Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 230 * 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 230 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 37 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 -2111706 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 -2111706

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 37 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 230 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 021524,6300.436,-1256.190,29,1.3,46,-12.0 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_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 -62.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 022022,6300.436,-1256.195,14,2.6,33,-12.0 MHEAD_RNG_PITCHd_Wd 213.1,20712,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.013407 ALTIM_BOTTOM_PING 551.1,75.9

SM_CCo 14066,0.00,0.000,0,0,1376,353.48 _24V_AH 23.6,37.351

SM_GC 1.44,12.10,0.00,0.00,0.080,0.000,0.000,72,2611,1376,-10.46,0.31,353.48 _10V_AH 10.1,18.963

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34796,674

TT8_MAMPS 0.02301 CAP_FILE_SIZE 93233,0

HUMID 1791 CFSIZE 260165632,245596160

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 180709,061624,6258.680,-1253.969,27,1.2,44,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 184 116.97 SBE_CT 495 24 280.55

Roll_motor 84 68 136.21 SBE_O2 461 19 206.90

VBD_pump_during_apogee 434 984 10096.56 WL_BB2F 451 105 1118.46

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 44.05 nil 0 0 0.00

Iridium_during_connect 26 160 100.54 nil 0 0 0.00

Iridium_during_xfer 123 223 650.05

Transponder_ping 4 420 44.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.28

TT8 1202 19 240.57

LPSleep 10836 2 239.69

TT8_Active 521 19 104.19

TT8_Sampling 1411 39 567.27

TT8_CF8 392 45 181.62

TT8_Kalman 0 81 0.00

Analog_circuits 1222 12 148.17

GPS_charging 0 0 0.00

Compass 1361 8 110.03

RAFOS 0 0 0.00

Transponder 31 30 9.65

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 -57.90 0.000 6 0.000 0.000 73 2607 3417

81 -1.03 -146.6 7.4 -13.7 3 102 11.93 2.55 0.00 0.000 4 0.184 0.036 2132 1187 3419

256 -1.03 -146.6 39.3 -11.3 10 263 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2601 3421

574 -1.03 -146.6 66.4 -8.3 26 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2602 3421

882 -1.03 -146.6 91.4 -8.1 41 883 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2600 3421

1191 -1.03 -146.6 117.2 -8.6 56 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3421

1500 -1.03 -146.6 148.5 -10.6 71 1501 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2601 3421

1809 -1.03 -146.6 181.8 -10.9 86 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3421

2119 -1.03 -146.6 214.5 -10.3 101 2120 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3421

2428 -1.03 -146.6 243.9 -9.5 116 2432 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1191 3421

2466 -1.03 -146.6 247.7 -9.2 117 2473 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2606 3420

2783 -1.03 -146.6 276.4 -9.3 133 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3420

3091 -1.03 -146.6 305.6 -9.4 148 3092 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3420

3400 -1.03 -146.6 335.4 -9.7 163 3402 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3420

3710 -1.03 -146.6 365.5 -9.7 178 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3419

4019 -1.03 -146.6 395.7 -9.6 193 4023 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1191 3420

4081 -1.03 -146.6 401.4 -8.9 196 4086 0.00 2.47 0.00 0.000 6 0.000 0.036 2132 2607 3420

4409 -1.03 -146.6 433.3 -9.6 212 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2608 3420

4717 -1.03 -146.6 464.1 -9.8 227 4722 0.00 2.47 0.00 0.000 4 0.000 0.038 2133 1196 3419

4751 -1.03 -146.6 467.5 -9.4 228 4757 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2600 3419

5067 -1.03 -146.6 499.9 -10.0 244 5071 0.00 2.33 0.00 0.000 4 0.000 0.068 2132 3857 3419

5134 -1.03 -146.6 506.8 -10.2 247 5138 0.00 2.15 0.00 0.000 6 0.000 0.026 2133 2579 3419

5466 -1.03 -146.6 536.1 -8.4 263 5470 0.00 2.40 0.00 0.000 4 0.000 0.040 2133 1205 3419

5517 -1.09 -146.6 540.3 -8.1 265 5521 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2610 3419

5845 -1.09 -146.6 564.5 -7.2 281 5849 0.00 2.33 0.00 0.000 4 0.000 0.068 2133 3860 3419

5923 -1.09 -146.6 570.9 -7.9 284 5927 0.00 2.12 0.00 0.000 6 0.000 0.027 2133 2593 3419

6244 -1.09 -146.6 596.8 -8.5 300 6249 0.00 2.42 0.00 0.000 4 0.000 0.041 2132 1211 3418

6289 -1.17 -146.6 600.7 -8.3 302 6294 0.12 2.42 0.00 0.000 6 0.047 0.036 2093 2602 3418

6463 end dive: BOTTOM_OBSTACLE_DETECTED

state 6464 begin apogee

6471 -0.31 0.0 617.8 10.1 311 6605 1.00 0.00 126.70 0.984 6 0.109 0.000 2291 2306 2816

6606 end apogee: CONTROL_FINISHED_OK

state 6606 begin climb

6609 1.03 146.6 623.5 0.0 318 6741 1.35 0.00 127.50 0.975 6 0.071 0.000 2580 2305 2219

7043 1.01 180.2 602.0 6.4 339 7079 0.00 2.65 30.15 0.930 4 0.000 0.061 2580 3701 2082

7148 0.93 180.2 594.5 7.8 343 7152 0.00 2.42 0.00 0.000 6 0.000 0.028 2580 2309 2080

7474 0.96 202.4 572.4 6.7 359 7496 0.00 0.00 20.38 0.900 6 0.000 0.000 2580 2309 1991

7804 0.96 202.4 541.9 9.6 375 7808 0.00 2.60 0.00 0.000 4 0.000 0.061 2580 3708 1987

7847 0.96 202.4 536.9 11.0 377 7852 0.00 2.45 0.00 0.000 6 0.000 0.028 2579 2300 1987

8169 0.96 202.4 505.9 8.9 393 8173 0.00 2.53 0.00 0.000 4 0.000 0.049 2580 905 1986

8202 0.96 202.4 502.9 8.6 394 8208 0.00 2.45 0.00 0.000 6 0.000 0.035 2580 2303 1985

8518 1.00 246.2 481.0 6.0 410 8564 0.00 2.65 40.50 0.887 4 0.000 0.061 2580 3698 1812

8598 1.00 246.2 475.5 8.1 414 8603 0.00 2.45 0.00 0.000 6 0.000 0.028 2580 2298 1810

8925 1.06 246.2 450.4 8.1 430 8929 0.00 2.53 0.00 0.000 4 0.000 0.049 2579 900 1805

8959 1.12 246.2 447.3 8.7 431 8965 0.10 2.47 0.00 0.000 6 0.058 0.035 2610 2309 1804

9275 1.08 246.2 415.9 10.2 447 9280 0.00 2.58 0.00 0.000 4 0.000 0.061 2610 3699 1803

9303 1.01 246.2 412.8 11.2 448 9308 0.15 2.42 0.00 0.000 6 0.095 0.028 2582 2299 1803

9619 1.01 246.2 384.0 8.8 463 9623 0.00 2.53 0.00 0.000 4 0.000 0.048 2582 894 1802

9669 1.01 246.2 379.4 9.3 465 9673 0.00 2.47 0.00 0.000 6 0.000 0.033 2582 2308 1802

9984 1.01 246.2 352.1 8.5 480 9985 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2308 1802

10293 1.01 246.2 325.2 8.9 495 10297 0.00 2.55 0.00 0.000 4 0.000 0.059 2582 3702 1802

10339 1.01 246.2 320.9 9.4 497 10343 0.00 2.42 0.00 0.000 6 0.000 0.028 2582 2295 1802

10665 1.01 246.2 292.1 8.8 513 10667 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

10974 1.01 246.2 264.6 9.0 528 10975 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

11284 1.01 246.2 236.5 9.2 543 11285 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

11593 1.01 246.2 208.1 9.3 558 11594 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

11902 1.01 246.2 178.5 9.9 573 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

12212 1.01 246.2 146.9 10.1 588 12214 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

12521 1.01 246.2 117.7 8.9 603 12522 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

12830 1.01 246.2 91.3 8.0 618 12831 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2294 1802

13140 1.06 289.7 70.4 6.0 633 13180 0.00 0.00 37.55 0.620 6 0.000 0.000 2582 2294 1635

13491 1.20 349.6 49.6 5.5 650 13549 0.17 0.00 51.97 0.603 6 0.044 0.000 2633 2293 1390

13860 1.20 349.6 14.2 11.6 668 13864 0.00 2.50 0.00 0.000 4 0.000 0.046 2634 904 1381

13924 1.20 349.6 6.4 11.3 671 13929 0.00 2.45 0.00 0.000 6 0.000 0.032 2633 2305 1380

13960 end climb: SURFACE_DEPTH_REACHED

state 13960 begin surface coast

13982 end surface coast: CONTROL_FINISHED_OK

state 13982 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	230	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	37	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	-2111706	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	021524,6300.436,-1256.190,29,1.3,46,-12.0	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_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	-62.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	022022,6300.436,-1256.195,14,2.6,33,-12.0	MHEAD_RNG_PITCHd_Wd	213.1,20712,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.013407	ALTIM_BOTTOM_PING	551.1,75.9
SM_CCo	14066,0.00,0.000,0,0,1376,353.48	_24V_AH	23.6,37.351
SM_GC	1.44,12.10,0.00,0.00,0.080,0.000,0.000,72,2611,1376,-10.46,0.31,353.48	_10V_AH	10.1,18.963
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34796,674
TT8_MAMPS	0.02301	CAP_FILE_SIZE	93233,0
HUMID	1791	CFSIZE	260165632,245596160
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	180709,061624,6258.680,-1253.969,27,1.2,44,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	184	116.97	SBE_CT	495	24	280.55
Roll_motor	84	68	136.21	SBE_O2	461	19	206.90
VBD_pump_during_apogee	434	984	10096.56	WL_BB2F	451	105	1118.46
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	44.05	nil	0	0	0.00
Iridium_during_connect	26	160	100.54	nil	0	0	0.00
Iridium_during_xfer	123	223	650.05
Transponder_ping	4	420	44.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.28
TT8	1202	19	240.57
LPSleep	10836	2	239.69
TT8_Active	521	19	104.19
TT8_Sampling	1411	39	567.27
TT8_CF8	392	45	181.62
TT8_Kalman	0	81	0.00
Analog_circuits	1222	12	148.17
GPS_charging	0	0	0.00
Compass	1361	8	110.03
RAFOS	0	0	0.00
Transponder	31	30	9.65

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	-57.90	0.000	6	0.000	0.000	73	2607	3417
81	-1.03	-146.6	7.4	-13.7	3	102	11.93	2.55	0.00	0.000	4	0.184	0.036	2132	1187	3419
256	-1.03	-146.6	39.3	-11.3	10	263	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2601	3421
574	-1.03	-146.6	66.4	-8.3	26	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2602	3421
882	-1.03	-146.6	91.4	-8.1	41	883	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2600	3421
1191	-1.03	-146.6	117.2	-8.6	56	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3421
1500	-1.03	-146.6	148.5	-10.6	71	1501	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2601	3421
1809	-1.03	-146.6	181.8	-10.9	86	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3421
2119	-1.03	-146.6	214.5	-10.3	101	2120	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3421
2428	-1.03	-146.6	243.9	-9.5	116	2432	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1191	3421
2466	-1.03	-146.6	247.7	-9.2	117	2473	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2606	3420
2783	-1.03	-146.6	276.4	-9.3	133	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3420
3091	-1.03	-146.6	305.6	-9.4	148	3092	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3420
3400	-1.03	-146.6	335.4	-9.7	163	3402	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3420
3710	-1.03	-146.6	365.5	-9.7	178	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3419
4019	-1.03	-146.6	395.7	-9.6	193	4023	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1191	3420
4081	-1.03	-146.6	401.4	-8.9	196	4086	0.00	2.47	0.00	0.000	6	0.000	0.036	2132	2607	3420
4409	-1.03	-146.6	433.3	-9.6	212	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2608	3420
4717	-1.03	-146.6	464.1	-9.8	227	4722	0.00	2.47	0.00	0.000	4	0.000	0.038	2133	1196	3419
4751	-1.03	-146.6	467.5	-9.4	228	4757	0.00	2.45	0.00	0.000	6	0.000	0.035	2132	2600	3419
5067	-1.03	-146.6	499.9	-10.0	244	5071	0.00	2.33	0.00	0.000	4	0.000	0.068	2132	3857	3419
5134	-1.03	-146.6	506.8	-10.2	247	5138	0.00	2.15	0.00	0.000	6	0.000	0.026	2133	2579	3419
5466	-1.03	-146.6	536.1	-8.4	263	5470	0.00	2.40	0.00	0.000	4	0.000	0.040	2133	1205	3419
5517	-1.09	-146.6	540.3	-8.1	265	5521	0.00	2.45	0.00	0.000	6	0.000	0.036	2132	2610	3419
5845	-1.09	-146.6	564.5	-7.2	281	5849	0.00	2.33	0.00	0.000	4	0.000	0.068	2133	3860	3419
5923	-1.09	-146.6	570.9	-7.9	284	5927	0.00	2.12	0.00	0.000	6	0.000	0.027	2133	2593	3419
6244	-1.09	-146.6	596.8	-8.5	300	6249	0.00	2.42	0.00	0.000	4	0.000	0.041	2132	1211	3418
6289	-1.17	-146.6	600.7	-8.3	302	6294	0.12	2.42	0.00	0.000	6	0.047	0.036	2093	2602	3418
6463	end dive: BOTTOM_OBSTACLE_DETECTED
state	6464	begin apogee
6471	-0.31	0.0	617.8	10.1	311	6605	1.00	0.00	126.70	0.984	6	0.109	0.000	2291	2306	2816
6606	end apogee: CONTROL_FINISHED_OK
state	6606	begin climb
6609	1.03	146.6	623.5	0.0	318	6741	1.35	0.00	127.50	0.975	6	0.071	0.000	2580	2305	2219
7043	1.01	180.2	602.0	6.4	339	7079	0.00	2.65	30.15	0.930	4	0.000	0.061	2580	3701	2082
7148	0.93	180.2	594.5	7.8	343	7152	0.00	2.42	0.00	0.000	6	0.000	0.028	2580	2309	2080
7474	0.96	202.4	572.4	6.7	359	7496	0.00	0.00	20.38	0.900	6	0.000	0.000	2580	2309	1991
7804	0.96	202.4	541.9	9.6	375	7808	0.00	2.60	0.00	0.000	4	0.000	0.061	2580	3708	1987
7847	0.96	202.4	536.9	11.0	377	7852	0.00	2.45	0.00	0.000	6	0.000	0.028	2579	2300	1987
8169	0.96	202.4	505.9	8.9	393	8173	0.00	2.53	0.00	0.000	4	0.000	0.049	2580	905	1986
8202	0.96	202.4	502.9	8.6	394	8208	0.00	2.45	0.00	0.000	6	0.000	0.035	2580	2303	1985
8518	1.00	246.2	481.0	6.0	410	8564	0.00	2.65	40.50	0.887	4	0.000	0.061	2580	3698	1812
8598	1.00	246.2	475.5	8.1	414	8603	0.00	2.45	0.00	0.000	6	0.000	0.028	2580	2298	1810
8925	1.06	246.2	450.4	8.1	430	8929	0.00	2.53	0.00	0.000	4	0.000	0.049	2579	900	1805
8959	1.12	246.2	447.3	8.7	431	8965	0.10	2.47	0.00	0.000	6	0.058	0.035	2610	2309	1804
9275	1.08	246.2	415.9	10.2	447	9280	0.00	2.58	0.00	0.000	4	0.000	0.061	2610	3699	1803
9303	1.01	246.2	412.8	11.2	448	9308	0.15	2.42	0.00	0.000	6	0.095	0.028	2582	2299	1803
9619	1.01	246.2	384.0	8.8	463	9623	0.00	2.53	0.00	0.000	4	0.000	0.048	2582	894	1802
9669	1.01	246.2	379.4	9.3	465	9673	0.00	2.47	0.00	0.000	6	0.000	0.033	2582	2308	1802
9984	1.01	246.2	352.1	8.5	480	9985	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2308	1802
10293	1.01	246.2	325.2	8.9	495	10297	0.00	2.55	0.00	0.000	4	0.000	0.059	2582	3702	1802
10339	1.01	246.2	320.9	9.4	497	10343	0.00	2.42	0.00	0.000	6	0.000	0.028	2582	2295	1802
10665	1.01	246.2	292.1	8.8	513	10667	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
10974	1.01	246.2	264.6	9.0	528	10975	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
11284	1.01	246.2	236.5	9.2	543	11285	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
11593	1.01	246.2	208.1	9.3	558	11594	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
11902	1.01	246.2	178.5	9.9	573	11903	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
12212	1.01	246.2	146.9	10.1	588	12214	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
12521	1.01	246.2	117.7	8.9	603	12522	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
12830	1.01	246.2	91.3	8.0	618	12831	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2294	1802
13140	1.06	289.7	70.4	6.0	633	13180	0.00	0.00	37.55	0.620	6	0.000	0.000	2582	2294	1635
13491	1.20	349.6	49.6	5.5	650	13549	0.17	0.00	51.97	0.603	6	0.044	0.000	2633	2293	1390
13860	1.20	349.6	14.2	11.6	668	13864	0.00	2.50	0.00	0.000	4	0.000	0.046	2634	904	1381
13924	1.20	349.6	6.4	11.3	671	13929	0.00	2.45	0.00	0.000	6	0.000	0.032	2633	2305	1380
13960	end climb: SURFACE_DEPTH_REACHED
state	13960	begin surface coast
13982	end surface coast: CONTROL_FINISHED_OK
state	13982	begin surface