Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 160 * 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 160 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -2110466 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 -2110466

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 32 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 160 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 135206,6344.244,-1257.569,36,1.0,36,-12.3 TGT_NAME L1

_CALLS 1 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.53 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 135744,6344.218,-1257.626,11,1.7,11,-12.3 MHEAD_RNG_PITCHd_Wd 330.3,39308,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026620 ALTIM_BOTTOM_PING 600.4,59.5

SM_CCo 14785,0.00,0.000,0,0,1748,261.98 _24V_AH 23.7,28.395

SM_GC 1.47,12.12,0.00,0.00,0.095,0.000,0.000,80,2602,1748,-10.46,0.06,261.98 _10V_AH 10.1,14.119

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34878,706

TT8_MAMPS 0.023777 CAP_FILE_SIZE 95536,0

HUMID 1749 CFSIZE 260165632,249225216

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

XPDR_PINGS 0 GPS 050709,180536,6346.192,-1259.194,34,1.4,34,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 181 115.03 SBE_CT 517 24 294.47

Roll_motor 69 60 99.73 SBE_O2 482 19 217.21

VBD_pump_during_apogee 360 999 8534.00 WL_BB2F 446 105 1111.33

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 44.12 nil 0 0 0.00

Iridium_during_connect 25 160 97.36 nil 0 0 0.00

Iridium_during_xfer 188 223 994.04

Transponder_ping 5 420 49.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.72

TT8 1267 19 253.45

LPSleep 11483 2 254.00

TT8_Active 431 19 86.34

TT8_Sampling 1494 39 600.88

TT8_CF8 446 45 206.75

TT8_Kalman 0 81 0.00

Analog_circuits 1172 12 142.07

GPS_charging 0 0 0.00

Compass 1467 8 118.54

RAFOS 0 0 0.00

Transponder 35 30 10.61

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 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 88 0.00 0.00 -69.75 0.000 6 0.000 0.000 66 2604 3417

91 -1.03 -146.6 3.9 -5.9 3 113 11.88 2.35 0.00 0.000 4 0.182 0.058 2131 3860 3419

365 -1.03 -146.6 47.3 -10.2 15 369 0.00 2.17 0.00 0.000 6 0.000 0.026 2131 2574 3419

687 -1.03 -146.6 78.0 -9.3 31 691 0.00 2.38 0.00 0.000 4 0.000 0.061 2131 3862 3419

732 -1.03 -146.6 82.5 -10.4 33 735 0.00 2.12 0.00 0.000 6 0.000 0.025 2131 2597 3420

1059 -1.03 -146.6 115.0 -10.6 49 1060 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2594 3419

1370 -1.03 -146.6 147.6 -10.6 64 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2595 3419

1677 -1.03 -146.6 179.7 -10.0 79 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2594 3419

1986 -1.03 -146.6 210.2 -9.7 94 1990 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1212 3419

2026 -1.03 -146.6 213.8 -8.9 96 2030 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2598 3419

2352 -1.03 -146.6 244.4 -9.3 112 2353 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3419

2661 -1.03 -146.6 273.1 -9.1 127 2662 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2598 3419

2971 -1.03 -146.6 301.7 -9.0 142 2975 0.00 2.42 0.00 0.000 4 0.000 0.038 2131 1216 3419

3022 -1.03 -146.6 306.3 -8.6 144 3026 0.00 2.42 0.00 0.000 6 0.000 0.035 2131 2601 3419

3337 -1.03 -146.6 334.0 -8.5 159 3338 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2602 3419

3646 -1.03 -146.6 361.4 -9.1 174 3648 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

3956 -1.03 -146.6 388.7 -9.0 189 3957 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

4265 -1.03 -146.6 417.2 -9.4 204 4269 0.00 2.45 0.00 0.000 4 0.000 0.038 2131 1207 3418

4315 -1.07 -146.6 421.9 -8.6 206 4319 0.00 2.45 0.00 0.000 6 0.000 0.035 2131 2606 3418

4633 -1.07 -146.6 450.7 -9.3 221 4635 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2606 3418

4940 -1.07 -146.6 478.2 -8.8 236 4944 0.00 2.45 0.00 0.000 4 0.000 0.038 2131 1209 3419

4990 -1.12 -146.6 482.7 -8.9 238 4994 0.00 2.45 0.00 0.000 6 0.000 0.035 2131 2608 3418

5306 -1.12 -146.6 511.5 -9.5 253 5307 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2609 3418

5615 -1.12 -146.6 539.4 -8.9 268 5616 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2609 3418

5925 -1.12 -146.6 566.1 -8.3 283 5926 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2609 3418

6234 -1.12 -146.6 589.4 -6.5 298 6235 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2609 3417

6543 -1.12 -146.6 611.3 -7.3 313 6547 0.00 2.45 0.00 0.000 4 0.000 0.039 2131 1212 3417

6639 -1.17 -146.6 619.1 -8.3 317 6644 0.12 2.42 0.00 0.000 6 0.048 0.036 2092 2600 3417

6952 end dive: BOTTOM_OBSTACLE_DETECTED

state 6952 begin apogee

6959 -0.31 0.0 650.0 9.8 332 7095 0.98 0.00 128.27 0.999 6 0.099 0.000 2291 2305 2816

7095 end apogee: CONTROL_FINISHED_OK

state 7095 begin climb

7099 1.03 146.6 655.5 0.0 339 7236 1.35 2.58 129.02 0.989 4 0.068 0.043 2583 918 2218

7341 1.01 208.8 648.8 5.4 350 7402 0.00 2.45 55.47 0.969 6 0.000 0.033 2582 2307 1965

7730 1.01 208.8 625.1 8.4 369 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2306 1958

8039 1.01 208.8 596.8 8.9 384 8043 0.00 2.53 0.00 0.000 4 0.000 0.047 2582 916 1956

8201 1.01 208.8 581.3 10.4 391 8205 0.00 2.42 0.00 0.000 6 0.000 0.035 2582 2299 1954

8523 1.06 255.8 560.0 5.9 407 8572 0.00 2.72 42.50 0.925 4 0.000 0.061 2582 3702 1773

8609 1.06 255.8 553.9 8.2 411 8613 0.00 2.42 0.00 0.000 6 0.000 0.028 2582 2315 1771

8936 1.11 255.8 528.1 9.3 427 8940 0.00 2.55 0.00 0.000 4 0.000 0.048 2582 902 1768

8998 1.15 255.8 522.0 9.9 430 9003 0.12 2.47 0.00 0.000 6 0.054 0.034 2612 2311 1766

9326 1.15 255.8 491.1 9.0 446 9327 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2311 1766

9634 1.15 255.8 459.4 11.5 461 9639 0.00 2.55 0.00 0.000 4 0.000 0.045 2613 894 1766

9719 1.15 255.8 449.3 12.2 465 9723 0.00 2.47 0.00 0.000 6 0.000 0.035 2613 2308 1764

10047 1.10 255.8 416.6 10.1 481 10048 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2308 1765

10356 1.05 255.8 386.6 9.2 496 10358 0.12 0.00 0.00 0.000 6 0.096 0.000 2589 2307 1765

10666 1.05 257.6 362.3 7.4 511 10667 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2307 1765

10974 1.06 261.5 339.9 7.4 526 10981 0.00 0.00 5.03 0.582 6 0.000 0.000 2589 2308 1751

11283 1.06 261.5 314.8 8.6 541 11287 0.00 2.50 0.00 0.000 4 0.000 0.043 2589 894 1750

11340 1.06 261.5 309.7 9.4 543 11344 0.00 2.45 0.00 0.000 6 0.000 0.032 2589 2301 1749

11655 1.06 261.5 280.0 9.7 558 11656 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2301 1750

11964 1.06 261.5 250.0 9.9 573 11965 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2302 1750

12274 1.06 261.5 219.8 9.7 588 12275 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2302 1750

12583 1.06 261.5 189.6 9.9 603 12584 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2302 1750

12892 1.06 261.5 159.8 9.3 618 12896 0.00 2.50 0.00 0.000 4 0.000 0.042 2589 892 1750

12959 1.06 261.5 153.0 10.2 621 12963 0.00 2.45 0.00 0.000 6 0.000 0.032 2589 2304 1749

13280 1.06 261.5 124.6 8.7 637 13281 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1750

13589 1.06 261.5 98.0 8.7 652 13590 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1750

13899 1.06 261.5 70.7 8.9 667 13900 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1750

14207 1.06 261.5 39.8 10.4 682 14209 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2303 1750

14518 1.06 261.5 12.4 8.6 697 14519 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2304 1750

14658 end climb: SURFACE_DEPTH_REACHED

state 14658 begin surface coast

14701 end surface coast: CONTROL_FINISHED_OK

state 14701 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	160	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-2110466	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	135206,6344.244,-1257.569,36,1.0,36,-12.3	TGT_NAME	L1
_CALLS	1	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.53	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	135744,6344.218,-1257.626,11,1.7,11,-12.3	MHEAD_RNG_PITCHd_Wd	330.3,39308,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.026620	ALTIM_BOTTOM_PING	600.4,59.5
SM_CCo	14785,0.00,0.000,0,0,1748,261.98	_24V_AH	23.7,28.395
SM_GC	1.47,12.12,0.00,0.00,0.095,0.000,0.000,80,2602,1748,-10.46,0.06,261.98	_10V_AH	10.1,14.119
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34878,706
TT8_MAMPS	0.023777	CAP_FILE_SIZE	95536,0
HUMID	1749	CFSIZE	260165632,249225216
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	050709,180536,6346.192,-1259.194,34,1.4,34,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	181	115.03	SBE_CT	517	24	294.47
Roll_motor	69	60	99.73	SBE_O2	482	19	217.21
VBD_pump_during_apogee	360	999	8534.00	WL_BB2F	446	105	1111.33
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	44.12	nil	0	0	0.00
Iridium_during_connect	25	160	97.36	nil	0	0	0.00
Iridium_during_xfer	188	223	994.04
Transponder_ping	5	420	49.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.72
TT8	1267	19	253.45
LPSleep	11483	2	254.00
TT8_Active	431	19	86.34
TT8_Sampling	1494	39	600.88
TT8_CF8	446	45	206.75
TT8_Kalman	0	81	0.00
Analog_circuits	1172	12	142.07
GPS_charging	0	0	0.00
Compass	1467	8	118.54
RAFOS	0	0	0.00
Transponder	35	30	10.61

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	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	88	0.00	0.00	-69.75	0.000	6	0.000	0.000	66	2604	3417
91	-1.03	-146.6	3.9	-5.9	3	113	11.88	2.35	0.00	0.000	4	0.182	0.058	2131	3860	3419
365	-1.03	-146.6	47.3	-10.2	15	369	0.00	2.17	0.00	0.000	6	0.000	0.026	2131	2574	3419
687	-1.03	-146.6	78.0	-9.3	31	691	0.00	2.38	0.00	0.000	4	0.000	0.061	2131	3862	3419
732	-1.03	-146.6	82.5	-10.4	33	735	0.00	2.12	0.00	0.000	6	0.000	0.025	2131	2597	3420
1059	-1.03	-146.6	115.0	-10.6	49	1060	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2594	3419
1370	-1.03	-146.6	147.6	-10.6	64	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2595	3419
1677	-1.03	-146.6	179.7	-10.0	79	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2594	3419
1986	-1.03	-146.6	210.2	-9.7	94	1990	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1212	3419
2026	-1.03	-146.6	213.8	-8.9	96	2030	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2598	3419
2352	-1.03	-146.6	244.4	-9.3	112	2353	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3419
2661	-1.03	-146.6	273.1	-9.1	127	2662	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2598	3419
2971	-1.03	-146.6	301.7	-9.0	142	2975	0.00	2.42	0.00	0.000	4	0.000	0.038	2131	1216	3419
3022	-1.03	-146.6	306.3	-8.6	144	3026	0.00	2.42	0.00	0.000	6	0.000	0.035	2131	2601	3419
3337	-1.03	-146.6	334.0	-8.5	159	3338	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2602	3419
3646	-1.03	-146.6	361.4	-9.1	174	3648	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
3956	-1.03	-146.6	388.7	-9.0	189	3957	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
4265	-1.03	-146.6	417.2	-9.4	204	4269	0.00	2.45	0.00	0.000	4	0.000	0.038	2131	1207	3418
4315	-1.07	-146.6	421.9	-8.6	206	4319	0.00	2.45	0.00	0.000	6	0.000	0.035	2131	2606	3418
4633	-1.07	-146.6	450.7	-9.3	221	4635	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2606	3418
4940	-1.07	-146.6	478.2	-8.8	236	4944	0.00	2.45	0.00	0.000	4	0.000	0.038	2131	1209	3419
4990	-1.12	-146.6	482.7	-8.9	238	4994	0.00	2.45	0.00	0.000	6	0.000	0.035	2131	2608	3418
5306	-1.12	-146.6	511.5	-9.5	253	5307	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2609	3418
5615	-1.12	-146.6	539.4	-8.9	268	5616	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2609	3418
5925	-1.12	-146.6	566.1	-8.3	283	5926	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2609	3418
6234	-1.12	-146.6	589.4	-6.5	298	6235	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2609	3417
6543	-1.12	-146.6	611.3	-7.3	313	6547	0.00	2.45	0.00	0.000	4	0.000	0.039	2131	1212	3417
6639	-1.17	-146.6	619.1	-8.3	317	6644	0.12	2.42	0.00	0.000	6	0.048	0.036	2092	2600	3417
6952	end dive: BOTTOM_OBSTACLE_DETECTED
state	6952	begin apogee
6959	-0.31	0.0	650.0	9.8	332	7095	0.98	0.00	128.27	0.999	6	0.099	0.000	2291	2305	2816
7095	end apogee: CONTROL_FINISHED_OK
state	7095	begin climb
7099	1.03	146.6	655.5	0.0	339	7236	1.35	2.58	129.02	0.989	4	0.068	0.043	2583	918	2218
7341	1.01	208.8	648.8	5.4	350	7402	0.00	2.45	55.47	0.969	6	0.000	0.033	2582	2307	1965
7730	1.01	208.8	625.1	8.4	369	7731	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2306	1958
8039	1.01	208.8	596.8	8.9	384	8043	0.00	2.53	0.00	0.000	4	0.000	0.047	2582	916	1956
8201	1.01	208.8	581.3	10.4	391	8205	0.00	2.42	0.00	0.000	6	0.000	0.035	2582	2299	1954
8523	1.06	255.8	560.0	5.9	407	8572	0.00	2.72	42.50	0.925	4	0.000	0.061	2582	3702	1773
8609	1.06	255.8	553.9	8.2	411	8613	0.00	2.42	0.00	0.000	6	0.000	0.028	2582	2315	1771
8936	1.11	255.8	528.1	9.3	427	8940	0.00	2.55	0.00	0.000	4	0.000	0.048	2582	902	1768
8998	1.15	255.8	522.0	9.9	430	9003	0.12	2.47	0.00	0.000	6	0.054	0.034	2612	2311	1766
9326	1.15	255.8	491.1	9.0	446	9327	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2311	1766
9634	1.15	255.8	459.4	11.5	461	9639	0.00	2.55	0.00	0.000	4	0.000	0.045	2613	894	1766
9719	1.15	255.8	449.3	12.2	465	9723	0.00	2.47	0.00	0.000	6	0.000	0.035	2613	2308	1764
10047	1.10	255.8	416.6	10.1	481	10048	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2308	1765
10356	1.05	255.8	386.6	9.2	496	10358	0.12	0.00	0.00	0.000	6	0.096	0.000	2589	2307	1765
10666	1.05	257.6	362.3	7.4	511	10667	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2307	1765
10974	1.06	261.5	339.9	7.4	526	10981	0.00	0.00	5.03	0.582	6	0.000	0.000	2589	2308	1751
11283	1.06	261.5	314.8	8.6	541	11287	0.00	2.50	0.00	0.000	4	0.000	0.043	2589	894	1750
11340	1.06	261.5	309.7	9.4	543	11344	0.00	2.45	0.00	0.000	6	0.000	0.032	2589	2301	1749
11655	1.06	261.5	280.0	9.7	558	11656	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2301	1750
11964	1.06	261.5	250.0	9.9	573	11965	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2302	1750
12274	1.06	261.5	219.8	9.7	588	12275	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2302	1750
12583	1.06	261.5	189.6	9.9	603	12584	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2302	1750
12892	1.06	261.5	159.8	9.3	618	12896	0.00	2.50	0.00	0.000	4	0.000	0.042	2589	892	1750
12959	1.06	261.5	153.0	10.2	621	12963	0.00	2.45	0.00	0.000	6	0.000	0.032	2589	2304	1749
13280	1.06	261.5	124.6	8.7	637	13281	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1750
13589	1.06	261.5	98.0	8.7	652	13590	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1750
13899	1.06	261.5	70.7	8.9	667	13900	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1750
14207	1.06	261.5	39.8	10.4	682	14209	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2303	1750
14518	1.06	261.5	12.4	8.6	697	14519	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2304	1750
14658	end climb: SURFACE_DEPTH_REACHED
state	14658	begin surface coast
14701	end surface coast: CONTROL_FINISHED_OK
state	14701	begin surface