Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 320 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 320 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -656419.5 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -656419.5

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 320 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 190608,6400.976,-1235.341,25,1.3,25,-12.2 TGT_NAME BT1

_CALLS 3 TGT_LATLONG 6401.000,-1331.000

_XMS_NAKs 2 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.08 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -53.2 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 191903,6401.032,-1235.719,13,1.3,13,-12.2 MHEAD_RNG_PITCHd_Wd 282.1,44854,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027154 ALTIM_BOTTOM_PING 476.2,90.3

SM_CCo 12112,35.97,0.650,0,0,1315,300.00 _24V_AH 23.6,42.561

SM_GC 1.23,0.00,0.00,35.97,0.000,0.000,0.650,378,1623,1315,-10.57,0.65,300.00 _10V_AH 10.2,21.268

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28489,573

TT8_MAMPS 0.023777 CAP_FILE_SIZE 103268,0

HUMID 1883 CFSIZE 254472192,237654016

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,1,0

XPDR_PINGS 2 GPS 121008,224308,6400.018,-1239.608,30,1.3,30,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 106.74 SBE_CT 422 24 239.55

Roll_motor 129 106 326.65 SBE_O2 389 19 174.75

VBD_pump_during_apogee 332 1067 8386.78 WL_BB2F 382 105 946.82

VBD_pump_during_surface 35 650 552.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 278.69 nil 0 0 0.00

Iridium_during_connect 90 160 340.66 nil 0 0 0.00

Iridium_during_xfer 319 223 1683.05

Transponder_ping 4 420 42.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.51

TT8 1130 19 228.23

LPSleep 8993 2 200.89

TT8_Active 473 19 95.68

TT8_Sampling 1506 39 611.76

TT8_CF8 830 45 387.86

TT8_Kalman 0 81 0.00

Analog_circuits 1245 12 152.44

GPS_charging 0 0 0.00

Compass 1467 8 119.72

RAFOS 0 0 0.00

Transponder 26 30 8.17

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 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.70 0.000 2 0.000 0.000 372 1585 2748

83 -1.16 -146.6 3.2 -4.9 3 110 11.48 2.55 -9.23 0.000 4 0.179 0.086 2413 3004 3139

250 -1.16 -146.6 24.4 -8.3 10 257 0.00 2.45 0.00 0.000 6 0.000 0.064 2413 1595 3140

567 -1.16 -146.6 56.3 -12.0 26 571 0.00 2.50 0.00 0.000 4 0.000 0.081 2412 209 3140

653 -1.16 -146.6 67.3 -13.2 30 657 0.00 2.40 0.00 0.000 6 0.000 0.058 2412 1619 3140

986 -1.16 -146.6 109.6 -13.1 46 990 0.00 2.55 0.00 0.000 4 0.000 0.077 2413 208 3142

1095 -1.16 -146.6 124.7 -14.1 51 1099 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1600 3141

1422 -1.16 -146.6 162.0 -10.4 67 1426 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 210 3141

1456 -1.16 -146.6 165.9 -11.3 68 1461 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1602 3141

1774 -1.16 -146.6 200.7 -11.4 83 1778 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 208 3142

1814 -1.16 -146.6 205.6 -12.5 85 1818 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1604 3142

2141 -1.16 -146.6 243.4 -11.5 101 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1605 3142

2452 -1.16 -146.6 276.2 -10.4 116 2456 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 204 3142

2508 -1.16 -146.6 282.2 -10.5 118 2512 0.00 2.38 0.00 0.000 6 0.000 0.058 2412 1602 3142

2824 -1.16 -146.6 311.7 -9.0 133 2825 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1602 3142

3134 -1.16 -146.6 330.9 -4.9 148 3139 0.00 2.50 0.00 0.000 4 0.000 0.082 2413 2992 3142

3185 -1.16 -146.6 335.8 -9.4 150 3190 0.00 2.42 0.00 0.000 6 0.000 0.067 2413 1597 3142

3502 -1.16 -146.6 380.1 -13.0 165 3506 0.00 2.50 0.00 0.000 4 0.000 0.082 2413 206 3142

3536 -1.16 -146.6 384.3 -12.3 166 3542 0.00 2.38 0.00 0.000 6 0.000 0.059 2412 1601 3142

3854 -1.16 -146.6 408.8 -5.4 182 3858 0.00 2.53 0.00 0.000 4 0.000 0.086 2412 2993 3142

3944 -1.16 -146.6 414.0 -5.4 186 3948 0.00 2.42 0.00 0.000 6 0.000 0.067 2412 1602 3143

4266 -1.16 -146.6 443.8 -10.3 202 4267 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1602 3143

4575 -1.16 -146.6 469.7 -6.8 217 4579 0.00 2.53 0.00 0.000 4 0.000 0.084 2413 2993 3143

4648 -1.16 -146.6 474.0 -5.1 220 4652 0.00 2.45 0.00 0.000 6 0.000 0.070 2413 1599 3143

4971 -1.16 -146.6 503.6 -11.0 236 4975 0.00 2.53 0.00 0.000 4 0.000 0.088 2412 211 3143

5055 -1.16 -146.6 513.3 -10.2 239 5061 0.00 2.38 0.00 0.000 6 0.000 0.060 2413 1602 3143

5372 -1.16 -146.6 542.5 -9.3 255 5376 0.00 2.53 0.00 0.000 4 0.000 0.089 2413 2986 3143

5422 -1.16 -146.6 547.8 -9.8 257 5427 0.00 2.45 0.00 0.000 6 0.000 0.071 2413 1602 3143

5535 end dive: BOTTOM_OBSTACLE_DETECTED

state 5535 begin apogee

5544 -0.32 0.0 558.5 9.8 263 5682 0.95 0.00 129.32 1.068 6 0.119 0.000 2604 2189 2539

5683 end apogee: CONTROL_FINISHED_OK

state 5683 begin climb

5687 1.16 146.6 562.7 0.0 270 5817 1.50 2.78 121.75 1.045 4 0.083 0.107 2925 3594 1940

5978 1.16 146.6 539.4 10.5 283 5982 0.00 2.53 0.00 0.000 6 0.000 0.073 2925 2197 1937

6295 1.21 172.2 516.7 7.0 298 6319 0.00 0.00 21.62 0.999 6 0.000 0.000 2925 2197 1837

6623 1.21 172.2 489.6 8.6 314 6628 0.00 2.67 0.00 0.000 4 0.000 0.101 2925 3596 1833

6732 1.21 172.2 480.4 8.3 319 6736 0.00 2.50 0.00 0.000 6 0.000 0.071 2925 2200 1832

7059 1.22 183.9 456.7 7.6 335 7074 0.00 2.60 9.95 0.927 4 0.000 0.081 2926 794 1789

7131 1.22 183.9 450.3 9.1 337 7136 0.00 2.47 0.00 0.000 6 0.000 0.062 2925 2199 1789

7448 1.25 202.8 428.1 7.3 352 7469 0.00 0.00 16.77 0.976 6 0.000 0.000 2925 2199 1711

7780 1.25 202.8 402.6 8.2 368 7784 0.00 2.55 0.00 0.000 4 0.000 0.074 2925 792 1709

7859 1.28 216.4 396.4 7.5 371 7879 0.12 2.47 12.48 0.933 6 0.068 0.062 2961 2203 1656

8205 1.29 223.0 373.4 7.7 388 8219 0.00 2.72 6.62 0.812 4 0.000 0.098 2961 3602 1628

8288 1.29 223.0 364.6 10.1 391 8294 0.00 2.50 0.00 0.000 6 0.000 0.067 2961 2197 1628

8605 1.29 223.0 331.6 10.4 407 8609 0.00 2.53 0.00 0.000 4 0.000 0.079 2961 796 1627

8656 1.29 223.0 325.7 11.7 409 8660 0.00 2.45 0.00 0.000 6 0.000 0.061 2961 2201 1627

8978 1.29 223.0 292.9 8.6 425 8982 0.00 2.53 0.00 0.000 4 0.000 0.073 2961 795 1626

9074 1.29 223.0 284.5 8.4 429 9078 0.00 2.45 0.00 0.000 6 0.000 0.062 2961 2200 1626

9390 1.29 223.0 257.3 8.7 444 9394 0.00 2.53 0.00 0.000 4 0.000 0.074 2961 795 1626

9486 1.29 223.0 248.6 9.3 448 9490 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2208 1626

9813 1.29 223.0 221.1 9.0 464 9818 0.00 2.55 0.00 0.000 4 0.000 0.073 2961 792 1626

9928 1.29 223.0 209.3 11.3 469 9932 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2206 1627

10250 1.29 223.0 180.7 8.1 485 10254 0.00 2.55 0.00 0.000 4 0.000 0.074 2961 789 1626

10358 1.29 223.0 169.7 11.0 490 10362 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2205 1626

10691 1.29 223.0 138.0 8.9 506 10696 0.00 2.53 0.00 0.000 4 0.000 0.073 2961 789 1626

10805 1.29 223.0 127.1 10.4 511 10809 0.00 2.47 0.00 0.000 6 0.000 0.062 2961 2206 1627

11127 1.29 223.0 90.8 11.8 527 11131 0.00 2.53 0.00 0.000 4 0.000 0.074 2961 791 1627

11262 1.29 223.0 75.1 11.1 533 11267 0.00 2.45 0.00 0.000 6 0.000 0.063 2961 2200 1626

11585 1.29 224.3 46.3 8.0 549 11589 0.00 2.50 0.00 0.000 4 0.000 0.074 2961 793 1627

11675 1.31 238.6 39.7 7.5 553 11695 0.00 2.45 14.32 0.662 6 0.000 0.062 2961 2199 1566

12024 1.31 238.6 7.4 11.8 570 12029 0.00 2.55 0.00 0.000 4 0.000 0.076 2961 787 1566

12077 end climb: SURFACE_DEPTH_REACHED

state 12077 begin surface coast

12085 end surface coast: CONTROL_FINISHED_OK

state 12086 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	320	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-656419.5	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	190608,6400.976,-1235.341,25,1.3,25,-12.2	TGT_NAME	BT1
_CALLS	3	TGT_LATLONG	6401.000,-1331.000
_XMS_NAKs	2	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.08	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-53.2	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	191903,6401.032,-1235.719,13,1.3,13,-12.2	MHEAD_RNG_PITCHd_Wd	282.1,44854,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.7,1.027154	ALTIM_BOTTOM_PING	476.2,90.3
SM_CCo	12112,35.97,0.650,0,0,1315,300.00	_24V_AH	23.6,42.561
SM_GC	1.23,0.00,0.00,35.97,0.000,0.000,0.650,378,1623,1315,-10.57,0.65,300.00	_10V_AH	10.2,21.268
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28489,573
TT8_MAMPS	0.023777	CAP_FILE_SIZE	103268,0
HUMID	1883	CFSIZE	254472192,237654016
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,1,0
XPDR_PINGS	2	GPS	121008,224308,6400.018,-1239.608,30,1.3,30,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	106.74	SBE_CT	422	24	239.55
Roll_motor	129	106	326.65	SBE_O2	389	19	174.75
VBD_pump_during_apogee	332	1067	8386.78	WL_BB2F	382	105	946.82
VBD_pump_during_surface	35	650	552.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	278.69	nil	0	0	0.00
Iridium_during_connect	90	160	340.66	nil	0	0	0.00
Iridium_during_xfer	319	223	1683.05
Transponder_ping	4	420	42.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.51
TT8	1130	19	228.23
LPSleep	8993	2	200.89
TT8_Active	473	19	95.68
TT8_Sampling	1506	39	611.76
TT8_CF8	830	45	387.86
TT8_Kalman	0	81	0.00
Analog_circuits	1245	12	152.44
GPS_charging	0	0	0.00
Compass	1467	8	119.72
RAFOS	0	0	0.00
Transponder	26	30	8.17

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	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.70	0.000	2	0.000	0.000	372	1585	2748
83	-1.16	-146.6	3.2	-4.9	3	110	11.48	2.55	-9.23	0.000	4	0.179	0.086	2413	3004	3139
250	-1.16	-146.6	24.4	-8.3	10	257	0.00	2.45	0.00	0.000	6	0.000	0.064	2413	1595	3140
567	-1.16	-146.6	56.3	-12.0	26	571	0.00	2.50	0.00	0.000	4	0.000	0.081	2412	209	3140
653	-1.16	-146.6	67.3	-13.2	30	657	0.00	2.40	0.00	0.000	6	0.000	0.058	2412	1619	3140
986	-1.16	-146.6	109.6	-13.1	46	990	0.00	2.55	0.00	0.000	4	0.000	0.077	2413	208	3142
1095	-1.16	-146.6	124.7	-14.1	51	1099	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1600	3141
1422	-1.16	-146.6	162.0	-10.4	67	1426	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	210	3141
1456	-1.16	-146.6	165.9	-11.3	68	1461	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1602	3141
1774	-1.16	-146.6	200.7	-11.4	83	1778	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	208	3142
1814	-1.16	-146.6	205.6	-12.5	85	1818	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1604	3142
2141	-1.16	-146.6	243.4	-11.5	101	2143	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1605	3142
2452	-1.16	-146.6	276.2	-10.4	116	2456	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	204	3142
2508	-1.16	-146.6	282.2	-10.5	118	2512	0.00	2.38	0.00	0.000	6	0.000	0.058	2412	1602	3142
2824	-1.16	-146.6	311.7	-9.0	133	2825	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1602	3142
3134	-1.16	-146.6	330.9	-4.9	148	3139	0.00	2.50	0.00	0.000	4	0.000	0.082	2413	2992	3142
3185	-1.16	-146.6	335.8	-9.4	150	3190	0.00	2.42	0.00	0.000	6	0.000	0.067	2413	1597	3142
3502	-1.16	-146.6	380.1	-13.0	165	3506	0.00	2.50	0.00	0.000	4	0.000	0.082	2413	206	3142
3536	-1.16	-146.6	384.3	-12.3	166	3542	0.00	2.38	0.00	0.000	6	0.000	0.059	2412	1601	3142
3854	-1.16	-146.6	408.8	-5.4	182	3858	0.00	2.53	0.00	0.000	4	0.000	0.086	2412	2993	3142
3944	-1.16	-146.6	414.0	-5.4	186	3948	0.00	2.42	0.00	0.000	6	0.000	0.067	2412	1602	3143
4266	-1.16	-146.6	443.8	-10.3	202	4267	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1602	3143
4575	-1.16	-146.6	469.7	-6.8	217	4579	0.00	2.53	0.00	0.000	4	0.000	0.084	2413	2993	3143
4648	-1.16	-146.6	474.0	-5.1	220	4652	0.00	2.45	0.00	0.000	6	0.000	0.070	2413	1599	3143
4971	-1.16	-146.6	503.6	-11.0	236	4975	0.00	2.53	0.00	0.000	4	0.000	0.088	2412	211	3143
5055	-1.16	-146.6	513.3	-10.2	239	5061	0.00	2.38	0.00	0.000	6	0.000	0.060	2413	1602	3143
5372	-1.16	-146.6	542.5	-9.3	255	5376	0.00	2.53	0.00	0.000	4	0.000	0.089	2413	2986	3143
5422	-1.16	-146.6	547.8	-9.8	257	5427	0.00	2.45	0.00	0.000	6	0.000	0.071	2413	1602	3143
5535	end dive: BOTTOM_OBSTACLE_DETECTED
state	5535	begin apogee
5544	-0.32	0.0	558.5	9.8	263	5682	0.95	0.00	129.32	1.068	6	0.119	0.000	2604	2189	2539
5683	end apogee: CONTROL_FINISHED_OK
state	5683	begin climb
5687	1.16	146.6	562.7	0.0	270	5817	1.50	2.78	121.75	1.045	4	0.083	0.107	2925	3594	1940
5978	1.16	146.6	539.4	10.5	283	5982	0.00	2.53	0.00	0.000	6	0.000	0.073	2925	2197	1937
6295	1.21	172.2	516.7	7.0	298	6319	0.00	0.00	21.62	0.999	6	0.000	0.000	2925	2197	1837
6623	1.21	172.2	489.6	8.6	314	6628	0.00	2.67	0.00	0.000	4	0.000	0.101	2925	3596	1833
6732	1.21	172.2	480.4	8.3	319	6736	0.00	2.50	0.00	0.000	6	0.000	0.071	2925	2200	1832
7059	1.22	183.9	456.7	7.6	335	7074	0.00	2.60	9.95	0.927	4	0.000	0.081	2926	794	1789
7131	1.22	183.9	450.3	9.1	337	7136	0.00	2.47	0.00	0.000	6	0.000	0.062	2925	2199	1789
7448	1.25	202.8	428.1	7.3	352	7469	0.00	0.00	16.77	0.976	6	0.000	0.000	2925	2199	1711
7780	1.25	202.8	402.6	8.2	368	7784	0.00	2.55	0.00	0.000	4	0.000	0.074	2925	792	1709
7859	1.28	216.4	396.4	7.5	371	7879	0.12	2.47	12.48	0.933	6	0.068	0.062	2961	2203	1656
8205	1.29	223.0	373.4	7.7	388	8219	0.00	2.72	6.62	0.812	4	0.000	0.098	2961	3602	1628
8288	1.29	223.0	364.6	10.1	391	8294	0.00	2.50	0.00	0.000	6	0.000	0.067	2961	2197	1628
8605	1.29	223.0	331.6	10.4	407	8609	0.00	2.53	0.00	0.000	4	0.000	0.079	2961	796	1627
8656	1.29	223.0	325.7	11.7	409	8660	0.00	2.45	0.00	0.000	6	0.000	0.061	2961	2201	1627
8978	1.29	223.0	292.9	8.6	425	8982	0.00	2.53	0.00	0.000	4	0.000	0.073	2961	795	1626
9074	1.29	223.0	284.5	8.4	429	9078	0.00	2.45	0.00	0.000	6	0.000	0.062	2961	2200	1626
9390	1.29	223.0	257.3	8.7	444	9394	0.00	2.53	0.00	0.000	4	0.000	0.074	2961	795	1626
9486	1.29	223.0	248.6	9.3	448	9490	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2208	1626
9813	1.29	223.0	221.1	9.0	464	9818	0.00	2.55	0.00	0.000	4	0.000	0.073	2961	792	1626
9928	1.29	223.0	209.3	11.3	469	9932	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2206	1627
10250	1.29	223.0	180.7	8.1	485	10254	0.00	2.55	0.00	0.000	4	0.000	0.074	2961	789	1626
10358	1.29	223.0	169.7	11.0	490	10362	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2205	1626
10691	1.29	223.0	138.0	8.9	506	10696	0.00	2.53	0.00	0.000	4	0.000	0.073	2961	789	1626
10805	1.29	223.0	127.1	10.4	511	10809	0.00	2.47	0.00	0.000	6	0.000	0.062	2961	2206	1627
11127	1.29	223.0	90.8	11.8	527	11131	0.00	2.53	0.00	0.000	4	0.000	0.074	2961	791	1627
11262	1.29	223.0	75.1	11.1	533	11267	0.00	2.45	0.00	0.000	6	0.000	0.063	2961	2200	1626
11585	1.29	224.3	46.3	8.0	549	11589	0.00	2.50	0.00	0.000	4	0.000	0.074	2961	793	1627
11675	1.31	238.6	39.7	7.5	553	11695	0.00	2.45	14.32	0.662	6	0.000	0.062	2961	2199	1566
12024	1.31	238.6	7.4	11.8	570	12029	0.00	2.55	0.00	0.000	4	0.000	0.076	2961	787	1566
12077	end climb: SURFACE_DEPTH_REACHED
state	12077	begin surface coast
12085	end surface coast: CONTROL_FINISHED_OK
state	12086	begin surface