Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 22 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1920 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 990 T_GPS_CHARGE -100652.4 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 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 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 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -100652.4

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 22 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 140230,6129.028,-821.331,39,2.0,39,-8.9 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.227,-0.135

_SM_DEPTHo 1.24 KALMAN_X -48268.8,1447.5,610.1,62358.7,-13226.0

_SM_ANGLEo -67.0 KALMAN_Y 39139.7,-356.2,-595.7,-52279.8,7906.8

GPS2 141104,6128.996,-821.468,16,2.1,35,-8.9 MHEAD_RNG_PITCHd_Wd 129.7,3633,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.004578 ALTIM_BOTTOM_PING 672.4,70.1

SM_CCo 12284,0.00,0.000,0,0,1331,367.95 _24V_AH 23.7,6.325

SM_GC 1.21,11.48,0.00,0.00,0.036,0.000,0.000,415,2171,1331,-10.61,1.13,367.95 _10V_AH 10.1,3.295

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31633,586

TT8_MAMPS 0.029146 CAP_FILE_SIZE 98836,0

HUMID 1828 CFSIZE 254472192,250486784

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,41,0,0

XPDR_PINGS 60 GPS 010909,173755,6129.521,-821.243,40,1.6,40,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 105.82 SBE_CT 400 24 227.70

Roll_motor 112 88 235.23 SBE_O2 435 19 195.89

VBD_pump_during_apogee 450 1320 14092.73 WL_BB2F 347 105 864.57

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 75 103 184.36 nil 0 0 0.00

Iridium_during_connect 61 160 235.01 nil 0 0 0.00

Iridium_during_xfer 181 223 959.43

Transponder_ping 21 420 209.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.45

TT8 1093 19 218.74

LPSleep 9254 2 204.71

TT8_Active 545 19 109.12

TT8_Sampling 1353 39 544.14

TT8_CF8 552 45 255.38

TT8_Kalman 33 81 27.55

Analog_circuits 1256 12 152.30

GPS_charging 0 0 0.00

Compass 1296 8 104.75

RAFOS 0 0 0.00

Transponder 43 30 13.21

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

16 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -60.97 0.000 2 0.000 0.000 421 2146 2911

82 -1.44 -146.6 3.3 -4.8 3 111 11.15 0.00 -14.32 0.000 6 0.166 0.000 2427 2143 3430

429 -1.35 -146.6 64.6 -16.9 20 434 0.12 2.60 0.00 0.000 4 0.112 0.061 2451 712 3430

501 -1.35 -146.6 76.1 -14.8 23 506 0.00 2.50 0.00 0.000 6 0.000 0.047 2452 2136 3430

818 -1.35 -146.6 120.0 -13.5 38 823 0.00 2.58 0.00 0.000 4 0.000 0.064 2452 715 3431

936 -1.35 -146.6 137.1 -13.5 43 940 0.00 2.45 0.00 0.000 6 0.000 0.047 2452 2116 3431

1252 -1.35 -146.6 178.7 -13.0 58 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2116 3431

1561 -1.35 -146.6 219.2 -13.0 73 1565 0.00 2.55 0.00 0.000 4 0.000 0.066 2452 711 3431

1601 -1.39 -146.6 224.2 -13.3 75 1605 0.00 2.47 0.00 0.000 6 0.000 0.049 2452 2116 3431

1928 -1.39 -146.6 262.6 -11.4 91 1929 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2116 3431

2238 -1.39 -146.6 297.2 -11.6 106 2242 0.00 2.55 0.00 0.000 4 0.000 0.066 2452 705 3431

2288 -1.43 -146.6 303.5 -11.9 108 2293 0.00 2.47 0.00 0.000 6 0.000 0.051 2452 2108 3431

2604 -1.43 -146.6 340.4 -11.9 123 2605 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2108 3431

2913 -1.43 -146.6 374.1 -10.8 138 2918 0.00 2.60 0.00 0.000 4 0.000 0.074 2452 3531 3431

2958 -1.43 -146.6 379.2 -11.1 140 2963 0.00 2.58 0.00 0.000 6 0.000 0.058 2452 2098 3431

3280 -1.43 -146.6 413.7 -10.9 156 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2085 3431

3589 -1.43 -146.6 449.0 -11.6 171 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2085 3431

3898 -1.43 -146.6 486.7 -12.7 186 3902 0.00 2.62 0.00 0.000 4 0.000 0.074 2452 3531 3430

3931 -1.43 -146.6 491.1 -12.4 187 3937 0.00 2.55 0.00 0.000 6 0.000 0.060 2452 2112 3431

4247 -1.43 -146.6 529.9 -12.4 203 4248 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2100 3430

4556 -1.43 -146.6 569.6 -13.4 218 4563 0.00 2.50 0.00 0.000 4 0.000 0.070 2452 718 3430

4643 -1.50 -146.6 581.8 -13.2 221 4650 0.15 2.47 0.00 0.000 6 0.054 0.051 2411 2128 3430

4959 -1.43 -146.6 626.2 -13.3 237 4964 0.10 2.60 0.00 0.000 4 0.105 0.070 2429 716 3430

5217 -1.48 -146.6 661.7 -12.2 248 5223 0.00 2.40 0.00 0.000 6 0.000 0.053 2429 2071 3429

5533 -1.48 -146.6 703.7 -13.9 264 5538 0.00 2.70 0.00 0.000 4 0.000 0.081 2429 3532 3429

5596 -1.48 -146.6 712.9 -15.7 267 5600 0.00 2.62 0.00 0.000 6 0.000 0.067 2429 2095 3429

5713 end dive: BOTTOM_OBSTACLE_DETECTED

state 5713 begin apogee

5721 -0.33 0.0 732.8 16.4 273 5856 1.15 0.00 128.30 1.320 6 0.089 0.000 2673 1917 2831

5857 end apogee: CONTROL_FINISHED_OK

state 5857 begin climb

5860 1.44 146.6 745.0 0.0 280 5998 1.75 2.75 127.75 1.285 4 0.058 0.086 3063 520 2233

6023 1.20 209.9 732.1 7.1 287 6085 0.30 2.58 55.78 1.246 6 0.106 0.061 3006 1934 1975

6396 1.34 296.7 701.4 6.0 305 6480 0.15 2.67 74.95 1.262 4 0.063 0.079 3042 3310 1621

6549 1.34 296.7 685.5 11.9 312 6553 0.00 2.55 0.00 0.000 6 0.000 0.078 3042 1967 1621

6875 1.36 310.5 653.5 9.4 328 6897 0.00 2.62 13.35 1.171 4 0.000 0.081 3043 3305 1564

6914 1.36 310.5 649.6 11.2 329 6920 0.00 2.60 0.00 0.000 6 0.000 0.078 3043 1940 1564

7230 1.32 310.5 604.5 15.4 345 7235 0.00 2.70 0.00 0.000 4 0.000 0.088 3043 510 1563

7248 1.27 310.5 601.9 14.2 346 7253 0.12 2.55 0.00 0.000 6 0.107 0.062 3020 1907 1563

7575 1.31 310.5 557.7 13.5 362 7580 0.00 2.65 0.00 0.000 4 0.000 0.083 3019 509 1563

7631 1.31 310.5 550.0 13.6 364 7638 0.00 2.55 0.00 0.000 6 0.000 0.059 3019 1916 1562

7948 1.36 310.5 513.4 10.7 380 7952 0.00 2.65 0.00 0.000 4 0.000 0.080 3019 503 1562

8003 1.36 310.5 506.9 11.1 382 8009 0.00 2.50 0.00 0.000 6 0.000 0.057 3019 1894 1562

8320 1.46 338.3 476.5 8.7 398 8350 0.20 2.65 24.48 1.136 4 0.059 0.076 3070 510 1451

8396 1.35 338.3 466.3 14.0 401 8402 0.17 2.47 0.00 0.000 6 0.104 0.054 3037 1884 1451

8712 1.35 338.3 429.6 12.0 417 8716 0.00 2.58 0.00 0.000 4 0.000 0.077 3037 504 1451

8728 1.35 338.3 427.4 12.5 418 8733 0.00 2.45 0.00 0.000 6 0.000 0.053 3037 1876 1451

9061 1.35 338.3 387.2 12.1 434 9066 0.00 2.55 0.00 0.000 4 0.000 0.074 3037 503 1452

9089 1.35 338.3 383.6 12.8 435 9093 0.00 2.45 0.00 0.000 6 0.000 0.054 3036 1876 1452

9405 1.35 338.3 348.6 10.0 450 9406 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1892 1452

9714 1.35 338.3 313.4 12.1 465 9715 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1892 1453

10023 1.35 338.3 273.2 13.3 480 10027 0.00 2.53 0.00 0.000 4 0.000 0.076 3036 510 1453

10047 1.35 338.3 269.9 14.2 481 10051 0.00 2.40 0.00 0.000 6 0.000 0.051 3037 1868 1453

10374 1.35 338.3 227.1 12.2 497 10378 0.00 2.53 0.00 0.000 4 0.000 0.076 3037 503 1454

10407 1.35 338.3 222.8 13.3 498 10413 0.00 2.40 0.00 0.000 6 0.000 0.051 3037 1860 1454

10723 1.35 338.3 182.9 13.0 514 10727 0.00 2.47 0.00 0.000 4 0.000 0.071 3037 510 1454

10740 1.35 338.3 180.7 12.2 515 10744 0.00 2.35 0.00 0.000 6 0.000 0.051 3037 1845 1454

11067 1.35 338.3 140.0 12.3 531 11068 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1859 1454

11376 1.35 338.3 101.9 11.9 546 11378 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 1859 1455

11686 1.44 367.8 70.5 8.7 561 11715 0.10 0.00 25.88 0.836 6 0.063 0.000 3063 1859 1331

12016 1.44 367.8 25.8 15.0 577 12021 0.00 2.45 0.00 0.000 4 0.000 0.070 3064 508 1331

12081 1.44 367.8 15.5 14.9 580 12085 0.00 2.35 0.00 0.000 6 0.000 0.048 3064 1847 1331

12179 end climb: SURFACE_DEPTH_REACHED

state 12179 begin surface coast

12200 end surface coast: CONTROL_FINISHED_OK

state 12200 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	22	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1920	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	990	T_GPS_CHARGE	-100652.4	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	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	140230,6129.028,-821.331,39,2.0,39,-8.9	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.227,-0.135
_SM_DEPTHo	1.24	KALMAN_X	-48268.8,1447.5,610.1,62358.7,-13226.0
_SM_ANGLEo	-67.0	KALMAN_Y	39139.7,-356.2,-595.7,-52279.8,7906.8
GPS2	141104,6128.996,-821.468,16,2.1,35,-8.9	MHEAD_RNG_PITCHd_Wd	129.7,3633,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.004578	ALTIM_BOTTOM_PING	672.4,70.1
SM_CCo	12284,0.00,0.000,0,0,1331,367.95	_24V_AH	23.7,6.325
SM_GC	1.21,11.48,0.00,0.00,0.036,0.000,0.000,415,2171,1331,-10.61,1.13,367.95	_10V_AH	10.1,3.295
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31633,586
TT8_MAMPS	0.029146	CAP_FILE_SIZE	98836,0
HUMID	1828	CFSIZE	254472192,250486784
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
XPDR_PINGS	60	GPS	010909,173755,6129.521,-821.243,40,1.6,40,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	105.82	SBE_CT	400	24	227.70
Roll_motor	112	88	235.23	SBE_O2	435	19	195.89
VBD_pump_during_apogee	450	1320	14092.73	WL_BB2F	347	105	864.57
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	75	103	184.36	nil	0	0	0.00
Iridium_during_connect	61	160	235.01	nil	0	0	0.00
Iridium_during_xfer	181	223	959.43
Transponder_ping	21	420	209.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.45
TT8	1093	19	218.74
LPSleep	9254	2	204.71
TT8_Active	545	19	109.12
TT8_Sampling	1353	39	544.14
TT8_CF8	552	45	255.38
TT8_Kalman	33	81	27.55
Analog_circuits	1256	12	152.30
GPS_charging	0	0	0.00
Compass	1296	8	104.75
RAFOS	0	0	0.00
Transponder	43	30	13.21

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
16	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-60.97	0.000	2	0.000	0.000	421	2146	2911
82	-1.44	-146.6	3.3	-4.8	3	111	11.15	0.00	-14.32	0.000	6	0.166	0.000	2427	2143	3430
429	-1.35	-146.6	64.6	-16.9	20	434	0.12	2.60	0.00	0.000	4	0.112	0.061	2451	712	3430
501	-1.35	-146.6	76.1	-14.8	23	506	0.00	2.50	0.00	0.000	6	0.000	0.047	2452	2136	3430
818	-1.35	-146.6	120.0	-13.5	38	823	0.00	2.58	0.00	0.000	4	0.000	0.064	2452	715	3431
936	-1.35	-146.6	137.1	-13.5	43	940	0.00	2.45	0.00	0.000	6	0.000	0.047	2452	2116	3431
1252	-1.35	-146.6	178.7	-13.0	58	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2116	3431
1561	-1.35	-146.6	219.2	-13.0	73	1565	0.00	2.55	0.00	0.000	4	0.000	0.066	2452	711	3431
1601	-1.39	-146.6	224.2	-13.3	75	1605	0.00	2.47	0.00	0.000	6	0.000	0.049	2452	2116	3431
1928	-1.39	-146.6	262.6	-11.4	91	1929	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2116	3431
2238	-1.39	-146.6	297.2	-11.6	106	2242	0.00	2.55	0.00	0.000	4	0.000	0.066	2452	705	3431
2288	-1.43	-146.6	303.5	-11.9	108	2293	0.00	2.47	0.00	0.000	6	0.000	0.051	2452	2108	3431
2604	-1.43	-146.6	340.4	-11.9	123	2605	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2108	3431
2913	-1.43	-146.6	374.1	-10.8	138	2918	0.00	2.60	0.00	0.000	4	0.000	0.074	2452	3531	3431
2958	-1.43	-146.6	379.2	-11.1	140	2963	0.00	2.58	0.00	0.000	6	0.000	0.058	2452	2098	3431
3280	-1.43	-146.6	413.7	-10.9	156	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2085	3431
3589	-1.43	-146.6	449.0	-11.6	171	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2085	3431
3898	-1.43	-146.6	486.7	-12.7	186	3902	0.00	2.62	0.00	0.000	4	0.000	0.074	2452	3531	3430
3931	-1.43	-146.6	491.1	-12.4	187	3937	0.00	2.55	0.00	0.000	6	0.000	0.060	2452	2112	3431
4247	-1.43	-146.6	529.9	-12.4	203	4248	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2100	3430
4556	-1.43	-146.6	569.6	-13.4	218	4563	0.00	2.50	0.00	0.000	4	0.000	0.070	2452	718	3430
4643	-1.50	-146.6	581.8	-13.2	221	4650	0.15	2.47	0.00	0.000	6	0.054	0.051	2411	2128	3430
4959	-1.43	-146.6	626.2	-13.3	237	4964	0.10	2.60	0.00	0.000	4	0.105	0.070	2429	716	3430
5217	-1.48	-146.6	661.7	-12.2	248	5223	0.00	2.40	0.00	0.000	6	0.000	0.053	2429	2071	3429
5533	-1.48	-146.6	703.7	-13.9	264	5538	0.00	2.70	0.00	0.000	4	0.000	0.081	2429	3532	3429
5596	-1.48	-146.6	712.9	-15.7	267	5600	0.00	2.62	0.00	0.000	6	0.000	0.067	2429	2095	3429
5713	end dive: BOTTOM_OBSTACLE_DETECTED
state	5713	begin apogee
5721	-0.33	0.0	732.8	16.4	273	5856	1.15	0.00	128.30	1.320	6	0.089	0.000	2673	1917	2831
5857	end apogee: CONTROL_FINISHED_OK
state	5857	begin climb
5860	1.44	146.6	745.0	0.0	280	5998	1.75	2.75	127.75	1.285	4	0.058	0.086	3063	520	2233
6023	1.20	209.9	732.1	7.1	287	6085	0.30	2.58	55.78	1.246	6	0.106	0.061	3006	1934	1975
6396	1.34	296.7	701.4	6.0	305	6480	0.15	2.67	74.95	1.262	4	0.063	0.079	3042	3310	1621
6549	1.34	296.7	685.5	11.9	312	6553	0.00	2.55	0.00	0.000	6	0.000	0.078	3042	1967	1621
6875	1.36	310.5	653.5	9.4	328	6897	0.00	2.62	13.35	1.171	4	0.000	0.081	3043	3305	1564
6914	1.36	310.5	649.6	11.2	329	6920	0.00	2.60	0.00	0.000	6	0.000	0.078	3043	1940	1564
7230	1.32	310.5	604.5	15.4	345	7235	0.00	2.70	0.00	0.000	4	0.000	0.088	3043	510	1563
7248	1.27	310.5	601.9	14.2	346	7253	0.12	2.55	0.00	0.000	6	0.107	0.062	3020	1907	1563
7575	1.31	310.5	557.7	13.5	362	7580	0.00	2.65	0.00	0.000	4	0.000	0.083	3019	509	1563
7631	1.31	310.5	550.0	13.6	364	7638	0.00	2.55	0.00	0.000	6	0.000	0.059	3019	1916	1562
7948	1.36	310.5	513.4	10.7	380	7952	0.00	2.65	0.00	0.000	4	0.000	0.080	3019	503	1562
8003	1.36	310.5	506.9	11.1	382	8009	0.00	2.50	0.00	0.000	6	0.000	0.057	3019	1894	1562
8320	1.46	338.3	476.5	8.7	398	8350	0.20	2.65	24.48	1.136	4	0.059	0.076	3070	510	1451
8396	1.35	338.3	466.3	14.0	401	8402	0.17	2.47	0.00	0.000	6	0.104	0.054	3037	1884	1451
8712	1.35	338.3	429.6	12.0	417	8716	0.00	2.58	0.00	0.000	4	0.000	0.077	3037	504	1451
8728	1.35	338.3	427.4	12.5	418	8733	0.00	2.45	0.00	0.000	6	0.000	0.053	3037	1876	1451
9061	1.35	338.3	387.2	12.1	434	9066	0.00	2.55	0.00	0.000	4	0.000	0.074	3037	503	1452
9089	1.35	338.3	383.6	12.8	435	9093	0.00	2.45	0.00	0.000	6	0.000	0.054	3036	1876	1452
9405	1.35	338.3	348.6	10.0	450	9406	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1892	1452
9714	1.35	338.3	313.4	12.1	465	9715	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1892	1453
10023	1.35	338.3	273.2	13.3	480	10027	0.00	2.53	0.00	0.000	4	0.000	0.076	3036	510	1453
10047	1.35	338.3	269.9	14.2	481	10051	0.00	2.40	0.00	0.000	6	0.000	0.051	3037	1868	1453
10374	1.35	338.3	227.1	12.2	497	10378	0.00	2.53	0.00	0.000	4	0.000	0.076	3037	503	1454
10407	1.35	338.3	222.8	13.3	498	10413	0.00	2.40	0.00	0.000	6	0.000	0.051	3037	1860	1454
10723	1.35	338.3	182.9	13.0	514	10727	0.00	2.47	0.00	0.000	4	0.000	0.071	3037	510	1454
10740	1.35	338.3	180.7	12.2	515	10744	0.00	2.35	0.00	0.000	6	0.000	0.051	3037	1845	1454
11067	1.35	338.3	140.0	12.3	531	11068	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1859	1454
11376	1.35	338.3	101.9	11.9	546	11378	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	1859	1455
11686	1.44	367.8	70.5	8.7	561	11715	0.10	0.00	25.88	0.836	6	0.063	0.000	3063	1859	1331
12016	1.44	367.8	25.8	15.0	577	12021	0.00	2.45	0.00	0.000	4	0.000	0.070	3064	508	1331
12081	1.44	367.8	15.5	14.9	580	12085	0.00	2.35	0.00	0.000	6	0.000	0.048	3064	1847	1331
12179	end climb: SURFACE_DEPTH_REACHED
state	12179	begin surface coast
12200	end surface coast: CONTROL_FINISHED_OK
state	12200	begin surface