Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 176 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING 225 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 176 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -146449.86 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 2 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 -146449.86

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING 225 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 2 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 17 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 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 176 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 193750,6300.574,-1157.465,37,2.1,56,-11.4 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6252.985,-1214.295

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.084,-0.202

_SM_DEPTHo 1.15 KALMAN_X 16764.5,-645.8,-1543.6,-15384.9,24287.3

_SM_ANGLEo -55.4 KALMAN_Y 48969.3,-3585.5,-3249.7,-16818.6,69273.9

GPS2 194250,6300.621,-1157.542,12,2.0,12,-11.4 MHEAD_RNG_PITCHd_Wd 236.4,20000,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026453 ALTIM_BOTTOM_PING 426.1,41.2

SM_CCo 12721,0.00,0.000,0,0,1956,232.05 _24V_AH 23.5,33.925

SM_GC 1.74,11.68,0.00,0.00,0.027,0.000,0.000,47,2652,1956,-10.92,0.06,232.05 _10V_AH 10.1,18.745

IRIDIUM_FIX 6239.86,-1152.10,250698,161634 DATA_FILE_SIZE 31758,606

TT8_MAMPS 0.028379 CAP_FILE_SIZE 91552,0

HUMID 1763 CFSIZE 260165632,247033856

INTERNAL_PRESSURE 8.56478 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 310309,231636,6302.260,-1158.363,50,1.5,50,-11.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 98.51 SBE_CT 427 24 241.12

Roll_motor 111 97 256.32 SBE_O2 440 19 196.63

VBD_pump_during_apogee 313 974 7184.31 WL_BB2F 463 105 1144.32

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 30 103 74.63 nil 0 0 0.00

Iridium_during_connect 33 160 125.76 nil 0 0 0.00

Iridium_during_xfer 123 223 648.57

Transponder_ping 3 420 32.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.23

TT8 1136 19 227.19

LPSleep 9597 2 212.29

TT8_Active 407 19 81.40

TT8_Sampling 1442 39 579.67

TT8_CF8 439 45 203.18

TT8_Kalman 0 81 0.00

Analog_circuits 1133 12 137.39

GPS_charging 0 0 0.00

Compass 1417 8 114.52

RAFOS 0 0 0.00

Transponder 24 30 7.36

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.10 -146.6 0.0 0.0 0 77 0.00 0.00 -54.58 0.000 6 0.000 0.000 52 2641 3501

80 -1.10 -146.6 7.3 -15.8 3 102 12.12 2.67 0.00 0.000 4 0.160 0.072 2193 1242 3501

321 -1.10 -146.6 34.7 -5.3 13 328 0.00 2.65 0.00 0.000 6 0.000 0.071 2193 2661 3501

638 -1.10 -146.6 60.8 -10.9 29 641 0.00 2.20 0.00 0.000 4 0.000 0.097 2193 3787 3502

706 -1.10 -146.6 68.1 -9.4 32 710 0.00 2.10 0.00 0.000 6 0.000 0.066 2193 2655 3501

1040 -1.10 -146.6 90.0 -6.2 48 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3501

1349 -1.10 -146.6 113.2 -7.5 63 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3502

1658 -1.10 -146.6 136.0 -8.1 78 1659 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3502

1967 -1.10 -146.6 163.4 -9.2 93 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3501

2276 -1.10 -146.6 194.9 -10.1 108 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2654 3502

2585 -1.10 -146.6 222.2 -8.4 123 2589 0.00 2.20 0.00 0.000 4 0.000 0.091 2193 3785 3501

2654 -1.10 -146.6 228.4 -9.4 126 2658 0.00 2.10 0.00 0.000 6 0.000 0.063 2193 2643 3502

2987 -1.10 -146.6 254.1 -6.8 142 2988 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

3296 -1.10 -146.6 272.4 -6.7 157 3300 0.00 2.22 0.00 0.000 4 0.000 0.092 2193 3783 3502

3360 -1.10 -146.6 276.9 -7.4 159 3366 0.00 2.10 0.00 0.000 6 0.000 0.062 2193 2637 3502

3676 -1.10 -146.6 300.3 -7.4 175 3677 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2636 3502

3987 -1.10 -146.6 325.5 -8.9 190 3988 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2636 3502

4294 -1.10 -146.6 345.8 -5.7 205 4298 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3784 3502

4373 -1.10 -146.6 351.9 -8.1 208 4376 0.00 2.08 0.00 0.000 6 0.000 0.061 2193 2648 3502

4694 -1.10 -146.6 383.1 -10.6 224 4695 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2648 3502

5004 -1.10 -146.6 411.1 -7.2 239 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2648 3502

5315 -1.10 -146.6 427.4 -5.5 254 5319 0.00 2.62 0.00 0.000 4 0.000 0.074 2193 1225 3502

5349 -1.10 -146.6 429.4 -5.4 255 5356 0.00 2.62 0.00 0.000 6 0.000 0.065 2193 2655 3502

5666 -1.10 -146.6 454.4 -8.6 271 5669 0.00 2.17 0.00 0.000 4 0.000 0.095 2192 3785 3502

5702 end dive: BOTTOM_OBSTACLE_DETECTED

state 5702 begin apogee

5713 -0.42 0.0 457.6 8.4 272 5840 0.75 0.00 122.78 0.975 6 0.103 0.000 2344 1993 2902

5840 end apogee: CONTROL_FINISHED_OK

state 5840 begin climb

5844 1.10 146.6 463.5 0.0 279 5972 1.60 2.67 120.05 0.946 4 0.067 0.064 2679 580 2304

6230 1.10 146.6 451.5 6.3 296 6236 0.00 2.55 0.00 0.000 6 0.000 0.040 2679 2021 2304

6546 1.21 231.8 436.8 3.6 312 6623 0.12 2.65 70.78 0.955 4 0.046 0.070 2721 3412 1956

6760 1.21 231.8 423.0 8.4 321 6765 0.00 2.60 0.00 0.000 6 0.000 0.052 2721 1988 1955

7087 1.21 231.8 399.6 7.4 337 7092 0.00 2.58 0.00 0.000 4 0.000 0.066 2721 592 1954

7177 1.21 231.8 391.8 8.3 341 7181 0.00 2.50 0.00 0.000 6 0.000 0.041 2721 1999 1954

7498 1.21 231.8 366.8 7.6 357 7502 0.00 2.65 0.00 0.000 4 0.000 0.071 2721 3419 1954

7583 1.21 231.8 360.1 8.3 361 7587 0.00 2.58 0.00 0.000 6 0.000 0.052 2721 2000 1954

7910 1.21 231.8 338.2 6.7 377 7914 0.00 2.65 0.00 0.000 4 0.000 0.070 2721 3414 1953

7954 1.21 231.8 334.8 7.9 379 7958 0.00 2.58 0.00 0.000 6 0.000 0.053 2721 1998 1953

8275 1.21 231.8 309.8 8.4 395 8279 0.00 2.65 0.00 0.000 4 0.000 0.070 2721 3415 1953

8307 1.21 231.8 307.0 8.4 396 8314 0.00 2.58 0.00 0.000 6 0.000 0.051 2721 1993 1953

8624 1.21 231.8 281.6 7.9 412 8625 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1993 1953

8933 1.21 231.8 257.9 7.7 427 8937 0.00 2.65 0.00 0.000 4 0.000 0.068 2721 3416 1953

8978 1.21 231.8 254.4 7.6 429 8983 0.00 2.58 0.00 0.000 6 0.000 0.052 2721 1995 1953

9300 1.21 231.8 230.1 7.4 445 9304 0.00 2.65 0.00 0.000 4 0.000 0.069 2721 3413 1954

9339 1.21 231.8 227.2 7.9 447 9344 0.00 2.58 0.00 0.000 6 0.000 0.053 2721 1989 1954

9666 1.21 231.8 203.6 7.4 463 9671 0.00 2.55 0.00 0.000 4 0.000 0.062 2721 586 1954

9695 1.21 231.8 201.6 7.5 464 9699 0.00 2.50 0.00 0.000 6 0.000 0.038 2721 2011 1954

10010 1.21 231.8 180.6 6.4 479 10015 0.00 2.60 0.00 0.000 4 0.000 0.069 2721 3420 1954

10044 1.21 231.8 178.3 6.8 480 10050 0.00 2.55 0.00 0.000 6 0.000 0.052 2721 1998 1954

10360 1.21 231.8 158.5 6.2 496 10362 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1998 1954

10671 1.21 231.8 139.1 6.7 511 10672 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1998 1955

10979 1.21 231.8 117.8 6.8 526 10983 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 585 1955

11019 1.21 231.8 114.9 7.3 528 11023 0.00 2.50 0.00 0.000 6 0.000 0.040 2721 2007 1955

11346 1.21 231.8 91.8 7.2 544 11350 0.00 2.60 0.00 0.000 4 0.000 0.070 2721 3415 1956

11401 1.21 231.8 87.7 7.4 546 11408 0.00 2.55 0.00 0.000 6 0.000 0.054 2721 2000 1956

11718 1.21 231.8 64.8 7.4 562 11722 0.00 2.58 0.00 0.000 4 0.000 0.064 2721 583 1956

11768 1.21 231.8 61.4 7.2 564 11772 0.00 2.50 0.00 0.000 6 0.000 0.038 2721 2009 1956

12084 1.21 231.8 38.4 7.8 579 12088 0.00 2.62 0.00 0.000 4 0.000 0.066 2721 588 1956

12151 1.21 231.8 32.9 9.1 582 12155 0.00 2.47 0.00 0.000 6 0.000 0.039 2721 2000 1956

12472 1.21 231.8 12.0 6.1 598 12476 0.00 2.58 0.00 0.000 4 0.000 0.058 2721 579 1956

12522 1.21 231.8 8.3 7.9 600 12526 0.00 2.53 0.00 0.000 6 0.000 0.045 2721 2005 1956

12613 end climb: SURFACE_DEPTH_REACHED

state 12614 begin surface coast

12635 end surface coast: CONTROL_FINISHED_OK

state 12636 begin surface

ID	103	HEADING	225	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	176	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-146449.86	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	2	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	193750,6300.574,-1157.465,37,2.1,56,-11.4	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6252.985,-1214.295
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.084,-0.202
_SM_DEPTHo	1.15	KALMAN_X	16764.5,-645.8,-1543.6,-15384.9,24287.3
_SM_ANGLEo	-55.4	KALMAN_Y	48969.3,-3585.5,-3249.7,-16818.6,69273.9
GPS2	194250,6300.621,-1157.542,12,2.0,12,-11.4	MHEAD_RNG_PITCHd_Wd	236.4,20000,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.3,1.026453	ALTIM_BOTTOM_PING	426.1,41.2
SM_CCo	12721,0.00,0.000,0,0,1956,232.05	_24V_AH	23.5,33.925
SM_GC	1.74,11.68,0.00,0.00,0.027,0.000,0.000,47,2652,1956,-10.92,0.06,232.05	_10V_AH	10.1,18.745
IRIDIUM_FIX	6239.86,-1152.10,250698,161634	DATA_FILE_SIZE	31758,606
TT8_MAMPS	0.028379	CAP_FILE_SIZE	91552,0
HUMID	1763	CFSIZE	260165632,247033856
INTERNAL_PRESSURE	8.56478	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	310309,231636,6302.260,-1158.363,50,1.5,50,-11.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	98.51	SBE_CT	427	24	241.12
Roll_motor	111	97	256.32	SBE_O2	440	19	196.63
VBD_pump_during_apogee	313	974	7184.31	WL_BB2F	463	105	1144.32
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	30	103	74.63	nil	0	0	0.00
Iridium_during_connect	33	160	125.76	nil	0	0	0.00
Iridium_during_xfer	123	223	648.57
Transponder_ping	3	420	32.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.23
TT8	1136	19	227.19
LPSleep	9597	2	212.29
TT8_Active	407	19	81.40
TT8_Sampling	1442	39	579.67
TT8_CF8	439	45	203.18
TT8_Kalman	0	81	0.00
Analog_circuits	1133	12	137.39
GPS_charging	0	0	0.00
Compass	1417	8	114.52
RAFOS	0	0	0.00
Transponder	24	30	7.36

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.10	-146.6	0.0	0.0	0	77	0.00	0.00	-54.58	0.000	6	0.000	0.000	52	2641	3501
80	-1.10	-146.6	7.3	-15.8	3	102	12.12	2.67	0.00	0.000	4	0.160	0.072	2193	1242	3501
321	-1.10	-146.6	34.7	-5.3	13	328	0.00	2.65	0.00	0.000	6	0.000	0.071	2193	2661	3501
638	-1.10	-146.6	60.8	-10.9	29	641	0.00	2.20	0.00	0.000	4	0.000	0.097	2193	3787	3502
706	-1.10	-146.6	68.1	-9.4	32	710	0.00	2.10	0.00	0.000	6	0.000	0.066	2193	2655	3501
1040	-1.10	-146.6	90.0	-6.2	48	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3501
1349	-1.10	-146.6	113.2	-7.5	63	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3502
1658	-1.10	-146.6	136.0	-8.1	78	1659	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3502
1967	-1.10	-146.6	163.4	-9.2	93	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3501
2276	-1.10	-146.6	194.9	-10.1	108	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2654	3502
2585	-1.10	-146.6	222.2	-8.4	123	2589	0.00	2.20	0.00	0.000	4	0.000	0.091	2193	3785	3501
2654	-1.10	-146.6	228.4	-9.4	126	2658	0.00	2.10	0.00	0.000	6	0.000	0.063	2193	2643	3502
2987	-1.10	-146.6	254.1	-6.8	142	2988	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
3296	-1.10	-146.6	272.4	-6.7	157	3300	0.00	2.22	0.00	0.000	4	0.000	0.092	2193	3783	3502
3360	-1.10	-146.6	276.9	-7.4	159	3366	0.00	2.10	0.00	0.000	6	0.000	0.062	2193	2637	3502
3676	-1.10	-146.6	300.3	-7.4	175	3677	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2636	3502
3987	-1.10	-146.6	325.5	-8.9	190	3988	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2636	3502
4294	-1.10	-146.6	345.8	-5.7	205	4298	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3784	3502
4373	-1.10	-146.6	351.9	-8.1	208	4376	0.00	2.08	0.00	0.000	6	0.000	0.061	2193	2648	3502
4694	-1.10	-146.6	383.1	-10.6	224	4695	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2648	3502
5004	-1.10	-146.6	411.1	-7.2	239	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2648	3502
5315	-1.10	-146.6	427.4	-5.5	254	5319	0.00	2.62	0.00	0.000	4	0.000	0.074	2193	1225	3502
5349	-1.10	-146.6	429.4	-5.4	255	5356	0.00	2.62	0.00	0.000	6	0.000	0.065	2193	2655	3502
5666	-1.10	-146.6	454.4	-8.6	271	5669	0.00	2.17	0.00	0.000	4	0.000	0.095	2192	3785	3502
5702	end dive: BOTTOM_OBSTACLE_DETECTED
state	5702	begin apogee
5713	-0.42	0.0	457.6	8.4	272	5840	0.75	0.00	122.78	0.975	6	0.103	0.000	2344	1993	2902
5840	end apogee: CONTROL_FINISHED_OK
state	5840	begin climb
5844	1.10	146.6	463.5	0.0	279	5972	1.60	2.67	120.05	0.946	4	0.067	0.064	2679	580	2304
6230	1.10	146.6	451.5	6.3	296	6236	0.00	2.55	0.00	0.000	6	0.000	0.040	2679	2021	2304
6546	1.21	231.8	436.8	3.6	312	6623	0.12	2.65	70.78	0.955	4	0.046	0.070	2721	3412	1956
6760	1.21	231.8	423.0	8.4	321	6765	0.00	2.60	0.00	0.000	6	0.000	0.052	2721	1988	1955
7087	1.21	231.8	399.6	7.4	337	7092	0.00	2.58	0.00	0.000	4	0.000	0.066	2721	592	1954
7177	1.21	231.8	391.8	8.3	341	7181	0.00	2.50	0.00	0.000	6	0.000	0.041	2721	1999	1954
7498	1.21	231.8	366.8	7.6	357	7502	0.00	2.65	0.00	0.000	4	0.000	0.071	2721	3419	1954
7583	1.21	231.8	360.1	8.3	361	7587	0.00	2.58	0.00	0.000	6	0.000	0.052	2721	2000	1954
7910	1.21	231.8	338.2	6.7	377	7914	0.00	2.65	0.00	0.000	4	0.000	0.070	2721	3414	1953
7954	1.21	231.8	334.8	7.9	379	7958	0.00	2.58	0.00	0.000	6	0.000	0.053	2721	1998	1953
8275	1.21	231.8	309.8	8.4	395	8279	0.00	2.65	0.00	0.000	4	0.000	0.070	2721	3415	1953
8307	1.21	231.8	307.0	8.4	396	8314	0.00	2.58	0.00	0.000	6	0.000	0.051	2721	1993	1953
8624	1.21	231.8	281.6	7.9	412	8625	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1993	1953
8933	1.21	231.8	257.9	7.7	427	8937	0.00	2.65	0.00	0.000	4	0.000	0.068	2721	3416	1953
8978	1.21	231.8	254.4	7.6	429	8983	0.00	2.58	0.00	0.000	6	0.000	0.052	2721	1995	1953
9300	1.21	231.8	230.1	7.4	445	9304	0.00	2.65	0.00	0.000	4	0.000	0.069	2721	3413	1954
9339	1.21	231.8	227.2	7.9	447	9344	0.00	2.58	0.00	0.000	6	0.000	0.053	2721	1989	1954
9666	1.21	231.8	203.6	7.4	463	9671	0.00	2.55	0.00	0.000	4	0.000	0.062	2721	586	1954
9695	1.21	231.8	201.6	7.5	464	9699	0.00	2.50	0.00	0.000	6	0.000	0.038	2721	2011	1954
10010	1.21	231.8	180.6	6.4	479	10015	0.00	2.60	0.00	0.000	4	0.000	0.069	2721	3420	1954
10044	1.21	231.8	178.3	6.8	480	10050	0.00	2.55	0.00	0.000	6	0.000	0.052	2721	1998	1954
10360	1.21	231.8	158.5	6.2	496	10362	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1998	1954
10671	1.21	231.8	139.1	6.7	511	10672	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1998	1955
10979	1.21	231.8	117.8	6.8	526	10983	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	585	1955
11019	1.21	231.8	114.9	7.3	528	11023	0.00	2.50	0.00	0.000	6	0.000	0.040	2721	2007	1955
11346	1.21	231.8	91.8	7.2	544	11350	0.00	2.60	0.00	0.000	4	0.000	0.070	2721	3415	1956
11401	1.21	231.8	87.7	7.4	546	11408	0.00	2.55	0.00	0.000	6	0.000	0.054	2721	2000	1956
11718	1.21	231.8	64.8	7.4	562	11722	0.00	2.58	0.00	0.000	4	0.000	0.064	2721	583	1956
11768	1.21	231.8	61.4	7.2	564	11772	0.00	2.50	0.00	0.000	6	0.000	0.038	2721	2009	1956
12084	1.21	231.8	38.4	7.8	579	12088	0.00	2.62	0.00	0.000	4	0.000	0.066	2721	588	1956
12151	1.21	231.8	32.9	9.1	582	12155	0.00	2.47	0.00	0.000	6	0.000	0.039	2721	2000	1956
12472	1.21	231.8	12.0	6.1	598	12476	0.00	2.58	0.00	0.000	4	0.000	0.058	2721	579	1956
12522	1.21	231.8	8.3	7.9	600	12526	0.00	2.53	0.00	0.000	6	0.000	0.045	2721	2005	1956
12613	end climb: SURFACE_DEPTH_REACHED
state	12614	begin surface coast
12635	end surface coast: CONTROL_FINISHED_OK
state	12636	begin surface