Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 197 * 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 197 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 36 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 -2111115.2 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 -2111115.2

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 36 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 197 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 073536,6327.106,-1306.672,28,1.1,28,-12.3 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.46 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -58.6 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 074356,6327.114,-1306.828,14,1.1,14,-12.3 MHEAD_RNG_PITCHd_Wd 209.2,23447,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.3,1.026489 ALTIM_BOTTOM_PING 576.8,41.7

SM_CCo 12307,0.00,0.000,0,0,1490,325.51 _24V_AH 23.7,33.097

SM_GC 1.69,12.40,0.00,0.00,0.093,0.000,0.000,74,2606,1490,-10.45,0.17,325.51 _10V_AH 10.1,16.697

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28561,588

TT8_MAMPS 0.023777 CAP_FILE_SIZE 94793,0

HUMID 1757 CFSIZE 260165632,247308288

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 120709,111036,6326.726,-1307.018,40,1.3,40,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 176 112.05 SBE_CT 429 24 244.41

Roll_motor 102 71 173.91 SBE_O2 399 19 179.87

VBD_pump_during_apogee 413 965 9453.62 WL_BB2F 375 105 935.06

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 36 103 89.45 nil 0 0 0.00

Iridium_during_connect 59 160 226.78 nil 0 0 0.00

Iridium_during_xfer 219 223 1157.72

Transponder_ping 5 420 49.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.21

TT8 1100 19 220.11

LPSleep 9308 2 205.90

TT8_Active 491 19 98.31

TT8_Sampling 1358 39 546.20

TT8_CF8 546 45 252.71

TT8_Kalman 0 81 0.00

Analog_circuits 1192 12 144.55

GPS_charging 0 0 0.00

Compass 1320 8 106.66

RAFOS 0 0 0.00

Transponder 36 30 11.09

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.03 -146.6 0.0 0.0 0 81 0.00 0.00 -60.95 0.000 2 0.000 0.000 67 2616 3118

84 -1.03 -146.6 4.2 -6.3 3 107 11.75 2.33 -5.53 0.000 4 0.176 0.071 2132 3847 3418

361 -0.98 -146.6 44.9 -14.4 15 365 0.00 2.15 0.00 0.000 6 0.000 0.026 2132 2576 3418

682 -0.98 -146.6 84.9 -12.6 31 686 0.00 2.35 0.00 0.000 4 0.000 0.061 2132 3849 3418

874 -0.98 -146.6 105.2 -8.0 39 880 0.00 2.10 0.00 0.000 6 0.000 0.026 2132 2590 3418

1191 -0.98 -146.6 131.9 -9.0 55 1196 0.00 2.40 0.00 0.000 4 0.000 0.038 2132 1221 3419

1232 -1.02 -146.6 135.6 -8.5 57 1236 0.00 2.40 0.00 0.000 6 0.000 0.035 2133 2590 3419

1559 -1.02 -146.6 166.0 -9.6 73 1563 0.00 2.35 0.00 0.000 4 0.000 0.063 2133 3866 3419

1603 -1.02 -146.6 170.9 -11.5 75 1607 0.00 2.12 0.00 0.000 6 0.000 0.026 2133 2600 3419

1930 -1.02 -146.6 205.6 -10.9 91 1931 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2599 3419

2240 -1.02 -146.6 240.0 -10.9 106 2241 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3418

2552 -1.02 -146.6 275.6 -11.5 121 2553 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2599 3419

2858 -1.02 -146.6 310.0 -11.2 136 2862 0.00 2.42 0.00 0.000 4 0.000 0.040 2133 1218 3418

2891 -1.02 -146.6 313.9 -11.3 137 2897 0.00 2.42 0.00 0.000 6 0.000 0.035 2132 2601 3418

3206 -1.02 -146.6 346.0 -9.6 153 3210 0.00 2.33 0.00 0.000 4 0.000 0.065 2133 3861 3418

3256 -1.02 -146.6 351.1 -10.1 155 3260 0.00 2.10 0.00 0.000 6 0.000 0.026 2133 2599 3418

3578 -1.02 -146.6 383.7 -13.1 171 3582 0.00 2.42 0.00 0.000 4 0.000 0.041 2133 1218 3418

3623 -1.06 -146.6 390.1 -13.0 173 3627 0.00 2.42 0.00 0.000 6 0.000 0.035 2133 2603 3418

3944 -1.06 -146.6 421.8 -9.6 189 3945 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2603 3418

4253 -1.06 -146.6 446.9 -8.1 204 4257 0.00 2.45 0.00 0.000 4 0.000 0.039 2133 1211 3418

4299 -1.11 -146.6 450.5 -8.0 206 4303 0.00 2.45 0.00 0.000 6 0.000 0.036 2133 2607 3418

4620 -1.11 -146.6 469.6 -5.5 222 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2607 3418

4930 -1.11 -146.6 488.7 -7.0 237 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2607 3418

5238 -1.11 -146.6 513.7 -9.2 252 5239 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2607 3418

5547 -1.11 -146.6 547.6 -11.4 267 5552 0.00 2.45 0.00 0.000 4 0.000 0.038 2133 1211 3417

5588 -1.16 -146.6 552.0 -11.2 269 5593 0.12 2.45 0.00 0.000 6 0.048 0.036 2093 2610 3417

5917 -1.10 -146.6 590.5 -11.3 285 5922 0.12 2.45 0.00 0.000 4 0.097 0.038 2117 1215 3417

5967 -1.17 -146.6 595.5 -9.0 287 5971 0.00 2.42 0.00 0.000 6 0.000 0.036 2116 2600 3417

6115 end dive: BOTTOM_OBSTACLE_DETECTED

state 6115 begin apogee

6122 -0.31 0.0 608.8 9.1 294 6252 0.88 0.00 126.53 0.966 6 0.120 0.000 2286 2307 2817

6253 end apogee: CONTROL_FINISHED_OK

state 6253 begin climb

6256 1.03 146.6 614.2 0.0 300 6393 1.38 2.60 127.65 0.960 4 0.072 0.043 2579 915 2217

6527 0.96 146.6 603.6 7.6 313 6532 0.00 2.45 0.00 0.000 6 0.000 0.034 2579 2304 2213

6844 1.02 263.2 591.0 3.5 328 6953 0.00 2.65 102.97 0.948 4 0.000 0.061 2579 3699 1744

6983 1.05 287.7 584.6 6.7 334 7012 0.00 2.42 23.20 0.894 6 0.000 0.028 2579 2314 1643

7321 1.16 306.2 562.1 6.9 351 7344 0.15 2.65 17.05 0.869 4 0.051 0.048 2624 904 1567

7372 1.16 306.2 557.2 10.0 353 7376 0.00 2.47 0.00 0.000 6 0.000 0.035 2624 2301 1564

7692 1.16 306.2 518.6 13.1 369 7694 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2301 1563

8002 1.16 306.2 478.0 12.8 384 8003 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2302 1562

8311 1.16 306.2 439.2 12.4 399 8315 0.00 2.53 0.00 0.000 4 0.000 0.046 2624 895 1560

8361 1.16 306.2 433.1 11.7 401 8365 0.00 2.47 0.00 0.000 6 0.000 0.034 2624 2308 1560

8682 1.16 306.2 400.3 9.8 417 8683 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2308 1560

8991 1.16 306.2 367.8 10.6 432 8995 0.00 2.53 0.00 0.000 4 0.000 0.045 2624 901 1560

9040 1.16 306.2 362.1 11.5 434 9044 0.00 2.45 0.00 0.000 6 0.000 0.034 2624 2302 1559

9356 1.16 306.2 327.4 11.1 449 9359 0.00 2.50 0.00 0.000 4 0.000 0.044 2624 901 1559

9402 1.16 306.2 322.2 11.1 451 9406 0.00 2.45 0.00 0.000 6 0.000 0.033 2624 2305 1559

9728 1.16 306.2 285.9 11.2 467 9729 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2305 1559

10038 1.16 306.2 252.1 10.6 482 10042 0.00 2.53 0.00 0.000 4 0.000 0.044 2624 895 1559

10083 1.16 306.2 247.0 11.2 484 10087 0.00 2.45 0.00 0.000 6 0.000 0.033 2624 2301 1559

10404 1.16 306.2 212.2 11.0 500 10405 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2301 1559

10713 1.16 306.2 177.9 11.2 515 10714 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2301 1559

11023 1.16 306.2 143.5 10.8 530 11027 0.00 2.50 0.00 0.000 4 0.000 0.044 2624 898 1559

11068 1.16 306.2 138.6 10.8 532 11072 0.00 2.45 0.00 0.000 6 0.000 0.033 2624 2305 1559

11396 1.16 306.2 103.2 10.9 548 11400 0.00 2.50 0.00 0.000 4 0.000 0.044 2624 901 1559

11429 1.16 306.2 99.3 11.1 549 11435 0.00 2.42 0.00 0.000 6 0.000 0.033 2624 2299 1559

11745 1.16 306.2 61.6 12.1 565 11749 0.00 2.50 0.00 0.000 4 0.000 0.044 2624 899 1559

11778 1.16 306.2 57.3 12.3 566 11784 0.00 2.42 0.00 0.000 6 0.000 0.033 2624 2299 1559

12096 1.16 306.2 13.6 11.8 582 12100 0.00 2.50 0.00 0.000 4 0.000 0.043 2624 894 1559

12196 1.19 329.9 5.0 6.7 586 12217 0.00 2.45 15.68 0.551 2 0.000 0.034 2624 2301 1495

12217 end climb: SURFACE_DEPTH_REACHED

state 12217 begin surface coast

12222 end surface coast: CONTROL_FINISHED_OK

state 12222 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	197	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	36	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	-2111115.2	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	073536,6327.106,-1306.672,28,1.1,28,-12.3	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.46	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-58.6	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	074356,6327.114,-1306.828,14,1.1,14,-12.3	MHEAD_RNG_PITCHd_Wd	209.2,23447,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	2.3,1.026489	ALTIM_BOTTOM_PING	576.8,41.7
SM_CCo	12307,0.00,0.000,0,0,1490,325.51	_24V_AH	23.7,33.097
SM_GC	1.69,12.40,0.00,0.00,0.093,0.000,0.000,74,2606,1490,-10.45,0.17,325.51	_10V_AH	10.1,16.697
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28561,588
TT8_MAMPS	0.023777	CAP_FILE_SIZE	94793,0
HUMID	1757	CFSIZE	260165632,247308288
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	120709,111036,6326.726,-1307.018,40,1.3,40,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	176	112.05	SBE_CT	429	24	244.41
Roll_motor	102	71	173.91	SBE_O2	399	19	179.87
VBD_pump_during_apogee	413	965	9453.62	WL_BB2F	375	105	935.06
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	36	103	89.45	nil	0	0	0.00
Iridium_during_connect	59	160	226.78	nil	0	0	0.00
Iridium_during_xfer	219	223	1157.72
Transponder_ping	5	420	49.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.21
TT8	1100	19	220.11
LPSleep	9308	2	205.90
TT8_Active	491	19	98.31
TT8_Sampling	1358	39	546.20
TT8_CF8	546	45	252.71
TT8_Kalman	0	81	0.00
Analog_circuits	1192	12	144.55
GPS_charging	0	0	0.00
Compass	1320	8	106.66
RAFOS	0	0	0.00
Transponder	36	30	11.09

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.03	-146.6	0.0	0.0	0	81	0.00	0.00	-60.95	0.000	2	0.000	0.000	67	2616	3118
84	-1.03	-146.6	4.2	-6.3	3	107	11.75	2.33	-5.53	0.000	4	0.176	0.071	2132	3847	3418
361	-0.98	-146.6	44.9	-14.4	15	365	0.00	2.15	0.00	0.000	6	0.000	0.026	2132	2576	3418
682	-0.98	-146.6	84.9	-12.6	31	686	0.00	2.35	0.00	0.000	4	0.000	0.061	2132	3849	3418
874	-0.98	-146.6	105.2	-8.0	39	880	0.00	2.10	0.00	0.000	6	0.000	0.026	2132	2590	3418
1191	-0.98	-146.6	131.9	-9.0	55	1196	0.00	2.40	0.00	0.000	4	0.000	0.038	2132	1221	3419
1232	-1.02	-146.6	135.6	-8.5	57	1236	0.00	2.40	0.00	0.000	6	0.000	0.035	2133	2590	3419
1559	-1.02	-146.6	166.0	-9.6	73	1563	0.00	2.35	0.00	0.000	4	0.000	0.063	2133	3866	3419
1603	-1.02	-146.6	170.9	-11.5	75	1607	0.00	2.12	0.00	0.000	6	0.000	0.026	2133	2600	3419
1930	-1.02	-146.6	205.6	-10.9	91	1931	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2599	3419
2240	-1.02	-146.6	240.0	-10.9	106	2241	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3418
2552	-1.02	-146.6	275.6	-11.5	121	2553	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2599	3419
2858	-1.02	-146.6	310.0	-11.2	136	2862	0.00	2.42	0.00	0.000	4	0.000	0.040	2133	1218	3418
2891	-1.02	-146.6	313.9	-11.3	137	2897	0.00	2.42	0.00	0.000	6	0.000	0.035	2132	2601	3418
3206	-1.02	-146.6	346.0	-9.6	153	3210	0.00	2.33	0.00	0.000	4	0.000	0.065	2133	3861	3418
3256	-1.02	-146.6	351.1	-10.1	155	3260	0.00	2.10	0.00	0.000	6	0.000	0.026	2133	2599	3418
3578	-1.02	-146.6	383.7	-13.1	171	3582	0.00	2.42	0.00	0.000	4	0.000	0.041	2133	1218	3418
3623	-1.06	-146.6	390.1	-13.0	173	3627	0.00	2.42	0.00	0.000	6	0.000	0.035	2133	2603	3418
3944	-1.06	-146.6	421.8	-9.6	189	3945	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2603	3418
4253	-1.06	-146.6	446.9	-8.1	204	4257	0.00	2.45	0.00	0.000	4	0.000	0.039	2133	1211	3418
4299	-1.11	-146.6	450.5	-8.0	206	4303	0.00	2.45	0.00	0.000	6	0.000	0.036	2133	2607	3418
4620	-1.11	-146.6	469.6	-5.5	222	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2607	3418
4930	-1.11	-146.6	488.7	-7.0	237	4931	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2607	3418
5238	-1.11	-146.6	513.7	-9.2	252	5239	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2607	3418
5547	-1.11	-146.6	547.6	-11.4	267	5552	0.00	2.45	0.00	0.000	4	0.000	0.038	2133	1211	3417
5588	-1.16	-146.6	552.0	-11.2	269	5593	0.12	2.45	0.00	0.000	6	0.048	0.036	2093	2610	3417
5917	-1.10	-146.6	590.5	-11.3	285	5922	0.12	2.45	0.00	0.000	4	0.097	0.038	2117	1215	3417
5967	-1.17	-146.6	595.5	-9.0	287	5971	0.00	2.42	0.00	0.000	6	0.000	0.036	2116	2600	3417
6115	end dive: BOTTOM_OBSTACLE_DETECTED
state	6115	begin apogee
6122	-0.31	0.0	608.8	9.1	294	6252	0.88	0.00	126.53	0.966	6	0.120	0.000	2286	2307	2817
6253	end apogee: CONTROL_FINISHED_OK
state	6253	begin climb
6256	1.03	146.6	614.2	0.0	300	6393	1.38	2.60	127.65	0.960	4	0.072	0.043	2579	915	2217
6527	0.96	146.6	603.6	7.6	313	6532	0.00	2.45	0.00	0.000	6	0.000	0.034	2579	2304	2213
6844	1.02	263.2	591.0	3.5	328	6953	0.00	2.65	102.97	0.948	4	0.000	0.061	2579	3699	1744
6983	1.05	287.7	584.6	6.7	334	7012	0.00	2.42	23.20	0.894	6	0.000	0.028	2579	2314	1643
7321	1.16	306.2	562.1	6.9	351	7344	0.15	2.65	17.05	0.869	4	0.051	0.048	2624	904	1567
7372	1.16	306.2	557.2	10.0	353	7376	0.00	2.47	0.00	0.000	6	0.000	0.035	2624	2301	1564
7692	1.16	306.2	518.6	13.1	369	7694	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2301	1563
8002	1.16	306.2	478.0	12.8	384	8003	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2302	1562
8311	1.16	306.2	439.2	12.4	399	8315	0.00	2.53	0.00	0.000	4	0.000	0.046	2624	895	1560
8361	1.16	306.2	433.1	11.7	401	8365	0.00	2.47	0.00	0.000	6	0.000	0.034	2624	2308	1560
8682	1.16	306.2	400.3	9.8	417	8683	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2308	1560
8991	1.16	306.2	367.8	10.6	432	8995	0.00	2.53	0.00	0.000	4	0.000	0.045	2624	901	1560
9040	1.16	306.2	362.1	11.5	434	9044	0.00	2.45	0.00	0.000	6	0.000	0.034	2624	2302	1559
9356	1.16	306.2	327.4	11.1	449	9359	0.00	2.50	0.00	0.000	4	0.000	0.044	2624	901	1559
9402	1.16	306.2	322.2	11.1	451	9406	0.00	2.45	0.00	0.000	6	0.000	0.033	2624	2305	1559
9728	1.16	306.2	285.9	11.2	467	9729	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2305	1559
10038	1.16	306.2	252.1	10.6	482	10042	0.00	2.53	0.00	0.000	4	0.000	0.044	2624	895	1559
10083	1.16	306.2	247.0	11.2	484	10087	0.00	2.45	0.00	0.000	6	0.000	0.033	2624	2301	1559
10404	1.16	306.2	212.2	11.0	500	10405	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2301	1559
10713	1.16	306.2	177.9	11.2	515	10714	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2301	1559
11023	1.16	306.2	143.5	10.8	530	11027	0.00	2.50	0.00	0.000	4	0.000	0.044	2624	898	1559
11068	1.16	306.2	138.6	10.8	532	11072	0.00	2.45	0.00	0.000	6	0.000	0.033	2624	2305	1559
11396	1.16	306.2	103.2	10.9	548	11400	0.00	2.50	0.00	0.000	4	0.000	0.044	2624	901	1559
11429	1.16	306.2	99.3	11.1	549	11435	0.00	2.42	0.00	0.000	6	0.000	0.033	2624	2299	1559
11745	1.16	306.2	61.6	12.1	565	11749	0.00	2.50	0.00	0.000	4	0.000	0.044	2624	899	1559
11778	1.16	306.2	57.3	12.3	566	11784	0.00	2.42	0.00	0.000	6	0.000	0.033	2624	2299	1559
12096	1.16	306.2	13.6	11.8	582	12100	0.00	2.50	0.00	0.000	4	0.000	0.043	2624	894	1559
12196	1.19	329.9	5.0	6.7	586	12217	0.00	2.45	15.68	0.551	2	0.000	0.034	2624	2301	1495
12217	end climb: SURFACE_DEPTH_REACHED
state	12217	begin surface coast
12222	end surface coast: CONTROL_FINISHED_OK
state	12222	begin surface