Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 163 * 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 163 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 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 -2110526.8 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 -2110526.8

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 35 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 163 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 024155,6350.257,-1259.305,41,1.8,41,-12.4 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 2 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 -61.1 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 024637,6350.246,-1259.391,11,1.9,16,-12.4 MHEAD_RNG_PITCHd_Wd 318.4,30722,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026510 ALTIM_BOTTOM_PING 676.3,39.6

SM_CCo 15492,0.00,0.000,0,0,1170,403.76 _24V_AH 23.6,28.750

SM_GC 1.47,12.38,0.00,0.00,0.089,0.000,0.000,72,2605,1170,-10.45,0.14,403.76 _10V_AH 10.1,14.324

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37939,745

TT8_MAMPS 0.02301 CAP_FILE_SIZE 101996,0

HUMID 1768 CFSIZE 260165632,249069568

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 060709,070625,6351.877,-1302.396,43,1.3,43,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 184 119.14 SBE_CT 546 24 309.79

Roll_motor 78 68 126.46 SBE_O2 509 19 228.64

VBD_pump_during_apogee 486 1033 11872.97 WL_BB2F 439 105 1089.32

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 43.98 nil 0 0 0.00

Iridium_during_connect 26 160 99.78 nil 0 0 0.00

Iridium_during_xfer 126 223 666.91

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.45

TT8 1327 19 265.41

LPSleep 11929 2 263.86

TT8_Active 554 19 110.98

TT8_Sampling 1560 39 627.32

TT8_CF8 402 45 186.40

TT8_Kalman 0 81 0.00

Analog_circuits 1337 12 162.11

GPS_charging 0 0 0.00

Compass 1521 8 122.92

RAFOS 0 0 0.00

Transponder 42 30 12.95

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 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -54.80 0.000 6 0.000 0.000 64 2602 3416

80 -1.03 -146.6 7.9 -14.8 3 102 11.95 2.35 0.00 0.000 4 0.184 0.056 2129 3864 3416

355 -0.97 -146.6 60.0 -15.9 15 359 0.00 2.17 0.00 0.000 6 0.000 0.026 2129 2574 3418

677 -0.97 -146.6 105.7 -12.7 31 681 0.00 2.35 0.00 0.000 4 0.000 0.060 2130 3854 3419

772 -0.97 -146.6 117.4 -12.0 35 776 0.00 2.10 0.00 0.000 6 0.000 0.025 2130 2597 3419

1095 -0.97 -146.6 149.7 -9.2 51 1096 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2595 3419

1404 -0.97 -146.6 176.7 -8.6 66 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2595 3419

1712 -0.97 -146.6 203.4 -8.6 81 1716 0.00 2.40 0.00 0.000 4 0.000 0.038 2130 1214 3420

1762 -0.97 -146.6 208.0 -9.0 83 1767 0.00 2.40 0.00 0.000 6 0.000 0.034 2130 2597 3419

2089 -0.97 -146.6 238.7 -9.4 99 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2597 3419

2399 -0.97 -146.6 267.8 -9.5 114 2403 0.00 2.42 0.00 0.000 4 0.000 0.037 2130 1209 3419

2438 -0.97 -146.6 271.5 -9.4 116 2443 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2599 3419

2765 -0.97 -146.6 302.4 -9.6 132 2766 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3419

3075 -0.97 -146.6 332.7 -10.1 147 3076 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3419

3384 -0.97 -146.6 363.5 -9.8 162 3388 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1211 3419

3446 -0.97 -146.6 369.7 -9.8 165 3450 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2600 3419

3774 -0.97 -146.6 400.9 -9.4 181 3775 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2600 3419

4082 -0.97 -146.6 430.0 -9.2 196 4083 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3419

4391 -0.97 -146.6 458.4 -9.3 211 4395 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1212 3419

4454 -0.97 -146.6 464.2 -9.0 214 4458 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2602 3419

4780 -0.97 -146.6 494.5 -9.8 230 4781 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3418

5091 -0.97 -146.6 526.9 -10.4 245 5092 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3418

5399 -0.97 -146.6 560.0 -10.7 260 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2602 3418

5708 -0.97 -146.6 589.1 -8.8 275 5712 0.00 2.33 0.00 0.000 4 0.000 0.068 2130 3860 3418

5763 -0.97 -146.6 594.1 -8.9 277 5769 0.00 2.10 0.00 0.000 6 0.000 0.026 2130 2599 3418

6079 -0.97 -146.6 620.6 -9.0 293 6080 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3418

6388 -0.97 -146.6 648.0 -8.8 308 6392 0.00 2.42 0.00 0.000 4 0.000 0.041 2130 1215 3418

6433 -1.03 -146.6 652.0 -8.5 310 6437 0.00 2.42 0.00 0.000 6 0.000 0.036 2130 2601 3417

6754 -1.03 -146.6 678.1 -8.0 326 6755 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3417

7064 -1.03 -146.6 703.5 -8.2 341 7065 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3417

7102 end dive: BOTTOM_OBSTACLE_DETECTED

state 7102 begin apogee

7109 -0.31 0.0 707.1 8.5 343 7244 0.82 0.00 129.15 1.033 6 0.127 0.000 2287 2305 2817

7245 end apogee: CONTROL_FINISHED_OK

state 7245 begin climb

7248 1.03 146.6 712.1 0.0 350 7386 1.38 2.58 129.90 1.022 4 0.072 0.044 2582 921 2219

7423 0.95 167.3 707.3 6.8 358 7448 0.00 2.45 19.88 0.952 6 0.000 0.035 2582 2303 2134

7767 0.90 167.3 681.2 7.9 375 7772 0.15 2.62 0.00 0.000 4 0.093 0.063 2553 3707 2128

7829 0.83 167.3 675.7 8.8 378 7834 0.00 2.42 0.00 0.000 6 0.000 0.028 2553 2305 2129

8162 0.87 203.0 653.1 6.3 394 8201 0.00 0.00 32.50 0.967 6 0.000 0.000 2553 2305 1988

8511 0.92 246.6 631.7 6.0 411 8554 0.00 0.00 41.25 0.966 6 0.000 0.000 2553 2305 1810

8861 1.00 247.6 607.2 7.5 428 8866 0.12 2.53 0.00 0.000 4 0.049 0.049 2589 904 1804

8923 1.00 247.6 601.0 10.1 431 8928 0.00 2.45 0.00 0.000 6 0.000 0.035 2589 2302 1802

9250 1.00 247.6 569.6 10.0 447 9254 0.00 2.58 0.00 0.000 4 0.000 0.061 2589 3700 1801

9328 0.95 247.6 560.7 11.5 450 9335 0.12 2.42 0.00 0.000 6 0.096 0.028 2566 2300 1801

9645 1.00 247.6 530.3 9.6 466 9646 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2300 1801

9954 1.04 247.6 501.0 9.0 481 9956 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2300 1800

10264 1.10 258.0 477.3 7.1 496 10276 0.15 0.00 9.88 0.776 6 0.049 0.000 2608 2299 1765

10572 1.05 258.0 447.3 10.0 511 10574 0.12 0.00 0.00 0.000 6 0.092 0.000 2585 2299 1762

10881 1.05 258.0 418.9 9.3 526 10882 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2299 1763

11190 1.05 258.0 390.2 9.4 541 11191 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2300 1762

11499 1.05 258.0 360.4 9.6 556 11503 0.00 2.50 0.00 0.000 4 0.000 0.045 2585 891 1762

11551 1.05 258.0 355.4 9.6 558 11556 0.00 2.45 0.00 0.000 6 0.000 0.032 2585 2302 1760

11872 1.05 258.0 326.5 8.7 574 11873 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2302 1761

12181 1.05 258.0 299.7 8.7 589 12182 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2302 1761

12490 1.05 258.0 271.1 9.7 604 12492 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2302 1761

12799 1.05 258.0 239.9 10.1 619 12803 0.00 2.47 0.00 0.000 4 0.000 0.042 2585 898 1761

12846 1.05 258.0 235.1 10.8 621 12850 0.00 2.42 0.00 0.000 6 0.000 0.032 2585 2301 1760

13173 1.05 258.0 202.4 10.1 637 13174 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2301 1761

13481 1.05 258.0 171.8 9.6 652 13483 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2301 1761

13791 1.05 258.0 143.4 9.0 667 13792 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2301 1761

14101 1.06 268.7 118.6 7.1 682 14114 0.00 0.00 10.85 0.595 6 0.000 0.000 2585 2301 1721

14411 1.12 328.0 101.1 5.5 697 14469 0.00 0.00 53.33 0.639 6 0.000 0.000 2585 2301 1478

14781 1.28 400.0 78.8 5.0 715 14849 0.22 2.60 60.22 0.618 4 0.041 0.043 2652 896 1185

14957 1.28 400.0 58.6 12.6 723 14961 0.00 2.45 0.00 0.000 6 0.000 0.032 2652 2298 1177

15283 1.28 400.0 15.2 11.6 739 15288 0.00 2.53 0.00 0.000 4 0.000 0.044 2652 892 1174

15362 1.28 400.0 5.2 12.7 742 15368 0.00 2.45 0.00 0.000 6 0.000 0.033 2652 2302 1172

15386 end climb: SURFACE_DEPTH_REACHED

state 15386 begin surface coast

15408 end surface coast: CONTROL_FINISHED_OK

state 15408 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	163	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	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	-2110526.8	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	024155,6350.257,-1259.305,41,1.8,41,-12.4	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	2	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	-61.1	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	024637,6350.246,-1259.391,11,1.9,16,-12.4	MHEAD_RNG_PITCHd_Wd	318.4,30722,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.026510	ALTIM_BOTTOM_PING	676.3,39.6
SM_CCo	15492,0.00,0.000,0,0,1170,403.76	_24V_AH	23.6,28.750
SM_GC	1.47,12.38,0.00,0.00,0.089,0.000,0.000,72,2605,1170,-10.45,0.14,403.76	_10V_AH	10.1,14.324
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37939,745
TT8_MAMPS	0.02301	CAP_FILE_SIZE	101996,0
HUMID	1768	CFSIZE	260165632,249069568
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	060709,070625,6351.877,-1302.396,43,1.3,43,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	184	119.14	SBE_CT	546	24	309.79
Roll_motor	78	68	126.46	SBE_O2	509	19	228.64
VBD_pump_during_apogee	486	1033	11872.97	WL_BB2F	439	105	1089.32
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	43.98	nil	0	0	0.00
Iridium_during_connect	26	160	99.78	nil	0	0	0.00
Iridium_during_xfer	126	223	666.91
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.45
TT8	1327	19	265.41
LPSleep	11929	2	263.86
TT8_Active	554	19	110.98
TT8_Sampling	1560	39	627.32
TT8_CF8	402	45	186.40
TT8_Kalman	0	81	0.00
Analog_circuits	1337	12	162.11
GPS_charging	0	0	0.00
Compass	1521	8	122.92
RAFOS	0	0	0.00
Transponder	42	30	12.95

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	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-54.80	0.000	6	0.000	0.000	64	2602	3416
80	-1.03	-146.6	7.9	-14.8	3	102	11.95	2.35	0.00	0.000	4	0.184	0.056	2129	3864	3416
355	-0.97	-146.6	60.0	-15.9	15	359	0.00	2.17	0.00	0.000	6	0.000	0.026	2129	2574	3418
677	-0.97	-146.6	105.7	-12.7	31	681	0.00	2.35	0.00	0.000	4	0.000	0.060	2130	3854	3419
772	-0.97	-146.6	117.4	-12.0	35	776	0.00	2.10	0.00	0.000	6	0.000	0.025	2130	2597	3419
1095	-0.97	-146.6	149.7	-9.2	51	1096	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2595	3419
1404	-0.97	-146.6	176.7	-8.6	66	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2595	3419
1712	-0.97	-146.6	203.4	-8.6	81	1716	0.00	2.40	0.00	0.000	4	0.000	0.038	2130	1214	3420
1762	-0.97	-146.6	208.0	-9.0	83	1767	0.00	2.40	0.00	0.000	6	0.000	0.034	2130	2597	3419
2089	-0.97	-146.6	238.7	-9.4	99	2090	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2597	3419
2399	-0.97	-146.6	267.8	-9.5	114	2403	0.00	2.42	0.00	0.000	4	0.000	0.037	2130	1209	3419
2438	-0.97	-146.6	271.5	-9.4	116	2443	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2599	3419
2765	-0.97	-146.6	302.4	-9.6	132	2766	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3419
3075	-0.97	-146.6	332.7	-10.1	147	3076	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3419
3384	-0.97	-146.6	363.5	-9.8	162	3388	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1211	3419
3446	-0.97	-146.6	369.7	-9.8	165	3450	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2600	3419
3774	-0.97	-146.6	400.9	-9.4	181	3775	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2600	3419
4082	-0.97	-146.6	430.0	-9.2	196	4083	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3419
4391	-0.97	-146.6	458.4	-9.3	211	4395	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1212	3419
4454	-0.97	-146.6	464.2	-9.0	214	4458	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2602	3419
4780	-0.97	-146.6	494.5	-9.8	230	4781	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3418
5091	-0.97	-146.6	526.9	-10.4	245	5092	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3418
5399	-0.97	-146.6	560.0	-10.7	260	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2602	3418
5708	-0.97	-146.6	589.1	-8.8	275	5712	0.00	2.33	0.00	0.000	4	0.000	0.068	2130	3860	3418
5763	-0.97	-146.6	594.1	-8.9	277	5769	0.00	2.10	0.00	0.000	6	0.000	0.026	2130	2599	3418
6079	-0.97	-146.6	620.6	-9.0	293	6080	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3418
6388	-0.97	-146.6	648.0	-8.8	308	6392	0.00	2.42	0.00	0.000	4	0.000	0.041	2130	1215	3418
6433	-1.03	-146.6	652.0	-8.5	310	6437	0.00	2.42	0.00	0.000	6	0.000	0.036	2130	2601	3417
6754	-1.03	-146.6	678.1	-8.0	326	6755	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3417
7064	-1.03	-146.6	703.5	-8.2	341	7065	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3417
7102	end dive: BOTTOM_OBSTACLE_DETECTED
state	7102	begin apogee
7109	-0.31	0.0	707.1	8.5	343	7244	0.82	0.00	129.15	1.033	6	0.127	0.000	2287	2305	2817
7245	end apogee: CONTROL_FINISHED_OK
state	7245	begin climb
7248	1.03	146.6	712.1	0.0	350	7386	1.38	2.58	129.90	1.022	4	0.072	0.044	2582	921	2219
7423	0.95	167.3	707.3	6.8	358	7448	0.00	2.45	19.88	0.952	6	0.000	0.035	2582	2303	2134
7767	0.90	167.3	681.2	7.9	375	7772	0.15	2.62	0.00	0.000	4	0.093	0.063	2553	3707	2128
7829	0.83	167.3	675.7	8.8	378	7834	0.00	2.42	0.00	0.000	6	0.000	0.028	2553	2305	2129
8162	0.87	203.0	653.1	6.3	394	8201	0.00	0.00	32.50	0.967	6	0.000	0.000	2553	2305	1988
8511	0.92	246.6	631.7	6.0	411	8554	0.00	0.00	41.25	0.966	6	0.000	0.000	2553	2305	1810
8861	1.00	247.6	607.2	7.5	428	8866	0.12	2.53	0.00	0.000	4	0.049	0.049	2589	904	1804
8923	1.00	247.6	601.0	10.1	431	8928	0.00	2.45	0.00	0.000	6	0.000	0.035	2589	2302	1802
9250	1.00	247.6	569.6	10.0	447	9254	0.00	2.58	0.00	0.000	4	0.000	0.061	2589	3700	1801
9328	0.95	247.6	560.7	11.5	450	9335	0.12	2.42	0.00	0.000	6	0.096	0.028	2566	2300	1801
9645	1.00	247.6	530.3	9.6	466	9646	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2300	1801
9954	1.04	247.6	501.0	9.0	481	9956	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2300	1800
10264	1.10	258.0	477.3	7.1	496	10276	0.15	0.00	9.88	0.776	6	0.049	0.000	2608	2299	1765
10572	1.05	258.0	447.3	10.0	511	10574	0.12	0.00	0.00	0.000	6	0.092	0.000	2585	2299	1762
10881	1.05	258.0	418.9	9.3	526	10882	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2299	1763
11190	1.05	258.0	390.2	9.4	541	11191	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2300	1762
11499	1.05	258.0	360.4	9.6	556	11503	0.00	2.50	0.00	0.000	4	0.000	0.045	2585	891	1762
11551	1.05	258.0	355.4	9.6	558	11556	0.00	2.45	0.00	0.000	6	0.000	0.032	2585	2302	1760
11872	1.05	258.0	326.5	8.7	574	11873	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2302	1761
12181	1.05	258.0	299.7	8.7	589	12182	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2302	1761
12490	1.05	258.0	271.1	9.7	604	12492	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2302	1761
12799	1.05	258.0	239.9	10.1	619	12803	0.00	2.47	0.00	0.000	4	0.000	0.042	2585	898	1761
12846	1.05	258.0	235.1	10.8	621	12850	0.00	2.42	0.00	0.000	6	0.000	0.032	2585	2301	1760
13173	1.05	258.0	202.4	10.1	637	13174	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2301	1761
13481	1.05	258.0	171.8	9.6	652	13483	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2301	1761
13791	1.05	258.0	143.4	9.0	667	13792	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2301	1761
14101	1.06	268.7	118.6	7.1	682	14114	0.00	0.00	10.85	0.595	6	0.000	0.000	2585	2301	1721
14411	1.12	328.0	101.1	5.5	697	14469	0.00	0.00	53.33	0.639	6	0.000	0.000	2585	2301	1478
14781	1.28	400.0	78.8	5.0	715	14849	0.22	2.60	60.22	0.618	4	0.041	0.043	2652	896	1185
14957	1.28	400.0	58.6	12.6	723	14961	0.00	2.45	0.00	0.000	6	0.000	0.032	2652	2298	1177
15283	1.28	400.0	15.2	11.6	739	15288	0.00	2.53	0.00	0.000	4	0.000	0.044	2652	892	1174
15362	1.28	400.0	5.2	12.7	742	15368	0.00	2.45	0.00	0.000	6	0.000	0.033	2652	2302	1172
15386	end climb: SURFACE_DEPTH_REACHED
state	15386	begin surface coast
15408	end surface coast: CONTROL_FINISHED_OK
state	15408	begin surface