Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 36 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 24 INT_PRESSURE_YINT -1.8522969

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 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -1628721 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 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 -1628721

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 36 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 081501,6157.779,-926.638,40,1.8,40,-9.6 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6140.000,-930.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.083,-0.225

_SM_DEPTHo 0.85 KALMAN_X -175822.2,3908.6,2196.4,107782.9,-27439.8

_SM_ANGLEo -59.9 KALMAN_Y 109023.7,-1566.7,-1053.0,-44871.1,33259.7

GPS2 082308,6157.950,-926.587,13,1.8,13,-9.6 MHEAD_RNG_PITCHd_Wd 169.4,33378,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027233 ALTIM_BOTTOM_PING 476.1,84.7

SM_CCo 12195,34.90,0.742,0,0,1609,300.00 _24V_AH 23.3,23.401

SM_GC 1.10,0.00,0.00,34.90,0.000,0.000,0.742,398,2460,1609,-11.05,-0.45,300.00 _10V_AH 10.1,9.999

IRIDIUM_FIX 6135.28,-925.48,060998,080826 DATA_FILE_SIZE 28511,579

TT8_MAMPS 0.027612 CAP_FILE_SIZE 99309,0

HUMID 1829 CFSIZE 260165632,255864832

INTERNAL_PRESSURE 8.09926 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 13.90 GPS 120609,114907,6201.641,-922.115,37,1.0,37,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.51 SBE_CT 507 24 284.03

Roll_motor 122 62 179.63 SBE_O2 401 19 177.57

VBD_pump_during_apogee 336 1096 8603.96 WL_BB2F 413 105 1011.86

VBD_pump_during_surface 34 742 603.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 139.70 nil 0 0 0.00

Iridium_during_connect 72 160 269.31 nil 0 0 0.00

Iridium_during_xfer 186 223 969.59

Transponder_ping 3 420 36.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.83

TT8 1136 19 227.30

LPSleep 8881 2 196.45

TT8_Active 461 19 92.30

TT8_Sampling 1517 39 610.19

TT8_CF8 727 45 336.53

TT8_Kalman 33 81 27.56

Analog_circuits 1267 12 153.64

GPS_charging 0 0 0.00

Compass 1617 8 130.69

RAFOS 0 0 0.00

Transponder 26 30 8.08

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 -1.17 -146.6 0.0 0.0 0 82 0.00 0.00 -64.90 0.000 6 0.000 0.000 397 2456 3430

85 -1.17 -146.6 3.6 -6.9 3 106 11.45 2.47 0.00 0.000 4 0.137 0.035 2534 1055 3432

331 -1.17 -146.6 36.0 -9.4 14 336 0.00 2.50 0.00 0.000 6 0.000 0.034 2533 2476 3432

663 -1.17 -146.6 69.7 -11.1 30 668 0.00 2.47 0.00 0.000 4 0.000 0.035 2533 1064 3432

690 -1.17 -146.6 72.8 -10.7 31 694 0.00 2.45 0.00 0.000 6 0.000 0.033 2534 2475 3432

1011 -1.17 -146.6 109.8 -11.8 47 1015 0.00 2.47 0.00 0.000 4 0.000 0.035 2534 1050 3432

1062 -1.17 -146.6 115.9 -11.7 49 1067 0.00 2.47 0.00 0.000 6 0.000 0.032 2534 2478 3432

1378 -1.17 -146.6 152.5 -11.4 64 1382 0.00 2.47 0.00 0.000 4 0.000 0.036 2534 1053 3433

1466 -1.17 -146.6 162.4 -10.3 68 1471 0.00 2.47 0.00 0.000 6 0.000 0.034 2534 2474 3433

1788 -1.17 -146.6 197.3 -11.2 84 1792 0.00 2.47 0.00 0.000 4 0.000 0.037 2534 1053 3433

1877 -1.17 -146.6 207.8 -11.3 88 1881 0.00 2.47 0.00 0.000 6 0.000 0.035 2534 2478 3433

2200 -1.17 -146.6 244.8 -11.7 104 2204 0.00 2.47 0.00 0.000 4 0.000 0.038 2533 1058 3433

2255 -1.17 -146.6 251.8 -12.3 106 2261 0.00 2.47 0.00 0.000 6 0.000 0.037 2534 2475 3432

2572 -1.17 -146.6 287.8 -11.0 122 2576 0.00 2.47 0.00 0.000 4 0.000 0.039 2534 1055 3432

2627 -1.17 -146.6 294.3 -11.2 124 2633 0.00 2.50 0.00 0.000 6 0.000 0.038 2534 2483 3432

2943 -1.17 -146.6 327.4 -10.0 140 2947 0.00 2.47 0.00 0.000 4 0.000 0.039 2534 1059 3432

2992 -1.17 -146.6 332.5 -9.4 142 2997 0.00 2.47 0.00 0.000 6 0.000 0.038 2534 2475 3432

3309 -1.17 -146.6 361.1 -9.3 157 3313 0.00 2.47 0.00 0.000 4 0.000 0.041 2534 1059 3432

3364 -1.17 -146.6 366.4 -9.2 159 3370 0.00 2.50 0.00 0.000 6 0.000 0.038 2534 2483 3432

3680 -1.17 -146.6 395.2 -9.1 175 3684 0.00 2.50 0.00 0.000 4 0.000 0.041 2534 1055 3432

3752 -1.17 -146.6 402.0 -9.3 178 3756 0.00 2.50 0.00 0.000 6 0.000 0.038 2534 2483 3432

4067 -1.17 -146.6 428.4 -8.5 193 4068 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2483 3432

4379 -1.17 -146.6 455.5 -9.9 208 4383 0.00 2.50 0.00 0.000 4 0.000 0.041 2534 1057 3431

4496 -1.17 -146.6 467.7 -10.5 213 4500 0.00 2.50 0.00 0.000 6 0.000 0.039 2534 2485 3432

4811 -1.17 -146.6 499.7 -10.1 228 4815 0.00 2.45 0.00 0.000 4 0.000 0.063 2534 3828 3431

5147 -1.17 -146.6 531.9 -7.5 243 5151 0.00 2.33 0.00 0.000 6 0.000 0.029 2534 2458 3431

5423 end dive: BOTTOM_OBSTACLE_DETECTED

state 5424 begin apogee

5431 -0.36 0.0 551.8 7.1 257 5560 0.88 0.00 125.50 1.097 6 0.071 0.000 2719 1461 2832

5561 end apogee: CONTROL_FINISHED_OK

state 5561 begin climb

5564 1.17 146.6 555.2 0.0 263 5700 1.50 2.22 126.35 1.064 4 0.044 0.058 3057 265 2233

6037 1.17 146.6 522.7 11.8 284 6044 0.00 2.08 0.00 0.000 6 0.000 0.033 3057 1466 2223

6352 1.17 146.6 484.1 9.4 300 6356 0.00 2.47 0.00 0.000 4 0.000 0.047 3057 2849 2221

6595 1.27 220.1 476.1 5.0 311 6665 0.00 2.45 63.08 1.068 6 0.000 0.039 3057 1453 1934

6987 1.27 220.1 442.4 10.1 330 6991 0.00 2.15 0.00 0.000 4 0.000 0.058 3057 265 1925

7037 1.27 220.1 437.3 9.9 332 7042 0.00 2.03 0.00 0.000 6 0.000 0.031 3057 1456 1925

7363 1.27 220.1 403.2 11.1 348 7367 0.00 2.45 0.00 0.000 4 0.000 0.042 3057 2842 1924

7435 1.27 220.1 396.1 10.2 351 7439 0.00 2.42 0.00 0.000 6 0.000 0.035 3057 1452 1923

7751 1.27 220.1 365.7 10.2 366 7755 0.00 2.42 0.00 0.000 4 0.000 0.038 3057 2845 1922

7806 1.27 220.1 360.5 9.3 368 7813 0.00 2.45 0.00 0.000 6 0.000 0.035 3057 1437 1922

8122 1.27 220.1 330.8 9.7 384 8125 0.00 2.10 0.00 0.000 4 0.000 0.055 3057 267 1922

8195 1.27 220.1 323.4 9.9 387 8199 0.00 1.98 0.00 0.000 6 0.000 0.028 3057 1458 1922

8521 1.27 220.1 294.9 8.9 403 8525 0.00 2.42 0.00 0.000 4 0.000 0.041 3057 2843 1922

8576 1.27 220.1 290.2 8.7 405 8583 0.00 2.40 0.00 0.000 6 0.000 0.035 3057 1452 1921

8892 1.27 220.1 262.3 8.8 421 8896 0.00 2.40 0.00 0.000 4 0.000 0.037 3057 2838 1922

8913 1.27 220.1 260.4 9.1 422 8917 0.00 2.40 0.00 0.000 6 0.000 0.035 3057 1455 1922

9234 1.27 220.1 233.5 7.6 438 9235 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1454 1922

9545 1.27 220.1 209.7 7.7 453 9549 0.00 2.40 0.00 0.000 4 0.000 0.038 3057 2838 1922

9595 1.27 223.5 205.6 7.4 455 9599 0.00 2.40 0.00 0.000 6 0.000 0.035 3056 1454 1922

9911 1.27 223.5 181.9 7.6 470 9915 0.00 2.42 0.00 0.000 4 0.000 0.037 3057 2845 1922

9954 1.27 223.5 178.6 8.1 472 9959 0.00 2.45 0.00 0.000 6 0.000 0.034 3057 1452 1922

10281 1.28 230.3 154.2 7.3 488 10291 0.00 0.00 8.27 0.755 6 0.000 0.000 3057 1452 1892

10590 1.28 230.3 129.9 7.8 503 10591 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1452 1892

10901 1.28 230.3 106.1 7.7 518 10905 0.00 2.42 0.00 0.000 4 0.000 0.038 3057 2838 1891

10956 1.28 230.3 101.7 8.1 520 10963 0.00 2.42 0.00 0.000 6 0.000 0.034 3057 1458 1891

11272 1.30 244.3 78.8 7.0 536 11294 0.10 2.20 13.48 0.763 4 0.051 0.053 3091 267 1835

11311 1.30 244.3 75.4 8.4 537 11317 0.00 2.00 0.00 0.000 6 0.000 0.028 3091 1454 1834

11627 1.30 244.3 50.0 7.8 553 11630 0.00 2.12 0.00 0.000 4 0.000 0.052 3091 266 1834

11695 1.30 244.3 44.0 8.5 556 11698 0.00 1.98 0.00 0.000 6 0.000 0.028 3091 1462 1834

12027 1.30 244.3 14.8 9.0 572 12028 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 1464 1833

12148 end climb: SURFACE_DEPTH_REACHED

state 12148 begin surface coast

12172 end surface coast: CONTROL_FINISHED_OK

state 12172 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	36	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	24	INT_PRESSURE_YINT	-1.8522969
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	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-1628721	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	081501,6157.779,-926.638,40,1.8,40,-9.6	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6140.000,-930.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.083,-0.225
_SM_DEPTHo	0.85	KALMAN_X	-175822.2,3908.6,2196.4,107782.9,-27439.8
_SM_ANGLEo	-59.9	KALMAN_Y	109023.7,-1566.7,-1053.0,-44871.1,33259.7
GPS2	082308,6157.950,-926.587,13,1.8,13,-9.6	MHEAD_RNG_PITCHd_Wd	169.4,33378,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.6,1.027233	ALTIM_BOTTOM_PING	476.1,84.7
SM_CCo	12195,34.90,0.742,0,0,1609,300.00	_24V_AH	23.3,23.401
SM_GC	1.10,0.00,0.00,34.90,0.000,0.000,0.742,398,2460,1609,-11.05,-0.45,300.00	_10V_AH	10.1,9.999
IRIDIUM_FIX	6135.28,-925.48,060998,080826	DATA_FILE_SIZE	28511,579
TT8_MAMPS	0.027612	CAP_FILE_SIZE	99309,0
HUMID	1829	CFSIZE	260165632,255864832
INTERNAL_PRESSURE	8.09926	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	13.90	GPS	120609,114907,6201.641,-922.115,37,1.0,37,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.51	SBE_CT	507	24	284.03
Roll_motor	122	62	179.63	SBE_O2	401	19	177.57
VBD_pump_during_apogee	336	1096	8603.96	WL_BB2F	413	105	1011.86
VBD_pump_during_surface	34	742	603.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	139.70	nil	0	0	0.00
Iridium_during_connect	72	160	269.31	nil	0	0	0.00
Iridium_during_xfer	186	223	969.59
Transponder_ping	3	420	36.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.83
TT8	1136	19	227.30
LPSleep	8881	2	196.45
TT8_Active	461	19	92.30
TT8_Sampling	1517	39	610.19
TT8_CF8	727	45	336.53
TT8_Kalman	33	81	27.56
Analog_circuits	1267	12	153.64
GPS_charging	0	0	0.00
Compass	1617	8	130.69
RAFOS	0	0	0.00
Transponder	26	30	8.08

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	-1.17	-146.6	0.0	0.0	0	82	0.00	0.00	-64.90	0.000	6	0.000	0.000	397	2456	3430
85	-1.17	-146.6	3.6	-6.9	3	106	11.45	2.47	0.00	0.000	4	0.137	0.035	2534	1055	3432
331	-1.17	-146.6	36.0	-9.4	14	336	0.00	2.50	0.00	0.000	6	0.000	0.034	2533	2476	3432
663	-1.17	-146.6	69.7	-11.1	30	668	0.00	2.47	0.00	0.000	4	0.000	0.035	2533	1064	3432
690	-1.17	-146.6	72.8	-10.7	31	694	0.00	2.45	0.00	0.000	6	0.000	0.033	2534	2475	3432
1011	-1.17	-146.6	109.8	-11.8	47	1015	0.00	2.47	0.00	0.000	4	0.000	0.035	2534	1050	3432
1062	-1.17	-146.6	115.9	-11.7	49	1067	0.00	2.47	0.00	0.000	6	0.000	0.032	2534	2478	3432
1378	-1.17	-146.6	152.5	-11.4	64	1382	0.00	2.47	0.00	0.000	4	0.000	0.036	2534	1053	3433
1466	-1.17	-146.6	162.4	-10.3	68	1471	0.00	2.47	0.00	0.000	6	0.000	0.034	2534	2474	3433
1788	-1.17	-146.6	197.3	-11.2	84	1792	0.00	2.47	0.00	0.000	4	0.000	0.037	2534	1053	3433
1877	-1.17	-146.6	207.8	-11.3	88	1881	0.00	2.47	0.00	0.000	6	0.000	0.035	2534	2478	3433
2200	-1.17	-146.6	244.8	-11.7	104	2204	0.00	2.47	0.00	0.000	4	0.000	0.038	2533	1058	3433
2255	-1.17	-146.6	251.8	-12.3	106	2261	0.00	2.47	0.00	0.000	6	0.000	0.037	2534	2475	3432
2572	-1.17	-146.6	287.8	-11.0	122	2576	0.00	2.47	0.00	0.000	4	0.000	0.039	2534	1055	3432
2627	-1.17	-146.6	294.3	-11.2	124	2633	0.00	2.50	0.00	0.000	6	0.000	0.038	2534	2483	3432
2943	-1.17	-146.6	327.4	-10.0	140	2947	0.00	2.47	0.00	0.000	4	0.000	0.039	2534	1059	3432
2992	-1.17	-146.6	332.5	-9.4	142	2997	0.00	2.47	0.00	0.000	6	0.000	0.038	2534	2475	3432
3309	-1.17	-146.6	361.1	-9.3	157	3313	0.00	2.47	0.00	0.000	4	0.000	0.041	2534	1059	3432
3364	-1.17	-146.6	366.4	-9.2	159	3370	0.00	2.50	0.00	0.000	6	0.000	0.038	2534	2483	3432
3680	-1.17	-146.6	395.2	-9.1	175	3684	0.00	2.50	0.00	0.000	4	0.000	0.041	2534	1055	3432
3752	-1.17	-146.6	402.0	-9.3	178	3756	0.00	2.50	0.00	0.000	6	0.000	0.038	2534	2483	3432
4067	-1.17	-146.6	428.4	-8.5	193	4068	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2483	3432
4379	-1.17	-146.6	455.5	-9.9	208	4383	0.00	2.50	0.00	0.000	4	0.000	0.041	2534	1057	3431
4496	-1.17	-146.6	467.7	-10.5	213	4500	0.00	2.50	0.00	0.000	6	0.000	0.039	2534	2485	3432
4811	-1.17	-146.6	499.7	-10.1	228	4815	0.00	2.45	0.00	0.000	4	0.000	0.063	2534	3828	3431
5147	-1.17	-146.6	531.9	-7.5	243	5151	0.00	2.33	0.00	0.000	6	0.000	0.029	2534	2458	3431
5423	end dive: BOTTOM_OBSTACLE_DETECTED
state	5424	begin apogee
5431	-0.36	0.0	551.8	7.1	257	5560	0.88	0.00	125.50	1.097	6	0.071	0.000	2719	1461	2832
5561	end apogee: CONTROL_FINISHED_OK
state	5561	begin climb
5564	1.17	146.6	555.2	0.0	263	5700	1.50	2.22	126.35	1.064	4	0.044	0.058	3057	265	2233
6037	1.17	146.6	522.7	11.8	284	6044	0.00	2.08	0.00	0.000	6	0.000	0.033	3057	1466	2223
6352	1.17	146.6	484.1	9.4	300	6356	0.00	2.47	0.00	0.000	4	0.000	0.047	3057	2849	2221
6595	1.27	220.1	476.1	5.0	311	6665	0.00	2.45	63.08	1.068	6	0.000	0.039	3057	1453	1934
6987	1.27	220.1	442.4	10.1	330	6991	0.00	2.15	0.00	0.000	4	0.000	0.058	3057	265	1925
7037	1.27	220.1	437.3	9.9	332	7042	0.00	2.03	0.00	0.000	6	0.000	0.031	3057	1456	1925
7363	1.27	220.1	403.2	11.1	348	7367	0.00	2.45	0.00	0.000	4	0.000	0.042	3057	2842	1924
7435	1.27	220.1	396.1	10.2	351	7439	0.00	2.42	0.00	0.000	6	0.000	0.035	3057	1452	1923
7751	1.27	220.1	365.7	10.2	366	7755	0.00	2.42	0.00	0.000	4	0.000	0.038	3057	2845	1922
7806	1.27	220.1	360.5	9.3	368	7813	0.00	2.45	0.00	0.000	6	0.000	0.035	3057	1437	1922
8122	1.27	220.1	330.8	9.7	384	8125	0.00	2.10	0.00	0.000	4	0.000	0.055	3057	267	1922
8195	1.27	220.1	323.4	9.9	387	8199	0.00	1.98	0.00	0.000	6	0.000	0.028	3057	1458	1922
8521	1.27	220.1	294.9	8.9	403	8525	0.00	2.42	0.00	0.000	4	0.000	0.041	3057	2843	1922
8576	1.27	220.1	290.2	8.7	405	8583	0.00	2.40	0.00	0.000	6	0.000	0.035	3057	1452	1921
8892	1.27	220.1	262.3	8.8	421	8896	0.00	2.40	0.00	0.000	4	0.000	0.037	3057	2838	1922
8913	1.27	220.1	260.4	9.1	422	8917	0.00	2.40	0.00	0.000	6	0.000	0.035	3057	1455	1922
9234	1.27	220.1	233.5	7.6	438	9235	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1454	1922
9545	1.27	220.1	209.7	7.7	453	9549	0.00	2.40	0.00	0.000	4	0.000	0.038	3057	2838	1922
9595	1.27	223.5	205.6	7.4	455	9599	0.00	2.40	0.00	0.000	6	0.000	0.035	3056	1454	1922
9911	1.27	223.5	181.9	7.6	470	9915	0.00	2.42	0.00	0.000	4	0.000	0.037	3057	2845	1922
9954	1.27	223.5	178.6	8.1	472	9959	0.00	2.45	0.00	0.000	6	0.000	0.034	3057	1452	1922
10281	1.28	230.3	154.2	7.3	488	10291	0.00	0.00	8.27	0.755	6	0.000	0.000	3057	1452	1892
10590	1.28	230.3	129.9	7.8	503	10591	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1452	1892
10901	1.28	230.3	106.1	7.7	518	10905	0.00	2.42	0.00	0.000	4	0.000	0.038	3057	2838	1891
10956	1.28	230.3	101.7	8.1	520	10963	0.00	2.42	0.00	0.000	6	0.000	0.034	3057	1458	1891
11272	1.30	244.3	78.8	7.0	536	11294	0.10	2.20	13.48	0.763	4	0.051	0.053	3091	267	1835
11311	1.30	244.3	75.4	8.4	537	11317	0.00	2.00	0.00	0.000	6	0.000	0.028	3091	1454	1834
11627	1.30	244.3	50.0	7.8	553	11630	0.00	2.12	0.00	0.000	4	0.000	0.052	3091	266	1834
11695	1.30	244.3	44.0	8.5	556	11698	0.00	1.98	0.00	0.000	6	0.000	0.028	3091	1462	1834
12027	1.30	244.3	14.8	9.0	572	12028	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	1464	1833
12148	end climb: SURFACE_DEPTH_REACHED
state	12148	begin surface coast
12172	end surface coast: CONTROL_FINISHED_OK
state	12172	begin surface