Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 142 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 270 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 142 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT 20

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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 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 1001 T_GPS_CHARGE -2110112.5 VBD_BLEED_AD_RATE 4 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 -2110112.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 2 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 142 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 225625,6352.496,-1339.313,42,1.0,42,-12.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6352.502,-1403.805

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.50 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -57.9 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 230149,6352.502,-1339.280,10,1.0,15,-12.8 MHEAD_RNG_PITCHd_Wd 282.8,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.014673 ALTIM_BOTTOM_PING 751.4,60.9

SM_CCo 13879,0.00,0.000,0,0,498,568.85 _24V_AH 23.5,25.746

SM_GC 1.51,12.45,0.00,0.00,0.087,0.000,0.000,71,2606,498,-10.45,0.17,568.85 _10V_AH 10.1,12.712

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34853,657

TT8_MAMPS 0.02301 CAP_FILE_SIZE 110333,0

HUMID 1783 CFSIZE 260165632,250281984

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 020709,025436,6349.917,-1347.126,32,1.0,32,-12.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 191 125.95 SBE_CT 480 24 271.08

Roll_motor 120 75 214.98 SBE_O2 445 19 198.92

VBD_pump_during_apogee 639 1135 17075.00 WL_BB2F 377 105 932.03

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.63 nil 0 0 0.00

Iridium_during_connect 29 160 111.07 nil 0 0 0.00

Iridium_during_xfer 151 223 794.65

Transponder_ping 6 420 64.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.96

TT8 1257 19 251.47

LPSleep 10052 2 222.36

TT8_Active 667 19 133.39

TT8_Sampling 1783 39 716.74

TT8_CF8 442 45 204.54

TT8_Kalman 0 81 0.00

Analog_circuits 1608 12 194.93

GPS_charging 0 0 0.00

Compass 1726 8 139.53

RAFOS 0 0 0.00

Transponder 44 30 13.55

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 -1.03 -146.6 0.0 0.0 0 99 0.00 0.00 -81.85 0.000 2 0.000 0.000 73 2608 3260

102 -1.03 -146.6 5.3 -6.2 4 125 12.12 2.55 -2.60 0.000 4 0.192 0.051 2130 1178 3417

159 -1.03 -146.6 20.6 -11.7 6 163 0.00 2.50 0.00 0.000 6 0.000 0.037 2130 2591 3417

476 -1.03 -146.6 52.1 -9.7 21 480 0.00 2.35 0.00 0.000 4 0.000 0.065 2130 3860 3417

543 -0.97 -146.6 59.0 -9.8 24 547 0.00 2.17 0.00 0.000 6 0.000 0.026 2130 2572 3417

864 -0.97 -146.6 93.4 -10.2 40 865 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2570 3418

1173 -0.97 -146.6 128.5 -11.4 55 1177 0.00 2.40 0.00 0.000 4 0.000 0.040 2130 1208 3418

1214 -0.97 -146.6 132.4 -9.5 57 1218 0.00 2.42 0.00 0.000 6 0.000 0.035 2130 2600 3418

1546 -0.97 -146.6 159.9 -8.9 73 1547 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

1855 -0.97 -146.6 192.5 -10.9 88 1856 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2164 -0.97 -146.6 223.0 -9.5 103 2166 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2474 -0.97 -146.6 253.4 -10.2 118 2475 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

2783 -0.97 -146.6 286.1 -10.8 133 2784 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

3092 -0.97 -146.6 318.4 -10.8 148 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2600 3418

3402 -0.97 -146.6 354.8 -11.9 163 3406 0.00 2.45 0.00 0.000 4 0.000 0.038 2130 1209 3417

3446 -1.02 -146.6 360.2 -11.7 165 3450 0.00 2.45 0.00 0.000 6 0.000 0.036 2130 2605 3417

3768 -1.02 -146.6 394.0 -10.7 181 3772 0.00 2.47 0.00 0.000 4 0.000 0.041 2130 1205 3417

3853 -1.02 -146.6 402.7 -10.4 185 3857 0.00 2.45 0.00 0.000 6 0.000 0.036 2130 2600 3417

4180 -1.02 -146.6 442.1 -10.6 201 4184 0.00 2.45 0.00 0.000 4 0.000 0.038 2130 1204 3418

4267 -1.08 -146.6 450.0 -11.0 205 4271 0.00 2.45 0.00 0.000 6 0.000 0.035 2130 2603 3417

4594 -1.08 -146.6 481.3 -12.5 221 4595 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3417

4904 -1.08 -146.6 513.7 -9.9 236 4905 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2603 3417

5212 -1.08 -146.6 548.2 -12.8 251 5216 0.00 2.45 0.00 0.000 4 0.000 0.039 2130 1211 3417

5268 -1.14 -146.6 556.3 -14.5 253 5274 0.00 2.45 0.00 0.000 6 0.000 0.037 2130 2602 3416

5584 -1.14 -146.6 590.9 -9.0 269 5588 0.00 2.45 0.00 0.000 4 0.000 0.039 2130 1212 3416

5679 -1.21 -146.6 598.9 -7.7 273 5684 0.15 2.45 0.00 0.000 6 0.046 0.036 2087 2606 3416

5995 -1.11 -146.6 629.5 -9.5 288 6000 0.15 2.47 0.00 0.000 4 0.100 0.040 2115 1206 3415

6057 -1.11 -146.6 634.4 -8.2 291 6062 0.00 2.47 0.00 0.000 6 0.000 0.040 2115 2602 3415

6384 -1.11 -146.6 658.9 -7.0 307 6389 0.00 2.47 0.00 0.000 4 0.000 0.042 2115 1206 3414

6440 -1.11 -146.6 662.9 -7.9 309 6446 0.00 2.47 0.00 0.000 6 0.000 0.040 2115 2605 3413

6756 -1.11 -146.6 704.3 -13.2 325 6757 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 2605 3412

7065 -1.11 -146.6 739.3 -9.8 340 7069 0.00 2.47 0.00 0.000 4 0.000 0.044 2115 1214 3412

7122 -1.11 -146.6 743.8 -7.9 342 7128 0.00 2.47 0.00 0.000 6 0.000 0.041 2115 2608 3412

7437 -1.11 -146.6 776.8 -13.0 358 7441 0.00 2.35 0.00 0.000 4 0.000 0.076 2115 3857 3411

7635 end dive: BOTTOM_OBSTACLE_DETECTED

state 7635 begin apogee

7644 -0.31 0.0 802.3 15.9 366 7778 0.85 0.00 129.88 1.136 6 0.117 0.000 2284 2317 2817

7778 end apogee: CONTROL_FINISHED_OK

state 7778 begin climb

7781 1.03 146.6 801.2 0.0 373 7921 1.40 2.70 131.57 1.116 4 0.070 0.058 2582 893 2217

8179 1.03 268.0 775.1 3.4 390 8298 0.00 2.53 108.75 1.095 6 0.000 0.038 2582 2309 1722

8607 1.32 532.7 763.0 -1.5 411 8855 0.28 2.70 237.48 1.101 4 0.044 0.057 2654 895 644

8947 1.44 596.9 746.2 5.3 427 8989 0.00 2.53 31.98 1.045 6 0.000 0.039 2654 2301 508

9298 1.44 596.9 711.2 9.8 444 9302 0.00 2.60 0.00 0.000 4 0.000 0.056 2654 893 501

9387 1.49 596.9 701.4 12.1 448 9392 0.15 2.50 0.00 0.000 6 0.052 0.039 2693 2302 500

9709 1.39 596.9 644.5 17.9 464 9714 0.15 2.60 0.00 0.000 4 0.107 0.058 2665 896 499

9826 1.39 596.9 627.3 13.5 469 9830 0.00 2.50 0.00 0.000 6 0.000 0.038 2666 2308 499

10141 1.39 596.9 588.7 9.8 484 10146 0.00 2.60 0.00 0.000 4 0.000 0.054 2665 892 498

10282 1.39 596.9 569.8 15.5 490 10286 0.00 2.50 0.00 0.000 6 0.000 0.037 2666 2302 498

10597 1.39 596.9 523.6 14.5 505 10602 0.00 2.58 0.00 0.000 4 0.000 0.054 2665 895 498

10705 1.39 596.9 507.7 14.0 510 10709 0.00 2.50 0.00 0.000 6 0.000 0.037 2666 2309 498

11032 1.39 596.9 459.2 14.4 526 11036 0.00 2.60 0.00 0.000 4 0.000 0.053 2666 888 497

11216 1.39 596.9 429.5 16.6 534 11220 0.00 2.50 0.00 0.000 6 0.000 0.036 2665 2301 497

11532 1.39 596.9 380.1 18.0 549 11536 0.00 2.58 0.00 0.000 4 0.000 0.051 2665 888 497

11713 1.39 596.9 349.4 20.4 557 11717 0.00 2.47 0.00 0.000 6 0.000 0.034 2666 2301 497

12033 1.39 596.9 295.7 17.4 573 12037 0.00 2.55 0.00 0.000 4 0.000 0.050 2667 894 497

12204 1.43 596.9 268.3 16.0 580 12210 0.00 2.47 0.00 0.000 6 0.000 0.034 2665 2309 497

12520 1.43 596.9 214.8 16.7 596 12524 0.00 2.58 0.00 0.000 4 0.000 0.049 2666 888 497

12654 1.48 596.9 193.4 14.9 602 12658 0.00 2.47 0.00 0.000 6 0.000 0.034 2666 2302 498

12976 1.48 596.9 142.1 16.9 618 12980 0.00 2.55 0.00 0.000 4 0.000 0.048 2665 889 497

13099 1.54 596.9 122.8 15.1 623 13106 0.12 2.45 0.00 0.000 6 0.051 0.033 2704 2300 498

13417 1.47 596.9 63.3 19.3 639 13422 0.12 2.55 0.00 0.000 4 0.097 0.046 2681 884 498

13572 1.51 596.9 36.7 16.3 646 13577 0.00 2.47 0.00 0.000 6 0.000 0.033 2680 2303 498

13775 end climb: SURFACE_DEPTH_REACHED

state 13775 begin surface coast

13795 end surface coast: CONTROL_FINISHED_OK

state 13795 begin surface

ID	16	HEADING	270	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	142	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	20
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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	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	1001	T_GPS_CHARGE	-2110112.5	VBD_BLEED_AD_RATE	4	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	225625,6352.496,-1339.313,42,1.0,42,-12.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6352.502,-1403.805
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.50	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-57.9	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	230149,6352.502,-1339.280,10,1.0,15,-12.8	MHEAD_RNG_PITCHd_Wd	282.8,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.8,1.014673	ALTIM_BOTTOM_PING	751.4,60.9
SM_CCo	13879,0.00,0.000,0,0,498,568.85	_24V_AH	23.5,25.746
SM_GC	1.51,12.45,0.00,0.00,0.087,0.000,0.000,71,2606,498,-10.45,0.17,568.85	_10V_AH	10.1,12.712
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34853,657
TT8_MAMPS	0.02301	CAP_FILE_SIZE	110333,0
HUMID	1783	CFSIZE	260165632,250281984
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	020709,025436,6349.917,-1347.126,32,1.0,32,-12.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	191	125.95	SBE_CT	480	24	271.08
Roll_motor	120	75	214.98	SBE_O2	445	19	198.92
VBD_pump_during_apogee	639	1135	17075.00	WL_BB2F	377	105	932.03
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.63	nil	0	0	0.00
Iridium_during_connect	29	160	111.07	nil	0	0	0.00
Iridium_during_xfer	151	223	794.65
Transponder_ping	6	420	64.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.96
TT8	1257	19	251.47
LPSleep	10052	2	222.36
TT8_Active	667	19	133.39
TT8_Sampling	1783	39	716.74
TT8_CF8	442	45	204.54
TT8_Kalman	0	81	0.00
Analog_circuits	1608	12	194.93
GPS_charging	0	0	0.00
Compass	1726	8	139.53
RAFOS	0	0	0.00
Transponder	44	30	13.55

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	-1.03	-146.6	0.0	0.0	0	99	0.00	0.00	-81.85	0.000	2	0.000	0.000	73	2608	3260
102	-1.03	-146.6	5.3	-6.2	4	125	12.12	2.55	-2.60	0.000	4	0.192	0.051	2130	1178	3417
159	-1.03	-146.6	20.6	-11.7	6	163	0.00	2.50	0.00	0.000	6	0.000	0.037	2130	2591	3417
476	-1.03	-146.6	52.1	-9.7	21	480	0.00	2.35	0.00	0.000	4	0.000	0.065	2130	3860	3417
543	-0.97	-146.6	59.0	-9.8	24	547	0.00	2.17	0.00	0.000	6	0.000	0.026	2130	2572	3417
864	-0.97	-146.6	93.4	-10.2	40	865	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2570	3418
1173	-0.97	-146.6	128.5	-11.4	55	1177	0.00	2.40	0.00	0.000	4	0.000	0.040	2130	1208	3418
1214	-0.97	-146.6	132.4	-9.5	57	1218	0.00	2.42	0.00	0.000	6	0.000	0.035	2130	2600	3418
1546	-0.97	-146.6	159.9	-8.9	73	1547	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
1855	-0.97	-146.6	192.5	-10.9	88	1856	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2164	-0.97	-146.6	223.0	-9.5	103	2166	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2474	-0.97	-146.6	253.4	-10.2	118	2475	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
2783	-0.97	-146.6	286.1	-10.8	133	2784	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
3092	-0.97	-146.6	318.4	-10.8	148	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2600	3418
3402	-0.97	-146.6	354.8	-11.9	163	3406	0.00	2.45	0.00	0.000	4	0.000	0.038	2130	1209	3417
3446	-1.02	-146.6	360.2	-11.7	165	3450	0.00	2.45	0.00	0.000	6	0.000	0.036	2130	2605	3417
3768	-1.02	-146.6	394.0	-10.7	181	3772	0.00	2.47	0.00	0.000	4	0.000	0.041	2130	1205	3417
3853	-1.02	-146.6	402.7	-10.4	185	3857	0.00	2.45	0.00	0.000	6	0.000	0.036	2130	2600	3417
4180	-1.02	-146.6	442.1	-10.6	201	4184	0.00	2.45	0.00	0.000	4	0.000	0.038	2130	1204	3418
4267	-1.08	-146.6	450.0	-11.0	205	4271	0.00	2.45	0.00	0.000	6	0.000	0.035	2130	2603	3417
4594	-1.08	-146.6	481.3	-12.5	221	4595	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3417
4904	-1.08	-146.6	513.7	-9.9	236	4905	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2603	3417
5212	-1.08	-146.6	548.2	-12.8	251	5216	0.00	2.45	0.00	0.000	4	0.000	0.039	2130	1211	3417
5268	-1.14	-146.6	556.3	-14.5	253	5274	0.00	2.45	0.00	0.000	6	0.000	0.037	2130	2602	3416
5584	-1.14	-146.6	590.9	-9.0	269	5588	0.00	2.45	0.00	0.000	4	0.000	0.039	2130	1212	3416
5679	-1.21	-146.6	598.9	-7.7	273	5684	0.15	2.45	0.00	0.000	6	0.046	0.036	2087	2606	3416
5995	-1.11	-146.6	629.5	-9.5	288	6000	0.15	2.47	0.00	0.000	4	0.100	0.040	2115	1206	3415
6057	-1.11	-146.6	634.4	-8.2	291	6062	0.00	2.47	0.00	0.000	6	0.000	0.040	2115	2602	3415
6384	-1.11	-146.6	658.9	-7.0	307	6389	0.00	2.47	0.00	0.000	4	0.000	0.042	2115	1206	3414
6440	-1.11	-146.6	662.9	-7.9	309	6446	0.00	2.47	0.00	0.000	6	0.000	0.040	2115	2605	3413
6756	-1.11	-146.6	704.3	-13.2	325	6757	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	2605	3412
7065	-1.11	-146.6	739.3	-9.8	340	7069	0.00	2.47	0.00	0.000	4	0.000	0.044	2115	1214	3412
7122	-1.11	-146.6	743.8	-7.9	342	7128	0.00	2.47	0.00	0.000	6	0.000	0.041	2115	2608	3412
7437	-1.11	-146.6	776.8	-13.0	358	7441	0.00	2.35	0.00	0.000	4	0.000	0.076	2115	3857	3411
7635	end dive: BOTTOM_OBSTACLE_DETECTED
state	7635	begin apogee
7644	-0.31	0.0	802.3	15.9	366	7778	0.85	0.00	129.88	1.136	6	0.117	0.000	2284	2317	2817
7778	end apogee: CONTROL_FINISHED_OK
state	7778	begin climb
7781	1.03	146.6	801.2	0.0	373	7921	1.40	2.70	131.57	1.116	4	0.070	0.058	2582	893	2217
8179	1.03	268.0	775.1	3.4	390	8298	0.00	2.53	108.75	1.095	6	0.000	0.038	2582	2309	1722
8607	1.32	532.7	763.0	-1.5	411	8855	0.28	2.70	237.48	1.101	4	0.044	0.057	2654	895	644
8947	1.44	596.9	746.2	5.3	427	8989	0.00	2.53	31.98	1.045	6	0.000	0.039	2654	2301	508
9298	1.44	596.9	711.2	9.8	444	9302	0.00	2.60	0.00	0.000	4	0.000	0.056	2654	893	501
9387	1.49	596.9	701.4	12.1	448	9392	0.15	2.50	0.00	0.000	6	0.052	0.039	2693	2302	500
9709	1.39	596.9	644.5	17.9	464	9714	0.15	2.60	0.00	0.000	4	0.107	0.058	2665	896	499
9826	1.39	596.9	627.3	13.5	469	9830	0.00	2.50	0.00	0.000	6	0.000	0.038	2666	2308	499
10141	1.39	596.9	588.7	9.8	484	10146	0.00	2.60	0.00	0.000	4	0.000	0.054	2665	892	498
10282	1.39	596.9	569.8	15.5	490	10286	0.00	2.50	0.00	0.000	6	0.000	0.037	2666	2302	498
10597	1.39	596.9	523.6	14.5	505	10602	0.00	2.58	0.00	0.000	4	0.000	0.054	2665	895	498
10705	1.39	596.9	507.7	14.0	510	10709	0.00	2.50	0.00	0.000	6	0.000	0.037	2666	2309	498
11032	1.39	596.9	459.2	14.4	526	11036	0.00	2.60	0.00	0.000	4	0.000	0.053	2666	888	497
11216	1.39	596.9	429.5	16.6	534	11220	0.00	2.50	0.00	0.000	6	0.000	0.036	2665	2301	497
11532	1.39	596.9	380.1	18.0	549	11536	0.00	2.58	0.00	0.000	4	0.000	0.051	2665	888	497
11713	1.39	596.9	349.4	20.4	557	11717	0.00	2.47	0.00	0.000	6	0.000	0.034	2666	2301	497
12033	1.39	596.9	295.7	17.4	573	12037	0.00	2.55	0.00	0.000	4	0.000	0.050	2667	894	497
12204	1.43	596.9	268.3	16.0	580	12210	0.00	2.47	0.00	0.000	6	0.000	0.034	2665	2309	497
12520	1.43	596.9	214.8	16.7	596	12524	0.00	2.58	0.00	0.000	4	0.000	0.049	2666	888	497
12654	1.48	596.9	193.4	14.9	602	12658	0.00	2.47	0.00	0.000	6	0.000	0.034	2666	2302	498
12976	1.48	596.9	142.1	16.9	618	12980	0.00	2.55	0.00	0.000	4	0.000	0.048	2665	889	497
13099	1.54	596.9	122.8	15.1	623	13106	0.12	2.45	0.00	0.000	6	0.051	0.033	2704	2300	498
13417	1.47	596.9	63.3	19.3	639	13422	0.12	2.55	0.00	0.000	4	0.097	0.046	2681	884	498
13572	1.51	596.9	36.7	16.3	646	13577	0.00	2.47	0.00	0.000	6	0.000	0.033	2680	2303	498
13775	end climb: SURFACE_DEPTH_REACHED
state	13775	begin surface coast
13795	end surface coast: CONTROL_FINISHED_OK
state	13795	begin surface