Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 202 * 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 202 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -2111214.2 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 -2111214.2

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 27 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 202 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 024856,6323.350,-1303.897,28,3.3,47,-12.2 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.43 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -55.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 025710,6323.310,-1303.923,12,3.5,31,-12.2 MHEAD_RNG_PITCHd_Wd 223.2,17947,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026524 _24V_AH 23.6,33.780

SM_CCo 14767,0.00,0.000,0,0,1589,301.23 _10V_AH 10.1,17.031

SM_GC 1.55,12.50,0.00,0.00,0.100,0.000,0.000,73,2601,1589,-10.46,0.03,301.23 DATA_FILE_SIZE 34921,705

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 104345,0

TT8_MAMPS 0.02301 CFSIZE 260165632,247037952

HUMID 1766 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.30 GPS 130709,070436,6321.091,-1303.591,27,1.2,27,-12.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 185 122.11 SBE_CT 516 24 292.52

Roll_motor 87 67 139.18 SBE_O2 480 19 215.31

VBD_pump_during_apogee 394 1011 9411.72 WL_BB2F 418 105 1037.88

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 36 103 88.59 nil 0 0 0.00

Iridium_during_connect 59 160 222.94 nil 0 0 0.00

Iridium_during_xfer 195 223 1028.44

Transponder_ping 6 420 64.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.22

TT8 1289 19 257.83

LPSleep 11330 2 250.63

TT8_Active 482 19 96.48

TT8_Sampling 1622 39 652.18

TT8_CF8 534 45 247.31

TT8_Kalman 0 81 0.00

Analog_circuits 1278 12 154.94

GPS_charging 0 0 0.00

Compass 1559 8 125.98

RAFOS 0 0 0.00

Transponder 50 30 15.16

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 91 0.00 0.00 -73.38 0.000 6 0.000 0.000 61 2611 3416

94 -1.03 -146.6 3.8 -5.7 3 116 11.98 2.33 0.00 0.000 4 0.186 0.057 2128 3854 3418

369 -0.98 -146.6 54.1 -11.7 15 373 0.00 2.17 0.00 0.000 6 0.000 0.027 2129 2570 3418

691 -0.98 -146.6 90.2 -10.4 31 695 0.00 2.35 0.00 0.000 4 0.000 0.060 2129 3848 3419

947 -0.98 -146.6 118.1 -10.5 42 954 0.00 2.12 0.00 0.000 6 0.000 0.026 2129 2580 3419

1264 -0.98 -146.6 148.8 -9.2 58 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3419

1573 -0.98 -146.6 176.9 -9.4 73 1574 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3419

1882 -0.98 -146.6 207.8 -9.8 88 1883 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3418

2191 -0.98 -146.6 236.5 -8.9 103 2192 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3418

2500 -0.98 -146.6 264.5 -9.2 118 2501 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3418

2810 -0.98 -146.6 290.2 -7.8 133 2811 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2580 3418

3119 -0.98 -146.6 314.4 -8.0 148 3123 0.00 2.35 0.00 0.000 4 0.000 0.064 2129 3856 3418

3164 -0.98 -146.6 318.4 -8.7 150 3168 0.00 2.10 0.00 0.000 6 0.000 0.027 2129 2604 3418

3497 -0.98 -146.6 346.8 -8.4 166 3501 0.00 2.45 0.00 0.000 4 0.000 0.040 2129 1209 3418

3559 -0.98 -146.6 351.7 -7.4 169 3563 0.00 2.42 0.00 0.000 6 0.000 0.036 2129 2592 3418

3887 -0.98 -146.6 376.3 -7.1 185 3888 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2592 3418

4197 -0.98 -146.6 400.1 -7.8 200 4198 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2592 3417

4504 -0.98 -146.6 426.7 -8.8 215 4506 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2592 3417

4813 -0.98 -146.6 454.5 -8.9 230 4814 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2592 3417

5122 -0.98 -146.6 484.7 -10.1 245 5123 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2592 3416

5431 -0.98 -146.6 513.8 -8.6 260 5435 0.00 2.42 0.00 0.000 4 0.000 0.039 2129 1214 3416

5517 -0.98 -146.6 521.3 -8.7 264 5521 0.00 2.45 0.00 0.000 6 0.000 0.036 2129 2609 3416

5843 -0.98 -146.6 554.6 -10.2 280 5844 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2609 3416

6153 -0.98 -146.6 583.0 -8.5 295 6154 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2609 3415

6462 -0.98 -146.6 608.1 -8.3 310 6466 0.00 2.33 0.00 0.000 4 0.000 0.067 2129 3861 3415

6563 -0.98 -146.6 618.3 -10.9 314 6569 0.00 2.12 0.00 0.000 6 0.000 0.027 2129 2599 3415

6879 -0.98 -146.6 645.9 -9.0 330 6880 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2599 3415

7188 -1.40 -146.6 654.1 -0.0 345 7193 0.30 2.42 0.00 0.000 4 0.048 0.035 2053 1203 3414

7264 end dive: NO_VERTICAL_VELOCITY

state 7264 begin apogee

7273 -0.31 0.0 654.1 0.0 348 7404 1.08 0.00 127.55 1.012 6 0.071 0.000 2290 2305 2816

7405 end apogee: CONTROL_FINISHED_OK

state 7405 begin climb

7408 1.03 146.6 653.9 0.0 355 7546 1.35 2.58 128.57 0.997 4 0.066 0.044 2582 926 2217

7805 0.94 146.6 637.5 8.0 373 7809 0.00 2.42 0.00 0.000 6 0.000 0.036 2582 2306 2211

8138 0.90 175.6 613.8 6.5 389 8166 0.15 0.00 25.88 0.941 6 0.096 0.000 2553 2306 2100

8467 0.90 175.6 589.2 7.8 405 8471 0.00 2.60 0.00 0.000 4 0.000 0.064 2553 3704 2096

8500 0.84 175.6 586.4 8.3 406 8506 0.00 2.42 0.00 0.000 6 0.000 0.029 2553 2312 2096

8815 0.84 175.6 562.6 7.7 422 8816 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2312 2095

9125 0.90 228.7 543.5 5.7 437 9180 0.00 2.65 48.20 0.937 4 0.000 0.049 2553 904 1883

9237 1.01 275.4 537.1 5.9 442 9288 0.12 2.47 42.97 0.922 6 0.052 0.035 2589 2302 1693

9604 1.04 298.2 512.9 6.7 460 9627 0.00 0.00 21.02 0.875 6 0.000 0.000 2589 2302 1601

9933 1.04 298.2 488.1 8.0 476 9937 0.00 2.53 0.00 0.000 4 0.000 0.048 2589 902 1595

9967 1.04 298.2 485.0 8.7 477 9971 0.00 2.47 0.00 0.000 6 0.000 0.035 2589 2305 1594

10283 1.04 298.2 457.1 9.5 492 10284 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2305 1594

10591 1.04 298.2 426.7 10.3 507 10595 0.00 2.53 0.00 0.000 4 0.000 0.046 2589 895 1594

10653 1.08 298.2 419.8 10.7 509 10659 0.00 2.47 0.00 0.000 6 0.000 0.034 2589 2308 1593

10969 1.08 298.2 387.3 10.2 525 10970 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2308 1593

11278 1.08 298.2 356.6 9.7 540 11282 0.00 2.53 0.00 0.000 4 0.000 0.045 2588 900 1593

11318 1.13 298.2 352.7 10.4 542 11322 0.00 2.45 0.00 0.000 6 0.000 0.034 2589 2301 1592

11645 1.13 298.2 320.2 10.1 558 11646 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2301 1593

11954 1.17 298.2 289.6 9.9 573 11959 0.12 2.50 0.00 0.000 4 0.051 0.044 2629 899 1593

12010 1.11 298.2 282.6 13.1 575 12017 0.15 2.45 0.00 0.000 6 0.090 0.034 2600 2305 1593

12326 1.11 298.2 247.8 10.9 591 12327 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2305 1593

12635 1.11 298.2 214.6 10.4 606 12639 0.00 2.50 0.00 0.000 4 0.000 0.044 2600 899 1593

12681 1.11 298.2 209.5 10.3 608 12685 0.00 2.45 0.00 0.000 6 0.000 0.034 2600 2310 1593

13014 1.11 298.2 175.6 10.0 624 13015 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2310 1593

13323 1.11 298.2 145.6 9.4 639 13327 0.00 2.53 0.00 0.000 4 0.000 0.044 2599 894 1593

13369 1.11 298.2 141.2 9.4 641 13373 0.00 2.45 0.00 0.000 6 0.000 0.033 2599 2301 1593

13696 1.11 298.2 108.6 10.7 657 13700 0.00 2.50 0.00 0.000 4 0.000 0.044 2600 898 1593

13751 1.11 298.2 102.2 12.0 659 13758 0.00 2.42 0.00 0.000 6 0.000 0.033 2600 2302 1593

14067 1.11 298.2 66.5 11.4 675 14071 0.00 2.50 0.00 0.000 4 0.000 0.044 2600 895 1593

14157 1.17 298.2 55.6 12.4 679 14161 0.00 2.45 0.00 0.000 6 0.000 0.033 2600 2305 1593

14479 1.23 298.2 22.7 8.7 695 14480 0.12 0.00 0.00 0.000 6 0.049 0.000 2641 2305 1593

14661 end climb: SURFACE_DEPTH_REACHED

state 14661 begin surface coast

14683 end surface coast: CONTROL_FINISHED_OK

state 14683 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	202	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-2111214.2	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	024856,6323.350,-1303.897,28,3.3,47,-12.2	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.43	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-55.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	025710,6323.310,-1303.923,12,3.5,31,-12.2	MHEAD_RNG_PITCHd_Wd	223.2,17947,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026524	_24V_AH	23.6,33.780
SM_CCo	14767,0.00,0.000,0,0,1589,301.23	_10V_AH	10.1,17.031
SM_GC	1.55,12.50,0.00,0.00,0.100,0.000,0.000,73,2601,1589,-10.46,0.03,301.23	DATA_FILE_SIZE	34921,705
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	104345,0
TT8_MAMPS	0.02301	CFSIZE	260165632,247037952
HUMID	1766	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.30	GPS	130709,070436,6321.091,-1303.591,27,1.2,27,-12.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	185	122.11	SBE_CT	516	24	292.52
Roll_motor	87	67	139.18	SBE_O2	480	19	215.31
VBD_pump_during_apogee	394	1011	9411.72	WL_BB2F	418	105	1037.88
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	36	103	88.59	nil	0	0	0.00
Iridium_during_connect	59	160	222.94	nil	0	0	0.00
Iridium_during_xfer	195	223	1028.44
Transponder_ping	6	420	64.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.22
TT8	1289	19	257.83
LPSleep	11330	2	250.63
TT8_Active	482	19	96.48
TT8_Sampling	1622	39	652.18
TT8_CF8	534	45	247.31
TT8_Kalman	0	81	0.00
Analog_circuits	1278	12	154.94
GPS_charging	0	0	0.00
Compass	1559	8	125.98
RAFOS	0	0	0.00
Transponder	50	30	15.16

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	91	0.00	0.00	-73.38	0.000	6	0.000	0.000	61	2611	3416
94	-1.03	-146.6	3.8	-5.7	3	116	11.98	2.33	0.00	0.000	4	0.186	0.057	2128	3854	3418
369	-0.98	-146.6	54.1	-11.7	15	373	0.00	2.17	0.00	0.000	6	0.000	0.027	2129	2570	3418
691	-0.98	-146.6	90.2	-10.4	31	695	0.00	2.35	0.00	0.000	4	0.000	0.060	2129	3848	3419
947	-0.98	-146.6	118.1	-10.5	42	954	0.00	2.12	0.00	0.000	6	0.000	0.026	2129	2580	3419
1264	-0.98	-146.6	148.8	-9.2	58	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3419
1573	-0.98	-146.6	176.9	-9.4	73	1574	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3419
1882	-0.98	-146.6	207.8	-9.8	88	1883	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3418
2191	-0.98	-146.6	236.5	-8.9	103	2192	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3418
2500	-0.98	-146.6	264.5	-9.2	118	2501	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3418
2810	-0.98	-146.6	290.2	-7.8	133	2811	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2580	3418
3119	-0.98	-146.6	314.4	-8.0	148	3123	0.00	2.35	0.00	0.000	4	0.000	0.064	2129	3856	3418
3164	-0.98	-146.6	318.4	-8.7	150	3168	0.00	2.10	0.00	0.000	6	0.000	0.027	2129	2604	3418
3497	-0.98	-146.6	346.8	-8.4	166	3501	0.00	2.45	0.00	0.000	4	0.000	0.040	2129	1209	3418
3559	-0.98	-146.6	351.7	-7.4	169	3563	0.00	2.42	0.00	0.000	6	0.000	0.036	2129	2592	3418
3887	-0.98	-146.6	376.3	-7.1	185	3888	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2592	3418
4197	-0.98	-146.6	400.1	-7.8	200	4198	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2592	3417
4504	-0.98	-146.6	426.7	-8.8	215	4506	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2592	3417
4813	-0.98	-146.6	454.5	-8.9	230	4814	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2592	3417
5122	-0.98	-146.6	484.7	-10.1	245	5123	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2592	3416
5431	-0.98	-146.6	513.8	-8.6	260	5435	0.00	2.42	0.00	0.000	4	0.000	0.039	2129	1214	3416
5517	-0.98	-146.6	521.3	-8.7	264	5521	0.00	2.45	0.00	0.000	6	0.000	0.036	2129	2609	3416
5843	-0.98	-146.6	554.6	-10.2	280	5844	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2609	3416
6153	-0.98	-146.6	583.0	-8.5	295	6154	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2609	3415
6462	-0.98	-146.6	608.1	-8.3	310	6466	0.00	2.33	0.00	0.000	4	0.000	0.067	2129	3861	3415
6563	-0.98	-146.6	618.3	-10.9	314	6569	0.00	2.12	0.00	0.000	6	0.000	0.027	2129	2599	3415
6879	-0.98	-146.6	645.9	-9.0	330	6880	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2599	3415
7188	-1.40	-146.6	654.1	-0.0	345	7193	0.30	2.42	0.00	0.000	4	0.048	0.035	2053	1203	3414
7264	end dive: NO_VERTICAL_VELOCITY
state	7264	begin apogee
7273	-0.31	0.0	654.1	0.0	348	7404	1.08	0.00	127.55	1.012	6	0.071	0.000	2290	2305	2816
7405	end apogee: CONTROL_FINISHED_OK
state	7405	begin climb
7408	1.03	146.6	653.9	0.0	355	7546	1.35	2.58	128.57	0.997	4	0.066	0.044	2582	926	2217
7805	0.94	146.6	637.5	8.0	373	7809	0.00	2.42	0.00	0.000	6	0.000	0.036	2582	2306	2211
8138	0.90	175.6	613.8	6.5	389	8166	0.15	0.00	25.88	0.941	6	0.096	0.000	2553	2306	2100
8467	0.90	175.6	589.2	7.8	405	8471	0.00	2.60	0.00	0.000	4	0.000	0.064	2553	3704	2096
8500	0.84	175.6	586.4	8.3	406	8506	0.00	2.42	0.00	0.000	6	0.000	0.029	2553	2312	2096
8815	0.84	175.6	562.6	7.7	422	8816	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2312	2095
9125	0.90	228.7	543.5	5.7	437	9180	0.00	2.65	48.20	0.937	4	0.000	0.049	2553	904	1883
9237	1.01	275.4	537.1	5.9	442	9288	0.12	2.47	42.97	0.922	6	0.052	0.035	2589	2302	1693
9604	1.04	298.2	512.9	6.7	460	9627	0.00	0.00	21.02	0.875	6	0.000	0.000	2589	2302	1601
9933	1.04	298.2	488.1	8.0	476	9937	0.00	2.53	0.00	0.000	4	0.000	0.048	2589	902	1595
9967	1.04	298.2	485.0	8.7	477	9971	0.00	2.47	0.00	0.000	6	0.000	0.035	2589	2305	1594
10283	1.04	298.2	457.1	9.5	492	10284	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2305	1594
10591	1.04	298.2	426.7	10.3	507	10595	0.00	2.53	0.00	0.000	4	0.000	0.046	2589	895	1594
10653	1.08	298.2	419.8	10.7	509	10659	0.00	2.47	0.00	0.000	6	0.000	0.034	2589	2308	1593
10969	1.08	298.2	387.3	10.2	525	10970	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2308	1593
11278	1.08	298.2	356.6	9.7	540	11282	0.00	2.53	0.00	0.000	4	0.000	0.045	2588	900	1593
11318	1.13	298.2	352.7	10.4	542	11322	0.00	2.45	0.00	0.000	6	0.000	0.034	2589	2301	1592
11645	1.13	298.2	320.2	10.1	558	11646	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2301	1593
11954	1.17	298.2	289.6	9.9	573	11959	0.12	2.50	0.00	0.000	4	0.051	0.044	2629	899	1593
12010	1.11	298.2	282.6	13.1	575	12017	0.15	2.45	0.00	0.000	6	0.090	0.034	2600	2305	1593
12326	1.11	298.2	247.8	10.9	591	12327	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2305	1593
12635	1.11	298.2	214.6	10.4	606	12639	0.00	2.50	0.00	0.000	4	0.000	0.044	2600	899	1593
12681	1.11	298.2	209.5	10.3	608	12685	0.00	2.45	0.00	0.000	6	0.000	0.034	2600	2310	1593
13014	1.11	298.2	175.6	10.0	624	13015	0.00	0.00	0.00	0.000	6	0.000	0.000	2600	2310	1593
13323	1.11	298.2	145.6	9.4	639	13327	0.00	2.53	0.00	0.000	4	0.000	0.044	2599	894	1593
13369	1.11	298.2	141.2	9.4	641	13373	0.00	2.45	0.00	0.000	6	0.000	0.033	2599	2301	1593
13696	1.11	298.2	108.6	10.7	657	13700	0.00	2.50	0.00	0.000	4	0.000	0.044	2600	898	1593
13751	1.11	298.2	102.2	12.0	659	13758	0.00	2.42	0.00	0.000	6	0.000	0.033	2600	2302	1593
14067	1.11	298.2	66.5	11.4	675	14071	0.00	2.50	0.00	0.000	4	0.000	0.044	2600	895	1593
14157	1.17	298.2	55.6	12.4	679	14161	0.00	2.45	0.00	0.000	6	0.000	0.033	2600	2305	1593
14479	1.23	298.2	22.7	8.7	695	14480	0.12	0.00	0.00	0.000	6	0.049	0.000	2641	2305	1593
14661	end climb: SURFACE_DEPTH_REACHED
state	14661	begin surface coast
14683	end surface coast: CONTROL_FINISHED_OK
state	14683	begin surface