Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 99 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 99 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 2250 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 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 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 -1629810.9 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 550

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 -1629810.9

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

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 2250 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 99 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 174713,6354.781,-1343.124,25,1.2,32,-12.8 TGT_NAME ME

_CALLS 1 TGT_LATLONG 6348.000,-1323.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.96 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.1 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 175207,6354.724,-1343.176,11,1.4,16,-12.8 MHEAD_RNG_PITCHd_Wd 139.8,20670,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026815 ALTIM_BOTTOM_PING 527.2,40.2

SM_CCo 12302,0.00,0.000,0,0,1119,419.95 _24V_AH 23.3,32.524

SM_GC 0.96,11.60,0.00,0.00,0.024,0.000,0.000,392,2237,1119,-10.99,-0.34,419.95 _10V_AH 10.1,15.756

IRIDIUM_FIX 6327.46,-1344.39,200998,161624 DATA_FILE_SIZE 28554,585

TT8_MAMPS 0.026845 CAP_FILE_SIZE 96416,0

HUMID 1839 CFSIZE 260165632,251719680

INTERNAL_PRESSURE 8.05043 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 17.10 GPS 260609,211837,6350.570,-1343.557,31,1.4,31,-12.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 132 79.22 SBE_CT 518 24 290.14

Roll_motor 125 61 179.78 SBE_O2 399 19 176.77

VBD_pump_during_apogee 489 1155 13170.30 WL_BB2F 415 105 1017.14

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 26 103 63.84 nil 0 0 0.00

Iridium_during_connect 41 160 155.48 nil 0 0 0.00

Iridium_during_xfer 128 223 668.72

Transponder_ping 4 420 46.48

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.19

TT8 1127 19 225.42

LPSleep 8920 2 197.31

TT8_Active 522 19 104.40

TT8_Sampling 1447 39 581.81

TT8_CF8 590 45 272.99

TT8_Kalman 0 81 0.00

Analog_circuits 1331 12 161.35

GPS_charging 0 0 0.00

Compass 1540 8 124.47

RAFOS 0 0 0.00

Transponder 35 30 10.78

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 -0.96 -146.6 0.0 0.0 0 78 0.00 0.00 -59.05 0.000 6 0.000 0.000 396 2246 3431

81 -0.96 -146.6 4.7 -9.0 3 102 11.62 2.53 0.00 0.000 4 0.133 0.038 2583 834 3432

238 -0.96 -146.6 25.3 -7.4 10 242 0.00 2.47 0.00 0.000 6 0.000 0.035 2583 2246 3433

564 -0.96 -146.6 53.2 -10.2 26 568 0.00 2.47 0.00 0.000 4 0.000 0.039 2583 841 3433

596 -0.96 -146.6 56.9 -10.8 27 603 0.00 2.47 0.00 0.000 6 0.000 0.035 2583 2260 3433

914 -0.96 -146.6 87.3 -8.0 43 918 0.00 2.50 0.00 0.000 4 0.000 0.039 2583 839 3434

964 -0.96 -146.6 90.7 -5.7 45 968 0.00 2.47 0.00 0.000 6 0.000 0.035 2583 2255 3433

1281 -0.96 -146.6 110.1 -6.5 60 1285 0.00 2.55 0.00 0.000 4 0.000 0.061 2583 3650 3433

1388 -0.96 -146.6 118.2 -8.1 65 1392 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2233 3434

1716 -0.96 -146.6 140.2 -6.6 81 1720 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3650 3434

1809 -0.96 -146.6 147.7 -8.1 85 1814 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2254 3434

2133 -0.96 -146.6 173.1 -7.7 101 2134 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2254 3434

2439 -0.96 -146.6 194.6 -7.1 116 2444 0.00 2.55 0.00 0.000 4 0.000 0.055 2583 3655 3434

2506 -0.96 -146.6 202.0 -11.1 119 2510 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2237 3434

2830 -0.96 -146.6 234.3 -8.7 135 2834 0.00 2.58 0.00 0.000 4 0.000 0.054 2583 3655 3434

2869 -0.96 -146.6 237.9 -9.2 137 2873 0.00 2.38 0.00 0.000 6 0.000 0.028 2583 2254 3434

3198 -0.96 -146.6 268.5 -9.1 153 3202 0.00 2.55 0.00 0.000 4 0.000 0.055 2584 3657 3434

3237 -0.96 -146.6 272.8 -10.8 155 3242 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2243 3434

3565 -0.96 -146.6 303.2 -8.2 171 3569 0.00 2.55 0.00 0.000 4 0.000 0.056 2583 3650 3434

3626 -0.96 -146.6 308.1 -8.1 174 3631 0.00 2.40 0.00 0.000 6 0.000 0.028 2583 2239 3434

3953 -0.96 -146.6 329.3 -4.7 190 3957 0.00 2.58 0.00 0.000 4 0.000 0.057 2583 3654 3434

4129 -0.96 -146.6 339.4 -6.9 198 4133 0.00 2.38 0.00 0.000 6 0.000 0.029 2583 2255 3434

4456 -0.96 -146.6 359.8 -9.7 214 4460 0.00 2.55 0.00 0.000 4 0.000 0.056 2583 3654 3433

4511 -0.96 -146.6 364.3 -8.5 216 4517 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2248 3433

4827 -0.96 -146.6 383.8 -7.4 232 4831 0.00 2.58 0.00 0.000 4 0.000 0.058 2583 3655 3433

4899 -0.96 -146.6 390.1 -7.7 235 4903 0.00 2.40 0.00 0.000 6 0.000 0.030 2583 2251 3432

5214 -0.96 -146.6 414.3 -11.0 250 5218 0.00 2.55 0.00 0.000 4 0.000 0.058 2583 3650 3431

5284 -0.96 -146.6 421.2 -9.8 253 5288 0.00 2.40 0.00 0.000 6 0.000 0.029 2583 2242 3431

5604 -0.96 -146.6 462.2 -13.1 269 5609 0.00 2.45 0.00 0.000 4 0.000 0.044 2583 864 3431

5637 -0.96 -146.6 466.3 -12.2 270 5641 0.00 2.42 0.00 0.000 6 0.000 0.037 2583 2260 3430

5953 -0.96 -146.6 491.8 -6.5 285 5957 0.00 2.47 0.00 0.000 4 0.000 0.044 2583 858 3430

5998 -0.96 -146.6 493.6 -1.7 287 6002 0.00 2.45 0.00 0.000 6 0.000 0.039 2584 2257 3430

6322 -0.96 -146.6 500.6 -3.3 303 6326 0.00 2.53 0.00 0.000 4 0.000 0.061 2583 3648 3429

6388 -0.96 -146.6 503.7 -4.1 306 6393 0.00 2.42 0.00 0.000 6 0.000 0.031 2583 2255 3430

6715 -0.96 -146.6 530.1 -9.3 322 6719 0.00 2.55 0.00 0.000 4 0.000 0.060 2583 3650 3429

6786 -0.96 -146.6 537.1 -13.7 325 6791 0.00 2.40 0.00 0.000 6 0.000 0.031 2583 2250 3428

6893 end dive: BOTTOM_OBSTACLE_DETECTED

state 6893 begin apogee

6901 -0.36 0.0 559.1 21.9 330 7036 0.65 0.00 126.53 1.156 6 0.065 0.000 2723 1464 2832

7036 end apogee: CONTROL_FINISHED_OK

state 7037 begin climb

7039 0.96 146.6 572.4 0.0 337 7179 1.33 2.62 127.93 1.113 4 0.050 0.048 3014 2864 2232

7227 1.30 415.6 567.8 -1.4 346 7470 0.30 2.53 234.57 1.093 6 0.027 0.038 3108 1448 1137

7782 1.30 415.6 484.2 19.4 372 7787 0.12 2.17 0.00 0.000 4 0.078 0.061 3082 264 1126

7893 1.30 415.6 468.1 10.0 377 7897 0.00 2.08 0.00 0.000 6 0.000 0.035 3082 1470 1124

8221 1.30 415.6 435.4 11.2 393 8222 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 1472 1123

8529 1.30 415.6 399.2 10.0 408 8533 0.00 2.20 0.00 0.000 4 0.000 0.056 3081 264 1122

8568 1.30 415.6 396.0 9.1 409 8574 0.00 2.05 0.00 0.000 6 0.000 0.033 3082 1458 1121

8884 1.30 415.6 362.2 11.1 425 8885 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 1458 1121

9193 1.30 415.6 324.8 13.2 440 9196 0.00 2.17 0.00 0.000 4 0.000 0.056 3082 262 1121

9220 1.30 415.6 321.1 13.6 441 9224 0.00 2.05 0.00 0.000 6 0.000 0.033 3082 1457 1121

9547 1.30 415.6 282.7 9.8 457 9549 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 1457 1120

9856 1.30 415.6 254.3 9.2 472 9860 0.00 2.17 0.00 0.000 4 0.000 0.056 3082 258 1120

9928 1.30 415.6 247.3 9.0 475 9933 0.00 2.08 0.00 0.000 6 0.000 0.032 3082 1455 1120

10255 1.30 415.6 213.4 11.5 491 10256 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 1456 1120

10565 1.30 415.6 179.7 10.2 506 10569 0.00 2.17 0.00 0.000 4 0.000 0.054 3081 268 1120

10642 1.30 415.6 171.7 9.8 509 10646 0.00 2.00 0.00 0.000 6 0.000 0.031 3082 1455 1120

10964 1.30 415.6 144.8 8.3 525 10967 0.00 2.15 0.00 0.000 4 0.000 0.054 3082 264 1120

10997 1.30 415.6 141.4 10.1 526 11001 0.00 2.03 0.00 0.000 6 0.000 0.031 3082 1465 1120

11319 1.30 415.6 109.9 10.3 542 11323 0.00 2.17 0.00 0.000 4 0.000 0.054 3082 264 1121

11397 1.30 415.6 101.5 10.3 545 11401 0.00 2.00 0.00 0.000 6 0.000 0.032 3082 1454 1121

11720 1.30 415.6 60.5 12.8 561 11724 0.00 2.15 0.00 0.000 4 0.000 0.053 3081 261 1121

11753 1.30 415.6 55.8 13.4 562 11757 0.00 2.00 0.00 0.000 6 0.000 0.031 3081 1458 1121

12075 1.30 415.6 16.9 11.6 578 12076 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 1458 1121

12197 end climb: SURFACE_DEPTH_REACHED

state 12197 begin surface coast

12218 end surface coast: CONTROL_FINISHED_OK

state 12218 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	99	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	2250	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	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	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	-1629810.9	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	174713,6354.781,-1343.124,25,1.2,32,-12.8	TGT_NAME	ME
_CALLS	1	TGT_LATLONG	6348.000,-1323.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.96	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.1	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	175207,6354.724,-1343.176,11,1.4,16,-12.8	MHEAD_RNG_PITCHd_Wd	139.8,20670,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.026815	ALTIM_BOTTOM_PING	527.2,40.2
SM_CCo	12302,0.00,0.000,0,0,1119,419.95	_24V_AH	23.3,32.524
SM_GC	0.96,11.60,0.00,0.00,0.024,0.000,0.000,392,2237,1119,-10.99,-0.34,419.95	_10V_AH	10.1,15.756
IRIDIUM_FIX	6327.46,-1344.39,200998,161624	DATA_FILE_SIZE	28554,585
TT8_MAMPS	0.026845	CAP_FILE_SIZE	96416,0
HUMID	1839	CFSIZE	260165632,251719680
INTERNAL_PRESSURE	8.05043	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.10	GPS	260609,211837,6350.570,-1343.557,31,1.4,31,-12.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	132	79.22	SBE_CT	518	24	290.14
Roll_motor	125	61	179.78	SBE_O2	399	19	176.77
VBD_pump_during_apogee	489	1155	13170.30	WL_BB2F	415	105	1017.14
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	26	103	63.84	nil	0	0	0.00
Iridium_during_connect	41	160	155.48	nil	0	0	0.00
Iridium_during_xfer	128	223	668.72
Transponder_ping	4	420	46.48
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.19
TT8	1127	19	225.42
LPSleep	8920	2	197.31
TT8_Active	522	19	104.40
TT8_Sampling	1447	39	581.81
TT8_CF8	590	45	272.99
TT8_Kalman	0	81	0.00
Analog_circuits	1331	12	161.35
GPS_charging	0	0	0.00
Compass	1540	8	124.47
RAFOS	0	0	0.00
Transponder	35	30	10.78

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	-0.96	-146.6	0.0	0.0	0	78	0.00	0.00	-59.05	0.000	6	0.000	0.000	396	2246	3431
81	-0.96	-146.6	4.7	-9.0	3	102	11.62	2.53	0.00	0.000	4	0.133	0.038	2583	834	3432
238	-0.96	-146.6	25.3	-7.4	10	242	0.00	2.47	0.00	0.000	6	0.000	0.035	2583	2246	3433
564	-0.96	-146.6	53.2	-10.2	26	568	0.00	2.47	0.00	0.000	4	0.000	0.039	2583	841	3433
596	-0.96	-146.6	56.9	-10.8	27	603	0.00	2.47	0.00	0.000	6	0.000	0.035	2583	2260	3433
914	-0.96	-146.6	87.3	-8.0	43	918	0.00	2.50	0.00	0.000	4	0.000	0.039	2583	839	3434
964	-0.96	-146.6	90.7	-5.7	45	968	0.00	2.47	0.00	0.000	6	0.000	0.035	2583	2255	3433
1281	-0.96	-146.6	110.1	-6.5	60	1285	0.00	2.55	0.00	0.000	4	0.000	0.061	2583	3650	3433
1388	-0.96	-146.6	118.2	-8.1	65	1392	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2233	3434
1716	-0.96	-146.6	140.2	-6.6	81	1720	0.00	2.58	0.00	0.000	4	0.000	0.054	2583	3650	3434
1809	-0.96	-146.6	147.7	-8.1	85	1814	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2254	3434
2133	-0.96	-146.6	173.1	-7.7	101	2134	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2254	3434
2439	-0.96	-146.6	194.6	-7.1	116	2444	0.00	2.55	0.00	0.000	4	0.000	0.055	2583	3655	3434
2506	-0.96	-146.6	202.0	-11.1	119	2510	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2237	3434
2830	-0.96	-146.6	234.3	-8.7	135	2834	0.00	2.58	0.00	0.000	4	0.000	0.054	2583	3655	3434
2869	-0.96	-146.6	237.9	-9.2	137	2873	0.00	2.38	0.00	0.000	6	0.000	0.028	2583	2254	3434
3198	-0.96	-146.6	268.5	-9.1	153	3202	0.00	2.55	0.00	0.000	4	0.000	0.055	2584	3657	3434
3237	-0.96	-146.6	272.8	-10.8	155	3242	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2243	3434
3565	-0.96	-146.6	303.2	-8.2	171	3569	0.00	2.55	0.00	0.000	4	0.000	0.056	2583	3650	3434
3626	-0.96	-146.6	308.1	-8.1	174	3631	0.00	2.40	0.00	0.000	6	0.000	0.028	2583	2239	3434
3953	-0.96	-146.6	329.3	-4.7	190	3957	0.00	2.58	0.00	0.000	4	0.000	0.057	2583	3654	3434
4129	-0.96	-146.6	339.4	-6.9	198	4133	0.00	2.38	0.00	0.000	6	0.000	0.029	2583	2255	3434
4456	-0.96	-146.6	359.8	-9.7	214	4460	0.00	2.55	0.00	0.000	4	0.000	0.056	2583	3654	3433
4511	-0.96	-146.6	364.3	-8.5	216	4517	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2248	3433
4827	-0.96	-146.6	383.8	-7.4	232	4831	0.00	2.58	0.00	0.000	4	0.000	0.058	2583	3655	3433
4899	-0.96	-146.6	390.1	-7.7	235	4903	0.00	2.40	0.00	0.000	6	0.000	0.030	2583	2251	3432
5214	-0.96	-146.6	414.3	-11.0	250	5218	0.00	2.55	0.00	0.000	4	0.000	0.058	2583	3650	3431
5284	-0.96	-146.6	421.2	-9.8	253	5288	0.00	2.40	0.00	0.000	6	0.000	0.029	2583	2242	3431
5604	-0.96	-146.6	462.2	-13.1	269	5609	0.00	2.45	0.00	0.000	4	0.000	0.044	2583	864	3431
5637	-0.96	-146.6	466.3	-12.2	270	5641	0.00	2.42	0.00	0.000	6	0.000	0.037	2583	2260	3430
5953	-0.96	-146.6	491.8	-6.5	285	5957	0.00	2.47	0.00	0.000	4	0.000	0.044	2583	858	3430
5998	-0.96	-146.6	493.6	-1.7	287	6002	0.00	2.45	0.00	0.000	6	0.000	0.039	2584	2257	3430
6322	-0.96	-146.6	500.6	-3.3	303	6326	0.00	2.53	0.00	0.000	4	0.000	0.061	2583	3648	3429
6388	-0.96	-146.6	503.7	-4.1	306	6393	0.00	2.42	0.00	0.000	6	0.000	0.031	2583	2255	3430
6715	-0.96	-146.6	530.1	-9.3	322	6719	0.00	2.55	0.00	0.000	4	0.000	0.060	2583	3650	3429
6786	-0.96	-146.6	537.1	-13.7	325	6791	0.00	2.40	0.00	0.000	6	0.000	0.031	2583	2250	3428
6893	end dive: BOTTOM_OBSTACLE_DETECTED
state	6893	begin apogee
6901	-0.36	0.0	559.1	21.9	330	7036	0.65	0.00	126.53	1.156	6	0.065	0.000	2723	1464	2832
7036	end apogee: CONTROL_FINISHED_OK
state	7037	begin climb
7039	0.96	146.6	572.4	0.0	337	7179	1.33	2.62	127.93	1.113	4	0.050	0.048	3014	2864	2232
7227	1.30	415.6	567.8	-1.4	346	7470	0.30	2.53	234.57	1.093	6	0.027	0.038	3108	1448	1137
7782	1.30	415.6	484.2	19.4	372	7787	0.12	2.17	0.00	0.000	4	0.078	0.061	3082	264	1126
7893	1.30	415.6	468.1	10.0	377	7897	0.00	2.08	0.00	0.000	6	0.000	0.035	3082	1470	1124
8221	1.30	415.6	435.4	11.2	393	8222	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	1472	1123
8529	1.30	415.6	399.2	10.0	408	8533	0.00	2.20	0.00	0.000	4	0.000	0.056	3081	264	1122
8568	1.30	415.6	396.0	9.1	409	8574	0.00	2.05	0.00	0.000	6	0.000	0.033	3082	1458	1121
8884	1.30	415.6	362.2	11.1	425	8885	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	1458	1121
9193	1.30	415.6	324.8	13.2	440	9196	0.00	2.17	0.00	0.000	4	0.000	0.056	3082	262	1121
9220	1.30	415.6	321.1	13.6	441	9224	0.00	2.05	0.00	0.000	6	0.000	0.033	3082	1457	1121
9547	1.30	415.6	282.7	9.8	457	9549	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	1457	1120
9856	1.30	415.6	254.3	9.2	472	9860	0.00	2.17	0.00	0.000	4	0.000	0.056	3082	258	1120
9928	1.30	415.6	247.3	9.0	475	9933	0.00	2.08	0.00	0.000	6	0.000	0.032	3082	1455	1120
10255	1.30	415.6	213.4	11.5	491	10256	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	1456	1120
10565	1.30	415.6	179.7	10.2	506	10569	0.00	2.17	0.00	0.000	4	0.000	0.054	3081	268	1120
10642	1.30	415.6	171.7	9.8	509	10646	0.00	2.00	0.00	0.000	6	0.000	0.031	3082	1455	1120
10964	1.30	415.6	144.8	8.3	525	10967	0.00	2.15	0.00	0.000	4	0.000	0.054	3082	264	1120
10997	1.30	415.6	141.4	10.1	526	11001	0.00	2.03	0.00	0.000	6	0.000	0.031	3082	1465	1120
11319	1.30	415.6	109.9	10.3	542	11323	0.00	2.17	0.00	0.000	4	0.000	0.054	3082	264	1121
11397	1.30	415.6	101.5	10.3	545	11401	0.00	2.00	0.00	0.000	6	0.000	0.032	3082	1454	1121
11720	1.30	415.6	60.5	12.8	561	11724	0.00	2.15	0.00	0.000	4	0.000	0.053	3081	261	1121
11753	1.30	415.6	55.8	13.4	562	11757	0.00	2.00	0.00	0.000	6	0.000	0.031	3081	1458	1121
12075	1.30	415.6	16.9	11.6	578	12076	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	1458	1121
12197	end climb: SURFACE_DEPTH_REACHED
state	12197	begin surface coast
12218	end surface coast: CONTROL_FINISHED_OK
state	12218	begin surface