Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 19 * 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 19 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 29 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 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 -2107958.2 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 -2107958.2

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 29 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 19 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 071007,6136.895,-833.486,26,1.5,26,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 12 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.118,-0.236

_SM_DEPTHo 1.45 KALMAN_X -29170.5,1127.0,390.6,12769.6,-6354.0

_SM_ANGLEo -64.1 KALMAN_Y 60268.4,444.8,-224.5,-37480.3,11529.1

GPS2 071543,6136.956,-833.498,10,1.6,15,-9.0 MHEAD_RNG_PITCHd_Wd 158.8,14911,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.026789 ALTIM_BOTTOM_PING 750.4,67.6

SM_CCo 12392,0.00,0.000,0,0,1228,389.78 _24V_AH 23.5,9.499

SM_GC 1.51,12.23,0.00,0.00,0.077,0.000,0.000,75,2601,1228,-10.46,0.03,389.78 _10V_AH 10.1,3.654

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31709,584

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105451,0

HUMID 1727 CFSIZE 260165632,257232896

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 25 GPS 080609,104424,6137.470,-835.805,41,1.1,41,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 181 120.89 SBE_CT 420 24 237.34

Roll_motor 129 87 266.35 SBE_O2 406 19 181.39

VBD_pump_during_apogee 477 1106 12418.17 WL_BB2F 325 105 804.40

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 43.60 nil 0 0 0.00

Iridium_during_connect 28 160 107.36 nil 0 0 0.00

Iridium_during_xfer 179 223 938.18

Transponder_ping 12 420 125.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.62

TT8 1158 19 231.64

LPSleep 9033 2 199.81

TT8_Active 533 19 106.69

TT8_Sampling 1564 39 628.76

TT8_CF8 440 45 203.99

TT8_Kalman 33 81 27.55

Analog_circuits 1356 12 164.43

GPS_charging 0 0 0.00

Compass 1514 8 122.37

RAFOS 0 0 0.00

Transponder 44 30 13.56

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 -1.29 -146.6 0.0 0.0 0 79 0.00 0.00 -61.55 0.000 2 0.000 0.000 73 2614 3288

82 -1.29 -146.6 5.1 -8.9 3 104 11.52 2.58 -2.15 0.000 4 0.182 0.054 2072 1197 3417

267 -1.38 -146.6 37.8 -13.0 11 272 0.00 2.47 0.00 0.000 6 0.000 0.038 2072 2596 3417

589 -1.38 -146.6 82.2 -14.2 27 593 0.00 2.35 0.00 0.000 4 0.000 0.068 2073 3860 3418

689 -1.38 -146.6 96.7 -14.7 31 695 0.00 2.17 0.00 0.000 6 0.000 0.030 2072 2578 3417

1005 -1.38 -146.6 139.8 -12.8 47 1009 0.00 2.40 0.00 0.000 4 0.000 0.066 2072 3866 3418

1067 -1.38 -146.6 147.7 -12.5 50 1071 0.00 2.15 0.00 0.000 6 0.000 0.030 2072 2599 3418

1400 -1.38 -146.6 186.6 -11.8 66 1404 0.00 2.35 0.00 0.000 4 0.000 0.067 2072 3861 3419

1462 -1.38 -146.6 193.8 -11.8 69 1466 0.00 2.15 0.00 0.000 6 0.000 0.031 2072 2597 3419

1794 -1.42 -146.6 233.1 -12.3 85 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2072 2595 3419

2103 -1.42 -146.6 270.9 -11.6 100 2107 0.00 2.47 0.00 0.000 4 0.000 0.044 2073 1200 3419

2147 -1.52 -146.6 275.6 -10.1 102 2152 0.20 2.47 0.00 0.000 6 0.043 0.038 2017 2602 3418

2468 -1.42 -146.6 319.7 -13.8 118 2473 0.17 2.35 0.00 0.000 4 0.107 0.069 2049 3864 3419

2509 -1.42 -146.6 325.4 -14.4 120 2512 0.00 2.17 0.00 0.000 6 0.000 0.031 2049 2592 3418

2841 -1.42 -146.6 369.8 -14.7 136 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 2049 2591 3419

3151 -1.42 -146.6 413.7 -13.5 151 3154 0.00 2.35 0.00 0.000 4 0.000 0.069 2048 3860 3419

3247 -1.42 -146.6 426.4 -11.5 155 3251 0.00 2.15 0.00 0.000 6 0.000 0.031 2049 2600 3418

3574 -1.42 -146.6 466.2 -13.2 171 3578 0.00 2.47 0.00 0.000 4 0.000 0.047 2048 1201 3419

3734 -1.46 -146.6 484.4 -10.8 178 3738 0.00 2.47 0.00 0.000 6 0.000 0.042 2049 2599 3419

4060 -1.46 -146.6 517.3 -11.5 194 4064 0.00 2.35 0.00 0.000 4 0.000 0.073 2049 3860 3418

4256 -1.46 -146.6 544.1 -13.2 202 4262 0.00 2.17 0.00 0.000 6 0.000 0.033 2049 2596 3419

4571 -1.46 -146.6 581.4 -12.4 218 4572 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2595 3418

4880 -1.46 -146.6 623.7 -14.1 233 4884 0.00 2.50 0.00 0.000 4 0.000 0.050 2049 1205 3417

5044 -1.46 -146.6 646.3 -14.8 240 5049 0.00 2.50 0.00 0.000 6 0.000 0.047 2049 2598 3416

5360 -1.46 -146.6 696.2 -15.8 255 5364 0.00 2.42 0.00 0.000 4 0.000 0.084 2049 3865 3414

5512 -1.46 -146.6 717.9 -17.5 262 5516 0.00 2.20 0.00 0.000 6 0.000 0.041 2049 2608 3414

5838 -1.46 -146.6 773.2 -14.1 278 5843 0.00 2.42 0.00 0.000 4 0.000 0.087 2049 3861 3413

5889 -1.41 -146.6 780.8 -18.4 280 5893 0.00 2.22 0.00 0.000 6 0.000 0.041 2049 2599 3413

6078 end dive: BOTTOM_OBSTACLE_DETECTED

state 6078 begin apogee

6085 -0.31 0.0 809.0 14.8 289 6221 1.23 0.00 129.02 1.107 6 0.117 0.000 2288 2308 2816

6222 end apogee: CONTROL_FINISHED_OK

state 6222 begin climb

6225 1.29 146.6 811.4 0.0 296 6365 1.70 2.70 131.30 1.095 4 0.087 0.065 2638 897 2218

6508 1.19 172.8 792.7 8.8 308 6537 0.00 2.58 23.55 1.028 6 0.000 0.052 2638 2298 2111

6856 1.10 205.9 765.4 8.5 325 6893 0.17 2.80 30.23 1.039 4 0.118 0.080 2603 3710 1977

6986 0.99 205.9 750.8 16.0 330 6991 0.15 2.55 0.00 0.000 6 0.127 0.042 2578 2298 1974

7313 0.99 205.9 708.4 12.0 346 7314 0.00 0.00 0.00 0.000 6 0.000 0.000 2578 2296 1970

7622 1.04 205.9 674.1 11.3 361 7627 0.00 2.72 0.00 0.000 4 0.000 0.078 2578 3707 1968

7672 1.04 205.9 666.9 15.5 363 7676 0.00 2.55 0.00 0.000 6 0.000 0.044 2578 2295 1968

7988 1.14 226.4 637.3 9.1 378 8013 0.12 2.70 18.83 0.957 4 0.061 0.064 2609 897 1892

8065 1.14 226.4 628.8 12.8 381 8070 0.00 2.58 0.00 0.000 6 0.000 0.050 2609 2306 1889

8381 1.22 307.9 602.1 6.3 396 8464 0.00 2.67 75.07 0.995 4 0.000 0.063 2609 894 1561

8535 1.42 384.5 593.6 6.5 403 8611 0.28 2.55 69.45 0.977 6 0.054 0.048 2674 2301 1248

8928 1.32 384.5 549.9 16.0 422 8933 0.15 2.70 0.00 0.000 4 0.110 0.074 2647 3712 1236

8990 1.32 384.5 540.2 16.1 425 8994 0.00 2.53 0.00 0.000 6 0.000 0.039 2647 2300 1234

9317 1.37 384.5 494.1 12.4 441 9321 0.00 2.60 0.00 0.000 4 0.000 0.060 2647 892 1233

9350 1.44 384.5 488.5 15.5 442 9357 0.12 2.53 0.00 0.000 6 0.059 0.042 2680 2301 1232

9665 1.44 384.5 442.9 15.6 458 9670 0.00 2.60 0.00 0.000 4 0.000 0.054 2679 885 1232

9783 1.44 384.5 422.2 19.4 463 9787 0.00 2.53 0.00 0.000 6 0.000 0.040 2679 2304 1231

10098 1.44 384.5 369.3 16.1 478 10103 0.00 2.58 0.00 0.000 4 0.000 0.051 2679 889 1231

10138 1.44 384.5 362.2 18.5 480 10142 0.00 2.50 0.00 0.000 6 0.000 0.038 2679 2301 1231

10465 1.44 384.5 308.3 15.4 496 10466 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2301 1231

10774 1.44 384.5 261.1 14.4 511 10779 0.00 2.55 0.00 0.000 4 0.000 0.049 2679 891 1231

10819 1.49 384.5 254.3 15.1 513 10823 0.00 2.50 0.00 0.000 6 0.000 0.037 2679 2309 1231

11140 1.53 384.5 206.8 16.0 529 11144 0.00 2.58 0.00 0.000 4 0.000 0.048 2679 885 1231

11212 1.58 384.5 194.8 16.7 532 11218 0.10 2.50 0.00 0.000 6 0.055 0.036 2711 2309 1231

11530 1.54 384.5 136.2 18.4 547 11534 0.00 2.58 0.00 0.000 4 0.000 0.049 2711 883 1231

11574 1.54 384.5 127.1 19.0 549 11579 0.00 2.50 0.00 0.000 6 0.000 0.035 2711 2306 1231

11897 1.49 384.5 69.3 17.5 565 11902 0.15 2.55 0.00 0.000 4 0.101 0.047 2683 887 1231

11969 1.53 384.5 56.9 16.3 568 11974 0.00 2.47 0.00 0.000 6 0.000 0.035 2683 2301 1231

12285 1.53 384.5 5.1 16.9 583 12290 0.00 2.55 0.00 0.000 4 0.000 0.048 2683 885 1231

12300 end climb: SURFACE_DEPTH_REACHED

state 12301 begin surface coast

12306 end surface coast: CONTROL_FINISHED_OK

state 12306 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	19	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	29	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	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	-2107958.2	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	071007,6136.895,-833.486,26,1.5,26,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	12	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.118,-0.236
_SM_DEPTHo	1.45	KALMAN_X	-29170.5,1127.0,390.6,12769.6,-6354.0
_SM_ANGLEo	-64.1	KALMAN_Y	60268.4,444.8,-224.5,-37480.3,11529.1
GPS2	071543,6136.956,-833.498,10,1.6,15,-9.0	MHEAD_RNG_PITCHd_Wd	158.8,14911,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.4,1.026789	ALTIM_BOTTOM_PING	750.4,67.6
SM_CCo	12392,0.00,0.000,0,0,1228,389.78	_24V_AH	23.5,9.499
SM_GC	1.51,12.23,0.00,0.00,0.077,0.000,0.000,75,2601,1228,-10.46,0.03,389.78	_10V_AH	10.1,3.654
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31709,584
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105451,0
HUMID	1727	CFSIZE	260165632,257232896
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	25	GPS	080609,104424,6137.470,-835.805,41,1.1,41,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	181	120.89	SBE_CT	420	24	237.34
Roll_motor	129	87	266.35	SBE_O2	406	19	181.39
VBD_pump_during_apogee	477	1106	12418.17	WL_BB2F	325	105	804.40
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	43.60	nil	0	0	0.00
Iridium_during_connect	28	160	107.36	nil	0	0	0.00
Iridium_during_xfer	179	223	938.18
Transponder_ping	12	420	125.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.62
TT8	1158	19	231.64
LPSleep	9033	2	199.81
TT8_Active	533	19	106.69
TT8_Sampling	1564	39	628.76
TT8_CF8	440	45	203.99
TT8_Kalman	33	81	27.55
Analog_circuits	1356	12	164.43
GPS_charging	0	0	0.00
Compass	1514	8	122.37
RAFOS	0	0	0.00
Transponder	44	30	13.56

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	-1.29	-146.6	0.0	0.0	0	79	0.00	0.00	-61.55	0.000	2	0.000	0.000	73	2614	3288
82	-1.29	-146.6	5.1	-8.9	3	104	11.52	2.58	-2.15	0.000	4	0.182	0.054	2072	1197	3417
267	-1.38	-146.6	37.8	-13.0	11	272	0.00	2.47	0.00	0.000	6	0.000	0.038	2072	2596	3417
589	-1.38	-146.6	82.2	-14.2	27	593	0.00	2.35	0.00	0.000	4	0.000	0.068	2073	3860	3418
689	-1.38	-146.6	96.7	-14.7	31	695	0.00	2.17	0.00	0.000	6	0.000	0.030	2072	2578	3417
1005	-1.38	-146.6	139.8	-12.8	47	1009	0.00	2.40	0.00	0.000	4	0.000	0.066	2072	3866	3418
1067	-1.38	-146.6	147.7	-12.5	50	1071	0.00	2.15	0.00	0.000	6	0.000	0.030	2072	2599	3418
1400	-1.38	-146.6	186.6	-11.8	66	1404	0.00	2.35	0.00	0.000	4	0.000	0.067	2072	3861	3419
1462	-1.38	-146.6	193.8	-11.8	69	1466	0.00	2.15	0.00	0.000	6	0.000	0.031	2072	2597	3419
1794	-1.42	-146.6	233.1	-12.3	85	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2072	2595	3419
2103	-1.42	-146.6	270.9	-11.6	100	2107	0.00	2.47	0.00	0.000	4	0.000	0.044	2073	1200	3419
2147	-1.52	-146.6	275.6	-10.1	102	2152	0.20	2.47	0.00	0.000	6	0.043	0.038	2017	2602	3418
2468	-1.42	-146.6	319.7	-13.8	118	2473	0.17	2.35	0.00	0.000	4	0.107	0.069	2049	3864	3419
2509	-1.42	-146.6	325.4	-14.4	120	2512	0.00	2.17	0.00	0.000	6	0.000	0.031	2049	2592	3418
2841	-1.42	-146.6	369.8	-14.7	136	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	2049	2591	3419
3151	-1.42	-146.6	413.7	-13.5	151	3154	0.00	2.35	0.00	0.000	4	0.000	0.069	2048	3860	3419
3247	-1.42	-146.6	426.4	-11.5	155	3251	0.00	2.15	0.00	0.000	6	0.000	0.031	2049	2600	3418
3574	-1.42	-146.6	466.2	-13.2	171	3578	0.00	2.47	0.00	0.000	4	0.000	0.047	2048	1201	3419
3734	-1.46	-146.6	484.4	-10.8	178	3738	0.00	2.47	0.00	0.000	6	0.000	0.042	2049	2599	3419
4060	-1.46	-146.6	517.3	-11.5	194	4064	0.00	2.35	0.00	0.000	4	0.000	0.073	2049	3860	3418
4256	-1.46	-146.6	544.1	-13.2	202	4262	0.00	2.17	0.00	0.000	6	0.000	0.033	2049	2596	3419
4571	-1.46	-146.6	581.4	-12.4	218	4572	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2595	3418
4880	-1.46	-146.6	623.7	-14.1	233	4884	0.00	2.50	0.00	0.000	4	0.000	0.050	2049	1205	3417
5044	-1.46	-146.6	646.3	-14.8	240	5049	0.00	2.50	0.00	0.000	6	0.000	0.047	2049	2598	3416
5360	-1.46	-146.6	696.2	-15.8	255	5364	0.00	2.42	0.00	0.000	4	0.000	0.084	2049	3865	3414
5512	-1.46	-146.6	717.9	-17.5	262	5516	0.00	2.20	0.00	0.000	6	0.000	0.041	2049	2608	3414
5838	-1.46	-146.6	773.2	-14.1	278	5843	0.00	2.42	0.00	0.000	4	0.000	0.087	2049	3861	3413
5889	-1.41	-146.6	780.8	-18.4	280	5893	0.00	2.22	0.00	0.000	6	0.000	0.041	2049	2599	3413
6078	end dive: BOTTOM_OBSTACLE_DETECTED
state	6078	begin apogee
6085	-0.31	0.0	809.0	14.8	289	6221	1.23	0.00	129.02	1.107	6	0.117	0.000	2288	2308	2816
6222	end apogee: CONTROL_FINISHED_OK
state	6222	begin climb
6225	1.29	146.6	811.4	0.0	296	6365	1.70	2.70	131.30	1.095	4	0.087	0.065	2638	897	2218
6508	1.19	172.8	792.7	8.8	308	6537	0.00	2.58	23.55	1.028	6	0.000	0.052	2638	2298	2111
6856	1.10	205.9	765.4	8.5	325	6893	0.17	2.80	30.23	1.039	4	0.118	0.080	2603	3710	1977
6986	0.99	205.9	750.8	16.0	330	6991	0.15	2.55	0.00	0.000	6	0.127	0.042	2578	2298	1974
7313	0.99	205.9	708.4	12.0	346	7314	0.00	0.00	0.00	0.000	6	0.000	0.000	2578	2296	1970
7622	1.04	205.9	674.1	11.3	361	7627	0.00	2.72	0.00	0.000	4	0.000	0.078	2578	3707	1968
7672	1.04	205.9	666.9	15.5	363	7676	0.00	2.55	0.00	0.000	6	0.000	0.044	2578	2295	1968
7988	1.14	226.4	637.3	9.1	378	8013	0.12	2.70	18.83	0.957	4	0.061	0.064	2609	897	1892
8065	1.14	226.4	628.8	12.8	381	8070	0.00	2.58	0.00	0.000	6	0.000	0.050	2609	2306	1889
8381	1.22	307.9	602.1	6.3	396	8464	0.00	2.67	75.07	0.995	4	0.000	0.063	2609	894	1561
8535	1.42	384.5	593.6	6.5	403	8611	0.28	2.55	69.45	0.977	6	0.054	0.048	2674	2301	1248
8928	1.32	384.5	549.9	16.0	422	8933	0.15	2.70	0.00	0.000	4	0.110	0.074	2647	3712	1236
8990	1.32	384.5	540.2	16.1	425	8994	0.00	2.53	0.00	0.000	6	0.000	0.039	2647	2300	1234
9317	1.37	384.5	494.1	12.4	441	9321	0.00	2.60	0.00	0.000	4	0.000	0.060	2647	892	1233
9350	1.44	384.5	488.5	15.5	442	9357	0.12	2.53	0.00	0.000	6	0.059	0.042	2680	2301	1232
9665	1.44	384.5	442.9	15.6	458	9670	0.00	2.60	0.00	0.000	4	0.000	0.054	2679	885	1232
9783	1.44	384.5	422.2	19.4	463	9787	0.00	2.53	0.00	0.000	6	0.000	0.040	2679	2304	1231
10098	1.44	384.5	369.3	16.1	478	10103	0.00	2.58	0.00	0.000	4	0.000	0.051	2679	889	1231
10138	1.44	384.5	362.2	18.5	480	10142	0.00	2.50	0.00	0.000	6	0.000	0.038	2679	2301	1231
10465	1.44	384.5	308.3	15.4	496	10466	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2301	1231
10774	1.44	384.5	261.1	14.4	511	10779	0.00	2.55	0.00	0.000	4	0.000	0.049	2679	891	1231
10819	1.49	384.5	254.3	15.1	513	10823	0.00	2.50	0.00	0.000	6	0.000	0.037	2679	2309	1231
11140	1.53	384.5	206.8	16.0	529	11144	0.00	2.58	0.00	0.000	4	0.000	0.048	2679	885	1231
11212	1.58	384.5	194.8	16.7	532	11218	0.10	2.50	0.00	0.000	6	0.055	0.036	2711	2309	1231
11530	1.54	384.5	136.2	18.4	547	11534	0.00	2.58	0.00	0.000	4	0.000	0.049	2711	883	1231
11574	1.54	384.5	127.1	19.0	549	11579	0.00	2.50	0.00	0.000	6	0.000	0.035	2711	2306	1231
11897	1.49	384.5	69.3	17.5	565	11902	0.15	2.55	0.00	0.000	4	0.101	0.047	2683	887	1231
11969	1.53	384.5	56.9	16.3	568	11974	0.00	2.47	0.00	0.000	6	0.000	0.035	2683	2301	1231
12285	1.53	384.5	5.1	16.9	583	12290	0.00	2.55	0.00	0.000	4	0.000	0.048	2683	885	1231
12300	end climb: SURFACE_DEPTH_REACHED
state	12301	begin surface coast
12306	end surface coast: CONTROL_FINISHED_OK
state	12306	begin surface