Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 125 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 125 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 20

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 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 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 1001 T_GPS_CHARGE -2109821.5 VBD_BLEED_AD_RATE 4 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 -2109821.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 125 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 182854,6357.585,-1321.818,26,1.2,44,-12.6 TGT_NAME K1

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.53 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -65.6 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 183356,6357.594,-1321.689,12,1.5,12,-12.6 MHEAD_RNG_PITCHd_Wd 158.4,16998,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026510 ALTIM_BOTTOM_PING 675.9,40.1

SM_CCo 13238,0.00,0.000,0,0,853,482.01 _24V_AH 23.6,23.224

SM_GC 1.45,12.25,0.00,0.00,0.087,0.000,0.000,78,2601,853,-10.45,0.03,482.01 _10V_AH 10.1,11.446

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31670,632

TT8_MAMPS 0.02301 CAP_FILE_SIZE 101333,0

HUMID 1762 CFSIZE 260165632,251293696

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 280609,221606,6355.118,-1322.120,38,1.3,38,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 182 117.50 SBE_CT 465 24 263.92

Roll_motor 118 71 198.98 SBE_O2 429 19 192.36

VBD_pump_during_apogee 553 1046 13680.90 WL_BB2F 398 105 986.41

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 18 103 44.06 nil 0 0 0.00

Iridium_during_connect 30 160 115.28 nil 0 0 0.00

Iridium_during_xfer 140 223 741.49

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.30

TT8 1179 19 235.80

LPSleep 9832 2 217.49

TT8_Active 586 19 117.38

TT8_Sampling 1524 39 613.02

TT8_CF8 415 45 192.10

TT8_Kalman 0 81 0.00

Analog_circuits 1407 12 170.60

GPS_charging 0 0 0.00

Compass 1482 8 119.77

RAFOS 0 0 0.00

Transponder 39 30 12.07

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 -1.03 -146.6 0.0 0.0 0 81 0.00 0.00 -61.85 0.000 2 0.000 0.000 71 2614 3167

84 -1.03 -146.6 4.6 -7.2 3 103 12.02 0.00 -4.47 0.000 6 0.183 0.000 2131 2614 3416

411 -1.03 -146.6 50.3 -11.1 19 415 0.00 2.30 0.00 0.000 4 0.000 0.064 2131 3854 3418

511 -0.99 -146.6 61.9 -10.8 23 518 0.00 2.17 0.00 0.000 6 0.000 0.026 2131 2582 3419

827 -0.99 -146.6 95.3 -10.8 39 831 0.00 2.40 0.00 0.000 4 0.000 0.039 2131 1219 3419

861 -0.99 -146.6 99.1 -10.7 40 867 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2600 3419

1178 -0.99 -146.6 132.8 -10.5 56 1179 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3419

1486 -0.99 -146.6 165.1 -10.2 71 1490 0.00 2.45 0.00 0.000 4 0.000 0.038 2129 1213 3420

1513 -0.99 -146.6 167.8 -9.6 72 1517 0.00 2.45 0.00 0.000 6 0.000 0.035 2131 2608 3420

1828 -0.99 -146.6 199.0 -10.0 87 1829 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3419

2138 -0.99 -146.6 229.0 -9.2 102 2142 0.00 2.45 0.00 0.000 4 0.000 0.039 2131 1218 3420

2171 -0.99 -146.6 231.9 -8.6 103 2177 0.00 2.42 0.00 0.000 6 0.000 0.036 2131 2599 3420

2487 -0.99 -146.6 258.9 -8.3 119 2488 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

2796 -0.99 -146.6 285.7 -8.9 134 2797 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

3106 -0.99 -146.6 311.2 -8.0 149 3107 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

3414 -0.99 -146.6 338.2 -9.3 164 3416 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

3724 -0.99 -146.6 367.2 -9.4 179 3725 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3420

4033 -0.99 -146.6 395.8 -8.9 194 4034 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

4342 -0.99 -146.6 422.3 -8.8 209 4346 0.00 2.45 0.00 0.000 4 0.000 0.040 2131 1212 3419

4375 -0.99 -146.6 424.9 -7.9 210 4383 0.00 2.42 0.00 0.000 6 0.000 0.037 2131 2599 3420

4692 -0.99 -146.6 457.1 -11.2 226 4693 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

5001 -0.99 -146.6 489.0 -10.0 241 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3419

5310 -0.99 -146.6 521.1 -10.3 256 5314 0.00 2.45 0.00 0.000 4 0.000 0.041 2131 1211 3419

5358 -1.07 -146.6 525.3 -9.2 258 5363 0.00 2.45 0.00 0.000 6 0.000 0.038 2131 2604 3419

5685 -1.07 -146.6 566.6 -11.4 274 5689 0.00 2.33 0.00 0.000 4 0.000 0.071 2131 3857 3419

5769 -1.07 -146.6 577.1 -11.9 278 5773 0.00 2.12 0.00 0.000 6 0.000 0.028 2131 2600 3418

6101 -1.07 -146.6 616.3 -12.7 294 6105 0.00 2.35 0.00 0.000 4 0.000 0.070 2131 3858 3418

6235 -1.07 -146.6 629.8 -9.2 300 6239 0.00 2.15 0.00 0.000 6 0.000 0.030 2131 2601 3418

6564 -1.12 -146.6 639.7 -0.8 316 6568 0.00 2.38 0.00 0.000 4 0.000 0.071 2131 3864 3418

6627 -1.16 -146.6 642.2 -4.1 319 6632 0.12 2.17 0.00 0.000 6 0.051 0.031 2095 2599 3418

6956 -1.10 -146.6 685.0 -20.6 335 6961 0.12 2.53 0.00 0.000 4 0.103 0.052 2118 1202 3417

7051 -1.16 -146.6 702.6 -22.1 339 7055 0.00 2.47 0.00 0.000 6 0.000 0.041 2118 2599 3416

7075 end dive: BOTTOM_OBSTACLE_DETECTED

state 7075 begin apogee

7082 -0.31 0.0 708.9 23.6 340 7218 0.85 0.00 130.23 1.047 6 0.108 0.000 2288 2293 2817

7219 end apogee: CONTROL_FINISHED_OK

state 7219 begin climb

7222 1.03 146.6 716.3 0.0 347 7360 1.40 2.72 130.07 1.037 4 0.084 0.069 2578 3702 2219

7432 1.25 477.6 717.4 -3.8 356 7734 0.25 2.47 293.40 1.034 6 0.047 0.034 2640 2306 868

8051 1.25 477.6 631.3 17.2 386 8055 0.00 2.62 0.00 0.000 4 0.000 0.059 2640 896 858

8158 1.30 477.6 614.2 12.9 391 8162 0.00 2.50 0.00 0.000 6 0.000 0.038 2640 2302 856

8484 1.30 477.6 579.5 11.6 407 8485 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2302 855

8794 1.30 477.6 538.8 13.4 422 8798 0.00 2.58 0.00 0.000 4 0.000 0.051 2640 895 854

8838 1.30 477.6 533.3 12.8 424 8842 0.00 2.50 0.00 0.000 6 0.000 0.036 2640 2306 854

9159 1.30 477.6 490.9 14.2 440 9163 0.00 2.55 0.00 0.000 4 0.000 0.047 2640 896 853

9221 1.34 477.6 482.5 12.8 443 9226 0.00 2.47 0.00 0.000 6 0.000 0.035 2640 2302 853

9547 1.34 477.6 441.2 10.6 459 9552 0.00 2.55 0.00 0.000 4 0.000 0.045 2640 891 853

9620 1.39 477.6 432.1 12.2 462 9625 0.10 2.47 0.00 0.000 6 0.055 0.035 2672 2309 853

9936 1.31 477.6 386.0 14.4 477 9941 0.15 2.55 0.00 0.000 4 0.097 0.047 2643 896 852

9998 1.31 477.6 377.3 13.1 480 10002 0.00 2.47 0.00 0.000 6 0.000 0.034 2643 2309 852

10326 1.31 477.6 331.9 14.1 496 10330 0.00 2.55 0.00 0.000 4 0.000 0.045 2643 896 853

10392 1.31 477.6 322.1 13.8 499 10396 0.00 2.47 0.00 0.000 6 0.000 0.033 2643 2309 853

10712 1.31 477.6 280.2 13.6 515 10717 0.00 2.55 0.00 0.000 4 0.000 0.046 2643 895 853

10798 1.31 477.6 268.5 13.9 519 10802 0.00 2.45 0.00 0.000 6 0.000 0.034 2643 2301 853

11124 1.31 477.6 226.9 12.5 535 11128 0.00 2.53 0.00 0.000 4 0.000 0.046 2643 895 853

11201 1.31 477.6 217.1 11.8 538 11208 0.00 2.45 0.00 0.000 6 0.000 0.033 2643 2302 853

11517 1.31 477.6 180.3 11.5 554 11521 0.00 2.53 0.00 0.000 4 0.000 0.044 2643 895 853

11589 1.31 477.6 171.8 11.8 557 11593 0.00 2.45 0.00 0.000 6 0.000 0.033 2643 2299 853

11905 1.31 477.6 135.3 11.7 572 11909 0.00 2.53 0.00 0.000 4 0.000 0.045 2643 891 853

11983 1.31 477.6 126.3 10.7 575 11989 0.00 2.45 0.00 0.000 6 0.000 0.034 2643 2301 853

12298 1.31 477.6 91.0 11.3 591 12303 0.00 2.53 0.00 0.000 4 0.000 0.044 2643 895 853

12384 1.31 477.6 81.6 10.4 595 12388 0.00 2.42 0.00 0.000 6 0.000 0.032 2643 2299 853

12716 1.31 477.6 48.3 9.4 611 12720 0.00 2.53 0.00 0.000 4 0.000 0.045 2643 891 853

12794 1.31 477.6 41.2 7.7 614 12800 0.00 2.45 0.00 0.000 6 0.000 0.033 2643 2301 853

13110 1.31 477.6 3.9 13.4 630 13114 0.00 2.22 0.00 0.000 3 0.000 0.043 2643 1043 853

13115 end climb: SURFACE_DEPTH_REACHED

state 13115 begin surface coast

13152 end surface coast: CONTROL_FINISHED_OK

state 13152 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	125	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	20
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	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	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	1001	T_GPS_CHARGE	-2109821.5	VBD_BLEED_AD_RATE	4	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	182854,6357.585,-1321.818,26,1.2,44,-12.6	TGT_NAME	K1
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.53	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-65.6	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	183356,6357.594,-1321.689,12,1.5,12,-12.6	MHEAD_RNG_PITCHd_Wd	158.4,16998,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026510	ALTIM_BOTTOM_PING	675.9,40.1
SM_CCo	13238,0.00,0.000,0,0,853,482.01	_24V_AH	23.6,23.224
SM_GC	1.45,12.25,0.00,0.00,0.087,0.000,0.000,78,2601,853,-10.45,0.03,482.01	_10V_AH	10.1,11.446
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31670,632
TT8_MAMPS	0.02301	CAP_FILE_SIZE	101333,0
HUMID	1762	CFSIZE	260165632,251293696
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	280609,221606,6355.118,-1322.120,38,1.3,38,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	182	117.50	SBE_CT	465	24	263.92
Roll_motor	118	71	198.98	SBE_O2	429	19	192.36
VBD_pump_during_apogee	553	1046	13680.90	WL_BB2F	398	105	986.41
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	18	103	44.06	nil	0	0	0.00
Iridium_during_connect	30	160	115.28	nil	0	0	0.00
Iridium_during_xfer	140	223	741.49
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.30
TT8	1179	19	235.80
LPSleep	9832	2	217.49
TT8_Active	586	19	117.38
TT8_Sampling	1524	39	613.02
TT8_CF8	415	45	192.10
TT8_Kalman	0	81	0.00
Analog_circuits	1407	12	170.60
GPS_charging	0	0	0.00
Compass	1482	8	119.77
RAFOS	0	0	0.00
Transponder	39	30	12.07

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	-1.03	-146.6	0.0	0.0	0	81	0.00	0.00	-61.85	0.000	2	0.000	0.000	71	2614	3167
84	-1.03	-146.6	4.6	-7.2	3	103	12.02	0.00	-4.47	0.000	6	0.183	0.000	2131	2614	3416
411	-1.03	-146.6	50.3	-11.1	19	415	0.00	2.30	0.00	0.000	4	0.000	0.064	2131	3854	3418
511	-0.99	-146.6	61.9	-10.8	23	518	0.00	2.17	0.00	0.000	6	0.000	0.026	2131	2582	3419
827	-0.99	-146.6	95.3	-10.8	39	831	0.00	2.40	0.00	0.000	4	0.000	0.039	2131	1219	3419
861	-0.99	-146.6	99.1	-10.7	40	867	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2600	3419
1178	-0.99	-146.6	132.8	-10.5	56	1179	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3419
1486	-0.99	-146.6	165.1	-10.2	71	1490	0.00	2.45	0.00	0.000	4	0.000	0.038	2129	1213	3420
1513	-0.99	-146.6	167.8	-9.6	72	1517	0.00	2.45	0.00	0.000	6	0.000	0.035	2131	2608	3420
1828	-0.99	-146.6	199.0	-10.0	87	1829	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3419
2138	-0.99	-146.6	229.0	-9.2	102	2142	0.00	2.45	0.00	0.000	4	0.000	0.039	2131	1218	3420
2171	-0.99	-146.6	231.9	-8.6	103	2177	0.00	2.42	0.00	0.000	6	0.000	0.036	2131	2599	3420
2487	-0.99	-146.6	258.9	-8.3	119	2488	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
2796	-0.99	-146.6	285.7	-8.9	134	2797	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
3106	-0.99	-146.6	311.2	-8.0	149	3107	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
3414	-0.99	-146.6	338.2	-9.3	164	3416	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
3724	-0.99	-146.6	367.2	-9.4	179	3725	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3420
4033	-0.99	-146.6	395.8	-8.9	194	4034	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
4342	-0.99	-146.6	422.3	-8.8	209	4346	0.00	2.45	0.00	0.000	4	0.000	0.040	2131	1212	3419
4375	-0.99	-146.6	424.9	-7.9	210	4383	0.00	2.42	0.00	0.000	6	0.000	0.037	2131	2599	3420
4692	-0.99	-146.6	457.1	-11.2	226	4693	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
5001	-0.99	-146.6	489.0	-10.0	241	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3419
5310	-0.99	-146.6	521.1	-10.3	256	5314	0.00	2.45	0.00	0.000	4	0.000	0.041	2131	1211	3419
5358	-1.07	-146.6	525.3	-9.2	258	5363	0.00	2.45	0.00	0.000	6	0.000	0.038	2131	2604	3419
5685	-1.07	-146.6	566.6	-11.4	274	5689	0.00	2.33	0.00	0.000	4	0.000	0.071	2131	3857	3419
5769	-1.07	-146.6	577.1	-11.9	278	5773	0.00	2.12	0.00	0.000	6	0.000	0.028	2131	2600	3418
6101	-1.07	-146.6	616.3	-12.7	294	6105	0.00	2.35	0.00	0.000	4	0.000	0.070	2131	3858	3418
6235	-1.07	-146.6	629.8	-9.2	300	6239	0.00	2.15	0.00	0.000	6	0.000	0.030	2131	2601	3418
6564	-1.12	-146.6	639.7	-0.8	316	6568	0.00	2.38	0.00	0.000	4	0.000	0.071	2131	3864	3418
6627	-1.16	-146.6	642.2	-4.1	319	6632	0.12	2.17	0.00	0.000	6	0.051	0.031	2095	2599	3418
6956	-1.10	-146.6	685.0	-20.6	335	6961	0.12	2.53	0.00	0.000	4	0.103	0.052	2118	1202	3417
7051	-1.16	-146.6	702.6	-22.1	339	7055	0.00	2.47	0.00	0.000	6	0.000	0.041	2118	2599	3416
7075	end dive: BOTTOM_OBSTACLE_DETECTED
state	7075	begin apogee
7082	-0.31	0.0	708.9	23.6	340	7218	0.85	0.00	130.23	1.047	6	0.108	0.000	2288	2293	2817
7219	end apogee: CONTROL_FINISHED_OK
state	7219	begin climb
7222	1.03	146.6	716.3	0.0	347	7360	1.40	2.72	130.07	1.037	4	0.084	0.069	2578	3702	2219
7432	1.25	477.6	717.4	-3.8	356	7734	0.25	2.47	293.40	1.034	6	0.047	0.034	2640	2306	868
8051	1.25	477.6	631.3	17.2	386	8055	0.00	2.62	0.00	0.000	4	0.000	0.059	2640	896	858
8158	1.30	477.6	614.2	12.9	391	8162	0.00	2.50	0.00	0.000	6	0.000	0.038	2640	2302	856
8484	1.30	477.6	579.5	11.6	407	8485	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2302	855
8794	1.30	477.6	538.8	13.4	422	8798	0.00	2.58	0.00	0.000	4	0.000	0.051	2640	895	854
8838	1.30	477.6	533.3	12.8	424	8842	0.00	2.50	0.00	0.000	6	0.000	0.036	2640	2306	854
9159	1.30	477.6	490.9	14.2	440	9163	0.00	2.55	0.00	0.000	4	0.000	0.047	2640	896	853
9221	1.34	477.6	482.5	12.8	443	9226	0.00	2.47	0.00	0.000	6	0.000	0.035	2640	2302	853
9547	1.34	477.6	441.2	10.6	459	9552	0.00	2.55	0.00	0.000	4	0.000	0.045	2640	891	853
9620	1.39	477.6	432.1	12.2	462	9625	0.10	2.47	0.00	0.000	6	0.055	0.035	2672	2309	853
9936	1.31	477.6	386.0	14.4	477	9941	0.15	2.55	0.00	0.000	4	0.097	0.047	2643	896	852
9998	1.31	477.6	377.3	13.1	480	10002	0.00	2.47	0.00	0.000	6	0.000	0.034	2643	2309	852
10326	1.31	477.6	331.9	14.1	496	10330	0.00	2.55	0.00	0.000	4	0.000	0.045	2643	896	853
10392	1.31	477.6	322.1	13.8	499	10396	0.00	2.47	0.00	0.000	6	0.000	0.033	2643	2309	853
10712	1.31	477.6	280.2	13.6	515	10717	0.00	2.55	0.00	0.000	4	0.000	0.046	2643	895	853
10798	1.31	477.6	268.5	13.9	519	10802	0.00	2.45	0.00	0.000	6	0.000	0.034	2643	2301	853
11124	1.31	477.6	226.9	12.5	535	11128	0.00	2.53	0.00	0.000	4	0.000	0.046	2643	895	853
11201	1.31	477.6	217.1	11.8	538	11208	0.00	2.45	0.00	0.000	6	0.000	0.033	2643	2302	853
11517	1.31	477.6	180.3	11.5	554	11521	0.00	2.53	0.00	0.000	4	0.000	0.044	2643	895	853
11589	1.31	477.6	171.8	11.8	557	11593	0.00	2.45	0.00	0.000	6	0.000	0.033	2643	2299	853
11905	1.31	477.6	135.3	11.7	572	11909	0.00	2.53	0.00	0.000	4	0.000	0.045	2643	891	853
11983	1.31	477.6	126.3	10.7	575	11989	0.00	2.45	0.00	0.000	6	0.000	0.034	2643	2301	853
12298	1.31	477.6	91.0	11.3	591	12303	0.00	2.53	0.00	0.000	4	0.000	0.044	2643	895	853
12384	1.31	477.6	81.6	10.4	595	12388	0.00	2.42	0.00	0.000	6	0.000	0.032	2643	2299	853
12716	1.31	477.6	48.3	9.4	611	12720	0.00	2.53	0.00	0.000	4	0.000	0.045	2643	891	853
12794	1.31	477.6	41.2	7.7	614	12800	0.00	2.45	0.00	0.000	6	0.000	0.033	2643	2301	853
13110	1.31	477.6	3.9	13.4	630	13114	0.00	2.22	0.00	0.000	3	0.000	0.043	2643	1043	853
13115	end climb: SURFACE_DEPTH_REACHED
state	13115	begin surface coast
13152	end surface coast: CONTROL_FINISHED_OK
state	13152	begin surface