Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 19 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2075276.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2075276.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 19 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 042458,6128.479,-824.340,38,4.6,57,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.154,-0.214

_SM_DEPTHo 1.63 KALMAN_X -5869.8,962.9,143.0,41196.3,-5048.9

_SM_ANGLEo -59.0 KALMAN_Y 41782.2,-1269.7,-748.6,-57811.8,12654.5

GPS2 043005,6128.442,-824.218,36,3.4,55,-8.9 MHEAD_RNG_PITCHd_Wd 153.2,2966,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.013066 ALTIM_BOTTOM_PING 726.5,107.6

SM_CCo 13846,66.80,0.665,1,0,1594,300.00 _24V_AH 23.4,9.720

SM_GC 1.62,0.00,0.00,66.80,0.000,0.000,0.665,74,2405,1594,-10.75,0.14,300.00 _10V_AH 10.1,3.926

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34740,667

TT8_MAMPS 0.023777 CFSIZE 260165632,257359872

HUMID 2095 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

TCM_TEMP 17.40 GPS 161107,082427,6128.299,-823.080,42,3.7,61,-8.9

XPDR_PINGS 34

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.66 SBE_CT 479 24 269.08

Roll_motor 99 92 214.46 SBE_O2 470 19 209.40

VBD_pump_during_apogee 274 1298 8339.33 WL_BB2F 399 105 980.45

VBD_pump_during_surface 66 664 1039.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.61 nil 0 0 0.00

Iridium_during_connect 40 160 150.23 nil 0 0 0.00

Iridium_during_xfer 120 223 626.98

Transponder_ping 14 420 144.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 55 50 28.25

TT8 1233 19 246.69

LPSleep 10702 2 236.72

TT8_Active 479 19 95.88

TT8_Sampling 1554 39 624.90

TT8_CF8 265 45 122.69

TT8_Kalman 33 81 27.56

Analog_circuits 1222 12 148.20

GPS_charging 0 0 0.00

Compass 1476 8 119.34

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.29 -146.6 0.0 0.0 0 80 0.00 0.00 -62.28 0.000 2 0.000 0.000 72 2400 2931

82 -1.29 -146.6 3.5 -4.6 3 112 11.52 2.60 -12.55 0.000 4 0.171 0.081 2128 3765 3416

280 -1.29 -146.6 33.1 -15.8 12 285 0.00 2.47 0.00 0.000 6 0.000 0.048 2128 2397 3417

607 -1.29 -146.6 78.4 -13.9 28 609 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2396 3417

916 -1.29 -146.6 120.0 -13.1 43 920 0.00 2.58 0.00 0.000 4 0.000 0.068 2128 3775 3416

958 -1.29 -146.6 126.0 -13.3 45 963 0.00 2.53 0.00 0.000 6 0.000 0.048 2128 2394 3417

1285 -1.29 -146.6 169.1 -13.6 61 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2393 3417

1594 -1.29 -146.6 211.4 -13.6 76 1599 0.00 2.58 0.00 0.000 4 0.000 0.069 2128 3770 3417

1649 -1.29 -146.6 219.3 -13.9 78 1656 0.00 2.50 0.00 0.000 6 0.000 0.047 2128 2399 3417

1964 -1.29 -146.6 262.0 -13.7 94 1965 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2399 3417

2273 -1.29 -146.6 304.9 -13.6 109 2277 0.00 2.55 0.00 0.000 4 0.000 0.071 2128 3768 3417

2389 -1.29 -146.6 321.1 -13.8 114 2394 0.00 2.50 0.00 0.000 6 0.000 0.048 2128 2396 3417

2710 -1.29 -146.6 363.6 -13.4 130 2712 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2395 3417

3020 -1.29 -146.6 404.6 -13.8 145 3021 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2395 3417

3329 -1.29 -146.6 447.0 -12.9 160 3333 0.00 2.58 0.00 0.000 4 0.000 0.071 2128 3773 3417

3383 -1.29 -146.6 454.5 -13.7 162 3389 0.00 2.50 0.00 0.000 6 0.000 0.047 2128 2398 3418

3705 -1.29 -146.6 497.3 -13.6 178 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2398 3418

4014 -1.29 -146.6 536.5 -12.3 193 4015 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2398 3417

4323 -1.29 -146.6 571.9 -12.6 208 4327 0.00 2.58 0.00 0.000 4 0.000 0.071 2128 3773 3418

4407 -1.29 -146.6 582.3 -12.1 212 4411 0.00 2.47 0.00 0.000 6 0.000 0.049 2128 2395 3418

4738 -1.29 -146.6 619.1 -10.7 228 4742 0.00 2.60 0.00 0.000 4 0.000 0.067 2128 988 3419

4815 -1.29 -146.6 627.8 -11.1 231 4822 0.00 2.58 0.00 0.000 6 0.000 0.053 2128 2397 3419

5131 -1.29 -146.6 667.9 -12.6 247 5134 0.00 2.60 0.00 0.000 4 0.000 0.080 2128 3767 3420

5387 -1.29 -146.6 701.6 -13.8 258 5392 0.00 2.53 0.00 0.000 6 0.000 0.059 2128 2407 3420

5708 -1.29 -146.6 739.8 -11.2 274 5709 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2407 3419

6018 -1.29 -146.6 776.9 -9.6 289 6019 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2407 3418

6327 -1.29 -146.6 816.3 -10.1 304 6331 0.00 2.65 0.00 0.000 4 0.000 0.092 2128 3765 3417

6374 end dive: BOTTOM_OBSTACLE_DETECTED

state 6374 begin apogee

6381 -0.31 0.0 824.4 18.4 306 6507 1.08 0.00 122.32 1.299 6 0.138 0.000 2333 2205 2817

6507 end apogee: CONTROL_FINISHED_OK

state 6508 begin climb

6509 1.29 146.6 826.7 0.0 312 6640 1.73 2.83 120.50 1.263 4 0.088 0.079 2688 785 2219

6891 1.29 146.6 774.6 11.4 329 6898 0.00 2.67 0.00 0.000 6 0.000 0.058 2688 2198 2217

7207 1.29 146.6 725.0 14.7 345 7211 0.00 2.72 0.00 0.000 4 0.000 0.074 2687 776 2216

7350 1.29 146.6 707.4 12.1 351 7358 0.00 2.67 0.00 0.000 6 0.000 0.057 2688 2201 2215

7666 1.29 146.6 671.1 11.0 367 7667 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2201 2214

7975 1.33 180.5 645.1 8.5 382 8005 0.00 0.00 27.58 1.167 6 0.000 0.000 2688 2201 2081

8304 1.33 180.5 602.5 14.8 398 8308 0.00 2.70 0.00 0.000 4 0.000 0.074 2687 778 2079

8372 1.33 180.5 595.7 11.8 401 8376 0.00 2.62 0.00 0.000 6 0.000 0.052 2688 2204 2078

8696 1.33 180.5 558.4 11.3 417 8697 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2204 2076

9005 1.33 180.5 526.2 11.8 432 9010 0.00 2.65 0.00 0.000 4 0.000 0.065 2688 782 2076

9044 1.33 180.5 520.9 12.1 434 9049 0.00 2.58 0.00 0.000 6 0.000 0.048 2688 2202 2075

9370 1.33 180.5 486.9 10.8 450 9374 0.00 2.65 0.00 0.000 4 0.000 0.062 2688 776 2075

9412 1.33 180.5 481.8 12.8 452 9417 0.00 2.60 0.00 0.000 6 0.000 0.045 2687 2200 2075

9739 1.33 180.5 447.0 10.3 468 9740 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2200 2075

10048 1.33 180.5 412.4 11.2 483 10052 0.00 2.62 0.00 0.000 4 0.000 0.067 2686 3614 2077

10097 1.33 180.5 406.3 12.0 485 10102 0.00 2.62 0.00 0.000 6 0.000 0.051 2688 2192 2077

10419 1.33 180.5 370.6 10.8 501 10420 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2192 2079

10728 1.33 180.5 337.6 10.7 516 10732 0.00 2.65 0.00 0.000 4 0.000 0.067 2688 3613 2080

10770 1.33 180.5 332.4 12.6 518 10776 0.00 2.60 0.00 0.000 6 0.000 0.054 2688 2205 2080

11097 1.33 180.5 295.3 11.1 534 11101 0.00 2.62 0.00 0.000 4 0.000 0.067 2688 3611 2081

11136 1.33 180.5 290.7 12.2 536 11140 0.00 2.58 0.00 0.000 6 0.000 0.054 2688 2198 2081

11461 1.33 180.5 253.5 11.1 552 11462 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2199 2082

11770 1.33 180.5 220.3 10.5 567 11771 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2199 2083

12079 1.33 180.5 186.8 10.7 582 12080 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2199 2083

12389 1.33 180.5 152.9 11.1 597 12390 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2198 2084

12698 1.33 180.5 119.7 10.9 612 12699 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2199 2085

13008 1.33 181.8 87.6 9.9 627 13013 0.00 0.00 4.05 0.500 6 0.000 0.000 2687 2199 2075

13318 1.33 181.8 54.7 10.8 642 13322 0.00 2.62 0.00 0.000 4 0.000 0.065 2686 3614 2074

13349 1.33 181.8 50.8 10.8 643 13357 0.00 2.60 0.00 0.000 6 0.000 0.051 2688 2200 2074

13665 1.33 181.8 17.9 10.3 659 13669 0.00 2.62 0.00 0.000 4 0.000 0.065 2688 3618 2075

13696 1.33 181.8 14.2 11.4 660 13704 0.00 2.60 0.00 0.000 6 0.000 0.051 2688 2200 2075

13804 end climb: SURFACE_DEPTH_REACHED

state 13804 begin surface coast

13828 end surface coast: CONTROL_FINISHED_OK

state 13828 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	19	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2075276.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	042458,6128.479,-824.340,38,4.6,57,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.154,-0.214
_SM_DEPTHo	1.63	KALMAN_X	-5869.8,962.9,143.0,41196.3,-5048.9
_SM_ANGLEo	-59.0	KALMAN_Y	41782.2,-1269.7,-748.6,-57811.8,12654.5
GPS2	043005,6128.442,-824.218,36,3.4,55,-8.9	MHEAD_RNG_PITCHd_Wd	153.2,2966,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.013066	ALTIM_BOTTOM_PING	726.5,107.6
SM_CCo	13846,66.80,0.665,1,0,1594,300.00	_24V_AH	23.4,9.720
SM_GC	1.62,0.00,0.00,66.80,0.000,0.000,0.665,74,2405,1594,-10.75,0.14,300.00	_10V_AH	10.1,3.926
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34740,667
TT8_MAMPS	0.023777	CFSIZE	260165632,257359872
HUMID	2095	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
TCM_TEMP	17.40	GPS	161107,082427,6128.299,-823.080,42,3.7,61,-8.9
XPDR_PINGS	34

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.66	SBE_CT	479	24	269.08
Roll_motor	99	92	214.46	SBE_O2	470	19	209.40
VBD_pump_during_apogee	274	1298	8339.33	WL_BB2F	399	105	980.45
VBD_pump_during_surface	66	664	1039.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.61	nil	0	0	0.00
Iridium_during_connect	40	160	150.23	nil	0	0	0.00
Iridium_during_xfer	120	223	626.98
Transponder_ping	14	420	144.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	55	50	28.25
TT8	1233	19	246.69
LPSleep	10702	2	236.72
TT8_Active	479	19	95.88
TT8_Sampling	1554	39	624.90
TT8_CF8	265	45	122.69
TT8_Kalman	33	81	27.56
Analog_circuits	1222	12	148.20
GPS_charging	0	0	0.00
Compass	1476	8	119.34
RAFOS	0	0	0.00

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.29	-146.6	0.0	0.0	0	80	0.00	0.00	-62.28	0.000	2	0.000	0.000	72	2400	2931
82	-1.29	-146.6	3.5	-4.6	3	112	11.52	2.60	-12.55	0.000	4	0.171	0.081	2128	3765	3416
280	-1.29	-146.6	33.1	-15.8	12	285	0.00	2.47	0.00	0.000	6	0.000	0.048	2128	2397	3417
607	-1.29	-146.6	78.4	-13.9	28	609	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2396	3417
916	-1.29	-146.6	120.0	-13.1	43	920	0.00	2.58	0.00	0.000	4	0.000	0.068	2128	3775	3416
958	-1.29	-146.6	126.0	-13.3	45	963	0.00	2.53	0.00	0.000	6	0.000	0.048	2128	2394	3417
1285	-1.29	-146.6	169.1	-13.6	61	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2393	3417
1594	-1.29	-146.6	211.4	-13.6	76	1599	0.00	2.58	0.00	0.000	4	0.000	0.069	2128	3770	3417
1649	-1.29	-146.6	219.3	-13.9	78	1656	0.00	2.50	0.00	0.000	6	0.000	0.047	2128	2399	3417
1964	-1.29	-146.6	262.0	-13.7	94	1965	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2399	3417
2273	-1.29	-146.6	304.9	-13.6	109	2277	0.00	2.55	0.00	0.000	4	0.000	0.071	2128	3768	3417
2389	-1.29	-146.6	321.1	-13.8	114	2394	0.00	2.50	0.00	0.000	6	0.000	0.048	2128	2396	3417
2710	-1.29	-146.6	363.6	-13.4	130	2712	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2395	3417
3020	-1.29	-146.6	404.6	-13.8	145	3021	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2395	3417
3329	-1.29	-146.6	447.0	-12.9	160	3333	0.00	2.58	0.00	0.000	4	0.000	0.071	2128	3773	3417
3383	-1.29	-146.6	454.5	-13.7	162	3389	0.00	2.50	0.00	0.000	6	0.000	0.047	2128	2398	3418
3705	-1.29	-146.6	497.3	-13.6	178	3706	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2398	3418
4014	-1.29	-146.6	536.5	-12.3	193	4015	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2398	3417
4323	-1.29	-146.6	571.9	-12.6	208	4327	0.00	2.58	0.00	0.000	4	0.000	0.071	2128	3773	3418
4407	-1.29	-146.6	582.3	-12.1	212	4411	0.00	2.47	0.00	0.000	6	0.000	0.049	2128	2395	3418
4738	-1.29	-146.6	619.1	-10.7	228	4742	0.00	2.60	0.00	0.000	4	0.000	0.067	2128	988	3419
4815	-1.29	-146.6	627.8	-11.1	231	4822	0.00	2.58	0.00	0.000	6	0.000	0.053	2128	2397	3419
5131	-1.29	-146.6	667.9	-12.6	247	5134	0.00	2.60	0.00	0.000	4	0.000	0.080	2128	3767	3420
5387	-1.29	-146.6	701.6	-13.8	258	5392	0.00	2.53	0.00	0.000	6	0.000	0.059	2128	2407	3420
5708	-1.29	-146.6	739.8	-11.2	274	5709	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2407	3419
6018	-1.29	-146.6	776.9	-9.6	289	6019	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2407	3418
6327	-1.29	-146.6	816.3	-10.1	304	6331	0.00	2.65	0.00	0.000	4	0.000	0.092	2128	3765	3417
6374	end dive: BOTTOM_OBSTACLE_DETECTED
state	6374	begin apogee
6381	-0.31	0.0	824.4	18.4	306	6507	1.08	0.00	122.32	1.299	6	0.138	0.000	2333	2205	2817
6507	end apogee: CONTROL_FINISHED_OK
state	6508	begin climb
6509	1.29	146.6	826.7	0.0	312	6640	1.73	2.83	120.50	1.263	4	0.088	0.079	2688	785	2219
6891	1.29	146.6	774.6	11.4	329	6898	0.00	2.67	0.00	0.000	6	0.000	0.058	2688	2198	2217
7207	1.29	146.6	725.0	14.7	345	7211	0.00	2.72	0.00	0.000	4	0.000	0.074	2687	776	2216
7350	1.29	146.6	707.4	12.1	351	7358	0.00	2.67	0.00	0.000	6	0.000	0.057	2688	2201	2215
7666	1.29	146.6	671.1	11.0	367	7667	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2201	2214
7975	1.33	180.5	645.1	8.5	382	8005	0.00	0.00	27.58	1.167	6	0.000	0.000	2688	2201	2081
8304	1.33	180.5	602.5	14.8	398	8308	0.00	2.70	0.00	0.000	4	0.000	0.074	2687	778	2079
8372	1.33	180.5	595.7	11.8	401	8376	0.00	2.62	0.00	0.000	6	0.000	0.052	2688	2204	2078
8696	1.33	180.5	558.4	11.3	417	8697	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2204	2076
9005	1.33	180.5	526.2	11.8	432	9010	0.00	2.65	0.00	0.000	4	0.000	0.065	2688	782	2076
9044	1.33	180.5	520.9	12.1	434	9049	0.00	2.58	0.00	0.000	6	0.000	0.048	2688	2202	2075
9370	1.33	180.5	486.9	10.8	450	9374	0.00	2.65	0.00	0.000	4	0.000	0.062	2688	776	2075
9412	1.33	180.5	481.8	12.8	452	9417	0.00	2.60	0.00	0.000	6	0.000	0.045	2687	2200	2075
9739	1.33	180.5	447.0	10.3	468	9740	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2200	2075
10048	1.33	180.5	412.4	11.2	483	10052	0.00	2.62	0.00	0.000	4	0.000	0.067	2686	3614	2077
10097	1.33	180.5	406.3	12.0	485	10102	0.00	2.62	0.00	0.000	6	0.000	0.051	2688	2192	2077
10419	1.33	180.5	370.6	10.8	501	10420	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2192	2079
10728	1.33	180.5	337.6	10.7	516	10732	0.00	2.65	0.00	0.000	4	0.000	0.067	2688	3613	2080
10770	1.33	180.5	332.4	12.6	518	10776	0.00	2.60	0.00	0.000	6	0.000	0.054	2688	2205	2080
11097	1.33	180.5	295.3	11.1	534	11101	0.00	2.62	0.00	0.000	4	0.000	0.067	2688	3611	2081
11136	1.33	180.5	290.7	12.2	536	11140	0.00	2.58	0.00	0.000	6	0.000	0.054	2688	2198	2081
11461	1.33	180.5	253.5	11.1	552	11462	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2199	2082
11770	1.33	180.5	220.3	10.5	567	11771	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2199	2083
12079	1.33	180.5	186.8	10.7	582	12080	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2199	2083
12389	1.33	180.5	152.9	11.1	597	12390	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2198	2084
12698	1.33	180.5	119.7	10.9	612	12699	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2199	2085
13008	1.33	181.8	87.6	9.9	627	13013	0.00	0.00	4.05	0.500	6	0.000	0.000	2687	2199	2075
13318	1.33	181.8	54.7	10.8	642	13322	0.00	2.62	0.00	0.000	4	0.000	0.065	2686	3614	2074
13349	1.33	181.8	50.8	10.8	643	13357	0.00	2.60	0.00	0.000	6	0.000	0.051	2688	2200	2074
13665	1.33	181.8	17.9	10.3	659	13669	0.00	2.62	0.00	0.000	4	0.000	0.065	2688	3618	2075
13696	1.33	181.8	14.2	11.4	660	13704	0.00	2.60	0.00	0.000	6	0.000	0.051	2688	2200	2075
13804	end climb: SURFACE_DEPTH_REACHED
state	13804	begin surface coast
13828	end surface coast: CONTROL_FINISHED_OK
state	13828	begin surface