Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 85 * 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 85 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -651738 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 2705 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 -651738

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 2705 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 25 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 85 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 033108,6420.083,-928.052,32,1.0,32,-10.5 TGT_NAME NV

_CALLS 1 TGT_LATLONG 6454.000,-1040.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.43 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -58.5 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 033720,6420.104,-928.043,12,1.2,29,-10.5 MHEAD_RNG_PITCHd_Wd 328.5,84478,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026577 ALTIM_BOTTOM_PING 625.2,33.7

SM_CCo 13686,20.92,0.669,0,0,1315,300.00 _24V_AH 23.6,15.837

SM_GC 1.46,0.00,0.00,20.92,0.000,0.000,0.669,381,1601,1315,-10.69,0.06,300.00 _10V_AH 10.1,9.341

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34795,653

TT8_MAMPS 0.023777 CAP_FILE_SIZE 98392,0

HUMID 1935 CFSIZE 254472192,246411264

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 0 GPS 170908,072730,6420.869,-935.353,35,1.7,39,-10.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 176 106.37 SBE_CT 492 24 278.91

Roll_motor 95 108 246.43 SBE_O2 444 19 199.33

VBD_pump_during_apogee 350 1120 9275.22 WL_BB2F 416 105 1031.26

VBD_pump_during_surface 20 668 330.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.78 nil 0 0 0.00

Iridium_during_connect 36 160 136.57 nil 0 0 0.00

Iridium_during_xfer 149 223 784.77

Transponder_ping 5 420 52.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.64

TT8 1233 19 246.68

LPSleep 10287 2 227.54

TT8_Active 463 19 92.77

TT8_Sampling 1580 39 635.26

TT8_CF8 519 45 240.11

TT8_Kalman 0 81 0.00

Analog_circuits 1242 12 150.59

GPS_charging 0 0 0.00

Compass 1528 8 123.51

RAFOS 0 0 0.00

Transponder 36 30 10.99

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

19 -1.16 -146.6 0.0 0.0 0 82 0.00 0.00 -60.65 0.000 2 0.000 0.000 374 1587 2797

86 -1.16 -146.6 4.0 -5.9 3 112 11.55 2.50 -7.55 0.000 4 0.176 0.089 2448 223 3139

356 -1.16 -146.6 42.0 -13.7 15 360 0.00 2.35 0.00 0.000 6 0.000 0.054 2448 1627 3139

684 -1.16 -146.6 81.9 -10.1 31 689 0.00 2.38 0.00 0.000 4 0.000 0.070 2448 2987 3141

713 -1.16 -146.6 84.7 -9.0 32 718 0.00 2.38 0.00 0.000 6 0.000 0.060 2448 1599 3141

1030 -1.16 -146.6 114.9 -10.3 47 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1599 3143

1339 -1.16 -146.6 145.6 -9.8 62 1344 0.00 2.50 0.00 0.000 4 0.000 0.080 2448 209 3144

1396 -1.16 -146.6 151.5 -10.2 64 1403 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1607 3143

1712 -1.16 -146.6 184.8 -10.8 80 1717 0.00 2.50 0.00 0.000 4 0.000 0.076 2448 214 3143

1763 -1.16 -146.6 190.6 -10.8 82 1767 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1605 3143

2080 -1.16 -146.6 219.4 -8.7 97 2084 0.00 2.50 0.00 0.000 4 0.000 0.076 2448 215 3144

2233 -1.16 -146.6 233.2 -9.2 104 2237 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1610 3144

2561 -1.16 -146.6 258.5 -7.6 120 2565 0.00 2.53 0.00 0.000 4 0.000 0.077 2448 213 3146

2701 -1.16 -146.6 269.9 -8.4 126 2705 0.00 2.33 0.00 0.000 6 0.000 0.054 2448 1600 3146

3018 -1.16 -146.6 293.5 -8.3 141 3022 0.00 2.50 0.00 0.000 4 0.000 0.077 2448 213 3147

3136 -1.16 -146.6 304.7 -9.8 146 3140 0.00 2.35 0.00 0.000 6 0.000 0.055 2448 1609 3147

3453 -1.16 -146.6 332.7 -8.9 161 3454 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1613 3147

3762 -1.16 -146.6 362.5 -10.1 176 3767 0.00 2.55 0.00 0.000 4 0.000 0.081 2448 212 3147

3942 -1.16 -146.6 380.6 -10.5 184 3946 0.00 2.35 0.00 0.000 6 0.000 0.056 2448 1599 3147

4270 -1.16 -146.6 408.3 -7.6 200 4274 0.00 2.55 0.00 0.000 4 0.000 0.082 2448 208 3147

4365 -1.16 -146.6 416.3 -9.1 204 4369 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1606 3147

4681 -1.16 -146.6 442.1 -8.7 219 4685 0.00 2.55 0.00 0.000 4 0.000 0.086 2448 213 3146

4760 -1.16 -146.6 449.7 -9.6 222 4767 0.00 2.38 0.00 0.000 6 0.000 0.057 2448 1606 3146

5076 -1.16 -146.6 478.5 -8.9 238 5081 0.00 2.55 0.00 0.000 4 0.000 0.086 2448 209 3145

5117 -1.16 -146.6 482.6 -10.2 240 5121 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1608 3145

5451 -1.16 -146.6 514.2 -9.8 256 5452 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1608 3144

5760 -1.16 -146.6 542.0 -7.5 271 5765 0.00 2.58 0.00 0.000 4 0.000 0.087 2448 209 3143

5801 -1.16 -146.6 545.5 -8.7 273 5805 0.00 2.38 0.00 0.000 6 0.000 0.056 2448 1603 3143

6128 -1.16 -146.6 572.9 -8.1 289 6129 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1603 3141

6438 -1.16 -146.6 596.1 -4.5 304 6442 0.00 2.55 0.00 0.000 4 0.000 0.084 2448 211 3139

6482 -1.16 -146.6 600.9 -10.0 306 6487 0.00 2.38 0.00 0.000 6 0.000 0.055 2448 1603 3139

6804 -1.16 -146.6 627.3 -9.4 322 6806 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 1603 3138

7069 end dive: BOTTOM_OBSTACLE_DETECTED

state 7069 begin apogee

7079 -0.32 0.0 651.4 8.6 335 7212 0.90 0.00 125.70 1.091 6 0.109 0.000 2632 2187 2538

7212 end apogee: CONTROL_FINISHED_OK

state 7213 begin climb

7217 1.16 146.6 653.0 0.0 342 7346 1.52 2.83 121.18 1.047 4 0.091 0.109 2954 3604 1941

7575 1.20 167.1 620.9 7.2 358 7600 0.00 2.53 18.30 1.106 6 0.000 0.071 2954 2200 1856

7917 1.24 191.9 585.7 7.1 375 7941 0.00 0.00 21.90 1.121 6 0.000 0.000 2955 2200 1756

8249 1.24 191.9 553.1 9.4 391 8251 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2200 1754

8558 1.24 191.9 521.6 9.2 406 8560 0.00 0.00 0.00 0.000 6 0.000 0.000 2955 2201 1753

8868 1.25 203.5 495.9 7.6 421 8881 0.10 0.00 10.77 0.985 6 0.075 0.000 2982 2201 1709

9178 1.25 203.5 460.1 11.0 436 9182 0.00 2.65 0.00 0.000 4 0.000 0.094 2982 3608 1708

9273 1.25 203.5 447.7 12.8 440 9277 0.00 2.47 0.00 0.000 6 0.000 0.065 2982 2202 1707

9595 1.25 203.5 411.3 11.5 456 9596 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2202 1706

9904 1.25 203.5 379.6 9.9 471 9906 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2202 1706

10213 1.25 203.5 350.9 9.4 486 10214 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2202 1705

10523 1.25 203.5 321.2 9.6 501 10527 0.00 2.55 0.00 0.000 4 0.000 0.081 2983 797 1705

10657 1.25 203.5 306.2 11.5 507 10662 0.00 2.42 0.00 0.000 6 0.000 0.055 2982 2209 1704

10979 1.25 203.5 272.6 10.7 523 10984 0.00 2.58 0.00 0.000 4 0.000 0.074 2983 789 1703

11024 1.25 203.5 267.2 11.3 525 11029 0.00 2.42 0.00 0.000 6 0.000 0.056 2982 2198 1703

11347 1.25 203.5 233.8 9.8 541 11351 0.00 2.55 0.00 0.000 4 0.000 0.074 2982 789 1703

11465 1.25 203.5 221.4 11.2 546 11469 0.00 2.42 0.00 0.000 6 0.000 0.057 2982 2199 1702

11786 1.25 203.5 189.0 10.3 562 11791 0.00 2.60 0.00 0.000 4 0.000 0.092 2982 3600 1702

11899 1.25 203.5 175.5 12.0 567 11903 0.00 2.45 0.00 0.000 6 0.000 0.062 2982 2190 1700

12221 1.25 203.5 139.4 10.9 583 12222 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2190 1700

12530 1.25 203.5 108.9 10.3 598 12531 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2189 1700

12839 1.25 203.5 77.1 10.5 613 12840 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2189 1700

13150 1.25 203.5 49.2 8.2 628 13151 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2189 1700

13458 1.36 270.7 21.2 5.4 643 13517 0.00 0.00 52.88 0.711 6 0.000 0.000 2982 2189 1434

13639 end climb: SURFACE_DEPTH_REACHED

state 13639 begin surface coast

13660 end surface coast: CONTROL_FINISHED_OK

state 13660 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	85	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-651738	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	2705	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	033108,6420.083,-928.052,32,1.0,32,-10.5	TGT_NAME	NV
_CALLS	1	TGT_LATLONG	6454.000,-1040.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.43	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-58.5	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	033720,6420.104,-928.043,12,1.2,29,-10.5	MHEAD_RNG_PITCHd_Wd	328.5,84478,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.7,1.026577	ALTIM_BOTTOM_PING	625.2,33.7
SM_CCo	13686,20.92,0.669,0,0,1315,300.00	_24V_AH	23.6,15.837
SM_GC	1.46,0.00,0.00,20.92,0.000,0.000,0.669,381,1601,1315,-10.69,0.06,300.00	_10V_AH	10.1,9.341
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34795,653
TT8_MAMPS	0.023777	CAP_FILE_SIZE	98392,0
HUMID	1935	CFSIZE	254472192,246411264
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	0	GPS	170908,072730,6420.869,-935.353,35,1.7,39,-10.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	176	106.37	SBE_CT	492	24	278.91
Roll_motor	95	108	246.43	SBE_O2	444	19	199.33
VBD_pump_during_apogee	350	1120	9275.22	WL_BB2F	416	105	1031.26
VBD_pump_during_surface	20	668	330.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.78	nil	0	0	0.00
Iridium_during_connect	36	160	136.57	nil	0	0	0.00
Iridium_during_xfer	149	223	784.77
Transponder_ping	5	420	52.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.64
TT8	1233	19	246.68
LPSleep	10287	2	227.54
TT8_Active	463	19	92.77
TT8_Sampling	1580	39	635.26
TT8_CF8	519	45	240.11
TT8_Kalman	0	81	0.00
Analog_circuits	1242	12	150.59
GPS_charging	0	0	0.00
Compass	1528	8	123.51
RAFOS	0	0	0.00
Transponder	36	30	10.99

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
19	-1.16	-146.6	0.0	0.0	0	82	0.00	0.00	-60.65	0.000	2	0.000	0.000	374	1587	2797
86	-1.16	-146.6	4.0	-5.9	3	112	11.55	2.50	-7.55	0.000	4	0.176	0.089	2448	223	3139
356	-1.16	-146.6	42.0	-13.7	15	360	0.00	2.35	0.00	0.000	6	0.000	0.054	2448	1627	3139
684	-1.16	-146.6	81.9	-10.1	31	689	0.00	2.38	0.00	0.000	4	0.000	0.070	2448	2987	3141
713	-1.16	-146.6	84.7	-9.0	32	718	0.00	2.38	0.00	0.000	6	0.000	0.060	2448	1599	3141
1030	-1.16	-146.6	114.9	-10.3	47	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1599	3143
1339	-1.16	-146.6	145.6	-9.8	62	1344	0.00	2.50	0.00	0.000	4	0.000	0.080	2448	209	3144
1396	-1.16	-146.6	151.5	-10.2	64	1403	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1607	3143
1712	-1.16	-146.6	184.8	-10.8	80	1717	0.00	2.50	0.00	0.000	4	0.000	0.076	2448	214	3143
1763	-1.16	-146.6	190.6	-10.8	82	1767	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1605	3143
2080	-1.16	-146.6	219.4	-8.7	97	2084	0.00	2.50	0.00	0.000	4	0.000	0.076	2448	215	3144
2233	-1.16	-146.6	233.2	-9.2	104	2237	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1610	3144
2561	-1.16	-146.6	258.5	-7.6	120	2565	0.00	2.53	0.00	0.000	4	0.000	0.077	2448	213	3146
2701	-1.16	-146.6	269.9	-8.4	126	2705	0.00	2.33	0.00	0.000	6	0.000	0.054	2448	1600	3146
3018	-1.16	-146.6	293.5	-8.3	141	3022	0.00	2.50	0.00	0.000	4	0.000	0.077	2448	213	3147
3136	-1.16	-146.6	304.7	-9.8	146	3140	0.00	2.35	0.00	0.000	6	0.000	0.055	2448	1609	3147
3453	-1.16	-146.6	332.7	-8.9	161	3454	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1613	3147
3762	-1.16	-146.6	362.5	-10.1	176	3767	0.00	2.55	0.00	0.000	4	0.000	0.081	2448	212	3147
3942	-1.16	-146.6	380.6	-10.5	184	3946	0.00	2.35	0.00	0.000	6	0.000	0.056	2448	1599	3147
4270	-1.16	-146.6	408.3	-7.6	200	4274	0.00	2.55	0.00	0.000	4	0.000	0.082	2448	208	3147
4365	-1.16	-146.6	416.3	-9.1	204	4369	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1606	3147
4681	-1.16	-146.6	442.1	-8.7	219	4685	0.00	2.55	0.00	0.000	4	0.000	0.086	2448	213	3146
4760	-1.16	-146.6	449.7	-9.6	222	4767	0.00	2.38	0.00	0.000	6	0.000	0.057	2448	1606	3146
5076	-1.16	-146.6	478.5	-8.9	238	5081	0.00	2.55	0.00	0.000	4	0.000	0.086	2448	209	3145
5117	-1.16	-146.6	482.6	-10.2	240	5121	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1608	3145
5451	-1.16	-146.6	514.2	-9.8	256	5452	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1608	3144
5760	-1.16	-146.6	542.0	-7.5	271	5765	0.00	2.58	0.00	0.000	4	0.000	0.087	2448	209	3143
5801	-1.16	-146.6	545.5	-8.7	273	5805	0.00	2.38	0.00	0.000	6	0.000	0.056	2448	1603	3143
6128	-1.16	-146.6	572.9	-8.1	289	6129	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1603	3141
6438	-1.16	-146.6	596.1	-4.5	304	6442	0.00	2.55	0.00	0.000	4	0.000	0.084	2448	211	3139
6482	-1.16	-146.6	600.9	-10.0	306	6487	0.00	2.38	0.00	0.000	6	0.000	0.055	2448	1603	3139
6804	-1.16	-146.6	627.3	-9.4	322	6806	0.00	0.00	0.00	0.000	6	0.000	0.000	2448	1603	3138
7069	end dive: BOTTOM_OBSTACLE_DETECTED
state	7069	begin apogee
7079	-0.32	0.0	651.4	8.6	335	7212	0.90	0.00	125.70	1.091	6	0.109	0.000	2632	2187	2538
7212	end apogee: CONTROL_FINISHED_OK
state	7213	begin climb
7217	1.16	146.6	653.0	0.0	342	7346	1.52	2.83	121.18	1.047	4	0.091	0.109	2954	3604	1941
7575	1.20	167.1	620.9	7.2	358	7600	0.00	2.53	18.30	1.106	6	0.000	0.071	2954	2200	1856
7917	1.24	191.9	585.7	7.1	375	7941	0.00	0.00	21.90	1.121	6	0.000	0.000	2955	2200	1756
8249	1.24	191.9	553.1	9.4	391	8251	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2200	1754
8558	1.24	191.9	521.6	9.2	406	8560	0.00	0.00	0.00	0.000	6	0.000	0.000	2955	2201	1753
8868	1.25	203.5	495.9	7.6	421	8881	0.10	0.00	10.77	0.985	6	0.075	0.000	2982	2201	1709
9178	1.25	203.5	460.1	11.0	436	9182	0.00	2.65	0.00	0.000	4	0.000	0.094	2982	3608	1708
9273	1.25	203.5	447.7	12.8	440	9277	0.00	2.47	0.00	0.000	6	0.000	0.065	2982	2202	1707
9595	1.25	203.5	411.3	11.5	456	9596	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2202	1706
9904	1.25	203.5	379.6	9.9	471	9906	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2202	1706
10213	1.25	203.5	350.9	9.4	486	10214	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2202	1705
10523	1.25	203.5	321.2	9.6	501	10527	0.00	2.55	0.00	0.000	4	0.000	0.081	2983	797	1705
10657	1.25	203.5	306.2	11.5	507	10662	0.00	2.42	0.00	0.000	6	0.000	0.055	2982	2209	1704
10979	1.25	203.5	272.6	10.7	523	10984	0.00	2.58	0.00	0.000	4	0.000	0.074	2983	789	1703
11024	1.25	203.5	267.2	11.3	525	11029	0.00	2.42	0.00	0.000	6	0.000	0.056	2982	2198	1703
11347	1.25	203.5	233.8	9.8	541	11351	0.00	2.55	0.00	0.000	4	0.000	0.074	2982	789	1703
11465	1.25	203.5	221.4	11.2	546	11469	0.00	2.42	0.00	0.000	6	0.000	0.057	2982	2199	1702
11786	1.25	203.5	189.0	10.3	562	11791	0.00	2.60	0.00	0.000	4	0.000	0.092	2982	3600	1702
11899	1.25	203.5	175.5	12.0	567	11903	0.00	2.45	0.00	0.000	6	0.000	0.062	2982	2190	1700
12221	1.25	203.5	139.4	10.9	583	12222	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2190	1700
12530	1.25	203.5	108.9	10.3	598	12531	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2189	1700
12839	1.25	203.5	77.1	10.5	613	12840	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2189	1700
13150	1.25	203.5	49.2	8.2	628	13151	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2189	1700
13458	1.36	270.7	21.2	5.4	643	13517	0.00	0.00	52.88	0.711	6	0.000	0.000	2982	2189	1434
13639	end climb: SURFACE_DEPTH_REACHED
state	13639	begin surface coast
13660	end surface coast: CONTROL_FINISHED_OK
state	13660	begin surface