47	0.00	0.000	4	0.000	0.058	2506	720	3430
1538	-1.14	-146.6	169.8	-11.5	76	1549	0.00	2.45	0.00	0.000	6	0.000	0.047	2505	2108	3430
1857	-1.14	-146.6	205.2	-11.0	97	1859	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2110	3430
2170	-1.14	-146.6	237.8	-9.9	117	2171	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2110	3430
2482	-1.14	-146.6	269.2	-10.6	137	2483	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2109	3430
2795	-1.14	-146.6	303.4	-11.3	157	2799	0.00	2.50	0.00	0.000	4	0.000	0.060	2505	721	3430
2845	-1.17	-146.6	309.2	-12.1	160	2849	0.00	2.47	0.00	0.000	6	0.000	0.049	2505	2120	3430
3164	-1.17	-146.6	343.9	-10.2	180	3165	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2120	3430
3477	-1.17	-146.6	372.2	-7.9	200	3481	0.00	2.53	0.00	0.000	4	0.000	0.061	2505	718	3430
3539	-1.20	-146.6	377.4	-8.5	204	3544	0.00	2.47	0.00	0.000	6	0.000	0.050	2505	2112	3430
3864	-1.20	-146.6	405.6	-8.9	225	3869	0.00	2.53	0.00	0.000	4	0.000	0.061	2505	713	3429
3893	-1.20	-146.6	408.4	-9.7	227	3898	0.00	2.47	0.00	0.000	6	0.000	0.050	2505	2107	3429
4217	-1.20	-146.6	435.6	-7.5	248	4219	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2106	3429
4530	-1.20	-146.6	462.6	-10.0	268	4534	0.00	2.50	0.00	0.000	4	0.000	0.062	2505	721	3429
4580	-1.24	-146.6	468.2	-10.8	271	4585	0.15	2.45	0.00	0.000	6	0.057	0.053	2464	2105	3429
4905	-1.17	-146.6	522.1	-18.7	291	4906	0.12	0.00	0.00	0.000	6	0.095	0.000	2488	2106	3429
5212	-1.17	-146.6	560.2	-9.7	311	5216	0.00	2.53	0.00	0.000	4	0.000	0.064	2488	715	3428
5261	-1.17	-146.6	566.4	-12.4	314	5266	0.00	2.45	0.00	0.000	6	0.000	0.051	2488	2094	3428
5581	-1.17	-146.6	611.1	-13.3	334	5582	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2095	3428
5893	-1.17	-146.6	650.5	-12.4	354	5894	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2095	3428
6205	-1.17	-146.6	679.8	-9.5	374	6209	0.00	2.50	0.00	0.000	4	0.000	0.064	2488	718	3427
6261	-1.17	-146.6	685.5	-9.3	377	6268	0.00	2.47	0.00	0.000	6	0.000	0.053	2488	2108	3427
6580	-1.17	-146.6	718.5	-11.1	398	6585	0.00	2.55	0.00	0.000	4	0.000	0.069	2489	715	3427
6603	-1.17	-146.6	721.1	-10.7	399	6609	0.00	2.47	0.00	0.000	6	0.000	0.055	2488	2097	3427
6795	end dive: BOTTOM_OBSTACLE_DETECTED
state	6795	begin apogee
6802	-0.33	0.0	741.3	9.9	412	6937	0.85	0.00	131.27	1.309	6	0.078	0.000	2672	1838	2831
6938	end apogee: CONTROL_FINISHED_OK
state	6938	begin climb
6941	1.22	146.6	747.5	0.0	421	7078	1.52	0.00	131.60	1.269	6	0.059	0.000	3006	1838	2233
7383	1.12	146.6	720.9	8.5	450	7384	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1838	2232
7696	1.03	146.6	691.9	8.6	470	7698	0.20	0.00	0.00	0.000	6	0.089	0.000	2969	1838	2232
8008	1.23	269.6	675.4	3.5	490	8126	0.17	2.72	109.55	1.246	4	0.054	0.065	3016	3254	1731
8159	1.30	312.0	667.0	6.5	499	8205	0.00	2.58	38.97	1.196	6	0.000	0.063	3016	1868	1557
8529	1.33	335.0	638.9	7.2	523	8554	0.00	0.00	21.42	1.159	6	0.000	0.000	3016	1868	1465
8868	1.39	374.1	616.8	6.6	545	8910	0.15	2.62	35.60	1.187	4	0.057	0.064	3055	3260	1305
8939	1.34	374.1	611.1	8.1	548	8945	0.00	2.60	0.00	0.000	6	0.000	0.061	3056	1858	1305
9258	1.25	374.1	565.5	17.4	569	9263	0.17	2.60	0.00	0.000	4	0.093	0.070	3018	432	1306
9304	1.25	374.1	557.9	15.9	572	9308	0.00	2.55	0.00	0.000	6	0.000	0.052	3018	1856	1306
9628	1.25	374.1	508.0	15.2	593	9632	0.00	2.62	0.00	0.000	4	0.000	0.068	3018	439	1306
9662	1.22	374.1	502.9	15.3	595	9666	0.00	2.53	0.00	0.000	6	0.000	0.051	3018	1851	1307
9981	1.22	374.1	457.5	14.1	615	9982	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1865	1306
10293	1.22	374.1	413.6	13.9	635	10294	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1865	1307
10607	1.22	374.1	374.5	11.9	655	10611	0.00	2.60	0.00	0.000	4	0.000	0.065	3018	432	1307
10640	1.22	374.1	370.1	12.1	657	10644	0.00	2.50	0.00	0.000	6	0.000	0.049	3017	1838	1307
10959	1.22	374.1	335.1	10.7	677	10963	0.00	2.53	0.00	0.000	4	0.000	0.061	3018	3255	1307
10992	1.28	374.1	331.4	10.7	679	10997	0.00	2.58	0.00	0.000	6	0.000	0.054	3018	1825	1307
11311	1.28	374.1	295.7	11.7	699	11312	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1825	1307
11624	1.28	374.1	257.0	13.4	719	11628	0.00	2.60	0.00	0.000	4	0.000	0.059	3018	3258	1307
11680	1.35	374.1	249.8	12.4	722	11686	0.00	2.50	0.00	0.000	6	0.000	0.053	3018	1854	1307
11999	1.35	374.1	210.2	11.7	743	12000	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1854	1308
12311	1.35	374.1	174.9	11.3	763	12315	0.00	2.55	0.00	0.000	4	0.000	0.058	3018	3261	1308
12350	1.42	374.1	170.5	10.4	765	12357	0.17	2.53	0.00	0.000	6	0.050	0.052	3065	1850	1308
12684	1.33	374.1	121.9	15.2	784	12686	0.15	0.00	0.00	0.000	6	0.091	0.000	3035	1850	1308
12992	1.33	374.1	83.1	12.0	799	12997	0.00	2.55	0.00	0.000	4	0.000	0.059	3035	3257	1308
13037	1.33	374.1	76.9	13.4	801	13041	0.00	2.50	0.00	0.000	6	0.000	0.050	3035	1852	1308
13359	1.33	374.1	41.3	11.1	817	13360	0.00	0.00	0.00	0.000	6	0.000	0.000	3035	1852	1309
13669	1.33	374.1	4.6	13.0	832	13673	0.00	2.55	0.00	0.000	4	0.000	0.057	3036	3264	1308
13677	end climb: SURFACE_DEPTH_REACHED
state	13677	begin surface coast
13700	end surface coast: CONTROL_FINISHED_OK
state	13700	begin surface