Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 231 * 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 231 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -2111717.8 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 -2111717.8

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 36 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 231 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 061624,6258.680,-1253.969,27,1.2,44,-11.9 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_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 -62.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 062055,6258.653,-1253.928,11,1.2,11,-11.9 MHEAD_RNG_PITCHd_Wd 222.2,18560,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026548 ALTIM_BOTTOM_PING 625.6,24.1

SM_CCo 14602,0.00,0.000,0,0,1751,261.74 _24V_AH 23.6,37.458

SM_GC 1.59,11.90,0.00,0.00,0.083,0.000,0.000,76,2606,1751,-10.45,0.17,261.74 _10V_AH 10.1,19.027

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34764,698

TT8_MAMPS 0.02301 CAP_FILE_SIZE 93939,0

HUMID 1803 CFSIZE 260165632,245551104

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 180709,102537,6255.325,-1254.600,27,1.0,27,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 180 111.24 SBE_CT 510 24 289.20

Roll_motor 76 62 112.99 SBE_O2 475 19 213.20

VBD_pump_during_apogee 359 995 8443.64 WL_BB2F 442 105 1096.83

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 17 103 43.67 nil 0 0 0.00

Iridium_during_connect 25 160 96.25 nil 0 0 0.00

Iridium_during_xfer 120 223 636.44

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.57

TT8 1240 19 248.11

LPSleep 11386 2 251.87

TT8_Active 439 19 87.85

TT8_Sampling 1421 39 571.55

TT8_CF8 385 45 178.39

TT8_Kalman 0 81 0.00

Analog_circuits 1150 12 139.40

GPS_charging 0 0 0.00

Compass 1392 8 112.51

RAFOS 0 0 0.00

Transponder 36 30 11.07

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 79 0.00 0.00 -60.95 0.000 2 0.000 0.000 71 2609 3065

82 -1.03 -146.6 4.2 -6.3 3 108 11.85 2.58 -6.50 0.000 4 0.180 0.049 2131 1191 3418

284 -1.03 -146.6 29.4 -8.4 12 288 0.00 2.47 0.00 0.000 6 0.000 0.035 2131 2597 3419

610 -1.03 -146.6 59.1 -8.6 28 611 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3419

919 -1.03 -146.6 87.5 -10.0 43 921 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3420

1229 -1.03 -146.6 120.9 -10.8 58 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3420

1537 -1.03 -146.6 154.4 -10.7 73 1539 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3420

1847 -1.03 -146.6 188.1 -10.8 88 1848 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3420

2156 -1.03 -146.6 221.3 -10.7 103 2158 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2599 3420

2465 -1.03 -146.6 253.8 -10.3 118 2469 0.00 2.47 0.00 0.000 4 0.000 0.037 2131 1190 3420

2510 -1.03 -146.6 258.4 -9.8 120 2514 0.00 2.47 0.00 0.000 6 0.000 0.035 2131 2601 3420

2832 -1.03 -146.6 289.2 -9.6 136 2833 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

3140 -1.03 -146.6 318.9 -9.6 151 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

3450 -1.03 -146.6 347.4 -9.0 166 3451 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3419

3760 -1.03 -146.6 375.7 -9.1 181 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3419

4068 -1.03 -146.6 403.7 -8.8 196 4072 0.00 2.47 0.00 0.000 4 0.000 0.038 2131 1193 3418

4107 -1.07 -146.6 407.2 -8.5 197 4114 0.00 2.47 0.00 0.000 6 0.000 0.036 2131 2608 3418

4424 -1.07 -146.6 431.9 -7.2 213 4425 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2607 3418

4732 -1.07 -146.6 454.5 -7.6 228 4733 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3418

5041 -1.07 -146.6 481.7 -9.1 243 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3418

5351 -1.07 -146.6 510.5 -9.4 258 5352 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3417

5660 -1.07 -146.6 540.6 -9.8 273 5661 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3417

5969 -1.07 -146.6 569.0 -9.5 288 5970 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3416

6279 -1.07 -146.6 597.2 -8.8 303 6283 0.00 2.47 0.00 0.000 4 0.000 0.039 2132 1195 3416

6329 -1.13 -146.6 601.5 -8.3 305 6333 0.00 2.47 0.00 0.000 6 0.000 0.037 2132 2603 3416

6651 -1.13 -146.6 627.3 -8.4 321 6652 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2603 3416

6812 end dive: BOTTOM_OBSTACLE_DETECTED

state 6812 begin apogee

6819 -0.31 0.0 641.5 8.6 329 6949 0.77 0.00 127.15 0.996 6 0.095 0.000 2290 2283 2817

6950 end apogee: CONTROL_FINISHED_OK

state 6950 begin climb

6953 1.03 146.6 646.4 0.0 335 7090 1.35 2.58 127.55 0.991 4 0.069 0.044 2579 912 2217

7138 0.96 161.1 642.9 7.0 343 7158 0.00 2.47 13.65 0.890 6 0.000 0.034 2579 2307 2160

7475 0.99 180.6 620.3 6.8 360 7498 0.00 2.72 17.90 0.911 4 0.000 0.063 2579 3704 2081

7532 0.91 180.6 616.1 7.6 362 7537 0.00 2.42 0.00 0.000 6 0.000 0.028 2579 2315 2080

7848 0.94 208.6 594.5 6.5 377 7880 0.00 2.62 26.25 0.930 4 0.000 0.049 2579 899 1965

7987 0.94 208.6 584.0 8.1 383 7991 0.00 2.47 0.00 0.000 6 0.000 0.035 2579 2299 1960

8302 0.94 208.6 560.1 7.9 398 8303 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2300 1960

8612 0.94 208.6 535.0 8.6 413 8616 0.00 2.62 0.00 0.000 4 0.000 0.062 2579 3706 1959

8675 0.94 208.6 529.1 9.4 416 8679 0.00 2.45 0.00 0.000 6 0.000 0.029 2579 2298 1959

9001 0.94 208.6 500.7 8.8 432 9002 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2298 1957

9310 0.94 208.6 472.7 9.0 447 9312 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2297 1957

9620 0.94 208.6 446.7 7.9 462 9625 0.00 2.60 0.00 0.000 4 0.000 0.060 2579 3707 1957

9648 0.94 208.6 444.4 9.0 463 9652 0.00 2.45 0.00 0.000 6 0.000 0.028 2579 2295 1957

9964 0.98 242.9 422.5 6.3 478 9996 0.00 0.00 31.02 0.842 6 0.000 0.000 2579 2295 1826

10293 1.04 259.4 400.6 6.9 494 10315 0.00 2.55 15.85 0.788 4 0.000 0.047 2579 900 1757

10343 1.10 259.4 396.8 7.9 496 10348 0.00 2.47 0.00 0.000 6 0.000 0.032 2579 2305 1754

10665 1.15 259.4 372.1 7.9 512 10667 0.15 0.00 0.00 0.000 6 0.054 0.000 2620 2305 1754

10974 1.09 259.4 339.1 11.3 527 10976 0.12 0.00 0.00 0.000 6 0.092 0.000 2596 2305 1754

11283 1.09 259.4 306.9 10.2 542 11287 0.00 2.53 0.00 0.000 4 0.000 0.044 2597 891 1753

11316 1.09 259.4 303.4 10.0 543 11322 0.00 2.45 0.00 0.000 6 0.000 0.032 2596 2300 1752

11632 1.09 259.4 272.5 9.7 559 11633 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2299 1752

11941 1.09 259.4 243.5 9.2 574 11942 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2300 1751

12251 1.09 259.4 215.4 9.2 589 12254 0.00 2.50 0.00 0.000 4 0.000 0.044 2596 897 1752

12289 1.09 259.4 211.4 9.9 590 12296 0.00 2.45 0.00 0.000 6 0.000 0.032 2596 2307 1752

12605 1.09 259.4 181.8 9.8 606 12607 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2307 1752

12915 1.09 259.4 152.0 9.7 621 12919 0.00 2.50 0.00 0.000 4 0.000 0.042 2596 897 1752

12965 1.09 259.4 146.8 10.6 623 12969 0.00 2.45 0.00 0.000 6 0.000 0.032 2596 2308 1752

13282 1.09 259.4 115.4 10.7 638 13286 0.00 2.50 0.00 0.000 4 0.000 0.043 2595 897 1753

13315 1.09 259.4 111.4 10.9 639 13321 0.00 2.42 0.00 0.000 6 0.000 0.032 2596 2301 1752

13631 1.09 259.4 77.4 10.7 655 13632 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2301 1752

13940 1.09 259.4 46.8 9.3 670 13941 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2301 1752

14251 1.09 259.4 21.5 8.1 685 14255 0.00 2.50 0.00 0.000 4 0.000 0.043 2596 892 1752

14359 1.09 259.4 12.2 8.9 690 14363 0.00 2.45 0.00 0.000 6 0.000 0.031 2596 2308 1752

14476 end climb: SURFACE_DEPTH_REACHED

state 14476 begin surface coast

14519 end surface coast: CONTROL_FINISHED_OK

state 14519 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	231	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-2111717.8	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	061624,6258.680,-1253.969,27,1.2,44,-11.9	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_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	-62.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	062055,6258.653,-1253.928,11,1.2,11,-11.9	MHEAD_RNG_PITCHd_Wd	222.2,18560,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026548	ALTIM_BOTTOM_PING	625.6,24.1
SM_CCo	14602,0.00,0.000,0,0,1751,261.74	_24V_AH	23.6,37.458
SM_GC	1.59,11.90,0.00,0.00,0.083,0.000,0.000,76,2606,1751,-10.45,0.17,261.74	_10V_AH	10.1,19.027
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34764,698
TT8_MAMPS	0.02301	CAP_FILE_SIZE	93939,0
HUMID	1803	CFSIZE	260165632,245551104
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	180709,102537,6255.325,-1254.600,27,1.0,27,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	180	111.24	SBE_CT	510	24	289.20
Roll_motor	76	62	112.99	SBE_O2	475	19	213.20
VBD_pump_during_apogee	359	995	8443.64	WL_BB2F	442	105	1096.83
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	17	103	43.67	nil	0	0	0.00
Iridium_during_connect	25	160	96.25	nil	0	0	0.00
Iridium_during_xfer	120	223	636.44
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.57
TT8	1240	19	248.11
LPSleep	11386	2	251.87
TT8_Active	439	19	87.85
TT8_Sampling	1421	39	571.55
TT8_CF8	385	45	178.39
TT8_Kalman	0	81	0.00
Analog_circuits	1150	12	139.40
GPS_charging	0	0	0.00
Compass	1392	8	112.51
RAFOS	0	0	0.00
Transponder	36	30	11.07

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	79	0.00	0.00	-60.95	0.000	2	0.000	0.000	71	2609	3065
82	-1.03	-146.6	4.2	-6.3	3	108	11.85	2.58	-6.50	0.000	4	0.180	0.049	2131	1191	3418
284	-1.03	-146.6	29.4	-8.4	12	288	0.00	2.47	0.00	0.000	6	0.000	0.035	2131	2597	3419
610	-1.03	-146.6	59.1	-8.6	28	611	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3419
919	-1.03	-146.6	87.5	-10.0	43	921	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3420
1229	-1.03	-146.6	120.9	-10.8	58	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3420
1537	-1.03	-146.6	154.4	-10.7	73	1539	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3420
1847	-1.03	-146.6	188.1	-10.8	88	1848	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3420
2156	-1.03	-146.6	221.3	-10.7	103	2158	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2599	3420
2465	-1.03	-146.6	253.8	-10.3	118	2469	0.00	2.47	0.00	0.000	4	0.000	0.037	2131	1190	3420
2510	-1.03	-146.6	258.4	-9.8	120	2514	0.00	2.47	0.00	0.000	6	0.000	0.035	2131	2601	3420
2832	-1.03	-146.6	289.2	-9.6	136	2833	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
3140	-1.03	-146.6	318.9	-9.6	151	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
3450	-1.03	-146.6	347.4	-9.0	166	3451	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3419
3760	-1.03	-146.6	375.7	-9.1	181	3761	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3419
4068	-1.03	-146.6	403.7	-8.8	196	4072	0.00	2.47	0.00	0.000	4	0.000	0.038	2131	1193	3418
4107	-1.07	-146.6	407.2	-8.5	197	4114	0.00	2.47	0.00	0.000	6	0.000	0.036	2131	2608	3418
4424	-1.07	-146.6	431.9	-7.2	213	4425	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2607	3418
4732	-1.07	-146.6	454.5	-7.6	228	4733	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3418
5041	-1.07	-146.6	481.7	-9.1	243	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3418
5351	-1.07	-146.6	510.5	-9.4	258	5352	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3417
5660	-1.07	-146.6	540.6	-9.8	273	5661	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3417
5969	-1.07	-146.6	569.0	-9.5	288	5970	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3416
6279	-1.07	-146.6	597.2	-8.8	303	6283	0.00	2.47	0.00	0.000	4	0.000	0.039	2132	1195	3416
6329	-1.13	-146.6	601.5	-8.3	305	6333	0.00	2.47	0.00	0.000	6	0.000	0.037	2132	2603	3416
6651	-1.13	-146.6	627.3	-8.4	321	6652	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2603	3416
6812	end dive: BOTTOM_OBSTACLE_DETECTED
state	6812	begin apogee
6819	-0.31	0.0	641.5	8.6	329	6949	0.77	0.00	127.15	0.996	6	0.095	0.000	2290	2283	2817
6950	end apogee: CONTROL_FINISHED_OK
state	6950	begin climb
6953	1.03	146.6	646.4	0.0	335	7090	1.35	2.58	127.55	0.991	4	0.069	0.044	2579	912	2217
7138	0.96	161.1	642.9	7.0	343	7158	0.00	2.47	13.65	0.890	6	0.000	0.034	2579	2307	2160
7475	0.99	180.6	620.3	6.8	360	7498	0.00	2.72	17.90	0.911	4	0.000	0.063	2579	3704	2081
7532	0.91	180.6	616.1	7.6	362	7537	0.00	2.42	0.00	0.000	6	0.000	0.028	2579	2315	2080
7848	0.94	208.6	594.5	6.5	377	7880	0.00	2.62	26.25	0.930	4	0.000	0.049	2579	899	1965
7987	0.94	208.6	584.0	8.1	383	7991	0.00	2.47	0.00	0.000	6	0.000	0.035	2579	2299	1960
8302	0.94	208.6	560.1	7.9	398	8303	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2300	1960
8612	0.94	208.6	535.0	8.6	413	8616	0.00	2.62	0.00	0.000	4	0.000	0.062	2579	3706	1959
8675	0.94	208.6	529.1	9.4	416	8679	0.00	2.45	0.00	0.000	6	0.000	0.029	2579	2298	1959
9001	0.94	208.6	500.7	8.8	432	9002	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2298	1957
9310	0.94	208.6	472.7	9.0	447	9312	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2297	1957
9620	0.94	208.6	446.7	7.9	462	9625	0.00	2.60	0.00	0.000	4	0.000	0.060	2579	3707	1957
9648	0.94	208.6	444.4	9.0	463	9652	0.00	2.45	0.00	0.000	6	0.000	0.028	2579	2295	1957
9964	0.98	242.9	422.5	6.3	478	9996	0.00	0.00	31.02	0.842	6	0.000	0.000	2579	2295	1826
10293	1.04	259.4	400.6	6.9	494	10315	0.00	2.55	15.85	0.788	4	0.000	0.047	2579	900	1757
10343	1.10	259.4	396.8	7.9	496	10348	0.00	2.47	0.00	0.000	6	0.000	0.032	2579	2305	1754
10665	1.15	259.4	372.1	7.9	512	10667	0.15	0.00	0.00	0.000	6	0.054	0.000	2620	2305	1754
10974	1.09	259.4	339.1	11.3	527	10976	0.12	0.00	0.00	0.000	6	0.092	0.000	2596	2305	1754
11283	1.09	259.4	306.9	10.2	542	11287	0.00	2.53	0.00	0.000	4	0.000	0.044	2597	891	1753
11316	1.09	259.4	303.4	10.0	543	11322	0.00	2.45	0.00	0.000	6	0.000	0.032	2596	2300	1752
11632	1.09	259.4	272.5	9.7	559	11633	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2299	1752
11941	1.09	259.4	243.5	9.2	574	11942	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2300	1751
12251	1.09	259.4	215.4	9.2	589	12254	0.00	2.50	0.00	0.000	4	0.000	0.044	2596	897	1752
12289	1.09	259.4	211.4	9.9	590	12296	0.00	2.45	0.00	0.000	6	0.000	0.032	2596	2307	1752
12605	1.09	259.4	181.8	9.8	606	12607	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2307	1752
12915	1.09	259.4	152.0	9.7	621	12919	0.00	2.50	0.00	0.000	4	0.000	0.042	2596	897	1752
12965	1.09	259.4	146.8	10.6	623	12969	0.00	2.45	0.00	0.000	6	0.000	0.032	2596	2308	1752
13282	1.09	259.4	115.4	10.7	638	13286	0.00	2.50	0.00	0.000	4	0.000	0.043	2595	897	1753
13315	1.09	259.4	111.4	10.9	639	13321	0.00	2.42	0.00	0.000	6	0.000	0.032	2596	2301	1752
13631	1.09	259.4	77.4	10.7	655	13632	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2301	1752
13940	1.09	259.4	46.8	9.3	670	13941	0.00	0.00	0.00	0.000	6	0.000	0.000	2596	2301	1752
14251	1.09	259.4	21.5	8.1	685	14255	0.00	2.50	0.00	0.000	4	0.000	0.043	2596	892	1752
14359	1.09	259.4	12.2	8.9	690	14363	0.00	2.45	0.00	0.000	6	0.000	0.031	2596	2308	1752
14476	end climb: SURFACE_DEPTH_REACHED
state	14476	begin surface coast
14519	end surface coast: CONTROL_FINISHED_OK
state	14519	begin surface