Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 199 * 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 199 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -2111145.8 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 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 -2111145.8

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 33 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 199 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 144830,6326.215,-1305.911,40,1.4,46,-12.2 TGT_NAME IE

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.41 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -57.4 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 145621,6326.203,-1306.077,12,1.7,13,-12.3 MHEAD_RNG_PITCHd_Wd 212.0,22041,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026491 ALTIM_BOTTOM_PING 577.2,71.2

SM_CCo 12711,0.00,0.000,0,0,1162,405.97 _24V_AH 23.6,33.388

SM_GC 1.35,12.30,0.00,0.00,0.092,0.000,0.000,74,2598,1162,-10.46,-0.06,405.97 _10V_AH 10.1,16.823

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31654,606

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98273,0

HUMID 1794 CFSIZE 260165632,247209984

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 120709,182936,6324.536,-1308.554,28,1.8,28,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 181 116.37 SBE_CT 442 24 250.75

Roll_motor 108 68 175.28 SBE_O2 412 19 184.83

VBD_pump_during_apogee 483 998 11392.07 WL_BB2F 370 105 917.94

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 87.87 nil 0 0 0.00

Iridium_during_connect 53 160 200.54 nil 0 0 0.00

Iridium_during_xfer 209 223 1104.44

Transponder_ping 4 420 47.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 1130 19 226.00

LPSleep 9502 2 210.18

TT8_Active 564 19 112.93

TT8_Sampling 1466 39 589.47

TT8_CF8 522 45 241.91

TT8_Kalman 0 81 0.00

Analog_circuits 1328 12 161.07

GPS_charging 0 0 0.00

Compass 1426 8 115.28

RAFOS 0 0 0.00

Transponder 33 30 10.22

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 -1.03 -146.6 0.0 0.0 0 96 0.00 0.00 -75.90 0.000 6 0.000 0.000 69 2602 3416

100 -1.03 -146.6 7.4 -9.4 4 121 11.88 2.35 0.00 0.000 4 0.182 0.058 2132 3857 3417

374 -1.03 -146.6 58.5 -12.7 16 379 0.00 2.17 0.00 0.000 6 0.000 0.026 2132 2573 3417

696 -1.03 -146.6 88.0 -8.3 32 700 0.00 2.38 0.00 0.000 4 0.000 0.061 2132 3861 3417

954 -1.03 -146.6 108.7 -8.5 43 960 0.00 2.12 0.00 0.000 6 0.000 0.027 2132 2592 3417

1269 -1.03 -146.6 136.5 -9.2 59 1271 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2592 3417

1578 -1.03 -146.6 161.9 -8.0 74 1579 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2592 3417

1888 -1.03 -146.6 186.5 -8.0 89 1892 0.00 2.42 0.00 0.000 4 0.000 0.039 2133 1211 3417

1928 -1.03 -146.6 189.7 -8.3 91 1932 0.00 2.42 0.00 0.000 6 0.000 0.035 2133 2596 3417

2254 -1.03 -146.6 219.3 -9.5 107 2255 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2596 3417

2564 -1.03 -146.6 246.5 -8.2 122 2568 0.00 2.33 0.00 0.000 4 0.000 0.064 2133 3857 3417

2608 -1.03 -146.6 250.9 -10.2 124 2612 0.00 2.10 0.00 0.000 6 0.000 0.027 2133 2600 3417

2935 -1.03 -146.6 281.1 -9.0 140 2939 0.00 2.42 0.00 0.000 4 0.000 0.039 2133 1212 3417

2980 -1.08 -146.6 285.3 -8.9 142 2984 0.00 2.42 0.00 0.000 6 0.000 0.035 2133 2599 3417

3300 -1.08 -146.6 313.0 -8.5 158 3301 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2599 3416

3610 -1.08 -146.6 340.4 -8.9 173 3611 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2599 3416

3919 -1.08 -146.6 367.6 -9.1 188 3923 0.00 2.42 0.00 0.000 4 0.000 0.038 2133 1209 3416

3969 -1.12 -146.6 372.4 -9.3 190 3973 0.00 2.45 0.00 0.000 6 0.000 0.036 2133 2603 3416

4297 -1.12 -146.6 401.3 -8.7 206 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2603 3416

4606 -1.12 -146.6 429.8 -9.3 221 4608 0.00 0.00 0.00 0.000 6 0.000 0.000 2133 2604 3416

4915 -1.12 -146.6 458.1 -9.0 236 4919 0.00 2.45 0.00 0.000 4 0.000 0.039 2133 1208 3416

4965 -1.18 -146.6 462.6 -8.7 238 4970 0.15 2.45 0.00 0.000 6 0.044 0.036 2087 2606 3416

5281 -1.07 -146.6 496.4 -10.7 253 5286 0.17 2.45 0.00 0.000 4 0.097 0.038 2124 1212 3416

5337 -1.11 -146.6 501.4 -8.2 255 5343 0.00 2.42 0.00 0.000 6 0.000 0.037 2123 2599 3416

5653 -1.11 -146.6 526.9 -8.2 271 5657 0.00 2.33 0.00 0.000 4 0.000 0.068 2123 3857 3415

5703 -1.11 -146.6 531.7 -9.4 273 5707 0.00 2.10 0.00 0.000 6 0.000 0.027 2124 2603 3415

6024 -1.11 -146.6 563.4 -11.0 289 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2601 3415

6334 -1.11 -146.6 597.1 -10.3 304 6335 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2601 3415

6643 -1.11 -146.6 626.2 -10.3 319 6644 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2601 3414

6785 end dive: BOTTOM_OBSTACLE_DETECTED

state 6786 begin apogee

6793 -0.31 0.0 640.2 9.5 326 6927 0.82 0.00 126.75 0.999 6 0.101 0.000 2290 2309 2817

6927 end apogee: CONTROL_FINISHED_OK

state 6928 begin climb

6931 1.03 146.6 645.4 0.0 333 7069 1.35 2.67 128.23 0.986 4 0.071 0.063 2580 3693 2218

7123 0.88 146.6 640.1 9.4 342 7128 0.15 2.42 0.00 0.000 6 0.099 0.028 2552 2308 2216

7450 0.90 157.2 617.0 7.1 358 7462 0.00 0.00 9.85 0.839 6 0.000 0.000 2552 2307 2176

7759 0.90 157.2 593.9 7.7 373 7763 0.00 2.60 0.00 0.000 4 0.000 0.063 2552 3701 2173

7837 0.83 157.2 587.5 8.4 376 7843 0.00 2.45 0.00 0.000 6 0.000 0.029 2552 2298 2173

8153 0.95 275.1 570.3 3.5 392 8261 0.00 0.00 106.05 0.960 6 0.000 0.000 2552 2298 1695

8566 1.21 401.2 552.3 3.2 412 8690 0.30 2.67 112.50 0.941 4 0.044 0.061 2633 3704 1178

8703 1.21 401.2 542.4 8.4 418 8708 0.00 2.50 0.00 0.000 6 0.000 0.031 2633 2297 1176

9019 1.21 401.2 508.9 11.3 433 9023 0.00 2.58 0.00 0.000 4 0.000 0.053 2633 889 1168

9091 1.21 401.2 500.4 11.6 436 9096 0.00 2.50 0.00 0.000 6 0.000 0.035 2633 2303 1168

9407 1.21 401.2 466.3 11.2 451 9411 0.00 2.55 0.00 0.000 4 0.000 0.048 2633 896 1166

9463 1.25 401.2 459.5 11.8 453 9469 0.00 2.47 0.00 0.000 6 0.000 0.035 2633 2302 1165

9779 1.25 401.2 421.3 12.4 469 9783 0.00 2.55 0.00 0.000 4 0.000 0.048 2633 892 1165

9841 1.25 401.2 413.1 12.8 472 9846 0.00 2.47 0.00 0.000 6 0.000 0.034 2633 2308 1165

10168 1.25 401.2 369.8 13.7 488 10172 0.00 2.55 0.00 0.000 4 0.000 0.047 2633 895 1165

10237 1.25 401.2 360.1 14.6 491 10241 0.00 2.47 0.00 0.000 6 0.000 0.034 2633 2307 1165

10557 1.25 401.2 312.5 14.8 507 10562 0.00 2.55 0.00 0.000 4 0.000 0.046 2633 891 1165

10620 1.25 401.2 302.7 16.3 510 10624 0.00 2.47 0.00 0.000 6 0.000 0.034 2633 2308 1166

10953 1.25 401.2 250.8 15.0 526 10957 0.00 2.55 0.00 0.000 4 0.000 0.046 2633 893 1165

11025 1.25 401.2 239.3 15.1 529 11029 0.00 2.47 0.00 0.000 6 0.000 0.033 2633 2309 1165

11341 1.25 401.2 188.7 16.1 544 11345 0.00 2.55 0.00 0.000 4 0.000 0.046 2633 891 1165

11425 1.25 401.2 174.5 16.4 548 11429 0.00 2.47 0.00 0.000 6 0.000 0.033 2631 2311 1165

11752 1.25 401.2 119.2 17.1 564 11756 0.00 2.55 0.00 0.000 4 0.000 0.046 2633 891 1165

11860 1.25 401.2 101.9 15.4 569 11864 0.00 2.45 0.00 0.000 6 0.000 0.033 2633 2301 1165

12187 1.25 401.2 53.2 14.1 585 12191 0.00 2.53 0.00 0.000 4 0.000 0.044 2633 891 1165

12253 1.31 401.2 43.9 13.3 588 12258 0.00 2.47 0.00 0.000 6 0.000 0.033 2633 2311 1165

12575 1.31 401.2 5.5 11.7 604 12580 0.00 2.55 0.00 0.000 4 0.000 0.046 2633 891 1165

12606 end climb: SURFACE_DEPTH_REACHED

state 12606 begin surface coast

12624 end surface coast: CONTROL_FINISHED_OK

state 12624 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	199	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-2111145.8	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	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	144830,6326.215,-1305.911,40,1.4,46,-12.2	TGT_NAME	IE
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.41	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-57.4	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	145621,6326.203,-1306.077,12,1.7,13,-12.3	MHEAD_RNG_PITCHd_Wd	212.0,22041,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.026491	ALTIM_BOTTOM_PING	577.2,71.2
SM_CCo	12711,0.00,0.000,0,0,1162,405.97	_24V_AH	23.6,33.388
SM_GC	1.35,12.30,0.00,0.00,0.092,0.000,0.000,74,2598,1162,-10.46,-0.06,405.97	_10V_AH	10.1,16.823
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31654,606
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98273,0
HUMID	1794	CFSIZE	260165632,247209984
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	120709,182936,6324.536,-1308.554,28,1.8,28,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	181	116.37	SBE_CT	442	24	250.75
Roll_motor	108	68	175.28	SBE_O2	412	19	184.83
VBD_pump_during_apogee	483	998	11392.07	WL_BB2F	370	105	917.94
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	87.87	nil	0	0	0.00
Iridium_during_connect	53	160	200.54	nil	0	0	0.00
Iridium_during_xfer	209	223	1104.44
Transponder_ping	4	420	47.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	1130	19	226.00
LPSleep	9502	2	210.18
TT8_Active	564	19	112.93
TT8_Sampling	1466	39	589.47
TT8_CF8	522	45	241.91
TT8_Kalman	0	81	0.00
Analog_circuits	1328	12	161.07
GPS_charging	0	0	0.00
Compass	1426	8	115.28
RAFOS	0	0	0.00
Transponder	33	30	10.22

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	-1.03	-146.6	0.0	0.0	0	96	0.00	0.00	-75.90	0.000	6	0.000	0.000	69	2602	3416
100	-1.03	-146.6	7.4	-9.4	4	121	11.88	2.35	0.00	0.000	4	0.182	0.058	2132	3857	3417
374	-1.03	-146.6	58.5	-12.7	16	379	0.00	2.17	0.00	0.000	6	0.000	0.026	2132	2573	3417
696	-1.03	-146.6	88.0	-8.3	32	700	0.00	2.38	0.00	0.000	4	0.000	0.061	2132	3861	3417
954	-1.03	-146.6	108.7	-8.5	43	960	0.00	2.12	0.00	0.000	6	0.000	0.027	2132	2592	3417
1269	-1.03	-146.6	136.5	-9.2	59	1271	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2592	3417
1578	-1.03	-146.6	161.9	-8.0	74	1579	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2592	3417
1888	-1.03	-146.6	186.5	-8.0	89	1892	0.00	2.42	0.00	0.000	4	0.000	0.039	2133	1211	3417
1928	-1.03	-146.6	189.7	-8.3	91	1932	0.00	2.42	0.00	0.000	6	0.000	0.035	2133	2596	3417
2254	-1.03	-146.6	219.3	-9.5	107	2255	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2596	3417
2564	-1.03	-146.6	246.5	-8.2	122	2568	0.00	2.33	0.00	0.000	4	0.000	0.064	2133	3857	3417
2608	-1.03	-146.6	250.9	-10.2	124	2612	0.00	2.10	0.00	0.000	6	0.000	0.027	2133	2600	3417
2935	-1.03	-146.6	281.1	-9.0	140	2939	0.00	2.42	0.00	0.000	4	0.000	0.039	2133	1212	3417
2980	-1.08	-146.6	285.3	-8.9	142	2984	0.00	2.42	0.00	0.000	6	0.000	0.035	2133	2599	3417
3300	-1.08	-146.6	313.0	-8.5	158	3301	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2599	3416
3610	-1.08	-146.6	340.4	-8.9	173	3611	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2599	3416
3919	-1.08	-146.6	367.6	-9.1	188	3923	0.00	2.42	0.00	0.000	4	0.000	0.038	2133	1209	3416
3969	-1.12	-146.6	372.4	-9.3	190	3973	0.00	2.45	0.00	0.000	6	0.000	0.036	2133	2603	3416
4297	-1.12	-146.6	401.3	-8.7	206	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2603	3416
4606	-1.12	-146.6	429.8	-9.3	221	4608	0.00	0.00	0.00	0.000	6	0.000	0.000	2133	2604	3416
4915	-1.12	-146.6	458.1	-9.0	236	4919	0.00	2.45	0.00	0.000	4	0.000	0.039	2133	1208	3416
4965	-1.18	-146.6	462.6	-8.7	238	4970	0.15	2.45	0.00	0.000	6	0.044	0.036	2087	2606	3416
5281	-1.07	-146.6	496.4	-10.7	253	5286	0.17	2.45	0.00	0.000	4	0.097	0.038	2124	1212	3416
5337	-1.11	-146.6	501.4	-8.2	255	5343	0.00	2.42	0.00	0.000	6	0.000	0.037	2123	2599	3416
5653	-1.11	-146.6	526.9	-8.2	271	5657	0.00	2.33	0.00	0.000	4	0.000	0.068	2123	3857	3415
5703	-1.11	-146.6	531.7	-9.4	273	5707	0.00	2.10	0.00	0.000	6	0.000	0.027	2124	2603	3415
6024	-1.11	-146.6	563.4	-11.0	289	6026	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2601	3415
6334	-1.11	-146.6	597.1	-10.3	304	6335	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2601	3415
6643	-1.11	-146.6	626.2	-10.3	319	6644	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2601	3414
6785	end dive: BOTTOM_OBSTACLE_DETECTED
state	6786	begin apogee
6793	-0.31	0.0	640.2	9.5	326	6927	0.82	0.00	126.75	0.999	6	0.101	0.000	2290	2309	2817
6927	end apogee: CONTROL_FINISHED_OK
state	6928	begin climb
6931	1.03	146.6	645.4	0.0	333	7069	1.35	2.67	128.23	0.986	4	0.071	0.063	2580	3693	2218
7123	0.88	146.6	640.1	9.4	342	7128	0.15	2.42	0.00	0.000	6	0.099	0.028	2552	2308	2216
7450	0.90	157.2	617.0	7.1	358	7462	0.00	0.00	9.85	0.839	6	0.000	0.000	2552	2307	2176
7759	0.90	157.2	593.9	7.7	373	7763	0.00	2.60	0.00	0.000	4	0.000	0.063	2552	3701	2173
7837	0.83	157.2	587.5	8.4	376	7843	0.00	2.45	0.00	0.000	6	0.000	0.029	2552	2298	2173
8153	0.95	275.1	570.3	3.5	392	8261	0.00	0.00	106.05	0.960	6	0.000	0.000	2552	2298	1695
8566	1.21	401.2	552.3	3.2	412	8690	0.30	2.67	112.50	0.941	4	0.044	0.061	2633	3704	1178
8703	1.21	401.2	542.4	8.4	418	8708	0.00	2.50	0.00	0.000	6	0.000	0.031	2633	2297	1176
9019	1.21	401.2	508.9	11.3	433	9023	0.00	2.58	0.00	0.000	4	0.000	0.053	2633	889	1168
9091	1.21	401.2	500.4	11.6	436	9096	0.00	2.50	0.00	0.000	6	0.000	0.035	2633	2303	1168
9407	1.21	401.2	466.3	11.2	451	9411	0.00	2.55	0.00	0.000	4	0.000	0.048	2633	896	1166
9463	1.25	401.2	459.5	11.8	453	9469	0.00	2.47	0.00	0.000	6	0.000	0.035	2633	2302	1165
9779	1.25	401.2	421.3	12.4	469	9783	0.00	2.55	0.00	0.000	4	0.000	0.048	2633	892	1165
9841	1.25	401.2	413.1	12.8	472	9846	0.00	2.47	0.00	0.000	6	0.000	0.034	2633	2308	1165
10168	1.25	401.2	369.8	13.7	488	10172	0.00	2.55	0.00	0.000	4	0.000	0.047	2633	895	1165
10237	1.25	401.2	360.1	14.6	491	10241	0.00	2.47	0.00	0.000	6	0.000	0.034	2633	2307	1165
10557	1.25	401.2	312.5	14.8	507	10562	0.00	2.55	0.00	0.000	4	0.000	0.046	2633	891	1165
10620	1.25	401.2	302.7	16.3	510	10624	0.00	2.47	0.00	0.000	6	0.000	0.034	2633	2308	1166
10953	1.25	401.2	250.8	15.0	526	10957	0.00	2.55	0.00	0.000	4	0.000	0.046	2633	893	1165
11025	1.25	401.2	239.3	15.1	529	11029	0.00	2.47	0.00	0.000	6	0.000	0.033	2633	2309	1165
11341	1.25	401.2	188.7	16.1	544	11345	0.00	2.55	0.00	0.000	4	0.000	0.046	2633	891	1165
11425	1.25	401.2	174.5	16.4	548	11429	0.00	2.47	0.00	0.000	6	0.000	0.033	2631	2311	1165
11752	1.25	401.2	119.2	17.1	564	11756	0.00	2.55	0.00	0.000	4	0.000	0.046	2633	891	1165
11860	1.25	401.2	101.9	15.4	569	11864	0.00	2.45	0.00	0.000	6	0.000	0.033	2633	2301	1165
12187	1.25	401.2	53.2	14.1	585	12191	0.00	2.53	0.00	0.000	4	0.000	0.044	2633	891	1165
12253	1.31	401.2	43.9	13.3	588	12258	0.00	2.47	0.00	0.000	6	0.000	0.033	2633	2311	1165
12575	1.31	401.2	5.5	11.7	604	12580	0.00	2.55	0.00	0.000	4	0.000	0.046	2633	891	1165
12606	end climb: SURFACE_DEPTH_REACHED
state	12606	begin surface coast
12624	end surface coast: CONTROL_FINISHED_OK
state	12624	begin surface