Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 60 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 60 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 31 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 -2108665.8 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 -2108665.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 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 31 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 60 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 203236,6156.199,-927.524,32,1.1,32,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6156.203,-950.529

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.50 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -64.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 203701,6156.203,-927.574,11,1.2,16,-9.6 MHEAD_RNG_PITCHd_Wd 279.6,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.013106 ALTIM_BOTTOM_PING 575.3,42.7

SM_CCo 14339,0.00,0.000,0,0,1404,346.36 _24V_AH 23.7,14.600

SM_GC 1.55,11.98,0.00,0.00,0.086,0.000,0.000,71,2607,1404,-10.47,0.20,346.36 _10V_AH 10.1,6.315

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34874,687

TT8_MAMPS 0.02301 CAP_FILE_SIZE 100299,0

HUMID 1733 CFSIZE 260165632,255148032

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 150609,003737,6156.799,-932.534,37,1.7,43,-9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 185 118.99 SBE_CT 499 24 284.11

Roll_motor 94 72 163.19 SBE_O2 466 19 210.24

VBD_pump_during_apogee 435 949 9795.53 WL_BB2F 427 105 1063.05

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 43.97 nil 0 0 0.00

Iridium_during_connect 26 160 100.58 nil 0 0 0.00

Iridium_during_xfer 115 223 608.37

Transponder_ping 4 420 47.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.18

TT8 1249 19 249.79

LPSleep 10940 2 242.00

TT8_Active 497 19 99.58

TT8_Sampling 1549 39 622.77

TT8_CF8 371 45 171.80

TT8_Kalman 0 81 0.00

Analog_circuits 1284 12 155.72

GPS_charging 0 0 0.00

Compass 1510 8 122.06

RAFOS 0 0 0.00

Transponder 33 30 10.11

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -61.72 0.000 6 0.000 0.000 62 2602 3416

82 -1.03 -146.6 3.9 -5.3 3 104 12.00 2.53 0.00 0.000 4 0.186 0.036 2130 1191 3416

345 -1.03 -146.6 44.6 -10.0 14 352 0.00 2.47 0.00 0.000 6 0.000 0.038 2130 2601 3418

661 -1.03 -146.6 77.0 -9.6 30 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3418

971 -1.03 -146.6 96.7 -5.7 45 972 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3418

1280 -1.03 -146.6 119.4 -8.5 60 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3419

1589 -1.03 -146.6 149.5 -9.8 75 1597 0.00 2.50 0.00 0.000 4 0.000 0.040 2130 1185 3417

1642 -1.03 -146.6 154.7 -9.4 77 1646 0.00 2.50 0.00 0.000 6 0.000 0.038 2130 2603 3418

1963 -1.03 -146.6 182.9 -8.7 93 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3417

2272 -1.03 -146.6 212.4 -9.6 108 2273 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3418

2582 -1.03 -146.6 238.8 -8.3 123 2586 0.00 2.50 0.00 0.000 4 0.000 0.041 2130 1187 3418

2626 -1.07 -146.6 242.4 -7.5 125 2631 0.00 2.50 0.00 0.000 6 0.000 0.038 2130 2608 3418

2947 -1.07 -146.6 265.6 -7.0 141 2949 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3418

3257 -1.07 -146.6 288.3 -7.7 156 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2608 3418

3566 -1.07 -146.6 313.7 -8.6 171 3569 0.00 2.50 0.00 0.000 4 0.000 0.041 2130 1191 3418

3605 -1.12 -146.6 317.1 -8.2 172 3611 0.00 2.47 0.00 0.000 6 0.000 0.038 2131 2600 3418

3920 -1.12 -146.6 344.5 -8.7 188 3922 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3418

4229 -1.12 -146.6 371.4 -8.6 203 4234 0.00 2.50 0.00 0.000 4 0.000 0.041 2130 1186 3417

4270 -1.18 -146.6 374.8 -8.3 205 4275 0.12 2.47 0.00 0.000 6 0.049 0.038 2092 2600 3417

4605 -1.08 -146.6 410.1 -10.9 221 4607 0.17 0.00 0.00 0.000 6 0.097 0.000 2125 2600 3417

4912 -1.08 -146.6 438.1 -9.0 236 4913 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3417

5222 -1.08 -146.6 464.5 -8.2 251 5226 0.00 2.47 0.00 0.000 4 0.000 0.041 2125 1192 3417

5272 -1.12 -146.6 468.4 -7.6 253 5276 0.00 2.47 0.00 0.000 6 0.000 0.039 2125 2600 3417

5588 -1.12 -146.6 489.3 -5.9 268 5589 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3417

5897 -1.12 -146.6 501.7 -2.5 283 5898 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3417

6206 -1.12 -146.6 488.7 8.8 298 6207 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3416

6515 -1.12 -146.6 471.5 -1.3 313 6517 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2600 3417

6824 -1.12 -146.6 492.8 -14.2 328 6828 0.00 2.35 0.00 0.000 4 0.000 0.073 2125 3860 3417

6932 -1.12 -146.6 508.9 -12.0 333 6936 0.00 2.17 0.00 0.000 6 0.000 0.031 2125 2581 3416

7264 -1.12 -146.6 554.9 -11.1 349 7268 0.00 2.45 0.00 0.000 4 0.000 0.046 2125 1201 3416

7353 -1.17 -146.6 562.8 -7.8 353 7358 0.00 2.47 0.00 0.000 6 0.000 0.040 2125 2603 3417

7674 -1.17 -146.6 603.3 -12.6 369 7679 0.00 2.47 0.00 0.000 4 0.000 0.045 2125 1207 3416

7705 end dive: BOTTOM_OBSTACLE_DETECTED

state 7705 begin apogee

7714 -0.31 0.0 608.6 15.2 370 7844 0.77 0.00 126.90 0.950 6 0.105 0.000 2284 2303 2817

7845 end apogee: CONTROL_FINISHED_OK

state 7845 begin climb

7848 1.03 146.6 619.1 0.0 377 7986 1.38 2.62 128.98 0.940 4 0.071 0.052 2579 920 2218

8245 0.94 197.9 618.3 5.7 395 8295 0.00 2.45 45.42 0.917 6 0.000 0.039 2579 2297 2010

8619 0.82 197.9 593.5 8.5 413 8624 0.17 2.53 0.00 0.000 4 0.096 0.048 2542 905 2004

8686 0.84 211.2 589.0 7.0 416 8703 0.00 2.47 12.25 0.823 6 0.000 0.038 2542 2301 1956

9012 0.84 211.2 566.8 9.2 432 9013 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2301 1954

9322 0.97 338.2 558.9 3.2 447 9446 0.15 2.70 116.45 0.909 4 0.053 0.065 2584 3706 1436

9494 0.97 338.2 548.6 7.7 455 9498 0.00 2.47 0.00 0.000 6 0.000 0.032 2583 2310 1433

9821 1.03 338.2 517.8 12.1 471 9825 0.00 2.58 0.00 0.000 4 0.000 0.053 2583 899 1427

9849 1.08 344.4 515.7 7.3 472 9860 0.00 2.50 5.28 0.634 6 0.000 0.037 2583 2311 1411

10169 1.12 344.4 492.7 10.5 488 10171 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2311 1410

10479 1.17 344.4 458.2 11.4 503 10484 0.15 2.55 0.00 0.000 4 0.051 0.048 2628 895 1409

10519 1.10 344.4 452.7 14.3 505 10524 0.15 2.45 0.00 0.000 6 0.088 0.036 2598 2298 1407

10846 1.10 344.4 408.9 13.5 521 10847 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2298 1407

11155 1.10 344.4 368.4 12.9 536 11159 0.00 2.53 0.00 0.000 4 0.000 0.048 2598 897 1407

11222 1.10 344.4 359.3 13.3 539 11227 0.00 2.47 0.00 0.000 6 0.000 0.036 2598 2305 1406

11544 1.10 344.4 319.1 12.2 555 11545 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2305 1406

11853 1.10 344.4 282.8 11.6 570 11857 0.00 2.53 0.00 0.000 4 0.000 0.047 2598 898 1406

11914 1.10 344.4 275.5 12.1 573 11919 0.00 2.45 0.00 0.000 6 0.000 0.036 2598 2299 1405

12241 1.10 344.4 237.4 11.5 589 12242 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2299 1405

12550 1.10 344.4 200.1 12.5 604 12554 0.00 2.53 0.00 0.000 4 0.000 0.048 2598 891 1406

12617 1.10 344.4 191.5 12.5 607 12621 0.00 2.47 0.00 0.000 6 0.000 0.035 2598 2305 1406

12938 1.10 344.4 152.1 12.2 623 12939 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2305 1405

13247 1.10 344.4 114.6 11.7 638 13252 0.00 2.53 0.00 0.000 4 0.000 0.047 2598 895 1406

13310 1.10 344.4 107.2 11.9 641 13314 0.00 2.45 0.00 0.000 6 0.000 0.035 2598 2299 1405

13637 1.10 344.4 69.5 11.4 657 13638 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2299 1405

13946 1.10 344.4 35.1 11.0 672 13950 0.00 2.50 0.00 0.000 4 0.000 0.047 2598 898 1405

14024 1.16 344.4 25.5 12.1 675 14030 0.00 2.45 0.00 0.000 6 0.000 0.036 2598 2308 1405

14234 end climb: SURFACE_DEPTH_REACHED

state 14234 begin surface coast

14256 end surface coast: CONTROL_FINISHED_OK

state 14256 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	60	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	31	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	-2108665.8	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	203236,6156.199,-927.524,32,1.1,32,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6156.203,-950.529
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.50	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-64.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	203701,6156.203,-927.574,11,1.2,16,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.013106	ALTIM_BOTTOM_PING	575.3,42.7
SM_CCo	14339,0.00,0.000,0,0,1404,346.36	_24V_AH	23.7,14.600
SM_GC	1.55,11.98,0.00,0.00,0.086,0.000,0.000,71,2607,1404,-10.47,0.20,346.36	_10V_AH	10.1,6.315
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34874,687
TT8_MAMPS	0.02301	CAP_FILE_SIZE	100299,0
HUMID	1733	CFSIZE	260165632,255148032
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	150609,003737,6156.799,-932.534,37,1.7,43,-9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	185	118.99	SBE_CT	499	24	284.11
Roll_motor	94	72	163.19	SBE_O2	466	19	210.24
VBD_pump_during_apogee	435	949	9795.53	WL_BB2F	427	105	1063.05
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	43.97	nil	0	0	0.00
Iridium_during_connect	26	160	100.58	nil	0	0	0.00
Iridium_during_xfer	115	223	608.37
Transponder_ping	4	420	47.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.18
TT8	1249	19	249.79
LPSleep	10940	2	242.00
TT8_Active	497	19	99.58
TT8_Sampling	1549	39	622.77
TT8_CF8	371	45	171.80
TT8_Kalman	0	81	0.00
Analog_circuits	1284	12	155.72
GPS_charging	0	0	0.00
Compass	1510	8	122.06
RAFOS	0	0	0.00
Transponder	33	30	10.11

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-61.72	0.000	6	0.000	0.000	62	2602	3416
82	-1.03	-146.6	3.9	-5.3	3	104	12.00	2.53	0.00	0.000	4	0.186	0.036	2130	1191	3416
345	-1.03	-146.6	44.6	-10.0	14	352	0.00	2.47	0.00	0.000	6	0.000	0.038	2130	2601	3418
661	-1.03	-146.6	77.0	-9.6	30	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3418
971	-1.03	-146.6	96.7	-5.7	45	972	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3418
1280	-1.03	-146.6	119.4	-8.5	60	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3419
1589	-1.03	-146.6	149.5	-9.8	75	1597	0.00	2.50	0.00	0.000	4	0.000	0.040	2130	1185	3417
1642	-1.03	-146.6	154.7	-9.4	77	1646	0.00	2.50	0.00	0.000	6	0.000	0.038	2130	2603	3418
1963	-1.03	-146.6	182.9	-8.7	93	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3417
2272	-1.03	-146.6	212.4	-9.6	108	2273	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3418
2582	-1.03	-146.6	238.8	-8.3	123	2586	0.00	2.50	0.00	0.000	4	0.000	0.041	2130	1187	3418
2626	-1.07	-146.6	242.4	-7.5	125	2631	0.00	2.50	0.00	0.000	6	0.000	0.038	2130	2608	3418
2947	-1.07	-146.6	265.6	-7.0	141	2949	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3418
3257	-1.07	-146.6	288.3	-7.7	156	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2608	3418
3566	-1.07	-146.6	313.7	-8.6	171	3569	0.00	2.50	0.00	0.000	4	0.000	0.041	2130	1191	3418
3605	-1.12	-146.6	317.1	-8.2	172	3611	0.00	2.47	0.00	0.000	6	0.000	0.038	2131	2600	3418
3920	-1.12	-146.6	344.5	-8.7	188	3922	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3418
4229	-1.12	-146.6	371.4	-8.6	203	4234	0.00	2.50	0.00	0.000	4	0.000	0.041	2130	1186	3417
4270	-1.18	-146.6	374.8	-8.3	205	4275	0.12	2.47	0.00	0.000	6	0.049	0.038	2092	2600	3417
4605	-1.08	-146.6	410.1	-10.9	221	4607	0.17	0.00	0.00	0.000	6	0.097	0.000	2125	2600	3417
4912	-1.08	-146.6	438.1	-9.0	236	4913	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3417
5222	-1.08	-146.6	464.5	-8.2	251	5226	0.00	2.47	0.00	0.000	4	0.000	0.041	2125	1192	3417
5272	-1.12	-146.6	468.4	-7.6	253	5276	0.00	2.47	0.00	0.000	6	0.000	0.039	2125	2600	3417
5588	-1.12	-146.6	489.3	-5.9	268	5589	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3417
5897	-1.12	-146.6	501.7	-2.5	283	5898	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3417
6206	-1.12	-146.6	488.7	8.8	298	6207	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3416
6515	-1.12	-146.6	471.5	-1.3	313	6517	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2600	3417
6824	-1.12	-146.6	492.8	-14.2	328	6828	0.00	2.35	0.00	0.000	4	0.000	0.073	2125	3860	3417
6932	-1.12	-146.6	508.9	-12.0	333	6936	0.00	2.17	0.00	0.000	6	0.000	0.031	2125	2581	3416
7264	-1.12	-146.6	554.9	-11.1	349	7268	0.00	2.45	0.00	0.000	4	0.000	0.046	2125	1201	3416
7353	-1.17	-146.6	562.8	-7.8	353	7358	0.00	2.47	0.00	0.000	6	0.000	0.040	2125	2603	3417
7674	-1.17	-146.6	603.3	-12.6	369	7679	0.00	2.47	0.00	0.000	4	0.000	0.045	2125	1207	3416
7705	end dive: BOTTOM_OBSTACLE_DETECTED
state	7705	begin apogee
7714	-0.31	0.0	608.6	15.2	370	7844	0.77	0.00	126.90	0.950	6	0.105	0.000	2284	2303	2817
7845	end apogee: CONTROL_FINISHED_OK
state	7845	begin climb
7848	1.03	146.6	619.1	0.0	377	7986	1.38	2.62	128.98	0.940	4	0.071	0.052	2579	920	2218
8245	0.94	197.9	618.3	5.7	395	8295	0.00	2.45	45.42	0.917	6	0.000	0.039	2579	2297	2010
8619	0.82	197.9	593.5	8.5	413	8624	0.17	2.53	0.00	0.000	4	0.096	0.048	2542	905	2004
8686	0.84	211.2	589.0	7.0	416	8703	0.00	2.47	12.25	0.823	6	0.000	0.038	2542	2301	1956
9012	0.84	211.2	566.8	9.2	432	9013	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2301	1954
9322	0.97	338.2	558.9	3.2	447	9446	0.15	2.70	116.45	0.909	4	0.053	0.065	2584	3706	1436
9494	0.97	338.2	548.6	7.7	455	9498	0.00	2.47	0.00	0.000	6	0.000	0.032	2583	2310	1433
9821	1.03	338.2	517.8	12.1	471	9825	0.00	2.58	0.00	0.000	4	0.000	0.053	2583	899	1427
9849	1.08	344.4	515.7	7.3	472	9860	0.00	2.50	5.28	0.634	6	0.000	0.037	2583	2311	1411
10169	1.12	344.4	492.7	10.5	488	10171	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2311	1410
10479	1.17	344.4	458.2	11.4	503	10484	0.15	2.55	0.00	0.000	4	0.051	0.048	2628	895	1409
10519	1.10	344.4	452.7	14.3	505	10524	0.15	2.45	0.00	0.000	6	0.088	0.036	2598	2298	1407
10846	1.10	344.4	408.9	13.5	521	10847	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2298	1407
11155	1.10	344.4	368.4	12.9	536	11159	0.00	2.53	0.00	0.000	4	0.000	0.048	2598	897	1407
11222	1.10	344.4	359.3	13.3	539	11227	0.00	2.47	0.00	0.000	6	0.000	0.036	2598	2305	1406
11544	1.10	344.4	319.1	12.2	555	11545	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2305	1406
11853	1.10	344.4	282.8	11.6	570	11857	0.00	2.53	0.00	0.000	4	0.000	0.047	2598	898	1406
11914	1.10	344.4	275.5	12.1	573	11919	0.00	2.45	0.00	0.000	6	0.000	0.036	2598	2299	1405
12241	1.10	344.4	237.4	11.5	589	12242	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2299	1405
12550	1.10	344.4	200.1	12.5	604	12554	0.00	2.53	0.00	0.000	4	0.000	0.048	2598	891	1406
12617	1.10	344.4	191.5	12.5	607	12621	0.00	2.47	0.00	0.000	6	0.000	0.035	2598	2305	1406
12938	1.10	344.4	152.1	12.2	623	12939	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2305	1405
13247	1.10	344.4	114.6	11.7	638	13252	0.00	2.53	0.00	0.000	4	0.000	0.047	2598	895	1406
13310	1.10	344.4	107.2	11.9	641	13314	0.00	2.45	0.00	0.000	6	0.000	0.035	2598	2299	1405
13637	1.10	344.4	69.5	11.4	657	13638	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2299	1405
13946	1.10	344.4	35.1	11.0	672	13950	0.00	2.50	0.00	0.000	4	0.000	0.047	2598	898	1405
14024	1.16	344.4	25.5	12.1	675	14030	0.00	2.45	0.00	0.000	6	0.000	0.036	2598	2308	1405
14234	end climb: SURFACE_DEPTH_REACHED
state	14234	begin surface coast
14256	end surface coast: CONTROL_FINISHED_OK
state	14256	begin surface