Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 223 * 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 223 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 566.1524 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 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 -2111572.5 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 566.1524

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 -2111572.5

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 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 223 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 205257,6308.981,-1301.960,38,2.5,57,-12.1 TGT_NAME HE

_CALLS 5 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.56 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -60.3 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 210919,6308.924,-1302.316,13,1.6,18,-12.1 MHEAD_RNG_PITCHd_Wd 195.8,35121,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.026532 ALTIM_BOTTOM_PING 600.6,58.5

SM_CCo 13463,160.23,0.574,0,0,508,566.15 _24V_AH 23.6,36.520

SM_GC 1.58,0.00,0.00,160.23,0.000,0.000,0.574,72,2605,508,-10.52,0.17,566.15 _10V_AH 10.1,18.485

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31768,645

TT8_MAMPS 0.023777 CAP_FILE_SIZE 104165,0

HUMID 1779 CFSIZE 260165632,245940224

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 170709,005820,6307.259,-1304.882,41,3.9,60,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 111.66 SBE_CT 473 24 268.04

Roll_motor 89 62 132.51 SBE_O2 438 19 196.73

VBD_pump_during_apogee 399 1007 9504.48 WL_BB2F 394 105 977.56

VBD_pump_during_surface 160 574 2172.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 87 103 213.04 nil 0 0 0.00

Iridium_during_connect 147 160 557.16 nil 0 0 0.00

Iridium_during_xfer 362 223 1906.48

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.19

TT8 1177 19 235.44

LPSleep 10528 2 232.88

TT8_Active 633 19 126.75

TT8_Sampling 1420 39 571.10

TT8_CF8 849 45 392.88

TT8_Kalman 0 81 0.00

Analog_circuits 1353 12 164.03

GPS_charging 0 0 0.00

Compass 1378 8 111.36

RAFOS 0 0 0.00

Transponder 38 30 11.78

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

16 -1.03 -146.6 0.0 0.0 0 78 0.00 0.00 -60.20 0.000 6 0.000 0.000 71 2604 3417

81 -1.03 -146.6 5.7 -9.9 3 103 11.77 2.53 0.00 0.000 4 0.179 0.035 2129 1194 3418

268 -1.03 -146.6 37.8 -10.7 11 272 0.00 2.45 0.00 0.000 6 0.000 0.035 2130 2596 3419

589 -1.03 -146.6 73.9 -11.9 27 593 0.00 2.33 0.00 0.000 4 0.000 0.063 2129 3860 3418

629 -1.03 -146.6 78.8 -12.7 29 633 0.00 2.15 0.00 0.000 6 0.000 0.025 2129 2576 3418

961 -1.03 -146.6 116.2 -11.2 45 962 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2574 3419

1271 -1.03 -146.6 150.7 -11.2 60 1275 0.00 2.38 0.00 0.000 4 0.000 0.061 2130 3863 3419

1311 -1.03 -146.6 155.4 -11.7 61 1317 0.00 2.12 0.00 0.000 6 0.000 0.026 2130 2596 3419

1627 -1.03 -146.6 190.0 -10.5 77 1631 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1216 3419

1671 -1.03 -146.6 194.7 -10.4 79 1675 0.00 2.42 0.00 0.000 6 0.000 0.035 2129 2599 3419

1992 -1.03 -146.6 227.4 -9.8 95 1993 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3418

2301 -1.03 -146.6 258.0 -9.3 110 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2599 3419

2610 -1.03 -146.6 287.8 -10.1 125 2611 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2920 -1.03 -146.6 320.1 -10.3 140 2921 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

3229 -1.03 -146.6 350.8 -9.5 155 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

3538 -1.03 -146.6 378.6 -8.7 170 3539 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

3847 -1.03 -146.6 406.3 -9.2 185 3849 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2600 3417

4156 -1.03 -146.6 434.6 -9.0 200 4157 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

4465 -1.03 -146.6 461.3 -9.1 215 4467 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3417

4775 -1.03 -146.6 492.9 -10.4 230 4779 0.00 2.40 0.00 0.000 4 0.000 0.039 2130 1220 3416

4831 -1.08 -146.6 498.8 -9.8 232 4836 0.00 2.42 0.00 0.000 6 0.000 0.036 2130 2601 3416

5147 -1.08 -146.6 530.2 -9.6 247 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3416

5457 -1.08 -146.6 562.7 -11.0 262 5461 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1219 3416

5501 -1.14 -146.6 567.9 -10.8 264 5506 0.00 2.42 0.00 0.000 6 0.000 0.036 2129 2601 3416

5823 -1.14 -146.6 605.2 -11.1 280 5824 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2601 3415

6132 -1.14 -146.6 634.6 -8.8 295 6136 0.00 2.42 0.00 0.000 4 0.000 0.038 2130 1220 3415

6183 -1.19 -146.6 639.6 -9.2 297 6188 0.15 2.42 0.00 0.000 6 0.047 0.037 2086 2601 3415

6269 end dive: BOTTOM_OBSTACLE_DETECTED

state 6269 begin apogee

6277 -0.31 0.0 649.3 11.4 301 6412 1.02 0.00 126.97 1.008 6 0.107 0.000 2290 2307 2816

6412 end apogee: CONTROL_FINISHED_OK

state 6412 begin climb

6415 1.03 146.6 656.0 0.0 308 6553 1.35 2.62 128.15 0.997 4 0.073 0.044 2579 911 2218

6800 0.95 146.6 635.6 8.2 325 6804 0.00 2.47 0.00 0.000 6 0.000 0.035 2578 2309 2212

7116 0.88 146.6 611.7 8.0 340 7121 0.15 2.60 0.00 0.000 4 0.100 0.063 2551 3707 2212

7156 0.81 146.6 608.4 7.8 342 7161 0.00 2.42 0.00 0.000 6 0.000 0.028 2550 2314 2212

7483 0.86 194.4 586.7 5.9 358 7533 0.00 2.67 42.20 0.953 4 0.000 0.049 2550 904 2023

7579 0.90 234.2 581.1 6.1 362 7621 0.00 2.47 36.67 0.941 6 0.000 0.035 2550 2301 1862

7940 1.03 284.2 560.4 5.8 380 7988 0.15 0.00 46.17 0.939 6 0.050 0.000 2586 2301 1658

8286 1.07 284.2 528.8 9.9 397 8287 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2301 1650

8596 1.07 284.2 502.4 7.6 412 8600 0.00 2.53 0.00 0.000 4 0.000 0.048 2586 901 1648

8674 1.07 284.2 496.2 8.0 415 8678 0.00 2.47 0.00 0.000 6 0.000 0.035 2587 2302 1647

8989 1.10 305.5 474.9 6.8 430 9011 0.00 0.00 19.42 0.853 6 0.000 0.000 2586 2302 1570

9320 1.14 305.5 447.1 8.6 446 9321 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2302 1566

9629 1.18 305.5 418.8 9.3 461 9634 0.15 2.53 0.00 0.000 4 0.054 0.045 2630 902 1565

9685 1.12 305.5 412.4 11.9 463 9692 0.12 2.45 0.00 0.000 6 0.095 0.034 2607 2301 1564

10001 1.12 305.5 379.0 10.7 479 10005 0.00 2.53 0.00 0.000 4 0.000 0.045 2607 895 1564

10034 1.12 305.5 375.0 11.3 480 10040 0.00 2.45 0.00 0.000 6 0.000 0.033 2606 2302 1564

10350 1.12 305.5 340.4 11.0 496 10351 0.00 0.00 0.00 0.000 6 0.000 0.000 2606 2302 1564

10659 1.12 305.5 307.2 10.5 511 10663 0.00 2.50 0.00 0.000 4 0.000 0.044 2606 902 1564

10715 1.12 305.5 301.0 10.6 513 10719 0.00 2.45 0.00 0.000 6 0.000 0.032 2606 2305 1564

11031 1.12 305.5 267.7 10.3 528 11032 0.00 0.00 0.00 0.000 6 0.000 0.000 2606 2305 1564

11339 1.12 305.5 234.6 10.5 543 11344 0.00 2.50 0.00 0.000 4 0.000 0.044 2607 901 1564

11402 1.12 305.5 227.8 10.6 546 11406 0.00 2.42 0.00 0.000 6 0.000 0.033 2606 2303 1564

11735 1.12 305.5 192.5 10.5 562 11736 0.00 0.00 0.00 0.000 6 0.000 0.000 2606 2303 1564

12044 1.12 305.5 157.2 12.0 577 12048 0.00 2.50 0.00 0.000 4 0.000 0.044 2606 899 1564

12088 1.12 305.5 151.7 11.8 579 12092 0.00 2.45 0.00 0.000 6 0.000 0.033 2606 2306 1564

12410 1.12 305.5 110.1 12.9 595 12411 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2306 1564

12718 1.12 305.5 71.8 11.1 610 12723 0.00 2.50 0.00 0.000 4 0.000 0.043 2606 901 1564

12763 1.12 305.5 67.0 9.9 612 12767 0.00 2.45 0.00 0.000 6 0.000 0.032 2606 2311 1564

13084 1.12 305.5 34.3 10.7 628 13088 0.00 2.53 0.00 0.000 4 0.000 0.044 2606 892 1564

13170 1.19 305.5 25.7 9.1 632 13174 0.00 2.45 0.00 0.000 6 0.000 0.031 2607 2305 1564

13417 end climb: SURFACE_DEPTH_REACHED

state 13417 begin surface coast

13439 end surface coast: CONTROL_FINISHED_OK

state 13439 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	223	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	566.1524	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	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	-2111572.5	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	205257,6308.981,-1301.960,38,2.5,57,-12.1	TGT_NAME	HE
_CALLS	5	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.56	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-60.3	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	210919,6308.924,-1302.316,13,1.6,18,-12.1	MHEAD_RNG_PITCHd_Wd	195.8,35121,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.9,1.026532	ALTIM_BOTTOM_PING	600.6,58.5
SM_CCo	13463,160.23,0.574,0,0,508,566.15	_24V_AH	23.6,36.520
SM_GC	1.58,0.00,0.00,160.23,0.000,0.000,0.574,72,2605,508,-10.52,0.17,566.15	_10V_AH	10.1,18.485
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31768,645
TT8_MAMPS	0.023777	CAP_FILE_SIZE	104165,0
HUMID	1779	CFSIZE	260165632,245940224
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	170709,005820,6307.259,-1304.882,41,3.9,60,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	111.66	SBE_CT	473	24	268.04
Roll_motor	89	62	132.51	SBE_O2	438	19	196.73
VBD_pump_during_apogee	399	1007	9504.48	WL_BB2F	394	105	977.56
VBD_pump_during_surface	160	574	2172.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	87	103	213.04	nil	0	0	0.00
Iridium_during_connect	147	160	557.16	nil	0	0	0.00
Iridium_during_xfer	362	223	1906.48
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.19
TT8	1177	19	235.44
LPSleep	10528	2	232.88
TT8_Active	633	19	126.75
TT8_Sampling	1420	39	571.10
TT8_CF8	849	45	392.88
TT8_Kalman	0	81	0.00
Analog_circuits	1353	12	164.03
GPS_charging	0	0	0.00
Compass	1378	8	111.36
RAFOS	0	0	0.00
Transponder	38	30	11.78

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
16	-1.03	-146.6	0.0	0.0	0	78	0.00	0.00	-60.20	0.000	6	0.000	0.000	71	2604	3417
81	-1.03	-146.6	5.7	-9.9	3	103	11.77	2.53	0.00	0.000	4	0.179	0.035	2129	1194	3418
268	-1.03	-146.6	37.8	-10.7	11	272	0.00	2.45	0.00	0.000	6	0.000	0.035	2130	2596	3419
589	-1.03	-146.6	73.9	-11.9	27	593	0.00	2.33	0.00	0.000	4	0.000	0.063	2129	3860	3418
629	-1.03	-146.6	78.8	-12.7	29	633	0.00	2.15	0.00	0.000	6	0.000	0.025	2129	2576	3418
961	-1.03	-146.6	116.2	-11.2	45	962	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2574	3419
1271	-1.03	-146.6	150.7	-11.2	60	1275	0.00	2.38	0.00	0.000	4	0.000	0.061	2130	3863	3419
1311	-1.03	-146.6	155.4	-11.7	61	1317	0.00	2.12	0.00	0.000	6	0.000	0.026	2130	2596	3419
1627	-1.03	-146.6	190.0	-10.5	77	1631	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1216	3419
1671	-1.03	-146.6	194.7	-10.4	79	1675	0.00	2.42	0.00	0.000	6	0.000	0.035	2129	2599	3419
1992	-1.03	-146.6	227.4	-9.8	95	1993	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3418
2301	-1.03	-146.6	258.0	-9.3	110	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2599	3419
2610	-1.03	-146.6	287.8	-10.1	125	2611	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2920	-1.03	-146.6	320.1	-10.3	140	2921	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
3229	-1.03	-146.6	350.8	-9.5	155	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
3538	-1.03	-146.6	378.6	-8.7	170	3539	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
3847	-1.03	-146.6	406.3	-9.2	185	3849	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2600	3417
4156	-1.03	-146.6	434.6	-9.0	200	4157	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
4465	-1.03	-146.6	461.3	-9.1	215	4467	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3417
4775	-1.03	-146.6	492.9	-10.4	230	4779	0.00	2.40	0.00	0.000	4	0.000	0.039	2130	1220	3416
4831	-1.08	-146.6	498.8	-9.8	232	4836	0.00	2.42	0.00	0.000	6	0.000	0.036	2130	2601	3416
5147	-1.08	-146.6	530.2	-9.6	247	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3416
5457	-1.08	-146.6	562.7	-11.0	262	5461	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1219	3416
5501	-1.14	-146.6	567.9	-10.8	264	5506	0.00	2.42	0.00	0.000	6	0.000	0.036	2129	2601	3416
5823	-1.14	-146.6	605.2	-11.1	280	5824	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2601	3415
6132	-1.14	-146.6	634.6	-8.8	295	6136	0.00	2.42	0.00	0.000	4	0.000	0.038	2130	1220	3415
6183	-1.19	-146.6	639.6	-9.2	297	6188	0.15	2.42	0.00	0.000	6	0.047	0.037	2086	2601	3415
6269	end dive: BOTTOM_OBSTACLE_DETECTED
state	6269	begin apogee
6277	-0.31	0.0	649.3	11.4	301	6412	1.02	0.00	126.97	1.008	6	0.107	0.000	2290	2307	2816
6412	end apogee: CONTROL_FINISHED_OK
state	6412	begin climb
6415	1.03	146.6	656.0	0.0	308	6553	1.35	2.62	128.15	0.997	4	0.073	0.044	2579	911	2218
6800	0.95	146.6	635.6	8.2	325	6804	0.00	2.47	0.00	0.000	6	0.000	0.035	2578	2309	2212
7116	0.88	146.6	611.7	8.0	340	7121	0.15	2.60	0.00	0.000	4	0.100	0.063	2551	3707	2212
7156	0.81	146.6	608.4	7.8	342	7161	0.00	2.42	0.00	0.000	6	0.000	0.028	2550	2314	2212
7483	0.86	194.4	586.7	5.9	358	7533	0.00	2.67	42.20	0.953	4	0.000	0.049	2550	904	2023
7579	0.90	234.2	581.1	6.1	362	7621	0.00	2.47	36.67	0.941	6	0.000	0.035	2550	2301	1862
7940	1.03	284.2	560.4	5.8	380	7988	0.15	0.00	46.17	0.939	6	0.050	0.000	2586	2301	1658
8286	1.07	284.2	528.8	9.9	397	8287	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2301	1650
8596	1.07	284.2	502.4	7.6	412	8600	0.00	2.53	0.00	0.000	4	0.000	0.048	2586	901	1648
8674	1.07	284.2	496.2	8.0	415	8678	0.00	2.47	0.00	0.000	6	0.000	0.035	2587	2302	1647
8989	1.10	305.5	474.9	6.8	430	9011	0.00	0.00	19.42	0.853	6	0.000	0.000	2586	2302	1570
9320	1.14	305.5	447.1	8.6	446	9321	0.00	0.00	0.00	0.000	6	0.000	0.000	2586	2302	1566
9629	1.18	305.5	418.8	9.3	461	9634	0.15	2.53	0.00	0.000	4	0.054	0.045	2630	902	1565
9685	1.12	305.5	412.4	11.9	463	9692	0.12	2.45	0.00	0.000	6	0.095	0.034	2607	2301	1564
10001	1.12	305.5	379.0	10.7	479	10005	0.00	2.53	0.00	0.000	4	0.000	0.045	2607	895	1564
10034	1.12	305.5	375.0	11.3	480	10040	0.00	2.45	0.00	0.000	6	0.000	0.033	2606	2302	1564
10350	1.12	305.5	340.4	11.0	496	10351	0.00	0.00	0.00	0.000	6	0.000	0.000	2606	2302	1564
10659	1.12	305.5	307.2	10.5	511	10663	0.00	2.50	0.00	0.000	4	0.000	0.044	2606	902	1564
10715	1.12	305.5	301.0	10.6	513	10719	0.00	2.45	0.00	0.000	6	0.000	0.032	2606	2305	1564
11031	1.12	305.5	267.7	10.3	528	11032	0.00	0.00	0.00	0.000	6	0.000	0.000	2606	2305	1564
11339	1.12	305.5	234.6	10.5	543	11344	0.00	2.50	0.00	0.000	4	0.000	0.044	2607	901	1564
11402	1.12	305.5	227.8	10.6	546	11406	0.00	2.42	0.00	0.000	6	0.000	0.033	2606	2303	1564
11735	1.12	305.5	192.5	10.5	562	11736	0.00	0.00	0.00	0.000	6	0.000	0.000	2606	2303	1564
12044	1.12	305.5	157.2	12.0	577	12048	0.00	2.50	0.00	0.000	4	0.000	0.044	2606	899	1564
12088	1.12	305.5	151.7	11.8	579	12092	0.00	2.45	0.00	0.000	6	0.000	0.033	2606	2306	1564
12410	1.12	305.5	110.1	12.9	595	12411	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2306	1564
12718	1.12	305.5	71.8	11.1	610	12723	0.00	2.50	0.00	0.000	4	0.000	0.043	2606	901	1564
12763	1.12	305.5	67.0	9.9	612	12767	0.00	2.45	0.00	0.000	6	0.000	0.032	2606	2311	1564
13084	1.12	305.5	34.3	10.7	628	13088	0.00	2.53	0.00	0.000	4	0.000	0.044	2606	892	1564
13170	1.19	305.5	25.7	9.1	632	13174	0.00	2.45	0.00	0.000	6	0.000	0.031	2607	2305	1564
13417	end climb: SURFACE_DEPTH_REACHED
state	13417	begin surface coast
13439	end surface coast: CONTROL_FINISHED_OK
state	13439	begin surface