Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 159 * 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 159 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -2110454 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 -2110454

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 35 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 159 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 094736,6342.507,-1258.269,37,0.9,49,-12.3 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.52 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.7 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 095337,6342.534,-1258.240,11,1.4,28,-12.3 MHEAD_RNG_PITCHd_Wd 333.7,41366,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.002838 ALTIM_BOTTOM_PING 651.7,14.9

SM_CCo 14221,0.00,0.000,0,0,1407,345.87 _24V_AH 23.7,28.282

SM_GC 1.52,12.23,0.00,0.00,0.084,0.000,0.000,67,2603,1407,-10.46,0.08,345.87 _10V_AH 10.1,14.053

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34880,679

TT8_MAMPS 0.02301 CAP_FILE_SIZE 97520,0

HUMID 1754 CFSIZE 260165632,249274368

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

XPDR_PINGS 0 GPS 050709,135206,6344.244,-1257.569,36,1.0,36,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 115.35 SBE_CT 496 24 282.43

Roll_motor 89 62 132.89 SBE_O2 462 19 208.36

VBD_pump_during_apogee 433 1007 10360.45 WL_BB2F 429 105 1068.08

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 44.73 nil 0 0 0.00

Iridium_during_connect 28 160 107.04 nil 0 0 0.00

Iridium_during_xfer 190 223 1006.55

Transponder_ping 5 420 54.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 28 50 14.55

TT8 1230 19 245.98

LPSleep 10877 2 240.59

TT8_Active 519 19 103.94

TT8_Sampling 1496 39 601.41

TT8_CF8 458 45 212.05

TT8_Kalman 0 81 0.00

Analog_circuits 1260 12 152.76

GPS_charging 0 0 0.00

Compass 1445 8 116.80

RAFOS 0 0 0.00

Transponder 38 30 11.56

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 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -56.62 0.000 6 0.000 0.000 73 2598 3416

81 -1.03 -146.6 7.4 -14.1 3 102 11.80 2.35 0.00 0.000 4 0.182 0.057 2129 3858 3417

315 -1.03 -146.6 45.8 -9.1 13 319 0.00 2.15 0.00 0.000 6 0.000 0.025 2129 2579 3419

631 -1.03 -146.6 74.3 -9.4 28 632 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3419

940 -1.03 -146.6 102.5 -8.8 43 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2578 3420

1249 -1.03 -146.6 128.8 -8.6 58 1251 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2576 3419

1558 -1.03 -146.6 156.7 -9.3 73 1559 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2578 3419

1868 -1.03 -146.6 186.4 -10.3 88 1869 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3420

2177 -1.03 -146.6 218.0 -10.3 103 2178 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3419

2486 -1.03 -146.6 249.9 -10.3 118 2494 0.00 2.35 0.00 0.000 4 0.000 0.063 2129 3857 3419

2534 -1.03 -146.6 255.1 -11.0 120 2538 0.00 2.10 0.00 0.000 6 0.000 0.027 2130 2598 3419

2867 -1.03 -146.6 289.2 -10.3 136 2871 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1212 3419

2916 -1.03 -146.6 294.5 -10.2 138 2921 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2599 3419

3233 -1.03 -146.6 326.8 -10.1 153 3237 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1212 3419

3266 -1.03 -146.6 330.1 -9.7 154 3272 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2599 3419

3581 -1.03 -146.6 358.6 -8.6 170 3582 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3419

3891 -1.03 -146.6 382.1 -7.4 185 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3418

4200 -1.03 -146.6 406.6 -8.9 200 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3418

4509 -1.03 -146.6 437.9 -10.5 215 4513 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1214 3418

4604 -1.03 -146.6 447.8 -10.2 219 4608 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2599 3418

4919 -1.03 -146.6 481.3 -12.1 234 4920 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3418

5229 -1.03 -146.6 517.1 -9.8 249 5233 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1212 3418

5273 -1.07 -146.6 520.9 -8.0 251 5278 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2600 3418

5595 -1.07 -146.6 545.5 -6.8 267 5596 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3418

5904 -1.07 -146.6 559.3 -6.3 282 5906 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

6213 -1.07 -146.6 586.3 -7.6 297 6214 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

6523 -1.07 -146.6 606.0 -6.3 312 6524 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

6832 -1.07 -146.6 632.3 -9.0 327 6836 0.00 2.45 0.00 0.000 4 0.000 0.041 2129 1209 3416

6872 -1.14 -146.6 636.2 -9.6 329 6876 0.00 2.45 0.00 0.000 6 0.000 0.037 2130 2609 3417

7093 end dive: BOTTOM_OBSTACLE_DETECTED

state 7093 begin apogee

7100 -0.31 0.0 657.1 8.8 340 7235 0.85 0.00 128.12 1.008 6 0.134 0.000 2290 2299 2817

7236 end apogee: CONTROL_FINISHED_OK

state 7236 begin climb

7239 1.03 146.6 662.0 0.0 347 7377 1.40 2.67 129.80 0.996 4 0.075 0.060 2584 3701 2219

7436 0.90 173.1 656.9 6.6 356 7469 0.15 2.42 24.35 0.941 6 0.100 0.027 2557 2310 2111

7777 0.90 173.1 630.1 9.2 373 7782 0.00 2.53 0.00 0.000 4 0.000 0.047 2557 905 2105

7923 0.90 173.1 616.8 8.5 379 7929 0.00 2.47 0.00 0.000 6 0.000 0.034 2557 2311 2103

8239 0.90 173.1 590.7 9.1 395 8243 0.00 2.58 0.00 0.000 4 0.000 0.062 2557 3699 2103

8328 0.84 173.1 581.1 10.5 399 8332 0.00 2.42 0.00 0.000 6 0.000 0.028 2557 2297 2103

8654 0.84 173.1 549.2 8.8 415 8656 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2297 2102

8964 0.96 286.3 532.9 3.6 430 9071 0.00 2.60 101.25 0.927 4 0.000 0.048 2557 897 1648

9156 1.08 308.2 522.4 6.8 439 9182 0.17 2.47 20.20 0.862 6 0.045 0.034 2603 2299 1560

9501 1.08 308.2 492.5 9.7 456 9502 0.00 0.00 0.00 0.000 6 0.000 0.000 2602 2299 1552

9807 1.08 308.2 454.6 13.6 471 9812 0.00 2.53 0.00 0.000 4 0.000 0.045 2603 899 1550

9857 1.08 308.2 447.4 14.0 473 9862 0.00 2.47 0.00 0.000 6 0.000 0.034 2603 2308 1550

10173 1.08 308.2 411.3 9.9 488 10174 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2308 1549

10482 1.08 308.2 386.2 8.1 503 10486 0.00 2.53 0.00 0.000 4 0.000 0.044 2603 896 1549

10554 1.08 308.2 379.0 10.4 506 10558 0.00 2.45 0.00 0.000 6 0.000 0.033 2603 2301 1548

10875 1.08 308.2 342.1 12.2 522 10876 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2301 1548

11184 1.08 308.2 305.3 11.8 537 11188 0.00 2.50 0.00 0.000 4 0.000 0.044 2602 897 1548

11256 1.08 308.2 296.6 12.6 540 11261 0.00 2.45 0.00 0.000 6 0.000 0.033 2603 2302 1547

11578 1.08 308.2 262.6 10.4 556 11579 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2302 1547

11886 1.08 308.2 232.0 9.9 571 11890 0.00 2.50 0.00 0.000 4 0.000 0.043 2603 897 1548

11932 1.08 308.2 227.3 9.7 573 11936 0.00 2.42 0.00 0.000 6 0.000 0.032 2603 2299 1547

12264 1.08 308.2 192.8 10.8 589 12266 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2299 1547

12573 1.08 308.2 158.2 11.2 604 12578 0.00 2.50 0.00 0.000 4 0.000 0.044 2603 897 1547

12636 1.08 308.2 151.2 11.1 607 12640 0.00 2.45 0.00 0.000 6 0.000 0.033 2603 2306 1547

12963 1.08 308.2 112.8 12.1 623 12964 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2306 1547

13273 1.08 308.2 78.0 10.0 638 13278 0.00 2.53 0.00 0.000 4 0.000 0.043 2603 892 1547

13346 1.08 308.2 70.8 9.5 641 13350 0.00 2.45 0.00 0.000 6 0.000 0.032 2603 2302 1547

13662 1.12 343.4 48.7 6.3 656 13694 0.00 0.00 30.02 0.597 6 0.000 0.000 2603 2302 1417

13993 1.20 343.4 16.8 9.8 672 13997 0.00 2.50 0.00 0.000 4 0.000 0.043 2603 896 1412

14050 1.28 343.4 10.9 10.9 674 14057 0.17 2.45 0.00 0.000 6 0.046 0.031 2655 2305 1411

14115 end climb: SURFACE_DEPTH_REACHED

state 14115 begin surface coast

14137 end surface coast: CONTROL_FINISHED_OK

state 14137 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	159	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-2110454	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	094736,6342.507,-1258.269,37,0.9,49,-12.3	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.52	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.7	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	095337,6342.534,-1258.240,11,1.4,28,-12.3	MHEAD_RNG_PITCHd_Wd	333.7,41366,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.002838	ALTIM_BOTTOM_PING	651.7,14.9
SM_CCo	14221,0.00,0.000,0,0,1407,345.87	_24V_AH	23.7,28.282
SM_GC	1.52,12.23,0.00,0.00,0.084,0.000,0.000,67,2603,1407,-10.46,0.08,345.87	_10V_AH	10.1,14.053
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34880,679
TT8_MAMPS	0.02301	CAP_FILE_SIZE	97520,0
HUMID	1754	CFSIZE	260165632,249274368
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	050709,135206,6344.244,-1257.569,36,1.0,36,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	115.35	SBE_CT	496	24	282.43
Roll_motor	89	62	132.89	SBE_O2	462	19	208.36
VBD_pump_during_apogee	433	1007	10360.45	WL_BB2F	429	105	1068.08
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	44.73	nil	0	0	0.00
Iridium_during_connect	28	160	107.04	nil	0	0	0.00
Iridium_during_xfer	190	223	1006.55
Transponder_ping	5	420	54.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	28	50	14.55
TT8	1230	19	245.98
LPSleep	10877	2	240.59
TT8_Active	519	19	103.94
TT8_Sampling	1496	39	601.41
TT8_CF8	458	45	212.05
TT8_Kalman	0	81	0.00
Analog_circuits	1260	12	152.76
GPS_charging	0	0	0.00
Compass	1445	8	116.80
RAFOS	0	0	0.00
Transponder	38	30	11.56

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	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-56.62	0.000	6	0.000	0.000	73	2598	3416
81	-1.03	-146.6	7.4	-14.1	3	102	11.80	2.35	0.00	0.000	4	0.182	0.057	2129	3858	3417
315	-1.03	-146.6	45.8	-9.1	13	319	0.00	2.15	0.00	0.000	6	0.000	0.025	2129	2579	3419
631	-1.03	-146.6	74.3	-9.4	28	632	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3419
940	-1.03	-146.6	102.5	-8.8	43	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2578	3420
1249	-1.03	-146.6	128.8	-8.6	58	1251	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2576	3419
1558	-1.03	-146.6	156.7	-9.3	73	1559	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2578	3419
1868	-1.03	-146.6	186.4	-10.3	88	1869	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3420
2177	-1.03	-146.6	218.0	-10.3	103	2178	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3419
2486	-1.03	-146.6	249.9	-10.3	118	2494	0.00	2.35	0.00	0.000	4	0.000	0.063	2129	3857	3419
2534	-1.03	-146.6	255.1	-11.0	120	2538	0.00	2.10	0.00	0.000	6	0.000	0.027	2130	2598	3419
2867	-1.03	-146.6	289.2	-10.3	136	2871	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1212	3419
2916	-1.03	-146.6	294.5	-10.2	138	2921	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2599	3419
3233	-1.03	-146.6	326.8	-10.1	153	3237	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1212	3419
3266	-1.03	-146.6	330.1	-9.7	154	3272	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2599	3419
3581	-1.03	-146.6	358.6	-8.6	170	3582	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3419
3891	-1.03	-146.6	382.1	-7.4	185	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3418
4200	-1.03	-146.6	406.6	-8.9	200	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3418
4509	-1.03	-146.6	437.9	-10.5	215	4513	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1214	3418
4604	-1.03	-146.6	447.8	-10.2	219	4608	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2599	3418
4919	-1.03	-146.6	481.3	-12.1	234	4920	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3418
5229	-1.03	-146.6	517.1	-9.8	249	5233	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1212	3418
5273	-1.07	-146.6	520.9	-8.0	251	5278	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2600	3418
5595	-1.07	-146.6	545.5	-6.8	267	5596	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3418
5904	-1.07	-146.6	559.3	-6.3	282	5906	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
6213	-1.07	-146.6	586.3	-7.6	297	6214	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
6523	-1.07	-146.6	606.0	-6.3	312	6524	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
6832	-1.07	-146.6	632.3	-9.0	327	6836	0.00	2.45	0.00	0.000	4	0.000	0.041	2129	1209	3416
6872	-1.14	-146.6	636.2	-9.6	329	6876	0.00	2.45	0.00	0.000	6	0.000	0.037	2130	2609	3417
7093	end dive: BOTTOM_OBSTACLE_DETECTED
state	7093	begin apogee
7100	-0.31	0.0	657.1	8.8	340	7235	0.85	0.00	128.12	1.008	6	0.134	0.000	2290	2299	2817
7236	end apogee: CONTROL_FINISHED_OK
state	7236	begin climb
7239	1.03	146.6	662.0	0.0	347	7377	1.40	2.67	129.80	0.996	4	0.075	0.060	2584	3701	2219
7436	0.90	173.1	656.9	6.6	356	7469	0.15	2.42	24.35	0.941	6	0.100	0.027	2557	2310	2111
7777	0.90	173.1	630.1	9.2	373	7782	0.00	2.53	0.00	0.000	4	0.000	0.047	2557	905	2105
7923	0.90	173.1	616.8	8.5	379	7929	0.00	2.47	0.00	0.000	6	0.000	0.034	2557	2311	2103
8239	0.90	173.1	590.7	9.1	395	8243	0.00	2.58	0.00	0.000	4	0.000	0.062	2557	3699	2103
8328	0.84	173.1	581.1	10.5	399	8332	0.00	2.42	0.00	0.000	6	0.000	0.028	2557	2297	2103
8654	0.84	173.1	549.2	8.8	415	8656	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2297	2102
8964	0.96	286.3	532.9	3.6	430	9071	0.00	2.60	101.25	0.927	4	0.000	0.048	2557	897	1648
9156	1.08	308.2	522.4	6.8	439	9182	0.17	2.47	20.20	0.862	6	0.045	0.034	2603	2299	1560
9501	1.08	308.2	492.5	9.7	456	9502	0.00	0.00	0.00	0.000	6	0.000	0.000	2602	2299	1552
9807	1.08	308.2	454.6	13.6	471	9812	0.00	2.53	0.00	0.000	4	0.000	0.045	2603	899	1550
9857	1.08	308.2	447.4	14.0	473	9862	0.00	2.47	0.00	0.000	6	0.000	0.034	2603	2308	1550
10173	1.08	308.2	411.3	9.9	488	10174	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2308	1549
10482	1.08	308.2	386.2	8.1	503	10486	0.00	2.53	0.00	0.000	4	0.000	0.044	2603	896	1549
10554	1.08	308.2	379.0	10.4	506	10558	0.00	2.45	0.00	0.000	6	0.000	0.033	2603	2301	1548
10875	1.08	308.2	342.1	12.2	522	10876	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2301	1548
11184	1.08	308.2	305.3	11.8	537	11188	0.00	2.50	0.00	0.000	4	0.000	0.044	2602	897	1548
11256	1.08	308.2	296.6	12.6	540	11261	0.00	2.45	0.00	0.000	6	0.000	0.033	2603	2302	1547
11578	1.08	308.2	262.6	10.4	556	11579	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2302	1547
11886	1.08	308.2	232.0	9.9	571	11890	0.00	2.50	0.00	0.000	4	0.000	0.043	2603	897	1548
11932	1.08	308.2	227.3	9.7	573	11936	0.00	2.42	0.00	0.000	6	0.000	0.032	2603	2299	1547
12264	1.08	308.2	192.8	10.8	589	12266	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2299	1547
12573	1.08	308.2	158.2	11.2	604	12578	0.00	2.50	0.00	0.000	4	0.000	0.044	2603	897	1547
12636	1.08	308.2	151.2	11.1	607	12640	0.00	2.45	0.00	0.000	6	0.000	0.033	2603	2306	1547
12963	1.08	308.2	112.8	12.1	623	12964	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2306	1547
13273	1.08	308.2	78.0	10.0	638	13278	0.00	2.53	0.00	0.000	4	0.000	0.043	2603	892	1547
13346	1.08	308.2	70.8	9.5	641	13350	0.00	2.45	0.00	0.000	6	0.000	0.032	2603	2302	1547
13662	1.12	343.4	48.7	6.3	656	13694	0.00	0.00	30.02	0.597	6	0.000	0.000	2603	2302	1417
13993	1.20	343.4	16.8	9.8	672	13997	0.00	2.50	0.00	0.000	4	0.000	0.043	2603	896	1412
14050	1.28	343.4	10.9	10.9	674	14057	0.17	2.45	0.00	0.000	6	0.046	0.031	2655	2305	1411
14115	end climb: SURFACE_DEPTH_REACHED
state	14115	begin surface coast
14137	end surface coast: CONTROL_FINISHED_OK
state	14137	begin surface