Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 165 * 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 165 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 38 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 -2110557.5 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2110557.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 38 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 165 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 114737,6354.081,-1302.327,30,1.3,30,-12.4 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 1.52 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.0 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 115231,6354.060,-1302.334,13,1.4,13,-12.4 MHEAD_RNG_PITCHd_Wd 308.5,25010,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.2,1.026670 ALTIM_BOTTOM_PING 726.5,28.5

SM_CCo 16432,0.00,0.000,0,0,1769,257.07 _24V_AH 23.6,28.975

SM_GC 1.50,12.40,0.00,0.00,0.105,0.000,0.000,75,2610,1769,-10.45,0.28,257.07 _10V_AH 10.1,14.465

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38026,788

TT8_MAMPS 0.02301 CAP_FILE_SIZE 106072,0

HUMID 1761 CFSIZE 260165632,248971264

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 060709,162800,6354.114,-1308.920,39,1.6,44,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 113.45 SBE_CT 577 24 327.29

Roll_motor 94 62 139.90 SBE_O2 541 19 242.78

VBD_pump_during_apogee 359 1063 9017.58 WL_BB2F 461 105 1144.28

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 43.83 nil 0 0 0.00

Iridium_during_connect 28 160 106.54 nil 0 0 0.00

Iridium_during_xfer 138 223 726.82

Transponder_ping 6 420 64.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 1401 19 280.31

LPSleep 12834 2 283.90

TT8_Active 461 19 92.29

TT8_Sampling 1601 39 643.96

TT8_CF8 425 45 196.87

TT8_Kalman 0 81 0.00

Analog_circuits 1256 12 152.35

GPS_charging 0 0 0.00

Compass 1564 8 126.41

RAFOS 0 0 0.00

Transponder 45 30 13.92

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -56.15 0.000 6 0.000 0.000 66 2607 3416

80 -1.03 -146.6 7.3 -13.3 3 102 11.80 2.33 0.00 0.000 4 0.179 0.054 2129 3856 3416

256 -0.98 -146.6 42.9 -12.9 10 262 0.00 2.12 0.00 0.000 6 0.000 0.025 2129 2579 3417

573 -0.98 -146.6 76.0 -10.9 26 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3418

881 -0.98 -146.6 102.0 -8.4 41 882 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2578 3418

1191 -0.98 -146.6 132.1 -10.0 56 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3419

1500 -0.98 -146.6 161.4 -9.2 71 1501 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3419

1809 -0.98 -146.6 190.4 -9.6 86 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3419

2119 -0.98 -146.6 220.7 -9.7 101 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3419

2427 -0.98 -146.6 252.8 -10.6 116 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3419

2737 -0.98 -146.6 286.6 -11.1 131 2738 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2577 3419

3046 -0.98 -146.6 318.9 -9.8 146 3048 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3419

3356 -0.98 -146.6 347.3 -8.9 161 3357 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2577 3419

3664 -0.98 -146.6 374.2 -8.4 176 3669 0.00 2.38 0.00 0.000 4 0.000 0.038 2129 1218 3418

3704 -0.98 -146.6 377.3 -8.0 178 3708 0.00 2.40 0.00 0.000 6 0.000 0.035 2129 2596 3418

4030 -0.98 -146.6 404.9 -9.0 194 4031 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2596 3419

4340 -0.98 -146.6 435.4 -10.0 209 4344 0.00 2.42 0.00 0.000 4 0.000 0.037 2130 1209 3419

4384 -0.98 -146.6 440.0 -10.2 211 4388 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2600 3418

4705 -0.98 -146.6 472.9 -10.4 227 4707 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

5015 -0.98 -146.6 501.8 -8.2 242 5016 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2600 3418

5324 -0.98 -146.6 524.7 -7.4 257 5329 0.00 2.40 0.00 0.000 4 0.000 0.038 2129 1218 3418

5392 -0.98 -146.6 530.2 -8.0 260 5396 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2604 3418

5718 -0.98 -146.6 557.7 -8.9 276 5723 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1216 3417

5774 -0.98 -146.6 563.2 -9.8 278 5780 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2607 3417

6090 -0.98 -146.6 595.9 -11.0 294 6091 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2607 3417

6399 -0.98 -146.6 627.1 -9.3 309 6400 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2607 3417

6709 -0.98 -146.6 655.5 -9.6 324 6710 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2607 3416

7018 -0.98 -146.6 685.5 -9.4 339 7019 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2607 3417

7327 -0.98 -146.6 712.0 -9.2 354 7331 0.00 2.45 0.00 0.000 4 0.000 0.040 2129 1211 3417

7390 -1.04 -146.6 717.6 -9.4 357 7394 0.00 2.45 0.00 0.000 6 0.000 0.037 2130 2606 3417

7714 end dive: BOTTOM_OBSTACLE_DETECTED

state 7714 begin apogee

7723 -0.31 0.0 745.8 8.6 373 7857 0.82 0.00 129.60 1.064 6 0.133 0.000 2286 2297 2817

7858 end apogee: CONTROL_FINISHED_OK

state 7858 begin climb

7861 1.03 146.6 750.4 0.0 380 7998 1.42 0.00 130.77 1.051 6 0.075 0.000 2584 2297 2218

8310 1.01 183.1 728.6 6.3 402 8351 0.00 2.72 33.08 1.004 4 0.000 0.062 2584 3700 2069

8430 0.92 183.1 718.6 10.0 407 8436 0.12 2.42 0.00 0.000 6 0.094 0.028 2561 2314 2068

8746 0.92 183.1 693.0 8.1 422 8750 0.00 2.58 0.00 0.000 4 0.000 0.050 2561 895 2065

8801 0.92 183.1 688.3 8.8 424 8807 0.00 2.47 0.00 0.000 6 0.000 0.035 2561 2301 2063

9117 0.92 183.1 664.7 7.8 440 9118 0.00 0.00 0.00 0.000 6 0.000 0.000 2561 2301 2063

9426 0.92 183.1 640.1 7.9 455 9430 0.00 2.60 0.00 0.000 4 0.000 0.063 2561 3702 2064

9499 0.87 183.1 634.0 8.3 458 9503 0.00 2.45 0.00 0.000 6 0.000 0.028 2561 2294 2063

9814 0.87 183.1 608.1 8.9 473 9818 0.00 2.62 0.00 0.000 4 0.000 0.061 2561 3708 2062

9864 0.82 183.1 603.1 9.9 475 9869 0.12 2.45 0.00 0.000 6 0.101 0.028 2537 2296 2063

10181 0.90 193.5 577.8 7.1 490 10192 0.00 0.00 9.27 0.826 6 0.000 0.000 2537 2296 2029

10489 1.03 252.9 558.9 5.5 505 10553 0.20 2.58 56.45 0.938 4 0.044 0.048 2596 901 1783

10593 1.03 252.9 550.5 8.9 509 10599 0.00 2.47 0.00 0.000 6 0.000 0.034 2596 2304 1778

10908 1.03 252.9 523.3 8.6 525 10909 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2304 1776

11218 1.03 252.9 497.0 8.6 540 11221 0.00 2.53 0.00 0.000 4 0.000 0.044 2595 898 1774

11273 1.03 252.9 491.6 9.8 542 11278 0.00 2.45 0.00 0.000 6 0.000 0.033 2596 2299 1772

11589 1.03 252.9 460.3 10.4 557 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2300 1773

11898 1.03 252.9 427.7 10.6 572 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2300 1774

12208 1.03 252.9 394.6 10.5 587 12212 0.00 2.50 0.00 0.000 4 0.000 0.044 2596 892 1773

12253 1.03 252.9 389.9 10.7 589 12257 0.00 2.45 0.00 0.000 6 0.000 0.033 2596 2308 1772

12579 1.03 252.9 358.4 8.9 605 12580 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2308 1772

12888 1.03 252.9 332.7 8.1 620 12890 0.00 0.00 0.00 0.000 6 0.000 0.000 2597 2308 1772

13197 1.03 252.9 306.3 8.9 635 13202 0.00 2.53 0.00 0.000 4 0.000 0.043 2596 891 1772

13247 1.03 252.9 301.7 8.9 637 13251 0.00 2.42 0.00 0.000 6 0.000 0.031 2596 2299 1772

13569 1.03 252.9 273.0 8.9 653 13573 0.00 2.55 0.00 0.000 4 0.000 0.057 2596 3698 1772

13608 0.99 252.9 269.1 9.7 655 13613 0.00 2.40 0.00 0.000 6 0.000 0.027 2596 2296 1772

13936 0.99 252.9 241.4 8.2 671 13937 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2294 1772

14245 0.99 252.9 212.3 10.4 686 14249 0.00 2.47 0.00 0.000 4 0.000 0.044 2596 892 1772

14297 0.99 252.9 206.5 10.8 688 14301 0.00 2.45 0.00 0.000 6 0.000 0.031 2596 2306 1772

14617 0.99 252.9 171.7 10.6 704 14618 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2306 1772

14928 0.99 252.9 140.9 10.2 719 14929 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2307 1772

15237 0.99 252.9 109.8 10.3 734 15238 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2307 1772

15545 0.99 252.9 80.2 9.2 749 15550 0.00 2.50 0.00 0.000 4 0.000 0.042 2596 894 1772

15590 0.99 252.9 75.8 9.8 751 15594 0.00 2.45 0.00 0.000 6 0.000 0.031 2596 2309 1772

15911 0.99 252.9 42.9 10.5 767 15915 0.00 2.50 0.00 0.000 4 0.000 0.041 2596 898 1772

15989 0.99 252.9 34.6 10.4 770 15995 0.00 2.42 0.00 0.000 6 0.000 0.031 2596 2309 1772

16306 0.99 252.9 6.7 9.0 786 16311 0.00 2.55 0.00 0.000 4 0.000 0.057 2596 3703 1773

16334 0.99 252.9 3.4 11.5 787 16338 0.00 2.22 0.00 0.000 3 0.000 0.025 2596 2390 1773

16339 end climb: SURFACE_DEPTH_REACHED

state 16339 begin surface coast

16348 end surface coast: CONTROL_FINISHED_OK

state 16348 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	165	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	38	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	-2110557.5	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	114737,6354.081,-1302.327,30,1.3,30,-12.4	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	1.52	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.0	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	115231,6354.060,-1302.334,13,1.4,13,-12.4	MHEAD_RNG_PITCHd_Wd	308.5,25010,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	2.2,1.026670	ALTIM_BOTTOM_PING	726.5,28.5
SM_CCo	16432,0.00,0.000,0,0,1769,257.07	_24V_AH	23.6,28.975
SM_GC	1.50,12.40,0.00,0.00,0.105,0.000,0.000,75,2610,1769,-10.45,0.28,257.07	_10V_AH	10.1,14.465
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38026,788
TT8_MAMPS	0.02301	CAP_FILE_SIZE	106072,0
HUMID	1761	CFSIZE	260165632,248971264
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	060709,162800,6354.114,-1308.920,39,1.6,44,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	113.45	SBE_CT	577	24	327.29
Roll_motor	94	62	139.90	SBE_O2	541	19	242.78
VBD_pump_during_apogee	359	1063	9017.58	WL_BB2F	461	105	1144.28
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	43.83	nil	0	0	0.00
Iridium_during_connect	28	160	106.54	nil	0	0	0.00
Iridium_during_xfer	138	223	726.82
Transponder_ping	6	420	64.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	1401	19	280.31
LPSleep	12834	2	283.90
TT8_Active	461	19	92.29
TT8_Sampling	1601	39	643.96
TT8_CF8	425	45	196.87
TT8_Kalman	0	81	0.00
Analog_circuits	1256	12	152.35
GPS_charging	0	0	0.00
Compass	1564	8	126.41
RAFOS	0	0	0.00
Transponder	45	30	13.92

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-56.15	0.000	6	0.000	0.000	66	2607	3416
80	-1.03	-146.6	7.3	-13.3	3	102	11.80	2.33	0.00	0.000	4	0.179	0.054	2129	3856	3416
256	-0.98	-146.6	42.9	-12.9	10	262	0.00	2.12	0.00	0.000	6	0.000	0.025	2129	2579	3417
573	-0.98	-146.6	76.0	-10.9	26	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3418
881	-0.98	-146.6	102.0	-8.4	41	882	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2578	3418
1191	-0.98	-146.6	132.1	-10.0	56	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3419
1500	-0.98	-146.6	161.4	-9.2	71	1501	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3419
1809	-0.98	-146.6	190.4	-9.6	86	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3419
2119	-0.98	-146.6	220.7	-9.7	101	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3419
2427	-0.98	-146.6	252.8	-10.6	116	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3419
2737	-0.98	-146.6	286.6	-11.1	131	2738	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2577	3419
3046	-0.98	-146.6	318.9	-9.8	146	3048	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3419
3356	-0.98	-146.6	347.3	-8.9	161	3357	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2577	3419
3664	-0.98	-146.6	374.2	-8.4	176	3669	0.00	2.38	0.00	0.000	4	0.000	0.038	2129	1218	3418
3704	-0.98	-146.6	377.3	-8.0	178	3708	0.00	2.40	0.00	0.000	6	0.000	0.035	2129	2596	3418
4030	-0.98	-146.6	404.9	-9.0	194	4031	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2596	3419
4340	-0.98	-146.6	435.4	-10.0	209	4344	0.00	2.42	0.00	0.000	4	0.000	0.037	2130	1209	3419
4384	-0.98	-146.6	440.0	-10.2	211	4388	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2600	3418
4705	-0.98	-146.6	472.9	-10.4	227	4707	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
5015	-0.98	-146.6	501.8	-8.2	242	5016	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2600	3418
5324	-0.98	-146.6	524.7	-7.4	257	5329	0.00	2.40	0.00	0.000	4	0.000	0.038	2129	1218	3418
5392	-0.98	-146.6	530.2	-8.0	260	5396	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2604	3418
5718	-0.98	-146.6	557.7	-8.9	276	5723	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1216	3417
5774	-0.98	-146.6	563.2	-9.8	278	5780	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2607	3417
6090	-0.98	-146.6	595.9	-11.0	294	6091	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2607	3417
6399	-0.98	-146.6	627.1	-9.3	309	6400	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2607	3417
6709	-0.98	-146.6	655.5	-9.6	324	6710	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2607	3416
7018	-0.98	-146.6	685.5	-9.4	339	7019	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2607	3417
7327	-0.98	-146.6	712.0	-9.2	354	7331	0.00	2.45	0.00	0.000	4	0.000	0.040	2129	1211	3417
7390	-1.04	-146.6	717.6	-9.4	357	7394	0.00	2.45	0.00	0.000	6	0.000	0.037	2130	2606	3417
7714	end dive: BOTTOM_OBSTACLE_DETECTED
state	7714	begin apogee
7723	-0.31	0.0	745.8	8.6	373	7857	0.82	0.00	129.60	1.064	6	0.133	0.000	2286	2297	2817
7858	end apogee: CONTROL_FINISHED_OK
state	7858	begin climb
7861	1.03	146.6	750.4	0.0	380	7998	1.42	0.00	130.77	1.051	6	0.075	0.000	2584	2297	2218
8310	1.01	183.1	728.6	6.3	402	8351	0.00	2.72	33.08	1.004	4	0.000	0.062	2584	3700	2069
8430	0.92	183.1	718.6	10.0	407	8436	0.12	2.42	0.00	0.000	6	0.094	0.028	2561	2314	2068
8746	0.92	183.1	693.0	8.1	422	8750	0.00	2.58	0.00	0.000	4	0.000	0.050	2561	895	2065
8801	0.92	183.1	688.3	8.8	424	8807	0.00	2.47	0.00	0.000	6	0.000	0.035	2561	2301	2063
9117	0.92	183.1	664.7	7.8	440	9118	0.00	0.00	0.00	0.000	6	0.000	0.000	2561	2301	2063
9426	0.92	183.1	640.1	7.9	455	9430	0.00	2.60	0.00	0.000	4	0.000	0.063	2561	3702	2064
9499	0.87	183.1	634.0	8.3	458	9503	0.00	2.45	0.00	0.000	6	0.000	0.028	2561	2294	2063
9814	0.87	183.1	608.1	8.9	473	9818	0.00	2.62	0.00	0.000	4	0.000	0.061	2561	3708	2062
9864	0.82	183.1	603.1	9.9	475	9869	0.12	2.45	0.00	0.000	6	0.101	0.028	2537	2296	2063
10181	0.90	193.5	577.8	7.1	490	10192	0.00	0.00	9.27	0.826	6	0.000	0.000	2537	2296	2029
10489	1.03	252.9	558.9	5.5	505	10553	0.20	2.58	56.45	0.938	4	0.044	0.048	2596	901	1783
10593	1.03	252.9	550.5	8.9	509	10599	0.00	2.47	0.00	0.000	6	0.000	0.034	2596	2304	1778
10908	1.03	252.9	523.3	8.6	525	10909	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2304	1776
11218	1.03	252.9	497.0	8.6	540	11221	0.00	2.53	0.00	0.000	4	0.000	0.044	2595	898	1774
11273	1.03	252.9	491.6	9.8	542	11278	0.00	2.45	0.00	0.000	6	0.000	0.033	2596	2299	1772
11589	1.03	252.9	460.3	10.4	557	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2300	1773
11898	1.03	252.9	427.7	10.6	572	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2300	1774
12208	1.03	252.9	394.6	10.5	587	12212	0.00	2.50	0.00	0.000	4	0.000	0.044	2596	892	1773
12253	1.03	252.9	389.9	10.7	589	12257	0.00	2.45	0.00	0.000	6	0.000	0.033	2596	2308	1772
12579	1.03	252.9	358.4	8.9	605	12580	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2308	1772
12888	1.03	252.9	332.7	8.1	620	12890	0.00	0.00	0.00	0.000	6	0.000	0.000	2597	2308	1772
13197	1.03	252.9	306.3	8.9	635	13202	0.00	2.53	0.00	0.000	4	0.000	0.043	2596	891	1772
13247	1.03	252.9	301.7	8.9	637	13251	0.00	2.42	0.00	0.000	6	0.000	0.031	2596	2299	1772
13569	1.03	252.9	273.0	8.9	653	13573	0.00	2.55	0.00	0.000	4	0.000	0.057	2596	3698	1772
13608	0.99	252.9	269.1	9.7	655	13613	0.00	2.40	0.00	0.000	6	0.000	0.027	2596	2296	1772
13936	0.99	252.9	241.4	8.2	671	13937	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2294	1772
14245	0.99	252.9	212.3	10.4	686	14249	0.00	2.47	0.00	0.000	4	0.000	0.044	2596	892	1772
14297	0.99	252.9	206.5	10.8	688	14301	0.00	2.45	0.00	0.000	6	0.000	0.031	2596	2306	1772
14617	0.99	252.9	171.7	10.6	704	14618	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2306	1772
14928	0.99	252.9	140.9	10.2	719	14929	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2307	1772
15237	0.99	252.9	109.8	10.3	734	15238	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2307	1772
15545	0.99	252.9	80.2	9.2	749	15550	0.00	2.50	0.00	0.000	4	0.000	0.042	2596	894	1772
15590	0.99	252.9	75.8	9.8	751	15594	0.00	2.45	0.00	0.000	6	0.000	0.031	2596	2309	1772
15911	0.99	252.9	42.9	10.5	767	15915	0.00	2.50	0.00	0.000	4	0.000	0.041	2596	898	1772
15989	0.99	252.9	34.6	10.4	770	15995	0.00	2.42	0.00	0.000	6	0.000	0.031	2596	2309	1772
16306	0.99	252.9	6.7	9.0	786	16311	0.00	2.55	0.00	0.000	4	0.000	0.057	2596	3703	1773
16334	0.99	252.9	3.4	11.5	787	16338	0.00	2.22	0.00	0.000	3	0.000	0.025	2596	2390	1773
16339	end climb: SURFACE_DEPTH_REACHED
state	16339	begin surface coast
16348	end surface coast: CONTROL_FINISHED_OK
state	16348	begin surface