Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 227 * 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 227 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 33 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 -2111645.5 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 -2111645.5

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 33 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 227 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 140357,6302.699,-1259.655,27,2.7,46,-12.0 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.66 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -59.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 140946,6302.729,-1259.672,11,2.2,30,-12.0 MHEAD_RNG_PITCHd_Wd 202.8,24001,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.025451 ALTIM_BOTTOM_PING 526.6,111.3

SM_CCo 14048,0.00,0.000,0,0,1738,264.43 _24V_AH 23.6,37.005

SM_GC 1.62,11.85,0.00,0.00,0.074,0.000,0.000,72,2599,1738,-10.47,-0.03,264.43 _10V_AH 10.1,18.765

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34819,671

TT8_MAMPS 0.02301 CAP_FILE_SIZE 99960,0

HUMID 1808 CFSIZE 260165632,245731328

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 170709,180531,6302.948,-1257.344,43,1.2,43,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 189 118.26 SBE_CT 493 24 279.35

Roll_motor 97 69 160.93 SBE_O2 457 19 204.93

VBD_pump_during_apogee 363 995 8540.56 WL_BB2F 427 105 1058.29

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.74 nil 0 0 0.00

Iridium_during_connect 27 160 104.14 nil 0 0 0.00

Iridium_during_xfer 167 223 880.05

Transponder_ping 4 420 42.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.84

TT8 1241 19 248.32

LPSleep 10728 2 237.30

TT8_Active 442 19 88.56

TT8_Sampling 1533 39 616.48

TT8_CF8 450 45 208.35

TT8_Kalman 0 81 0.00

Analog_circuits 1206 12 146.24

GPS_charging 0 0 0.00

Compass 1482 8 119.81

RAFOS 0 0 0.00

Transponder 30 30 9.18

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

15 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -55.92 0.000 6 0.000 0.000 74 2613 3418

81 -1.03 -146.6 8.1 -15.2 3 102 12.05 2.33 0.00 0.000 4 0.189 0.058 2129 3851 3420

355 -0.98 -146.6 55.3 -11.9 15 359 0.00 2.15 0.00 0.000 6 0.000 0.025 2129 2574 3421

677 -0.98 -146.6 86.2 -8.9 31 682 0.00 2.35 0.00 0.000 4 0.000 0.060 2129 3854 3420

812 -0.98 -146.6 99.8 -10.4 37 816 0.00 2.10 0.00 0.000 6 0.000 0.026 2129 2597 3420

1140 -0.98 -146.6 130.9 -9.7 53 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2595 3421

1448 -0.98 -146.6 164.1 -10.8 68 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2595 3421

1757 -0.98 -146.6 196.0 -10.4 83 1758 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2594 3421

2067 -0.98 -146.6 225.6 -9.1 98 2071 0.00 2.42 0.00 0.000 4 0.000 0.039 2129 1211 3421

2107 -0.98 -146.6 229.2 -8.6 100 2111 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2597 3422

2434 -0.98 -146.6 259.1 -9.4 116 2435 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2597 3422

2743 -0.98 -146.6 288.5 -9.9 131 2744 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2597 3421

3053 -0.98 -146.6 320.1 -9.9 146 3054 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2597 3421

3364 -0.98 -146.6 350.8 -9.4 161 3365 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2597 3421

3670 -0.98 -146.6 379.6 -9.7 176 3672 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2597 3421

3980 -0.98 -146.6 409.3 -10.2 191 3984 0.00 2.42 0.00 0.000 4 0.000 0.038 2129 1216 3420

4025 -0.98 -146.6 413.9 -9.6 193 4029 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2601 3421

4346 -0.98 -146.6 446.8 -9.5 209 4347 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2601 3420

4656 -0.98 -146.6 479.3 -10.6 224 4660 0.00 2.33 0.00 0.000 4 0.000 0.066 2129 3860 3420

4722 -0.98 -146.6 486.5 -10.1 227 4726 0.00 2.12 0.00 0.000 6 0.000 0.026 2129 2593 3420

5049 -0.98 -146.6 513.7 -8.2 243 5053 0.00 2.42 0.00 0.000 4 0.000 0.040 2130 1211 3420

5111 -1.04 -146.6 518.9 -8.3 245 5117 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2601 3420

5427 -1.04 -146.6 546.6 -9.2 261 5431 0.00 2.33 0.00 0.000 4 0.000 0.067 2130 3857 3420

5477 -1.04 -146.6 551.6 -10.0 263 5480 0.00 2.12 0.00 0.000 6 0.000 0.027 2129 2591 3420

5798 -1.04 -146.6 579.2 -8.4 279 5802 0.00 2.40 0.00 0.000 4 0.000 0.041 2129 1210 3419

5860 -1.08 -146.6 584.5 -8.2 281 5866 0.00 2.45 0.00 0.000 6 0.000 0.036 2130 2609 3419

6176 -1.08 -146.6 608.5 -7.8 297 6180 0.00 2.33 0.00 0.000 4 0.000 0.070 2129 3858 3418

6242 -1.08 -146.6 614.4 -8.8 300 6246 0.00 2.12 0.00 0.000 6 0.000 0.028 2129 2603 3418

6402 end dive: BOTTOM_OBSTACLE_DETECTED

state 6402 begin apogee

6409 -0.31 0.0 628.0 9.2 308 6539 0.80 0.00 126.88 0.996 6 0.097 0.000 2291 2300 2818

6540 end apogee: CONTROL_FINISHED_OK

state 6540 begin climb

6543 1.03 146.6 632.8 0.0 314 6681 1.35 2.62 127.72 0.986 4 0.074 0.045 2579 906 2217

6941 0.97 157.3 622.2 7.1 332 6956 0.00 2.47 9.95 0.843 6 0.000 0.036 2579 2305 2175

7267 0.92 157.3 596.7 8.2 347 7271 0.00 2.53 0.00 0.000 4 0.000 0.046 2578 907 2171

7291 0.87 163.9 595.0 7.3 348 7306 0.15 2.47 7.00 0.775 6 0.091 0.035 2550 2306 2148

7622 0.87 167.6 570.1 7.4 364 7632 0.00 2.60 5.10 0.689 4 0.000 0.063 2550 3700 2132

7672 0.82 167.6 566.1 8.0 366 7676 0.00 2.42 0.00 0.000 6 0.000 0.028 2550 2302 2132

7993 0.82 167.6 540.1 8.1 382 7997 0.00 2.55 0.00 0.000 4 0.000 0.051 2550 897 2130

8082 0.82 167.6 532.6 8.6 386 8086 0.00 2.47 0.00 0.000 6 0.000 0.035 2550 2304 2129

8403 0.86 204.0 510.6 6.3 402 8444 0.00 2.70 33.03 0.908 4 0.000 0.061 2550 3700 1985

8484 0.88 218.3 505.0 7.0 405 8504 0.00 2.45 14.35 0.848 6 0.000 0.029 2550 2299 1926

8822 0.99 261.1 485.0 6.0 422 8864 0.12 0.00 39.47 0.893 6 0.051 0.000 2586 2298 1751

9171 0.99 261.1 454.2 9.0 439 9172 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2298 1745

9480 0.99 261.1 424.8 9.4 454 9481 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2298 1744

9789 0.99 261.1 396.2 9.3 469 9790 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2297 1743

10099 0.99 261.1 364.1 10.6 484 10102 0.00 2.53 0.00 0.000 4 0.000 0.048 2586 894 1743

10132 0.99 261.1 360.3 11.6 485 10136 0.00 2.47 0.00 0.000 6 0.000 0.033 2586 2308 1741

10447 0.99 261.1 329.5 9.4 500 10448 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2308 1742

10757 0.99 261.1 300.7 9.2 515 10758 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2308 1741

11066 0.99 261.1 271.2 9.6 530 11070 0.00 2.50 0.00 0.000 4 0.000 0.044 2586 901 1742

11099 0.99 261.1 267.7 10.3 531 11103 0.00 2.42 0.00 0.000 6 0.000 0.033 2586 2299 1741

11420 0.99 261.1 235.4 10.2 547 11421 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2300 1741

11730 0.99 261.1 204.5 9.7 562 11731 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2300 1741

12038 0.99 261.1 174.7 9.8 577 12043 0.00 2.50 0.00 0.000 4 0.000 0.044 2587 897 1742

12078 0.99 261.1 170.7 9.6 579 12083 0.00 2.45 0.00 0.000 6 0.000 0.033 2586 2306 1741

12406 0.99 261.1 140.2 9.2 595 12407 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2306 1742

12716 0.99 261.1 112.6 8.9 610 12720 0.00 2.53 0.00 0.000 4 0.000 0.044 2586 892 1742

12756 0.99 261.1 108.7 9.2 612 12761 0.00 2.45 0.00 0.000 6 0.000 0.032 2586 2304 1742

13084 0.99 261.1 77.1 10.0 628 13089 0.00 2.50 0.00 0.000 4 0.000 0.042 2586 899 1742

13129 1.03 261.1 72.2 10.6 630 13134 0.00 2.45 0.00 0.000 6 0.000 0.032 2587 2309 1742

13451 1.03 261.1 42.6 8.5 646 13452 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2309 1742

13761 1.09 261.1 17.8 7.5 661 13765 0.00 2.53 0.00 0.000 4 0.000 0.044 2586 895 1743

13850 1.17 261.1 10.2 8.8 665 13855 0.12 2.42 0.00 0.000 6 0.057 0.031 2618 2300 1742

13942 end climb: SURFACE_DEPTH_REACHED

state 13942 begin surface coast

13964 end surface coast: CONTROL_FINISHED_OK

state 13964 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	227	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	33	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	-2111645.5	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	140357,6302.699,-1259.655,27,2.7,46,-12.0	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.66	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-59.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	140946,6302.729,-1259.672,11,2.2,30,-12.0	MHEAD_RNG_PITCHd_Wd	202.8,24001,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.025451	ALTIM_BOTTOM_PING	526.6,111.3
SM_CCo	14048,0.00,0.000,0,0,1738,264.43	_24V_AH	23.6,37.005
SM_GC	1.62,11.85,0.00,0.00,0.074,0.000,0.000,72,2599,1738,-10.47,-0.03,264.43	_10V_AH	10.1,18.765
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34819,671
TT8_MAMPS	0.02301	CAP_FILE_SIZE	99960,0
HUMID	1808	CFSIZE	260165632,245731328
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	170709,180531,6302.948,-1257.344,43,1.2,43,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	189	118.26	SBE_CT	493	24	279.35
Roll_motor	97	69	160.93	SBE_O2	457	19	204.93
VBD_pump_during_apogee	363	995	8540.56	WL_BB2F	427	105	1058.29
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.74	nil	0	0	0.00
Iridium_during_connect	27	160	104.14	nil	0	0	0.00
Iridium_during_xfer	167	223	880.05
Transponder_ping	4	420	42.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.84
TT8	1241	19	248.32
LPSleep	10728	2	237.30
TT8_Active	442	19	88.56
TT8_Sampling	1533	39	616.48
TT8_CF8	450	45	208.35
TT8_Kalman	0	81	0.00
Analog_circuits	1206	12	146.24
GPS_charging	0	0	0.00
Compass	1482	8	119.81
RAFOS	0	0	0.00
Transponder	30	30	9.18

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
15	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-55.92	0.000	6	0.000	0.000	74	2613	3418
81	-1.03	-146.6	8.1	-15.2	3	102	12.05	2.33	0.00	0.000	4	0.189	0.058	2129	3851	3420
355	-0.98	-146.6	55.3	-11.9	15	359	0.00	2.15	0.00	0.000	6	0.000	0.025	2129	2574	3421
677	-0.98	-146.6	86.2	-8.9	31	682	0.00	2.35	0.00	0.000	4	0.000	0.060	2129	3854	3420
812	-0.98	-146.6	99.8	-10.4	37	816	0.00	2.10	0.00	0.000	6	0.000	0.026	2129	2597	3420
1140	-0.98	-146.6	130.9	-9.7	53	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2595	3421
1448	-0.98	-146.6	164.1	-10.8	68	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2595	3421
1757	-0.98	-146.6	196.0	-10.4	83	1758	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2594	3421
2067	-0.98	-146.6	225.6	-9.1	98	2071	0.00	2.42	0.00	0.000	4	0.000	0.039	2129	1211	3421
2107	-0.98	-146.6	229.2	-8.6	100	2111	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2597	3422
2434	-0.98	-146.6	259.1	-9.4	116	2435	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2597	3422
2743	-0.98	-146.6	288.5	-9.9	131	2744	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2597	3421
3053	-0.98	-146.6	320.1	-9.9	146	3054	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2597	3421
3364	-0.98	-146.6	350.8	-9.4	161	3365	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2597	3421
3670	-0.98	-146.6	379.6	-9.7	176	3672	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2597	3421
3980	-0.98	-146.6	409.3	-10.2	191	3984	0.00	2.42	0.00	0.000	4	0.000	0.038	2129	1216	3420
4025	-0.98	-146.6	413.9	-9.6	193	4029	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2601	3421
4346	-0.98	-146.6	446.8	-9.5	209	4347	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2601	3420
4656	-0.98	-146.6	479.3	-10.6	224	4660	0.00	2.33	0.00	0.000	4	0.000	0.066	2129	3860	3420
4722	-0.98	-146.6	486.5	-10.1	227	4726	0.00	2.12	0.00	0.000	6	0.000	0.026	2129	2593	3420
5049	-0.98	-146.6	513.7	-8.2	243	5053	0.00	2.42	0.00	0.000	4	0.000	0.040	2130	1211	3420
5111	-1.04	-146.6	518.9	-8.3	245	5117	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2601	3420
5427	-1.04	-146.6	546.6	-9.2	261	5431	0.00	2.33	0.00	0.000	4	0.000	0.067	2130	3857	3420
5477	-1.04	-146.6	551.6	-10.0	263	5480	0.00	2.12	0.00	0.000	6	0.000	0.027	2129	2591	3420
5798	-1.04	-146.6	579.2	-8.4	279	5802	0.00	2.40	0.00	0.000	4	0.000	0.041	2129	1210	3419
5860	-1.08	-146.6	584.5	-8.2	281	5866	0.00	2.45	0.00	0.000	6	0.000	0.036	2130	2609	3419
6176	-1.08	-146.6	608.5	-7.8	297	6180	0.00	2.33	0.00	0.000	4	0.000	0.070	2129	3858	3418
6242	-1.08	-146.6	614.4	-8.8	300	6246	0.00	2.12	0.00	0.000	6	0.000	0.028	2129	2603	3418
6402	end dive: BOTTOM_OBSTACLE_DETECTED
state	6402	begin apogee
6409	-0.31	0.0	628.0	9.2	308	6539	0.80	0.00	126.88	0.996	6	0.097	0.000	2291	2300	2818
6540	end apogee: CONTROL_FINISHED_OK
state	6540	begin climb
6543	1.03	146.6	632.8	0.0	314	6681	1.35	2.62	127.72	0.986	4	0.074	0.045	2579	906	2217
6941	0.97	157.3	622.2	7.1	332	6956	0.00	2.47	9.95	0.843	6	0.000	0.036	2579	2305	2175
7267	0.92	157.3	596.7	8.2	347	7271	0.00	2.53	0.00	0.000	4	0.000	0.046	2578	907	2171
7291	0.87	163.9	595.0	7.3	348	7306	0.15	2.47	7.00	0.775	6	0.091	0.035	2550	2306	2148
7622	0.87	167.6	570.1	7.4	364	7632	0.00	2.60	5.10	0.689	4	0.000	0.063	2550	3700	2132
7672	0.82	167.6	566.1	8.0	366	7676	0.00	2.42	0.00	0.000	6	0.000	0.028	2550	2302	2132
7993	0.82	167.6	540.1	8.1	382	7997	0.00	2.55	0.00	0.000	4	0.000	0.051	2550	897	2130
8082	0.82	167.6	532.6	8.6	386	8086	0.00	2.47	0.00	0.000	6	0.000	0.035	2550	2304	2129
8403	0.86	204.0	510.6	6.3	402	8444	0.00	2.70	33.03	0.908	4	0.000	0.061	2550	3700	1985
8484	0.88	218.3	505.0	7.0	405	8504	0.00	2.45	14.35	0.848	6	0.000	0.029	2550	2299	1926
8822	0.99	261.1	485.0	6.0	422	8864	0.12	0.00	39.47	0.893	6	0.051	0.000	2586	2298	1751
9171	0.99	261.1	454.2	9.0	439	9172	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2298	1745
9480	0.99	261.1	424.8	9.4	454	9481	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2298	1744
9789	0.99	261.1	396.2	9.3	469	9790	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2297	1743
10099	0.99	261.1	364.1	10.6	484	10102	0.00	2.53	0.00	0.000	4	0.000	0.048	2586	894	1743
10132	0.99	261.1	360.3	11.6	485	10136	0.00	2.47	0.00	0.000	6	0.000	0.033	2586	2308	1741
10447	0.99	261.1	329.5	9.4	500	10448	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2308	1742
10757	0.99	261.1	300.7	9.2	515	10758	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2308	1741
11066	0.99	261.1	271.2	9.6	530	11070	0.00	2.50	0.00	0.000	4	0.000	0.044	2586	901	1742
11099	0.99	261.1	267.7	10.3	531	11103	0.00	2.42	0.00	0.000	6	0.000	0.033	2586	2299	1741
11420	0.99	261.1	235.4	10.2	547	11421	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2300	1741
11730	0.99	261.1	204.5	9.7	562	11731	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2300	1741
12038	0.99	261.1	174.7	9.8	577	12043	0.00	2.50	0.00	0.000	4	0.000	0.044	2587	897	1742
12078	0.99	261.1	170.7	9.6	579	12083	0.00	2.45	0.00	0.000	6	0.000	0.033	2586	2306	1741
12406	0.99	261.1	140.2	9.2	595	12407	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2306	1742
12716	0.99	261.1	112.6	8.9	610	12720	0.00	2.53	0.00	0.000	4	0.000	0.044	2586	892	1742
12756	0.99	261.1	108.7	9.2	612	12761	0.00	2.45	0.00	0.000	6	0.000	0.032	2586	2304	1742
13084	0.99	261.1	77.1	10.0	628	13089	0.00	2.50	0.00	0.000	4	0.000	0.042	2586	899	1742
13129	1.03	261.1	72.2	10.6	630	13134	0.00	2.45	0.00	0.000	6	0.000	0.032	2587	2309	1742
13451	1.03	261.1	42.6	8.5	646	13452	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2309	1742
13761	1.09	261.1	17.8	7.5	661	13765	0.00	2.53	0.00	0.000	4	0.000	0.044	2586	895	1743
13850	1.17	261.1	10.2	8.8	665	13855	0.12	2.42	0.00	0.000	6	0.057	0.031	2618	2300	1742
13942	end climb: SURFACE_DEPTH_REACHED
state	13942	begin surface coast
13964	end surface coast: CONTROL_FINISHED_OK
state	13964	begin surface