Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 136 * 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 136 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -2110002 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 -2110002

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 27 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 136 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 203606,6356.909,-1330.599,40,0.9,40,-12.7 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.60 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -66.0 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 204102,6356.926,-1330.576,12,1.0,12,-12.7 MHEAD_RNG_PITCHd_Wd 17.4,5712,-15.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013996 ALTIM_BOTTOM_PING 651.4,69.8

SM_CCo 13504,0.00,0.000,0,0,1453,334.34 _24V_AH 23.6,24.775

SM_GC 1.59,12.07,0.00,0.00,0.083,0.000,0.000,74,2604,1453,-10.45,0.11,334.34 _10V_AH 10.1,12.268

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31795,640

TT8_MAMPS 0.02301 CAP_FILE_SIZE 105720,0

HUMID 1762 CFSIZE 260165632,250642432

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

XPDR_PINGS 0 GPS 010709,002736,6357.271,-1333.270,37,1.4,37,-12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 179 117.12 SBE_CT 466 24 264.22

Roll_motor 120 76 217.21 SBE_O2 434 19 195.05

VBD_pump_during_apogee 422 1069 10673.04 WL_BB2F 389 105 965.13

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 44.08 nil 0 0 0.00

Iridium_during_connect 30 160 114.20 nil 0 0 0.00

Iridium_during_xfer 135 223 714.08

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.30

TT8 1222 19 244.56

LPSleep 9993 2 221.04

TT8_Active 494 19 98.95

TT8_Sampling 1670 39 671.42

TT8_CF8 418 45 193.36

TT8_Kalman 0 81 0.00

Analog_circuits 1346 12 163.15

GPS_charging 0 0 0.00

Compass 1624 8 131.27

RAFOS 0 0 0.00

Transponder 41 30 12.49

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 15 begin dive

18 -1.12 -116.4 0.0 0.0 0 81 0.00 0.00 -61.08 0.000 2 0.000 0.000 74 2612 3027

84 -1.15 -146.6 4.0 -5.9 3 110 11.62 2.58 -7.62 0.000 4 0.179 0.050 2103 1187 3416

363 -1.15 -146.6 39.1 -10.3 15 367 0.00 2.47 0.00 0.000 6 0.000 0.036 2102 2594 3418

679 -1.15 -146.6 72.2 -11.6 30 683 0.00 2.47 0.00 0.000 4 0.000 0.038 2103 1188 3418

768 -1.15 -146.6 82.3 -11.1 34 772 0.00 2.50 0.00 0.000 6 0.000 0.036 2104 2607 3418

1089 -1.15 -146.6 116.6 -10.8 50 1093 0.00 2.33 0.00 0.000 4 0.000 0.065 2101 3862 3418

1144 -1.15 -146.6 123.4 -12.2 52 1151 0.00 2.17 0.00 0.000 6 0.000 0.027 2103 2574 3418

1460 -1.15 -146.6 157.0 -10.4 68 1461 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2573 3418

1769 -1.15 -146.6 189.1 -10.2 83 1773 0.00 2.38 0.00 0.000 4 0.000 0.064 2103 3863 3418

1841 -1.15 -146.6 197.3 -11.2 86 1845 0.00 2.15 0.00 0.000 6 0.000 0.027 2103 2592 3418

2168 -1.15 -146.6 231.1 -10.8 102 2169 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2591 3418

2477 -1.15 -146.6 264.2 -10.7 117 2481 0.00 2.42 0.00 0.000 4 0.000 0.040 2103 1213 3418

2510 -1.15 -146.6 267.8 -10.7 118 2516 0.00 2.45 0.00 0.000 6 0.000 0.036 2103 2605 3418

2826 -1.15 -146.6 303.1 -12.3 134 2827 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2605 3418

3135 -1.15 -146.6 333.5 -7.8 149 3139 0.00 2.45 0.00 0.000 4 0.000 0.040 2103 1214 3418

3179 -1.15 -146.6 337.9 -10.3 151 3183 0.00 2.45 0.00 0.000 6 0.000 0.037 2103 2606 3418

3500 -1.15 -146.6 371.0 -13.9 167 3501 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2606 3418

3809 -1.15 -146.6 407.8 -14.1 182 3813 0.00 2.47 0.00 0.000 4 0.000 0.043 2103 1214 3418

3987 -1.15 -146.6 431.9 -13.8 190 3991 0.00 2.45 0.00 0.000 6 0.000 0.038 2103 2602 3418

4308 -1.15 -146.6 473.6 -10.8 206 4309 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2602 3418

4617 -1.15 -146.6 510.8 -12.4 221 4618 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2603 3418

4927 -1.15 -146.6 533.6 -6.6 236 4931 0.00 2.45 0.00 0.000 4 0.000 0.042 2103 1216 3418

5000 -1.21 -146.6 538.5 -6.5 239 5005 0.00 2.45 0.00 0.000 6 0.000 0.039 2103 2600 3418

5322 -1.21 -146.6 550.7 -1.8 255 5323 0.00 0.00 0.00 0.000 6 0.000 0.000 2103 2600 3417

5631 -1.21 -146.6 553.0 1.7 270 5635 0.00 2.45 0.00 0.000 4 0.000 0.042 2103 1213 3415

5709 -1.29 -146.6 550.2 2.5 273 5714 0.12 2.47 0.00 0.000 6 0.060 0.041 2072 2608 3414

6026 -1.19 -146.6 590.9 -16.4 288 6030 0.15 2.38 0.00 0.000 4 0.108 0.077 2099 3863 3414

6110 -1.19 -146.6 604.7 -13.7 292 6114 0.00 2.15 0.00 0.000 6 0.000 0.031 2099 2605 3414

6436 -1.19 -146.6 649.2 -9.5 308 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2602 3413

6745 -1.19 -146.6 692.6 -15.8 323 6746 0.00 0.00 0.00 0.000 6 0.000 0.000 2099 2602 3412

6928 end dive: BOTTOM_OBSTACLE_DETECTED

state 6928 begin apogee

6935 -0.31 0.0 713.0 12.6 332 7071 0.90 0.00 129.00 1.070 6 0.070 0.000 2294 2306 2816

7072 end apogee: CONTROL_FINISHED_OK

state 7072 begin climb

7075 1.15 146.6 714.6 0.0 339 7216 1.52 2.70 130.60 1.056 4 0.091 0.064 2606 3705 2217

7469 0.83 146.6 704.7 14.3 356 7474 0.35 2.47 0.00 0.000 6 0.110 0.033 2541 2307 2211

7790 0.83 146.6 655.7 10.5 372 7795 0.00 2.65 0.00 0.000 4 0.000 0.068 2539 3701 2208

8047 0.83 146.6 636.9 9.7 383 8054 0.00 2.47 0.00 0.000 6 0.000 0.031 2541 2295 2208

8363 0.89 146.6 616.4 8.2 399 8368 0.00 2.67 0.00 0.000 4 0.000 0.066 2541 3710 2207

8621 1.09 329.5 606.0 -0.4 410 8796 0.25 2.50 163.07 1.004 6 0.050 0.036 2601 2296 1472

9103 1.09 329.5 551.0 15.0 434 9107 0.00 2.65 0.00 0.000 4 0.000 0.064 2601 3702 1461

9164 1.09 329.5 544.3 10.6 437 9169 0.00 2.50 0.00 0.000 6 0.000 0.033 2602 2293 1460

9491 1.14 329.5 495.0 17.3 453 9496 0.00 2.55 0.00 0.000 4 0.000 0.054 2601 896 1458

9565 1.21 329.5 482.1 15.6 456 9569 0.00 2.50 0.00 0.000 6 0.000 0.038 2601 2303 1457

9881 1.27 329.5 442.5 11.5 471 9886 0.17 2.58 0.00 0.000 4 0.051 0.050 2647 888 1457

9921 1.17 329.5 436.8 13.8 473 9927 0.17 2.50 0.00 0.000 6 0.099 0.037 2614 2305 1454

10248 1.17 329.5 398.1 10.4 489 10252 0.00 2.58 0.00 0.000 4 0.000 0.052 2614 895 1456

10320 1.17 329.5 390.1 8.9 492 10324 0.00 2.50 0.00 0.000 6 0.000 0.037 2614 2309 1454

10636 1.21 329.5 349.4 13.1 507 10641 0.00 2.60 0.00 0.000 4 0.000 0.064 2613 3699 1454

10669 1.21 329.5 344.3 14.9 508 10675 0.00 2.47 0.00 0.000 6 0.000 0.032 2614 2295 1454

10985 1.21 329.5 308.6 9.5 524 10989 0.00 2.53 0.00 0.000 4 0.000 0.049 2614 894 1454

11057 1.21 329.5 301.4 11.6 527 11061 0.00 2.47 0.00 0.000 6 0.000 0.035 2614 2305 1454

11372 1.21 329.5 259.2 14.0 542 11377 0.00 2.55 0.00 0.000 4 0.000 0.046 2614 889 1454

11428 1.26 329.5 251.3 13.8 544 11434 0.00 2.47 0.00 0.000 6 0.000 0.034 2614 2305 1452

11744 1.30 329.5 212.9 11.2 560 11746 0.15 0.00 0.00 0.000 6 0.049 0.000 2657 2306 1454

12053 1.23 329.5 168.5 14.1 575 12058 0.15 2.53 0.00 0.000 4 0.097 0.044 2628 892 1454

12142 1.23 329.5 157.3 11.8 579 12147 0.00 2.45 0.00 0.000 6 0.000 0.033 2628 2301 1453

12464 1.23 329.5 118.6 12.3 595 12468 0.00 2.53 0.00 0.000 4 0.000 0.044 2628 891 1454

12513 1.23 329.5 111.8 13.9 597 12517 0.00 2.47 0.00 0.000 6 0.000 0.033 2626 2311 1454

12829 1.23 329.5 70.6 12.6 612 12834 0.00 2.55 0.00 0.000 4 0.000 0.044 2628 888 1454

12892 1.23 329.5 62.8 12.1 615 12896 0.00 2.47 0.00 0.000 6 0.000 0.033 2628 2309 1454

13219 1.23 329.5 23.7 12.2 631 13223 0.00 2.55 0.00 0.000 4 0.000 0.058 2628 3701 1455

13291 1.23 329.5 14.2 12.0 634 13296 0.00 2.42 0.00 0.000 6 0.000 0.028 2627 2294 1455

13398 end climb: SURFACE_DEPTH_REACHED

state 13399 begin surface coast

13420 end surface coast: CONTROL_FINISHED_OK

state 13420 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	136	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-2110002	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	203606,6356.909,-1330.599,40,0.9,40,-12.7	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.60	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-66.0	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	204102,6356.926,-1330.576,12,1.0,12,-12.7	MHEAD_RNG_PITCHd_Wd	17.4,5712,-15.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.013996	ALTIM_BOTTOM_PING	651.4,69.8
SM_CCo	13504,0.00,0.000,0,0,1453,334.34	_24V_AH	23.6,24.775
SM_GC	1.59,12.07,0.00,0.00,0.083,0.000,0.000,74,2604,1453,-10.45,0.11,334.34	_10V_AH	10.1,12.268
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31795,640
TT8_MAMPS	0.02301	CAP_FILE_SIZE	105720,0
HUMID	1762	CFSIZE	260165632,250642432
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	010709,002736,6357.271,-1333.270,37,1.4,37,-12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	179	117.12	SBE_CT	466	24	264.22
Roll_motor	120	76	217.21	SBE_O2	434	19	195.05
VBD_pump_during_apogee	422	1069	10673.04	WL_BB2F	389	105	965.13
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	44.08	nil	0	0	0.00
Iridium_during_connect	30	160	114.20	nil	0	0	0.00
Iridium_during_xfer	135	223	714.08
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.30
TT8	1222	19	244.56
LPSleep	9993	2	221.04
TT8_Active	494	19	98.95
TT8_Sampling	1670	39	671.42
TT8_CF8	418	45	193.36
TT8_Kalman	0	81	0.00
Analog_circuits	1346	12	163.15
GPS_charging	0	0	0.00
Compass	1624	8	131.27
RAFOS	0	0	0.00
Transponder	41	30	12.49

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	15	begin dive
18	-1.12	-116.4	0.0	0.0	0	81	0.00	0.00	-61.08	0.000	2	0.000	0.000	74	2612	3027
84	-1.15	-146.6	4.0	-5.9	3	110	11.62	2.58	-7.62	0.000	4	0.179	0.050	2103	1187	3416
363	-1.15	-146.6	39.1	-10.3	15	367	0.00	2.47	0.00	0.000	6	0.000	0.036	2102	2594	3418
679	-1.15	-146.6	72.2	-11.6	30	683	0.00	2.47	0.00	0.000	4	0.000	0.038	2103	1188	3418
768	-1.15	-146.6	82.3	-11.1	34	772	0.00	2.50	0.00	0.000	6	0.000	0.036	2104	2607	3418
1089	-1.15	-146.6	116.6	-10.8	50	1093	0.00	2.33	0.00	0.000	4	0.000	0.065	2101	3862	3418
1144	-1.15	-146.6	123.4	-12.2	52	1151	0.00	2.17	0.00	0.000	6	0.000	0.027	2103	2574	3418
1460	-1.15	-146.6	157.0	-10.4	68	1461	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2573	3418
1769	-1.15	-146.6	189.1	-10.2	83	1773	0.00	2.38	0.00	0.000	4	0.000	0.064	2103	3863	3418
1841	-1.15	-146.6	197.3	-11.2	86	1845	0.00	2.15	0.00	0.000	6	0.000	0.027	2103	2592	3418
2168	-1.15	-146.6	231.1	-10.8	102	2169	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2591	3418
2477	-1.15	-146.6	264.2	-10.7	117	2481	0.00	2.42	0.00	0.000	4	0.000	0.040	2103	1213	3418
2510	-1.15	-146.6	267.8	-10.7	118	2516	0.00	2.45	0.00	0.000	6	0.000	0.036	2103	2605	3418
2826	-1.15	-146.6	303.1	-12.3	134	2827	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2605	3418
3135	-1.15	-146.6	333.5	-7.8	149	3139	0.00	2.45	0.00	0.000	4	0.000	0.040	2103	1214	3418
3179	-1.15	-146.6	337.9	-10.3	151	3183	0.00	2.45	0.00	0.000	6	0.000	0.037	2103	2606	3418
3500	-1.15	-146.6	371.0	-13.9	167	3501	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2606	3418
3809	-1.15	-146.6	407.8	-14.1	182	3813	0.00	2.47	0.00	0.000	4	0.000	0.043	2103	1214	3418
3987	-1.15	-146.6	431.9	-13.8	190	3991	0.00	2.45	0.00	0.000	6	0.000	0.038	2103	2602	3418
4308	-1.15	-146.6	473.6	-10.8	206	4309	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2602	3418
4617	-1.15	-146.6	510.8	-12.4	221	4618	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2603	3418
4927	-1.15	-146.6	533.6	-6.6	236	4931	0.00	2.45	0.00	0.000	4	0.000	0.042	2103	1216	3418
5000	-1.21	-146.6	538.5	-6.5	239	5005	0.00	2.45	0.00	0.000	6	0.000	0.039	2103	2600	3418
5322	-1.21	-146.6	550.7	-1.8	255	5323	0.00	0.00	0.00	0.000	6	0.000	0.000	2103	2600	3417
5631	-1.21	-146.6	553.0	1.7	270	5635	0.00	2.45	0.00	0.000	4	0.000	0.042	2103	1213	3415
5709	-1.29	-146.6	550.2	2.5	273	5714	0.12	2.47	0.00	0.000	6	0.060	0.041	2072	2608	3414
6026	-1.19	-146.6	590.9	-16.4	288	6030	0.15	2.38	0.00	0.000	4	0.108	0.077	2099	3863	3414
6110	-1.19	-146.6	604.7	-13.7	292	6114	0.00	2.15	0.00	0.000	6	0.000	0.031	2099	2605	3414
6436	-1.19	-146.6	649.2	-9.5	308	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2602	3413
6745	-1.19	-146.6	692.6	-15.8	323	6746	0.00	0.00	0.00	0.000	6	0.000	0.000	2099	2602	3412
6928	end dive: BOTTOM_OBSTACLE_DETECTED
state	6928	begin apogee
6935	-0.31	0.0	713.0	12.6	332	7071	0.90	0.00	129.00	1.070	6	0.070	0.000	2294	2306	2816
7072	end apogee: CONTROL_FINISHED_OK
state	7072	begin climb
7075	1.15	146.6	714.6	0.0	339	7216	1.52	2.70	130.60	1.056	4	0.091	0.064	2606	3705	2217
7469	0.83	146.6	704.7	14.3	356	7474	0.35	2.47	0.00	0.000	6	0.110	0.033	2541	2307	2211
7790	0.83	146.6	655.7	10.5	372	7795	0.00	2.65	0.00	0.000	4	0.000	0.068	2539	3701	2208
8047	0.83	146.6	636.9	9.7	383	8054	0.00	2.47	0.00	0.000	6	0.000	0.031	2541	2295	2208
8363	0.89	146.6	616.4	8.2	399	8368	0.00	2.67	0.00	0.000	4	0.000	0.066	2541	3710	2207
8621	1.09	329.5	606.0	-0.4	410	8796	0.25	2.50	163.07	1.004	6	0.050	0.036	2601	2296	1472
9103	1.09	329.5	551.0	15.0	434	9107	0.00	2.65	0.00	0.000	4	0.000	0.064	2601	3702	1461
9164	1.09	329.5	544.3	10.6	437	9169	0.00	2.50	0.00	0.000	6	0.000	0.033	2602	2293	1460
9491	1.14	329.5	495.0	17.3	453	9496	0.00	2.55	0.00	0.000	4	0.000	0.054	2601	896	1458
9565	1.21	329.5	482.1	15.6	456	9569	0.00	2.50	0.00	0.000	6	0.000	0.038	2601	2303	1457
9881	1.27	329.5	442.5	11.5	471	9886	0.17	2.58	0.00	0.000	4	0.051	0.050	2647	888	1457
9921	1.17	329.5	436.8	13.8	473	9927	0.17	2.50	0.00	0.000	6	0.099	0.037	2614	2305	1454
10248	1.17	329.5	398.1	10.4	489	10252	0.00	2.58	0.00	0.000	4	0.000	0.052	2614	895	1456
10320	1.17	329.5	390.1	8.9	492	10324	0.00	2.50	0.00	0.000	6	0.000	0.037	2614	2309	1454
10636	1.21	329.5	349.4	13.1	507	10641	0.00	2.60	0.00	0.000	4	0.000	0.064	2613	3699	1454
10669	1.21	329.5	344.3	14.9	508	10675	0.00	2.47	0.00	0.000	6	0.000	0.032	2614	2295	1454
10985	1.21	329.5	308.6	9.5	524	10989	0.00	2.53	0.00	0.000	4	0.000	0.049	2614	894	1454
11057	1.21	329.5	301.4	11.6	527	11061	0.00	2.47	0.00	0.000	6	0.000	0.035	2614	2305	1454
11372	1.21	329.5	259.2	14.0	542	11377	0.00	2.55	0.00	0.000	4	0.000	0.046	2614	889	1454
11428	1.26	329.5	251.3	13.8	544	11434	0.00	2.47	0.00	0.000	6	0.000	0.034	2614	2305	1452
11744	1.30	329.5	212.9	11.2	560	11746	0.15	0.00	0.00	0.000	6	0.049	0.000	2657	2306	1454
12053	1.23	329.5	168.5	14.1	575	12058	0.15	2.53	0.00	0.000	4	0.097	0.044	2628	892	1454
12142	1.23	329.5	157.3	11.8	579	12147	0.00	2.45	0.00	0.000	6	0.000	0.033	2628	2301	1453
12464	1.23	329.5	118.6	12.3	595	12468	0.00	2.53	0.00	0.000	4	0.000	0.044	2628	891	1454
12513	1.23	329.5	111.8	13.9	597	12517	0.00	2.47	0.00	0.000	6	0.000	0.033	2626	2311	1454
12829	1.23	329.5	70.6	12.6	612	12834	0.00	2.55	0.00	0.000	4	0.000	0.044	2628	888	1454
12892	1.23	329.5	62.8	12.1	615	12896	0.00	2.47	0.00	0.000	6	0.000	0.033	2628	2309	1454
13219	1.23	329.5	23.7	12.2	631	13223	0.00	2.55	0.00	0.000	4	0.000	0.058	2628	3701	1455
13291	1.23	329.5	14.2	12.0	634	13296	0.00	2.42	0.00	0.000	6	0.000	0.028	2627	2294	1455
13398	end climb: SURFACE_DEPTH_REACHED
state	13399	begin surface coast
13420	end surface coast: CONTROL_FINISHED_OK
state	13420	begin surface