Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 161 * 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 161 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 34 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 -2110497.8 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 -2110497.8

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 34 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 161 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 180536,6346.192,-1259.194,34,1.4,34,-12.3 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.66 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -62.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 181107,6346.215,-1259.161,13,1.5,30,-12.3 MHEAD_RNG_PITCHd_Wd 327.9,35758,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.026616 ALTIM_BOTTOM_PING 627.1,44.6

SM_CCo 15309,15.07,0.549,0,0,1796,250.21 _24V_AH 23.7,28.501

SM_GC 2.49,0.00,0.00,15.07,0.000,0.000,0.549,70,2601,1796,-10.54,0.03,250.21 _10V_AH 10.1,14.188

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38092,735

TT8_MAMPS 0.023777 CAP_FILE_SIZE 106287,0

HUMID 1762 CFSIZE 260165632,249167872

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

XPDR_PINGS 0 GPS 050709,222806,6349.420,-1256.604,37,1.7,37,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 192 130.04 SBE_CT 538 24 306.33

Roll_motor 89 60 128.24 SBE_O2 506 19 227.99

VBD_pump_during_apogee 333 1006 7962.72 WL_BB2F 453 105 1128.48

VBD_pump_during_surface 15 549 196.21 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 28 160 106.54 nil 0 0 0.00

Iridium_during_xfer 158 223 839.52

Transponder_ping 5 420 52.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.63

TT8 1334 19 266.89

LPSleep 11897 2 263.17

TT8_Active 452 19 90.47

TT8_Sampling 1536 39 617.49

TT8_CF8 440 45 203.66

TT8_Kalman 0 81 0.00

Analog_circuits 1207 12 146.38

GPS_charging 0 0 0.00

Compass 1487 8 120.23

RAFOS 0 0 0.00

Transponder 36 30 11.09

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

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -55.90 0.000 6 0.000 0.000 78 2604 3415

81 -1.03 -146.6 7.7 -14.3 3 102 12.10 2.35 0.00 0.000 4 0.193 0.058 2130 3857 3416

278 -0.98 -146.6 45.3 -13.4 11 284 0.00 2.15 0.00 0.000 6 0.000 0.026 2130 2576 3417

594 -0.98 -146.6 82.1 -11.4 27 598 0.00 2.35 0.00 0.000 4 0.000 0.060 2130 3854 3418

644 -0.98 -146.6 87.9 -11.0 29 647 0.00 2.12 0.00 0.000 6 0.000 0.025 2130 2590 3418

965 -0.98 -146.6 122.3 -10.3 45 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2586 3417

1276 -0.98 -146.6 152.6 -9.6 60 1277 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2586 3418

1584 -0.98 -146.6 181.9 -9.3 75 1585 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2586 3418

1892 -0.98 -146.6 210.7 -9.1 90 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2586 3419

2202 -0.98 -146.6 237.4 -8.4 105 2203 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2586 3418

2511 -0.98 -146.6 263.2 -8.1 120 2512 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2586 3418

2820 -0.98 -146.6 288.3 -8.1 135 2824 0.00 2.40 0.00 0.000 4 0.000 0.039 2131 1218 3418

2853 -0.98 -146.6 290.9 -7.8 136 2860 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2601 3418

3169 -0.98 -146.6 315.4 -7.8 152 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3417

3478 -0.98 -146.6 340.9 -8.6 167 3482 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1215 3418

3527 -0.98 -146.6 345.3 -8.4 169 3532 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2601 3418

3843 -0.98 -146.6 372.0 -8.5 184 3844 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3418

4152 -0.98 -146.6 397.5 -8.3 199 4153 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3418

4461 -0.98 -146.6 424.1 -8.9 214 4466 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1215 3417

4506 -1.02 -146.6 428.1 -9.1 216 4510 0.00 2.40 0.00 0.000 6 0.000 0.035 2130 2601 3418

4832 -1.02 -146.6 459.4 -9.9 232 4833 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3417

5141 -1.02 -146.6 490.3 -10.2 247 5145 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1215 3417

5192 -1.07 -146.6 495.4 -9.5 249 5196 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2601 3417

5508 -1.07 -146.6 525.7 -9.0 264 5510 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3417

5817 -1.07 -146.6 553.0 -8.6 279 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3417

6126 -1.07 -146.6 579.0 -8.7 294 6130 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1206 3417

6160 -1.11 -146.6 582.1 -8.4 295 6164 0.00 2.45 0.00 0.000 6 0.000 0.035 2131 2609 3416

6476 -1.11 -146.6 608.5 -8.4 310 6480 0.00 2.45 0.00 0.000 4 0.000 0.038 2131 1206 3416

6509 -1.17 -146.6 611.7 -8.9 311 6516 0.12 2.42 0.00 0.000 6 0.048 0.035 2088 2600 3417

6825 -1.03 -146.6 643.4 -9.5 327 6827 0.22 0.00 0.00 0.000 6 0.098 0.000 2130 2600 3416

7029 end dive: BOTTOM_OBSTACLE_DETECTED

state 7029 begin apogee

7036 -0.31 0.0 662.1 9.0 337 7171 0.82 0.00 128.15 1.006 6 0.123 0.000 2290 2302 2816

7172 end apogee: CONTROL_FINISHED_OK

state 7172 begin climb

7175 1.03 146.6 667.5 0.0 344 7312 1.40 2.70 128.80 0.996 4 0.087 0.061 2580 3695 2218

7470 0.91 146.6 648.5 7.9 357 7477 0.12 2.40 0.00 0.000 6 0.095 0.028 2557 2318 2216

7786 0.87 151.5 624.1 7.3 373 7796 0.00 2.58 4.88 0.670 4 0.000 0.048 2557 903 2199

7853 0.87 151.5 618.9 8.1 376 7857 0.00 2.47 0.00 0.000 6 0.000 0.034 2557 2308 2197

8173 0.88 157.5 596.0 7.3 392 8188 0.00 2.67 7.10 0.775 4 0.000 0.061 2557 3704 2173

8223 0.80 157.5 592.0 9.1 394 8227 0.12 2.45 0.00 0.000 6 0.104 0.028 2535 2297 2173

8544 0.89 181.8 571.2 6.7 410 8574 0.00 2.62 22.85 0.908 4 0.000 0.047 2534 898 2073

8610 0.95 181.8 566.6 7.6 413 8615 0.15 2.47 0.00 0.000 6 0.048 0.034 2576 2300 2071

8936 0.95 181.8 538.8 8.6 429 8941 0.00 2.60 0.00 0.000 4 0.000 0.061 2577 3704 2071

8999 0.85 181.8 533.3 8.6 432 9004 0.17 2.42 0.00 0.000 6 0.102 0.028 2544 2299 2071

9326 0.93 210.0 511.3 6.5 448 9354 0.00 0.00 25.83 0.883 6 0.000 0.000 2544 2299 1960

9656 1.01 221.3 488.1 7.1 464 9674 0.17 0.00 11.40 0.799 6 0.045 0.000 2592 2299 1914

9983 0.97 221.3 458.7 8.7 480 9985 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2299 1912

10293 0.97 221.3 431.8 8.7 495 10294 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2299 1911

10602 0.97 221.3 403.3 9.4 510 10603 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2299 1911

10911 0.97 221.3 374.1 9.4 525 10915 0.00 2.58 0.00 0.000 4 0.000 0.058 2592 3704 1911

10961 0.89 221.3 368.7 11.7 527 10966 0.20 2.42 0.00 0.000 6 0.094 0.027 2554 2296 1911

11277 0.95 221.3 342.3 8.4 542 11278 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2296 1911

11586 1.02 221.3 316.6 8.4 557 11588 0.12 0.00 0.00 0.000 6 0.051 0.000 2592 2295 1911

11895 1.02 221.3 287.0 9.4 572 11896 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1911

12204 1.02 221.3 257.9 9.1 587 12205 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1911

12513 1.02 221.3 230.8 8.6 602 12514 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2295 1911

12823 1.02 221.3 203.2 9.2 617 12827 0.00 2.58 0.00 0.000 4 0.000 0.056 2592 3704 1911

12885 0.94 221.3 196.9 10.2 620 12890 0.15 2.42 0.00 0.000 6 0.094 0.028 2563 2295 1911

13212 0.99 221.3 170.2 8.0 636 13213 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2294 1910

13522 1.04 222.8 145.7 7.4 651 13524 0.10 0.00 0.00 0.000 6 0.054 0.000 2595 2294 1911

13830 1.04 222.8 118.5 8.5 666 13834 0.00 2.58 0.00 0.000 4 0.000 0.055 2595 3705 1911

13880 0.95 222.8 113.7 9.3 668 13885 0.15 2.40 0.00 0.000 6 0.094 0.027 2566 2298 1911

14197 0.99 222.8 88.6 7.8 683 14198 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2297 1911

14506 1.04 225.3 64.6 7.4 698 14516 0.00 2.50 4.88 0.467 4 0.000 0.044 2566 897 1896

14601 1.10 225.3 57.0 7.9 702 14606 0.15 2.45 0.00 0.000 6 0.047 0.031 2604 2309 1895

14917 1.04 225.3 28.8 8.9 717 14921 0.00 2.50 0.00 0.000 4 0.000 0.042 2605 901 1895

14958 0.99 225.3 24.8 10.1 719 14963 0.15 2.42 0.00 0.000 6 0.088 0.032 2576 2302 1895

15262 end climb: SURFACE_DEPTH_REACHED

state 15262 begin surface coast

15286 end surface coast: CONTROL_FINISHED_OK

state 15286 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	161	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	34	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	-2110497.8	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	180536,6346.192,-1259.194,34,1.4,34,-12.3	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.66	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-62.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	181107,6346.215,-1259.161,13,1.5,30,-12.3	MHEAD_RNG_PITCHd_Wd	327.9,35758,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.2,1.026616	ALTIM_BOTTOM_PING	627.1,44.6
SM_CCo	15309,15.07,0.549,0,0,1796,250.21	_24V_AH	23.7,28.501
SM_GC	2.49,0.00,0.00,15.07,0.000,0.000,0.549,70,2601,1796,-10.54,0.03,250.21	_10V_AH	10.1,14.188
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38092,735
TT8_MAMPS	0.023777	CAP_FILE_SIZE	106287,0
HUMID	1762	CFSIZE	260165632,249167872
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	050709,222806,6349.420,-1256.604,37,1.7,37,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	192	130.04	SBE_CT	538	24	306.33
Roll_motor	89	60	128.24	SBE_O2	506	19	227.99
VBD_pump_during_apogee	333	1006	7962.72	WL_BB2F	453	105	1128.48
VBD_pump_during_surface	15	549	196.21	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	106.54	nil	0	0	0.00
Iridium_during_xfer	158	223	839.52
Transponder_ping	5	420	52.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.63
TT8	1334	19	266.89
LPSleep	11897	2	263.17
TT8_Active	452	19	90.47
TT8_Sampling	1536	39	617.49
TT8_CF8	440	45	203.66
TT8_Kalman	0	81	0.00
Analog_circuits	1207	12	146.38
GPS_charging	0	0	0.00
Compass	1487	8	120.23
RAFOS	0	0	0.00
Transponder	36	30	11.09

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
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-55.90	0.000	6	0.000	0.000	78	2604	3415
81	-1.03	-146.6	7.7	-14.3	3	102	12.10	2.35	0.00	0.000	4	0.193	0.058	2130	3857	3416
278	-0.98	-146.6	45.3	-13.4	11	284	0.00	2.15	0.00	0.000	6	0.000	0.026	2130	2576	3417
594	-0.98	-146.6	82.1	-11.4	27	598	0.00	2.35	0.00	0.000	4	0.000	0.060	2130	3854	3418
644	-0.98	-146.6	87.9	-11.0	29	647	0.00	2.12	0.00	0.000	6	0.000	0.025	2130	2590	3418
965	-0.98	-146.6	122.3	-10.3	45	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2586	3417
1276	-0.98	-146.6	152.6	-9.6	60	1277	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2586	3418
1584	-0.98	-146.6	181.9	-9.3	75	1585	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2586	3418
1892	-0.98	-146.6	210.7	-9.1	90	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2586	3419
2202	-0.98	-146.6	237.4	-8.4	105	2203	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2586	3418
2511	-0.98	-146.6	263.2	-8.1	120	2512	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2586	3418
2820	-0.98	-146.6	288.3	-8.1	135	2824	0.00	2.40	0.00	0.000	4	0.000	0.039	2131	1218	3418
2853	-0.98	-146.6	290.9	-7.8	136	2860	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2601	3418
3169	-0.98	-146.6	315.4	-7.8	152	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3417
3478	-0.98	-146.6	340.9	-8.6	167	3482	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1215	3418
3527	-0.98	-146.6	345.3	-8.4	169	3532	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2601	3418
3843	-0.98	-146.6	372.0	-8.5	184	3844	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3418
4152	-0.98	-146.6	397.5	-8.3	199	4153	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3418
4461	-0.98	-146.6	424.1	-8.9	214	4466	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1215	3417
4506	-1.02	-146.6	428.1	-9.1	216	4510	0.00	2.40	0.00	0.000	6	0.000	0.035	2130	2601	3418
4832	-1.02	-146.6	459.4	-9.9	232	4833	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3417
5141	-1.02	-146.6	490.3	-10.2	247	5145	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1215	3417
5192	-1.07	-146.6	495.4	-9.5	249	5196	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2601	3417
5508	-1.07	-146.6	525.7	-9.0	264	5510	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3417
5817	-1.07	-146.6	553.0	-8.6	279	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3417
6126	-1.07	-146.6	579.0	-8.7	294	6130	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1206	3417
6160	-1.11	-146.6	582.1	-8.4	295	6164	0.00	2.45	0.00	0.000	6	0.000	0.035	2131	2609	3416
6476	-1.11	-146.6	608.5	-8.4	310	6480	0.00	2.45	0.00	0.000	4	0.000	0.038	2131	1206	3416
6509	-1.17	-146.6	611.7	-8.9	311	6516	0.12	2.42	0.00	0.000	6	0.048	0.035	2088	2600	3417
6825	-1.03	-146.6	643.4	-9.5	327	6827	0.22	0.00	0.00	0.000	6	0.098	0.000	2130	2600	3416
7029	end dive: BOTTOM_OBSTACLE_DETECTED
state	7029	begin apogee
7036	-0.31	0.0	662.1	9.0	337	7171	0.82	0.00	128.15	1.006	6	0.123	0.000	2290	2302	2816
7172	end apogee: CONTROL_FINISHED_OK
state	7172	begin climb
7175	1.03	146.6	667.5	0.0	344	7312	1.40	2.70	128.80	0.996	4	0.087	0.061	2580	3695	2218
7470	0.91	146.6	648.5	7.9	357	7477	0.12	2.40	0.00	0.000	6	0.095	0.028	2557	2318	2216
7786	0.87	151.5	624.1	7.3	373	7796	0.00	2.58	4.88	0.670	4	0.000	0.048	2557	903	2199
7853	0.87	151.5	618.9	8.1	376	7857	0.00	2.47	0.00	0.000	6	0.000	0.034	2557	2308	2197
8173	0.88	157.5	596.0	7.3	392	8188	0.00	2.67	7.10	0.775	4	0.000	0.061	2557	3704	2173
8223	0.80	157.5	592.0	9.1	394	8227	0.12	2.45	0.00	0.000	6	0.104	0.028	2535	2297	2173
8544	0.89	181.8	571.2	6.7	410	8574	0.00	2.62	22.85	0.908	4	0.000	0.047	2534	898	2073
8610	0.95	181.8	566.6	7.6	413	8615	0.15	2.47	0.00	0.000	6	0.048	0.034	2576	2300	2071
8936	0.95	181.8	538.8	8.6	429	8941	0.00	2.60	0.00	0.000	4	0.000	0.061	2577	3704	2071
8999	0.85	181.8	533.3	8.6	432	9004	0.17	2.42	0.00	0.000	6	0.102	0.028	2544	2299	2071
9326	0.93	210.0	511.3	6.5	448	9354	0.00	0.00	25.83	0.883	6	0.000	0.000	2544	2299	1960
9656	1.01	221.3	488.1	7.1	464	9674	0.17	0.00	11.40	0.799	6	0.045	0.000	2592	2299	1914
9983	0.97	221.3	458.7	8.7	480	9985	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2299	1912
10293	0.97	221.3	431.8	8.7	495	10294	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2299	1911
10602	0.97	221.3	403.3	9.4	510	10603	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2299	1911
10911	0.97	221.3	374.1	9.4	525	10915	0.00	2.58	0.00	0.000	4	0.000	0.058	2592	3704	1911
10961	0.89	221.3	368.7	11.7	527	10966	0.20	2.42	0.00	0.000	6	0.094	0.027	2554	2296	1911
11277	0.95	221.3	342.3	8.4	542	11278	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2296	1911
11586	1.02	221.3	316.6	8.4	557	11588	0.12	0.00	0.00	0.000	6	0.051	0.000	2592	2295	1911
11895	1.02	221.3	287.0	9.4	572	11896	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1911
12204	1.02	221.3	257.9	9.1	587	12205	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1911
12513	1.02	221.3	230.8	8.6	602	12514	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2295	1911
12823	1.02	221.3	203.2	9.2	617	12827	0.00	2.58	0.00	0.000	4	0.000	0.056	2592	3704	1911
12885	0.94	221.3	196.9	10.2	620	12890	0.15	2.42	0.00	0.000	6	0.094	0.028	2563	2295	1911
13212	0.99	221.3	170.2	8.0	636	13213	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2294	1910
13522	1.04	222.8	145.7	7.4	651	13524	0.10	0.00	0.00	0.000	6	0.054	0.000	2595	2294	1911
13830	1.04	222.8	118.5	8.5	666	13834	0.00	2.58	0.00	0.000	4	0.000	0.055	2595	3705	1911
13880	0.95	222.8	113.7	9.3	668	13885	0.15	2.40	0.00	0.000	6	0.094	0.027	2566	2298	1911
14197	0.99	222.8	88.6	7.8	683	14198	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2297	1911
14506	1.04	225.3	64.6	7.4	698	14516	0.00	2.50	4.88	0.467	4	0.000	0.044	2566	897	1896
14601	1.10	225.3	57.0	7.9	702	14606	0.15	2.45	0.00	0.000	6	0.047	0.031	2604	2309	1895
14917	1.04	225.3	28.8	8.9	717	14921	0.00	2.50	0.00	0.000	4	0.000	0.042	2605	901	1895
14958	0.99	225.3	24.8	10.1	719	14963	0.15	2.42	0.00	0.000	6	0.088	0.032	2576	2302	1895
15262	end climb: SURFACE_DEPTH_REACHED
state	15262	begin surface coast
15286	end surface coast: CONTROL_FINISHED_OK
state	15286	begin surface