Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 9 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2074967.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2074967.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 9 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 131531,6134.834,-834.877,39,1.8,44,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.062,-0.256

_SM_DEPTHo 1.63 KALMAN_X 6302.9,-2174.2,-14.9,23036.8,1958.9

_SM_ANGLEo -65.7 KALMAN_Y 6670.5,600.7,1059.7,-14601.9,1769.6

GPS2 132021,6134.829,-834.793,10,1.9,10,-9.0 MHEAD_RNG_PITCHd_Wd 175.4,12444,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.005460 ALTIM_BOTTOM_PING 775.6,83.8

SM_CCo 14152,48.85,0.657,1,0,1594,300.00 _24V_AH 23.4,8.396

SM_GC 1.69,0.00,0.00,48.85,0.000,0.000,0.657,72,2408,1594,-10.75,0.23,300.00 _10V_AH 10.1,3.287

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34892,680

TT8_MAMPS 0.02301 CFSIZE 260165632,257826816

HUMID 2110 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,1,0

TCM_TEMP 17.10 GPS 141107,171908,6134.243,-835.377,39,1.8,39,-9.0

XPDR_PINGS 34

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 101.64 SBE_CT 482 24 270.72

Roll_motor 99 84 195.65 SBE_O2 481 19 213.88

VBD_pump_during_apogee 304 1302 9269.84 WL_BB2F 395 105 972.12

VBD_pump_during_surface 48 657 751.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.59 nil 0 0 0.00

Iridium_during_connect 37 160 139.30 nil 0 0 0.00

Iridium_during_xfer 145 223 760.26

Transponder_ping 15 420 149.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.20

TT8 1274 19 254.97

LPSleep 10821 2 239.35

TT8_Active 477 19 95.55

TT8_Sampling 1640 39 659.45

TT8_CF8 288 45 133.57

TT8_Kalman 33 81 27.55

Analog_circuits 1278 12 154.93

GPS_charging 0 0 0.00

Compass 1602 8 129.51

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -1.29 -146.6 0.0 0.0 0 80 0.00 0.00 -62.03 0.000 2 0.000 0.000 69 2408 3269

82 -1.29 -146.6 4.9 -7.9 3 104 11.48 2.65 -2.95 0.000 4 0.170 0.074 2122 979 3418

306 -1.29 -146.6 41.4 -13.9 13 311 0.00 2.58 0.00 0.000 6 0.000 0.049 2122 2395 3419

632 -1.29 -146.6 86.5 -13.6 29 636 0.00 2.55 0.00 0.000 4 0.000 0.068 2122 3766 3419

725 -1.29 -146.6 100.0 -13.8 33 730 0.00 2.50 0.00 0.000 6 0.000 0.047 2122 2399 3419

1046 -1.29 -146.6 143.8 -13.6 49 1051 0.00 2.55 0.00 0.000 4 0.000 0.069 2122 3766 3419

1100 -1.29 -146.6 151.5 -14.5 51 1108 0.00 2.50 0.00 0.000 6 0.000 0.048 2122 2396 3419

1416 -1.29 -146.6 193.9 -13.4 67 1417 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2396 3419

1725 -1.29 -146.6 235.2 -13.1 82 1729 0.00 2.58 0.00 0.000 4 0.000 0.070 2122 3770 3419

1774 -1.29 -146.6 241.9 -12.9 84 1779 0.00 2.50 0.00 0.000 6 0.000 0.048 2122 2402 3419

2095 -1.29 -146.6 284.4 -13.0 100 2099 0.00 2.55 0.00 0.000 4 0.000 0.071 2122 3767 3419

2156 -1.29 -146.6 293.2 -13.9 103 2160 0.00 2.47 0.00 0.000 6 0.000 0.051 2122 2400 3419

2487 -1.29 -146.6 338.3 -13.9 119 2492 0.00 2.55 0.00 0.000 4 0.000 0.072 2122 3766 3419

2531 -1.29 -146.6 344.8 -15.3 121 2536 0.00 2.50 0.00 0.000 6 0.000 0.051 2122 2404 3419

2857 -1.29 -146.6 390.1 -13.5 137 2858 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2403 3419

3166 -1.29 -146.6 430.8 -13.3 152 3171 0.00 2.55 0.00 0.000 4 0.000 0.072 2122 3766 3419

3255 -1.29 -146.6 443.6 -14.7 156 3260 0.00 2.50 0.00 0.000 6 0.000 0.051 2122 2403 3419

3581 -1.29 -146.6 489.3 -12.6 172 3586 0.00 2.55 0.00 0.000 4 0.000 0.072 2122 3766 3419

3665 -1.29 -146.6 499.5 -12.6 176 3670 0.00 2.47 0.00 0.000 6 0.000 0.053 2122 2398 3419

3991 -1.29 -146.6 545.0 -15.5 192 3992 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2398 3420

4300 -1.29 -146.6 597.6 -19.0 207 4301 0.00 0.00 0.00 0.000 6 0.000 0.000 2122 2398 3420

4609 -1.29 -146.6 665.3 -23.3 222 4613 0.00 2.58 0.00 0.000 4 0.000 0.074 2122 3766 3420

4866 -1.29 -146.6 689.3 -11.2 233 4873 0.00 2.50 0.00 0.000 6 0.000 0.054 2122 2402 3421

5181 -1.29 -146.6 716.8 -10.6 249 5185 0.00 2.58 0.00 0.000 4 0.000 0.081 2122 3765 3421

5438 -1.29 -146.6 754.7 -17.4 260 5443 0.00 2.53 0.00 0.000 6 0.000 0.058 2122 2402 3421

5760 -1.29 -146.6 783.6 -7.2 276 5764 0.00 2.60 0.00 0.000 4 0.000 0.084 2122 3763 3421

5903 -1.29 -146.6 802.8 -13.1 282 5911 0.00 2.53 0.00 0.000 6 0.000 0.058 2123 2402 3421

6219 -1.29 -146.6 834.5 -10.4 298 6223 0.00 2.70 0.00 0.000 4 0.000 0.080 2122 978 3419

6257 -1.29 -146.6 841.8 -20.4 300 6261 0.00 2.62 0.00 0.000 6 0.000 0.064 2122 2397 3419

6313 end dive: BOTTOM_OBSTACLE_DETECTED

state 6313 begin apogee

6317 -0.31 0.0 850.5 15.3 303 6444 1.12 0.00 123.05 1.302 6 0.123 0.000 2341 2198 2817

6445 end apogee: CONTROL_FINISHED_OK

state 6445 begin climb

6446 1.29 146.6 852.9 0.0 309 6576 1.67 2.83 120.22 1.283 4 0.089 0.077 2685 788 2219

6828 1.29 146.6 814.2 15.5 326 6835 0.00 2.65 0.00 0.000 6 0.000 0.058 2686 2201 2218

7143 1.29 146.6 764.7 17.0 342 7147 0.00 2.70 0.00 0.000 4 0.000 0.075 2686 787 2217

7400 1.30 154.9 728.0 9.6 353 7413 0.00 2.65 7.93 1.052 6 0.000 0.058 2686 2193 2185

7721 1.33 179.3 697.4 8.9 369 7743 0.00 0.00 20.85 1.179 6 0.000 0.000 2686 2193 2085

8050 1.36 213.6 667.7 8.4 385 8085 0.00 2.75 28.30 1.175 4 0.000 0.071 2686 788 1946

8174 1.36 213.6 655.3 10.1 390 8182 0.00 2.62 0.00 0.000 6 0.000 0.055 2686 2193 1944

8490 1.36 213.6 622.8 11.5 406 8494 0.00 2.67 0.00 0.000 4 0.000 0.076 2686 3611 1944

8555 1.36 213.6 614.5 11.7 409 8560 0.00 2.65 0.00 0.000 6 0.000 0.058 2686 2201 1944

8881 1.36 213.6 580.7 11.0 425 8883 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1943

9191 1.36 213.6 546.3 11.6 440 9195 0.00 2.62 0.00 0.000 4 0.000 0.070 2686 3613 1943

9240 1.36 213.6 539.9 12.8 442 9245 0.00 2.62 0.00 0.000 6 0.000 0.054 2686 2200 1943

9566 1.36 213.6 502.4 11.9 458 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1943

9876 1.36 213.6 466.2 11.8 473 9877 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1943

10185 1.36 213.6 430.9 11.2 488 10186 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1945

10494 1.36 213.6 393.6 12.1 503 10495 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1946

10803 1.36 213.6 357.6 11.4 518 10805 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1947

11113 1.36 214.6 325.5 10.0 533 11114 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1947

11422 1.36 214.6 294.5 10.0 548 11423 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2200 1948

11731 1.36 214.6 261.3 10.6 563 11735 0.00 2.62 0.00 0.000 4 0.000 0.067 2686 3613 1948

11770 1.36 214.6 257.0 11.5 565 11774 0.00 2.58 0.00 0.000 6 0.000 0.053 2686 2197 1949

12096 1.36 214.6 221.6 10.8 581 12097 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2197 1950

12405 1.36 214.6 189.2 10.5 596 12406 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2197 1950

12714 1.36 214.6 156.0 10.7 611 12720 0.00 0.00 3.83 0.511 6 0.000 0.000 2686 2197 1941

13024 1.36 214.6 122.5 11.1 626 13025 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2197 1941

13333 1.36 214.6 88.7 10.8 641 13337 0.00 2.62 0.00 0.000 4 0.000 0.065 2686 3613 1941

13364 1.36 214.6 84.8 12.0 642 13372 0.00 2.58 0.00 0.000 6 0.000 0.051 2686 2204 1941

13681 1.36 214.6 50.5 10.9 658 13682 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2204 1942

13989 1.36 214.6 14.8 11.2 673 13991 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2204 1943

14112 end climb: SURFACE_DEPTH_REACHED

state 14112 begin surface coast

14134 end surface coast: CONTROL_FINISHED_OK

state 14134 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	9	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2074967.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	131531,6134.834,-834.877,39,1.8,44,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.062,-0.256
_SM_DEPTHo	1.63	KALMAN_X	6302.9,-2174.2,-14.9,23036.8,1958.9
_SM_ANGLEo	-65.7	KALMAN_Y	6670.5,600.7,1059.7,-14601.9,1769.6
GPS2	132021,6134.829,-834.793,10,1.9,10,-9.0	MHEAD_RNG_PITCHd_Wd	175.4,12444,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.005460	ALTIM_BOTTOM_PING	775.6,83.8
SM_CCo	14152,48.85,0.657,1,0,1594,300.00	_24V_AH	23.4,8.396
SM_GC	1.69,0.00,0.00,48.85,0.000,0.000,0.657,72,2408,1594,-10.75,0.23,300.00	_10V_AH	10.1,3.287
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34892,680
TT8_MAMPS	0.02301	CFSIZE	260165632,257826816
HUMID	2110	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
TCM_TEMP	17.10	GPS	141107,171908,6134.243,-835.377,39,1.8,39,-9.0
XPDR_PINGS	34

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	101.64	SBE_CT	482	24	270.72
Roll_motor	99	84	195.65	SBE_O2	481	19	213.88
VBD_pump_during_apogee	304	1302	9269.84	WL_BB2F	395	105	972.12
VBD_pump_during_surface	48	657	751.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.59	nil	0	0	0.00
Iridium_during_connect	37	160	139.30	nil	0	0	0.00
Iridium_during_xfer	145	223	760.26
Transponder_ping	15	420	149.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.20
TT8	1274	19	254.97
LPSleep	10821	2	239.35
TT8_Active	477	19	95.55
TT8_Sampling	1640	39	659.45
TT8_CF8	288	45	133.57
TT8_Kalman	33	81	27.55
Analog_circuits	1278	12	154.93
GPS_charging	0	0	0.00
Compass	1602	8	129.51
RAFOS	0	0	0.00

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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-1.29	-146.6	0.0	0.0	0	80	0.00	0.00	-62.03	0.000	2	0.000	0.000	69	2408	3269
82	-1.29	-146.6	4.9	-7.9	3	104	11.48	2.65	-2.95	0.000	4	0.170	0.074	2122	979	3418
306	-1.29	-146.6	41.4	-13.9	13	311	0.00	2.58	0.00	0.000	6	0.000	0.049	2122	2395	3419
632	-1.29	-146.6	86.5	-13.6	29	636	0.00	2.55	0.00	0.000	4	0.000	0.068	2122	3766	3419
725	-1.29	-146.6	100.0	-13.8	33	730	0.00	2.50	0.00	0.000	6	0.000	0.047	2122	2399	3419
1046	-1.29	-146.6	143.8	-13.6	49	1051	0.00	2.55	0.00	0.000	4	0.000	0.069	2122	3766	3419
1100	-1.29	-146.6	151.5	-14.5	51	1108	0.00	2.50	0.00	0.000	6	0.000	0.048	2122	2396	3419
1416	-1.29	-146.6	193.9	-13.4	67	1417	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2396	3419
1725	-1.29	-146.6	235.2	-13.1	82	1729	0.00	2.58	0.00	0.000	4	0.000	0.070	2122	3770	3419
1774	-1.29	-146.6	241.9	-12.9	84	1779	0.00	2.50	0.00	0.000	6	0.000	0.048	2122	2402	3419
2095	-1.29	-146.6	284.4	-13.0	100	2099	0.00	2.55	0.00	0.000	4	0.000	0.071	2122	3767	3419
2156	-1.29	-146.6	293.2	-13.9	103	2160	0.00	2.47	0.00	0.000	6	0.000	0.051	2122	2400	3419
2487	-1.29	-146.6	338.3	-13.9	119	2492	0.00	2.55	0.00	0.000	4	0.000	0.072	2122	3766	3419
2531	-1.29	-146.6	344.8	-15.3	121	2536	0.00	2.50	0.00	0.000	6	0.000	0.051	2122	2404	3419
2857	-1.29	-146.6	390.1	-13.5	137	2858	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2403	3419
3166	-1.29	-146.6	430.8	-13.3	152	3171	0.00	2.55	0.00	0.000	4	0.000	0.072	2122	3766	3419
3255	-1.29	-146.6	443.6	-14.7	156	3260	0.00	2.50	0.00	0.000	6	0.000	0.051	2122	2403	3419
3581	-1.29	-146.6	489.3	-12.6	172	3586	0.00	2.55	0.00	0.000	4	0.000	0.072	2122	3766	3419
3665	-1.29	-146.6	499.5	-12.6	176	3670	0.00	2.47	0.00	0.000	6	0.000	0.053	2122	2398	3419
3991	-1.29	-146.6	545.0	-15.5	192	3992	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2398	3420
4300	-1.29	-146.6	597.6	-19.0	207	4301	0.00	0.00	0.00	0.000	6	0.000	0.000	2122	2398	3420
4609	-1.29	-146.6	665.3	-23.3	222	4613	0.00	2.58	0.00	0.000	4	0.000	0.074	2122	3766	3420
4866	-1.29	-146.6	689.3	-11.2	233	4873	0.00	2.50	0.00	0.000	6	0.000	0.054	2122	2402	3421
5181	-1.29	-146.6	716.8	-10.6	249	5185	0.00	2.58	0.00	0.000	4	0.000	0.081	2122	3765	3421
5438	-1.29	-146.6	754.7	-17.4	260	5443	0.00	2.53	0.00	0.000	6	0.000	0.058	2122	2402	3421
5760	-1.29	-146.6	783.6	-7.2	276	5764	0.00	2.60	0.00	0.000	4	0.000	0.084	2122	3763	3421
5903	-1.29	-146.6	802.8	-13.1	282	5911	0.00	2.53	0.00	0.000	6	0.000	0.058	2123	2402	3421
6219	-1.29	-146.6	834.5	-10.4	298	6223	0.00	2.70	0.00	0.000	4	0.000	0.080	2122	978	3419
6257	-1.29	-146.6	841.8	-20.4	300	6261	0.00	2.62	0.00	0.000	6	0.000	0.064	2122	2397	3419
6313	end dive: BOTTOM_OBSTACLE_DETECTED
state	6313	begin apogee
6317	-0.31	0.0	850.5	15.3	303	6444	1.12	0.00	123.05	1.302	6	0.123	0.000	2341	2198	2817
6445	end apogee: CONTROL_FINISHED_OK
state	6445	begin climb
6446	1.29	146.6	852.9	0.0	309	6576	1.67	2.83	120.22	1.283	4	0.089	0.077	2685	788	2219
6828	1.29	146.6	814.2	15.5	326	6835	0.00	2.65	0.00	0.000	6	0.000	0.058	2686	2201	2218
7143	1.29	146.6	764.7	17.0	342	7147	0.00	2.70	0.00	0.000	4	0.000	0.075	2686	787	2217
7400	1.30	154.9	728.0	9.6	353	7413	0.00	2.65	7.93	1.052	6	0.000	0.058	2686	2193	2185
7721	1.33	179.3	697.4	8.9	369	7743	0.00	0.00	20.85	1.179	6	0.000	0.000	2686	2193	2085
8050	1.36	213.6	667.7	8.4	385	8085	0.00	2.75	28.30	1.175	4	0.000	0.071	2686	788	1946
8174	1.36	213.6	655.3	10.1	390	8182	0.00	2.62	0.00	0.000	6	0.000	0.055	2686	2193	1944
8490	1.36	213.6	622.8	11.5	406	8494	0.00	2.67	0.00	0.000	4	0.000	0.076	2686	3611	1944
8555	1.36	213.6	614.5	11.7	409	8560	0.00	2.65	0.00	0.000	6	0.000	0.058	2686	2201	1944
8881	1.36	213.6	580.7	11.0	425	8883	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1943
9191	1.36	213.6	546.3	11.6	440	9195	0.00	2.62	0.00	0.000	4	0.000	0.070	2686	3613	1943
9240	1.36	213.6	539.9	12.8	442	9245	0.00	2.62	0.00	0.000	6	0.000	0.054	2686	2200	1943
9566	1.36	213.6	502.4	11.9	458	9567	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1943
9876	1.36	213.6	466.2	11.8	473	9877	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1943
10185	1.36	213.6	430.9	11.2	488	10186	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1945
10494	1.36	213.6	393.6	12.1	503	10495	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1946
10803	1.36	213.6	357.6	11.4	518	10805	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1947
11113	1.36	214.6	325.5	10.0	533	11114	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1947
11422	1.36	214.6	294.5	10.0	548	11423	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2200	1948
11731	1.36	214.6	261.3	10.6	563	11735	0.00	2.62	0.00	0.000	4	0.000	0.067	2686	3613	1948
11770	1.36	214.6	257.0	11.5	565	11774	0.00	2.58	0.00	0.000	6	0.000	0.053	2686	2197	1949
12096	1.36	214.6	221.6	10.8	581	12097	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2197	1950
12405	1.36	214.6	189.2	10.5	596	12406	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2197	1950
12714	1.36	214.6	156.0	10.7	611	12720	0.00	0.00	3.83	0.511	6	0.000	0.000	2686	2197	1941
13024	1.36	214.6	122.5	11.1	626	13025	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2197	1941
13333	1.36	214.6	88.7	10.8	641	13337	0.00	2.62	0.00	0.000	4	0.000	0.065	2686	3613	1941
13364	1.36	214.6	84.8	12.0	642	13372	0.00	2.58	0.00	0.000	6	0.000	0.051	2686	2204	1941
13681	1.36	214.6	50.5	10.9	658	13682	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2204	1942
13989	1.36	214.6	14.8	11.2	673	13991	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2204	1943
14112	end climb: SURFACE_DEPTH_REACHED
state	14112	begin surface coast
14134	end surface coast: CONTROL_FINISHED_OK
state	14134	begin surface