Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 146 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING 360 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 146 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -2110175.8 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 -2110175.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 360 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 26 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 146 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 121736,6352.242,-1343.636,41,1.2,46,-12.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6403.013,-1343.596

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.225

_SM_DEPTHo 1.53 KALMAN_X -87037.4,1552.8,520.3,38953.3,-1645.0

_SM_ANGLEo -61.0 KALMAN_Y 197075.5,-3550.9,-2288.7,-114382.5,45486.2

GPS2 122302,6352.213,-1343.596,15,1.4,15,-12.8 MHEAD_RNG_PITCHd_Wd 12.8,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.015360 ALTIM_BOTTOM_PING 651.5,38.3

SM_CCo 13730,0.00,0.000,0,0,1490,325.51 _24V_AH 23.6,26.225

SM_GC 1.61,12.02,0.00,0.00,0.082,0.000,0.000,74,2602,1490,-10.46,0.08,325.51 _10V_AH 10.1,12.942

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34877,658

TT8_MAMPS 0.02301 CAP_FILE_SIZE 98591,0

HUMID 1764 CFSIZE 260165632,250109952

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 020709,161325,6352.083,-1343.158,39,2.0,39,-12.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 179 117.75 SBE_CT 484 24 274.48

Roll_motor 93 72 159.56 SBE_O2 447 19 200.64

VBD_pump_during_apogee 417 1053 10391.75 WL_BB2F 410 105 1018.01

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 44.46 nil 0 0 0.00

Iridium_during_connect 32 160 121.08 nil 0 0 0.00

Iridium_during_xfer 168 223 885.50

Transponder_ping 5 420 56.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.88

TT8 1210 19 242.13

LPSleep 10401 2 230.08

TT8_Active 514 19 102.87

TT8_Sampling 1499 39 602.88

TT8_CF8 433 45 200.46

TT8_Kalman 0 81 0.00

Analog_circuits 1270 12 154.03

GPS_charging 0 0 0.00

Compass 1461 8 118.08

RAFOS 0 0 0.00

Transponder 41 30 12.44

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 98 0.00 0.00 -81.00 0.000 2 0.000 0.000 73 2606 3385

101 -1.03 -146.6 5.8 -7.1 4 124 11.77 2.58 -0.50 0.000 4 0.179 0.049 2131 1185 3418

331 -1.03 -146.6 40.4 -10.7 14 336 0.00 2.50 0.00 0.000 6 0.000 0.036 2131 2605 3419

653 -1.03 -146.6 71.4 -8.1 30 654 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2605 3419

962 -1.03 -146.6 96.7 -8.2 45 966 0.00 2.33 0.00 0.000 4 0.000 0.065 2132 3861 3420

1007 -1.03 -146.6 100.9 -9.7 47 1011 0.00 2.17 0.00 0.000 6 0.000 0.026 2132 2572 3420

1328 -1.03 -146.6 132.1 -10.2 63 1329 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2570 3420

1637 -1.03 -146.6 165.8 -10.6 78 1638 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2570 3420

1946 -1.03 -146.6 198.1 -10.8 93 1947 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2570 3420

2256 -1.03 -146.6 225.9 -8.8 108 2260 0.00 2.38 0.00 0.000 4 0.000 0.064 2132 3858 3420

2323 -1.03 -146.6 232.4 -9.6 111 2326 0.00 2.12 0.00 0.000 6 0.000 0.026 2132 2596 3419

2649 -1.03 -146.6 263.5 -10.0 127 2650 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2593 3420

2959 -1.03 -146.6 294.3 -10.4 142 2960 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2593 3420

3268 -1.03 -146.6 324.9 -10.7 157 3273 0.00 2.35 0.00 0.000 4 0.000 0.065 2132 3861 3420

3318 -1.03 -146.6 330.0 -9.4 159 3321 0.00 2.12 0.00 0.000 6 0.000 0.026 2132 2599 3420

3644 -1.03 -146.6 359.5 -8.7 175 3649 0.00 2.42 0.00 0.000 4 0.000 0.038 2132 1212 3420

3695 -1.09 -146.6 363.8 -8.9 177 3700 0.00 2.45 0.00 0.000 6 0.000 0.036 2132 2608 3419

4011 -1.14 -146.6 396.7 -10.8 192 4015 0.00 2.33 0.00 0.000 4 0.000 0.066 2132 3863 3420

4066 -1.18 -146.6 403.9 -13.0 194 4073 0.15 2.12 0.00 0.000 6 0.042 0.027 2085 2599 3420

4383 -1.09 -146.6 443.2 -12.8 210 4385 0.17 0.00 0.00 0.000 6 0.096 0.000 2118 2599 3420

4692 -1.09 -146.6 476.8 -10.8 225 4693 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2599 3419

5001 -1.09 -146.6 510.8 -11.1 240 5002 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2599 3418

5310 -1.09 -146.6 550.0 -12.9 255 5311 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2598 3418

5619 -1.09 -146.6 581.1 -6.9 270 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2597 3417

5929 -1.09 -146.6 623.8 -16.3 285 5933 0.00 2.35 0.00 0.000 4 0.000 0.072 2117 3855 3416

6076 -1.09 -146.6 658.5 -23.4 291 6083 0.00 2.12 0.00 0.000 6 0.000 0.029 2117 2602 3415

6183 end dive: BOTTOM_OBSTACLE_DETECTED

state 6183 begin apogee

6191 -0.31 0.0 679.8 17.8 297 6326 0.85 0.00 129.35 1.054 6 0.099 0.000 2289 2305 2816

6327 end apogee: CONTROL_FINISHED_OK

state 6327 begin climb

6330 1.03 146.6 702.6 0.0 304 6469 1.40 2.70 131.00 1.049 4 0.068 0.065 2586 3704 2218

6723 0.79 146.6 689.6 10.0 322 6728 0.28 2.45 0.00 0.000 6 0.100 0.031 2534 2314 2212

7044 0.98 315.2 679.3 1.7 338 7204 0.17 2.67 150.57 1.042 4 0.051 0.064 2584 3694 1530

7294 0.90 315.2 667.2 12.9 349 7301 0.15 2.47 0.00 0.000 6 0.097 0.033 2556 2300 1525

7611 0.99 315.2 643.6 8.2 365 7612 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2300 1520

7920 1.10 315.2 612.0 9.4 380 7922 0.20 0.00 0.00 0.000 6 0.050 0.000 2607 2300 1518

8228 1.10 315.2 579.0 9.9 395 8230 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2300 1517

8538 1.11 323.9 556.5 7.2 410 8552 0.00 2.65 6.90 0.795 4 0.000 0.054 2607 894 1494

8609 1.11 323.9 550.3 7.8 413 8613 0.00 2.50 0.00 0.000 6 0.000 0.037 2607 2299 1493

8929 1.11 323.9 523.7 8.0 429 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2300 1493

9239 1.11 323.9 496.6 9.4 444 9240 0.00 0.00 0.00 0.000 6 0.000 0.000 2607 2299 1492

9548 1.02 323.9 464.9 13.3 459 9553 0.12 2.55 0.00 0.000 4 0.097 0.051 2583 894 1492

9610 1.02 323.9 458.0 11.1 462 9614 0.00 2.47 0.00 0.000 6 0.000 0.037 2583 2299 1490

9938 1.12 323.9 422.8 8.1 478 9942 0.00 2.55 0.00 0.000 4 0.000 0.051 2583 889 1490

9987 1.21 323.9 419.1 7.6 480 9992 0.17 2.50 0.00 0.000 6 0.051 0.036 2627 2306 1490

10303 1.15 323.9 386.5 11.6 495 10308 0.00 2.60 0.00 0.000 4 0.000 0.066 2628 3707 1490

10344 1.05 323.9 381.1 15.2 497 10349 0.20 2.45 0.00 0.000 6 0.099 0.030 2589 2296 1490

10671 1.09 323.9 349.3 11.1 513 10675 0.00 2.53 0.00 0.000 4 0.000 0.051 2589 895 1490

10734 1.16 323.9 341.6 12.5 516 10739 0.12 2.47 0.00 0.000 6 0.054 0.035 2623 2305 1490

11060 1.16 323.9 299.2 12.6 532 11065 0.00 2.53 0.00 0.000 4 0.000 0.046 2623 899 1489

11100 1.16 323.9 294.2 12.6 534 11104 0.00 2.45 0.00 0.000 6 0.000 0.035 2623 2301 1490

11427 1.16 323.9 250.7 12.8 550 11431 0.00 2.53 0.00 0.000 4 0.000 0.047 2623 894 1490

11467 1.16 323.9 245.4 13.2 552 11471 0.00 2.47 0.00 0.000 6 0.000 0.035 2623 2308 1490

11793 1.16 323.9 208.3 10.9 568 11797 0.00 2.53 0.00 0.000 4 0.000 0.045 2623 895 1490

11837 1.16 323.9 203.3 11.0 570 11842 0.00 2.45 0.00 0.000 6 0.000 0.033 2623 2302 1490

12159 1.16 323.9 168.3 10.9 586 12160 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2302 1491

12468 1.16 323.9 134.2 11.3 601 12473 0.00 2.50 0.00 0.000 4 0.000 0.044 2623 898 1491

12533 1.16 323.9 126.6 12.0 604 12537 0.00 2.45 0.00 0.000 6 0.000 0.034 2623 2304 1491

12859 1.16 323.9 86.4 12.0 620 12861 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2304 1492

13170 1.16 323.9 53.0 10.8 635 13171 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2304 1492

13479 1.16 323.9 18.7 10.7 650 13483 0.00 2.50 0.00 0.000 4 0.000 0.044 2623 898 1493

13579 1.16 323.9 7.7 11.0 654 13585 0.00 2.42 0.00 0.000 6 0.000 0.033 2623 2301 1493

13624 end climb: SURFACE_DEPTH_REACHED

state 13625 begin surface coast

13646 end surface coast: CONTROL_FINISHED_OK

state 13646 begin surface

ID	16	HEADING	360	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	146	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-2110175.8	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	121736,6352.242,-1343.636,41,1.2,46,-12.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6403.013,-1343.596
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.225
_SM_DEPTHo	1.53	KALMAN_X	-87037.4,1552.8,520.3,38953.3,-1645.0
_SM_ANGLEo	-61.0	KALMAN_Y	197075.5,-3550.9,-2288.7,-114382.5,45486.2
GPS2	122302,6352.213,-1343.596,15,1.4,15,-12.8	MHEAD_RNG_PITCHd_Wd	12.8,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.7,1.015360	ALTIM_BOTTOM_PING	651.5,38.3
SM_CCo	13730,0.00,0.000,0,0,1490,325.51	_24V_AH	23.6,26.225
SM_GC	1.61,12.02,0.00,0.00,0.082,0.000,0.000,74,2602,1490,-10.46,0.08,325.51	_10V_AH	10.1,12.942
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34877,658
TT8_MAMPS	0.02301	CAP_FILE_SIZE	98591,0
HUMID	1764	CFSIZE	260165632,250109952
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	020709,161325,6352.083,-1343.158,39,2.0,39,-12.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	179	117.75	SBE_CT	484	24	274.48
Roll_motor	93	72	159.56	SBE_O2	447	19	200.64
VBD_pump_during_apogee	417	1053	10391.75	WL_BB2F	410	105	1018.01
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	44.46	nil	0	0	0.00
Iridium_during_connect	32	160	121.08	nil	0	0	0.00
Iridium_during_xfer	168	223	885.50
Transponder_ping	5	420	56.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.88
TT8	1210	19	242.13
LPSleep	10401	2	230.08
TT8_Active	514	19	102.87
TT8_Sampling	1499	39	602.88
TT8_CF8	433	45	200.46
TT8_Kalman	0	81	0.00
Analog_circuits	1270	12	154.03
GPS_charging	0	0	0.00
Compass	1461	8	118.08
RAFOS	0	0	0.00
Transponder	41	30	12.44

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	98	0.00	0.00	-81.00	0.000	2	0.000	0.000	73	2606	3385
101	-1.03	-146.6	5.8	-7.1	4	124	11.77	2.58	-0.50	0.000	4	0.179	0.049	2131	1185	3418
331	-1.03	-146.6	40.4	-10.7	14	336	0.00	2.50	0.00	0.000	6	0.000	0.036	2131	2605	3419
653	-1.03	-146.6	71.4	-8.1	30	654	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2605	3419
962	-1.03	-146.6	96.7	-8.2	45	966	0.00	2.33	0.00	0.000	4	0.000	0.065	2132	3861	3420
1007	-1.03	-146.6	100.9	-9.7	47	1011	0.00	2.17	0.00	0.000	6	0.000	0.026	2132	2572	3420
1328	-1.03	-146.6	132.1	-10.2	63	1329	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2570	3420
1637	-1.03	-146.6	165.8	-10.6	78	1638	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2570	3420
1946	-1.03	-146.6	198.1	-10.8	93	1947	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2570	3420
2256	-1.03	-146.6	225.9	-8.8	108	2260	0.00	2.38	0.00	0.000	4	0.000	0.064	2132	3858	3420
2323	-1.03	-146.6	232.4	-9.6	111	2326	0.00	2.12	0.00	0.000	6	0.000	0.026	2132	2596	3419
2649	-1.03	-146.6	263.5	-10.0	127	2650	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2593	3420
2959	-1.03	-146.6	294.3	-10.4	142	2960	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2593	3420
3268	-1.03	-146.6	324.9	-10.7	157	3273	0.00	2.35	0.00	0.000	4	0.000	0.065	2132	3861	3420
3318	-1.03	-146.6	330.0	-9.4	159	3321	0.00	2.12	0.00	0.000	6	0.000	0.026	2132	2599	3420
3644	-1.03	-146.6	359.5	-8.7	175	3649	0.00	2.42	0.00	0.000	4	0.000	0.038	2132	1212	3420
3695	-1.09	-146.6	363.8	-8.9	177	3700	0.00	2.45	0.00	0.000	6	0.000	0.036	2132	2608	3419
4011	-1.14	-146.6	396.7	-10.8	192	4015	0.00	2.33	0.00	0.000	4	0.000	0.066	2132	3863	3420
4066	-1.18	-146.6	403.9	-13.0	194	4073	0.15	2.12	0.00	0.000	6	0.042	0.027	2085	2599	3420
4383	-1.09	-146.6	443.2	-12.8	210	4385	0.17	0.00	0.00	0.000	6	0.096	0.000	2118	2599	3420
4692	-1.09	-146.6	476.8	-10.8	225	4693	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2599	3419
5001	-1.09	-146.6	510.8	-11.1	240	5002	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2599	3418
5310	-1.09	-146.6	550.0	-12.9	255	5311	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2598	3418
5619	-1.09	-146.6	581.1	-6.9	270	5621	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2597	3417
5929	-1.09	-146.6	623.8	-16.3	285	5933	0.00	2.35	0.00	0.000	4	0.000	0.072	2117	3855	3416
6076	-1.09	-146.6	658.5	-23.4	291	6083	0.00	2.12	0.00	0.000	6	0.000	0.029	2117	2602	3415
6183	end dive: BOTTOM_OBSTACLE_DETECTED
state	6183	begin apogee
6191	-0.31	0.0	679.8	17.8	297	6326	0.85	0.00	129.35	1.054	6	0.099	0.000	2289	2305	2816
6327	end apogee: CONTROL_FINISHED_OK
state	6327	begin climb
6330	1.03	146.6	702.6	0.0	304	6469	1.40	2.70	131.00	1.049	4	0.068	0.065	2586	3704	2218
6723	0.79	146.6	689.6	10.0	322	6728	0.28	2.45	0.00	0.000	6	0.100	0.031	2534	2314	2212
7044	0.98	315.2	679.3	1.7	338	7204	0.17	2.67	150.57	1.042	4	0.051	0.064	2584	3694	1530
7294	0.90	315.2	667.2	12.9	349	7301	0.15	2.47	0.00	0.000	6	0.097	0.033	2556	2300	1525
7611	0.99	315.2	643.6	8.2	365	7612	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2300	1520
7920	1.10	315.2	612.0	9.4	380	7922	0.20	0.00	0.00	0.000	6	0.050	0.000	2607	2300	1518
8228	1.10	315.2	579.0	9.9	395	8230	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2300	1517
8538	1.11	323.9	556.5	7.2	410	8552	0.00	2.65	6.90	0.795	4	0.000	0.054	2607	894	1494
8609	1.11	323.9	550.3	7.8	413	8613	0.00	2.50	0.00	0.000	6	0.000	0.037	2607	2299	1493
8929	1.11	323.9	523.7	8.0	429	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2300	1493
9239	1.11	323.9	496.6	9.4	444	9240	0.00	0.00	0.00	0.000	6	0.000	0.000	2607	2299	1492
9548	1.02	323.9	464.9	13.3	459	9553	0.12	2.55	0.00	0.000	4	0.097	0.051	2583	894	1492
9610	1.02	323.9	458.0	11.1	462	9614	0.00	2.47	0.00	0.000	6	0.000	0.037	2583	2299	1490
9938	1.12	323.9	422.8	8.1	478	9942	0.00	2.55	0.00	0.000	4	0.000	0.051	2583	889	1490
9987	1.21	323.9	419.1	7.6	480	9992	0.17	2.50	0.00	0.000	6	0.051	0.036	2627	2306	1490
10303	1.15	323.9	386.5	11.6	495	10308	0.00	2.60	0.00	0.000	4	0.000	0.066	2628	3707	1490
10344	1.05	323.9	381.1	15.2	497	10349	0.20	2.45	0.00	0.000	6	0.099	0.030	2589	2296	1490
10671	1.09	323.9	349.3	11.1	513	10675	0.00	2.53	0.00	0.000	4	0.000	0.051	2589	895	1490
10734	1.16	323.9	341.6	12.5	516	10739	0.12	2.47	0.00	0.000	6	0.054	0.035	2623	2305	1490
11060	1.16	323.9	299.2	12.6	532	11065	0.00	2.53	0.00	0.000	4	0.000	0.046	2623	899	1489
11100	1.16	323.9	294.2	12.6	534	11104	0.00	2.45	0.00	0.000	6	0.000	0.035	2623	2301	1490
11427	1.16	323.9	250.7	12.8	550	11431	0.00	2.53	0.00	0.000	4	0.000	0.047	2623	894	1490
11467	1.16	323.9	245.4	13.2	552	11471	0.00	2.47	0.00	0.000	6	0.000	0.035	2623	2308	1490
11793	1.16	323.9	208.3	10.9	568	11797	0.00	2.53	0.00	0.000	4	0.000	0.045	2623	895	1490
11837	1.16	323.9	203.3	11.0	570	11842	0.00	2.45	0.00	0.000	6	0.000	0.033	2623	2302	1490
12159	1.16	323.9	168.3	10.9	586	12160	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2302	1491
12468	1.16	323.9	134.2	11.3	601	12473	0.00	2.50	0.00	0.000	4	0.000	0.044	2623	898	1491
12533	1.16	323.9	126.6	12.0	604	12537	0.00	2.45	0.00	0.000	6	0.000	0.034	2623	2304	1491
12859	1.16	323.9	86.4	12.0	620	12861	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2304	1492
13170	1.16	323.9	53.0	10.8	635	13171	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2304	1492
13479	1.16	323.9	18.7	10.7	650	13483	0.00	2.50	0.00	0.000	4	0.000	0.044	2623	898	1493
13579	1.16	323.9	7.7	11.0	654	13585	0.00	2.42	0.00	0.000	6	0.000	0.033	2623	2301	1493
13624	end climb: SURFACE_DEPTH_REACHED
state	13625	begin surface coast
13646	end surface coast: CONTROL_FINISHED_OK
state	13646	begin surface