Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 106 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 106 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 990 T_GPS_CHARGE -102238.42 VBD_BLEED_AD_RATE 8 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -102238.42

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 106 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 210602,6241.131,-1214.478,51,1.0,52,-11.5 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.093,0.102

_SM_DEPTHo 1.44 KALMAN_X -101608.5,38.5,590.4,-87917.3,-3143.9

_SM_ANGLEo -51.0 KALMAN_Y -3904.2,250.3,235.7,122830.2,-4011.0

GPS2 211138,6241.104,-1214.341,15,1.3,15,-11.5 MHEAD_RNG_PITCHd_Wd 329.1,5228,-27.7,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026882 ALTIM_BOTTOM_PING 695.0,73.3

SM_CCo 12716,100.15,0.775,0,0,1608,300.00 _24V_AH 23.8,20.206

SM_GC 1.49,0.00,0.00,100.15,0.000,0.000,0.775,416,2092,1608,-10.71,-1.07,300.00 _10V_AH 10.1,9.072

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31778,606

TT8_MAMPS 0.029146 CAP_FILE_SIZE 98921,0

HUMID 1808 CFSIZE 254472192,245944320

TCM_TEMP 19.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 22 GPS 160909,004725,6241.077,-1219.227,38,1.3,38,-11.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 166 107.84 SBE_CT 415 24 237.48

Roll_motor 106 76 193.77 SBE_O2 454 19 205.55

VBD_pump_during_apogee 180 1305 5603.35 WL_BB2F 354 105 885.48

VBD_pump_during_surface 100 775 1848.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 33 160 125.97 nil 0 0 0.00

Iridium_during_xfer 144 223 766.58

Transponder_ping 11 420 117.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.78

TT8 1164 19 232.95

LPSleep 9677 2 214.05

TT8_Active 407 19 81.39

TT8_Sampling 1448 39 582.12

TT8_CF8 458 45 212.02

TT8_Kalman 33 81 27.56

Analog_circuits 1127 12 136.67

GPS_charging 0 0 0.00

Compass 1411 8 114.04

RAFOS 0 0 0.00

Transponder 43 30 13.04

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 -1.92 -44.4 0.0 0.0 0 59 0.00 0.00 -41.55 0.000 2 0.000 0.000 417 2133 2407

63 -1.97 -80.3 2.3 -3.7 2 109 10.57 2.60 -30.05 0.000 4 0.166 0.071 2307 712 3158

183 -1.97 -80.3 23.3 -23.0 7 187 0.00 2.50 0.00 0.000 6 0.000 0.045 2307 2125 3159

501 -1.92 -80.3 87.2 -18.7 22 505 0.00 2.55 0.00 0.000 4 0.000 0.057 2307 709 3159

574 -1.87 -80.3 101.7 -19.1 25 579 0.12 2.50 0.00 0.000 6 0.126 0.044 2332 2132 3159

890 -1.87 -80.3 158.1 -18.5 40 894 0.00 2.55 0.00 0.000 4 0.000 0.058 2332 718 3159

984 -1.87 -80.3 176.5 -19.5 44 989 0.00 2.45 0.00 0.000 6 0.000 0.046 2331 2116 3160

1301 -1.87 -80.3 236.7 -19.0 59 1305 0.00 2.53 0.00 0.000 4 0.000 0.059 2331 718 3160

1341 -1.87 -80.3 244.6 -20.0 61 1348 0.00 2.47 0.00 0.000 6 0.000 0.048 2331 2120 3160

1676 -1.87 -80.3 307.7 -18.6 77 1680 0.00 2.55 0.00 0.000 4 0.000 0.061 2331 706 3160

1759 -1.87 -80.3 323.5 -19.1 80 1766 0.00 2.47 0.00 0.000 6 0.000 0.048 2331 2108 3160

2076 -1.87 -80.3 379.8 -17.9 96 2080 0.00 2.53 0.00 0.000 4 0.000 0.062 2331 715 3160

2161 -1.87 -80.3 395.4 -18.0 100 2166 0.00 2.42 0.00 0.000 6 0.000 0.048 2331 2088 3160

2489 -1.87 -80.3 453.9 -17.8 116 2493 0.00 2.50 0.00 0.000 4 0.000 0.062 2331 707 3160

2539 -1.87 -80.3 463.4 -18.3 118 2543 0.00 2.42 0.00 0.000 6 0.000 0.049 2331 2078 3160

2855 -1.87 -80.3 519.0 -17.3 133 2859 0.00 2.50 0.00 0.000 4 0.000 0.066 2332 707 3160

2893 -1.87 -80.3 525.9 -17.7 134 2899 0.00 2.42 0.00 0.000 6 0.000 0.049 2332 2078 3160

3209 -1.87 -80.3 577.1 -15.5 150 3213 0.00 2.50 0.00 0.000 4 0.000 0.067 2331 710 3159

3253 -1.87 -80.3 584.5 -16.7 152 3257 0.00 2.42 0.00 0.000 6 0.000 0.050 2331 2078 3159

3574 -1.87 -80.3 631.6 -14.7 168 3575 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2078 3159

3883 -1.87 -80.3 677.3 -14.4 183 3887 0.00 2.50 0.00 0.000 4 0.000 0.070 2331 714 3159

4018 -1.87 -80.3 697.2 -13.3 189 4022 0.00 2.42 0.00 0.000 6 0.000 0.052 2331 2073 3159

4345 -1.87 -80.3 742.8 -13.6 205 4350 0.00 2.67 0.00 0.000 4 0.000 0.074 2331 3537 3158

4364 -1.87 -80.3 745.5 -14.4 206 4368 0.00 2.67 0.00 0.000 6 0.000 0.063 2331 2071 3158

4461 end dive: BOTTOM_OBSTACLE_DETECTED

state 4461 begin apogee

4468 -0.33 0.0 760.0 14.4 211 4545 1.65 0.00 72.30 1.305 6 0.097 0.000 2672 1839 2831

4546 end apogee: CONTROL_FINISHED_OK

state 4546 begin climb

4549 1.97 80.3 763.2 0.0 215 4630 2.33 2.67 72.35 1.278 4 0.057 0.064 3177 3249 2503

4655 1.89 85.9 758.1 7.3 220 4669 0.12 2.60 6.75 1.006 6 0.119 0.064 3159 1853 2480

4977 1.89 85.9 727.3 9.6 236 4981 0.00 2.60 0.00 0.000 4 0.000 0.077 3159 439 2479

5072 1.78 85.9 717.5 9.7 240 5077 0.15 2.50 0.00 0.000 6 0.126 0.054 3132 1836 2479

5388 1.78 85.9 690.4 8.7 255 5392 0.00 2.58 0.00 0.000 4 0.000 0.067 3132 3254 2479

5606 1.78 86.8 670.8 7.9 265 5611 0.00 2.58 0.00 0.000 6 0.000 0.063 3132 1847 2478

5934 1.78 86.8 642.6 8.5 281 5938 0.00 2.58 0.00 0.000 4 0.000 0.074 3132 440 2477

6024 1.73 86.8 634.3 9.5 285 6028 0.00 2.53 0.00 0.000 6 0.000 0.053 3132 1849 2477

6345 1.74 88.8 608.9 7.8 301 6346 0.00 0.00 0.00 0.000 6 0.000 0.000 3132 1862 2476

6654 1.76 103.3 588.2 6.3 316 6676 0.00 2.60 15.88 1.160 4 0.000 0.064 3132 3259 2409

6705 1.78 116.3 584.7 6.4 318 6724 0.00 2.65 13.07 1.127 6 0.000 0.061 3132 1820 2356

7054 1.83 116.3 553.8 9.7 335 7055 0.00 0.00 0.00 0.000 6 0.000 0.000 3132 1820 2355

7363 1.88 116.3 523.1 10.2 350 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 3132 1820 2355

7672 1.93 116.3 492.2 9.5 365 7677 0.15 2.62 0.00 0.000 4 0.064 0.061 3168 3258 2355

7761 1.93 116.3 482.8 10.6 369 7766 0.00 2.60 0.00 0.000 6 0.000 0.057 3169 1819 2354

8083 1.93 116.3 451.1 9.8 385 8084 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 1819 2354

8391 1.93 116.3 421.0 10.0 400 8393 0.00 0.00 0.00 0.000 6 0.000 0.000 3168 1819 2354

8701 1.93 116.3 390.9 9.7 415 8703 0.00 0.00 0.00 0.000 6 0.000 0.000 3169 1819 2355

9010 1.93 116.3 360.8 9.6 430 9015 0.00 2.47 0.00 0.000 4 0.000 0.067 3169 436 2355

9100 1.85 116.3 351.4 10.3 434 9105 0.12 2.47 0.00 0.000 6 0.117 0.047 3147 1844 2355

9422 1.88 116.3 322.0 9.3 450 9423 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 1857 2355

9731 1.92 116.3 293.6 9.3 465 9733 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 1858 2355

10040 1.96 116.3 264.5 9.2 480 10042 0.10 0.00 0.00 0.000 6 0.068 0.000 3173 1858 2356

10350 1.96 116.3 233.6 9.6 495 10351 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1858 2356

10658 1.96 116.3 204.0 9.5 510 10660 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1858 2356

10968 1.96 116.3 175.0 9.3 525 10969 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1858 2357

11277 1.96 116.3 144.3 10.0 540 11279 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 1858 2357

11587 1.96 116.3 113.5 10.6 555 11591 0.00 2.55 0.00 0.000 4 0.000 0.064 3173 441 2358

11705 1.87 116.3 99.5 10.8 560 11709 0.00 2.45 0.00 0.000 6 0.000 0.046 3173 1844 2357

12023 1.87 116.3 65.2 11.4 575 12027 0.00 2.47 0.00 0.000 4 0.000 0.057 3173 3252 2358

12281 1.87 116.3 41.8 10.5 586 12287 0.00 2.47 0.00 0.000 6 0.000 0.049 3173 1848 2358

12597 1.87 116.3 11.2 8.5 602 12602 0.00 2.53 0.00 0.000 4 0.000 0.055 3174 3258 2358

12667 end climb: SURFACE_DEPTH_REACHED

state 12667 begin surface coast

12691 end surface coast: CONTROL_FINISHED_OK

state 12691 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	106	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	990	T_GPS_CHARGE	-102238.42	VBD_BLEED_AD_RATE	8	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	210602,6241.131,-1214.478,51,1.0,52,-11.5	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.093,0.102
_SM_DEPTHo	1.44	KALMAN_X	-101608.5,38.5,590.4,-87917.3,-3143.9
_SM_ANGLEo	-51.0	KALMAN_Y	-3904.2,250.3,235.7,122830.2,-4011.0
GPS2	211138,6241.104,-1214.341,15,1.3,15,-11.5	MHEAD_RNG_PITCHd_Wd	329.1,5228,-27.7,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.026882	ALTIM_BOTTOM_PING	695.0,73.3
SM_CCo	12716,100.15,0.775,0,0,1608,300.00	_24V_AH	23.8,20.206
SM_GC	1.49,0.00,0.00,100.15,0.000,0.000,0.775,416,2092,1608,-10.71,-1.07,300.00	_10V_AH	10.1,9.072
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31778,606
TT8_MAMPS	0.029146	CAP_FILE_SIZE	98921,0
HUMID	1808	CFSIZE	254472192,245944320
TCM_TEMP	19.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	22	GPS	160909,004725,6241.077,-1219.227,38,1.3,38,-11.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	166	107.84	SBE_CT	415	24	237.48
Roll_motor	106	76	193.77	SBE_O2	454	19	205.55
VBD_pump_during_apogee	180	1305	5603.35	WL_BB2F	354	105	885.48
VBD_pump_during_surface	100	775	1848.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	33	160	125.97	nil	0	0	0.00
Iridium_during_xfer	144	223	766.58
Transponder_ping	11	420	117.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.78
TT8	1164	19	232.95
LPSleep	9677	2	214.05
TT8_Active	407	19	81.39
TT8_Sampling	1448	39	582.12
TT8_CF8	458	45	212.02
TT8_Kalman	33	81	27.56
Analog_circuits	1127	12	136.67
GPS_charging	0	0	0.00
Compass	1411	8	114.04
RAFOS	0	0	0.00
Transponder	43	30	13.04

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	-1.92	-44.4	0.0	0.0	0	59	0.00	0.00	-41.55	0.000	2	0.000	0.000	417	2133	2407
63	-1.97	-80.3	2.3	-3.7	2	109	10.57	2.60	-30.05	0.000	4	0.166	0.071	2307	712	3158
183	-1.97	-80.3	23.3	-23.0	7	187	0.00	2.50	0.00	0.000	6	0.000	0.045	2307	2125	3159
501	-1.92	-80.3	87.2	-18.7	22	505	0.00	2.55	0.00	0.000	4	0.000	0.057	2307	709	3159
574	-1.87	-80.3	101.7	-19.1	25	579	0.12	2.50	0.00	0.000	6	0.126	0.044	2332	2132	3159
890	-1.87	-80.3	158.1	-18.5	40	894	0.00	2.55	0.00	0.000	4	0.000	0.058	2332	718	3159
984	-1.87	-80.3	176.5	-19.5	44	989	0.00	2.45	0.00	0.000	6	0.000	0.046	2331	2116	3160
1301	-1.87	-80.3	236.7	-19.0	59	1305	0.00	2.53	0.00	0.000	4	0.000	0.059	2331	718	3160
1341	-1.87	-80.3	244.6	-20.0	61	1348	0.00	2.47	0.00	0.000	6	0.000	0.048	2331	2120	3160
1676	-1.87	-80.3	307.7	-18.6	77	1680	0.00	2.55	0.00	0.000	4	0.000	0.061	2331	706	3160
1759	-1.87	-80.3	323.5	-19.1	80	1766	0.00	2.47	0.00	0.000	6	0.000	0.048	2331	2108	3160
2076	-1.87	-80.3	379.8	-17.9	96	2080	0.00	2.53	0.00	0.000	4	0.000	0.062	2331	715	3160
2161	-1.87	-80.3	395.4	-18.0	100	2166	0.00	2.42	0.00	0.000	6	0.000	0.048	2331	2088	3160
2489	-1.87	-80.3	453.9	-17.8	116	2493	0.00	2.50	0.00	0.000	4	0.000	0.062	2331	707	3160
2539	-1.87	-80.3	463.4	-18.3	118	2543	0.00	2.42	0.00	0.000	6	0.000	0.049	2331	2078	3160
2855	-1.87	-80.3	519.0	-17.3	133	2859	0.00	2.50	0.00	0.000	4	0.000	0.066	2332	707	3160
2893	-1.87	-80.3	525.9	-17.7	134	2899	0.00	2.42	0.00	0.000	6	0.000	0.049	2332	2078	3160
3209	-1.87	-80.3	577.1	-15.5	150	3213	0.00	2.50	0.00	0.000	4	0.000	0.067	2331	710	3159
3253	-1.87	-80.3	584.5	-16.7	152	3257	0.00	2.42	0.00	0.000	6	0.000	0.050	2331	2078	3159
3574	-1.87	-80.3	631.6	-14.7	168	3575	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2078	3159
3883	-1.87	-80.3	677.3	-14.4	183	3887	0.00	2.50	0.00	0.000	4	0.000	0.070	2331	714	3159
4018	-1.87	-80.3	697.2	-13.3	189	4022	0.00	2.42	0.00	0.000	6	0.000	0.052	2331	2073	3159
4345	-1.87	-80.3	742.8	-13.6	205	4350	0.00	2.67	0.00	0.000	4	0.000	0.074	2331	3537	3158
4364	-1.87	-80.3	745.5	-14.4	206	4368	0.00	2.67	0.00	0.000	6	0.000	0.063	2331	2071	3158
4461	end dive: BOTTOM_OBSTACLE_DETECTED
state	4461	begin apogee
4468	-0.33	0.0	760.0	14.4	211	4545	1.65	0.00	72.30	1.305	6	0.097	0.000	2672	1839	2831
4546	end apogee: CONTROL_FINISHED_OK
state	4546	begin climb
4549	1.97	80.3	763.2	0.0	215	4630	2.33	2.67	72.35	1.278	4	0.057	0.064	3177	3249	2503
4655	1.89	85.9	758.1	7.3	220	4669	0.12	2.60	6.75	1.006	6	0.119	0.064	3159	1853	2480
4977	1.89	85.9	727.3	9.6	236	4981	0.00	2.60	0.00	0.000	4	0.000	0.077	3159	439	2479
5072	1.78	85.9	717.5	9.7	240	5077	0.15	2.50	0.00	0.000	6	0.126	0.054	3132	1836	2479
5388	1.78	85.9	690.4	8.7	255	5392	0.00	2.58	0.00	0.000	4	0.000	0.067	3132	3254	2479
5606	1.78	86.8	670.8	7.9	265	5611	0.00	2.58	0.00	0.000	6	0.000	0.063	3132	1847	2478
5934	1.78	86.8	642.6	8.5	281	5938	0.00	2.58	0.00	0.000	4	0.000	0.074	3132	440	2477
6024	1.73	86.8	634.3	9.5	285	6028	0.00	2.53	0.00	0.000	6	0.000	0.053	3132	1849	2477
6345	1.74	88.8	608.9	7.8	301	6346	0.00	0.00	0.00	0.000	6	0.000	0.000	3132	1862	2476
6654	1.76	103.3	588.2	6.3	316	6676	0.00	2.60	15.88	1.160	4	0.000	0.064	3132	3259	2409
6705	1.78	116.3	584.7	6.4	318	6724	0.00	2.65	13.07	1.127	6	0.000	0.061	3132	1820	2356
7054	1.83	116.3	553.8	9.7	335	7055	0.00	0.00	0.00	0.000	6	0.000	0.000	3132	1820	2355
7363	1.88	116.3	523.1	10.2	350	7364	0.00	0.00	0.00	0.000	6	0.000	0.000	3132	1820	2355
7672	1.93	116.3	492.2	9.5	365	7677	0.15	2.62	0.00	0.000	4	0.064	0.061	3168	3258	2355
7761	1.93	116.3	482.8	10.6	369	7766	0.00	2.60	0.00	0.000	6	0.000	0.057	3169	1819	2354
8083	1.93	116.3	451.1	9.8	385	8084	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	1819	2354
8391	1.93	116.3	421.0	10.0	400	8393	0.00	0.00	0.00	0.000	6	0.000	0.000	3168	1819	2354
8701	1.93	116.3	390.9	9.7	415	8703	0.00	0.00	0.00	0.000	6	0.000	0.000	3169	1819	2355
9010	1.93	116.3	360.8	9.6	430	9015	0.00	2.47	0.00	0.000	4	0.000	0.067	3169	436	2355
9100	1.85	116.3	351.4	10.3	434	9105	0.12	2.47	0.00	0.000	6	0.117	0.047	3147	1844	2355
9422	1.88	116.3	322.0	9.3	450	9423	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	1857	2355
9731	1.92	116.3	293.6	9.3	465	9733	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	1858	2355
10040	1.96	116.3	264.5	9.2	480	10042	0.10	0.00	0.00	0.000	6	0.068	0.000	3173	1858	2356
10350	1.96	116.3	233.6	9.6	495	10351	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1858	2356
10658	1.96	116.3	204.0	9.5	510	10660	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1858	2356
10968	1.96	116.3	175.0	9.3	525	10969	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1858	2357
11277	1.96	116.3	144.3	10.0	540	11279	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	1858	2357
11587	1.96	116.3	113.5	10.6	555	11591	0.00	2.55	0.00	0.000	4	0.000	0.064	3173	441	2358
11705	1.87	116.3	99.5	10.8	560	11709	0.00	2.45	0.00	0.000	6	0.000	0.046	3173	1844	2357
12023	1.87	116.3	65.2	11.4	575	12027	0.00	2.47	0.00	0.000	4	0.000	0.057	3173	3252	2358
12281	1.87	116.3	41.8	10.5	586	12287	0.00	2.47	0.00	0.000	6	0.000	0.049	3173	1848	2358
12597	1.87	116.3	11.2	8.5	602	12602	0.00	2.53	0.00	0.000	4	0.000	0.055	3174	3258	2358
12667	end climb: SURFACE_DEPTH_REACHED
state	12667	begin surface coast
12691	end surface coast: CONTROL_FINISHED_OK
state	12691	begin surface