Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING 270 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 40 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 INT_PRESSURE_YINT -1.8522969

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 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 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1628786.1 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 440

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 -1628786.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 40 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 210706,6205.680,-917.154,36,1.0,41,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6205.770,-940.177

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.82 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -59.8 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 211144,6205.770,-917.101,14,1.1,14,-9.6 MHEAD_RNG_PITCHd_Wd 279.6,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.012487 ALTIM_BOTTOM_PING 425.6,93.3

SM_CCo 12047,0.00,0.000,0,0,1471,333.85 _24V_AH 23.4,23.900

SM_GC 0.79,11.88,0.00,0.00,0.029,0.000,0.000,397,2453,1471,-10.98,-0.65,333.85 _10V_AH 10.1,10.240

IRIDIUM_FIX 6139.81,-917.93,060998,181820 DATA_FILE_SIZE 28488,571

TT8_MAMPS 0.027612 CAP_FILE_SIZE 92500,0

HUMID 1812 CFSIZE 260165632,255692800

INTERNAL_PRESSURE 8.07973 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 17.20 GPS 130609,003407,6209.171,-915.217,40,1.2,40,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 84.65 SBE_CT 484 24 271.87

Roll_motor 107 64 162.14 SBE_O2 408 19 181.50

VBD_pump_during_apogee 411 1068 10297.40 WL_BB2F 433 105 1065.33

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 66.18 nil 0 0 0.00

Iridium_during_connect 40 160 150.52 nil 0 0 0.00

Iridium_during_xfer 110 223 576.95

Transponder_ping 3 420 31.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.24

TT8 1103 19 220.63

LPSleep 8733 2 193.17

TT8_Active 471 19 94.19

TT8_Sampling 1460 39 587.17

TT8_CF8 562 45 260.32

TT8_Kalman 0 81 0.00

Analog_circuits 1262 12 153.02

GPS_charging 0 0 0.00

Compass 1554 8 125.58

RAFOS 0 0 0.00

Transponder 23 30 7.11

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

15 -1.17 -146.6 0.0 0.0 0 84 0.00 0.00 -67.32 0.000 6 0.000 0.000 396 2467 3433

87 -1.17 -146.6 3.4 -6.6 3 108 11.50 2.47 0.00 0.000 4 0.137 0.052 2534 3821 3433

445 -1.17 -146.6 54.6 -12.1 19 450 0.00 2.33 0.00 0.000 6 0.000 0.025 2534 2445 3434

778 -1.17 -146.6 87.4 -7.3 35 782 0.00 2.50 0.00 0.000 4 0.000 0.054 2534 3828 3434

930 -1.17 -146.6 94.5 -4.4 42 935 0.00 2.28 0.00 0.000 6 0.000 0.026 2533 2482 3434

1263 -1.17 -146.6 112.8 -6.9 58 1267 0.00 2.40 0.00 0.000 4 0.000 0.036 2534 1089 3434

1357 -1.17 -146.6 119.2 -6.8 62 1361 0.00 2.40 0.00 0.000 6 0.000 0.032 2534 2478 3434

1673 -1.17 -146.6 142.1 -7.8 77 1677 0.00 2.42 0.00 0.000 4 0.000 0.036 2534 1082 3434

1705 -1.17 -146.6 144.9 -8.1 78 1713 0.00 2.45 0.00 0.000 6 0.000 0.034 2534 2474 3434

2021 -1.17 -146.6 174.0 -10.1 94 2025 0.00 2.45 0.00 0.000 4 0.000 0.037 2534 1082 3435

2070 -1.17 -146.6 179.2 -10.7 96 2074 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2474 3434

2392 -1.17 -146.6 211.8 -10.2 112 2396 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1080 3435

2447 -1.17 -146.6 217.7 -10.7 114 2453 0.00 2.42 0.00 0.000 6 0.000 0.035 2533 2479 3434

2765 -1.17 -146.6 249.5 -9.8 130 2769 0.00 2.42 0.00 0.000 4 0.000 0.038 2534 1088 3434

2831 -1.17 -146.6 256.2 -9.5 133 2836 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2472 3435

3163 -1.17 -146.6 284.7 -8.1 149 3167 0.00 2.42 0.00 0.000 4 0.000 0.039 2534 1084 3434

3224 -1.17 -146.6 289.7 -7.9 152 3229 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2483 3435

3554 -1.17 -146.6 313.5 -6.9 168 3558 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1081 3434

3620 -1.17 -146.6 318.3 -7.0 171 3625 0.00 2.47 0.00 0.000 6 0.000 0.038 2534 2475 3434

3946 -1.17 -146.6 341.9 -8.0 187 3950 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 1088 3434

4011 -1.17 -146.6 347.3 -8.8 190 4015 0.00 2.42 0.00 0.000 6 0.000 0.039 2534 2474 3435

4340 -1.17 -146.6 374.7 -8.0 206 4345 0.00 2.42 0.00 0.000 4 0.000 0.041 2534 1091 3434

4378 -1.17 -146.6 378.1 -8.5 207 4384 0.00 2.45 0.00 0.000 6 0.000 0.039 2534 2486 3434

4694 -1.17 -146.6 401.9 -7.2 223 4699 0.00 2.47 0.00 0.000 4 0.000 0.041 2534 1094 3434

4755 -1.17 -146.6 406.6 -8.1 225 4761 0.00 2.42 0.00 0.000 6 0.000 0.038 2534 2477 3434

5071 -1.17 -146.6 431.9 -9.9 241 5075 0.00 2.47 0.00 0.000 4 0.000 0.064 2534 3832 3434

5126 -1.17 -146.6 438.9 -12.9 243 5132 0.00 2.28 0.00 0.000 6 0.000 0.028 2534 2482 3434

5444 -1.17 -146.6 474.5 -9.7 259 5448 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 1073 3434

5477 -1.17 -146.6 478.1 -10.2 260 5483 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2479 3433

5793 -1.17 -146.6 505.1 -7.9 276 5797 0.00 2.45 0.00 0.000 4 0.000 0.062 2534 3827 3433

5832 -1.17 -146.6 508.4 -7.6 278 5836 0.00 2.28 0.00 0.000 6 0.000 0.029 2534 2480 3433

5867 end dive: BOTTOM_OBSTACLE_DETECTED

state 5867 begin apogee

5875 -0.36 0.0 509.2 2.1 280 6004 0.88 0.00 125.95 1.068 6 0.070 0.000 2719 1462 2832

6005 end apogee: CONTROL_FINISHED_OK

state 6005 begin climb

6008 1.17 146.6 518.9 0.0 286 6143 1.52 2.25 126.57 1.037 4 0.052 0.058 3055 268 2233

6478 1.17 146.6 498.6 7.5 307 6483 0.00 2.05 0.00 0.000 6 0.000 0.031 3055 1471 2225

6799 1.30 245.8 476.4 4.1 323 6891 0.12 2.25 86.18 1.037 4 0.041 0.058 3114 264 1829

7228 1.30 245.8 447.9 8.6 342 7232 0.17 2.00 0.00 0.000 6 0.084 0.030 3080 1457 1820

7549 1.30 245.8 419.4 9.1 358 7550 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1457 1818

7858 1.30 245.8 387.8 10.6 373 7859 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1457 1817

8167 1.30 245.8 353.1 11.4 388 8171 0.00 2.42 0.00 0.000 4 0.000 0.041 3079 2839 1817

8199 1.30 245.8 349.1 12.0 389 8205 0.00 2.42 0.00 0.000 6 0.000 0.035 3080 1452 1816

8515 1.30 245.8 312.7 10.7 405 8518 0.00 2.15 0.00 0.000 4 0.000 0.056 3079 258 1816

8560 1.30 245.8 307.5 11.7 407 8565 0.00 2.00 0.00 0.000 6 0.000 0.028 3080 1453 1816

8892 1.30 245.8 274.4 10.1 423 8896 0.00 2.42 0.00 0.000 4 0.000 0.040 3080 2844 1816

8919 1.30 245.8 271.6 9.7 424 8923 0.00 2.42 0.00 0.000 6 0.000 0.034 3079 1450 1816

9234 1.30 245.8 240.9 9.9 439 9235 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1451 1816

9543 1.30 245.8 210.4 9.8 454 9544 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1451 1815

9853 1.30 245.8 180.3 9.6 469 9854 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1450 1816

10164 1.30 245.8 152.1 8.6 484 10166 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1450 1816

10473 1.30 245.8 127.7 7.5 499 10474 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1451 1816

10781 1.30 245.8 103.9 7.6 514 10782 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1450 1816

11090 1.30 245.8 78.2 8.7 529 11094 0.00 2.10 0.00 0.000 4 0.000 0.052 3079 267 1816

11139 1.30 245.8 73.3 9.6 531 11143 0.00 1.95 0.00 0.000 6 0.000 0.028 3079 1458 1816

11468 1.35 289.4 49.5 6.0 547 11510 0.00 2.47 36.38 0.778 4 0.000 0.037 3079 2832 1651

11530 1.40 331.1 45.7 6.1 550 11574 0.12 2.42 36.80 0.755 6 0.041 0.033 3136 1445 1482

11885 1.40 331.1 8.4 11.7 567 11887 0.15 0.00 0.00 0.000 6 0.079 0.000 3106 1445 1475

11941 end climb: SURFACE_DEPTH_REACHED

state 11941 begin surface coast

11963 end surface coast: CONTROL_FINISHED_OK

state 11963 begin surface

ID	105	HEADING	270	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	40	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	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	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1628786.1	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	210706,6205.680,-917.154,36,1.0,41,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6205.770,-940.177
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.82	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-59.8	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	211144,6205.770,-917.101,14,1.1,14,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.2,1.012487	ALTIM_BOTTOM_PING	425.6,93.3
SM_CCo	12047,0.00,0.000,0,0,1471,333.85	_24V_AH	23.4,23.900
SM_GC	0.79,11.88,0.00,0.00,0.029,0.000,0.000,397,2453,1471,-10.98,-0.65,333.85	_10V_AH	10.1,10.240
IRIDIUM_FIX	6139.81,-917.93,060998,181820	DATA_FILE_SIZE	28488,571
TT8_MAMPS	0.027612	CAP_FILE_SIZE	92500,0
HUMID	1812	CFSIZE	260165632,255692800
INTERNAL_PRESSURE	8.07973	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	17.20	GPS	130609,003407,6209.171,-915.217,40,1.2,40,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	84.65	SBE_CT	484	24	271.87
Roll_motor	107	64	162.14	SBE_O2	408	19	181.50
VBD_pump_during_apogee	411	1068	10297.40	WL_BB2F	433	105	1065.33
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	66.18	nil	0	0	0.00
Iridium_during_connect	40	160	150.52	nil	0	0	0.00
Iridium_during_xfer	110	223	576.95
Transponder_ping	3	420	31.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.24
TT8	1103	19	220.63
LPSleep	8733	2	193.17
TT8_Active	471	19	94.19
TT8_Sampling	1460	39	587.17
TT8_CF8	562	45	260.32
TT8_Kalman	0	81	0.00
Analog_circuits	1262	12	153.02
GPS_charging	0	0	0.00
Compass	1554	8	125.58
RAFOS	0	0	0.00
Transponder	23	30	7.11

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
15	-1.17	-146.6	0.0	0.0	0	84	0.00	0.00	-67.32	0.000	6	0.000	0.000	396	2467	3433
87	-1.17	-146.6	3.4	-6.6	3	108	11.50	2.47	0.00	0.000	4	0.137	0.052	2534	3821	3433
445	-1.17	-146.6	54.6	-12.1	19	450	0.00	2.33	0.00	0.000	6	0.000	0.025	2534	2445	3434
778	-1.17	-146.6	87.4	-7.3	35	782	0.00	2.50	0.00	0.000	4	0.000	0.054	2534	3828	3434
930	-1.17	-146.6	94.5	-4.4	42	935	0.00	2.28	0.00	0.000	6	0.000	0.026	2533	2482	3434
1263	-1.17	-146.6	112.8	-6.9	58	1267	0.00	2.40	0.00	0.000	4	0.000	0.036	2534	1089	3434
1357	-1.17	-146.6	119.2	-6.8	62	1361	0.00	2.40	0.00	0.000	6	0.000	0.032	2534	2478	3434
1673	-1.17	-146.6	142.1	-7.8	77	1677	0.00	2.42	0.00	0.000	4	0.000	0.036	2534	1082	3434
1705	-1.17	-146.6	144.9	-8.1	78	1713	0.00	2.45	0.00	0.000	6	0.000	0.034	2534	2474	3434
2021	-1.17	-146.6	174.0	-10.1	94	2025	0.00	2.45	0.00	0.000	4	0.000	0.037	2534	1082	3435
2070	-1.17	-146.6	179.2	-10.7	96	2074	0.00	2.42	0.00	0.000	6	0.000	0.035	2534	2474	3434
2392	-1.17	-146.6	211.8	-10.2	112	2396	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1080	3435
2447	-1.17	-146.6	217.7	-10.7	114	2453	0.00	2.42	0.00	0.000	6	0.000	0.035	2533	2479	3434
2765	-1.17	-146.6	249.5	-9.8	130	2769	0.00	2.42	0.00	0.000	4	0.000	0.038	2534	1088	3434
2831	-1.17	-146.6	256.2	-9.5	133	2836	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2472	3435
3163	-1.17	-146.6	284.7	-8.1	149	3167	0.00	2.42	0.00	0.000	4	0.000	0.039	2534	1084	3434
3224	-1.17	-146.6	289.7	-7.9	152	3229	0.00	2.45	0.00	0.000	6	0.000	0.038	2534	2483	3435
3554	-1.17	-146.6	313.5	-6.9	168	3558	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1081	3434
3620	-1.17	-146.6	318.3	-7.0	171	3625	0.00	2.47	0.00	0.000	6	0.000	0.038	2534	2475	3434
3946	-1.17	-146.6	341.9	-8.0	187	3950	0.00	2.42	0.00	0.000	4	0.000	0.040	2534	1088	3434
4011	-1.17	-146.6	347.3	-8.8	190	4015	0.00	2.42	0.00	0.000	6	0.000	0.039	2534	2474	3435
4340	-1.17	-146.6	374.7	-8.0	206	4345	0.00	2.42	0.00	0.000	4	0.000	0.041	2534	1091	3434
4378	-1.17	-146.6	378.1	-8.5	207	4384	0.00	2.45	0.00	0.000	6	0.000	0.039	2534	2486	3434
4694	-1.17	-146.6	401.9	-7.2	223	4699	0.00	2.47	0.00	0.000	4	0.000	0.041	2534	1094	3434
4755	-1.17	-146.6	406.6	-8.1	225	4761	0.00	2.42	0.00	0.000	6	0.000	0.038	2534	2477	3434
5071	-1.17	-146.6	431.9	-9.9	241	5075	0.00	2.47	0.00	0.000	4	0.000	0.064	2534	3832	3434
5126	-1.17	-146.6	438.9	-12.9	243	5132	0.00	2.28	0.00	0.000	6	0.000	0.028	2534	2482	3434
5444	-1.17	-146.6	474.5	-9.7	259	5448	0.00	2.45	0.00	0.000	4	0.000	0.040	2534	1073	3434
5477	-1.17	-146.6	478.1	-10.2	260	5483	0.00	2.42	0.00	0.000	6	0.000	0.036	2534	2479	3433
5793	-1.17	-146.6	505.1	-7.9	276	5797	0.00	2.45	0.00	0.000	4	0.000	0.062	2534	3827	3433
5832	-1.17	-146.6	508.4	-7.6	278	5836	0.00	2.28	0.00	0.000	6	0.000	0.029	2534	2480	3433
5867	end dive: BOTTOM_OBSTACLE_DETECTED
state	5867	begin apogee
5875	-0.36	0.0	509.2	2.1	280	6004	0.88	0.00	125.95	1.068	6	0.070	0.000	2719	1462	2832
6005	end apogee: CONTROL_FINISHED_OK
state	6005	begin climb
6008	1.17	146.6	518.9	0.0	286	6143	1.52	2.25	126.57	1.037	4	0.052	0.058	3055	268	2233
6478	1.17	146.6	498.6	7.5	307	6483	0.00	2.05	0.00	0.000	6	0.000	0.031	3055	1471	2225
6799	1.30	245.8	476.4	4.1	323	6891	0.12	2.25	86.18	1.037	4	0.041	0.058	3114	264	1829
7228	1.30	245.8	447.9	8.6	342	7232	0.17	2.00	0.00	0.000	6	0.084	0.030	3080	1457	1820
7549	1.30	245.8	419.4	9.1	358	7550	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1457	1818
7858	1.30	245.8	387.8	10.6	373	7859	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1457	1817
8167	1.30	245.8	353.1	11.4	388	8171	0.00	2.42	0.00	0.000	4	0.000	0.041	3079	2839	1817
8199	1.30	245.8	349.1	12.0	389	8205	0.00	2.42	0.00	0.000	6	0.000	0.035	3080	1452	1816
8515	1.30	245.8	312.7	10.7	405	8518	0.00	2.15	0.00	0.000	4	0.000	0.056	3079	258	1816
8560	1.30	245.8	307.5	11.7	407	8565	0.00	2.00	0.00	0.000	6	0.000	0.028	3080	1453	1816
8892	1.30	245.8	274.4	10.1	423	8896	0.00	2.42	0.00	0.000	4	0.000	0.040	3080	2844	1816
8919	1.30	245.8	271.6	9.7	424	8923	0.00	2.42	0.00	0.000	6	0.000	0.034	3079	1450	1816
9234	1.30	245.8	240.9	9.9	439	9235	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1451	1816
9543	1.30	245.8	210.4	9.8	454	9544	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	1451	1815
9853	1.30	245.8	180.3	9.6	469	9854	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1450	1816
10164	1.30	245.8	152.1	8.6	484	10166	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1450	1816
10473	1.30	245.8	127.7	7.5	499	10474	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1451	1816
10781	1.30	245.8	103.9	7.6	514	10782	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1450	1816
11090	1.30	245.8	78.2	8.7	529	11094	0.00	2.10	0.00	0.000	4	0.000	0.052	3079	267	1816
11139	1.30	245.8	73.3	9.6	531	11143	0.00	1.95	0.00	0.000	6	0.000	0.028	3079	1458	1816
11468	1.35	289.4	49.5	6.0	547	11510	0.00	2.47	36.38	0.778	4	0.000	0.037	3079	2832	1651
11530	1.40	331.1	45.7	6.1	550	11574	0.12	2.42	36.80	0.755	6	0.041	0.033	3136	1445	1482
11885	1.40	331.1	8.4	11.7	567	11887	0.15	0.00	0.00	0.000	6	0.079	0.000	3106	1445	1475
11941	end climb: SURFACE_DEPTH_REACHED
state	11941	begin surface coast
11963	end surface coast: CONTROL_FINISHED_OK
state	11963	begin surface