Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 169 * 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 169 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -2110635.8 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 -2110635.8

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 25 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 169 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 061901,6358.318,-1319.601,39,1.5,39,-12.6 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.58 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 062413,6358.337,-1319.554,17,2.0,34,-12.6 MHEAD_RNG_PITCHd_Wd 302.6,9023,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.017656 ALTIM_BOTTOM_PING 626.6,17.9

SM_CCo 14734,-0.12,0.000,0,0,1798,250.21 _24V_AH 23.6,29.514

SM_GC 2.36,0.00,0.00,-0.12,0.000,0.000,0.000,70,2605,1798,-10.53,0.14,250.21 _10V_AH 10.1,14.755

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34893,709

TT8_MAMPS 0.023777 CAP_FILE_SIZE 98014,0

HUMID 1771 CFSIZE 260165632,248762368

TCM_TEMP 16.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 070709,103130,6400.660,-1320.752,46,1.7,46,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 186 118.43 SBE_CT 523 24 296.53

Roll_motor 78 72 135.76 SBE_O2 483 19 216.90

VBD_pump_during_apogee 350 1003 8305.67 WL_BB2F 442 105 1097.14

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 43.82 nil 0 0 0.00

Iridium_during_connect 31 160 117.08 nil 0 0 0.00

Iridium_during_xfer 127 223 669.43

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.60

TT8 1280 19 256.06

LPSleep 11390 2 251.94

TT8_Active 451 19 90.29

TT8_Sampling 1524 39 612.70

TT8_CF8 403 45 186.78

TT8_Kalman 0 81 0.00

Analog_circuits 1179 12 142.92

GPS_charging 0 0 0.00

Compass 1470 8 118.83

RAFOS 0 0 0.00

Transponder 39 30 11.94

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 78 0.00 0.00 -60.95 0.000 2 0.000 0.000 79 2601 3175

81 -1.03 -146.6 4.2 -6.2 3 104 11.93 2.33 -4.38 0.000 4 0.186 0.073 2131 3865 3414

312 -0.98 -146.6 40.6 -13.4 13 316 0.00 2.17 0.00 0.000 6 0.000 0.025 2131 2566 3416

639 -0.98 -146.6 74.7 -9.7 29 643 0.00 2.40 0.00 0.000 4 0.000 0.060 2131 3868 3417

711 -0.98 -146.6 83.3 -12.2 32 715 0.00 2.12 0.00 0.000 6 0.000 0.025 2131 2597 3417

1033 -0.98 -146.6 118.2 -9.3 48 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2594 3417

1342 -0.98 -146.6 145.1 -8.7 63 1343 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

1651 -0.98 -146.6 171.7 -8.4 78 1652 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

1961 -0.98 -146.6 197.8 -9.0 93 1962 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

2270 -0.98 -146.6 226.3 -9.4 108 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

2579 -0.98 -146.6 257.4 -10.1 123 2580 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2593 3417

2888 -0.98 -146.6 288.0 -9.3 138 2889 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

3197 -0.98 -146.6 314.6 -8.1 153 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3417

3507 -0.98 -146.6 337.9 -7.1 168 3511 0.00 2.40 0.00 0.000 4 0.000 0.038 2132 1214 3417

3558 -0.98 -146.6 341.7 -7.1 170 3562 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2603 3417

3885 -0.98 -146.6 370.7 -9.6 186 3889 0.00 2.42 0.00 0.000 4 0.000 0.037 2131 1215 3417

3969 -0.98 -146.6 378.6 -10.2 190 3973 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2601 3417

4296 -0.98 -146.6 411.3 -9.5 206 4297 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3417

4605 -0.98 -146.6 436.6 -8.2 221 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3417

4915 -0.98 -146.6 463.9 -10.0 236 4916 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3416

5224 -1.03 -146.6 485.9 -8.0 251 5225 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3415

5533 -1.03 -146.6 505.0 -9.8 266 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3415

5843 -1.03 -146.6 520.0 -6.7 281 5847 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1218 3414

5933 -1.03 -146.6 525.9 -4.8 285 5938 0.00 2.42 0.00 0.000 6 0.000 0.036 2131 2603 3414

6261 -1.03 -146.6 552.2 -7.9 301 6265 0.00 2.33 0.00 0.000 4 0.000 0.068 2131 3857 3414

6310 -1.03 -146.6 557.1 -8.2 303 6314 0.00 2.12 0.00 0.000 6 0.000 0.027 2131 2596 3414

6631 -1.03 -146.6 582.6 -10.4 319 6633 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3413

6941 -1.03 -146.6 614.1 -8.5 334 6942 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2593 3413

7165 end dive: BOTTOM_OBSTACLE_DETECTED

state 7165 begin apogee

7172 -0.31 0.0 636.0 9.9 345 7302 0.77 0.00 126.57 1.003 6 0.098 0.000 2288 2299 2817

7303 end apogee: CONTROL_FINISHED_OK

state 7303 begin climb

7306 1.03 146.6 641.0 0.0 351 7439 1.40 0.00 129.45 0.989 6 0.081 0.000 2579 2300 2219

7744 0.95 186.6 624.0 6.1 373 7787 0.00 2.67 35.70 0.956 4 0.000 0.061 2580 3701 2055

7849 0.88 186.6 616.9 7.8 377 7856 0.15 2.42 0.00 0.000 6 0.109 0.029 2553 2314 2053

8165 0.89 197.5 593.8 7.1 393 8180 0.00 2.60 10.23 0.847 4 0.000 0.049 2554 900 2010

8220 0.90 205.1 590.2 7.2 394 8234 0.00 2.50 8.07 0.802 6 0.000 0.035 2553 2310 1981

8558 0.90 205.1 566.7 8.0 411 8562 0.00 2.55 0.00 0.000 4 0.000 0.048 2553 902 1978

8620 0.92 226.6 561.4 6.8 414 8646 0.00 2.47 20.95 0.909 6 0.000 0.035 2553 2306 1893

8970 1.00 247.0 538.6 6.8 431 8993 0.12 0.00 19.83 0.894 6 0.058 0.000 2586 2306 1809

9297 1.00 247.0 513.3 7.8 447 9298 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2306 1803

9606 1.00 247.0 488.9 8.2 462 9607 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2306 1803

9915 1.00 247.0 463.3 8.4 477 9916 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2306 1803

10224 1.00 247.0 438.2 8.1 492 10229 0.00 2.53 0.00 0.000 4 0.000 0.047 2586 897 1802

10359 1.00 247.0 425.9 9.7 498 10363 0.00 2.47 0.00 0.000 6 0.000 0.035 2586 2308 1801

10680 1.00 247.0 391.8 11.3 514 10684 0.00 2.53 0.00 0.000 4 0.000 0.047 2586 902 1801

10764 1.00 247.0 382.8 9.9 518 10768 0.00 2.45 0.00 0.000 6 0.000 0.034 2586 2304 1800

11090 0.94 247.0 352.7 9.5 534 11095 0.12 2.50 0.00 0.000 4 0.105 0.038 2562 892 1801

11180 1.02 247.0 342.8 10.6 538 11185 0.00 2.47 0.00 0.000 6 0.000 0.034 2562 2307 1800

11501 1.08 247.0 314.7 8.9 554 11503 0.15 0.00 0.00 0.000 6 0.049 0.000 2600 2307 1801

11810 1.08 247.0 281.7 10.7 569 11815 0.00 2.53 0.00 0.000 4 0.000 0.044 2600 894 1801

11860 1.08 247.0 276.1 11.1 571 11865 0.00 2.45 0.00 0.000 6 0.000 0.033 2601 2302 1800

12176 1.08 247.0 244.0 10.6 586 12180 0.00 2.50 0.00 0.000 4 0.000 0.044 2601 898 1801

12245 1.08 247.0 236.0 11.4 589 12249 0.00 2.45 0.00 0.000 6 0.000 0.033 2601 2305 1800

12571 1.08 247.0 200.4 9.7 605 12572 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2305 1801

12880 1.08 247.0 172.3 9.3 620 12881 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2305 1801

13190 1.08 247.0 141.4 10.4 635 13194 0.00 2.50 0.00 0.000 4 0.000 0.042 2601 897 1801

13234 1.08 247.0 136.7 10.7 637 13238 0.00 2.45 0.00 0.000 6 0.000 0.032 2601 2309 1801

13555 1.08 247.0 105.5 9.6 653 13556 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2309 1801

13864 1.08 247.0 75.9 9.5 668 13866 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2309 1801

14173 1.08 247.0 45.9 9.9 683 14174 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2309 1801

14482 1.08 247.0 17.1 8.4 698 14487 0.00 2.50 0.00 0.000 4 0.000 0.041 2600 898 1801

14591 1.08 247.0 7.8 9.9 703 14595 0.00 2.42 0.00 0.000 6 0.000 0.032 2601 2300 1801

14668 end climb: SURFACE_DEPTH_REACHED

state 14668 begin surface coast

14710 end surface coast: CONTROL_FINISHED_OK

state 14711 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	169	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-2110635.8	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	061901,6358.318,-1319.601,39,1.5,39,-12.6	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.58	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	062413,6358.337,-1319.554,17,2.0,34,-12.6	MHEAD_RNG_PITCHd_Wd	302.6,9023,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.017656	ALTIM_BOTTOM_PING	626.6,17.9
SM_CCo	14734,-0.12,0.000,0,0,1798,250.21	_24V_AH	23.6,29.514
SM_GC	2.36,0.00,0.00,-0.12,0.000,0.000,0.000,70,2605,1798,-10.53,0.14,250.21	_10V_AH	10.1,14.755
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34893,709
TT8_MAMPS	0.023777	CAP_FILE_SIZE	98014,0
HUMID	1771	CFSIZE	260165632,248762368
TCM_TEMP	16.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	070709,103130,6400.660,-1320.752,46,1.7,46,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	186	118.43	SBE_CT	523	24	296.53
Roll_motor	78	72	135.76	SBE_O2	483	19	216.90
VBD_pump_during_apogee	350	1003	8305.67	WL_BB2F	442	105	1097.14
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	43.82	nil	0	0	0.00
Iridium_during_connect	31	160	117.08	nil	0	0	0.00
Iridium_during_xfer	127	223	669.43
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.60
TT8	1280	19	256.06
LPSleep	11390	2	251.94
TT8_Active	451	19	90.29
TT8_Sampling	1524	39	612.70
TT8_CF8	403	45	186.78
TT8_Kalman	0	81	0.00
Analog_circuits	1179	12	142.92
GPS_charging	0	0	0.00
Compass	1470	8	118.83
RAFOS	0	0	0.00
Transponder	39	30	11.94

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	78	0.00	0.00	-60.95	0.000	2	0.000	0.000	79	2601	3175
81	-1.03	-146.6	4.2	-6.2	3	104	11.93	2.33	-4.38	0.000	4	0.186	0.073	2131	3865	3414
312	-0.98	-146.6	40.6	-13.4	13	316	0.00	2.17	0.00	0.000	6	0.000	0.025	2131	2566	3416
639	-0.98	-146.6	74.7	-9.7	29	643	0.00	2.40	0.00	0.000	4	0.000	0.060	2131	3868	3417
711	-0.98	-146.6	83.3	-12.2	32	715	0.00	2.12	0.00	0.000	6	0.000	0.025	2131	2597	3417
1033	-0.98	-146.6	118.2	-9.3	48	1034	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2594	3417
1342	-0.98	-146.6	145.1	-8.7	63	1343	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
1651	-0.98	-146.6	171.7	-8.4	78	1652	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
1961	-0.98	-146.6	197.8	-9.0	93	1962	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
2270	-0.98	-146.6	226.3	-9.4	108	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
2579	-0.98	-146.6	257.4	-10.1	123	2580	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2593	3417
2888	-0.98	-146.6	288.0	-9.3	138	2889	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
3197	-0.98	-146.6	314.6	-8.1	153	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3417
3507	-0.98	-146.6	337.9	-7.1	168	3511	0.00	2.40	0.00	0.000	4	0.000	0.038	2132	1214	3417
3558	-0.98	-146.6	341.7	-7.1	170	3562	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2603	3417
3885	-0.98	-146.6	370.7	-9.6	186	3889	0.00	2.42	0.00	0.000	4	0.000	0.037	2131	1215	3417
3969	-0.98	-146.6	378.6	-10.2	190	3973	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2601	3417
4296	-0.98	-146.6	411.3	-9.5	206	4297	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3417
4605	-0.98	-146.6	436.6	-8.2	221	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3417
4915	-0.98	-146.6	463.9	-10.0	236	4916	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3416
5224	-1.03	-146.6	485.9	-8.0	251	5225	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3415
5533	-1.03	-146.6	505.0	-9.8	266	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3415
5843	-1.03	-146.6	520.0	-6.7	281	5847	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1218	3414
5933	-1.03	-146.6	525.9	-4.8	285	5938	0.00	2.42	0.00	0.000	6	0.000	0.036	2131	2603	3414
6261	-1.03	-146.6	552.2	-7.9	301	6265	0.00	2.33	0.00	0.000	4	0.000	0.068	2131	3857	3414
6310	-1.03	-146.6	557.1	-8.2	303	6314	0.00	2.12	0.00	0.000	6	0.000	0.027	2131	2596	3414
6631	-1.03	-146.6	582.6	-10.4	319	6633	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3413
6941	-1.03	-146.6	614.1	-8.5	334	6942	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2593	3413
7165	end dive: BOTTOM_OBSTACLE_DETECTED
state	7165	begin apogee
7172	-0.31	0.0	636.0	9.9	345	7302	0.77	0.00	126.57	1.003	6	0.098	0.000	2288	2299	2817
7303	end apogee: CONTROL_FINISHED_OK
state	7303	begin climb
7306	1.03	146.6	641.0	0.0	351	7439	1.40	0.00	129.45	0.989	6	0.081	0.000	2579	2300	2219
7744	0.95	186.6	624.0	6.1	373	7787	0.00	2.67	35.70	0.956	4	0.000	0.061	2580	3701	2055
7849	0.88	186.6	616.9	7.8	377	7856	0.15	2.42	0.00	0.000	6	0.109	0.029	2553	2314	2053
8165	0.89	197.5	593.8	7.1	393	8180	0.00	2.60	10.23	0.847	4	0.000	0.049	2554	900	2010
8220	0.90	205.1	590.2	7.2	394	8234	0.00	2.50	8.07	0.802	6	0.000	0.035	2553	2310	1981
8558	0.90	205.1	566.7	8.0	411	8562	0.00	2.55	0.00	0.000	4	0.000	0.048	2553	902	1978
8620	0.92	226.6	561.4	6.8	414	8646	0.00	2.47	20.95	0.909	6	0.000	0.035	2553	2306	1893
8970	1.00	247.0	538.6	6.8	431	8993	0.12	0.00	19.83	0.894	6	0.058	0.000	2586	2306	1809
9297	1.00	247.0	513.3	7.8	447	9298	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2306	1803
9606	1.00	247.0	488.9	8.2	462	9607	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2306	1803
9915	1.00	247.0	463.3	8.4	477	9916	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2306	1803
10224	1.00	247.0	438.2	8.1	492	10229	0.00	2.53	0.00	0.000	4	0.000	0.047	2586	897	1802
10359	1.00	247.0	425.9	9.7	498	10363	0.00	2.47	0.00	0.000	6	0.000	0.035	2586	2308	1801
10680	1.00	247.0	391.8	11.3	514	10684	0.00	2.53	0.00	0.000	4	0.000	0.047	2586	902	1801
10764	1.00	247.0	382.8	9.9	518	10768	0.00	2.45	0.00	0.000	6	0.000	0.034	2586	2304	1800
11090	0.94	247.0	352.7	9.5	534	11095	0.12	2.50	0.00	0.000	4	0.105	0.038	2562	892	1801
11180	1.02	247.0	342.8	10.6	538	11185	0.00	2.47	0.00	0.000	6	0.000	0.034	2562	2307	1800
11501	1.08	247.0	314.7	8.9	554	11503	0.15	0.00	0.00	0.000	6	0.049	0.000	2600	2307	1801
11810	1.08	247.0	281.7	10.7	569	11815	0.00	2.53	0.00	0.000	4	0.000	0.044	2600	894	1801
11860	1.08	247.0	276.1	11.1	571	11865	0.00	2.45	0.00	0.000	6	0.000	0.033	2601	2302	1800
12176	1.08	247.0	244.0	10.6	586	12180	0.00	2.50	0.00	0.000	4	0.000	0.044	2601	898	1801
12245	1.08	247.0	236.0	11.4	589	12249	0.00	2.45	0.00	0.000	6	0.000	0.033	2601	2305	1800
12571	1.08	247.0	200.4	9.7	605	12572	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2305	1801
12880	1.08	247.0	172.3	9.3	620	12881	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2305	1801
13190	1.08	247.0	141.4	10.4	635	13194	0.00	2.50	0.00	0.000	4	0.000	0.042	2601	897	1801
13234	1.08	247.0	136.7	10.7	637	13238	0.00	2.45	0.00	0.000	6	0.000	0.032	2601	2309	1801
13555	1.08	247.0	105.5	9.6	653	13556	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2309	1801
13864	1.08	247.0	75.9	9.5	668	13866	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2309	1801
14173	1.08	247.0	45.9	9.9	683	14174	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2309	1801
14482	1.08	247.0	17.1	8.4	698	14487	0.00	2.50	0.00	0.000	4	0.000	0.041	2600	898	1801
14591	1.08	247.0	7.8	9.9	703	14595	0.00	2.42	0.00	0.000	6	0.000	0.032	2601	2300	1801
14668	end climb: SURFACE_DEPTH_REACHED
state	14668	begin surface coast
14710	end surface coast: CONTROL_FINISHED_OK
state	14711	begin surface