Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 175 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 175 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 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 0.0012300001 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -146436.89 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 0 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 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 55 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 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 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 550

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 -146436.89

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 0 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 12 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 175 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 161000,6300.887,-1155.464,42,1.5,42,-11.4 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.084,-0.202

_SM_DEPTHo 1.05 KALMAN_X 16764.5,-645.8,-1543.6,-15384.9,24287.3

_SM_ANGLEo -57.1 KALMAN_Y 48969.3,-3585.5,-3249.7,-16818.6,69273.9

GPS2 161514,6300.908,-1155.459,16,1.8,16,-11.4 MHEAD_RNG_PITCHd_Wd 214.0,43987,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.021668 ALTIM_BOTTOM_PING 450.0,21.9

SM_CCo 12010,0.00,0.000,0,0,1647,307.85 _24V_AH 23.5,33.829

SM_GC 1.24,11.77,0.00,0.00,0.031,0.000,0.000,52,2640,1647,-10.92,-0.28,307.85 _10V_AH 10.1,18.681

IRIDIUM_FIX 6235.17,-1146.48,250698,121241 DATA_FILE_SIZE 28448,571

TT8_MAMPS 0.028379 CAP_FILE_SIZE 89353,0

HUMID 1770 CFSIZE 260165632,247087104

INTERNAL_PRESSURE 8.54525 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 310309,193750,6300.574,-1157.465,37,2.1,56,-11.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 98.69 SBE_CT 398 24 224.79

Roll_motor 111 97 254.32 SBE_O2 420 19 187.92

VBD_pump_during_apogee 379 973 8680.91 WL_BB2F 421 105 1039.20

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 27 103 67.74 nil 0 0 0.00

Iridium_during_connect 28 160 106.13 nil 0 0 0.00

Iridium_during_xfer 140 223 737.82

Transponder_ping 3 420 37.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.26

TT8 1077 19 215.45

LPSleep 8988 2 198.82

TT8_Active 451 19 90.29

TT8_Sampling 1364 39 548.33

TT8_CF8 444 45 205.55

TT8_Kalman 33 81 27.56

Analog_circuits 1161 12 140.75

GPS_charging 0 0 0.00

Compass 1331 8 107.57

RAFOS 0 0 0.00

Transponder 28 30 8.73

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 15 begin dive

18 -1.10 -146.6 0.0 0.0 0 77 0.00 0.00 -54.60 0.000 6 0.000 0.000 53 2648 3501

81 -1.10 -146.6 6.3 -12.6 3 102 12.12 2.65 0.00 0.000 4 0.160 0.066 2194 1242 3501

306 -1.10 -146.6 35.3 -8.9 13 311 0.00 2.65 0.00 0.000 6 0.000 0.071 2194 2654 3501

633 -1.10 -146.6 62.1 -8.4 29 637 0.00 2.22 0.00 0.000 4 0.000 0.097 2194 3792 3501

688 -1.10 -146.6 66.9 -8.1 31 695 0.00 2.10 0.00 0.000 6 0.000 0.065 2194 2653 3501

1005 -1.10 -146.6 91.3 -9.1 47 1006 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2653 3501

1315 -1.10 -146.6 113.9 -7.1 62 1316 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2653 3501

1623 -1.10 -146.6 137.3 -8.2 77 1627 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3787 3501

1685 -1.10 -146.6 142.3 -8.7 79 1691 0.00 2.10 0.00 0.000 6 0.000 0.065 2194 2643 3501

2000 -1.10 -146.6 164.4 -6.9 95 2002 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2643 3501

2310 -1.10 -146.6 184.7 -6.2 110 2314 0.00 2.20 0.00 0.000 4 0.000 0.088 2194 3787 3501

2372 -1.10 -146.6 188.9 -7.5 112 2378 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2649 3501

2687 -1.10 -146.6 209.8 -7.0 128 2691 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3788 3501

2721 -1.10 -146.6 212.3 -7.3 129 2725 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2650 3501

3043 -1.10 -146.6 237.1 -7.9 145 3044 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2649 3501

3352 -1.10 -146.6 263.1 -8.9 160 3355 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3790 3501

3391 -1.10 -146.6 266.7 -9.0 161 3397 0.00 2.10 0.00 0.000 6 0.000 0.064 2194 2648 3501

3707 -1.10 -146.6 295.5 -9.2 177 3710 0.00 2.20 0.00 0.000 4 0.000 0.087 2194 3789 3501

3740 -1.10 -146.6 298.8 -9.3 178 3744 0.00 2.10 0.00 0.000 6 0.000 0.063 2194 2645 3501

4062 -1.10 -146.6 328.7 -9.4 194 4063 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2645 3501

4371 -1.10 -146.6 356.5 -8.8 209 4376 0.00 2.60 0.00 0.000 4 0.000 0.070 2194 1225 3502

4399 -1.10 -146.6 359.3 -10.0 210 4403 0.00 2.62 0.00 0.000 6 0.000 0.063 2194 2651 3501

4715 -1.10 -146.6 387.0 -8.8 225 4716 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3502

5024 -1.10 -146.6 418.4 -10.1 240 5026 0.00 0.00 0.00 0.000 6 0.000 0.000 2194 2652 3501

5333 -1.10 -146.6 445.9 -8.8 255 5337 0.00 2.17 0.00 0.000 4 0.000 0.095 2194 3790 3501

5514 -1.10 -146.6 461.6 -7.8 263 5518 0.00 2.10 0.00 0.000 6 0.000 0.061 2194 2643 3501

5522 end dive: BOTTOM_OBSTACLE_DETECTED

state 5522 begin apogee

5531 -0.42 0.0 462.6 8.1 263 5657 0.73 0.00 122.90 0.973 6 0.095 0.000 2344 1996 2902

5658 end apogee: CONTROL_FINISHED_OK

state 5658 begin climb

5661 1.10 146.6 467.7 0.0 269 5789 1.58 2.70 119.78 0.947 4 0.059 0.063 2679 3419 2304

5892 1.17 200.5 465.2 4.5 280 5943 0.00 2.58 45.70 0.923 6 0.000 0.043 2679 1983 2084

6268 1.17 200.5 440.0 6.9 298 6272 0.00 2.70 0.00 0.000 4 0.000 0.068 2679 3418 2084

6331 1.17 200.5 435.2 7.6 301 6335 0.00 2.58 0.00 0.000 6 0.000 0.048 2679 1992 2083

6657 1.17 200.5 414.3 6.5 317 6662 0.00 2.67 0.00 0.000 4 0.000 0.069 2679 3418 2082

6736 1.17 200.5 409.3 6.9 320 6742 0.00 2.55 0.00 0.000 6 0.000 0.050 2679 2000 2082

7052 1.22 244.8 390.6 4.8 336 7096 0.12 2.80 36.58 0.941 4 0.044 0.071 2722 3422 1905

7159 1.22 244.8 384.2 6.8 340 7166 0.00 2.60 0.00 0.000 6 0.000 0.055 2722 1996 1904

7476 1.22 244.8 362.9 7.1 356 7480 0.00 2.58 0.00 0.000 4 0.000 0.065 2722 593 1904

7615 1.22 244.8 353.4 6.2 362 7620 0.00 2.53 0.00 0.000 6 0.000 0.041 2723 2020 1904

7931 1.30 303.9 340.1 4.4 377 7986 0.00 2.67 49.20 0.917 4 0.000 0.071 2722 3415 1662

8028 1.30 308.1 334.9 5.9 381 8039 0.00 2.60 5.38 0.703 6 0.000 0.055 2723 2004 1645

8348 1.30 308.1 310.7 9.0 397 8350 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2004 1645

8658 1.30 308.1 279.8 9.7 412 8662 0.00 2.62 0.00 0.000 4 0.000 0.070 2723 3407 1645

8713 1.30 308.1 274.3 10.3 414 8718 0.00 2.60 0.00 0.000 6 0.000 0.056 2722 1989 1645

9029 1.30 308.1 247.9 8.1 429 9033 0.00 2.67 0.00 0.000 4 0.000 0.070 2722 3411 1645

9069 1.30 308.1 244.7 8.3 431 9073 0.00 2.60 0.00 0.000 6 0.000 0.056 2722 1989 1645

9396 1.30 308.1 220.0 7.6 447 9400 0.00 2.65 0.00 0.000 4 0.000 0.068 2722 3406 1645

9435 1.30 308.1 216.9 7.7 449 9440 0.00 2.58 0.00 0.000 6 0.000 0.055 2722 1995 1645

9763 1.30 308.1 192.7 7.4 465 9767 0.00 2.65 0.00 0.000 4 0.000 0.069 2723 3409 1646

9780 1.30 308.1 191.2 8.0 466 9784 0.00 2.58 0.00 0.000 6 0.000 0.054 2723 1994 1646

10107 1.30 308.1 165.4 8.5 482 10111 0.00 2.65 0.00 0.000 4 0.000 0.069 2722 3408 1646

10128 1.30 308.1 163.2 9.6 483 10132 0.00 2.58 0.00 0.000 6 0.000 0.056 2722 1997 1646

10450 1.30 308.1 133.9 8.9 499 10451 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1997 1647

10759 1.30 308.1 107.2 7.8 514 10763 0.00 2.65 0.00 0.000 4 0.000 0.070 2723 3415 1647

10799 1.30 308.1 104.2 8.0 516 10803 0.00 2.58 0.00 0.000 6 0.000 0.057 2722 1992 1647

11126 1.30 308.1 72.3 10.4 532 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1992 1647

11435 1.30 308.1 41.4 8.4 547 11436 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1990 1647

11746 1.30 308.1 15.8 9.9 562 11750 0.00 2.60 0.00 0.000 4 0.000 0.071 2723 586 1648

11786 1.30 308.1 11.8 10.2 564 11790 0.00 2.47 0.00 0.000 6 0.000 0.035 2723 2015 1648

11905 end climb: SURFACE_DEPTH_REACHED

state 11905 begin surface coast

11926 end surface coast: CONTROL_FINISHED_OK

state 11926 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	175	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	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	0.0012300001	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-146436.89	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	0	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	161000,6300.887,-1155.464,42,1.5,42,-11.4	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.084,-0.202
_SM_DEPTHo	1.05	KALMAN_X	16764.5,-645.8,-1543.6,-15384.9,24287.3
_SM_ANGLEo	-57.1	KALMAN_Y	48969.3,-3585.5,-3249.7,-16818.6,69273.9
GPS2	161514,6300.908,-1155.459,16,1.8,16,-11.4	MHEAD_RNG_PITCHd_Wd	214.0,43987,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.2,1.021668	ALTIM_BOTTOM_PING	450.0,21.9
SM_CCo	12010,0.00,0.000,0,0,1647,307.85	_24V_AH	23.5,33.829
SM_GC	1.24,11.77,0.00,0.00,0.031,0.000,0.000,52,2640,1647,-10.92,-0.28,307.85	_10V_AH	10.1,18.681
IRIDIUM_FIX	6235.17,-1146.48,250698,121241	DATA_FILE_SIZE	28448,571
TT8_MAMPS	0.028379	CAP_FILE_SIZE	89353,0
HUMID	1770	CFSIZE	260165632,247087104
INTERNAL_PRESSURE	8.54525	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	310309,193750,6300.574,-1157.465,37,2.1,56,-11.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	98.69	SBE_CT	398	24	224.79
Roll_motor	111	97	254.32	SBE_O2	420	19	187.92
VBD_pump_during_apogee	379	973	8680.91	WL_BB2F	421	105	1039.20
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	27	103	67.74	nil	0	0	0.00
Iridium_during_connect	28	160	106.13	nil	0	0	0.00
Iridium_during_xfer	140	223	737.82
Transponder_ping	3	420	37.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.26
TT8	1077	19	215.45
LPSleep	8988	2	198.82
TT8_Active	451	19	90.29
TT8_Sampling	1364	39	548.33
TT8_CF8	444	45	205.55
TT8_Kalman	33	81	27.56
Analog_circuits	1161	12	140.75
GPS_charging	0	0	0.00
Compass	1331	8	107.57
RAFOS	0	0	0.00
Transponder	28	30	8.73

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	15	begin dive
18	-1.10	-146.6	0.0	0.0	0	77	0.00	0.00	-54.60	0.000	6	0.000	0.000	53	2648	3501
81	-1.10	-146.6	6.3	-12.6	3	102	12.12	2.65	0.00	0.000	4	0.160	0.066	2194	1242	3501
306	-1.10	-146.6	35.3	-8.9	13	311	0.00	2.65	0.00	0.000	6	0.000	0.071	2194	2654	3501
633	-1.10	-146.6	62.1	-8.4	29	637	0.00	2.22	0.00	0.000	4	0.000	0.097	2194	3792	3501
688	-1.10	-146.6	66.9	-8.1	31	695	0.00	2.10	0.00	0.000	6	0.000	0.065	2194	2653	3501
1005	-1.10	-146.6	91.3	-9.1	47	1006	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2653	3501
1315	-1.10	-146.6	113.9	-7.1	62	1316	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2653	3501
1623	-1.10	-146.6	137.3	-8.2	77	1627	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3787	3501
1685	-1.10	-146.6	142.3	-8.7	79	1691	0.00	2.10	0.00	0.000	6	0.000	0.065	2194	2643	3501
2000	-1.10	-146.6	164.4	-6.9	95	2002	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2643	3501
2310	-1.10	-146.6	184.7	-6.2	110	2314	0.00	2.20	0.00	0.000	4	0.000	0.088	2194	3787	3501
2372	-1.10	-146.6	188.9	-7.5	112	2378	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2649	3501
2687	-1.10	-146.6	209.8	-7.0	128	2691	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3788	3501
2721	-1.10	-146.6	212.3	-7.3	129	2725	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2650	3501
3043	-1.10	-146.6	237.1	-7.9	145	3044	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2649	3501
3352	-1.10	-146.6	263.1	-8.9	160	3355	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3790	3501
3391	-1.10	-146.6	266.7	-9.0	161	3397	0.00	2.10	0.00	0.000	6	0.000	0.064	2194	2648	3501
3707	-1.10	-146.6	295.5	-9.2	177	3710	0.00	2.20	0.00	0.000	4	0.000	0.087	2194	3789	3501
3740	-1.10	-146.6	298.8	-9.3	178	3744	0.00	2.10	0.00	0.000	6	0.000	0.063	2194	2645	3501
4062	-1.10	-146.6	328.7	-9.4	194	4063	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2645	3501
4371	-1.10	-146.6	356.5	-8.8	209	4376	0.00	2.60	0.00	0.000	4	0.000	0.070	2194	1225	3502
4399	-1.10	-146.6	359.3	-10.0	210	4403	0.00	2.62	0.00	0.000	6	0.000	0.063	2194	2651	3501
4715	-1.10	-146.6	387.0	-8.8	225	4716	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3502
5024	-1.10	-146.6	418.4	-10.1	240	5026	0.00	0.00	0.00	0.000	6	0.000	0.000	2194	2652	3501
5333	-1.10	-146.6	445.9	-8.8	255	5337	0.00	2.17	0.00	0.000	4	0.000	0.095	2194	3790	3501
5514	-1.10	-146.6	461.6	-7.8	263	5518	0.00	2.10	0.00	0.000	6	0.000	0.061	2194	2643	3501
5522	end dive: BOTTOM_OBSTACLE_DETECTED
state	5522	begin apogee
5531	-0.42	0.0	462.6	8.1	263	5657	0.73	0.00	122.90	0.973	6	0.095	0.000	2344	1996	2902
5658	end apogee: CONTROL_FINISHED_OK
state	5658	begin climb
5661	1.10	146.6	467.7	0.0	269	5789	1.58	2.70	119.78	0.947	4	0.059	0.063	2679	3419	2304
5892	1.17	200.5	465.2	4.5	280	5943	0.00	2.58	45.70	0.923	6	0.000	0.043	2679	1983	2084
6268	1.17	200.5	440.0	6.9	298	6272	0.00	2.70	0.00	0.000	4	0.000	0.068	2679	3418	2084
6331	1.17	200.5	435.2	7.6	301	6335	0.00	2.58	0.00	0.000	6	0.000	0.048	2679	1992	2083
6657	1.17	200.5	414.3	6.5	317	6662	0.00	2.67	0.00	0.000	4	0.000	0.069	2679	3418	2082
6736	1.17	200.5	409.3	6.9	320	6742	0.00	2.55	0.00	0.000	6	0.000	0.050	2679	2000	2082
7052	1.22	244.8	390.6	4.8	336	7096	0.12	2.80	36.58	0.941	4	0.044	0.071	2722	3422	1905
7159	1.22	244.8	384.2	6.8	340	7166	0.00	2.60	0.00	0.000	6	0.000	0.055	2722	1996	1904
7476	1.22	244.8	362.9	7.1	356	7480	0.00	2.58	0.00	0.000	4	0.000	0.065	2722	593	1904
7615	1.22	244.8	353.4	6.2	362	7620	0.00	2.53	0.00	0.000	6	0.000	0.041	2723	2020	1904
7931	1.30	303.9	340.1	4.4	377	7986	0.00	2.67	49.20	0.917	4	0.000	0.071	2722	3415	1662
8028	1.30	308.1	334.9	5.9	381	8039	0.00	2.60	5.38	0.703	6	0.000	0.055	2723	2004	1645
8348	1.30	308.1	310.7	9.0	397	8350	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2004	1645
8658	1.30	308.1	279.8	9.7	412	8662	0.00	2.62	0.00	0.000	4	0.000	0.070	2723	3407	1645
8713	1.30	308.1	274.3	10.3	414	8718	0.00	2.60	0.00	0.000	6	0.000	0.056	2722	1989	1645
9029	1.30	308.1	247.9	8.1	429	9033	0.00	2.67	0.00	0.000	4	0.000	0.070	2722	3411	1645
9069	1.30	308.1	244.7	8.3	431	9073	0.00	2.60	0.00	0.000	6	0.000	0.056	2722	1989	1645
9396	1.30	308.1	220.0	7.6	447	9400	0.00	2.65	0.00	0.000	4	0.000	0.068	2722	3406	1645
9435	1.30	308.1	216.9	7.7	449	9440	0.00	2.58	0.00	0.000	6	0.000	0.055	2722	1995	1645
9763	1.30	308.1	192.7	7.4	465	9767	0.00	2.65	0.00	0.000	4	0.000	0.069	2723	3409	1646
9780	1.30	308.1	191.2	8.0	466	9784	0.00	2.58	0.00	0.000	6	0.000	0.054	2723	1994	1646
10107	1.30	308.1	165.4	8.5	482	10111	0.00	2.65	0.00	0.000	4	0.000	0.069	2722	3408	1646
10128	1.30	308.1	163.2	9.6	483	10132	0.00	2.58	0.00	0.000	6	0.000	0.056	2722	1997	1646
10450	1.30	308.1	133.9	8.9	499	10451	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1997	1647
10759	1.30	308.1	107.2	7.8	514	10763	0.00	2.65	0.00	0.000	4	0.000	0.070	2723	3415	1647
10799	1.30	308.1	104.2	8.0	516	10803	0.00	2.58	0.00	0.000	6	0.000	0.057	2722	1992	1647
11126	1.30	308.1	72.3	10.4	532	11127	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1992	1647
11435	1.30	308.1	41.4	8.4	547	11436	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1990	1647
11746	1.30	308.1	15.8	9.9	562	11750	0.00	2.60	0.00	0.000	4	0.000	0.071	2723	586	1648
11786	1.30	308.1	11.8	10.2	564	11790	0.00	2.47	0.00	0.000	6	0.000	0.035	2723	2015	1648
11905	end climb: SURFACE_DEPTH_REACHED
state	11905	begin surface coast
11926	end surface coast: CONTROL_FINISHED_OK
state	11926	begin surface