Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 11 * 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 11 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 360 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 -2107800.8 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 1 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 330

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 -2107800.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

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 1 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 46 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 11 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 001954,6130.809,-829.872,36,1.7,36,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,-0.237

_SM_DEPTHo 1.44 KALMAN_X -8970.4,-225.6,-194.9,-2239.6,-2696.4

_SM_ANGLEo -66.2 KALMAN_Y 23762.2,-4416.2,-297.1,-7468.4,12915.4

GPS2 002444,6130.803,-829.851,17,1.7,17,-9.0 MHEAD_RNG_PITCHd_Wd 118.1,4538,-21.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026721 ALTIM_BOTTOM_PING 750.7,92.7

SM_CCo 12765,0.00,0.000,0,0,1580,303.44 _24V_AH 23.6,8.353

SM_GC 1.65,12.38,0.00,0.00,0.082,0.000,0.000,69,2613,1580,-10.47,0.37,303.44 _10V_AH 10.1,3.123

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31726,605

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105095,0

HUMID 1702 CFSIZE 260165632,257675264

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 15 GPS 070609,035936,6132.359,-830.726,40,1.3,40,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 183 122.97 SBE_CT 432 24 245.22

Roll_motor 129 87 267.69 SBE_O2 424 19 190.29

VBD_pump_during_apogee 363 1115 9565.04 WL_BB2F 341 105 846.12

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 43.63 nil 0 0 0.00

Iridium_during_connect 27 160 104.60 nil 0 0 0.00

Iridium_during_xfer 131 223 693.47

Transponder_ping 10 420 101.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.77

TT8 1188 19 237.72

LPSleep 9414 2 208.24

TT8_Active 444 19 88.83

TT8_Sampling 1622 39 652.40

TT8_CF8 385 45 178.29

TT8_Kalman 33 81 27.54

Analog_circuits 1276 12 154.69

GPS_charging 0 0 0.00

Compass 1566 8 126.61

RAFOS 0 0 0.00

Transponder 44 30 13.58

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 -1.44 -108.5 0.0 0.0 0 77 0.00 0.00 -57.42 0.000 6 0.000 0.000 71 2310 3259

80 -1.44 -108.5 5.7 -10.0 3 97 11.38 1.92 0.00 0.000 4 0.183 0.040 2040 1205 3260

226 -1.51 -108.5 36.3 -13.0 8 232 0.00 2.45 0.00 0.000 6 0.000 0.038 2040 2602 3260

542 -1.51 -108.5 80.1 -13.5 24 546 0.00 2.35 0.00 0.000 4 0.000 0.069 2040 3864 3260

614 -1.51 -108.5 90.4 -14.5 27 617 0.00 2.15 0.00 0.000 6 0.000 0.029 2040 2596 3260

935 -1.51 -108.5 137.6 -16.3 43 939 0.00 2.35 0.00 0.000 4 0.000 0.067 2040 3860 3261

1013 -1.51 -108.5 151.0 -16.5 46 1020 0.00 2.12 0.00 0.000 6 0.000 0.029 2040 2601 3261

1330 -1.51 -108.5 200.0 -15.7 62 1331 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2601 3261

1638 -1.51 -108.5 246.2 -15.3 77 1642 0.00 2.35 0.00 0.000 4 0.000 0.067 2040 3865 3261

1716 -1.51 -108.5 259.0 -15.3 80 1722 0.00 2.15 0.00 0.000 6 0.000 0.031 2040 2600 3261

2033 -1.51 -108.5 301.1 -11.9 96 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2599 3261

2341 -1.51 -108.5 336.0 -10.7 111 2342 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2599 3261

2650 -1.51 -108.5 372.1 -13.3 126 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2599 3261

2959 -1.51 -108.5 409.2 -11.9 141 2964 0.00 2.45 0.00 0.000 4 0.000 0.044 2040 1209 3261

2982 -1.56 -108.5 412.1 -12.2 142 2986 0.00 2.42 0.00 0.000 6 0.000 0.038 2040 2600 3261

3308 -1.56 -108.5 455.9 -14.5 158 3310 0.00 0.00 0.00 0.000 6 0.000 0.000 2040 2600 3261

3619 -1.61 -108.5 502.5 -14.4 173 3624 0.15 2.35 0.00 0.000 4 0.048 0.071 1996 3863 3261

3751 -1.49 -108.5 526.1 -18.3 179 3755 0.20 2.15 0.00 0.000 6 0.116 0.031 2032 2604 3261

4077 -1.49 -108.5 571.5 -13.5 195 4081 0.00 2.47 0.00 0.000 4 0.000 0.046 2032 1201 3261

4145 -1.55 -108.5 580.7 -13.1 198 4149 0.00 2.47 0.00 0.000 6 0.000 0.041 2032 2603 3261

4471 -1.55 -108.5 624.7 -13.7 214 4476 0.00 2.50 0.00 0.000 4 0.000 0.047 2032 1198 3260

4729 -1.69 -135.7 655.2 -8.3 225 4734 0.17 2.50 0.00 0.000 6 0.048 0.044 1985 2607 3260

5045 -1.61 -135.7 705.3 -17.4 240 5050 0.12 2.53 0.00 0.000 4 0.118 0.051 2008 1202 3259

5089 -1.61 -135.7 712.7 -16.2 242 5093 0.00 2.50 0.00 0.000 6 0.000 0.048 2007 2606 3259

5416 -1.57 -135.7 762.8 -14.7 258 5420 0.00 2.40 0.00 0.000 4 0.000 0.087 2007 3859 3258

5534 -1.53 -135.7 791.6 -24.4 263 5538 0.00 2.20 0.00 0.000 6 0.000 0.043 2007 2611 3257

5832 end dive: BOTTOM_OBSTACLE_DETECTED

state 5832 begin apogee

5839 -0.31 0.0 834.3 13.0 278 5938 1.45 0.00 94.95 1.115 6 0.128 0.000 2287 2297 2818

5939 end apogee: CONTROL_FINISHED_OK

state 5939 begin climb

5942 1.47 135.7 836.1 0.0 283 6075 1.88 2.83 122.40 1.109 4 0.085 0.078 2677 3709 2262

6332 1.14 135.7 819.4 10.4 300 6339 0.35 2.53 0.00 0.000 6 0.120 0.047 2613 2312 2253

6648 1.18 166.8 780.0 8.1 316 6682 0.00 2.75 27.12 1.039 4 0.000 0.078 2612 3707 2136

6938 1.13 166.8 739.8 12.5 329 6942 0.00 2.55 0.00 0.000 6 0.000 0.044 2612 2295 2132

7264 1.13 166.8 712.1 10.5 345 7269 0.00 2.70 0.00 0.000 4 0.000 0.076 2612 3704 2128

7365 1.13 166.8 700.6 11.8 349 7371 0.00 2.55 0.00 0.000 6 0.000 0.044 2612 2289 2128

7681 1.18 166.8 660.9 13.4 365 7685 0.00 2.62 0.00 0.000 4 0.000 0.071 2612 892 2127

7702 1.18 166.8 657.6 14.3 366 7706 0.00 2.53 0.00 0.000 6 0.000 0.049 2612 2301 2126

8023 1.23 166.8 618.2 11.4 382 8027 0.00 2.62 0.00 0.000 4 0.000 0.066 2612 895 2125

8140 1.27 166.8 606.8 10.6 387 8145 0.12 2.55 0.00 0.000 6 0.067 0.051 2642 2301 2124

8456 1.23 202.8 581.6 7.8 402 8497 0.00 2.67 31.48 0.963 4 0.000 0.061 2643 888 1988

8694 1.33 299.1 566.5 4.1 412 8787 0.00 2.55 87.47 0.970 6 0.000 0.048 2642 2300 1597

9109 1.41 299.1 530.1 14.1 433 9114 0.10 2.65 0.00 0.000 4 0.065 0.071 2669 3705 1584

9148 1.41 299.1 523.3 18.0 435 9153 0.00 2.50 0.00 0.000 6 0.000 0.038 2668 2298 1583

9476 1.47 299.1 470.0 15.9 451 9480 0.00 2.58 0.00 0.000 4 0.000 0.058 2669 895 1582

9560 1.55 299.1 455.1 17.3 455 9565 0.12 2.50 0.00 0.000 6 0.058 0.041 2703 2303 1580

9887 1.55 299.1 394.7 18.0 471 9892 0.00 2.58 0.00 0.000 4 0.000 0.052 2701 887 1580

9965 1.55 299.1 380.1 17.6 474 9971 0.00 2.50 0.00 0.000 6 0.000 0.038 2701 2304 1579

10281 1.55 299.1 329.0 15.3 490 10285 0.00 2.55 0.00 0.000 4 0.000 0.050 2701 894 1578

10330 1.55 299.1 321.4 14.2 492 10335 0.00 2.47 0.00 0.000 6 0.000 0.037 2701 2302 1579

10646 1.55 299.1 279.3 12.6 507 10650 0.00 2.55 0.00 0.000 4 0.000 0.049 2701 891 1579

10689 1.55 299.1 273.3 12.8 509 10693 0.00 2.47 0.00 0.000 6 0.000 0.036 2701 2305 1579

11016 1.55 299.1 229.9 13.3 525 11021 0.00 2.55 0.00 0.000 4 0.000 0.048 2701 892 1580

11066 1.55 299.1 222.9 13.9 527 11070 0.00 2.45 0.00 0.000 6 0.000 0.035 2701 2301 1580

11387 1.55 299.1 180.0 13.1 543 11391 0.00 2.55 0.00 0.000 4 0.000 0.048 2701 886 1580

11426 1.55 299.1 174.6 14.3 545 11431 0.00 2.47 0.00 0.000 6 0.000 0.035 2702 2302 1580

11753 1.55 299.1 135.1 11.0 561 11758 0.00 2.53 0.00 0.000 4 0.000 0.048 2702 892 1580

11794 1.55 299.1 130.7 10.0 563 11798 0.00 2.45 0.00 0.000 6 0.000 0.035 2702 2303 1580

12120 1.55 299.1 87.2 14.6 579 12125 0.00 2.55 0.00 0.000 4 0.000 0.048 2702 884 1580

12148 1.55 299.1 82.7 16.3 580 12152 0.00 2.47 0.00 0.000 6 0.000 0.035 2702 2304 1580

12464 1.55 299.1 34.0 15.5 595 12468 0.00 2.58 0.00 0.000 4 0.000 0.061 2701 3700 1581

12490 1.55 299.1 29.4 16.4 596 12495 0.00 2.45 0.00 0.000 6 0.000 0.031 2701 2290 1581

12659 end climb: SURFACE_DEPTH_REACHED

state 12660 begin surface coast

12681 end surface coast: CONTROL_FINISHED_OK

state 12681 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	11	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	360	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	-2107800.8	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	1	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	001954,6130.809,-829.872,36,1.7,36,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,-0.237
_SM_DEPTHo	1.44	KALMAN_X	-8970.4,-225.6,-194.9,-2239.6,-2696.4
_SM_ANGLEo	-66.2	KALMAN_Y	23762.2,-4416.2,-297.1,-7468.4,12915.4
GPS2	002444,6130.803,-829.851,17,1.7,17,-9.0	MHEAD_RNG_PITCHd_Wd	118.1,4538,-21.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.026721	ALTIM_BOTTOM_PING	750.7,92.7
SM_CCo	12765,0.00,0.000,0,0,1580,303.44	_24V_AH	23.6,8.353
SM_GC	1.65,12.38,0.00,0.00,0.082,0.000,0.000,69,2613,1580,-10.47,0.37,303.44	_10V_AH	10.1,3.123
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31726,605
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105095,0
HUMID	1702	CFSIZE	260165632,257675264
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	15	GPS	070609,035936,6132.359,-830.726,40,1.3,40,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	183	122.97	SBE_CT	432	24	245.22
Roll_motor	129	87	267.69	SBE_O2	424	19	190.29
VBD_pump_during_apogee	363	1115	9565.04	WL_BB2F	341	105	846.12
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	43.63	nil	0	0	0.00
Iridium_during_connect	27	160	104.60	nil	0	0	0.00
Iridium_during_xfer	131	223	693.47
Transponder_ping	10	420	101.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.77
TT8	1188	19	237.72
LPSleep	9414	2	208.24
TT8_Active	444	19	88.83
TT8_Sampling	1622	39	652.40
TT8_CF8	385	45	178.29
TT8_Kalman	33	81	27.54
Analog_circuits	1276	12	154.69
GPS_charging	0	0	0.00
Compass	1566	8	126.61
RAFOS	0	0	0.00
Transponder	44	30	13.58

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	-1.44	-108.5	0.0	0.0	0	77	0.00	0.00	-57.42	0.000	6	0.000	0.000	71	2310	3259
80	-1.44	-108.5	5.7	-10.0	3	97	11.38	1.92	0.00	0.000	4	0.183	0.040	2040	1205	3260
226	-1.51	-108.5	36.3	-13.0	8	232	0.00	2.45	0.00	0.000	6	0.000	0.038	2040	2602	3260
542	-1.51	-108.5	80.1	-13.5	24	546	0.00	2.35	0.00	0.000	4	0.000	0.069	2040	3864	3260
614	-1.51	-108.5	90.4	-14.5	27	617	0.00	2.15	0.00	0.000	6	0.000	0.029	2040	2596	3260
935	-1.51	-108.5	137.6	-16.3	43	939	0.00	2.35	0.00	0.000	4	0.000	0.067	2040	3860	3261
1013	-1.51	-108.5	151.0	-16.5	46	1020	0.00	2.12	0.00	0.000	6	0.000	0.029	2040	2601	3261
1330	-1.51	-108.5	200.0	-15.7	62	1331	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2601	3261
1638	-1.51	-108.5	246.2	-15.3	77	1642	0.00	2.35	0.00	0.000	4	0.000	0.067	2040	3865	3261
1716	-1.51	-108.5	259.0	-15.3	80	1722	0.00	2.15	0.00	0.000	6	0.000	0.031	2040	2600	3261
2033	-1.51	-108.5	301.1	-11.9	96	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2599	3261
2341	-1.51	-108.5	336.0	-10.7	111	2342	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2599	3261
2650	-1.51	-108.5	372.1	-13.3	126	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2599	3261
2959	-1.51	-108.5	409.2	-11.9	141	2964	0.00	2.45	0.00	0.000	4	0.000	0.044	2040	1209	3261
2982	-1.56	-108.5	412.1	-12.2	142	2986	0.00	2.42	0.00	0.000	6	0.000	0.038	2040	2600	3261
3308	-1.56	-108.5	455.9	-14.5	158	3310	0.00	0.00	0.00	0.000	6	0.000	0.000	2040	2600	3261
3619	-1.61	-108.5	502.5	-14.4	173	3624	0.15	2.35	0.00	0.000	4	0.048	0.071	1996	3863	3261
3751	-1.49	-108.5	526.1	-18.3	179	3755	0.20	2.15	0.00	0.000	6	0.116	0.031	2032	2604	3261
4077	-1.49	-108.5	571.5	-13.5	195	4081	0.00	2.47	0.00	0.000	4	0.000	0.046	2032	1201	3261
4145	-1.55	-108.5	580.7	-13.1	198	4149	0.00	2.47	0.00	0.000	6	0.000	0.041	2032	2603	3261
4471	-1.55	-108.5	624.7	-13.7	214	4476	0.00	2.50	0.00	0.000	4	0.000	0.047	2032	1198	3260
4729	-1.69	-135.7	655.2	-8.3	225	4734	0.17	2.50	0.00	0.000	6	0.048	0.044	1985	2607	3260
5045	-1.61	-135.7	705.3	-17.4	240	5050	0.12	2.53	0.00	0.000	4	0.118	0.051	2008	1202	3259
5089	-1.61	-135.7	712.7	-16.2	242	5093	0.00	2.50	0.00	0.000	6	0.000	0.048	2007	2606	3259
5416	-1.57	-135.7	762.8	-14.7	258	5420	0.00	2.40	0.00	0.000	4	0.000	0.087	2007	3859	3258
5534	-1.53	-135.7	791.6	-24.4	263	5538	0.00	2.20	0.00	0.000	6	0.000	0.043	2007	2611	3257
5832	end dive: BOTTOM_OBSTACLE_DETECTED
state	5832	begin apogee
5839	-0.31	0.0	834.3	13.0	278	5938	1.45	0.00	94.95	1.115	6	0.128	0.000	2287	2297	2818
5939	end apogee: CONTROL_FINISHED_OK
state	5939	begin climb
5942	1.47	135.7	836.1	0.0	283	6075	1.88	2.83	122.40	1.109	4	0.085	0.078	2677	3709	2262
6332	1.14	135.7	819.4	10.4	300	6339	0.35	2.53	0.00	0.000	6	0.120	0.047	2613	2312	2253
6648	1.18	166.8	780.0	8.1	316	6682	0.00	2.75	27.12	1.039	4	0.000	0.078	2612	3707	2136
6938	1.13	166.8	739.8	12.5	329	6942	0.00	2.55	0.00	0.000	6	0.000	0.044	2612	2295	2132
7264	1.13	166.8	712.1	10.5	345	7269	0.00	2.70	0.00	0.000	4	0.000	0.076	2612	3704	2128
7365	1.13	166.8	700.6	11.8	349	7371	0.00	2.55	0.00	0.000	6	0.000	0.044	2612	2289	2128
7681	1.18	166.8	660.9	13.4	365	7685	0.00	2.62	0.00	0.000	4	0.000	0.071	2612	892	2127
7702	1.18	166.8	657.6	14.3	366	7706	0.00	2.53	0.00	0.000	6	0.000	0.049	2612	2301	2126
8023	1.23	166.8	618.2	11.4	382	8027	0.00	2.62	0.00	0.000	4	0.000	0.066	2612	895	2125
8140	1.27	166.8	606.8	10.6	387	8145	0.12	2.55	0.00	0.000	6	0.067	0.051	2642	2301	2124
8456	1.23	202.8	581.6	7.8	402	8497	0.00	2.67	31.48	0.963	4	0.000	0.061	2643	888	1988
8694	1.33	299.1	566.5	4.1	412	8787	0.00	2.55	87.47	0.970	6	0.000	0.048	2642	2300	1597
9109	1.41	299.1	530.1	14.1	433	9114	0.10	2.65	0.00	0.000	4	0.065	0.071	2669	3705	1584
9148	1.41	299.1	523.3	18.0	435	9153	0.00	2.50	0.00	0.000	6	0.000	0.038	2668	2298	1583
9476	1.47	299.1	470.0	15.9	451	9480	0.00	2.58	0.00	0.000	4	0.000	0.058	2669	895	1582
9560	1.55	299.1	455.1	17.3	455	9565	0.12	2.50	0.00	0.000	6	0.058	0.041	2703	2303	1580
9887	1.55	299.1	394.7	18.0	471	9892	0.00	2.58	0.00	0.000	4	0.000	0.052	2701	887	1580
9965	1.55	299.1	380.1	17.6	474	9971	0.00	2.50	0.00	0.000	6	0.000	0.038	2701	2304	1579
10281	1.55	299.1	329.0	15.3	490	10285	0.00	2.55	0.00	0.000	4	0.000	0.050	2701	894	1578
10330	1.55	299.1	321.4	14.2	492	10335	0.00	2.47	0.00	0.000	6	0.000	0.037	2701	2302	1579
10646	1.55	299.1	279.3	12.6	507	10650	0.00	2.55	0.00	0.000	4	0.000	0.049	2701	891	1579
10689	1.55	299.1	273.3	12.8	509	10693	0.00	2.47	0.00	0.000	6	0.000	0.036	2701	2305	1579
11016	1.55	299.1	229.9	13.3	525	11021	0.00	2.55	0.00	0.000	4	0.000	0.048	2701	892	1580
11066	1.55	299.1	222.9	13.9	527	11070	0.00	2.45	0.00	0.000	6	0.000	0.035	2701	2301	1580
11387	1.55	299.1	180.0	13.1	543	11391	0.00	2.55	0.00	0.000	4	0.000	0.048	2701	886	1580
11426	1.55	299.1	174.6	14.3	545	11431	0.00	2.47	0.00	0.000	6	0.000	0.035	2702	2302	1580
11753	1.55	299.1	135.1	11.0	561	11758	0.00	2.53	0.00	0.000	4	0.000	0.048	2702	892	1580
11794	1.55	299.1	130.7	10.0	563	11798	0.00	2.45	0.00	0.000	6	0.000	0.035	2702	2303	1580
12120	1.55	299.1	87.2	14.6	579	12125	0.00	2.55	0.00	0.000	4	0.000	0.048	2702	884	1580
12148	1.55	299.1	82.7	16.3	580	12152	0.00	2.47	0.00	0.000	6	0.000	0.035	2702	2304	1580
12464	1.55	299.1	34.0	15.5	595	12468	0.00	2.58	0.00	0.000	4	0.000	0.061	2701	3700	1581
12490	1.55	299.1	29.4	16.4	596	12495	0.00	2.45	0.00	0.000	6	0.000	0.031	2701	2290	1581
12659	end climb: SURFACE_DEPTH_REACHED
state	12660	begin surface coast
12681	end surface coast: CONTROL_FINISHED_OK
state	12681	begin surface