Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 206 * 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 206 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -2111272.8 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 -2111272.8

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 34 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 206 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 195601,6315.973,-1307.793,39,1.4,39,-12.2 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.68 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -65.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 200350,6315.948,-1307.951,14,1.2,14,-12.2 MHEAD_RNG_PITCHd_Wd 265.6,6133,-14.5,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026725 ALTIM_BOTTOM_PING 650.0,70.6

SM_CCo 15231,0.00,0.000,0,0,1706,272.53 _24V_AH 23.6,34.236

SM_GC 1.56,11.93,0.00,0.00,0.081,0.000,0.000,69,2599,1706,-10.47,0.00,272.53 _10V_AH 10.1,17.302

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37945,728

TT8_MAMPS 0.023777 CAP_FILE_SIZE 101590,0

HUMID 1769 CFSIZE 260165632,246841344

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 GPS 140709,001907,6315.765,-1312.723,33,1.4,33,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 116.20 SBE_CT 526 24 298.27

Roll_motor 74 69 121.00 SBE_O2 501 19 224.98

VBD_pump_during_apogee 365 1026 8846.74 WL_BB2F 430 105 1067.32

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.38 nil 0 0 0.00

Iridium_during_connect 54 160 204.95 nil 0 0 0.00

Iridium_during_xfer 201 223 1058.01

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.09

TT8 1304 19 260.79

LPSleep 11917 2 263.60

TT8_Active 437 19 87.46

TT8_Sampling 1522 39 612.06

TT8_CF8 518 45 239.64

TT8_Kalman 0 81 0.00

Analog_circuits 1192 12 144.55

GPS_charging 0 0 0.00

Compass 1484 8 119.95

RAFOS 0 0 0.00

Transponder 38 30 11.69

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 -1.05 -136.7 0.0 0.0 0 77 0.00 0.00 -54.75 0.000 6 0.000 0.000 67 2609 3377

81 -1.05 -136.7 7.3 -13.1 3 102 11.82 2.33 0.00 0.000 4 0.181 0.055 2123 3859 3377

355 -0.99 -136.7 54.1 -12.2 15 360 0.10 2.17 0.00 0.000 6 0.109 0.026 2141 2573 3378

677 -0.99 -136.7 86.1 -10.4 31 681 0.00 2.38 0.00 0.000 4 0.000 0.060 2141 3864 3378

822 -0.99 -136.7 102.5 -11.2 37 828 0.00 2.12 0.00 0.000 6 0.000 0.026 2141 2592 3378

1140 -0.99 -136.7 133.9 -9.6 53 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2591 3379

1446 -0.99 -136.7 161.8 -9.3 68 1451 0.00 2.42 0.00 0.000 4 0.000 0.039 2141 1211 3379

1509 -1.05 -136.7 167.7 -9.7 71 1514 0.00 2.42 0.00 0.000 6 0.000 0.035 2141 2597 3379

1837 -1.05 -136.7 200.4 -10.3 87 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3379

2145 -1.05 -136.7 231.5 -9.9 102 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2596 3379

2454 -1.05 -136.7 261.3 -9.4 117 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3378

2764 -1.05 -136.7 287.9 -8.2 132 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3378

3073 -1.05 -136.7 312.0 -7.8 147 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3378

3382 -1.05 -136.7 336.4 -8.1 162 3383 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3378

3692 -1.05 -136.7 362.8 -8.9 177 3693 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2597 3378

4001 -1.05 -136.7 389.6 -8.9 192 4005 0.00 2.42 0.00 0.000 4 0.000 0.038 2141 1213 3378

4045 -1.13 -136.7 393.4 -8.2 194 4050 0.12 2.42 0.00 0.000 6 0.048 0.035 2102 2600 3378

4367 -1.05 -136.7 429.8 -11.9 210 4368 0.15 0.00 0.00 0.000 6 0.099 0.000 2130 2600 3377

4675 -1.05 -136.7 462.1 -10.5 225 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3377

4985 -1.05 -136.7 494.5 -10.7 240 4986 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3377

5294 -1.05 -136.7 526.7 -10.2 255 5295 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3377

5603 -1.05 -136.7 558.8 -10.3 270 5607 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1213 3376

5647 -1.10 -136.7 563.5 -10.2 272 5652 0.00 2.42 0.00 0.000 6 0.000 0.036 2130 2600 3376

5969 -1.10 -136.7 594.3 -9.0 288 5972 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1213 3376

6002 -1.16 -136.7 597.5 -9.3 289 6007 0.12 2.42 0.00 0.000 6 0.048 0.035 2091 2600 3376

6318 -1.07 -136.7 629.7 -9.9 304 6320 0.17 0.00 0.00 0.000 6 0.098 0.000 2124 2600 3376

6627 -1.07 -136.7 654.9 -7.7 319 6628 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2600 3376

6936 -1.07 -145.0 677.8 -7.2 334 6938 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2600 3376

7246 -1.07 -145.0 701.4 -8.5 349 7250 0.00 2.35 0.00 0.000 4 0.000 0.069 2124 3864 3375

7303 -1.07 -145.0 706.5 -8.8 351 7309 0.00 2.12 0.00 0.000 6 0.000 0.028 2124 2603 3376

7369 end dive: BOTTOM_OBSTACLE_DETECTED

state 7369 begin apogee

7376 -0.31 0.0 712.1 7.9 355 7499 0.82 0.00 119.93 1.026 6 0.098 0.000 2292 2300 2817

7500 end apogee: CONTROL_FINISHED_OK

state 7500 begin climb

7503 1.06 145.0 715.6 0.0 361 7641 1.38 2.70 128.25 1.019 4 0.067 0.061 2586 3701 2225

7778 0.94 145.0 700.6 9.4 373 7785 0.12 2.42 0.00 0.000 6 0.098 0.028 2565 2312 2220

8094 0.90 154.6 676.4 7.1 389 8109 0.00 2.65 8.65 0.835 4 0.000 0.061 2565 3700 2186

8184 0.80 154.6 668.8 8.6 393 8189 0.17 2.45 0.00 0.000 6 0.101 0.028 2533 2299 2185

8512 0.91 203.2 648.8 5.7 409 8563 0.12 2.67 44.58 0.968 4 0.051 0.061 2570 3694 1987

8608 0.87 203.2 641.4 8.2 413 8612 0.00 2.45 0.00 0.000 6 0.000 0.029 2570 2300 1987

8924 0.87 203.2 616.8 7.7 428 8925 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2300 1983

9233 0.90 235.7 595.4 6.3 443 9269 0.00 2.65 30.20 0.927 4 0.000 0.060 2570 3701 1856

9297 0.90 235.7 590.8 8.4 445 9301 0.00 2.47 0.00 0.000 6 0.000 0.028 2570 2294 1854

9619 0.97 252.0 568.1 6.9 461 9637 0.00 0.00 16.00 0.868 6 0.000 0.000 2570 2293 1789

9947 1.06 270.4 546.2 6.8 477 9970 0.00 2.65 17.67 0.864 4 0.000 0.060 2570 3701 1714

9999 1.10 270.4 542.4 7.7 479 10004 0.15 2.45 0.00 0.000 6 0.048 0.028 2612 2297 1713

10315 1.10 270.4 512.9 9.8 494 10316 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2297 1712

10624 1.10 270.4 481.6 10.3 509 10625 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2297 1711

10934 1.10 270.4 450.0 10.0 524 10935 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2298 1711

11243 1.10 270.4 419.6 9.9 539 11244 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2297 1711

11552 1.10 270.4 387.1 10.3 554 11553 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2297 1711

11861 1.10 270.4 355.3 10.0 569 11863 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2297 1711

12170 1.10 270.4 324.4 10.2 584 12174 0.00 2.50 0.00 0.000 4 0.000 0.045 2611 893 1710

12220 1.10 270.4 319.0 10.7 586 12225 0.00 2.45 0.00 0.000 6 0.000 0.032 2611 2303 1708

12542 1.10 270.4 284.9 11.0 602 12543 0.00 0.00 0.00 0.000 6 0.000 0.000 2611 2304 1709

12851 1.10 270.4 252.3 10.3 617 12852 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2304 1709

13160 1.10 270.4 219.9 10.9 632 13161 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2304 1709

13470 1.10 270.4 182.1 13.2 647 13473 0.00 2.50 0.00 0.000 4 0.000 0.043 2612 894 1709

13531 1.10 270.4 173.4 13.6 649 13537 0.00 2.45 0.00 0.000 6 0.000 0.033 2612 2303 1709

13847 1.10 270.4 132.1 12.9 665 13848 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2303 1709

14156 1.10 270.4 94.0 12.1 680 14158 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2303 1710

14465 1.10 270.4 64.1 8.0 695 14466 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2304 1709

14776 1.10 270.4 39.3 8.1 710 14780 0.00 2.50 0.00 0.000 4 0.000 0.042 2612 892 1709

14854 1.10 270.4 31.2 10.2 713 14860 0.00 2.42 0.00 0.000 6 0.000 0.032 2612 2301 1709

15126 end climb: SURFACE_DEPTH_REACHED

state 15126 begin surface coast

15148 end surface coast: CONTROL_FINISHED_OK

state 15148 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	206	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-2111272.8	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	195601,6315.973,-1307.793,39,1.4,39,-12.2	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.68	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-65.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	200350,6315.948,-1307.951,14,1.2,14,-12.2	MHEAD_RNG_PITCHd_Wd	265.6,6133,-14.5,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026725	ALTIM_BOTTOM_PING	650.0,70.6
SM_CCo	15231,0.00,0.000,0,0,1706,272.53	_24V_AH	23.6,34.236
SM_GC	1.56,11.93,0.00,0.00,0.081,0.000,0.000,69,2599,1706,-10.47,0.00,272.53	_10V_AH	10.1,17.302
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37945,728
TT8_MAMPS	0.023777	CAP_FILE_SIZE	101590,0
HUMID	1769	CFSIZE	260165632,246841344
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	GPS	140709,001907,6315.765,-1312.723,33,1.4,33,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	116.20	SBE_CT	526	24	298.27
Roll_motor	74	69	121.00	SBE_O2	501	19	224.98
VBD_pump_during_apogee	365	1026	8846.74	WL_BB2F	430	105	1067.32
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.38	nil	0	0	0.00
Iridium_during_connect	54	160	204.95	nil	0	0	0.00
Iridium_during_xfer	201	223	1058.01
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.09
TT8	1304	19	260.79
LPSleep	11917	2	263.60
TT8_Active	437	19	87.46
TT8_Sampling	1522	39	612.06
TT8_CF8	518	45	239.64
TT8_Kalman	0	81	0.00
Analog_circuits	1192	12	144.55
GPS_charging	0	0	0.00
Compass	1484	8	119.95
RAFOS	0	0	0.00
Transponder	38	30	11.69

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	-1.05	-136.7	0.0	0.0	0	77	0.00	0.00	-54.75	0.000	6	0.000	0.000	67	2609	3377
81	-1.05	-136.7	7.3	-13.1	3	102	11.82	2.33	0.00	0.000	4	0.181	0.055	2123	3859	3377
355	-0.99	-136.7	54.1	-12.2	15	360	0.10	2.17	0.00	0.000	6	0.109	0.026	2141	2573	3378
677	-0.99	-136.7	86.1	-10.4	31	681	0.00	2.38	0.00	0.000	4	0.000	0.060	2141	3864	3378
822	-0.99	-136.7	102.5	-11.2	37	828	0.00	2.12	0.00	0.000	6	0.000	0.026	2141	2592	3378
1140	-0.99	-136.7	133.9	-9.6	53	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2591	3379
1446	-0.99	-136.7	161.8	-9.3	68	1451	0.00	2.42	0.00	0.000	4	0.000	0.039	2141	1211	3379
1509	-1.05	-136.7	167.7	-9.7	71	1514	0.00	2.42	0.00	0.000	6	0.000	0.035	2141	2597	3379
1837	-1.05	-136.7	200.4	-10.3	87	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3379
2145	-1.05	-136.7	231.5	-9.9	102	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2596	3379
2454	-1.05	-136.7	261.3	-9.4	117	2456	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3378
2764	-1.05	-136.7	287.9	-8.2	132	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3378
3073	-1.05	-136.7	312.0	-7.8	147	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3378
3382	-1.05	-136.7	336.4	-8.1	162	3383	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3378
3692	-1.05	-136.7	362.8	-8.9	177	3693	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2597	3378
4001	-1.05	-136.7	389.6	-8.9	192	4005	0.00	2.42	0.00	0.000	4	0.000	0.038	2141	1213	3378
4045	-1.13	-136.7	393.4	-8.2	194	4050	0.12	2.42	0.00	0.000	6	0.048	0.035	2102	2600	3378
4367	-1.05	-136.7	429.8	-11.9	210	4368	0.15	0.00	0.00	0.000	6	0.099	0.000	2130	2600	3377
4675	-1.05	-136.7	462.1	-10.5	225	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3377
4985	-1.05	-136.7	494.5	-10.7	240	4986	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3377
5294	-1.05	-136.7	526.7	-10.2	255	5295	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3377
5603	-1.05	-136.7	558.8	-10.3	270	5607	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1213	3376
5647	-1.10	-136.7	563.5	-10.2	272	5652	0.00	2.42	0.00	0.000	6	0.000	0.036	2130	2600	3376
5969	-1.10	-136.7	594.3	-9.0	288	5972	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1213	3376
6002	-1.16	-136.7	597.5	-9.3	289	6007	0.12	2.42	0.00	0.000	6	0.048	0.035	2091	2600	3376
6318	-1.07	-136.7	629.7	-9.9	304	6320	0.17	0.00	0.00	0.000	6	0.098	0.000	2124	2600	3376
6627	-1.07	-136.7	654.9	-7.7	319	6628	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2600	3376
6936	-1.07	-145.0	677.8	-7.2	334	6938	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2600	3376
7246	-1.07	-145.0	701.4	-8.5	349	7250	0.00	2.35	0.00	0.000	4	0.000	0.069	2124	3864	3375
7303	-1.07	-145.0	706.5	-8.8	351	7309	0.00	2.12	0.00	0.000	6	0.000	0.028	2124	2603	3376
7369	end dive: BOTTOM_OBSTACLE_DETECTED
state	7369	begin apogee
7376	-0.31	0.0	712.1	7.9	355	7499	0.82	0.00	119.93	1.026	6	0.098	0.000	2292	2300	2817
7500	end apogee: CONTROL_FINISHED_OK
state	7500	begin climb
7503	1.06	145.0	715.6	0.0	361	7641	1.38	2.70	128.25	1.019	4	0.067	0.061	2586	3701	2225
7778	0.94	145.0	700.6	9.4	373	7785	0.12	2.42	0.00	0.000	6	0.098	0.028	2565	2312	2220
8094	0.90	154.6	676.4	7.1	389	8109	0.00	2.65	8.65	0.835	4	0.000	0.061	2565	3700	2186
8184	0.80	154.6	668.8	8.6	393	8189	0.17	2.45	0.00	0.000	6	0.101	0.028	2533	2299	2185
8512	0.91	203.2	648.8	5.7	409	8563	0.12	2.67	44.58	0.968	4	0.051	0.061	2570	3694	1987
8608	0.87	203.2	641.4	8.2	413	8612	0.00	2.45	0.00	0.000	6	0.000	0.029	2570	2300	1987
8924	0.87	203.2	616.8	7.7	428	8925	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2300	1983
9233	0.90	235.7	595.4	6.3	443	9269	0.00	2.65	30.20	0.927	4	0.000	0.060	2570	3701	1856
9297	0.90	235.7	590.8	8.4	445	9301	0.00	2.47	0.00	0.000	6	0.000	0.028	2570	2294	1854
9619	0.97	252.0	568.1	6.9	461	9637	0.00	0.00	16.00	0.868	6	0.000	0.000	2570	2293	1789
9947	1.06	270.4	546.2	6.8	477	9970	0.00	2.65	17.67	0.864	4	0.000	0.060	2570	3701	1714
9999	1.10	270.4	542.4	7.7	479	10004	0.15	2.45	0.00	0.000	6	0.048	0.028	2612	2297	1713
10315	1.10	270.4	512.9	9.8	494	10316	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2297	1712
10624	1.10	270.4	481.6	10.3	509	10625	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2297	1711
10934	1.10	270.4	450.0	10.0	524	10935	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2298	1711
11243	1.10	270.4	419.6	9.9	539	11244	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2297	1711
11552	1.10	270.4	387.1	10.3	554	11553	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2297	1711
11861	1.10	270.4	355.3	10.0	569	11863	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2297	1711
12170	1.10	270.4	324.4	10.2	584	12174	0.00	2.50	0.00	0.000	4	0.000	0.045	2611	893	1710
12220	1.10	270.4	319.0	10.7	586	12225	0.00	2.45	0.00	0.000	6	0.000	0.032	2611	2303	1708
12542	1.10	270.4	284.9	11.0	602	12543	0.00	0.00	0.00	0.000	6	0.000	0.000	2611	2304	1709
12851	1.10	270.4	252.3	10.3	617	12852	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2304	1709
13160	1.10	270.4	219.9	10.9	632	13161	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2304	1709
13470	1.10	270.4	182.1	13.2	647	13473	0.00	2.50	0.00	0.000	4	0.000	0.043	2612	894	1709
13531	1.10	270.4	173.4	13.6	649	13537	0.00	2.45	0.00	0.000	6	0.000	0.033	2612	2303	1709
13847	1.10	270.4	132.1	12.9	665	13848	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2303	1709
14156	1.10	270.4	94.0	12.1	680	14158	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2303	1710
14465	1.10	270.4	64.1	8.0	695	14466	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2304	1709
14776	1.10	270.4	39.3	8.1	710	14780	0.00	2.50	0.00	0.000	4	0.000	0.042	2612	892	1709
14854	1.10	270.4	31.2	10.2	713	14860	0.00	2.42	0.00	0.000	6	0.000	0.032	2612	2301	1709
15126	end climb: SURFACE_DEPTH_REACHED
state	15126	begin surface coast
15148	end surface coast: CONTROL_FINISHED_OK
state	15148	begin surface