Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 333 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 333 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 INT_PRESSURE_YINT 0

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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -656607.31 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -656607.31

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 333 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 180126,6356.303,-1257.373,39,1.6,39,-12.4 TGT_NAME BT1

_CALLS 1 TGT_LATLONG 6401.000,-1331.000

_XMS_NAKs 1 TGT_RADIUS 3000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.32 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -63.1 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 180702,6356.317,-1257.319,10,2.0,10,-12.4 MHEAD_RNG_PITCHd_Wd 300.0,28671,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013725 ALTIM_BOTTOM_PING 576.9,110.6

SM_CCo 13175,42.92,0.636,1,0,1316,300.00 _24V_AH 23.6,44.116

SM_GC 1.07,0.00,0.00,42.92,0.000,0.000,0.636,378,1598,1316,-10.56,-0.06,300.00 _10V_AH 10.2,22.103

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31647,629

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105673,0

HUMID 1875 CFSIZE 254472192,237035520

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,2,0

XPDR_PINGS 0 GPS 141008,214908,6359.177,-1255.296,37,1.2,37,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 103.24 SBE_CT 466 24 264.17

Roll_motor 141 116 389.46 SBE_O2 427 19 191.89

VBD_pump_during_apogee 317 1129 8452.45 WL_BB2F 391 105 969.88

VBD_pump_during_surface 42 635 644.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.80 nil 0 0 0.00

Iridium_during_connect 28 160 105.92 nil 0 0 0.00

Iridium_during_xfer 142 223 751.23

Transponder_ping 4 420 47.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.08

TT8 1224 19 247.24

LPSleep 9686 2 216.38

TT8_Active 487 19 98.53

TT8_Sampling 1636 39 664.46

TT8_CF8 529 45 247.36

TT8_Kalman 0 81 0.00

Analog_circuits 1323 12 161.96

GPS_charging 0 0 0.00

Compass 1595 8 130.15

RAFOS 0 0 0.00

Transponder 33 30 10.17

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

16 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.80 0.000 2 0.000 0.000 377 1584 2750

83 -1.16 -146.6 3.5 -5.4 3 110 11.30 2.47 -9.48 0.000 4 0.174 0.089 2413 212 3136

280 -1.16 -146.6 29.2 -12.3 12 285 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1620 3137

608 -1.16 -146.6 67.2 -12.2 28 613 0.00 2.53 0.00 0.000 4 0.000 0.074 2412 212 3138

650 -1.16 -146.6 72.5 -13.0 30 654 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1605 3138

978 -1.16 -146.6 119.9 -15.4 46 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1610 3138

1287 -1.16 -146.6 164.5 -13.5 61 1292 0.00 2.50 0.00 0.000 4 0.000 0.075 2413 209 3139

1343 -1.16 -146.6 172.2 -13.1 63 1350 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1607 3138

1660 -1.16 -146.6 208.1 -10.3 79 1665 0.00 2.50 0.00 0.000 4 0.000 0.075 2413 210 3139

1694 -1.16 -146.6 212.0 -10.9 80 1701 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1607 3139

2011 -1.16 -146.6 245.8 -11.1 96 2012 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1607 3140

2321 -1.16 -146.6 283.3 -12.2 111 2325 0.00 2.50 0.00 0.000 4 0.000 0.077 2412 213 3139

2377 -1.16 -146.6 290.7 -13.0 113 2383 0.00 2.35 0.00 0.000 6 0.000 0.058 2412 1596 3139

2693 -1.16 -146.6 330.1 -12.3 129 2694 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1598 3139

3003 -1.16 -146.6 369.8 -13.0 144 3004 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 1599 3139

3312 -1.16 -146.6 406.7 -11.0 159 3316 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 210 3139

3390 -1.16 -146.6 415.9 -11.1 162 3397 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1596 3140

3707 -1.16 -146.6 447.4 -9.3 178 3709 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1600 3139

4016 -1.16 -146.6 472.1 -8.2 193 4020 0.00 2.50 0.00 0.000 4 0.000 0.079 2412 212 3140

4056 -1.16 -146.6 475.7 -9.0 195 4060 0.00 2.40 0.00 0.000 6 0.000 0.060 2413 1607 3140

4384 -1.16 -146.6 506.0 -10.8 211 4388 0.00 2.53 0.00 0.000 4 0.000 0.091 2413 2995 3139

4406 -1.16 -146.6 508.7 -10.4 212 4411 0.00 2.42 0.00 0.000 6 0.000 0.067 2413 1602 3140

4729 -1.16 -146.6 546.9 -12.6 228 4733 0.00 2.53 0.00 0.000 4 0.000 0.086 2412 205 3140

4757 -1.16 -146.6 550.8 -12.8 229 4761 0.00 2.40 0.00 0.000 6 0.000 0.059 2412 1610 3139

5085 -1.16 -146.6 590.7 -10.6 245 5089 0.00 2.55 0.00 0.000 4 0.000 0.081 2413 203 3139

5216 -1.16 -146.6 604.5 -9.5 251 5220 0.00 2.40 0.00 0.000 6 0.000 0.060 2413 1600 3140

5543 -1.16 -146.6 632.0 -6.8 267 5548 0.00 2.53 0.00 0.000 4 0.000 0.081 2412 206 3139

5623 -1.16 -146.6 639.0 -7.6 270 5629 0.00 2.40 0.00 0.000 6 0.000 0.061 2413 1602 3140

5940 -1.16 -146.6 666.1 -10.0 286 5944 0.00 2.55 0.00 0.000 4 0.000 0.084 2413 201 3140

6013 -1.16 -146.6 673.4 -9.0 289 6017 0.00 2.42 0.00 0.000 6 0.000 0.061 2412 1600 3140

6058 end dive: BOTTOM_OBSTACLE_DETECTED

state 6058 begin apogee

6068 -0.32 0.0 677.4 8.8 291 6206 0.93 0.00 129.52 1.129 6 0.117 0.000 2599 2192 2538

6207 end apogee: CONTROL_FINISHED_OK

state 6207 begin climb

6211 1.16 146.6 682.0 0.0 298 6341 1.55 2.85 121.70 1.113 4 0.094 0.117 2926 3602 1940

6470 1.17 149.7 666.1 7.9 310 6479 0.00 2.53 3.97 0.678 6 0.000 0.072 2926 2198 1927

6803 1.17 149.7 641.2 8.0 326 6807 0.00 2.58 0.00 0.000 4 0.000 0.083 2926 795 1927

6876 1.23 190.8 635.5 6.4 329 6917 0.00 2.50 34.58 1.081 6 0.000 0.064 2926 2209 1760

7244 1.23 190.8 602.5 8.7 347 7248 0.00 2.58 0.00 0.000 4 0.000 0.075 2926 792 1758

7422 1.25 199.9 588.7 7.7 355 7436 0.00 2.50 8.57 0.943 6 0.000 0.064 2926 2210 1723

7755 1.25 199.9 562.6 8.8 371 7759 0.00 2.58 0.00 0.000 4 0.000 0.075 2926 784 1722

7900 1.25 199.9 545.6 12.1 377 7906 0.00 2.50 0.00 0.000 6 0.000 0.064 2927 2205 1722

8217 1.25 199.9 512.3 8.8 393 8222 0.00 2.55 0.00 0.000 4 0.000 0.074 2926 786 1719

8341 1.28 222.0 502.5 7.2 398 8369 0.12 2.47 18.88 1.009 6 0.067 0.063 2962 2203 1633

8679 1.28 222.0 470.0 10.7 415 8683 0.00 2.55 0.00 0.000 4 0.000 0.072 2963 786 1632

8752 1.28 222.0 461.1 12.1 418 8757 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2200 1632

9074 1.28 222.0 422.2 12.5 434 9078 0.00 2.53 0.00 0.000 4 0.000 0.072 2963 787 1631

9155 1.28 222.0 412.4 12.0 437 9161 0.00 2.47 0.00 0.000 6 0.000 0.062 2962 2204 1631

9471 1.28 222.0 377.9 10.4 453 9475 0.00 2.55 0.00 0.000 4 0.000 0.071 2962 783 1631

9578 1.28 222.0 366.0 11.2 458 9583 0.00 2.50 0.00 0.000 6 0.000 0.061 2963 2210 1631

9906 1.28 222.0 330.4 11.6 474 9911 0.00 2.53 0.00 0.000 4 0.000 0.071 2962 788 1631

10019 1.28 222.0 315.9 12.8 479 10024 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2203 1631

10342 1.28 222.0 278.2 11.2 495 10346 0.00 2.53 0.00 0.000 4 0.000 0.071 2962 788 1631

10405 1.28 222.0 270.5 12.6 498 10409 0.00 2.47 0.00 0.000 6 0.000 0.062 2962 2203 1630

10732 1.28 222.0 235.1 10.7 514 10736 0.00 2.50 0.00 0.000 4 0.000 0.071 2963 791 1631

10817 1.28 222.0 225.7 11.0 518 10822 0.00 2.45 0.00 0.000 6 0.000 0.063 2963 2200 1631

11145 1.28 222.0 193.7 9.3 534 11149 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 791 1631

11246 1.28 222.0 183.5 11.0 538 11252 0.00 2.47 0.00 0.000 6 0.000 0.063 2963 2207 1631

11563 1.28 222.0 155.2 8.7 554 11567 0.00 2.53 0.00 0.000 4 0.000 0.073 2962 783 1631

11658 1.28 222.0 145.7 9.8 558 11663 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2208 1631

11981 1.28 222.0 114.8 10.1 574 11985 0.00 2.53 0.00 0.000 4 0.000 0.072 2963 781 1631

12083 1.28 222.0 102.7 11.9 578 12087 0.00 2.47 0.00 0.000 6 0.000 0.062 2963 2208 1631

12402 1.28 222.0 69.6 10.2 593 12406 0.00 2.53 0.00 0.000 4 0.000 0.072 2963 787 1631

12481 1.28 222.0 61.0 9.9 596 12487 0.00 2.45 0.00 0.000 6 0.000 0.062 2963 2198 1631

12799 1.28 222.0 31.5 9.2 612 12803 0.00 2.50 0.00 0.000 4 0.000 0.072 2963 790 1632

12911 1.28 222.0 19.8 10.0 617 12915 0.00 2.45 0.00 0.000 6 0.000 0.062 2962 2203 1631

13126 end climb: SURFACE_DEPTH_REACHED

state 13126 begin surface coast

13148 end surface coast: CONTROL_FINISHED_OK

state 13148 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	333	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	INT_PRESSURE_YINT	0
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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-656607.31	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	180126,6356.303,-1257.373,39,1.6,39,-12.4	TGT_NAME	BT1
_CALLS	1	TGT_LATLONG	6401.000,-1331.000
_XMS_NAKs	1	TGT_RADIUS	3000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.32	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-63.1	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	180702,6356.317,-1257.319,10,2.0,10,-12.4	MHEAD_RNG_PITCHd_Wd	300.0,28671,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.4,1.013725	ALTIM_BOTTOM_PING	576.9,110.6
SM_CCo	13175,42.92,0.636,1,0,1316,300.00	_24V_AH	23.6,44.116
SM_GC	1.07,0.00,0.00,42.92,0.000,0.000,0.636,378,1598,1316,-10.56,-0.06,300.00	_10V_AH	10.2,22.103
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31647,629
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105673,0
HUMID	1875	CFSIZE	254472192,237035520
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,2,0
XPDR_PINGS	0	GPS	141008,214908,6359.177,-1255.296,37,1.2,37,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	103.24	SBE_CT	466	24	264.17
Roll_motor	141	116	389.46	SBE_O2	427	19	191.89
VBD_pump_during_apogee	317	1129	8452.45	WL_BB2F	391	105	969.88
VBD_pump_during_surface	42	635	644.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.80	nil	0	0	0.00
Iridium_during_connect	28	160	105.92	nil	0	0	0.00
Iridium_during_xfer	142	223	751.23
Transponder_ping	4	420	47.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.08
TT8	1224	19	247.24
LPSleep	9686	2	216.38
TT8_Active	487	19	98.53
TT8_Sampling	1636	39	664.46
TT8_CF8	529	45	247.36
TT8_Kalman	0	81	0.00
Analog_circuits	1323	12	161.96
GPS_charging	0	0	0.00
Compass	1595	8	130.15
RAFOS	0	0	0.00
Transponder	33	30	10.17

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
16	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.80	0.000	2	0.000	0.000	377	1584	2750
83	-1.16	-146.6	3.5	-5.4	3	110	11.30	2.47	-9.48	0.000	4	0.174	0.089	2413	212	3136
280	-1.16	-146.6	29.2	-12.3	12	285	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1620	3137
608	-1.16	-146.6	67.2	-12.2	28	613	0.00	2.53	0.00	0.000	4	0.000	0.074	2412	212	3138
650	-1.16	-146.6	72.5	-13.0	30	654	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1605	3138
978	-1.16	-146.6	119.9	-15.4	46	979	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1610	3138
1287	-1.16	-146.6	164.5	-13.5	61	1292	0.00	2.50	0.00	0.000	4	0.000	0.075	2413	209	3139
1343	-1.16	-146.6	172.2	-13.1	63	1350	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1607	3138
1660	-1.16	-146.6	208.1	-10.3	79	1665	0.00	2.50	0.00	0.000	4	0.000	0.075	2413	210	3139
1694	-1.16	-146.6	212.0	-10.9	80	1701	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1607	3139
2011	-1.16	-146.6	245.8	-11.1	96	2012	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1607	3140
2321	-1.16	-146.6	283.3	-12.2	111	2325	0.00	2.50	0.00	0.000	4	0.000	0.077	2412	213	3139
2377	-1.16	-146.6	290.7	-13.0	113	2383	0.00	2.35	0.00	0.000	6	0.000	0.058	2412	1596	3139
2693	-1.16	-146.6	330.1	-12.3	129	2694	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1598	3139
3003	-1.16	-146.6	369.8	-13.0	144	3004	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	1599	3139
3312	-1.16	-146.6	406.7	-11.0	159	3316	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	210	3139
3390	-1.16	-146.6	415.9	-11.1	162	3397	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1596	3140
3707	-1.16	-146.6	447.4	-9.3	178	3709	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1600	3139
4016	-1.16	-146.6	472.1	-8.2	193	4020	0.00	2.50	0.00	0.000	4	0.000	0.079	2412	212	3140
4056	-1.16	-146.6	475.7	-9.0	195	4060	0.00	2.40	0.00	0.000	6	0.000	0.060	2413	1607	3140
4384	-1.16	-146.6	506.0	-10.8	211	4388	0.00	2.53	0.00	0.000	4	0.000	0.091	2413	2995	3139
4406	-1.16	-146.6	508.7	-10.4	212	4411	0.00	2.42	0.00	0.000	6	0.000	0.067	2413	1602	3140
4729	-1.16	-146.6	546.9	-12.6	228	4733	0.00	2.53	0.00	0.000	4	0.000	0.086	2412	205	3140
4757	-1.16	-146.6	550.8	-12.8	229	4761	0.00	2.40	0.00	0.000	6	0.000	0.059	2412	1610	3139
5085	-1.16	-146.6	590.7	-10.6	245	5089	0.00	2.55	0.00	0.000	4	0.000	0.081	2413	203	3139
5216	-1.16	-146.6	604.5	-9.5	251	5220	0.00	2.40	0.00	0.000	6	0.000	0.060	2413	1600	3140
5543	-1.16	-146.6	632.0	-6.8	267	5548	0.00	2.53	0.00	0.000	4	0.000	0.081	2412	206	3139
5623	-1.16	-146.6	639.0	-7.6	270	5629	0.00	2.40	0.00	0.000	6	0.000	0.061	2413	1602	3140
5940	-1.16	-146.6	666.1	-10.0	286	5944	0.00	2.55	0.00	0.000	4	0.000	0.084	2413	201	3140
6013	-1.16	-146.6	673.4	-9.0	289	6017	0.00	2.42	0.00	0.000	6	0.000	0.061	2412	1600	3140
6058	end dive: BOTTOM_OBSTACLE_DETECTED
state	6058	begin apogee
6068	-0.32	0.0	677.4	8.8	291	6206	0.93	0.00	129.52	1.129	6	0.117	0.000	2599	2192	2538
6207	end apogee: CONTROL_FINISHED_OK
state	6207	begin climb
6211	1.16	146.6	682.0	0.0	298	6341	1.55	2.85	121.70	1.113	4	0.094	0.117	2926	3602	1940
6470	1.17	149.7	666.1	7.9	310	6479	0.00	2.53	3.97	0.678	6	0.000	0.072	2926	2198	1927
6803	1.17	149.7	641.2	8.0	326	6807	0.00	2.58	0.00	0.000	4	0.000	0.083	2926	795	1927
6876	1.23	190.8	635.5	6.4	329	6917	0.00	2.50	34.58	1.081	6	0.000	0.064	2926	2209	1760
7244	1.23	190.8	602.5	8.7	347	7248	0.00	2.58	0.00	0.000	4	0.000	0.075	2926	792	1758
7422	1.25	199.9	588.7	7.7	355	7436	0.00	2.50	8.57	0.943	6	0.000	0.064	2926	2210	1723
7755	1.25	199.9	562.6	8.8	371	7759	0.00	2.58	0.00	0.000	4	0.000	0.075	2926	784	1722
7900	1.25	199.9	545.6	12.1	377	7906	0.00	2.50	0.00	0.000	6	0.000	0.064	2927	2205	1722
8217	1.25	199.9	512.3	8.8	393	8222	0.00	2.55	0.00	0.000	4	0.000	0.074	2926	786	1719
8341	1.28	222.0	502.5	7.2	398	8369	0.12	2.47	18.88	1.009	6	0.067	0.063	2962	2203	1633
8679	1.28	222.0	470.0	10.7	415	8683	0.00	2.55	0.00	0.000	4	0.000	0.072	2963	786	1632
8752	1.28	222.0	461.1	12.1	418	8757	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2200	1632
9074	1.28	222.0	422.2	12.5	434	9078	0.00	2.53	0.00	0.000	4	0.000	0.072	2963	787	1631
9155	1.28	222.0	412.4	12.0	437	9161	0.00	2.47	0.00	0.000	6	0.000	0.062	2962	2204	1631
9471	1.28	222.0	377.9	10.4	453	9475	0.00	2.55	0.00	0.000	4	0.000	0.071	2962	783	1631
9578	1.28	222.0	366.0	11.2	458	9583	0.00	2.50	0.00	0.000	6	0.000	0.061	2963	2210	1631
9906	1.28	222.0	330.4	11.6	474	9911	0.00	2.53	0.00	0.000	4	0.000	0.071	2962	788	1631
10019	1.28	222.0	315.9	12.8	479	10024	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2203	1631
10342	1.28	222.0	278.2	11.2	495	10346	0.00	2.53	0.00	0.000	4	0.000	0.071	2962	788	1631
10405	1.28	222.0	270.5	12.6	498	10409	0.00	2.47	0.00	0.000	6	0.000	0.062	2962	2203	1630
10732	1.28	222.0	235.1	10.7	514	10736	0.00	2.50	0.00	0.000	4	0.000	0.071	2963	791	1631
10817	1.28	222.0	225.7	11.0	518	10822	0.00	2.45	0.00	0.000	6	0.000	0.063	2963	2200	1631
11145	1.28	222.0	193.7	9.3	534	11149	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	791	1631
11246	1.28	222.0	183.5	11.0	538	11252	0.00	2.47	0.00	0.000	6	0.000	0.063	2963	2207	1631
11563	1.28	222.0	155.2	8.7	554	11567	0.00	2.53	0.00	0.000	4	0.000	0.073	2962	783	1631
11658	1.28	222.0	145.7	9.8	558	11663	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2208	1631
11981	1.28	222.0	114.8	10.1	574	11985	0.00	2.53	0.00	0.000	4	0.000	0.072	2963	781	1631
12083	1.28	222.0	102.7	11.9	578	12087	0.00	2.47	0.00	0.000	6	0.000	0.062	2963	2208	1631
12402	1.28	222.0	69.6	10.2	593	12406	0.00	2.53	0.00	0.000	4	0.000	0.072	2963	787	1631
12481	1.28	222.0	61.0	9.9	596	12487	0.00	2.45	0.00	0.000	6	0.000	0.062	2963	2198	1631
12799	1.28	222.0	31.5	9.2	612	12803	0.00	2.50	0.00	0.000	4	0.000	0.072	2963	790	1632
12911	1.28	222.0	19.8	10.0	617	12915	0.00	2.45	0.00	0.000	6	0.000	0.062	2962	2203	1631
13126	end climb: SURFACE_DEPTH_REACHED
state	13126	begin surface coast
13148	end surface coast: CONTROL_FINISHED_OK
state	13148	begin surface