Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 111 * 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 111 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 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -2109606 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 -2109606

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 31 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 111 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 015654,6333.907,-1308.595,43,1.5,60,-12.3 TGT_NAME JW

_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 1.51 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 020220,6333.963,-1308.467,12,1.4,12,-12.3 MHEAD_RNG_PITCHd_Wd 301.9,5715,-15.8,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.015077 ALTIM_BOTTOM_PING 675.4,43.4

SM_CCo 14779,-0.17,0.000,0,0,1798,250.21 _24V_AH 23.6,21.349

SM_GC 2.49,0.00,0.00,-0.17,0.000,0.000,0.000,60,2609,1798,-10.58,0.25,250.21 _10V_AH 10.1,10.420

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34839,712

TT8_MAMPS 0.023777 CAP_FILE_SIZE 92535,0

HUMID 1744 CFSIZE 260165632,252092416

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 260609,061007,6334.146,-1315.985,28,1.0,28,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 188 122.34 SBE_CT 518 24 293.41

Roll_motor 54 73 95.27 SBE_O2 493 19 221.38

VBD_pump_during_apogee 351 1013 8409.14 WL_BB2F 446 105 1106.70

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 43.62 nil 0 0 0.00

Iridium_during_connect 27 160 102.77 nil 0 0 0.00

Iridium_during_xfer 162 223 856.60

Transponder_ping 6 420 59.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.34

TT8 1251 19 250.26

LPSleep 11554 2 255.58

TT8_Active 460 19 92.13

TT8_Sampling 1415 39 569.00

TT8_CF8 427 45 197.75

TT8_Kalman 0 81 0.00

Analog_circuits 1143 12 138.57

GPS_charging 0 0 0.00

Compass 1386 8 112.05

RAFOS 0 0 0.00

Transponder 42 30 12.95

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 -1.12 -116.5 0.0 0.0 0 98 0.00 0.00 -80.97 0.000 3 0.000 0.000 76 2602 3294

101 -1.15 -146.6 5.2 -6.1 4 124 11.88 2.55 -2.05 0.000 4 0.189 0.050 2102 1193 3417

373 -1.15 -146.6 43.5 -9.7 16 378 0.00 2.47 0.00 0.000 6 0.000 0.038 2102 2597 3418

701 -1.15 -146.6 72.5 -9.9 32 705 0.00 2.47 0.00 0.000 4 0.000 0.038 2102 1192 3418

741 -1.15 -146.6 77.0 -11.2 34 745 0.00 2.47 0.00 0.000 6 0.000 0.037 2102 2602 3418

1068 -1.15 -146.6 114.3 -10.7 50 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2602 3418

1377 -1.15 -146.6 143.2 -9.1 65 1381 0.00 2.33 0.00 0.000 4 0.000 0.067 2102 3860 3418

1444 -1.15 -146.6 150.4 -11.3 68 1448 0.00 2.17 0.00 0.000 6 0.000 0.028 2102 2579 3418

1765 -1.15 -146.6 189.4 -13.2 84 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2577 3418

2075 -1.15 -146.6 229.6 -12.3 99 2076 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2577 3418

2384 -1.15 -146.6 266.4 -12.1 114 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2577 3418

2693 -1.15 -146.6 305.1 -12.6 129 2697 0.00 2.42 0.00 0.000 4 0.000 0.041 2102 1202 3419

2726 -1.15 -146.6 309.4 -12.0 130 2732 0.00 2.45 0.00 0.000 6 0.000 0.038 2102 2600 3418

3042 -1.15 -146.6 350.0 -13.1 146 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3418

3351 -1.15 -146.6 389.1 -12.4 161 3352 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3418

3663 -1.15 -146.6 427.1 -12.3 176 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3417

3969 -1.15 -146.6 465.0 -12.1 191 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3417

4279 -1.15 -146.6 500.8 -11.4 206 4283 0.00 2.45 0.00 0.000 4 0.000 0.041 2102 1209 3418

4342 -1.21 -146.6 508.1 -11.6 209 4346 0.00 2.42 0.00 0.000 6 0.000 0.038 2102 2600 3417

4675 -1.21 -146.6 543.9 -10.3 225 4676 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3417

4984 -1.21 -146.6 573.2 -9.5 240 4988 0.00 2.45 0.00 0.000 4 0.000 0.041 2101 1208 3417

5023 -1.27 -146.6 577.1 -9.5 241 5029 0.00 2.45 0.00 0.000 6 0.000 0.038 2102 2600 3417

5338 -1.27 -146.6 607.6 -9.7 257 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3417

5648 -1.27 -146.6 637.5 -10.8 272 5649 0.00 0.00 0.00 0.000 6 0.000 0.000 2102 2600 3417

5957 -1.27 -146.6 667.5 -8.2 287 5961 0.00 2.35 0.00 0.000 4 0.000 0.074 2102 3858 3417

6087 -1.27 -146.6 678.4 -8.8 293 6091 0.00 2.15 0.00 0.000 6 0.000 0.031 2101 2597 3417

6417 end dive: BOTTOM_OBSTACLE_DETECTED

state 6417 begin apogee

6425 -0.31 0.0 709.5 10.3 309 6560 0.98 0.00 129.18 1.013 6 0.125 0.000 2290 2297 2816

6561 end apogee: CONTROL_FINISHED_OK

state 6561 begin climb

6564 1.15 146.6 714.7 0.0 316 6701 1.52 0.00 129.93 1.004 6 0.074 0.000 2609 2297 2218

7011 1.06 146.6 689.9 7.6 338 7012 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2297 2211

7320 1.01 165.6 668.0 6.7 353 7340 0.15 0.00 16.67 0.907 6 0.097 0.000 2581 2297 2142

7649 1.06 211.8 649.1 5.5 369 7698 0.00 2.67 42.25 0.956 4 0.000 0.064 2581 3701 1953

7792 1.06 211.8 639.3 8.1 375 7796 0.00 2.45 0.00 0.000 6 0.000 0.031 2581 2310 1950

8107 1.06 211.8 612.8 8.8 390 8108 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2310 1947

8417 1.06 211.8 579.4 11.8 405 8418 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1946

8726 1.06 211.8 547.1 9.7 420 8727 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1945

9035 1.07 223.8 523.9 7.0 435 9048 0.00 0.00 10.98 0.794 6 0.000 0.000 2581 2309 1904

9344 1.07 223.8 501.4 7.8 450 9345 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1903

9653 1.11 223.8 474.4 9.2 465 9655 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1903

9962 1.11 223.8 446.1 9.2 480 9963 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1902

10272 1.11 223.8 418.5 8.9 495 10273 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2309 1903

10581 1.16 223.8 391.6 8.5 510 10586 0.15 2.55 0.00 0.000 4 0.048 0.059 2627 3704 1902

10631 1.03 223.8 385.9 11.9 512 10636 0.22 2.45 0.00 0.000 6 0.094 0.029 2583 2291 1902

10947 1.03 223.8 356.3 9.3 527 10948 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2290 1902

11256 1.03 223.8 327.5 9.5 542 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2291 1903

11565 1.03 223.8 296.8 10.0 557 11570 0.00 2.60 0.00 0.000 4 0.000 0.058 2583 3710 1902

11628 1.03 223.8 290.0 11.1 560 11632 0.00 2.45 0.00 0.000 6 0.000 0.029 2583 2292 1902

11955 1.08 223.8 257.2 9.7 576 11956 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2292 1903

12264 1.12 223.8 230.1 8.4 591 12265 0.00 0.00 0.00 0.000 6 0.000 0.000 2583 2292 1902

12574 1.19 248.1 207.5 6.5 606 12599 0.17 0.00 22.67 0.664 6 0.044 0.000 2634 2291 1805

12902 1.12 248.1 177.4 9.4 622 12904 0.15 0.00 0.00 0.000 6 0.093 0.000 2605 2291 1801

13212 1.12 248.1 146.7 11.2 637 13213 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2291 1800

13521 1.12 248.1 113.2 9.8 652 13522 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2291 1801

13830 1.13 251.1 88.2 7.4 667 13831 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2291 1800

14139 1.13 251.1 62.4 11.2 682 14141 0.00 0.00 0.00 0.000 6 0.000 0.000 2605 2291 1800

14448 1.13 251.1 29.2 9.9 697 14453 0.00 2.58 0.00 0.000 4 0.000 0.056 2605 3704 1801

14511 1.13 251.1 22.7 11.2 700 14515 0.00 2.42 0.00 0.000 6 0.000 0.028 2605 2294 1800

14732 end climb: SURFACE_DEPTH_REACHED

state 14732 begin surface coast

14755 end surface coast: CONTROL_FINISHED_OK

state 14755 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	111	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	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-2109606	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	015654,6333.907,-1308.595,43,1.5,60,-12.3	TGT_NAME	JW
_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	1.51	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	020220,6333.963,-1308.467,12,1.4,12,-12.3	MHEAD_RNG_PITCHd_Wd	301.9,5715,-15.8,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.015077	ALTIM_BOTTOM_PING	675.4,43.4
SM_CCo	14779,-0.17,0.000,0,0,1798,250.21	_24V_AH	23.6,21.349
SM_GC	2.49,0.00,0.00,-0.17,0.000,0.000,0.000,60,2609,1798,-10.58,0.25,250.21	_10V_AH	10.1,10.420
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34839,712
TT8_MAMPS	0.023777	CAP_FILE_SIZE	92535,0
HUMID	1744	CFSIZE	260165632,252092416
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	260609,061007,6334.146,-1315.985,28,1.0,28,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	188	122.34	SBE_CT	518	24	293.41
Roll_motor	54	73	95.27	SBE_O2	493	19	221.38
VBD_pump_during_apogee	351	1013	8409.14	WL_BB2F	446	105	1106.70
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	43.62	nil	0	0	0.00
Iridium_during_connect	27	160	102.77	nil	0	0	0.00
Iridium_during_xfer	162	223	856.60
Transponder_ping	6	420	59.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.34
TT8	1251	19	250.26
LPSleep	11554	2	255.58
TT8_Active	460	19	92.13
TT8_Sampling	1415	39	569.00
TT8_CF8	427	45	197.75
TT8_Kalman	0	81	0.00
Analog_circuits	1143	12	138.57
GPS_charging	0	0	0.00
Compass	1386	8	112.05
RAFOS	0	0	0.00
Transponder	42	30	12.95

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	-1.12	-116.5	0.0	0.0	0	98	0.00	0.00	-80.97	0.000	3	0.000	0.000	76	2602	3294
101	-1.15	-146.6	5.2	-6.1	4	124	11.88	2.55	-2.05	0.000	4	0.189	0.050	2102	1193	3417
373	-1.15	-146.6	43.5	-9.7	16	378	0.00	2.47	0.00	0.000	6	0.000	0.038	2102	2597	3418
701	-1.15	-146.6	72.5	-9.9	32	705	0.00	2.47	0.00	0.000	4	0.000	0.038	2102	1192	3418
741	-1.15	-146.6	77.0	-11.2	34	745	0.00	2.47	0.00	0.000	6	0.000	0.037	2102	2602	3418
1068	-1.15	-146.6	114.3	-10.7	50	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2602	3418
1377	-1.15	-146.6	143.2	-9.1	65	1381	0.00	2.33	0.00	0.000	4	0.000	0.067	2102	3860	3418
1444	-1.15	-146.6	150.4	-11.3	68	1448	0.00	2.17	0.00	0.000	6	0.000	0.028	2102	2579	3418
1765	-1.15	-146.6	189.4	-13.2	84	1766	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2577	3418
2075	-1.15	-146.6	229.6	-12.3	99	2076	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2577	3418
2384	-1.15	-146.6	266.4	-12.1	114	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2577	3418
2693	-1.15	-146.6	305.1	-12.6	129	2697	0.00	2.42	0.00	0.000	4	0.000	0.041	2102	1202	3419
2726	-1.15	-146.6	309.4	-12.0	130	2732	0.00	2.45	0.00	0.000	6	0.000	0.038	2102	2600	3418
3042	-1.15	-146.6	350.0	-13.1	146	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3418
3351	-1.15	-146.6	389.1	-12.4	161	3352	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3418
3663	-1.15	-146.6	427.1	-12.3	176	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3417
3969	-1.15	-146.6	465.0	-12.1	191	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3417
4279	-1.15	-146.6	500.8	-11.4	206	4283	0.00	2.45	0.00	0.000	4	0.000	0.041	2102	1209	3418
4342	-1.21	-146.6	508.1	-11.6	209	4346	0.00	2.42	0.00	0.000	6	0.000	0.038	2102	2600	3417
4675	-1.21	-146.6	543.9	-10.3	225	4676	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3417
4984	-1.21	-146.6	573.2	-9.5	240	4988	0.00	2.45	0.00	0.000	4	0.000	0.041	2101	1208	3417
5023	-1.27	-146.6	577.1	-9.5	241	5029	0.00	2.45	0.00	0.000	6	0.000	0.038	2102	2600	3417
5338	-1.27	-146.6	607.6	-9.7	257	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3417
5648	-1.27	-146.6	637.5	-10.8	272	5649	0.00	0.00	0.00	0.000	6	0.000	0.000	2102	2600	3417
5957	-1.27	-146.6	667.5	-8.2	287	5961	0.00	2.35	0.00	0.000	4	0.000	0.074	2102	3858	3417
6087	-1.27	-146.6	678.4	-8.8	293	6091	0.00	2.15	0.00	0.000	6	0.000	0.031	2101	2597	3417
6417	end dive: BOTTOM_OBSTACLE_DETECTED
state	6417	begin apogee
6425	-0.31	0.0	709.5	10.3	309	6560	0.98	0.00	129.18	1.013	6	0.125	0.000	2290	2297	2816
6561	end apogee: CONTROL_FINISHED_OK
state	6561	begin climb
6564	1.15	146.6	714.7	0.0	316	6701	1.52	0.00	129.93	1.004	6	0.074	0.000	2609	2297	2218
7011	1.06	146.6	689.9	7.6	338	7012	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2297	2211
7320	1.01	165.6	668.0	6.7	353	7340	0.15	0.00	16.67	0.907	6	0.097	0.000	2581	2297	2142
7649	1.06	211.8	649.1	5.5	369	7698	0.00	2.67	42.25	0.956	4	0.000	0.064	2581	3701	1953
7792	1.06	211.8	639.3	8.1	375	7796	0.00	2.45	0.00	0.000	6	0.000	0.031	2581	2310	1950
8107	1.06	211.8	612.8	8.8	390	8108	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2310	1947
8417	1.06	211.8	579.4	11.8	405	8418	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1946
8726	1.06	211.8	547.1	9.7	420	8727	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1945
9035	1.07	223.8	523.9	7.0	435	9048	0.00	0.00	10.98	0.794	6	0.000	0.000	2581	2309	1904
9344	1.07	223.8	501.4	7.8	450	9345	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1903
9653	1.11	223.8	474.4	9.2	465	9655	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1903
9962	1.11	223.8	446.1	9.2	480	9963	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1902
10272	1.11	223.8	418.5	8.9	495	10273	0.00	0.00	0.00	0.000	6	0.000	0.000	2581	2309	1903
10581	1.16	223.8	391.6	8.5	510	10586	0.15	2.55	0.00	0.000	4	0.048	0.059	2627	3704	1902
10631	1.03	223.8	385.9	11.9	512	10636	0.22	2.45	0.00	0.000	6	0.094	0.029	2583	2291	1902
10947	1.03	223.8	356.3	9.3	527	10948	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2290	1902
11256	1.03	223.8	327.5	9.5	542	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2291	1903
11565	1.03	223.8	296.8	10.0	557	11570	0.00	2.60	0.00	0.000	4	0.000	0.058	2583	3710	1902
11628	1.03	223.8	290.0	11.1	560	11632	0.00	2.45	0.00	0.000	6	0.000	0.029	2583	2292	1902
11955	1.08	223.8	257.2	9.7	576	11956	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2292	1903
12264	1.12	223.8	230.1	8.4	591	12265	0.00	0.00	0.00	0.000	6	0.000	0.000	2583	2292	1902
12574	1.19	248.1	207.5	6.5	606	12599	0.17	0.00	22.67	0.664	6	0.044	0.000	2634	2291	1805
12902	1.12	248.1	177.4	9.4	622	12904	0.15	0.00	0.00	0.000	6	0.093	0.000	2605	2291	1801
13212	1.12	248.1	146.7	11.2	637	13213	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2291	1800
13521	1.12	248.1	113.2	9.8	652	13522	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2291	1801
13830	1.13	251.1	88.2	7.4	667	13831	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2291	1800
14139	1.13	251.1	62.4	11.2	682	14141	0.00	0.00	0.00	0.000	6	0.000	0.000	2605	2291	1800
14448	1.13	251.1	29.2	9.9	697	14453	0.00	2.58	0.00	0.000	4	0.000	0.056	2605	3704	1801
14511	1.13	251.1	22.7	11.2	700	14515	0.00	2.42	0.00	0.000	6	0.000	0.028	2605	2294	1800
14732	end climb: SURFACE_DEPTH_REACHED
state	14732	begin surface coast
14755	end surface coast: CONTROL_FINISHED_OK
state	14755	begin surface