Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 229 * 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 229 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -2111671 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 -2111671

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 34 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 229 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 220337,6301.962,-1256.264,42,1.3,42,-12.0 TGT_NAME HE

_CALLS 4 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.61 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -63.5 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 221632,6301.938,-1256.465,13,1.7,13,-12.0 MHEAD_RNG_PITCHd_Wd 210.1,23257,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.016939 ALTIM_BOTTOM_PING 526.3,92.6

SM_CCo 14233,0.00,0.000,0,0,1673,280.62 _24V_AH 23.7,37.232

SM_GC 1.71,12.20,0.00,0.00,0.083,0.000,0.000,74,2608,1673,-10.46,0.20,280.62 _10V_AH 10.1,18.898

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34891,683

TT8_MAMPS 0.02301 CAP_FILE_SIZE 96973,0

HUMID 1775 CFSIZE 260165632,245637120

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 180709,021524,6300.436,-1256.190,29,1.3,46,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 179 113.57 SBE_CT 505 24 287.69

Roll_motor 70 69 115.01 SBE_O2 467 19 210.64

VBD_pump_during_apogee 377 976 8743.63 WL_BB2F 452 105 1127.22

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 72 103 177.75 nil 0 0 0.00

Iridium_during_connect 118 160 448.46 nil 0 0 0.00

Iridium_during_xfer 277 223 1467.36

Transponder_ping 4 420 42.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.65

TT8 1210 19 242.17

LPSleep 11275 2 249.41

TT8_Active 465 19 93.03

TT8_Sampling 1352 39 543.63

TT8_CF8 704 45 325.83

TT8_Kalman 0 81 0.00

Analog_circuits 1135 12 137.66

GPS_charging 0 0 0.00

Compass 1326 8 107.20

RAFOS 0 0 0.00

Transponder 31 30 9.44

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 13 begin dive

16 -1.03 -146.6 0.0 0.0 0 77 0.00 0.00 -57.60 0.000 6 0.000 0.000 75 2600 3416

81 -1.03 -146.6 6.8 -12.0 3 102 11.80 2.53 0.00 0.000 4 0.179 0.035 2131 1190 3417

248 -1.03 -146.6 36.8 -10.0 10 253 0.00 2.47 0.00 0.000 6 0.000 0.035 2131 2593 3418

564 -1.03 -146.6 66.4 -8.8 25 568 0.00 2.47 0.00 0.000 4 0.000 0.036 2131 1188 3420

604 -1.03 -146.6 69.8 -8.6 27 608 0.00 2.50 0.00 0.000 6 0.000 0.035 2131 2609 3419

931 -1.03 -146.6 97.4 -9.0 43 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2609 3419

1241 -1.03 -146.6 127.8 -10.0 58 1242 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2609 3419

1550 -1.03 -146.6 157.6 -9.7 73 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2609 3419

1859 -1.03 -146.6 187.1 -9.2 88 1863 0.00 2.50 0.00 0.000 4 0.000 0.037 2132 1188 3419

1891 -1.03 -146.6 190.0 -8.7 89 1897 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2601 3419

2207 -1.03 -146.6 218.3 -8.7 105 2208 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

2516 -1.03 -146.6 246.6 -9.3 120 2517 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2601 3419

2828 -1.03 -146.6 275.3 -9.5 135 2832 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1194 3419

2872 -1.03 -146.6 280.1 -9.6 137 2877 0.00 2.47 0.00 0.000 6 0.000 0.035 2132 2606 3419

3194 -1.03 -146.6 311.2 -9.7 153 3195 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3418

3503 -1.03 -146.6 341.8 -10.2 168 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3419

3813 -1.03 -146.6 372.4 -9.7 183 3817 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1194 3418

3868 -1.03 -146.6 377.8 -9.0 185 3876 0.00 2.45 0.00 0.000 6 0.000 0.035 2132 2601 3418

4184 -1.03 -146.6 406.9 -9.0 201 4185 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3417

4494 -1.03 -146.6 436.6 -10.2 216 4495 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3417

4803 -1.03 -146.6 469.5 -10.6 231 4804 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3417

5112 -1.03 -146.6 499.1 -9.6 246 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2601 3417

5422 -1.03 -146.6 530.4 -9.9 261 5426 0.00 2.47 0.00 0.000 4 0.000 0.038 2132 1194 3417

5489 -1.08 -146.6 536.6 -8.3 264 5493 0.00 2.47 0.00 0.000 6 0.000 0.036 2132 2606 3417

5810 -1.08 -146.6 562.9 -8.0 280 5811 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2606 3416

6119 -1.08 -146.6 585.8 -7.1 295 6123 0.00 2.33 0.00 0.000 4 0.000 0.069 2132 3857 3416

6168 -1.08 -146.6 589.9 -8.3 297 6172 0.00 2.15 0.00 0.000 6 0.000 0.027 2131 2582 3416

6405 end dive: BOTTOM_OBSTACLE_DETECTED

state 6405 begin apogee

6412 -0.31 0.0 609.6 8.6 309 6542 0.75 0.00 126.40 0.976 6 0.084 0.000 2289 2300 2817

6543 end apogee: CONTROL_FINISHED_OK

state 6543 begin climb

6546 1.03 146.6 614.5 0.0 315 6678 1.35 0.00 127.45 0.968 6 0.071 0.000 2577 2300 2219

6980 1.01 174.7 594.2 6.5 336 7008 0.00 0.00 25.67 0.917 6 0.000 0.000 2577 2300 2104

7308 1.04 196.9 572.0 6.7 352 7335 0.00 2.67 20.08 0.895 4 0.000 0.062 2577 3701 2015

7364 1.04 196.9 567.8 8.1 354 7371 0.00 2.42 0.00 0.000 6 0.000 0.028 2577 2315 2014

7680 1.04 196.9 544.2 8.2 370 7681 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2314 2011

7990 1.08 196.9 515.3 9.7 385 7994 0.00 2.58 0.00 0.000 4 0.000 0.050 2577 898 2009

8023 1.08 196.9 511.7 10.8 386 8027 0.00 2.47 0.00 0.000 6 0.000 0.034 2577 2303 2008

8344 1.08 196.9 481.5 9.3 402 8348 0.00 2.58 0.00 0.000 4 0.000 0.061 2577 3698 2008

8416 1.08 196.9 474.7 8.9 405 8420 0.00 2.45 0.00 0.000 6 0.000 0.028 2577 2292 2009

8731 1.09 206.2 450.2 7.2 420 8742 0.00 0.00 8.93 0.759 6 0.000 0.000 2577 2292 1976

9041 1.13 206.2 426.6 7.9 435 9046 0.15 2.60 0.00 0.000 4 0.052 0.059 2620 3698 1975

9081 1.00 206.2 422.6 11.3 437 9086 0.22 2.42 0.00 0.000 6 0.094 0.028 2577 2300 1975

9408 1.00 206.2 393.4 9.0 453 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2297 1974

9717 1.00 206.2 363.4 10.0 468 9718 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2297 1974

10026 1.00 206.2 333.1 9.8 483 10027 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2297 1974

10335 1.00 206.2 305.3 8.7 498 10337 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2298 1974

10645 1.00 206.2 280.2 8.0 513 10646 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 2297 1974

10954 1.00 206.2 255.5 8.0 528 10955 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2298 1974

11263 1.00 206.2 231.7 7.7 543 11268 0.00 2.58 0.00 0.000 4 0.000 0.058 2576 3700 1974

11297 0.95 206.2 229.0 8.2 544 11304 0.00 2.40 0.00 0.000 6 0.000 0.028 2576 2297 1974

11613 0.96 214.2 205.8 7.2 560 11623 0.00 0.00 8.55 0.621 6 0.000 0.000 2576 2298 1943

11922 0.96 214.2 181.8 7.9 575 11923 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2297 1941

12232 0.97 223.3 158.4 7.2 590 12243 0.00 0.00 9.55 0.607 6 0.000 0.000 2577 2297 1906

12541 0.98 234.2 136.5 7.1 605 12553 0.00 0.00 10.75 0.604 6 0.000 0.000 2576 2297 1861

12851 0.98 234.2 110.8 8.6 620 12852 0.00 0.00 0.00 0.000 6 0.000 0.000 2576 2298 1860

13158 0.98 234.2 81.0 9.4 635 13163 0.00 2.58 0.00 0.000 4 0.000 0.056 2576 3704 1860

13192 0.98 234.2 77.6 9.3 636 13198 0.00 2.40 0.00 0.000 6 0.000 0.028 2576 2299 1860

13510 1.01 254.6 53.1 6.8 652 13531 0.00 0.00 19.08 0.588 6 0.000 0.000 2576 2299 1778

13839 1.08 254.6 29.6 8.5 668 13843 0.00 2.50 0.00 0.000 4 0.000 0.046 2576 899 1776

13928 1.22 278.2 22.1 6.7 672 13955 0.22 2.45 21.40 0.571 6 0.041 0.031 2640 2309 1682

14126 end climb: SURFACE_DEPTH_REACHED

state 14126 begin surface coast

14149 end surface coast: CONTROL_FINISHED_OK

state 14149 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	229	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-2111671	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	220337,6301.962,-1256.264,42,1.3,42,-12.0	TGT_NAME	HE
_CALLS	4	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.61	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-63.5	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	221632,6301.938,-1256.465,13,1.7,13,-12.0	MHEAD_RNG_PITCHd_Wd	210.1,23257,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.016939	ALTIM_BOTTOM_PING	526.3,92.6
SM_CCo	14233,0.00,0.000,0,0,1673,280.62	_24V_AH	23.7,37.232
SM_GC	1.71,12.20,0.00,0.00,0.083,0.000,0.000,74,2608,1673,-10.46,0.20,280.62	_10V_AH	10.1,18.898
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34891,683
TT8_MAMPS	0.02301	CAP_FILE_SIZE	96973,0
HUMID	1775	CFSIZE	260165632,245637120
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	180709,021524,6300.436,-1256.190,29,1.3,46,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	179	113.57	SBE_CT	505	24	287.69
Roll_motor	70	69	115.01	SBE_O2	467	19	210.64
VBD_pump_during_apogee	377	976	8743.63	WL_BB2F	452	105	1127.22
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	72	103	177.75	nil	0	0	0.00
Iridium_during_connect	118	160	448.46	nil	0	0	0.00
Iridium_during_xfer	277	223	1467.36
Transponder_ping	4	420	42.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.65
TT8	1210	19	242.17
LPSleep	11275	2	249.41
TT8_Active	465	19	93.03
TT8_Sampling	1352	39	543.63
TT8_CF8	704	45	325.83
TT8_Kalman	0	81	0.00
Analog_circuits	1135	12	137.66
GPS_charging	0	0	0.00
Compass	1326	8	107.20
RAFOS	0	0	0.00
Transponder	31	30	9.44

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	13	begin dive
16	-1.03	-146.6	0.0	0.0	0	77	0.00	0.00	-57.60	0.000	6	0.000	0.000	75	2600	3416
81	-1.03	-146.6	6.8	-12.0	3	102	11.80	2.53	0.00	0.000	4	0.179	0.035	2131	1190	3417
248	-1.03	-146.6	36.8	-10.0	10	253	0.00	2.47	0.00	0.000	6	0.000	0.035	2131	2593	3418
564	-1.03	-146.6	66.4	-8.8	25	568	0.00	2.47	0.00	0.000	4	0.000	0.036	2131	1188	3420
604	-1.03	-146.6	69.8	-8.6	27	608	0.00	2.50	0.00	0.000	6	0.000	0.035	2131	2609	3419
931	-1.03	-146.6	97.4	-9.0	43	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2609	3419
1241	-1.03	-146.6	127.8	-10.0	58	1242	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2609	3419
1550	-1.03	-146.6	157.6	-9.7	73	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2609	3419
1859	-1.03	-146.6	187.1	-9.2	88	1863	0.00	2.50	0.00	0.000	4	0.000	0.037	2132	1188	3419
1891	-1.03	-146.6	190.0	-8.7	89	1897	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2601	3419
2207	-1.03	-146.6	218.3	-8.7	105	2208	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
2516	-1.03	-146.6	246.6	-9.3	120	2517	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2601	3419
2828	-1.03	-146.6	275.3	-9.5	135	2832	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1194	3419
2872	-1.03	-146.6	280.1	-9.6	137	2877	0.00	2.47	0.00	0.000	6	0.000	0.035	2132	2606	3419
3194	-1.03	-146.6	311.2	-9.7	153	3195	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3418
3503	-1.03	-146.6	341.8	-10.2	168	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3419
3813	-1.03	-146.6	372.4	-9.7	183	3817	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1194	3418
3868	-1.03	-146.6	377.8	-9.0	185	3876	0.00	2.45	0.00	0.000	6	0.000	0.035	2132	2601	3418
4184	-1.03	-146.6	406.9	-9.0	201	4185	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3417
4494	-1.03	-146.6	436.6	-10.2	216	4495	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3417
4803	-1.03	-146.6	469.5	-10.6	231	4804	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3417
5112	-1.03	-146.6	499.1	-9.6	246	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2601	3417
5422	-1.03	-146.6	530.4	-9.9	261	5426	0.00	2.47	0.00	0.000	4	0.000	0.038	2132	1194	3417
5489	-1.08	-146.6	536.6	-8.3	264	5493	0.00	2.47	0.00	0.000	6	0.000	0.036	2132	2606	3417
5810	-1.08	-146.6	562.9	-8.0	280	5811	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2606	3416
6119	-1.08	-146.6	585.8	-7.1	295	6123	0.00	2.33	0.00	0.000	4	0.000	0.069	2132	3857	3416
6168	-1.08	-146.6	589.9	-8.3	297	6172	0.00	2.15	0.00	0.000	6	0.000	0.027	2131	2582	3416
6405	end dive: BOTTOM_OBSTACLE_DETECTED
state	6405	begin apogee
6412	-0.31	0.0	609.6	8.6	309	6542	0.75	0.00	126.40	0.976	6	0.084	0.000	2289	2300	2817
6543	end apogee: CONTROL_FINISHED_OK
state	6543	begin climb
6546	1.03	146.6	614.5	0.0	315	6678	1.35	0.00	127.45	0.968	6	0.071	0.000	2577	2300	2219
6980	1.01	174.7	594.2	6.5	336	7008	0.00	0.00	25.67	0.917	6	0.000	0.000	2577	2300	2104
7308	1.04	196.9	572.0	6.7	352	7335	0.00	2.67	20.08	0.895	4	0.000	0.062	2577	3701	2015
7364	1.04	196.9	567.8	8.1	354	7371	0.00	2.42	0.00	0.000	6	0.000	0.028	2577	2315	2014
7680	1.04	196.9	544.2	8.2	370	7681	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2314	2011
7990	1.08	196.9	515.3	9.7	385	7994	0.00	2.58	0.00	0.000	4	0.000	0.050	2577	898	2009
8023	1.08	196.9	511.7	10.8	386	8027	0.00	2.47	0.00	0.000	6	0.000	0.034	2577	2303	2008
8344	1.08	196.9	481.5	9.3	402	8348	0.00	2.58	0.00	0.000	4	0.000	0.061	2577	3698	2008
8416	1.08	196.9	474.7	8.9	405	8420	0.00	2.45	0.00	0.000	6	0.000	0.028	2577	2292	2009
8731	1.09	206.2	450.2	7.2	420	8742	0.00	0.00	8.93	0.759	6	0.000	0.000	2577	2292	1976
9041	1.13	206.2	426.6	7.9	435	9046	0.15	2.60	0.00	0.000	4	0.052	0.059	2620	3698	1975
9081	1.00	206.2	422.6	11.3	437	9086	0.22	2.42	0.00	0.000	6	0.094	0.028	2577	2300	1975
9408	1.00	206.2	393.4	9.0	453	9409	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2297	1974
9717	1.00	206.2	363.4	10.0	468	9718	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2297	1974
10026	1.00	206.2	333.1	9.8	483	10027	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2297	1974
10335	1.00	206.2	305.3	8.7	498	10337	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2298	1974
10645	1.00	206.2	280.2	8.0	513	10646	0.00	0.00	0.00	0.000	6	0.000	0.000	2577	2297	1974
10954	1.00	206.2	255.5	8.0	528	10955	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2298	1974
11263	1.00	206.2	231.7	7.7	543	11268	0.00	2.58	0.00	0.000	4	0.000	0.058	2576	3700	1974
11297	0.95	206.2	229.0	8.2	544	11304	0.00	2.40	0.00	0.000	6	0.000	0.028	2576	2297	1974
11613	0.96	214.2	205.8	7.2	560	11623	0.00	0.00	8.55	0.621	6	0.000	0.000	2576	2298	1943
11922	0.96	214.2	181.8	7.9	575	11923	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2297	1941
12232	0.97	223.3	158.4	7.2	590	12243	0.00	0.00	9.55	0.607	6	0.000	0.000	2577	2297	1906
12541	0.98	234.2	136.5	7.1	605	12553	0.00	0.00	10.75	0.604	6	0.000	0.000	2576	2297	1861
12851	0.98	234.2	110.8	8.6	620	12852	0.00	0.00	0.00	0.000	6	0.000	0.000	2576	2298	1860
13158	0.98	234.2	81.0	9.4	635	13163	0.00	2.58	0.00	0.000	4	0.000	0.056	2576	3704	1860
13192	0.98	234.2	77.6	9.3	636	13198	0.00	2.40	0.00	0.000	6	0.000	0.028	2576	2299	1860
13510	1.01	254.6	53.1	6.8	652	13531	0.00	0.00	19.08	0.588	6	0.000	0.000	2576	2299	1778
13839	1.08	254.6	29.6	8.5	668	13843	0.00	2.50	0.00	0.000	4	0.000	0.046	2576	899	1776
13928	1.22	278.2	22.1	6.7	672	13955	0.22	2.45	21.40	0.571	6	0.041	0.031	2640	2309	1682
14126	end climb: SURFACE_DEPTH_REACHED
state	14126	begin surface coast
14149	end surface coast: CONTROL_FINISHED_OK
state	14149	begin surface