Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 20 * 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 20 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -2107971.8 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 -2107971.8

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 21 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 20 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 104424,6137.470,-835.805,41,1.1,41,-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 -0.093,-0.247

_SM_DEPTHo 1.44 KALMAN_X -31274.0,-467.0,-130.4,14952.5,-5010.2

_SM_ANGLEo -61.1 KALMAN_Y 67176.7,-790.3,-783.2,-41674.3,14771.2

GPS2 104932,6137.457,-835.812,12,1.2,12,-9.0 MHEAD_RNG_PITCHd_Wd 154.3,16794,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.026799 ALTIM_BOTTOM_PING 750.1,75.6

SM_CCo 11704,0.00,0.000,0,0,770,502.13 _24V_AH 23.5,9.682

SM_GC 1.42,12.68,0.00,0.00,0.086,0.000,0.000,71,2600,770,-10.47,-0.03,502.13 _10V_AH 10.1,3.716

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28482,553

TT8_MAMPS 0.02301 CAP_FILE_SIZE 103817,0

HUMID 1727 CFSIZE 260165632,257183744

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 7 GPS 080609,140636,6136.699,-838.336,33,2.0,33,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 180 122.94 SBE_CT 396 24 223.76

Roll_motor 134 87 276.68 SBE_O2 384 19 171.61

VBD_pump_during_apogee 576 1113 15089.22 WL_BB2F 308 105 761.86

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 43.58 nil 0 0 0.00

Iridium_during_connect 37 160 140.83 nil 0 0 0.00

Iridium_during_xfer 123 223 646.08

Transponder_ping 8 420 81.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.48

TT8 1102 19 220.49

LPSleep 8319 2 184.02

TT8_Active 621 19 124.35

TT8_Sampling 1563 39 628.52

TT8_CF8 407 45 188.60

TT8_Kalman 33 81 27.55

Analog_circuits 1469 12 178.05

GPS_charging 0 0 0.00

Compass 1511 8 122.16

RAFOS 0 0 0.00

Transponder 44 30 13.57

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 94 0.00 0.00 -76.28 0.000 2 0.000 0.000 74 2602 3375

97 -1.29 -146.6 5.5 -5.9 4 120 11.48 2.60 -0.65 0.000 4 0.180 0.051 2070 1174 3417

301 -1.36 -146.6 41.2 -13.2 13 305 0.00 2.53 0.00 0.000 6 0.000 0.038 2070 2600 3416

628 -1.36 -146.6 88.8 -14.9 29 632 0.00 2.35 0.00 0.000 4 0.000 0.069 2070 3860 3418

692 -1.36 -146.6 99.4 -16.9 32 696 0.00 2.20 0.00 0.000 6 0.000 0.030 2070 2572 3418

1018 -1.36 -146.6 145.2 -12.5 48 1023 0.00 2.40 0.00 0.000 4 0.000 0.067 2070 3858 3418

1113 -1.36 -146.6 157.8 -12.6 52 1117 0.00 2.15 0.00 0.000 6 0.000 0.029 2070 2597 3418

1435 -1.36 -146.6 196.3 -11.5 68 1439 0.00 2.47 0.00 0.000 4 0.000 0.043 2070 1202 3418

1475 -1.45 -146.6 200.6 -10.1 70 1480 0.12 2.47 0.00 0.000 6 0.051 0.038 2033 2605 3418

1802 -1.39 -146.6 246.2 -14.3 86 1807 0.12 2.35 0.00 0.000 4 0.105 0.069 2056 3864 3418

1886 -1.39 -146.6 258.5 -15.9 90 1890 0.00 2.15 0.00 0.000 6 0.000 0.030 2056 2602 3418

2219 -1.39 -146.6 303.2 -12.6 106 2223 0.00 2.47 0.00 0.000 4 0.000 0.044 2056 1205 3418

2269 -1.43 -146.6 308.7 -10.3 108 2273 0.00 2.47 0.00 0.000 6 0.000 0.039 2056 2605 3418

2584 -1.43 -146.6 346.8 -13.2 123 2588 0.00 2.35 0.00 0.000 4 0.000 0.071 2056 3861 3418

2628 -1.43 -146.6 353.5 -15.5 125 2632 0.00 2.15 0.00 0.000 6 0.000 0.030 2056 2597 3418

2955 -1.43 -146.6 398.8 -13.9 141 2959 0.00 2.38 0.00 0.000 4 0.000 0.070 2056 3864 3418

3000 -1.43 -146.6 405.6 -14.8 143 3004 0.00 2.15 0.00 0.000 6 0.000 0.031 2056 2602 3418

3326 -1.43 -146.6 446.5 -12.1 159 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 2056 2600 3418

3636 -1.43 -146.6 482.9 -11.2 174 3640 0.00 2.47 0.00 0.000 4 0.000 0.046 2056 1208 3418

3686 -1.52 -146.6 488.7 -10.6 176 3691 0.12 2.45 0.00 0.000 6 0.051 0.040 2018 2601 3418

4002 -1.43 -146.6 540.4 -16.7 191 4007 0.15 2.35 0.00 0.000 4 0.112 0.072 2044 3857 3419

4259 -1.43 -146.6 578.0 -15.9 202 4265 0.00 2.15 0.00 0.000 6 0.000 0.033 2044 2602 3418

4576 -1.43 -146.6 625.8 -14.2 218 4580 0.00 2.50 0.00 0.000 4 0.000 0.050 2045 1206 3418

4625 -1.48 -146.6 632.9 -13.6 220 4630 0.00 2.50 0.00 0.000 6 0.000 0.044 2044 2607 3418

4941 -1.48 -146.6 672.7 -12.9 235 4945 0.00 2.53 0.00 0.000 4 0.000 0.051 2044 1206 3418

5041 -1.52 -146.6 685.6 -12.8 239 5048 0.00 2.50 0.00 0.000 6 0.000 0.047 2044 2598 3417

5357 -1.52 -146.6 729.5 -14.0 255 5361 0.00 2.42 0.00 0.000 4 0.000 0.087 2045 3860 3415

5406 -1.52 -146.6 738.0 -19.3 257 5410 0.00 2.20 0.00 0.000 6 0.000 0.040 2044 2606 3415

5722 -1.52 -146.6 777.5 -10.9 272 5726 0.00 2.42 0.00 0.000 4 0.000 0.087 2044 3861 3414

5789 -1.46 -146.6 786.8 -15.6 275 5793 0.00 2.22 0.00 0.000 6 0.000 0.044 2044 2606 3414

5963 end dive: BOTTOM_OBSTACLE_DETECTED

state 5963 begin apogee

5970 -0.31 0.0 818.2 16.8 284 6106 1.25 0.00 129.18 1.114 6 0.119 0.000 2288 2296 2816

6107 end apogee: CONTROL_FINISHED_OK

state 6107 begin climb

6109 1.29 146.6 827.4 0.0 291 6249 1.62 2.80 131.40 1.105 4 0.068 0.081 2637 3707 2218

6506 1.09 146.6 781.9 11.1 308 6512 0.22 2.55 0.00 0.000 6 0.117 0.045 2597 2306 2211

6828 1.23 319.0 762.9 2.2 324 6996 0.15 2.80 154.12 1.075 4 0.063 0.077 2632 3704 1514

7087 1.23 319.0 739.5 15.9 336 7091 0.00 2.58 0.00 0.000 6 0.000 0.045 2632 2295 1509

7413 1.23 319.0 699.5 10.9 352 7418 0.00 2.72 0.00 0.000 4 0.000 0.078 2632 3704 1502

7447 1.27 355.0 697.0 8.4 353 7486 0.00 2.55 32.15 1.009 6 0.000 0.045 2632 2297 1369

7806 1.35 355.0 653.2 10.0 371 7810 0.00 2.65 0.00 0.000 4 0.000 0.068 2632 892 1362

7878 1.45 365.8 645.7 9.5 374 7894 0.20 2.58 9.95 0.887 6 0.054 0.049 2681 2305 1325

8218 1.38 365.8 603.5 13.2 391 8223 0.00 2.70 0.00 0.000 4 0.000 0.078 2681 3711 1322

8291 1.21 365.8 590.4 19.6 394 8297 0.30 2.55 0.00 0.000 6 0.121 0.041 2626 2295 1322

8608 1.41 498.2 541.2 4.0 409 8736 0.17 2.70 119.75 0.951 4 0.056 0.060 2675 895 785

8815 1.52 498.2 506.9 20.0 418 8821 0.00 2.55 0.00 0.000 6 0.000 0.041 2675 2311 779

9131 1.61 498.2 462.7 12.7 434 9136 0.17 2.60 0.00 0.000 4 0.053 0.054 2720 892 775

9163 1.61 498.2 456.8 17.6 435 9170 0.00 2.50 0.00 0.000 6 0.000 0.040 2719 2301 774

9479 1.61 498.2 407.2 15.7 451 9484 0.00 2.60 0.00 0.000 4 0.000 0.054 2720 885 772

9569 1.61 498.2 393.1 15.0 455 9573 0.00 2.53 0.00 0.000 6 0.000 0.038 2720 2305 772

9890 1.61 498.2 343.3 16.4 471 9894 0.00 2.58 0.00 0.000 4 0.000 0.051 2720 891 772

10007 1.65 498.2 323.4 16.5 476 10012 0.00 2.50 0.00 0.000 6 0.000 0.037 2719 2307 772

10323 1.65 498.2 263.2 20.5 491 10327 0.00 2.58 0.00 0.000 4 0.000 0.051 2720 892 771

10401 1.70 498.2 247.2 19.7 494 10407 0.00 2.47 0.00 0.000 6 0.000 0.036 2720 2301 772

10716 1.70 498.2 183.5 20.3 510 10721 0.00 2.58 0.00 0.000 4 0.000 0.052 2719 888 771

10824 1.70 498.2 161.4 20.4 515 10828 0.00 2.47 0.00 0.000 6 0.000 0.036 2719 2302 771

11150 1.70 498.2 101.0 17.1 531 11155 0.00 2.55 0.00 0.000 4 0.000 0.050 2719 891 771

11236 1.76 498.2 86.1 17.3 535 11241 0.12 2.47 0.00 0.000 6 0.058 0.035 2753 2303 771

11563 1.69 498.2 13.2 24.1 551 11568 0.12 2.55 0.00 0.000 4 0.111 0.048 2730 891 771

11610 end climb: SURFACE_DEPTH_REACHED

state 11611 begin surface coast

11617 end surface coast: CONTROL_FINISHED_OK

state 11617 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	20	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-2107971.8	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	104424,6137.470,-835.805,41,1.1,41,-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	-0.093,-0.247
_SM_DEPTHo	1.44	KALMAN_X	-31274.0,-467.0,-130.4,14952.5,-5010.2
_SM_ANGLEo	-61.1	KALMAN_Y	67176.7,-790.3,-783.2,-41674.3,14771.2
GPS2	104932,6137.457,-835.812,12,1.2,12,-9.0	MHEAD_RNG_PITCHd_Wd	154.3,16794,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	1.2,1.026799	ALTIM_BOTTOM_PING	750.1,75.6
SM_CCo	11704,0.00,0.000,0,0,770,502.13	_24V_AH	23.5,9.682
SM_GC	1.42,12.68,0.00,0.00,0.086,0.000,0.000,71,2600,770,-10.47,-0.03,502.13	_10V_AH	10.1,3.716
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28482,553
TT8_MAMPS	0.02301	CAP_FILE_SIZE	103817,0
HUMID	1727	CFSIZE	260165632,257183744
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	7	GPS	080609,140636,6136.699,-838.336,33,2.0,33,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	180	122.94	SBE_CT	396	24	223.76
Roll_motor	134	87	276.68	SBE_O2	384	19	171.61
VBD_pump_during_apogee	576	1113	15089.22	WL_BB2F	308	105	761.86
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	43.58	nil	0	0	0.00
Iridium_during_connect	37	160	140.83	nil	0	0	0.00
Iridium_during_xfer	123	223	646.08
Transponder_ping	8	420	81.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.48
TT8	1102	19	220.49
LPSleep	8319	2	184.02
TT8_Active	621	19	124.35
TT8_Sampling	1563	39	628.52
TT8_CF8	407	45	188.60
TT8_Kalman	33	81	27.55
Analog_circuits	1469	12	178.05
GPS_charging	0	0	0.00
Compass	1511	8	122.16
RAFOS	0	0	0.00
Transponder	44	30	13.57

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	94	0.00	0.00	-76.28	0.000	2	0.000	0.000	74	2602	3375
97	-1.29	-146.6	5.5	-5.9	4	120	11.48	2.60	-0.65	0.000	4	0.180	0.051	2070	1174	3417
301	-1.36	-146.6	41.2	-13.2	13	305	0.00	2.53	0.00	0.000	6	0.000	0.038	2070	2600	3416
628	-1.36	-146.6	88.8	-14.9	29	632	0.00	2.35	0.00	0.000	4	0.000	0.069	2070	3860	3418
692	-1.36	-146.6	99.4	-16.9	32	696	0.00	2.20	0.00	0.000	6	0.000	0.030	2070	2572	3418
1018	-1.36	-146.6	145.2	-12.5	48	1023	0.00	2.40	0.00	0.000	4	0.000	0.067	2070	3858	3418
1113	-1.36	-146.6	157.8	-12.6	52	1117	0.00	2.15	0.00	0.000	6	0.000	0.029	2070	2597	3418
1435	-1.36	-146.6	196.3	-11.5	68	1439	0.00	2.47	0.00	0.000	4	0.000	0.043	2070	1202	3418
1475	-1.45	-146.6	200.6	-10.1	70	1480	0.12	2.47	0.00	0.000	6	0.051	0.038	2033	2605	3418
1802	-1.39	-146.6	246.2	-14.3	86	1807	0.12	2.35	0.00	0.000	4	0.105	0.069	2056	3864	3418
1886	-1.39	-146.6	258.5	-15.9	90	1890	0.00	2.15	0.00	0.000	6	0.000	0.030	2056	2602	3418
2219	-1.39	-146.6	303.2	-12.6	106	2223	0.00	2.47	0.00	0.000	4	0.000	0.044	2056	1205	3418
2269	-1.43	-146.6	308.7	-10.3	108	2273	0.00	2.47	0.00	0.000	6	0.000	0.039	2056	2605	3418
2584	-1.43	-146.6	346.8	-13.2	123	2588	0.00	2.35	0.00	0.000	4	0.000	0.071	2056	3861	3418
2628	-1.43	-146.6	353.5	-15.5	125	2632	0.00	2.15	0.00	0.000	6	0.000	0.030	2056	2597	3418
2955	-1.43	-146.6	398.8	-13.9	141	2959	0.00	2.38	0.00	0.000	4	0.000	0.070	2056	3864	3418
3000	-1.43	-146.6	405.6	-14.8	143	3004	0.00	2.15	0.00	0.000	6	0.000	0.031	2056	2602	3418
3326	-1.43	-146.6	446.5	-12.1	159	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	2056	2600	3418
3636	-1.43	-146.6	482.9	-11.2	174	3640	0.00	2.47	0.00	0.000	4	0.000	0.046	2056	1208	3418
3686	-1.52	-146.6	488.7	-10.6	176	3691	0.12	2.45	0.00	0.000	6	0.051	0.040	2018	2601	3418
4002	-1.43	-146.6	540.4	-16.7	191	4007	0.15	2.35	0.00	0.000	4	0.112	0.072	2044	3857	3419
4259	-1.43	-146.6	578.0	-15.9	202	4265	0.00	2.15	0.00	0.000	6	0.000	0.033	2044	2602	3418
4576	-1.43	-146.6	625.8	-14.2	218	4580	0.00	2.50	0.00	0.000	4	0.000	0.050	2045	1206	3418
4625	-1.48	-146.6	632.9	-13.6	220	4630	0.00	2.50	0.00	0.000	6	0.000	0.044	2044	2607	3418
4941	-1.48	-146.6	672.7	-12.9	235	4945	0.00	2.53	0.00	0.000	4	0.000	0.051	2044	1206	3418
5041	-1.52	-146.6	685.6	-12.8	239	5048	0.00	2.50	0.00	0.000	6	0.000	0.047	2044	2598	3417
5357	-1.52	-146.6	729.5	-14.0	255	5361	0.00	2.42	0.00	0.000	4	0.000	0.087	2045	3860	3415
5406	-1.52	-146.6	738.0	-19.3	257	5410	0.00	2.20	0.00	0.000	6	0.000	0.040	2044	2606	3415
5722	-1.52	-146.6	777.5	-10.9	272	5726	0.00	2.42	0.00	0.000	4	0.000	0.087	2044	3861	3414
5789	-1.46	-146.6	786.8	-15.6	275	5793	0.00	2.22	0.00	0.000	6	0.000	0.044	2044	2606	3414
5963	end dive: BOTTOM_OBSTACLE_DETECTED
state	5963	begin apogee
5970	-0.31	0.0	818.2	16.8	284	6106	1.25	0.00	129.18	1.114	6	0.119	0.000	2288	2296	2816
6107	end apogee: CONTROL_FINISHED_OK
state	6107	begin climb
6109	1.29	146.6	827.4	0.0	291	6249	1.62	2.80	131.40	1.105	4	0.068	0.081	2637	3707	2218
6506	1.09	146.6	781.9	11.1	308	6512	0.22	2.55	0.00	0.000	6	0.117	0.045	2597	2306	2211
6828	1.23	319.0	762.9	2.2	324	6996	0.15	2.80	154.12	1.075	4	0.063	0.077	2632	3704	1514
7087	1.23	319.0	739.5	15.9	336	7091	0.00	2.58	0.00	0.000	6	0.000	0.045	2632	2295	1509
7413	1.23	319.0	699.5	10.9	352	7418	0.00	2.72	0.00	0.000	4	0.000	0.078	2632	3704	1502
7447	1.27	355.0	697.0	8.4	353	7486	0.00	2.55	32.15	1.009	6	0.000	0.045	2632	2297	1369
7806	1.35	355.0	653.2	10.0	371	7810	0.00	2.65	0.00	0.000	4	0.000	0.068	2632	892	1362
7878	1.45	365.8	645.7	9.5	374	7894	0.20	2.58	9.95	0.887	6	0.054	0.049	2681	2305	1325
8218	1.38	365.8	603.5	13.2	391	8223	0.00	2.70	0.00	0.000	4	0.000	0.078	2681	3711	1322
8291	1.21	365.8	590.4	19.6	394	8297	0.30	2.55	0.00	0.000	6	0.121	0.041	2626	2295	1322
8608	1.41	498.2	541.2	4.0	409	8736	0.17	2.70	119.75	0.951	4	0.056	0.060	2675	895	785
8815	1.52	498.2	506.9	20.0	418	8821	0.00	2.55	0.00	0.000	6	0.000	0.041	2675	2311	779
9131	1.61	498.2	462.7	12.7	434	9136	0.17	2.60	0.00	0.000	4	0.053	0.054	2720	892	775
9163	1.61	498.2	456.8	17.6	435	9170	0.00	2.50	0.00	0.000	6	0.000	0.040	2719	2301	774
9479	1.61	498.2	407.2	15.7	451	9484	0.00	2.60	0.00	0.000	4	0.000	0.054	2720	885	772
9569	1.61	498.2	393.1	15.0	455	9573	0.00	2.53	0.00	0.000	6	0.000	0.038	2720	2305	772
9890	1.61	498.2	343.3	16.4	471	9894	0.00	2.58	0.00	0.000	4	0.000	0.051	2720	891	772
10007	1.65	498.2	323.4	16.5	476	10012	0.00	2.50	0.00	0.000	6	0.000	0.037	2719	2307	772
10323	1.65	498.2	263.2	20.5	491	10327	0.00	2.58	0.00	0.000	4	0.000	0.051	2720	892	771
10401	1.70	498.2	247.2	19.7	494	10407	0.00	2.47	0.00	0.000	6	0.000	0.036	2720	2301	772
10716	1.70	498.2	183.5	20.3	510	10721	0.00	2.58	0.00	0.000	4	0.000	0.052	2719	888	771
10824	1.70	498.2	161.4	20.4	515	10828	0.00	2.47	0.00	0.000	6	0.000	0.036	2719	2302	771
11150	1.70	498.2	101.0	17.1	531	11155	0.00	2.55	0.00	0.000	4	0.000	0.050	2719	891	771
11236	1.76	498.2	86.1	17.3	535	11241	0.12	2.47	0.00	0.000	6	0.058	0.035	2753	2303	771
11563	1.69	498.2	13.2	24.1	551	11568	0.12	2.55	0.00	0.000	4	0.111	0.048	2730	891	771
11610	end climb: SURFACE_DEPTH_REACHED
state	11611	begin surface coast
11617	end surface coast: CONTROL_FINISHED_OK
state	11617	begin surface