Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 188 * 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 188 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 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -2110941.8 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 -2110941.8

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 35 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 188 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 144937,6336.888,-1309.983,30,1.1,30,-12.4 TGT_NAME JE

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.72 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -67.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 145438,6336.917,-1310.025,13,1.3,13,-12.4 MHEAD_RNG_PITCHd_Wd 241.5,5422,-16.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.005751 ALTIM_BOTTOM_PING 625.7,92.8

SM_CCo 16284,18.55,0.559,0,0,1796,250.21 _24V_AH 23.6,31.925

SM_GC 2.28,0.00,0.00,18.55,0.000,0.000,0.559,75,2612,1796,-10.52,0.37,250.21 _10V_AH 10.1,16.058

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37965,781

TT8_MAMPS 0.02301 CAP_FILE_SIZE 107587,0

HUMID 1776 CFSIZE 260165632,247775232

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 100709,192800,6334.861,-1315.623,38,1.0,43,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 184 120.40 SBE_CT 573 24 324.77

Roll_motor 82 69 135.77 SBE_O2 535 19 240.23

VBD_pump_during_apogee 289 1037 7093.80 WL_BB2F 451 105 1118.98

VBD_pump_during_surface 18 559 244.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.74 nil 0 0 0.00

Iridium_during_connect 30 160 113.56 nil 0 0 0.00

Iridium_during_xfer 134 223 709.93

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.68

TT8 1411 19 282.27

LPSleep 12775 2 282.59

TT8_Active 384 19 76.85

TT8_Sampling 1600 39 643.38

TT8_CF8 434 45 200.82

TT8_Kalman 0 81 0.00

Analog_circuits 1175 12 142.43

GPS_charging 0 0 0.00

Compass 1567 8 126.69

RAFOS 0 0 0.00

Transponder 36 30 11.13

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.17 -103.7 0.0 0.0 0 69 0.00 0.00 -49.38 0.000 6 0.000 0.000 69 2608 3241

72 -1.17 -103.7 3.8 -7.7 2 94 11.77 2.33 0.00 0.000 4 0.185 0.056 2101 3856 3243

190 -1.10 -103.7 30.3 -13.3 7 194 0.00 2.15 0.00 0.000 6 0.000 0.025 2101 2582 3243

518 -1.10 -103.7 70.9 -11.4 23 522 0.00 2.40 0.00 0.000 4 0.000 0.037 2101 1205 3244

574 -1.10 -103.7 77.7 -11.5 25 580 0.00 2.42 0.00 0.000 6 0.000 0.035 2101 2596 3244

892 -1.10 -103.7 115.6 -11.5 41 896 0.00 2.33 0.00 0.000 4 0.000 0.061 2102 3863 3244

964 -1.10 -103.7 125.5 -12.6 44 968 0.00 2.12 0.00 0.000 6 0.000 0.025 2101 2595 3244

1285 -1.10 -103.7 163.2 -12.3 60 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2592 3243

1596 -1.10 -103.7 200.1 -11.8 75 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2592 3244

1904 -1.10 -103.7 234.7 -11.2 90 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2592 3244

2213 -1.10 -103.7 267.8 -10.1 105 2214 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2592 3244

2523 -1.10 -103.7 299.0 -10.7 120 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2592 3243

2832 -1.10 -103.7 332.2 -10.3 135 2833 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2590 3243

3141 -1.10 -103.7 363.9 -10.5 150 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2590 3243

3451 -1.10 -103.7 397.5 -10.7 165 3452 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2590 3243

3759 -1.10 -103.7 431.8 -11.3 180 3763 0.00 2.40 0.00 0.000 4 0.000 0.038 2102 1218 3243

3799 -1.10 -103.7 436.2 -11.6 182 3803 0.00 2.42 0.00 0.000 6 0.000 0.035 2101 2607 3243

4127 -1.10 -103.7 475.9 -12.7 198 4128 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2608 3243

4435 -1.10 -103.7 514.9 -12.9 213 4436 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2608 3243

4747 -1.10 -103.7 552.3 -11.4 228 4748 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2608 3243

5054 -1.10 -103.7 585.8 -10.4 243 5058 0.00 2.30 0.00 0.000 4 0.000 0.067 2101 3856 3243

5104 -1.10 -103.7 590.9 -9.9 245 5107 0.00 2.10 0.00 0.000 6 0.000 0.027 2101 2601 3243

5426 -1.10 -103.7 619.2 -8.4 261 5427 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3243

5735 -1.15 -146.6 634.9 -2.0 276 5739 0.00 2.30 0.00 0.000 4 0.000 0.066 2102 3856 3242

5787 -1.15 -146.6 635.6 -2.1 278 5790 0.00 2.10 0.00 0.000 6 0.000 0.027 2102 2601 3242

6114 -1.15 -146.6 630.7 2.6 294 6115 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3242

6423 -1.15 -146.6 634.0 -3.4 309 6424 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2600 3242

6732 -1.15 -146.6 632.6 3.1 324 6736 0.00 2.33 0.00 0.000 4 0.000 0.067 2101 3861 3242

6779 -1.15 -146.6 631.2 2.7 326 6783 0.00 2.12 0.00 0.000 6 0.000 0.027 2101 2595 3242

7112 -1.15 -146.6 622.1 1.6 342 7116 0.00 2.42 0.00 0.000 4 0.000 0.041 2103 1209 3241

7197 -1.15 -146.6 621.6 0.7 346 7201 0.00 2.42 0.00 0.000 6 0.000 0.035 2101 2599 3242

7524 -1.15 -146.6 625.4 -4.7 362 7525 0.00 0.00 0.00 0.000 6 0.000 0.000 2101 2599 3242

7833 -1.26 -146.6 655.3 -9.3 377 7837 0.00 2.45 0.00 0.000 4 0.000 0.041 2101 1208 3242

7905 -1.26 -146.6 659.5 -7.8 380 7909 0.00 2.42 0.00 0.000 6 0.000 0.035 2101 2601 3241

8221 -1.22 -146.6 695.1 -9.3 395 8225 0.00 2.33 0.00 0.000 4 0.000 0.070 2101 3861 3241

8288 -1.22 -146.6 702.7 -10.1 398 8292 0.00 2.12 0.00 0.000 6 0.000 0.028 2102 2604 3242

8351 end dive: BOTTOM_OBSTACLE_DETECTED

state 8351 begin apogee

8358 -0.31 0.0 709.1 9.0 401 8454 0.98 0.00 91.25 1.038 6 0.130 0.000 2287 2290 2817

8454 end apogee: CONTROL_FINISHED_OK

state 8455 begin climb

8457 1.22 146.6 719.2 0.0 406 8593 1.58 0.00 130.55 1.029 6 0.072 0.000 2623 2290 2218

8891 1.08 146.6 689.1 7.8 427 8896 0.15 2.62 0.00 0.000 4 0.092 0.061 2595 3702 2212

8919 1.00 146.6 686.8 7.9 428 8924 0.00 2.42 0.00 0.000 6 0.000 0.028 2594 2309 2211

9235 1.00 146.6 649.9 12.5 443 9239 0.00 2.53 0.00 0.000 4 0.000 0.048 2594 901 2210

9441 1.00 146.6 632.1 8.0 452 9446 0.00 2.45 0.00 0.000 6 0.000 0.034 2594 2301 2208

9768 1.03 169.4 608.3 6.4 468 9793 0.00 2.67 19.95 0.917 4 0.000 0.061 2594 3709 2126

9833 0.96 169.4 603.5 7.6 471 9838 0.12 2.47 0.00 0.000 6 0.104 0.028 2572 2295 2124

10155 1.05 187.9 583.5 6.6 487 10177 0.00 2.70 17.60 0.896 4 0.000 0.058 2572 3704 2050

10233 1.05 187.9 577.0 9.6 490 10238 0.00 2.42 0.00 0.000 6 0.000 0.028 2572 2297 2049

10556 1.15 187.9 546.7 9.9 506 10558 0.17 0.00 0.00 0.000 6 0.046 0.000 2622 2298 2047

10865 1.10 187.9 509.0 12.4 521 10866 0.12 0.00 0.00 0.000 6 0.100 0.000 2599 2295 2046

11174 1.10 187.9 472.1 12.3 536 11175 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2294 2046

11483 1.10 187.9 434.8 12.0 551 11484 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2294 2046

11792 1.10 187.9 402.3 10.2 566 11793 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2294 2045

12102 1.10 187.9 371.7 9.7 581 12103 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2294 2046

12410 1.10 187.9 341.1 10.0 596 12415 0.00 2.58 0.00 0.000 4 0.000 0.057 2598 3707 2046

12461 1.10 187.9 335.7 11.1 598 12466 0.00 2.42 0.00 0.000 6 0.000 0.027 2598 2292 2046

12777 1.10 187.9 305.4 9.3 613 12778 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2290 2045

13086 1.10 187.9 277.6 9.0 628 13087 0.00 0.00 0.00 0.000 6 0.000 0.000 2599 2290 2046

13396 1.14 187.9 251.9 8.1 643 13397 0.00 0.00 0.00 0.000 6 0.000 0.000 2598 2291 2045

13705 1.16 204.9 229.7 6.7 658 13726 0.00 0.00 15.50 0.683 6 0.000 0.000 2598 2290 1980

14037 1.23 220.7 207.0 6.7 674 14059 0.12 2.65 14.80 0.663 4 0.049 0.054 2637 3709 1917

14087 1.13 220.7 202.5 9.9 676 14092 0.17 2.45 0.00 0.000 6 0.097 0.026 2604 2297 1916

14409 1.19 220.7 174.9 9.4 692 14410 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2296 1914

14718 1.24 220.7 143.4 10.2 707 14720 0.12 0.00 0.00 0.000 6 0.050 0.000 2642 2296 1915

15028 1.19 220.7 111.0 10.2 722 15030 0.12 0.00 0.00 0.000 6 0.095 0.000 2618 2295 1914

15338 1.19 220.7 78.6 11.0 737 15339 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2295 1914

15646 1.19 220.7 50.4 8.4 752 15647 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2295 1914

15955 1.19 220.7 25.6 8.1 767 15960 0.00 2.58 0.00 0.000 4 0.000 0.054 2618 3708 1914

16028 1.19 220.7 19.1 8.9 770 16032 0.00 2.42 0.00 0.000 6 0.000 0.027 2618 2292 1914

16238 end climb: SURFACE_DEPTH_REACHED

state 16238 begin surface coast

16260 end surface coast: CONTROL_FINISHED_OK

state 16260 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	188	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	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-2110941.8	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	144937,6336.888,-1309.983,30,1.1,30,-12.4	TGT_NAME	JE
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.72	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-67.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	145438,6336.917,-1310.025,13,1.3,13,-12.4	MHEAD_RNG_PITCHd_Wd	241.5,5422,-16.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.005751	ALTIM_BOTTOM_PING	625.7,92.8
SM_CCo	16284,18.55,0.559,0,0,1796,250.21	_24V_AH	23.6,31.925
SM_GC	2.28,0.00,0.00,18.55,0.000,0.000,0.559,75,2612,1796,-10.52,0.37,250.21	_10V_AH	10.1,16.058
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37965,781
TT8_MAMPS	0.02301	CAP_FILE_SIZE	107587,0
HUMID	1776	CFSIZE	260165632,247775232
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	100709,192800,6334.861,-1315.623,38,1.0,43,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	184	120.40	SBE_CT	573	24	324.77
Roll_motor	82	69	135.77	SBE_O2	535	19	240.23
VBD_pump_during_apogee	289	1037	7093.80	WL_BB2F	451	105	1118.98
VBD_pump_during_surface	18	559	244.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.74	nil	0	0	0.00
Iridium_during_connect	30	160	113.56	nil	0	0	0.00
Iridium_during_xfer	134	223	709.93
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.68
TT8	1411	19	282.27
LPSleep	12775	2	282.59
TT8_Active	384	19	76.85
TT8_Sampling	1600	39	643.38
TT8_CF8	434	45	200.82
TT8_Kalman	0	81	0.00
Analog_circuits	1175	12	142.43
GPS_charging	0	0	0.00
Compass	1567	8	126.69
RAFOS	0	0	0.00
Transponder	36	30	11.13

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.17	-103.7	0.0	0.0	0	69	0.00	0.00	-49.38	0.000	6	0.000	0.000	69	2608	3241
72	-1.17	-103.7	3.8	-7.7	2	94	11.77	2.33	0.00	0.000	4	0.185	0.056	2101	3856	3243
190	-1.10	-103.7	30.3	-13.3	7	194	0.00	2.15	0.00	0.000	6	0.000	0.025	2101	2582	3243
518	-1.10	-103.7	70.9	-11.4	23	522	0.00	2.40	0.00	0.000	4	0.000	0.037	2101	1205	3244
574	-1.10	-103.7	77.7	-11.5	25	580	0.00	2.42	0.00	0.000	6	0.000	0.035	2101	2596	3244
892	-1.10	-103.7	115.6	-11.5	41	896	0.00	2.33	0.00	0.000	4	0.000	0.061	2102	3863	3244
964	-1.10	-103.7	125.5	-12.6	44	968	0.00	2.12	0.00	0.000	6	0.000	0.025	2101	2595	3244
1285	-1.10	-103.7	163.2	-12.3	60	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2592	3243
1596	-1.10	-103.7	200.1	-11.8	75	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2592	3244
1904	-1.10	-103.7	234.7	-11.2	90	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2592	3244
2213	-1.10	-103.7	267.8	-10.1	105	2214	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2592	3244
2523	-1.10	-103.7	299.0	-10.7	120	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2592	3243
2832	-1.10	-103.7	332.2	-10.3	135	2833	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2590	3243
3141	-1.10	-103.7	363.9	-10.5	150	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2590	3243
3451	-1.10	-103.7	397.5	-10.7	165	3452	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2590	3243
3759	-1.10	-103.7	431.8	-11.3	180	3763	0.00	2.40	0.00	0.000	4	0.000	0.038	2102	1218	3243
3799	-1.10	-103.7	436.2	-11.6	182	3803	0.00	2.42	0.00	0.000	6	0.000	0.035	2101	2607	3243
4127	-1.10	-103.7	475.9	-12.7	198	4128	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2608	3243
4435	-1.10	-103.7	514.9	-12.9	213	4436	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2608	3243
4747	-1.10	-103.7	552.3	-11.4	228	4748	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2608	3243
5054	-1.10	-103.7	585.8	-10.4	243	5058	0.00	2.30	0.00	0.000	4	0.000	0.067	2101	3856	3243
5104	-1.10	-103.7	590.9	-9.9	245	5107	0.00	2.10	0.00	0.000	6	0.000	0.027	2101	2601	3243
5426	-1.10	-103.7	619.2	-8.4	261	5427	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3243
5735	-1.15	-146.6	634.9	-2.0	276	5739	0.00	2.30	0.00	0.000	4	0.000	0.066	2102	3856	3242
5787	-1.15	-146.6	635.6	-2.1	278	5790	0.00	2.10	0.00	0.000	6	0.000	0.027	2102	2601	3242
6114	-1.15	-146.6	630.7	2.6	294	6115	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3242
6423	-1.15	-146.6	634.0	-3.4	309	6424	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2600	3242
6732	-1.15	-146.6	632.6	3.1	324	6736	0.00	2.33	0.00	0.000	4	0.000	0.067	2101	3861	3242
6779	-1.15	-146.6	631.2	2.7	326	6783	0.00	2.12	0.00	0.000	6	0.000	0.027	2101	2595	3242
7112	-1.15	-146.6	622.1	1.6	342	7116	0.00	2.42	0.00	0.000	4	0.000	0.041	2103	1209	3241
7197	-1.15	-146.6	621.6	0.7	346	7201	0.00	2.42	0.00	0.000	6	0.000	0.035	2101	2599	3242
7524	-1.15	-146.6	625.4	-4.7	362	7525	0.00	0.00	0.00	0.000	6	0.000	0.000	2101	2599	3242
7833	-1.26	-146.6	655.3	-9.3	377	7837	0.00	2.45	0.00	0.000	4	0.000	0.041	2101	1208	3242
7905	-1.26	-146.6	659.5	-7.8	380	7909	0.00	2.42	0.00	0.000	6	0.000	0.035	2101	2601	3241
8221	-1.22	-146.6	695.1	-9.3	395	8225	0.00	2.33	0.00	0.000	4	0.000	0.070	2101	3861	3241
8288	-1.22	-146.6	702.7	-10.1	398	8292	0.00	2.12	0.00	0.000	6	0.000	0.028	2102	2604	3242
8351	end dive: BOTTOM_OBSTACLE_DETECTED
state	8351	begin apogee
8358	-0.31	0.0	709.1	9.0	401	8454	0.98	0.00	91.25	1.038	6	0.130	0.000	2287	2290	2817
8454	end apogee: CONTROL_FINISHED_OK
state	8455	begin climb
8457	1.22	146.6	719.2	0.0	406	8593	1.58	0.00	130.55	1.029	6	0.072	0.000	2623	2290	2218
8891	1.08	146.6	689.1	7.8	427	8896	0.15	2.62	0.00	0.000	4	0.092	0.061	2595	3702	2212
8919	1.00	146.6	686.8	7.9	428	8924	0.00	2.42	0.00	0.000	6	0.000	0.028	2594	2309	2211
9235	1.00	146.6	649.9	12.5	443	9239	0.00	2.53	0.00	0.000	4	0.000	0.048	2594	901	2210
9441	1.00	146.6	632.1	8.0	452	9446	0.00	2.45	0.00	0.000	6	0.000	0.034	2594	2301	2208
9768	1.03	169.4	608.3	6.4	468	9793	0.00	2.67	19.95	0.917	4	0.000	0.061	2594	3709	2126
9833	0.96	169.4	603.5	7.6	471	9838	0.12	2.47	0.00	0.000	6	0.104	0.028	2572	2295	2124
10155	1.05	187.9	583.5	6.6	487	10177	0.00	2.70	17.60	0.896	4	0.000	0.058	2572	3704	2050
10233	1.05	187.9	577.0	9.6	490	10238	0.00	2.42	0.00	0.000	6	0.000	0.028	2572	2297	2049
10556	1.15	187.9	546.7	9.9	506	10558	0.17	0.00	0.00	0.000	6	0.046	0.000	2622	2298	2047
10865	1.10	187.9	509.0	12.4	521	10866	0.12	0.00	0.00	0.000	6	0.100	0.000	2599	2295	2046
11174	1.10	187.9	472.1	12.3	536	11175	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2294	2046
11483	1.10	187.9	434.8	12.0	551	11484	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2294	2046
11792	1.10	187.9	402.3	10.2	566	11793	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2294	2045
12102	1.10	187.9	371.7	9.7	581	12103	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2294	2046
12410	1.10	187.9	341.1	10.0	596	12415	0.00	2.58	0.00	0.000	4	0.000	0.057	2598	3707	2046
12461	1.10	187.9	335.7	11.1	598	12466	0.00	2.42	0.00	0.000	6	0.000	0.027	2598	2292	2046
12777	1.10	187.9	305.4	9.3	613	12778	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2290	2045
13086	1.10	187.9	277.6	9.0	628	13087	0.00	0.00	0.00	0.000	6	0.000	0.000	2599	2290	2046
13396	1.14	187.9	251.9	8.1	643	13397	0.00	0.00	0.00	0.000	6	0.000	0.000	2598	2291	2045
13705	1.16	204.9	229.7	6.7	658	13726	0.00	0.00	15.50	0.683	6	0.000	0.000	2598	2290	1980
14037	1.23	220.7	207.0	6.7	674	14059	0.12	2.65	14.80	0.663	4	0.049	0.054	2637	3709	1917
14087	1.13	220.7	202.5	9.9	676	14092	0.17	2.45	0.00	0.000	6	0.097	0.026	2604	2297	1916
14409	1.19	220.7	174.9	9.4	692	14410	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2296	1914
14718	1.24	220.7	143.4	10.2	707	14720	0.12	0.00	0.00	0.000	6	0.050	0.000	2642	2296	1915
15028	1.19	220.7	111.0	10.2	722	15030	0.12	0.00	0.00	0.000	6	0.095	0.000	2618	2295	1914
15338	1.19	220.7	78.6	11.0	737	15339	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2295	1914
15646	1.19	220.7	50.4	8.4	752	15647	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2295	1914
15955	1.19	220.7	25.6	8.1	767	15960	0.00	2.58	0.00	0.000	4	0.000	0.054	2618	3708	1914
16028	1.19	220.7	19.1	8.9	770	16032	0.00	2.42	0.00	0.000	6	0.000	0.027	2618	2292	1914
16238	end climb: SURFACE_DEPTH_REACHED
state	16238	begin surface coast
16260	end surface coast: CONTROL_FINISHED_OK
state	16260	begin surface