Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 374 * 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 374 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 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 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 -107392.84 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 330

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 -107392.84

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 374 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 175054,6238.397,-1123.379,38,1.8,38,-11.0 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.248,0.090

_SM_DEPTHo 1.55 KALMAN_X -144400.9,1525.4,852.7,221100.7,-10502.8

_SM_ANGLEo -64.7 KALMAN_Y 47770.3,-235.1,-265.7,-139671.4,-1044.4

GPS2 175632,6238.388,-1123.408,14,1.6,14,-11.0 MHEAD_RNG_PITCHd_Wd 81.0,20105,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.003674 ALTIM_BOTTOM_PING 620.4,49.4

SM_CCo 11664,26.52,0.783,0,0,1607,300.00 _24V_AH 23.7,60.767

SM_GC 1.60,0.00,0.00,26.52,0.000,0.000,0.783,418,2136,1607,-10.70,0.20,300.00 _10V_AH 10.1,27.575

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34898,704

TT8_MAMPS 0.029146 CAP_FILE_SIZE 101243,0

HUMID 1831 CFSIZE 254472192,231579648

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 56 GPS 261009,211336,6237.920,-1120.803,37,0.9,42,-10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 101.63 SBE_CT 481 24 273.70

Roll_motor 122 79 229.27 SBE_O2 517 19 233.09

VBD_pump_during_apogee 366 1250 10857.91 WL_BB2F 397 105 988.84

VBD_pump_during_surface 26 783 492.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 26 160 100.39 nil 0 0 0.00

Iridium_during_xfer 142 223 755.44

Transponder_ping 19 420 194.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.34

TT8 1255 19 251.12

LPSleep 8358 2 184.88

TT8_Active 510 19 102.09

TT8_Sampling 1422 39 571.90

TT8_CF8 481 45 222.76

TT8_Kalman 33 81 27.56

Analog_circuits 1253 12 151.88

GPS_charging 0 0 0.00

Compass 1388 8 112.16

RAFOS 0 0 0.00

Transponder 38 30 11.57

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.44 -146.6 0.0 0.0 0 82 0.00 0.00 -61.28 0.000 2 0.000 0.000 422 2149 2665

86 -1.44 -146.6 2.8 -3.3 3 128 11.15 0.00 -28.48 0.000 6 0.160 0.000 2425 2144 3430

434 -1.34 -146.6 54.2 -15.4 20 439 0.15 2.60 0.00 0.000 4 0.106 0.059 2454 705 3430

462 -1.29 -146.6 58.9 -14.8 21 467 0.00 2.53 0.00 0.000 6 0.000 0.049 2454 2127 3430

779 -1.25 -146.6 105.3 -15.3 36 780 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2127 3430

1089 -1.22 -146.6 148.6 -13.9 51 1094 0.12 2.58 0.00 0.000 4 0.107 0.061 2478 706 3430

1128 -1.26 -146.6 154.2 -13.1 53 1135 0.00 2.53 0.00 0.000 6 0.000 0.050 2479 2128 3430

1448 -1.26 -146.6 194.1 -12.9 74 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2128 3430

1760 -1.26 -146.6 232.9 -12.1 94 1764 0.00 2.58 0.00 0.000 4 0.000 0.064 2478 709 3430

1793 -1.30 -146.6 237.1 -12.6 96 1797 0.00 2.50 0.00 0.000 6 0.000 0.050 2478 2118 3430

2113 -1.30 -146.6 273.7 -11.4 116 2114 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2118 3430

2425 -1.30 -146.6 309.4 -11.2 136 2429 0.00 2.55 0.00 0.000 4 0.000 0.062 2478 709 3430

2475 -1.36 -146.6 315.2 -11.4 139 2480 0.15 2.50 0.00 0.000 6 0.058 0.051 2440 2118 3430

2798 -1.30 -146.6 356.0 -12.9 159 2802 0.12 2.55 0.00 0.000 4 0.100 0.062 2463 711 3430

2827 -1.30 -146.6 360.1 -13.2 161 2831 0.00 2.50 0.00 0.000 6 0.000 0.051 2463 2116 3430

3152 -1.30 -146.6 398.4 -11.5 182 3156 0.00 2.55 0.00 0.000 4 0.000 0.063 2464 706 3430

3180 -1.30 -146.6 401.9 -11.7 184 3185 0.00 2.47 0.00 0.000 6 0.000 0.051 2463 2100 3430

3506 -1.30 -146.6 439.0 -11.1 205 3510 0.00 2.53 0.00 0.000 4 0.000 0.064 2463 715 3430

3558 -1.30 -146.6 445.2 -12.3 208 3562 0.00 2.45 0.00 0.000 6 0.000 0.052 2464 2090 3430

3877 -1.30 -146.6 485.3 -13.1 228 3881 0.00 2.50 0.00 0.000 4 0.000 0.063 2463 711 3430

3906 -1.30 -146.6 489.0 -13.4 230 3910 0.00 2.42 0.00 0.000 6 0.000 0.052 2464 2073 3430

4230 -1.30 -146.6 528.4 -10.8 251 4235 0.00 2.67 0.00 0.000 4 0.000 0.074 2464 3534 3430

4259 -1.30 -146.6 531.7 -11.2 253 4264 0.00 2.67 0.00 0.000 6 0.000 0.064 2463 2068 3430

4585 -1.30 -146.6 566.8 -10.6 274 4589 0.00 2.45 0.00 0.000 4 0.000 0.067 2463 698 3430

4652 -1.35 -146.6 574.7 -11.7 278 4656 0.00 2.45 0.00 0.000 6 0.000 0.053 2463 2080 3430

4977 -1.35 -146.6 609.4 -11.8 299 4981 0.00 2.53 0.00 0.000 4 0.000 0.071 2463 709 3430

5023 -1.39 -146.6 615.2 -12.1 302 5027 0.00 2.42 0.00 0.000 6 0.000 0.056 2464 2062 3430

5347 -1.39 -146.6 654.7 -11.7 323 5351 0.00 2.72 0.00 0.000 4 0.000 0.079 2464 3535 3430

5390 end dive: BOTTOM_OBSTACLE_DETECTED

state 5390 begin apogee

5401 -0.33 0.0 660.1 11.0 326 5542 0.95 0.00 133.25 1.250 6 0.082 0.000 2669 1849 2831

5543 end apogee: CONTROL_FINISHED_OK

state 5543 begin climb

5546 1.44 146.6 665.7 0.0 336 5690 1.77 2.70 133.85 1.206 4 0.060 0.075 3057 442 2233

5801 1.32 147.7 650.0 10.0 351 5808 0.15 2.55 0.00 0.000 6 0.100 0.055 3031 1846 2233

6120 1.40 197.4 626.3 7.7 372 6168 0.00 0.00 45.58 1.193 6 0.000 0.000 3030 1862 2026

6480 1.40 197.4 590.4 10.8 395 6485 0.00 2.60 0.00 0.000 4 0.000 0.074 3030 3255 2026

6548 1.43 197.4 582.7 10.8 399 6553 0.12 2.62 0.00 0.000 6 0.064 0.069 3061 1846 2025

6868 1.39 197.4 548.0 11.1 419 6869 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 1846 2025

7180 1.34 197.4 510.8 12.1 439 7182 0.12 0.00 0.00 0.000 6 0.104 0.000 3039 1846 2024

7493 1.36 210.0 480.6 9.4 459 7510 0.00 2.70 12.10 1.070 4 0.000 0.067 3039 3255 1973

7550 1.40 212.3 475.0 9.9 462 7555 0.00 2.60 0.00 0.000 6 0.000 0.063 3038 1846 1973

7869 1.42 227.1 445.6 9.3 482 7890 0.00 2.67 15.77 1.079 4 0.000 0.065 3039 3258 1905

7920 1.49 242.8 440.8 9.3 485 7941 0.15 2.60 15.10 1.065 6 0.059 0.061 3075 1850 1841

8265 1.43 242.8 400.8 12.1 507 8270 0.00 2.60 0.00 0.000 4 0.000 0.065 3075 3258 1841

8305 1.43 242.8 395.0 13.7 509 8311 0.00 2.55 0.00 0.000 6 0.000 0.059 3075 1859 1841

8625 1.38 242.8 354.0 12.7 530 8630 0.15 2.58 0.00 0.000 4 0.097 0.064 3046 3255 1841

8664 1.41 242.8 349.1 11.4 532 8670 0.00 2.50 0.00 0.000 6 0.000 0.058 3046 1879 1841

8984 1.42 245.6 316.0 9.9 553 8994 0.00 2.55 4.47 0.726 4 0.000 0.064 3047 3264 1829

9029 1.45 245.6 311.3 10.4 555 9035 0.00 2.47 0.00 0.000 6 0.000 0.056 3046 1899 1829

9349 1.45 245.6 279.4 10.2 576 9350 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1898 1829

9660 1.45 245.6 245.2 11.2 596 9665 0.00 2.50 0.00 0.000 4 0.000 0.063 3046 3261 1829

9717 1.50 245.6 238.3 11.9 599 9724 0.08 2.45 0.00 0.000 6 0.051 0.054 3074 1898 1829

10037 1.46 245.6 195.8 13.6 620 10041 0.00 2.50 0.00 0.000 4 0.000 0.063 3074 3262 1830

10059 1.46 245.6 192.3 13.8 621 10065 0.00 2.42 0.00 0.000 6 0.000 0.052 3074 1911 1830

10378 1.43 245.6 150.2 13.5 642 10383 0.00 2.47 0.00 0.000 4 0.000 0.061 3074 3265 1830

10424 1.43 245.6 143.6 14.9 645 10428 0.00 2.40 0.00 0.000 6 0.000 0.050 3073 1917 1830

10751 1.43 245.6 100.3 11.7 661 10756 0.00 2.45 0.00 0.000 4 0.000 0.060 3074 3262 1830

10785 1.43 245.6 96.1 12.2 662 10791 0.00 2.38 0.00 0.000 6 0.000 0.050 3074 1927 1830

11103 1.43 245.6 60.3 11.5 678 11105 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1927 1830

11411 1.43 250.9 24.7 9.8 693 11422 0.00 2.45 6.32 0.683 4 0.000 0.059 3074 3263 1808

11452 1.43 250.9 20.1 11.8 695 11456 0.00 2.38 0.00 0.000 6 0.000 0.049 3074 1933 1808

11618 end climb: SURFACE_DEPTH_REACHED

state 11618 begin surface coast

11639 end surface coast: CONTROL_FINISHED_OK

state 11639 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	374	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	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	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	-107392.84	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	175054,6238.397,-1123.379,38,1.8,38,-11.0	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.248,0.090
_SM_DEPTHo	1.55	KALMAN_X	-144400.9,1525.4,852.7,221100.7,-10502.8
_SM_ANGLEo	-64.7	KALMAN_Y	47770.3,-235.1,-265.7,-139671.4,-1044.4
GPS2	175632,6238.388,-1123.408,14,1.6,14,-11.0	MHEAD_RNG_PITCHd_Wd	81.0,20105,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.003674	ALTIM_BOTTOM_PING	620.4,49.4
SM_CCo	11664,26.52,0.783,0,0,1607,300.00	_24V_AH	23.7,60.767
SM_GC	1.60,0.00,0.00,26.52,0.000,0.000,0.783,418,2136,1607,-10.70,0.20,300.00	_10V_AH	10.1,27.575
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34898,704
TT8_MAMPS	0.029146	CAP_FILE_SIZE	101243,0
HUMID	1831	CFSIZE	254472192,231579648
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	56	GPS	261009,211336,6237.920,-1120.803,37,0.9,42,-10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	101.63	SBE_CT	481	24	273.70
Roll_motor	122	79	229.27	SBE_O2	517	19	233.09
VBD_pump_during_apogee	366	1250	10857.91	WL_BB2F	397	105	988.84
VBD_pump_during_surface	26	783	492.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	26	160	100.39	nil	0	0	0.00
Iridium_during_xfer	142	223	755.44
Transponder_ping	19	420	194.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.34
TT8	1255	19	251.12
LPSleep	8358	2	184.88
TT8_Active	510	19	102.09
TT8_Sampling	1422	39	571.90
TT8_CF8	481	45	222.76
TT8_Kalman	33	81	27.56
Analog_circuits	1253	12	151.88
GPS_charging	0	0	0.00
Compass	1388	8	112.16
RAFOS	0	0	0.00
Transponder	38	30	11.57

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.44	-146.6	0.0	0.0	0	82	0.00	0.00	-61.28	0.000	2	0.000	0.000	422	2149	2665
86	-1.44	-146.6	2.8	-3.3	3	128	11.15	0.00	-28.48	0.000	6	0.160	0.000	2425	2144	3430
434	-1.34	-146.6	54.2	-15.4	20	439	0.15	2.60	0.00	0.000	4	0.106	0.059	2454	705	3430
462	-1.29	-146.6	58.9	-14.8	21	467	0.00	2.53	0.00	0.000	6	0.000	0.049	2454	2127	3430
779	-1.25	-146.6	105.3	-15.3	36	780	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2127	3430
1089	-1.22	-146.6	148.6	-13.9	51	1094	0.12	2.58	0.00	0.000	4	0.107	0.061	2478	706	3430
1128	-1.26	-146.6	154.2	-13.1	53	1135	0.00	2.53	0.00	0.000	6	0.000	0.050	2479	2128	3430
1448	-1.26	-146.6	194.1	-12.9	74	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2128	3430
1760	-1.26	-146.6	232.9	-12.1	94	1764	0.00	2.58	0.00	0.000	4	0.000	0.064	2478	709	3430
1793	-1.30	-146.6	237.1	-12.6	96	1797	0.00	2.50	0.00	0.000	6	0.000	0.050	2478	2118	3430
2113	-1.30	-146.6	273.7	-11.4	116	2114	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2118	3430
2425	-1.30	-146.6	309.4	-11.2	136	2429	0.00	2.55	0.00	0.000	4	0.000	0.062	2478	709	3430
2475	-1.36	-146.6	315.2	-11.4	139	2480	0.15	2.50	0.00	0.000	6	0.058	0.051	2440	2118	3430
2798	-1.30	-146.6	356.0	-12.9	159	2802	0.12	2.55	0.00	0.000	4	0.100	0.062	2463	711	3430
2827	-1.30	-146.6	360.1	-13.2	161	2831	0.00	2.50	0.00	0.000	6	0.000	0.051	2463	2116	3430
3152	-1.30	-146.6	398.4	-11.5	182	3156	0.00	2.55	0.00	0.000	4	0.000	0.063	2464	706	3430
3180	-1.30	-146.6	401.9	-11.7	184	3185	0.00	2.47	0.00	0.000	6	0.000	0.051	2463	2100	3430
3506	-1.30	-146.6	439.0	-11.1	205	3510	0.00	2.53	0.00	0.000	4	0.000	0.064	2463	715	3430
3558	-1.30	-146.6	445.2	-12.3	208	3562	0.00	2.45	0.00	0.000	6	0.000	0.052	2464	2090	3430
3877	-1.30	-146.6	485.3	-13.1	228	3881	0.00	2.50	0.00	0.000	4	0.000	0.063	2463	711	3430
3906	-1.30	-146.6	489.0	-13.4	230	3910	0.00	2.42	0.00	0.000	6	0.000	0.052	2464	2073	3430
4230	-1.30	-146.6	528.4	-10.8	251	4235	0.00	2.67	0.00	0.000	4	0.000	0.074	2464	3534	3430
4259	-1.30	-146.6	531.7	-11.2	253	4264	0.00	2.67	0.00	0.000	6	0.000	0.064	2463	2068	3430
4585	-1.30	-146.6	566.8	-10.6	274	4589	0.00	2.45	0.00	0.000	4	0.000	0.067	2463	698	3430
4652	-1.35	-146.6	574.7	-11.7	278	4656	0.00	2.45	0.00	0.000	6	0.000	0.053	2463	2080	3430
4977	-1.35	-146.6	609.4	-11.8	299	4981	0.00	2.53	0.00	0.000	4	0.000	0.071	2463	709	3430
5023	-1.39	-146.6	615.2	-12.1	302	5027	0.00	2.42	0.00	0.000	6	0.000	0.056	2464	2062	3430
5347	-1.39	-146.6	654.7	-11.7	323	5351	0.00	2.72	0.00	0.000	4	0.000	0.079	2464	3535	3430
5390	end dive: BOTTOM_OBSTACLE_DETECTED
state	5390	begin apogee
5401	-0.33	0.0	660.1	11.0	326	5542	0.95	0.00	133.25	1.250	6	0.082	0.000	2669	1849	2831
5543	end apogee: CONTROL_FINISHED_OK
state	5543	begin climb
5546	1.44	146.6	665.7	0.0	336	5690	1.77	2.70	133.85	1.206	4	0.060	0.075	3057	442	2233
5801	1.32	147.7	650.0	10.0	351	5808	0.15	2.55	0.00	0.000	6	0.100	0.055	3031	1846	2233
6120	1.40	197.4	626.3	7.7	372	6168	0.00	0.00	45.58	1.193	6	0.000	0.000	3030	1862	2026
6480	1.40	197.4	590.4	10.8	395	6485	0.00	2.60	0.00	0.000	4	0.000	0.074	3030	3255	2026
6548	1.43	197.4	582.7	10.8	399	6553	0.12	2.62	0.00	0.000	6	0.064	0.069	3061	1846	2025
6868	1.39	197.4	548.0	11.1	419	6869	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	1846	2025
7180	1.34	197.4	510.8	12.1	439	7182	0.12	0.00	0.00	0.000	6	0.104	0.000	3039	1846	2024
7493	1.36	210.0	480.6	9.4	459	7510	0.00	2.70	12.10	1.070	4	0.000	0.067	3039	3255	1973
7550	1.40	212.3	475.0	9.9	462	7555	0.00	2.60	0.00	0.000	6	0.000	0.063	3038	1846	1973
7869	1.42	227.1	445.6	9.3	482	7890	0.00	2.67	15.77	1.079	4	0.000	0.065	3039	3258	1905
7920	1.49	242.8	440.8	9.3	485	7941	0.15	2.60	15.10	1.065	6	0.059	0.061	3075	1850	1841
8265	1.43	242.8	400.8	12.1	507	8270	0.00	2.60	0.00	0.000	4	0.000	0.065	3075	3258	1841
8305	1.43	242.8	395.0	13.7	509	8311	0.00	2.55	0.00	0.000	6	0.000	0.059	3075	1859	1841
8625	1.38	242.8	354.0	12.7	530	8630	0.15	2.58	0.00	0.000	4	0.097	0.064	3046	3255	1841
8664	1.41	242.8	349.1	11.4	532	8670	0.00	2.50	0.00	0.000	6	0.000	0.058	3046	1879	1841
8984	1.42	245.6	316.0	9.9	553	8994	0.00	2.55	4.47	0.726	4	0.000	0.064	3047	3264	1829
9029	1.45	245.6	311.3	10.4	555	9035	0.00	2.47	0.00	0.000	6	0.000	0.056	3046	1899	1829
9349	1.45	245.6	279.4	10.2	576	9350	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1898	1829
9660	1.45	245.6	245.2	11.2	596	9665	0.00	2.50	0.00	0.000	4	0.000	0.063	3046	3261	1829
9717	1.50	245.6	238.3	11.9	599	9724	0.08	2.45	0.00	0.000	6	0.051	0.054	3074	1898	1829
10037	1.46	245.6	195.8	13.6	620	10041	0.00	2.50	0.00	0.000	4	0.000	0.063	3074	3262	1830
10059	1.46	245.6	192.3	13.8	621	10065	0.00	2.42	0.00	0.000	6	0.000	0.052	3074	1911	1830
10378	1.43	245.6	150.2	13.5	642	10383	0.00	2.47	0.00	0.000	4	0.000	0.061	3074	3265	1830
10424	1.43	245.6	143.6	14.9	645	10428	0.00	2.40	0.00	0.000	6	0.000	0.050	3073	1917	1830
10751	1.43	245.6	100.3	11.7	661	10756	0.00	2.45	0.00	0.000	4	0.000	0.060	3074	3262	1830
10785	1.43	245.6	96.1	12.2	662	10791	0.00	2.38	0.00	0.000	6	0.000	0.050	3074	1927	1830
11103	1.43	245.6	60.3	11.5	678	11105	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1927	1830
11411	1.43	250.9	24.7	9.8	693	11422	0.00	2.45	6.32	0.683	4	0.000	0.059	3074	3263	1808
11452	1.43	250.9	20.1	11.8	695	11456	0.00	2.38	0.00	0.000	6	0.000	0.049	3074	1933	1808
11618	end climb: SURFACE_DEPTH_REACHED
state	11618	begin surface coast
11639	end surface coast: CONTROL_FINISHED_OK
state	11639	begin surface