Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 23 * 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 23 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 48 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 -100670.33 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 -100670.33

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 48 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 23 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 173755,6129.521,-821.243,40,1.6,40,-8.9 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.162,-0.208

_SM_DEPTHo 1.12 KALMAN_X -51879.1,1353.1,877.7,65940.0,-13888.6

_SM_ANGLEo -64.3 KALMAN_Y 42231.4,-684.0,-154.1,-54514.3,8170.0

GPS2 174307,6129.519,-821.297,12,1.7,17,-8.9 MHEAD_RNG_PITCHd_Wd 226.9,38640,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.007257 ALTIM_BOTTOM_PING 748.1,30.2

SM_CCo 12031,0.00,0.000,0,0,1570,309.32 _24V_AH 23.7,6.488

SM_GC 1.32,11.38,0.00,0.00,0.038,0.000,0.000,424,2143,1570,-10.58,0.40,309.32 _10V_AH 10.1,3.357

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28584,575

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102733,0

HUMID 1850 CFSIZE 254472192,250437632

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,39,0,0

XPDR_PINGS 63 GPS 010909,210537,6130.376,-826.354,30,1.5,30,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 171 112.19 SBE_CT 393 24 223.67

Roll_motor 127 88 268.01 SBE_O2 422 19 190.25

VBD_pump_during_apogee 397 1362 12840.90 WL_BB2F 350 105 873.23

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 26 160 100.70 nil 0 0 0.00

Iridium_during_xfer 137 223 725.25

Transponder_ping 22 420 223.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.74

TT8 1126 19 225.20

LPSleep 8800 2 194.65

TT8_Active 505 19 101.12

TT8_Sampling 1474 39 592.90

TT8_CF8 440 45 203.63

TT8_Kalman 33 81 27.55

Analog_circuits 1277 12 154.86

GPS_charging 0 0 0.00

Compass 1427 8 115.31

RAFOS 0 0 0.00

Transponder 47 30 14.49

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.44 -146.6 0.0 0.0 0 78 0.00 0.00 -58.55 0.000 2 0.000 0.000 415 2154 2534

81 -1.44 -146.6 2.2 -2.5 3 134 11.23 2.50 -35.00 0.000 4 0.171 0.081 2423 3513 3431

389 -1.31 -146.6 45.8 -16.6 17 394 0.17 2.47 0.00 0.000 6 0.104 0.051 2458 2117 3431

716 -1.31 -146.6 90.9 -13.3 33 720 0.00 2.55 0.00 0.000 4 0.000 0.066 2458 3510 3431

872 -1.31 -146.6 112.8 -14.8 40 877 0.00 2.45 0.00 0.000 6 0.000 0.051 2458 2125 3431

1194 -1.31 -146.6 166.2 -16.5 56 1199 0.00 2.55 0.00 0.000 4 0.000 0.067 2458 3513 3431

1228 -1.31 -146.6 172.1 -16.7 57 1234 0.00 2.47 0.00 0.000 6 0.000 0.052 2458 2123 3432

1544 -1.31 -146.6 219.7 -14.8 73 1545 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2110 3432

1853 -1.31 -146.6 264.6 -14.1 88 1857 0.00 2.55 0.00 0.000 4 0.000 0.071 2458 3508 3432

1886 -1.31 -146.6 269.5 -14.8 89 1893 0.00 2.47 0.00 0.000 6 0.000 0.054 2458 2123 3431

2202 -1.31 -146.6 314.7 -14.5 105 2203 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2114 3432

2511 -1.31 -146.6 359.0 -13.8 120 2515 0.00 2.55 0.00 0.000 4 0.000 0.071 2458 3507 3432

2578 -1.31 -146.6 368.5 -13.7 123 2582 0.00 2.45 0.00 0.000 6 0.000 0.056 2458 2139 3432

2898 -1.31 -146.6 412.4 -13.3 139 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2126 3432

3208 -1.31 -146.6 450.6 -12.2 154 3209 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2126 3432

3517 -1.31 -146.6 485.9 -11.0 169 3521 0.00 2.53 0.00 0.000 4 0.000 0.072 2458 3506 3431

3544 -1.31 -146.6 488.9 -11.0 170 3548 0.00 2.42 0.00 0.000 6 0.000 0.058 2458 2146 3431

3865 -1.31 -146.6 524.4 -11.8 186 3870 0.00 2.55 0.00 0.000 4 0.000 0.067 2458 722 3431

3910 -1.37 -146.6 530.1 -12.6 188 3915 0.00 2.47 0.00 0.000 6 0.000 0.053 2458 2122 3431

4232 -1.42 -146.6 564.1 -10.6 204 4237 0.00 2.55 0.00 0.000 4 0.000 0.070 2458 720 3431

4289 -1.51 -146.6 570.8 -12.8 206 4295 0.20 2.50 0.00 0.000 6 0.049 0.053 2408 2131 3431

4605 -1.44 -146.6 610.3 -12.4 222 4610 0.12 2.58 0.00 0.000 4 0.099 0.074 2431 3534 3431

4862 -1.44 -146.6 637.8 -11.1 233 4868 0.00 2.53 0.00 0.000 6 0.000 0.059 2431 2129 3431

5178 -1.44 -146.6 677.9 -13.8 249 5182 0.00 2.65 0.00 0.000 4 0.000 0.080 2431 3536 3430

5354 -1.44 -146.6 705.9 -16.7 257 5359 0.00 2.50 0.00 0.000 6 0.000 0.065 2431 2156 3430

5684 -1.36 -146.6 762.9 -13.0 273 5688 0.00 2.62 0.00 0.000 4 0.000 0.078 2431 720 3429

5744 end dive: BOTTOM_OBSTACLE_DETECTED

state 5744 begin apogee

5753 -0.33 0.0 768.4 5.5 276 5887 1.15 0.00 128.55 1.363 6 0.097 0.000 2670 1934 2831

5887 end apogee: CONTROL_FINISHED_OK

state 5887 begin climb

5890 1.44 146.6 772.3 0.0 283 6028 1.70 2.78 128.05 1.321 4 0.041 0.088 3060 524 2234

6287 1.48 309.7 748.3 2.6 301 6434 0.00 2.55 140.93 1.305 6 0.000 0.063 3060 1935 1568

6763 1.41 309.7 688.5 15.2 324 6767 0.00 2.72 0.00 0.000 4 0.000 0.089 3060 516 1568

6922 1.30 309.7 662.5 16.8 331 6927 0.17 2.55 0.00 0.000 6 0.106 0.065 3029 1901 1568

7243 1.30 309.7 626.7 11.3 347 7248 0.00 2.65 0.00 0.000 4 0.000 0.080 3029 3333 1567

7322 1.36 309.7 618.4 11.1 350 7328 0.00 2.62 0.00 0.000 6 0.000 0.077 3028 1936 1566

7638 1.36 309.7 576.4 14.7 366 7639 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 1936 1565

7947 1.36 309.7 530.7 13.5 381 7951 0.00 2.60 0.00 0.000 4 0.000 0.074 3029 3337 1565

7980 1.43 309.7 526.2 12.9 382 7987 0.12 2.62 0.00 0.000 6 0.064 0.067 3059 1910 1565

8296 1.37 309.7 479.7 14.9 398 8301 0.00 2.58 0.00 0.000 4 0.000 0.077 3059 504 1564

8319 1.28 309.7 475.8 16.0 399 8324 0.20 2.55 0.00 0.000 6 0.098 0.055 3021 1929 1564

8641 1.34 309.7 434.1 12.9 415 8645 0.00 2.65 0.00 0.000 4 0.000 0.074 3021 500 1565

8680 1.34 309.7 428.7 14.8 417 8685 0.00 2.50 0.00 0.000 6 0.000 0.053 3021 1905 1565

9008 1.41 309.7 383.3 14.0 433 9013 0.15 2.60 0.00 0.000 4 0.057 0.074 3060 506 1566

9036 1.36 309.7 378.6 16.6 434 9040 0.00 2.47 0.00 0.000 6 0.000 0.052 3059 1901 1566

9352 1.31 309.7 329.6 15.8 449 9357 0.15 2.58 0.00 0.000 4 0.095 0.074 3030 509 1566

9385 1.31 309.7 324.1 15.4 450 9392 0.00 2.45 0.00 0.000 6 0.000 0.051 3030 1891 1566

9702 1.36 309.7 281.4 13.3 466 9706 0.00 2.58 0.00 0.000 4 0.000 0.067 3030 3330 1566

9719 1.43 309.7 279.0 13.4 467 9725 0.12 2.60 0.00 0.000 6 0.059 0.058 3064 1882 1567

10047 1.38 309.7 230.2 14.7 483 10051 0.00 2.50 0.00 0.000 4 0.000 0.073 3064 507 1567

10069 1.30 309.7 226.6 15.9 484 10074 0.20 2.45 0.00 0.000 6 0.094 0.051 3025 1896 1567

10391 1.38 309.7 187.7 12.1 500 10392 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1909 1567

10700 1.45 309.7 149.0 12.5 515 10705 0.17 2.55 0.00 0.000 4 0.053 0.074 3071 513 1568

10741 1.36 309.7 142.7 16.4 517 10746 0.15 2.40 0.00 0.000 6 0.095 0.050 3042 1879 1568

11068 1.36 309.7 100.6 12.0 533 11073 0.00 2.58 0.00 0.000 4 0.000 0.065 3042 3326 1568

11102 1.43 309.7 96.4 11.7 534 11109 0.00 2.58 0.00 0.000 6 0.000 0.055 3041 1884 1569

11420 1.43 309.7 58.7 12.2 550 11424 0.00 2.50 0.00 0.000 4 0.000 0.072 3041 504 1569

11447 1.43 309.7 55.1 12.7 551 11451 0.00 2.42 0.00 0.000 6 0.000 0.049 3041 1885 1570

11764 1.48 309.7 20.9 10.8 566 11769 0.12 2.55 0.00 0.000 4 0.056 0.073 3075 504 1570

11797 1.39 309.7 16.2 14.7 567 11804 0.15 2.38 0.00 0.000 6 0.095 0.047 3047 1870 1570

11926 end climb: SURFACE_DEPTH_REACHED

state 11927 begin surface coast

11947 end surface coast: CONTROL_FINISHED_OK

state 11947 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	23	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	48	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	-100670.33	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	173755,6129.521,-821.243,40,1.6,40,-8.9	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.162,-0.208
_SM_DEPTHo	1.12	KALMAN_X	-51879.1,1353.1,877.7,65940.0,-13888.6
_SM_ANGLEo	-64.3	KALMAN_Y	42231.4,-684.0,-154.1,-54514.3,8170.0
GPS2	174307,6129.519,-821.297,12,1.7,17,-8.9	MHEAD_RNG_PITCHd_Wd	226.9,38640,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.007257	ALTIM_BOTTOM_PING	748.1,30.2
SM_CCo	12031,0.00,0.000,0,0,1570,309.32	_24V_AH	23.7,6.488
SM_GC	1.32,11.38,0.00,0.00,0.038,0.000,0.000,424,2143,1570,-10.58,0.40,309.32	_10V_AH	10.1,3.357
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28584,575
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102733,0
HUMID	1850	CFSIZE	254472192,250437632
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
XPDR_PINGS	63	GPS	010909,210537,6130.376,-826.354,30,1.5,30,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	171	112.19	SBE_CT	393	24	223.67
Roll_motor	127	88	268.01	SBE_O2	422	19	190.25
VBD_pump_during_apogee	397	1362	12840.90	WL_BB2F	350	105	873.23
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	26	160	100.70	nil	0	0	0.00
Iridium_during_xfer	137	223	725.25
Transponder_ping	22	420	223.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.74
TT8	1126	19	225.20
LPSleep	8800	2	194.65
TT8_Active	505	19	101.12
TT8_Sampling	1474	39	592.90
TT8_CF8	440	45	203.63
TT8_Kalman	33	81	27.55
Analog_circuits	1277	12	154.86
GPS_charging	0	0	0.00
Compass	1427	8	115.31
RAFOS	0	0	0.00
Transponder	47	30	14.49

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.44	-146.6	0.0	0.0	0	78	0.00	0.00	-58.55	0.000	2	0.000	0.000	415	2154	2534
81	-1.44	-146.6	2.2	-2.5	3	134	11.23	2.50	-35.00	0.000	4	0.171	0.081	2423	3513	3431
389	-1.31	-146.6	45.8	-16.6	17	394	0.17	2.47	0.00	0.000	6	0.104	0.051	2458	2117	3431
716	-1.31	-146.6	90.9	-13.3	33	720	0.00	2.55	0.00	0.000	4	0.000	0.066	2458	3510	3431
872	-1.31	-146.6	112.8	-14.8	40	877	0.00	2.45	0.00	0.000	6	0.000	0.051	2458	2125	3431
1194	-1.31	-146.6	166.2	-16.5	56	1199	0.00	2.55	0.00	0.000	4	0.000	0.067	2458	3513	3431
1228	-1.31	-146.6	172.1	-16.7	57	1234	0.00	2.47	0.00	0.000	6	0.000	0.052	2458	2123	3432
1544	-1.31	-146.6	219.7	-14.8	73	1545	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2110	3432
1853	-1.31	-146.6	264.6	-14.1	88	1857	0.00	2.55	0.00	0.000	4	0.000	0.071	2458	3508	3432
1886	-1.31	-146.6	269.5	-14.8	89	1893	0.00	2.47	0.00	0.000	6	0.000	0.054	2458	2123	3431
2202	-1.31	-146.6	314.7	-14.5	105	2203	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2114	3432
2511	-1.31	-146.6	359.0	-13.8	120	2515	0.00	2.55	0.00	0.000	4	0.000	0.071	2458	3507	3432
2578	-1.31	-146.6	368.5	-13.7	123	2582	0.00	2.45	0.00	0.000	6	0.000	0.056	2458	2139	3432
2898	-1.31	-146.6	412.4	-13.3	139	2900	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2126	3432
3208	-1.31	-146.6	450.6	-12.2	154	3209	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2126	3432
3517	-1.31	-146.6	485.9	-11.0	169	3521	0.00	2.53	0.00	0.000	4	0.000	0.072	2458	3506	3431
3544	-1.31	-146.6	488.9	-11.0	170	3548	0.00	2.42	0.00	0.000	6	0.000	0.058	2458	2146	3431
3865	-1.31	-146.6	524.4	-11.8	186	3870	0.00	2.55	0.00	0.000	4	0.000	0.067	2458	722	3431
3910	-1.37	-146.6	530.1	-12.6	188	3915	0.00	2.47	0.00	0.000	6	0.000	0.053	2458	2122	3431
4232	-1.42	-146.6	564.1	-10.6	204	4237	0.00	2.55	0.00	0.000	4	0.000	0.070	2458	720	3431
4289	-1.51	-146.6	570.8	-12.8	206	4295	0.20	2.50	0.00	0.000	6	0.049	0.053	2408	2131	3431
4605	-1.44	-146.6	610.3	-12.4	222	4610	0.12	2.58	0.00	0.000	4	0.099	0.074	2431	3534	3431
4862	-1.44	-146.6	637.8	-11.1	233	4868	0.00	2.53	0.00	0.000	6	0.000	0.059	2431	2129	3431
5178	-1.44	-146.6	677.9	-13.8	249	5182	0.00	2.65	0.00	0.000	4	0.000	0.080	2431	3536	3430
5354	-1.44	-146.6	705.9	-16.7	257	5359	0.00	2.50	0.00	0.000	6	0.000	0.065	2431	2156	3430
5684	-1.36	-146.6	762.9	-13.0	273	5688	0.00	2.62	0.00	0.000	4	0.000	0.078	2431	720	3429
5744	end dive: BOTTOM_OBSTACLE_DETECTED
state	5744	begin apogee
5753	-0.33	0.0	768.4	5.5	276	5887	1.15	0.00	128.55	1.363	6	0.097	0.000	2670	1934	2831
5887	end apogee: CONTROL_FINISHED_OK
state	5887	begin climb
5890	1.44	146.6	772.3	0.0	283	6028	1.70	2.78	128.05	1.321	4	0.041	0.088	3060	524	2234
6287	1.48	309.7	748.3	2.6	301	6434	0.00	2.55	140.93	1.305	6	0.000	0.063	3060	1935	1568
6763	1.41	309.7	688.5	15.2	324	6767	0.00	2.72	0.00	0.000	4	0.000	0.089	3060	516	1568
6922	1.30	309.7	662.5	16.8	331	6927	0.17	2.55	0.00	0.000	6	0.106	0.065	3029	1901	1568
7243	1.30	309.7	626.7	11.3	347	7248	0.00	2.65	0.00	0.000	4	0.000	0.080	3029	3333	1567
7322	1.36	309.7	618.4	11.1	350	7328	0.00	2.62	0.00	0.000	6	0.000	0.077	3028	1936	1566
7638	1.36	309.7	576.4	14.7	366	7639	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	1936	1565
7947	1.36	309.7	530.7	13.5	381	7951	0.00	2.60	0.00	0.000	4	0.000	0.074	3029	3337	1565
7980	1.43	309.7	526.2	12.9	382	7987	0.12	2.62	0.00	0.000	6	0.064	0.067	3059	1910	1565
8296	1.37	309.7	479.7	14.9	398	8301	0.00	2.58	0.00	0.000	4	0.000	0.077	3059	504	1564
8319	1.28	309.7	475.8	16.0	399	8324	0.20	2.55	0.00	0.000	6	0.098	0.055	3021	1929	1564
8641	1.34	309.7	434.1	12.9	415	8645	0.00	2.65	0.00	0.000	4	0.000	0.074	3021	500	1565
8680	1.34	309.7	428.7	14.8	417	8685	0.00	2.50	0.00	0.000	6	0.000	0.053	3021	1905	1565
9008	1.41	309.7	383.3	14.0	433	9013	0.15	2.60	0.00	0.000	4	0.057	0.074	3060	506	1566
9036	1.36	309.7	378.6	16.6	434	9040	0.00	2.47	0.00	0.000	6	0.000	0.052	3059	1901	1566
9352	1.31	309.7	329.6	15.8	449	9357	0.15	2.58	0.00	0.000	4	0.095	0.074	3030	509	1566
9385	1.31	309.7	324.1	15.4	450	9392	0.00	2.45	0.00	0.000	6	0.000	0.051	3030	1891	1566
9702	1.36	309.7	281.4	13.3	466	9706	0.00	2.58	0.00	0.000	4	0.000	0.067	3030	3330	1566
9719	1.43	309.7	279.0	13.4	467	9725	0.12	2.60	0.00	0.000	6	0.059	0.058	3064	1882	1567
10047	1.38	309.7	230.2	14.7	483	10051	0.00	2.50	0.00	0.000	4	0.000	0.073	3064	507	1567
10069	1.30	309.7	226.6	15.9	484	10074	0.20	2.45	0.00	0.000	6	0.094	0.051	3025	1896	1567
10391	1.38	309.7	187.7	12.1	500	10392	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1909	1567
10700	1.45	309.7	149.0	12.5	515	10705	0.17	2.55	0.00	0.000	4	0.053	0.074	3071	513	1568
10741	1.36	309.7	142.7	16.4	517	10746	0.15	2.40	0.00	0.000	6	0.095	0.050	3042	1879	1568
11068	1.36	309.7	100.6	12.0	533	11073	0.00	2.58	0.00	0.000	4	0.000	0.065	3042	3326	1568
11102	1.43	309.7	96.4	11.7	534	11109	0.00	2.58	0.00	0.000	6	0.000	0.055	3041	1884	1569
11420	1.43	309.7	58.7	12.2	550	11424	0.00	2.50	0.00	0.000	4	0.000	0.072	3041	504	1569
11447	1.43	309.7	55.1	12.7	551	11451	0.00	2.42	0.00	0.000	6	0.000	0.049	3041	1885	1570
11764	1.48	309.7	20.9	10.8	566	11769	0.12	2.55	0.00	0.000	4	0.056	0.073	3075	504	1570
11797	1.39	309.7	16.2	14.7	567	11804	0.15	2.38	0.00	0.000	6	0.095	0.047	3047	1870	1570
11926	end climb: SURFACE_DEPTH_REACHED
state	11927	begin surface coast
11947	end surface coast: CONTROL_FINISHED_OK
state	11947	begin surface