Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 179 * 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 179 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 16 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -103616.53 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 -103616.53

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 16 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 179 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 234024,6357.667,-1327.250,41,1.1,41,-12.7 TGT_NAME L1

_CALLS 2 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.033,0.243

_SM_DEPTHo 1.47 KALMAN_X -53032.6,522.4,-86.9,-200450.2,-3173.3

_SM_ANGLEo -63.3 KALMAN_Y -8558.0,111.0,-330.2,269850.8,-1720.4

GPS2 235013,6357.584,-1327.210,14,1.1,14,-12.7 MHEAD_RNG_PITCHd_Wd 20.5,5015,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.014193 ALTIM_BOTTOM_PING 671.2,15.4

SM_CCo 13320,0.00,0.000,0,0,1488,329.19 _24V_AH 23.8,32.036

SM_GC 1.59,11.43,0.00,0.00,0.037,0.000,0.000,422,2169,1488,-10.59,1.13,329.19 _10V_AH 10.1,14.622

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41120,796

TT8_MAMPS 0.028379 CAP_FILE_SIZE 110544,0

HUMID 1826 CFSIZE 254472192,241610752

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 41 GPS 290909,033409,6359.216,-1327.850,28,1.5,30,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 104.59 SBE_CT 545 24 311.35

Roll_motor 113 78 212.08 SBE_O2 583 19 263.85

VBD_pump_during_apogee 424 1280 12928.64 WL_BB2F 449 105 1123.01

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 75 103 185.14 nil 0 0 0.00

Iridium_during_connect 61 160 232.64 nil 0 0 0.00

Iridium_during_xfer 254 223 1348.77

Transponder_ping 16 420 162.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1401 19 280.34

LPSleep 9614 2 212.67

TT8_Active 519 19 103.94

TT8_Sampling 1690 39 679.64

TT8_CF8 675 45 312.43

TT8_Kalman 33 81 27.57

Analog_circuits 1382 12 167.51

GPS_charging 0 0 0.00

Compass 1652 8 133.54

RAFOS 0 0 0.00

Transponder 42 30 12.79

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

16 -1.22 -146.6 0.0 0.0 0 99 0.00 0.00 -81.05 0.000 2 0.000 0.000 418 2143 2729

103 -1.22 -146.6 3.1 -2.4 4 146 11.43 2.62 -23.77 0.000 4 0.165 0.071 2471 701 3429

174 -1.12 -146.6 11.0 -14.2 7 179 0.15 2.55 0.00 0.000 6 0.106 0.049 2501 2129 3430

496 -1.12 -146.6 51.1 -12.5 23 501 0.00 2.58 0.00 0.000 4 0.000 0.060 2502 710 3430

547 -1.12 -146.6 57.1 -11.9 25 551 0.00 2.55 0.00 0.000 6 0.000 0.050 2502 2139 3430

863 -1.12 -146.6 94.9 -11.7 40 864 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2139 3430

1172 -1.12 -146.6 132.5 -12.1 55 1176 0.00 2.60 0.00 0.000 4 0.000 0.059 2501 702 3430

1239 -1.12 -146.6 140.5 -11.9 58 1243 0.00 2.53 0.00 0.000 6 0.000 0.048 2501 2124 3430

1568 -1.12 -146.6 177.3 -10.9 78 1569 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2123 3430

1879 -1.12 -146.6 211.6 -11.0 98 1884 0.00 2.58 0.00 0.000 4 0.000 0.062 2502 707 3430

1936 -1.12 -146.6 218.1 -11.5 101 1942 0.00 2.50 0.00 0.000 6 0.000 0.050 2502 2114 3430

2254 -1.12 -146.6 253.4 -11.0 122 2256 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2114 3430

2567 -1.12 -146.6 287.1 -10.5 142 2568 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2115 3430

2880 -1.12 -146.6 319.4 -10.4 162 2885 0.00 2.55 0.00 0.000 4 0.000 0.061 2502 704 3431

2935 -1.12 -146.6 325.6 -10.3 165 2940 0.00 2.50 0.00 0.000 6 0.000 0.051 2502 2112 3430

3254 -1.12 -146.6 360.0 -10.7 185 3255 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2112 3430

3567 -1.12 -146.6 392.7 -10.1 205 3571 0.00 2.55 0.00 0.000 4 0.000 0.062 2502 702 3430

3680 -1.15 -146.6 404.1 -9.5 212 3684 0.00 2.50 0.00 0.000 6 0.000 0.049 2502 2112 3430

4004 -1.15 -146.6 435.0 -9.7 233 4005 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2112 3430

4316 -1.15 -146.6 467.9 -10.1 253 4320 0.00 2.55 0.00 0.000 4 0.000 0.064 2502 707 3430

4482 -1.18 -146.6 487.4 -13.2 263 4486 0.00 2.47 0.00 0.000 6 0.000 0.051 2502 2096 3430

4812 -1.18 -146.6 522.6 -10.4 284 4817 0.00 2.53 0.00 0.000 4 0.000 0.064 2502 704 3430

4920 -1.25 -146.6 532.5 -6.3 290 4927 0.12 2.47 0.00 0.000 6 0.060 0.052 2466 2099 3430

5242 -1.18 -146.6 559.7 -11.7 311 5247 0.10 2.53 0.00 0.000 4 0.107 0.067 2485 714 3430

5288 -1.18 -146.6 565.1 -9.0 314 5292 0.00 2.47 0.00 0.000 6 0.000 0.055 2485 2092 3430

5612 -1.18 -146.6 604.9 -12.4 335 5616 0.00 2.53 0.00 0.000 4 0.000 0.067 2485 715 3429

5662 -1.18 -146.6 610.9 -11.2 338 5666 0.00 2.45 0.00 0.000 6 0.000 0.056 2485 2075 3429

5984 -1.14 -146.6 638.1 -6.4 358 5989 0.00 2.70 0.00 0.000 4 0.000 0.078 2485 3540 3429

6040 -1.14 -146.6 644.4 -12.1 361 6047 0.00 2.70 0.00 0.000 6 0.000 0.065 2485 2067 3429

6341 end dive: BOTTOM_OBSTACLE_DETECTED

state 6341 begin apogee

6351 -0.33 0.0 678.0 10.6 381 6485 0.85 0.00 130.05 1.280 6 0.084 0.000 2668 1837 2831

6486 end apogee: CONTROL_FINISHED_OK

state 6486 begin climb

6489 1.22 146.6 684.1 0.0 390 6630 1.55 2.65 131.40 1.239 4 0.061 0.077 3009 442 2233

6891 1.08 146.6 660.9 8.6 414 6896 0.15 2.55 0.00 0.000 6 0.100 0.054 2981 1853 2232

7218 1.27 283.5 642.4 3.0 435 7347 0.17 2.75 121.53 1.221 4 0.055 0.075 3028 450 1675

7438 1.15 283.5 620.7 14.0 448 7445 0.17 2.55 0.00 0.000 6 0.098 0.056 2996 1850 1676

7757 1.15 283.5 589.0 8.0 469 7762 0.00 2.65 0.00 0.000 4 0.000 0.077 2996 445 1676

7787 1.15 283.5 586.0 11.4 471 7791 0.00 2.55 0.00 0.000 6 0.000 0.057 2996 1845 1676

8111 1.22 329.6 562.7 6.3 492 8159 0.00 2.70 41.38 1.187 4 0.000 0.076 2996 448 1486

8199 1.22 329.6 554.4 12.5 497 8203 0.00 2.53 0.00 0.000 6 0.000 0.058 2996 1831 1486

8519 1.22 329.6 521.4 11.7 517 8524 0.00 2.60 0.00 0.000 4 0.000 0.074 2996 446 1487

8553 1.22 329.6 517.0 11.1 519 8557 0.00 2.50 0.00 0.000 6 0.000 0.056 2996 1827 1487

8872 1.22 329.6 479.1 9.6 539 8873 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 1845 1487

9185 1.26 329.6 449.1 8.9 559 9190 0.10 2.60 0.00 0.000 4 0.063 0.074 3022 437 1487

9231 1.20 329.6 444.6 10.9 562 9235 0.00 2.47 0.00 0.000 6 0.000 0.054 3022 1809 1487

9555 1.20 329.6 405.7 11.7 583 9559 0.00 2.53 0.00 0.000 4 0.000 0.071 3022 439 1486

9605 1.13 329.6 399.2 13.2 586 9610 0.17 2.42 0.00 0.000 6 0.091 0.053 2989 1791 1486

9926 1.19 329.6 366.4 9.4 606 9927 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 1808 1486

10237 1.25 329.6 339.2 8.7 626 10239 0.12 0.00 0.00 0.000 6 0.058 0.000 3022 1809 1486

10550 1.25 329.6 303.2 12.2 646 10551 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1809 1486

10862 1.25 329.6 265.9 11.6 666 10863 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1809 1486

11174 1.25 329.6 231.0 11.1 686 11175 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1809 1487

11487 1.25 329.6 195.0 11.2 706 11491 0.00 2.62 0.00 0.000 4 0.000 0.059 3022 3265 1487

11515 1.25 329.6 191.6 11.8 708 11519 0.00 2.67 0.00 0.000 6 0.000 0.054 3022 1777 1487

11839 1.25 329.6 154.9 11.1 729 11844 0.00 2.67 0.00 0.000 4 0.000 0.058 3022 3255 1487

11903 1.29 329.6 148.2 10.2 733 11907 0.00 2.60 0.00 0.000 6 0.000 0.052 3022 1802 1487

12230 1.29 329.6 113.1 11.4 749 12235 0.00 2.65 0.00 0.000 4 0.000 0.058 3022 3267 1488

12326 1.34 329.6 102.6 10.3 753 12331 0.00 2.58 0.00 0.000 6 0.000 0.050 3022 1824 1487

12644 1.34 329.6 67.6 10.6 768 12645 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1824 1488

12952 1.34 329.6 34.1 10.9 783 12956 0.00 2.60 0.00 0.000 4 0.000 0.058 3022 3260 1489

13002 1.40 329.6 28.5 10.7 785 13007 0.12 2.53 0.00 0.000 6 0.054 0.051 3057 1833 1489

13212 end climb: SURFACE_DEPTH_REACHED

state 13212 begin surface coast

13236 end surface coast: CONTROL_FINISHED_OK

state 13236 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	179	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	16	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-103616.53	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	234024,6357.667,-1327.250,41,1.1,41,-12.7	TGT_NAME	L1
_CALLS	2	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.033,0.243
_SM_DEPTHo	1.47	KALMAN_X	-53032.6,522.4,-86.9,-200450.2,-3173.3
_SM_ANGLEo	-63.3	KALMAN_Y	-8558.0,111.0,-330.2,269850.8,-1720.4
GPS2	235013,6357.584,-1327.210,14,1.1,14,-12.7	MHEAD_RNG_PITCHd_Wd	20.5,5015,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.014193	ALTIM_BOTTOM_PING	671.2,15.4
SM_CCo	13320,0.00,0.000,0,0,1488,329.19	_24V_AH	23.8,32.036
SM_GC	1.59,11.43,0.00,0.00,0.037,0.000,0.000,422,2169,1488,-10.59,1.13,329.19	_10V_AH	10.1,14.622
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41120,796
TT8_MAMPS	0.028379	CAP_FILE_SIZE	110544,0
HUMID	1826	CFSIZE	254472192,241610752
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	41	GPS	290909,033409,6359.216,-1327.850,28,1.5,30,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	104.59	SBE_CT	545	24	311.35
Roll_motor	113	78	212.08	SBE_O2	583	19	263.85
VBD_pump_during_apogee	424	1280	12928.64	WL_BB2F	449	105	1123.01
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	75	103	185.14	nil	0	0	0.00
Iridium_during_connect	61	160	232.64	nil	0	0	0.00
Iridium_during_xfer	254	223	1348.77
Transponder_ping	16	420	162.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1401	19	280.34
LPSleep	9614	2	212.67
TT8_Active	519	19	103.94
TT8_Sampling	1690	39	679.64
TT8_CF8	675	45	312.43
TT8_Kalman	33	81	27.57
Analog_circuits	1382	12	167.51
GPS_charging	0	0	0.00
Compass	1652	8	133.54
RAFOS	0	0	0.00
Transponder	42	30	12.79

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
16	-1.22	-146.6	0.0	0.0	0	99	0.00	0.00	-81.05	0.000	2	0.000	0.000	418	2143	2729
103	-1.22	-146.6	3.1	-2.4	4	146	11.43	2.62	-23.77	0.000	4	0.165	0.071	2471	701	3429
174	-1.12	-146.6	11.0	-14.2	7	179	0.15	2.55	0.00	0.000	6	0.106	0.049	2501	2129	3430
496	-1.12	-146.6	51.1	-12.5	23	501	0.00	2.58	0.00	0.000	4	0.000	0.060	2502	710	3430
547	-1.12	-146.6	57.1	-11.9	25	551	0.00	2.55	0.00	0.000	6	0.000	0.050	2502	2139	3430
863	-1.12	-146.6	94.9	-11.7	40	864	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2139	3430
1172	-1.12	-146.6	132.5	-12.1	55	1176	0.00	2.60	0.00	0.000	4	0.000	0.059	2501	702	3430
1239	-1.12	-146.6	140.5	-11.9	58	1243	0.00	2.53	0.00	0.000	6	0.000	0.048	2501	2124	3430
1568	-1.12	-146.6	177.3	-10.9	78	1569	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2123	3430
1879	-1.12	-146.6	211.6	-11.0	98	1884	0.00	2.58	0.00	0.000	4	0.000	0.062	2502	707	3430
1936	-1.12	-146.6	218.1	-11.5	101	1942	0.00	2.50	0.00	0.000	6	0.000	0.050	2502	2114	3430
2254	-1.12	-146.6	253.4	-11.0	122	2256	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2114	3430
2567	-1.12	-146.6	287.1	-10.5	142	2568	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2115	3430
2880	-1.12	-146.6	319.4	-10.4	162	2885	0.00	2.55	0.00	0.000	4	0.000	0.061	2502	704	3431
2935	-1.12	-146.6	325.6	-10.3	165	2940	0.00	2.50	0.00	0.000	6	0.000	0.051	2502	2112	3430
3254	-1.12	-146.6	360.0	-10.7	185	3255	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2112	3430
3567	-1.12	-146.6	392.7	-10.1	205	3571	0.00	2.55	0.00	0.000	4	0.000	0.062	2502	702	3430
3680	-1.15	-146.6	404.1	-9.5	212	3684	0.00	2.50	0.00	0.000	6	0.000	0.049	2502	2112	3430
4004	-1.15	-146.6	435.0	-9.7	233	4005	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2112	3430
4316	-1.15	-146.6	467.9	-10.1	253	4320	0.00	2.55	0.00	0.000	4	0.000	0.064	2502	707	3430
4482	-1.18	-146.6	487.4	-13.2	263	4486	0.00	2.47	0.00	0.000	6	0.000	0.051	2502	2096	3430
4812	-1.18	-146.6	522.6	-10.4	284	4817	0.00	2.53	0.00	0.000	4	0.000	0.064	2502	704	3430
4920	-1.25	-146.6	532.5	-6.3	290	4927	0.12	2.47	0.00	0.000	6	0.060	0.052	2466	2099	3430
5242	-1.18	-146.6	559.7	-11.7	311	5247	0.10	2.53	0.00	0.000	4	0.107	0.067	2485	714	3430
5288	-1.18	-146.6	565.1	-9.0	314	5292	0.00	2.47	0.00	0.000	6	0.000	0.055	2485	2092	3430
5612	-1.18	-146.6	604.9	-12.4	335	5616	0.00	2.53	0.00	0.000	4	0.000	0.067	2485	715	3429
5662	-1.18	-146.6	610.9	-11.2	338	5666	0.00	2.45	0.00	0.000	6	0.000	0.056	2485	2075	3429
5984	-1.14	-146.6	638.1	-6.4	358	5989	0.00	2.70	0.00	0.000	4	0.000	0.078	2485	3540	3429
6040	-1.14	-146.6	644.4	-12.1	361	6047	0.00	2.70	0.00	0.000	6	0.000	0.065	2485	2067	3429
6341	end dive: BOTTOM_OBSTACLE_DETECTED
state	6341	begin apogee
6351	-0.33	0.0	678.0	10.6	381	6485	0.85	0.00	130.05	1.280	6	0.084	0.000	2668	1837	2831
6486	end apogee: CONTROL_FINISHED_OK
state	6486	begin climb
6489	1.22	146.6	684.1	0.0	390	6630	1.55	2.65	131.40	1.239	4	0.061	0.077	3009	442	2233
6891	1.08	146.6	660.9	8.6	414	6896	0.15	2.55	0.00	0.000	6	0.100	0.054	2981	1853	2232
7218	1.27	283.5	642.4	3.0	435	7347	0.17	2.75	121.53	1.221	4	0.055	0.075	3028	450	1675
7438	1.15	283.5	620.7	14.0	448	7445	0.17	2.55	0.00	0.000	6	0.098	0.056	2996	1850	1676
7757	1.15	283.5	589.0	8.0	469	7762	0.00	2.65	0.00	0.000	4	0.000	0.077	2996	445	1676
7787	1.15	283.5	586.0	11.4	471	7791	0.00	2.55	0.00	0.000	6	0.000	0.057	2996	1845	1676
8111	1.22	329.6	562.7	6.3	492	8159	0.00	2.70	41.38	1.187	4	0.000	0.076	2996	448	1486
8199	1.22	329.6	554.4	12.5	497	8203	0.00	2.53	0.00	0.000	6	0.000	0.058	2996	1831	1486
8519	1.22	329.6	521.4	11.7	517	8524	0.00	2.60	0.00	0.000	4	0.000	0.074	2996	446	1487
8553	1.22	329.6	517.0	11.1	519	8557	0.00	2.50	0.00	0.000	6	0.000	0.056	2996	1827	1487
8872	1.22	329.6	479.1	9.6	539	8873	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	1845	1487
9185	1.26	329.6	449.1	8.9	559	9190	0.10	2.60	0.00	0.000	4	0.063	0.074	3022	437	1487
9231	1.20	329.6	444.6	10.9	562	9235	0.00	2.47	0.00	0.000	6	0.000	0.054	3022	1809	1487
9555	1.20	329.6	405.7	11.7	583	9559	0.00	2.53	0.00	0.000	4	0.000	0.071	3022	439	1486
9605	1.13	329.6	399.2	13.2	586	9610	0.17	2.42	0.00	0.000	6	0.091	0.053	2989	1791	1486
9926	1.19	329.6	366.4	9.4	606	9927	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	1808	1486
10237	1.25	329.6	339.2	8.7	626	10239	0.12	0.00	0.00	0.000	6	0.058	0.000	3022	1809	1486
10550	1.25	329.6	303.2	12.2	646	10551	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1809	1486
10862	1.25	329.6	265.9	11.6	666	10863	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1809	1486
11174	1.25	329.6	231.0	11.1	686	11175	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1809	1487
11487	1.25	329.6	195.0	11.2	706	11491	0.00	2.62	0.00	0.000	4	0.000	0.059	3022	3265	1487
11515	1.25	329.6	191.6	11.8	708	11519	0.00	2.67	0.00	0.000	6	0.000	0.054	3022	1777	1487
11839	1.25	329.6	154.9	11.1	729	11844	0.00	2.67	0.00	0.000	4	0.000	0.058	3022	3255	1487
11903	1.29	329.6	148.2	10.2	733	11907	0.00	2.60	0.00	0.000	6	0.000	0.052	3022	1802	1487
12230	1.29	329.6	113.1	11.4	749	12235	0.00	2.65	0.00	0.000	4	0.000	0.058	3022	3267	1488
12326	1.34	329.6	102.6	10.3	753	12331	0.00	2.58	0.00	0.000	6	0.000	0.050	3022	1824	1487
12644	1.34	329.6	67.6	10.6	768	12645	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1824	1488
12952	1.34	329.6	34.1	10.9	783	12956	0.00	2.60	0.00	0.000	4	0.000	0.058	3022	3260	1489
13002	1.40	329.6	28.5	10.7	785	13007	0.12	2.53	0.00	0.000	6	0.054	0.051	3057	1833	1489
13212	end climb: SURFACE_DEPTH_REACHED
state	13212	begin surface coast
13236	end surface coast: CONTROL_FINISHED_OK
state	13236	begin surface