Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 218 * 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 218 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 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -2111474.2 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 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 -2111474.2

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 36 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 218 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 011337,6314.553,-1304.695,34,1.3,34,-12.2 TGT_NAME HE

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.49 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.7 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 011902,6314.593,-1304.681,12,1.4,12,-12.2 MHEAD_RNG_PITCHd_Wd 192.5,45547,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.014243 ALTIM_BOTTOM_PING 626.2,13.1

SM_CCo 12919,0.00,0.000,0,0,1354,358.63 _24V_AH 23.6,35.847

SM_GC 1.57,11.32,0.00,0.00,0.051,0.000,0.000,77,2608,1354,-10.45,0.20,358.63 _10V_AH 10.1,18.150

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31675,617

TT8_MAMPS 0.02301 CAP_FILE_SIZE 96076,0

HUMID 1799 CFSIZE 260165632,246202368

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 160709,045554,6314.656,-1300.219,40,1.3,40,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 111.45 SBE_CT 451 24 255.96

Roll_motor 107 69 177.53 SBE_O2 419 19 188.26

VBD_pump_during_apogee 443 993 10386.15 WL_BB2F 387 105 960.48

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 43.89 nil 0 0 0.00

Iridium_during_connect 31 160 120.13 nil 0 0 0.00

Iridium_during_xfer 162 223 855.59

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.36

TT8 1150 19 230.10

LPSleep 9708 2 214.74

TT8_Active 527 19 105.54

TT8_Sampling 1420 39 571.17

TT8_CF8 436 45 201.90

TT8_Kalman 0 81 0.00

Analog_circuits 1253 12 151.95

GPS_charging 0 0 0.00

Compass 1383 8 111.76

RAFOS 0 0 0.00

Transponder 39 30 11.95

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 15 begin dive

18 -1.03 -146.6 0.0 0.0 0 79 0.00 0.00 -59.05 0.000 3 0.000 0.000 75 2605 3416

82 -1.03 -146.6 5.8 -9.6 3 103 11.77 2.35 0.00 0.000 4 0.179 0.056 2130 3863 3419

357 -0.96 -146.6 52.7 -14.5 15 361 0.00 2.17 0.00 0.000 6 0.000 0.026 2130 2574 3419

678 -0.96 -146.6 91.3 -13.0 31 682 0.00 2.38 0.00 0.000 4 0.000 0.060 2130 3864 3419

848 -0.92 -146.6 108.4 -8.3 38 855 0.15 2.12 0.00 0.000 6 0.103 0.025 2158 2593 3420

1165 -0.97 -146.6 132.6 -7.5 54 1169 0.00 2.40 0.00 0.000 4 0.000 0.038 2158 1220 3420

1210 -1.07 -146.6 136.1 -7.7 56 1214 0.15 2.42 0.00 0.000 6 0.040 0.035 2108 2603 3420

1531 -0.99 -146.6 169.2 -10.7 72 1536 0.17 2.30 0.00 0.000 4 0.099 0.061 2145 3858 3420

1581 -0.99 -146.6 174.4 -9.5 74 1584 0.00 2.10 0.00 0.000 6 0.000 0.026 2145 2601 3420

1902 -0.99 -146.6 206.9 -10.5 90 1903 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2600 3420

2211 -0.99 -146.6 237.2 -9.8 105 2212 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2600 3420

2520 -0.99 -146.6 265.5 -9.1 120 2524 0.00 2.40 0.00 0.000 4 0.000 0.038 2146 1220 3420

2560 -1.06 -146.6 269.0 -8.8 121 2567 0.00 2.42 0.00 0.000 6 0.000 0.035 2145 2605 3420

2875 -1.06 -146.6 297.2 -8.9 137 2877 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2605 3420

3187 -1.06 -146.6 325.9 -9.6 152 3188 0.00 0.00 0.00 0.000 6 0.000 0.000 2146 2605 3419

3494 -1.06 -146.6 356.0 -9.7 167 3496 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2605 3419

3803 -1.06 -146.6 382.4 -7.8 182 3807 0.00 2.42 0.00 0.000 4 0.000 0.038 2145 1218 3419

3844 -1.13 -146.6 385.3 -6.9 184 3849 0.15 2.42 0.00 0.000 6 0.044 0.036 2099 2604 3419

4171 -1.03 -146.6 414.0 -8.9 200 4173 0.17 0.00 0.00 0.000 6 0.099 0.000 2131 2605 3419

4479 -1.03 -146.6 438.7 -8.5 215 4481 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2605 3419

4789 -1.03 -146.6 468.7 -9.8 230 4790 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2605 3419

5099 -1.03 -146.6 501.7 -12.8 245 5100 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2605 3418

5407 -1.03 -146.6 532.3 -7.7 260 5411 0.00 2.42 0.00 0.000 4 0.000 0.039 2132 1219 3418

5452 -1.03 -146.6 535.0 -6.3 262 5456 0.00 2.40 0.00 0.000 6 0.000 0.036 2131 2599 3418

5779 -1.03 -146.6 562.7 -9.2 278 5780 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3418

6088 -1.03 -146.6 591.9 -9.7 293 6092 0.00 2.33 0.00 0.000 4 0.000 0.070 2131 3856 3417

6116 -1.03 -146.6 595.0 -11.2 294 6120 0.00 2.08 0.00 0.000 6 0.000 0.027 2130 2605 3418

6441 -1.08 -146.6 626.2 -9.1 310 6444 0.00 2.33 0.00 0.000 4 0.000 0.069 2131 3858 3417

6466 end dive: BOTTOM_OBSTACLE_DETECTED

state 6466 begin apogee

6475 -0.31 0.0 629.7 10.6 311 6606 0.75 0.00 127.07 0.993 6 0.103 0.000 2285 2315 2817

6606 end apogee: CONTROL_FINISHED_OK

state 6606 begin climb

6610 1.03 146.6 634.8 0.0 317 6747 1.38 2.67 127.70 0.983 4 0.074 0.048 2578 902 2217

6802 0.94 146.6 631.5 8.4 326 6807 0.00 2.50 0.00 0.000 6 0.000 0.035 2578 2311 2214

7129 0.88 167.0 608.8 6.8 342 7155 0.15 2.67 18.40 0.909 4 0.094 0.064 2549 3693 2136

7240 0.81 167.0 599.5 7.6 347 7245 0.00 2.42 0.00 0.000 6 0.000 0.028 2549 2303 2134

7568 0.93 275.7 580.4 3.8 363 7668 0.00 0.00 98.47 0.961 6 0.000 0.000 2550 2303 1692

7977 1.12 354.2 563.7 4.8 383 8051 0.25 0.00 71.43 0.945 6 0.041 0.000 2614 2304 1373

8348 1.12 354.2 524.0 10.9 401 8351 0.00 2.55 0.00 0.000 4 0.000 0.052 2614 904 1363

8426 1.12 354.2 515.5 10.1 404 8430 0.00 2.47 0.00 0.000 6 0.000 0.037 2614 2300 1362

8741 1.12 354.2 478.1 12.5 419 8745 0.00 2.55 0.00 0.000 4 0.000 0.049 2614 900 1360

8782 1.12 354.2 473.4 11.6 421 8786 0.00 2.47 0.00 0.000 6 0.000 0.035 2614 2304 1359

9108 1.12 354.2 435.7 11.5 437 9112 0.00 2.55 0.00 0.000 4 0.000 0.048 2614 895 1359

9147 1.12 354.2 430.9 12.1 439 9151 0.00 2.47 0.00 0.000 6 0.000 0.035 2614 2304 1358

9474 1.12 354.2 390.1 12.9 455 9478 0.00 2.53 0.00 0.000 4 0.000 0.046 2614 902 1358

9524 1.12 354.2 383.2 12.7 457 9528 0.00 2.45 0.00 0.000 6 0.000 0.033 2614 2307 1357

9845 1.12 354.2 343.4 12.2 473 9849 0.00 2.53 0.00 0.000 4 0.000 0.046 2614 902 1358

9900 1.12 354.2 336.5 12.0 475 9906 0.00 2.45 0.00 0.000 6 0.000 0.034 2614 2305 1357

10216 1.12 354.2 297.2 12.2 491 10220 0.00 2.53 0.00 0.000 4 0.000 0.045 2614 895 1357

10261 1.12 354.2 291.8 13.1 493 10265 0.00 2.45 0.00 0.000 6 0.000 0.033 2614 2304 1357

10593 1.12 354.2 252.2 11.8 509 10597 0.00 2.53 0.00 0.000 4 0.000 0.044 2613 898 1357

10666 1.12 354.2 243.4 11.8 512 10670 0.00 2.45 0.00 0.000 6 0.000 0.033 2614 2304 1356

10981 1.12 354.2 209.2 10.5 527 10985 0.00 2.53 0.00 0.000 4 0.000 0.044 2614 895 1357

11037 1.12 354.2 203.1 11.2 529 11043 0.00 2.45 0.00 0.000 6 0.000 0.033 2614 2302 1356

11352 1.12 354.2 169.7 10.4 545 11356 0.00 2.53 0.00 0.000 4 0.000 0.044 2614 892 1357

11414 1.12 354.2 162.9 11.4 548 11418 0.00 2.45 0.00 0.000 6 0.000 0.033 2614 2306 1357

11747 1.12 354.2 130.1 9.7 564 11751 0.00 2.53 0.00 0.000 4 0.000 0.044 2614 895 1357

11809 1.12 354.2 123.2 10.7 567 11814 0.00 2.45 0.00 0.000 6 0.000 0.033 2615 2304 1356

12137 1.12 354.2 86.0 12.8 583 12138 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2303 1357

12447 1.17 354.2 44.1 13.7 598 12451 0.00 2.50 0.00 0.000 4 0.000 0.044 2614 899 1357

12536 1.22 354.2 32.1 11.5 602 12540 0.00 2.45 0.00 0.000 6 0.000 0.032 2614 2309 1357

12813 end climb: SURFACE_DEPTH_REACHED

state 12813 begin surface coast

12835 end surface coast: CONTROL_FINISHED_OK

state 12835 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	218	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	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-2111474.2	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	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	011337,6314.553,-1304.695,34,1.3,34,-12.2	TGT_NAME	HE
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.49	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.7	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	011902,6314.593,-1304.681,12,1.4,12,-12.2	MHEAD_RNG_PITCHd_Wd	192.5,45547,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.014243	ALTIM_BOTTOM_PING	626.2,13.1
SM_CCo	12919,0.00,0.000,0,0,1354,358.63	_24V_AH	23.6,35.847
SM_GC	1.57,11.32,0.00,0.00,0.051,0.000,0.000,77,2608,1354,-10.45,0.20,358.63	_10V_AH	10.1,18.150
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31675,617
TT8_MAMPS	0.02301	CAP_FILE_SIZE	96076,0
HUMID	1799	CFSIZE	260165632,246202368
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	160709,045554,6314.656,-1300.219,40,1.3,40,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	111.45	SBE_CT	451	24	255.96
Roll_motor	107	69	177.53	SBE_O2	419	19	188.26
VBD_pump_during_apogee	443	993	10386.15	WL_BB2F	387	105	960.48
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	43.89	nil	0	0	0.00
Iridium_during_connect	31	160	120.13	nil	0	0	0.00
Iridium_during_xfer	162	223	855.59
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.36
TT8	1150	19	230.10
LPSleep	9708	2	214.74
TT8_Active	527	19	105.54
TT8_Sampling	1420	39	571.17
TT8_CF8	436	45	201.90
TT8_Kalman	0	81	0.00
Analog_circuits	1253	12	151.95
GPS_charging	0	0	0.00
Compass	1383	8	111.76
RAFOS	0	0	0.00
Transponder	39	30	11.95

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	15	begin dive
18	-1.03	-146.6	0.0	0.0	0	79	0.00	0.00	-59.05	0.000	3	0.000	0.000	75	2605	3416
82	-1.03	-146.6	5.8	-9.6	3	103	11.77	2.35	0.00	0.000	4	0.179	0.056	2130	3863	3419
357	-0.96	-146.6	52.7	-14.5	15	361	0.00	2.17	0.00	0.000	6	0.000	0.026	2130	2574	3419
678	-0.96	-146.6	91.3	-13.0	31	682	0.00	2.38	0.00	0.000	4	0.000	0.060	2130	3864	3419
848	-0.92	-146.6	108.4	-8.3	38	855	0.15	2.12	0.00	0.000	6	0.103	0.025	2158	2593	3420
1165	-0.97	-146.6	132.6	-7.5	54	1169	0.00	2.40	0.00	0.000	4	0.000	0.038	2158	1220	3420
1210	-1.07	-146.6	136.1	-7.7	56	1214	0.15	2.42	0.00	0.000	6	0.040	0.035	2108	2603	3420
1531	-0.99	-146.6	169.2	-10.7	72	1536	0.17	2.30	0.00	0.000	4	0.099	0.061	2145	3858	3420
1581	-0.99	-146.6	174.4	-9.5	74	1584	0.00	2.10	0.00	0.000	6	0.000	0.026	2145	2601	3420
1902	-0.99	-146.6	206.9	-10.5	90	1903	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2600	3420
2211	-0.99	-146.6	237.2	-9.8	105	2212	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2600	3420
2520	-0.99	-146.6	265.5	-9.1	120	2524	0.00	2.40	0.00	0.000	4	0.000	0.038	2146	1220	3420
2560	-1.06	-146.6	269.0	-8.8	121	2567	0.00	2.42	0.00	0.000	6	0.000	0.035	2145	2605	3420
2875	-1.06	-146.6	297.2	-8.9	137	2877	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2605	3420
3187	-1.06	-146.6	325.9	-9.6	152	3188	0.00	0.00	0.00	0.000	6	0.000	0.000	2146	2605	3419
3494	-1.06	-146.6	356.0	-9.7	167	3496	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2605	3419
3803	-1.06	-146.6	382.4	-7.8	182	3807	0.00	2.42	0.00	0.000	4	0.000	0.038	2145	1218	3419
3844	-1.13	-146.6	385.3	-6.9	184	3849	0.15	2.42	0.00	0.000	6	0.044	0.036	2099	2604	3419
4171	-1.03	-146.6	414.0	-8.9	200	4173	0.17	0.00	0.00	0.000	6	0.099	0.000	2131	2605	3419
4479	-1.03	-146.6	438.7	-8.5	215	4481	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2605	3419
4789	-1.03	-146.6	468.7	-9.8	230	4790	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2605	3419
5099	-1.03	-146.6	501.7	-12.8	245	5100	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2605	3418
5407	-1.03	-146.6	532.3	-7.7	260	5411	0.00	2.42	0.00	0.000	4	0.000	0.039	2132	1219	3418
5452	-1.03	-146.6	535.0	-6.3	262	5456	0.00	2.40	0.00	0.000	6	0.000	0.036	2131	2599	3418
5779	-1.03	-146.6	562.7	-9.2	278	5780	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3418
6088	-1.03	-146.6	591.9	-9.7	293	6092	0.00	2.33	0.00	0.000	4	0.000	0.070	2131	3856	3417
6116	-1.03	-146.6	595.0	-11.2	294	6120	0.00	2.08	0.00	0.000	6	0.000	0.027	2130	2605	3418
6441	-1.08	-146.6	626.2	-9.1	310	6444	0.00	2.33	0.00	0.000	4	0.000	0.069	2131	3858	3417
6466	end dive: BOTTOM_OBSTACLE_DETECTED
state	6466	begin apogee
6475	-0.31	0.0	629.7	10.6	311	6606	0.75	0.00	127.07	0.993	6	0.103	0.000	2285	2315	2817
6606	end apogee: CONTROL_FINISHED_OK
state	6606	begin climb
6610	1.03	146.6	634.8	0.0	317	6747	1.38	2.67	127.70	0.983	4	0.074	0.048	2578	902	2217
6802	0.94	146.6	631.5	8.4	326	6807	0.00	2.50	0.00	0.000	6	0.000	0.035	2578	2311	2214
7129	0.88	167.0	608.8	6.8	342	7155	0.15	2.67	18.40	0.909	4	0.094	0.064	2549	3693	2136
7240	0.81	167.0	599.5	7.6	347	7245	0.00	2.42	0.00	0.000	6	0.000	0.028	2549	2303	2134
7568	0.93	275.7	580.4	3.8	363	7668	0.00	0.00	98.47	0.961	6	0.000	0.000	2550	2303	1692
7977	1.12	354.2	563.7	4.8	383	8051	0.25	0.00	71.43	0.945	6	0.041	0.000	2614	2304	1373
8348	1.12	354.2	524.0	10.9	401	8351	0.00	2.55	0.00	0.000	4	0.000	0.052	2614	904	1363
8426	1.12	354.2	515.5	10.1	404	8430	0.00	2.47	0.00	0.000	6	0.000	0.037	2614	2300	1362
8741	1.12	354.2	478.1	12.5	419	8745	0.00	2.55	0.00	0.000	4	0.000	0.049	2614	900	1360
8782	1.12	354.2	473.4	11.6	421	8786	0.00	2.47	0.00	0.000	6	0.000	0.035	2614	2304	1359
9108	1.12	354.2	435.7	11.5	437	9112	0.00	2.55	0.00	0.000	4	0.000	0.048	2614	895	1359
9147	1.12	354.2	430.9	12.1	439	9151	0.00	2.47	0.00	0.000	6	0.000	0.035	2614	2304	1358
9474	1.12	354.2	390.1	12.9	455	9478	0.00	2.53	0.00	0.000	4	0.000	0.046	2614	902	1358
9524	1.12	354.2	383.2	12.7	457	9528	0.00	2.45	0.00	0.000	6	0.000	0.033	2614	2307	1357
9845	1.12	354.2	343.4	12.2	473	9849	0.00	2.53	0.00	0.000	4	0.000	0.046	2614	902	1358
9900	1.12	354.2	336.5	12.0	475	9906	0.00	2.45	0.00	0.000	6	0.000	0.034	2614	2305	1357
10216	1.12	354.2	297.2	12.2	491	10220	0.00	2.53	0.00	0.000	4	0.000	0.045	2614	895	1357
10261	1.12	354.2	291.8	13.1	493	10265	0.00	2.45	0.00	0.000	6	0.000	0.033	2614	2304	1357
10593	1.12	354.2	252.2	11.8	509	10597	0.00	2.53	0.00	0.000	4	0.000	0.044	2613	898	1357
10666	1.12	354.2	243.4	11.8	512	10670	0.00	2.45	0.00	0.000	6	0.000	0.033	2614	2304	1356
10981	1.12	354.2	209.2	10.5	527	10985	0.00	2.53	0.00	0.000	4	0.000	0.044	2614	895	1357
11037	1.12	354.2	203.1	11.2	529	11043	0.00	2.45	0.00	0.000	6	0.000	0.033	2614	2302	1356
11352	1.12	354.2	169.7	10.4	545	11356	0.00	2.53	0.00	0.000	4	0.000	0.044	2614	892	1357
11414	1.12	354.2	162.9	11.4	548	11418	0.00	2.45	0.00	0.000	6	0.000	0.033	2614	2306	1357
11747	1.12	354.2	130.1	9.7	564	11751	0.00	2.53	0.00	0.000	4	0.000	0.044	2614	895	1357
11809	1.12	354.2	123.2	10.7	567	11814	0.00	2.45	0.00	0.000	6	0.000	0.033	2615	2304	1356
12137	1.12	354.2	86.0	12.8	583	12138	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2303	1357
12447	1.17	354.2	44.1	13.7	598	12451	0.00	2.50	0.00	0.000	4	0.000	0.044	2614	899	1357
12536	1.22	354.2	32.1	11.5	602	12540	0.00	2.45	0.00	0.000	6	0.000	0.032	2614	2309	1357
12813	end climb: SURFACE_DEPTH_REACHED
state	12813	begin surface coast
12835	end surface coast: CONTROL_FINISHED_OK
state	12835	begin surface