Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 317 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 317 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2125 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 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 27 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 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 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -93607.977 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 2625 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 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 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 550

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 -93607.977

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 270 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 360 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 2625 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2125 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 317 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 140325,6050.868,-305.882,41,1.3,41,-5.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6050.920,-327.591

_XMS_NAKs 11 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 0.95 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -55.9 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 140949,6050.920,-305.422,11,1.1,16,-5.9 MHEAD_RNG_PITCHd_Wd 275.9,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027343 ALTIM_BOTTOM_PING 475.4,77.8

SM_CCo 14590,0.25,0.149,0,0,1812,250.21 _24V_AH 23.8,54.760

SM_GC 2.41,0.00,0.00,0.25,0.000,0.000,0.149,421,1964,1812,-10.14,-1.02,250.21 _10V_AH 10.1,26.961

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34704,700

TT8_MAMPS 0.029146 CAP_FILE_SIZE 96816,0

HUMID 1819 CFSIZE 254472192,232996864

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

XPDR_PINGS 61 GPS 120109,181531,6052.158,-302.020,93,1.3,93,-5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 137 78.42 SBE_CT 519 24 296.99

Roll_motor 82 74 146.26 SBE_O2 471 19 213.35

VBD_pump_during_apogee 344 1182 9708.45 WL_BB2F 463 105 1158.84

VBD_pump_during_surface 0 148 0.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 24 160 94.70 nil 0 0 0.00

Iridium_during_xfer 195 223 1035.55

Transponder_ping 19 420 192.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.42

TT8 1245 19 249.01

LPSleep 11363 2 251.35

TT8_Active 450 19 90.00

TT8_Sampling 1403 39 564.18

TT8_CF8 515 45 238.35

TT8_Kalman 0 81 0.00

Analog_circuits 1161 12 140.72

GPS_charging 0 0 0.00

Compass 1377 8 111.31

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 12 begin dive

15 -0.97 -146.6 0.0 0.0 0 108 0.00 0.00 -89.95 0.000 6 0.000 0.000 421 1980 3430

112 -0.97 -146.6 2.8 -2.8 4 128 10.32 2.53 0.00 0.000 4 0.137 0.056 2407 581 3430

252 -0.53 -146.6 39.1 -15.8 9 258 0.47 2.53 0.00 0.000 6 0.089 0.051 2506 2002 3430

570 -0.35 -146.6 71.0 -10.8 24 572 0.20 0.00 0.00 0.000 6 0.084 0.000 2549 2009 3431

878 -0.35 -146.6 97.0 -8.4 39 879 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2009 3431

1187 -0.31 -146.6 122.5 -7.9 54 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2009 3431

1498 -0.31 -146.6 145.5 -7.4 69 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2009 3431

1805 -0.31 -146.6 167.9 -7.0 84 1810 0.00 2.58 0.00 0.000 4 0.000 0.064 2549 581 3431

1838 -0.31 -146.6 170.4 -7.8 85 1844 0.00 2.53 0.00 0.000 6 0.000 0.052 2549 2006 3431

2155 -0.31 -146.6 192.6 -7.0 101 2156 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2007 3431

2463 -0.31 -146.6 215.0 -7.5 116 2468 0.00 2.58 0.00 0.000 4 0.000 0.064 2549 584 3431

2503 -0.31 -146.6 218.5 -8.7 118 2508 0.00 2.50 0.00 0.000 6 0.000 0.052 2549 1997 3431

2831 -0.31 -146.6 245.8 -8.0 134 2832 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1998 3431

3139 -0.31 -146.6 270.1 -8.0 149 3141 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1998 3431

3449 -0.31 -146.6 295.9 -8.3 164 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1998 3431

3759 -0.31 -146.6 320.5 -7.7 179 3763 0.00 2.58 0.00 0.000 4 0.000 0.066 2549 585 3431

3803 -0.31 -146.6 324.2 -8.5 181 3807 0.00 2.50 0.00 0.000 6 0.000 0.052 2549 1993 3431

4124 -0.31 -146.6 351.6 -8.9 197 4125 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1993 3431

4434 -0.31 -146.6 376.3 -7.9 212 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1993 3431

4742 -0.31 -146.6 399.7 -7.5 227 4750 0.00 2.55 0.00 0.000 4 0.000 0.067 2549 3405 3431

4772 -0.31 -146.6 402.3 -8.1 228 4777 0.00 2.55 0.00 0.000 6 0.000 0.055 2549 1982 3431

5094 -0.31 -146.6 427.8 -7.7 244 5095 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1981 3431

5403 -0.31 -146.6 450.9 -7.0 259 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1981 3431

5711 -0.31 -146.6 471.4 -6.8 274 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1981 3431

6022 -0.31 -146.6 489.9 -5.8 289 6026 0.00 2.60 0.00 0.000 4 0.000 0.067 2549 3405 3431

6066 -0.31 -146.6 492.5 -5.9 291 6070 0.00 2.55 0.00 0.000 6 0.000 0.057 2549 1984 3430

6387 -0.31 -146.6 510.8 -5.6 307 6391 0.00 2.60 0.00 0.000 4 0.000 0.067 2549 3404 3430

6437 -0.31 -146.6 514.2 -7.1 309 6442 0.00 2.53 0.00 0.000 6 0.000 0.056 2549 1995 3430

6753 -0.31 -146.6 534.6 -6.6 324 6754 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1994 3430

6895 end dive: BOTTOM_OBSTACLE_DETECTED

state 6895 begin apogee

6902 -0.33 0.0 544.0 6.6 331 7032 0.00 0.00 127.22 1.183 6 0.000 0.000 2549 2126 2832

7032 end apogee: CONTROL_FINISHED_OK

state 7032 begin climb

7036 0.97 146.6 551.2 0.0 337 7173 1.33 2.67 126.80 1.150 4 0.064 0.071 2834 3537 2234

7209 1.36 206.6 546.9 4.4 345 7268 0.40 2.62 52.60 1.115 6 0.048 0.061 2935 2104 1989

7576 1.36 206.6 522.7 6.7 363 7580 0.00 2.58 0.00 0.000 4 0.000 0.074 2935 719 1989

7706 1.32 206.6 513.8 6.4 369 7711 0.12 2.53 0.00 0.000 6 0.089 0.058 2908 2119 1990

8034 1.44 250.4 498.6 4.8 385 8080 0.12 2.72 38.28 1.128 4 0.059 0.071 2944 3528 1811

8103 1.44 250.4 494.2 7.4 388 8107 0.00 2.60 0.00 0.000 6 0.000 0.062 2944 2127 1811

8424 1.44 250.4 470.9 7.4 404 8428 0.00 2.62 0.00 0.000 4 0.000 0.071 2944 3529 1812

8474 1.44 250.4 466.9 8.0 406 8478 0.00 2.60 0.00 0.000 6 0.000 0.061 2944 2111 1812

8790 1.44 250.4 443.9 7.8 421 8791 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2111 1811

9100 1.44 250.4 421.6 6.8 436 9101 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2111 1811

9408 1.44 250.4 399.2 7.8 451 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2111 1811

9717 1.44 250.4 373.5 8.6 466 9722 0.00 2.62 0.00 0.000 4 0.000 0.067 2944 3528 1811

9751 1.44 250.4 370.6 8.7 467 9757 0.00 2.55 0.00 0.000 6 0.000 0.055 2944 2116 1811

10069 1.44 250.4 344.8 7.9 483 10073 0.00 2.53 0.00 0.000 4 0.000 0.067 2945 717 1811

10096 1.44 250.4 342.2 8.2 484 10100 0.00 2.53 0.00 0.000 6 0.000 0.054 2945 2132 1811

10412 1.44 250.4 318.6 7.3 499 10414 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2131 1811

10721 1.44 250.4 296.4 7.4 514 10726 0.00 2.60 0.00 0.000 4 0.000 0.068 2945 714 1811

10754 1.44 250.4 293.6 8.4 515 10760 0.00 2.53 0.00 0.000 6 0.000 0.054 2945 2125 1811

11070 1.44 250.4 270.9 7.3 531 11071 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2126 1811

11380 1.44 250.4 248.5 7.2 546 11381 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2126 1811

11688 1.44 250.4 226.3 7.2 561 11693 0.00 2.58 0.00 0.000 4 0.000 0.066 2945 717 1812

11739 1.44 250.4 222.2 8.1 563 11743 0.00 2.50 0.00 0.000 6 0.000 0.052 2944 2119 1812

12055 1.44 250.4 197.7 7.5 578 12056 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2120 1812

12364 1.44 250.4 174.3 7.5 593 12368 0.00 2.55 0.00 0.000 4 0.000 0.066 2945 717 1812

12396 1.44 250.4 172.0 8.0 594 12402 0.00 2.50 0.00 0.000 6 0.000 0.052 2945 2124 1812

12714 1.44 250.4 148.2 8.2 610 12715 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2125 1812

13022 1.44 250.4 122.4 8.1 625 13023 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2125 1813

13331 1.44 250.4 100.1 7.2 640 13332 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2125 1813

13641 1.44 250.4 77.2 7.1 655 13642 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2125 1813

13949 1.44 250.4 55.4 8.5 670 13951 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2143 1813

14260 1.44 250.4 28.8 8.3 685 14261 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2137 1814

14524 end climb: SURFACE_DEPTH_REACHED

state 14524 begin surface coast

14566 end surface coast: CONTROL_FINISHED_OK

state 14567 begin surface

ID	5	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	317	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2125	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	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	27	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	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	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-93607.977	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	2625	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	140325,6050.868,-305.882,41,1.3,41,-5.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6050.920,-327.591
_XMS_NAKs	11	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	0.95	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-55.9	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	140949,6050.920,-305.422,11,1.1,16,-5.9	MHEAD_RNG_PITCHd_Wd	275.9,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027343	ALTIM_BOTTOM_PING	475.4,77.8
SM_CCo	14590,0.25,0.149,0,0,1812,250.21	_24V_AH	23.8,54.760
SM_GC	2.41,0.00,0.00,0.25,0.000,0.000,0.149,421,1964,1812,-10.14,-1.02,250.21	_10V_AH	10.1,26.961
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34704,700
TT8_MAMPS	0.029146	CAP_FILE_SIZE	96816,0
HUMID	1819	CFSIZE	254472192,232996864
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
XPDR_PINGS	61	GPS	120109,181531,6052.158,-302.020,93,1.3,93,-5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	137	78.42	SBE_CT	519	24	296.99
Roll_motor	82	74	146.26	SBE_O2	471	19	213.35
VBD_pump_during_apogee	344	1182	9708.45	WL_BB2F	463	105	1158.84
VBD_pump_during_surface	0	148	0.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	24	160	94.70	nil	0	0	0.00
Iridium_during_xfer	195	223	1035.55
Transponder_ping	19	420	192.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.42
TT8	1245	19	249.01
LPSleep	11363	2	251.35
TT8_Active	450	19	90.00
TT8_Sampling	1403	39	564.18
TT8_CF8	515	45	238.35
TT8_Kalman	0	81	0.00
Analog_circuits	1161	12	140.72
GPS_charging	0	0	0.00
Compass	1377	8	111.31
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	12	begin dive
15	-0.97	-146.6	0.0	0.0	0	108	0.00	0.00	-89.95	0.000	6	0.000	0.000	421	1980	3430
112	-0.97	-146.6	2.8	-2.8	4	128	10.32	2.53	0.00	0.000	4	0.137	0.056	2407	581	3430
252	-0.53	-146.6	39.1	-15.8	9	258	0.47	2.53	0.00	0.000	6	0.089	0.051	2506	2002	3430
570	-0.35	-146.6	71.0	-10.8	24	572	0.20	0.00	0.00	0.000	6	0.084	0.000	2549	2009	3431
878	-0.35	-146.6	97.0	-8.4	39	879	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2009	3431
1187	-0.31	-146.6	122.5	-7.9	54	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2009	3431
1498	-0.31	-146.6	145.5	-7.4	69	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2009	3431
1805	-0.31	-146.6	167.9	-7.0	84	1810	0.00	2.58	0.00	0.000	4	0.000	0.064	2549	581	3431
1838	-0.31	-146.6	170.4	-7.8	85	1844	0.00	2.53	0.00	0.000	6	0.000	0.052	2549	2006	3431
2155	-0.31	-146.6	192.6	-7.0	101	2156	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2007	3431
2463	-0.31	-146.6	215.0	-7.5	116	2468	0.00	2.58	0.00	0.000	4	0.000	0.064	2549	584	3431
2503	-0.31	-146.6	218.5	-8.7	118	2508	0.00	2.50	0.00	0.000	6	0.000	0.052	2549	1997	3431
2831	-0.31	-146.6	245.8	-8.0	134	2832	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1998	3431
3139	-0.31	-146.6	270.1	-8.0	149	3141	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1998	3431
3449	-0.31	-146.6	295.9	-8.3	164	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1998	3431
3759	-0.31	-146.6	320.5	-7.7	179	3763	0.00	2.58	0.00	0.000	4	0.000	0.066	2549	585	3431
3803	-0.31	-146.6	324.2	-8.5	181	3807	0.00	2.50	0.00	0.000	6	0.000	0.052	2549	1993	3431
4124	-0.31	-146.6	351.6	-8.9	197	4125	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1993	3431
4434	-0.31	-146.6	376.3	-7.9	212	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1993	3431
4742	-0.31	-146.6	399.7	-7.5	227	4750	0.00	2.55	0.00	0.000	4	0.000	0.067	2549	3405	3431
4772	-0.31	-146.6	402.3	-8.1	228	4777	0.00	2.55	0.00	0.000	6	0.000	0.055	2549	1982	3431
5094	-0.31	-146.6	427.8	-7.7	244	5095	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1981	3431
5403	-0.31	-146.6	450.9	-7.0	259	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1981	3431
5711	-0.31	-146.6	471.4	-6.8	274	5712	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1981	3431
6022	-0.31	-146.6	489.9	-5.8	289	6026	0.00	2.60	0.00	0.000	4	0.000	0.067	2549	3405	3431
6066	-0.31	-146.6	492.5	-5.9	291	6070	0.00	2.55	0.00	0.000	6	0.000	0.057	2549	1984	3430
6387	-0.31	-146.6	510.8	-5.6	307	6391	0.00	2.60	0.00	0.000	4	0.000	0.067	2549	3404	3430
6437	-0.31	-146.6	514.2	-7.1	309	6442	0.00	2.53	0.00	0.000	6	0.000	0.056	2549	1995	3430
6753	-0.31	-146.6	534.6	-6.6	324	6754	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1994	3430
6895	end dive: BOTTOM_OBSTACLE_DETECTED
state	6895	begin apogee
6902	-0.33	0.0	544.0	6.6	331	7032	0.00	0.00	127.22	1.183	6	0.000	0.000	2549	2126	2832
7032	end apogee: CONTROL_FINISHED_OK
state	7032	begin climb
7036	0.97	146.6	551.2	0.0	337	7173	1.33	2.67	126.80	1.150	4	0.064	0.071	2834	3537	2234
7209	1.36	206.6	546.9	4.4	345	7268	0.40	2.62	52.60	1.115	6	0.048	0.061	2935	2104	1989
7576	1.36	206.6	522.7	6.7	363	7580	0.00	2.58	0.00	0.000	4	0.000	0.074	2935	719	1989
7706	1.32	206.6	513.8	6.4	369	7711	0.12	2.53	0.00	0.000	6	0.089	0.058	2908	2119	1990
8034	1.44	250.4	498.6	4.8	385	8080	0.12	2.72	38.28	1.128	4	0.059	0.071	2944	3528	1811
8103	1.44	250.4	494.2	7.4	388	8107	0.00	2.60	0.00	0.000	6	0.000	0.062	2944	2127	1811
8424	1.44	250.4	470.9	7.4	404	8428	0.00	2.62	0.00	0.000	4	0.000	0.071	2944	3529	1812
8474	1.44	250.4	466.9	8.0	406	8478	0.00	2.60	0.00	0.000	6	0.000	0.061	2944	2111	1812
8790	1.44	250.4	443.9	7.8	421	8791	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2111	1811
9100	1.44	250.4	421.6	6.8	436	9101	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2111	1811
9408	1.44	250.4	399.2	7.8	451	9409	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2111	1811
9717	1.44	250.4	373.5	8.6	466	9722	0.00	2.62	0.00	0.000	4	0.000	0.067	2944	3528	1811
9751	1.44	250.4	370.6	8.7	467	9757	0.00	2.55	0.00	0.000	6	0.000	0.055	2944	2116	1811
10069	1.44	250.4	344.8	7.9	483	10073	0.00	2.53	0.00	0.000	4	0.000	0.067	2945	717	1811
10096	1.44	250.4	342.2	8.2	484	10100	0.00	2.53	0.00	0.000	6	0.000	0.054	2945	2132	1811
10412	1.44	250.4	318.6	7.3	499	10414	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2131	1811
10721	1.44	250.4	296.4	7.4	514	10726	0.00	2.60	0.00	0.000	4	0.000	0.068	2945	714	1811
10754	1.44	250.4	293.6	8.4	515	10760	0.00	2.53	0.00	0.000	6	0.000	0.054	2945	2125	1811
11070	1.44	250.4	270.9	7.3	531	11071	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2126	1811
11380	1.44	250.4	248.5	7.2	546	11381	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2126	1811
11688	1.44	250.4	226.3	7.2	561	11693	0.00	2.58	0.00	0.000	4	0.000	0.066	2945	717	1812
11739	1.44	250.4	222.2	8.1	563	11743	0.00	2.50	0.00	0.000	6	0.000	0.052	2944	2119	1812
12055	1.44	250.4	197.7	7.5	578	12056	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2120	1812
12364	1.44	250.4	174.3	7.5	593	12368	0.00	2.55	0.00	0.000	4	0.000	0.066	2945	717	1812
12396	1.44	250.4	172.0	8.0	594	12402	0.00	2.50	0.00	0.000	6	0.000	0.052	2945	2124	1812
12714	1.44	250.4	148.2	8.2	610	12715	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2125	1812
13022	1.44	250.4	122.4	8.1	625	13023	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2125	1813
13331	1.44	250.4	100.1	7.2	640	13332	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2125	1813
13641	1.44	250.4	77.2	7.1	655	13642	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2125	1813
13949	1.44	250.4	55.4	8.5	670	13951	0.00	0.00	0.00	0.000	6	0.000	0.000	2944	2143	1813
14260	1.44	250.4	28.8	8.3	685	14261	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2137	1814
14524	end climb: SURFACE_DEPTH_REACHED
state	14524	begin surface coast
14566	end surface coast: CONTROL_FINISHED_OK
state	14567	begin surface