Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 257 * 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 257 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 1850 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 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -105277.25 VBD_BLEED_AD_RATE 8 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 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 0.029999999 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 412.5

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 -105277.25

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 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 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 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 257 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 084629,6359.948,-1245.828,43,1.3,43,-12.3 TGT_NAME P3

_CALLS 2 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,-0.085

_SM_DEPTHo 1.46 KALMAN_X -29377.7,-684.8,427.2,-186804.3,11186.4

_SM_ANGLEo -56.3 KALMAN_Y -21367.4,739.7,1030.3,285210.6,-3422.0

GPS2 085502,6400.047,-1245.620,13,1.4,13,-12.3 MHEAD_RNG_PITCHd_Wd 262.1,34706,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.014870 ALTIM_BOTTOM_PING 521.1,82.3

SM_CCo 11966,0.00,0.000,0,0,1460,336.06 _24V_AH 23.8,42.451

SM_GC 1.28,11.30,0.00,0.00,0.035,0.000,0.000,419,2131,1460,-10.60,0.00,336.06 _10V_AH 10.1,18.778

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38007,713

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104695,0

HUMID 1830 CFSIZE 254472192,238428160

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 41 GPS 071009,121634,6402.295,-1240.945,40,2.0,40,-12.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.92 SBE_CT 487 24 278.58

Roll_motor 124 81 240.18 SBE_O2 518 19 234.49

VBD_pump_during_apogee 425 1230 12444.16 WL_BB2F 435 105 1087.35

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 75 103 185.15 nil 0 0 0.00

Iridium_during_connect 52 160 199.52 nil 0 0 0.00

Iridium_during_xfer 194 223 1032.58

Transponder_ping 14 420 147.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.87

TT8 1263 19 252.58

LPSleep 8573 2 189.64

TT8_Active 534 19 106.84

TT8_Sampling 1506 39 605.61

TT8_CF8 598 45 276.66

TT8_Kalman 33 81 27.57

Analog_circuits 1317 12 159.64

GPS_charging 0 0 0.00

Compass 1471 8 118.88

RAFOS 0 0 0.00

Transponder 32 30 9.96

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

18 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.28 0.000 2 0.000 0.000 417 2150 2425

65 -1.22 -146.6 2.2 -3.8 2 130 11.38 2.62 -47.97 0.000 4 0.161 0.077 2470 3546 3429

357 -1.15 -146.6 37.4 -14.7 15 362 0.12 2.55 0.00 0.000 6 0.095 0.048 2494 2113 3430

685 -1.11 -146.6 71.1 -9.2 31 686 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2098 3430

993 -1.11 -146.6 100.7 -9.5 46 995 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2097 3430

1305 -1.11 -146.6 136.9 -12.1 61 1309 0.00 2.47 0.00 0.000 4 0.000 0.058 2494 719 3430

1349 -1.11 -146.6 142.8 -12.1 63 1353 0.00 2.53 0.00 0.000 6 0.000 0.049 2494 2141 3430

1672 -1.11 -146.6 179.2 -11.1 83 1676 0.00 2.55 0.00 0.000 4 0.000 0.058 2494 723 3430

1712 -1.11 -146.6 184.0 -11.6 85 1718 0.00 2.50 0.00 0.000 6 0.000 0.050 2494 2132 3430

2034 -1.11 -146.6 220.6 -11.5 106 2038 0.00 2.55 0.00 0.000 4 0.000 0.060 2495 719 3430

2062 -1.11 -146.6 224.2 -11.7 108 2067 0.00 2.50 0.00 0.000 6 0.000 0.055 2495 2126 3430

2388 -1.11 -146.6 262.2 -11.7 129 2392 0.00 2.55 0.00 0.000 4 0.000 0.062 2495 719 3430

2420 -1.11 -146.6 266.5 -12.4 131 2425 0.00 2.50 0.00 0.000 6 0.000 0.051 2495 2127 3430

2742 -1.11 -146.6 305.2 -12.7 151 2743 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2126 3430

3052 -1.11 -146.6 343.4 -12.6 171 3056 0.00 2.55 0.00 0.000 4 0.000 0.064 2495 723 3430

3091 -1.11 -146.6 348.5 -12.4 173 3097 0.00 2.47 0.00 0.000 6 0.000 0.051 2495 2116 3430

3410 -1.11 -146.6 383.2 -9.8 194 3415 0.00 2.58 0.00 0.000 4 0.000 0.068 2495 3534 3430

3433 -1.08 -146.6 385.3 -9.0 195 3440 0.00 2.58 0.00 0.000 6 0.000 0.057 2494 2108 3430

3752 -1.08 -146.6 414.1 -9.2 216 3757 0.00 2.65 0.00 0.000 4 0.000 0.074 2494 3537 3430

3782 -1.08 -146.6 417.0 -10.4 218 3786 0.00 2.55 0.00 0.000 6 0.000 0.057 2494 2123 3430

4108 -1.08 -146.6 453.3 -12.3 239 4112 0.00 2.50 0.00 0.000 4 0.000 0.065 2495 721 3430

4198 -1.08 -146.6 465.2 -12.8 244 4204 0.00 2.50 0.00 0.000 6 0.000 0.051 2494 2131 3430

4517 -1.08 -146.6 501.6 -10.7 265 4521 0.00 2.58 0.00 0.000 4 0.000 0.067 2495 721 3430

4583 -1.08 -146.6 508.6 -10.2 269 4587 0.00 2.50 0.00 0.000 6 0.000 0.054 2495 2122 3430

4903 -1.08 -146.6 537.1 -8.4 289 4907 0.00 2.58 0.00 0.000 4 0.000 0.070 2494 718 3429

4941 -1.08 -146.6 540.7 -9.0 291 4947 0.00 2.45 0.00 0.000 6 0.000 0.055 2495 2088 3430

5260 -1.08 -146.6 568.6 -8.6 312 5265 0.00 2.67 0.00 0.000 4 0.000 0.077 2495 3540 3429

5299 -1.08 -146.6 572.3 -8.9 314 5305 0.00 2.67 0.00 0.000 6 0.000 0.066 2495 2082 3428

5537 end dive: BOTTOM_OBSTACLE_DETECTED

state 5537 begin apogee

5544 -0.33 0.0 593.9 9.6 330 5677 0.82 0.00 129.35 1.230 6 0.082 0.000 2670 1839 2831

5678 end apogee: CONTROL_FINISHED_OK

state 5678 begin climb

5682 1.22 146.6 599.7 0.0 339 5822 1.55 2.70 128.12 1.192 4 0.065 0.081 3006 445 2233

5870 1.13 161.2 592.3 7.5 350 5892 0.00 2.58 14.38 1.078 6 0.000 0.061 3006 1861 2173

6209 1.20 232.5 572.5 5.4 372 6277 0.00 2.67 62.78 1.180 4 0.000 0.078 3007 3246 1883

6412 1.20 232.5 557.7 8.1 384 6418 0.00 2.60 0.00 0.000 6 0.000 0.074 3006 1871 1882

6731 1.27 279.2 535.9 6.3 405 6775 0.00 0.00 41.40 1.186 6 0.000 0.000 3006 1871 1692

7088 1.27 279.2 500.5 11.6 428 7092 0.00 2.60 0.00 0.000 4 0.000 0.076 3006 3244 1692

7136 1.31 279.2 495.2 11.7 431 7141 0.12 2.58 0.00 0.000 6 0.064 0.073 3037 1872 1692

7463 1.26 279.2 453.2 13.0 452 7467 0.00 2.67 0.00 0.000 4 0.000 0.081 3037 432 1691

7552 1.18 279.2 441.6 12.0 457 7559 0.20 2.58 0.00 0.000 6 0.097 0.060 3000 1845 1691

7872 1.22 279.2 412.5 9.6 478 7873 0.00 0.00 0.00 0.000 6 0.000 0.000 3000 1860 1691

8185 1.25 279.2 382.3 9.5 498 8189 0.00 2.58 0.00 0.000 4 0.000 0.069 3000 3260 1690

8207 1.31 279.2 380.0 10.1 499 8214 0.15 2.58 0.00 0.000 6 0.060 0.062 3036 1857 1690

8528 1.27 279.2 345.2 11.1 520 8530 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 1857 1690

8839 1.23 279.2 310.4 11.3 540 8844 0.12 2.58 0.00 0.000 4 0.093 0.064 3013 3258 1690

8867 1.23 279.2 307.1 11.5 542 8872 0.00 2.53 0.00 0.000 6 0.000 0.058 3013 1864 1691

9192 1.23 279.2 270.3 12.9 563 9193 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1864 1691

9505 1.23 279.2 236.1 9.9 583 9509 0.00 2.55 0.00 0.000 4 0.000 0.061 3013 3261 1691

9544 1.28 279.2 232.3 9.1 585 9550 0.00 2.50 0.00 0.000 6 0.000 0.054 3013 1873 1691

9864 1.28 279.2 201.2 9.1 606 9865 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1873 1691

10175 1.28 279.2 172.7 8.7 626 10180 0.00 2.53 0.00 0.000 4 0.000 0.060 3013 3261 1692

10222 1.34 291.9 169.0 7.5 629 10239 0.12 2.45 12.12 0.858 6 0.059 0.051 3047 1889 1641

10553 1.30 291.9 135.8 10.6 648 10558 0.00 2.62 0.00 0.000 4 0.000 0.066 3046 432 1641

10576 1.23 291.9 132.4 12.8 649 10581 0.17 2.60 0.00 0.000 6 0.088 0.048 3013 1895 1641

10898 1.23 291.9 96.9 11.7 665 10902 0.00 2.67 0.00 0.000 4 0.000 0.065 3012 436 1641

10943 1.23 291.9 90.8 14.0 667 10947 0.00 2.55 0.00 0.000 6 0.000 0.048 3012 1869 1642

11264 1.23 291.9 59.0 8.1 683 11268 0.00 2.62 0.00 0.000 4 0.000 0.064 3012 433 1642

11304 1.23 291.9 54.5 12.4 685 11308 0.00 2.55 0.00 0.000 6 0.000 0.048 3012 1875 1642

11632 1.34 335.6 27.4 6.4 701 11675 0.12 2.72 36.85 0.809 4 0.056 0.064 3046 446 1461

11710 1.27 335.6 17.6 14.1 704 11717 0.12 2.53 0.00 0.000 6 0.091 0.048 3023 1858 1462

11858 end climb: SURFACE_DEPTH_REACHED

state 11858 begin surface coast

11881 end surface coast: CONTROL_FINISHED_OK

state 11881 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	257	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	1850	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	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-105277.25	VBD_BLEED_AD_RATE	8	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	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	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	084629,6359.948,-1245.828,43,1.3,43,-12.3	TGT_NAME	P3
_CALLS	2	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,-0.085
_SM_DEPTHo	1.46	KALMAN_X	-29377.7,-684.8,427.2,-186804.3,11186.4
_SM_ANGLEo	-56.3	KALMAN_Y	-21367.4,739.7,1030.3,285210.6,-3422.0
GPS2	085502,6400.047,-1245.620,13,1.4,13,-12.3	MHEAD_RNG_PITCHd_Wd	262.1,34706,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.7,1.014870	ALTIM_BOTTOM_PING	521.1,82.3
SM_CCo	11966,0.00,0.000,0,0,1460,336.06	_24V_AH	23.8,42.451
SM_GC	1.28,11.30,0.00,0.00,0.035,0.000,0.000,419,2131,1460,-10.60,0.00,336.06	_10V_AH	10.1,18.778
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38007,713
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104695,0
HUMID	1830	CFSIZE	254472192,238428160
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	41	GPS	071009,121634,6402.295,-1240.945,40,2.0,40,-12.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.92	SBE_CT	487	24	278.58
Roll_motor	124	81	240.18	SBE_O2	518	19	234.49
VBD_pump_during_apogee	425	1230	12444.16	WL_BB2F	435	105	1087.35
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	185.15	nil	0	0	0.00
Iridium_during_connect	52	160	199.52	nil	0	0	0.00
Iridium_during_xfer	194	223	1032.58
Transponder_ping	14	420	147.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.87
TT8	1263	19	252.58
LPSleep	8573	2	189.64
TT8_Active	534	19	106.84
TT8_Sampling	1506	39	605.61
TT8_CF8	598	45	276.66
TT8_Kalman	33	81	27.57
Analog_circuits	1317	12	159.64
GPS_charging	0	0	0.00
Compass	1471	8	118.88
RAFOS	0	0	0.00
Transponder	32	30	9.96

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
18	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.28	0.000	2	0.000	0.000	417	2150	2425
65	-1.22	-146.6	2.2	-3.8	2	130	11.38	2.62	-47.97	0.000	4	0.161	0.077	2470	3546	3429
357	-1.15	-146.6	37.4	-14.7	15	362	0.12	2.55	0.00	0.000	6	0.095	0.048	2494	2113	3430
685	-1.11	-146.6	71.1	-9.2	31	686	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2098	3430
993	-1.11	-146.6	100.7	-9.5	46	995	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2097	3430
1305	-1.11	-146.6	136.9	-12.1	61	1309	0.00	2.47	0.00	0.000	4	0.000	0.058	2494	719	3430
1349	-1.11	-146.6	142.8	-12.1	63	1353	0.00	2.53	0.00	0.000	6	0.000	0.049	2494	2141	3430
1672	-1.11	-146.6	179.2	-11.1	83	1676	0.00	2.55	0.00	0.000	4	0.000	0.058	2494	723	3430
1712	-1.11	-146.6	184.0	-11.6	85	1718	0.00	2.50	0.00	0.000	6	0.000	0.050	2494	2132	3430
2034	-1.11	-146.6	220.6	-11.5	106	2038	0.00	2.55	0.00	0.000	4	0.000	0.060	2495	719	3430
2062	-1.11	-146.6	224.2	-11.7	108	2067	0.00	2.50	0.00	0.000	6	0.000	0.055	2495	2126	3430
2388	-1.11	-146.6	262.2	-11.7	129	2392	0.00	2.55	0.00	0.000	4	0.000	0.062	2495	719	3430
2420	-1.11	-146.6	266.5	-12.4	131	2425	0.00	2.50	0.00	0.000	6	0.000	0.051	2495	2127	3430
2742	-1.11	-146.6	305.2	-12.7	151	2743	0.00	0.00	0.00	0.000	6	0.000	0.000	2495	2126	3430
3052	-1.11	-146.6	343.4	-12.6	171	3056	0.00	2.55	0.00	0.000	4	0.000	0.064	2495	723	3430
3091	-1.11	-146.6	348.5	-12.4	173	3097	0.00	2.47	0.00	0.000	6	0.000	0.051	2495	2116	3430
3410	-1.11	-146.6	383.2	-9.8	194	3415	0.00	2.58	0.00	0.000	4	0.000	0.068	2495	3534	3430
3433	-1.08	-146.6	385.3	-9.0	195	3440	0.00	2.58	0.00	0.000	6	0.000	0.057	2494	2108	3430
3752	-1.08	-146.6	414.1	-9.2	216	3757	0.00	2.65	0.00	0.000	4	0.000	0.074	2494	3537	3430
3782	-1.08	-146.6	417.0	-10.4	218	3786	0.00	2.55	0.00	0.000	6	0.000	0.057	2494	2123	3430
4108	-1.08	-146.6	453.3	-12.3	239	4112	0.00	2.50	0.00	0.000	4	0.000	0.065	2495	721	3430
4198	-1.08	-146.6	465.2	-12.8	244	4204	0.00	2.50	0.00	0.000	6	0.000	0.051	2494	2131	3430
4517	-1.08	-146.6	501.6	-10.7	265	4521	0.00	2.58	0.00	0.000	4	0.000	0.067	2495	721	3430
4583	-1.08	-146.6	508.6	-10.2	269	4587	0.00	2.50	0.00	0.000	6	0.000	0.054	2495	2122	3430
4903	-1.08	-146.6	537.1	-8.4	289	4907	0.00	2.58	0.00	0.000	4	0.000	0.070	2494	718	3429
4941	-1.08	-146.6	540.7	-9.0	291	4947	0.00	2.45	0.00	0.000	6	0.000	0.055	2495	2088	3430
5260	-1.08	-146.6	568.6	-8.6	312	5265	0.00	2.67	0.00	0.000	4	0.000	0.077	2495	3540	3429
5299	-1.08	-146.6	572.3	-8.9	314	5305	0.00	2.67	0.00	0.000	6	0.000	0.066	2495	2082	3428
5537	end dive: BOTTOM_OBSTACLE_DETECTED
state	5537	begin apogee
5544	-0.33	0.0	593.9	9.6	330	5677	0.82	0.00	129.35	1.230	6	0.082	0.000	2670	1839	2831
5678	end apogee: CONTROL_FINISHED_OK
state	5678	begin climb
5682	1.22	146.6	599.7	0.0	339	5822	1.55	2.70	128.12	1.192	4	0.065	0.081	3006	445	2233
5870	1.13	161.2	592.3	7.5	350	5892	0.00	2.58	14.38	1.078	6	0.000	0.061	3006	1861	2173
6209	1.20	232.5	572.5	5.4	372	6277	0.00	2.67	62.78	1.180	4	0.000	0.078	3007	3246	1883
6412	1.20	232.5	557.7	8.1	384	6418	0.00	2.60	0.00	0.000	6	0.000	0.074	3006	1871	1882
6731	1.27	279.2	535.9	6.3	405	6775	0.00	0.00	41.40	1.186	6	0.000	0.000	3006	1871	1692
7088	1.27	279.2	500.5	11.6	428	7092	0.00	2.60	0.00	0.000	4	0.000	0.076	3006	3244	1692
7136	1.31	279.2	495.2	11.7	431	7141	0.12	2.58	0.00	0.000	6	0.064	0.073	3037	1872	1692
7463	1.26	279.2	453.2	13.0	452	7467	0.00	2.67	0.00	0.000	4	0.000	0.081	3037	432	1691
7552	1.18	279.2	441.6	12.0	457	7559	0.20	2.58	0.00	0.000	6	0.097	0.060	3000	1845	1691
7872	1.22	279.2	412.5	9.6	478	7873	0.00	0.00	0.00	0.000	6	0.000	0.000	3000	1860	1691
8185	1.25	279.2	382.3	9.5	498	8189	0.00	2.58	0.00	0.000	4	0.000	0.069	3000	3260	1690
8207	1.31	279.2	380.0	10.1	499	8214	0.15	2.58	0.00	0.000	6	0.060	0.062	3036	1857	1690
8528	1.27	279.2	345.2	11.1	520	8530	0.00	0.00	0.00	0.000	6	0.000	0.000	3036	1857	1690
8839	1.23	279.2	310.4	11.3	540	8844	0.12	2.58	0.00	0.000	4	0.093	0.064	3013	3258	1690
8867	1.23	279.2	307.1	11.5	542	8872	0.00	2.53	0.00	0.000	6	0.000	0.058	3013	1864	1691
9192	1.23	279.2	270.3	12.9	563	9193	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1864	1691
9505	1.23	279.2	236.1	9.9	583	9509	0.00	2.55	0.00	0.000	4	0.000	0.061	3013	3261	1691
9544	1.28	279.2	232.3	9.1	585	9550	0.00	2.50	0.00	0.000	6	0.000	0.054	3013	1873	1691
9864	1.28	279.2	201.2	9.1	606	9865	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	1873	1691
10175	1.28	279.2	172.7	8.7	626	10180	0.00	2.53	0.00	0.000	4	0.000	0.060	3013	3261	1692
10222	1.34	291.9	169.0	7.5	629	10239	0.12	2.45	12.12	0.858	6	0.059	0.051	3047	1889	1641
10553	1.30	291.9	135.8	10.6	648	10558	0.00	2.62	0.00	0.000	4	0.000	0.066	3046	432	1641
10576	1.23	291.9	132.4	12.8	649	10581	0.17	2.60	0.00	0.000	6	0.088	0.048	3013	1895	1641
10898	1.23	291.9	96.9	11.7	665	10902	0.00	2.67	0.00	0.000	4	0.000	0.065	3012	436	1641
10943	1.23	291.9	90.8	14.0	667	10947	0.00	2.55	0.00	0.000	6	0.000	0.048	3012	1869	1642
11264	1.23	291.9	59.0	8.1	683	11268	0.00	2.62	0.00	0.000	4	0.000	0.064	3012	433	1642
11304	1.23	291.9	54.5	12.4	685	11308	0.00	2.55	0.00	0.000	6	0.000	0.048	3012	1875	1642
11632	1.34	335.6	27.4	6.4	701	11675	0.12	2.72	36.85	0.809	4	0.056	0.064	3046	446	1461
11710	1.27	335.6	17.6	14.1	704	11717	0.12	2.53	0.00	0.000	6	0.091	0.048	3023	1858	1462
11858	end climb: SURFACE_DEPTH_REACHED
state	11858	begin surface coast
11881	end surface coast: CONTROL_FINISHED_OK
state	11881	begin surface