Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 400 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 400 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 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 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 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -657941.94 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 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 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 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 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 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -657941.94

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 21 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 400 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 185138,6247.231,-1139.693,40,0.9,53,-11.2 TGT_NAME CS

_CALLS 2 TGT_LATLONG 6321.000,-1058.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 1.53 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -52.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 190017,6247.193,-1139.547,11,1.7,13,-11.2 MHEAD_RNG_PITCHd_Wd 40.1,71493,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027247 ALTIM_BOTTOM_PING 525.3,66.4

SM_CCo 12627,44.80,0.647,0,0,1315,300.00 _24V_AH 23.6,53.464

SM_GC 1.56,0.00,0.00,44.80,0.000,0.000,0.647,377,1594,1315,-10.57,-0.17,300.00 _10V_AH 10.2,27.150

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31680,600

TT8_MAMPS 0.023777 CAP_FILE_SIZE 97520,0

HUMID 1880 CFSIZE 254472192,233287680

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,1,0

XPDR_PINGS 1 GPS 261008,223408,6248.813,-1133.734,93,1.7,93,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 103.24 SBE_CT 447 24 253.36

Roll_motor 116 91 250.57 SBE_O2 408 19 182.99

VBD_pump_during_apogee 324 1059 8101.77 WL_BB2F 412 105 1021.39

VBD_pump_during_surface 44 646 683.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 186.90 nil 0 0 0.00

Iridium_during_connect 61 160 232.02 nil 0 0 0.00

Iridium_during_xfer 176 223 929.22

Transponder_ping 4 420 44.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.50

TT8 1155 19 233.36

LPSleep 9404 2 210.07

TT8_Active 500 19 101.05

TT8_Sampling 1502 39 610.00

TT8_CF8 633 45 296.04

TT8_Kalman 0 81 0.00

Analog_circuits 1253 12 153.37

GPS_charging 0 0 0.00

Compass 1467 8 119.74

RAFOS 0 0 0.00

Transponder 29 30 9.15

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

17 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.10 0.000 2 0.000 0.000 379 1591 2609

83 -1.16 -146.6 3.2 -3.8 3 120 11.40 2.53 -15.70 0.000 4 0.174 0.091 2417 215 3138

199 -1.16 -146.6 15.8 -10.1 8 203 0.00 2.40 0.00 0.000 6 0.000 0.058 2417 1620 3139

521 -1.16 -146.6 53.6 -15.3 24 522 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 1624 3139

831 -1.16 -146.6 75.1 -6.5 39 836 0.00 2.53 0.00 0.000 4 0.000 0.074 2417 206 3139

917 -1.16 -146.6 81.2 -8.4 43 921 0.00 2.38 0.00 0.000 6 0.000 0.058 2417 1601 3139

1245 -1.16 -146.6 107.7 -9.3 59 1249 0.00 2.50 0.00 0.000 4 0.000 0.074 2418 206 3139

1296 -1.16 -146.6 114.4 -13.3 61 1300 0.00 2.38 0.00 0.000 6 0.000 0.058 2417 1606 3139

1618 -1.16 -146.6 147.0 -11.2 77 1623 0.00 2.50 0.00 0.000 4 0.000 0.074 2417 209 3139

1664 -1.16 -146.6 153.2 -13.8 79 1668 0.00 2.38 0.00 0.000 6 0.000 0.058 2417 1608 3139

1986 -1.16 -146.6 195.0 -10.6 95 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1609 3139

2295 -1.16 -146.6 231.6 -10.8 110 2296 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 1609 3139

2604 -1.16 -146.6 266.0 -10.6 125 2608 0.00 2.50 0.00 0.000 4 0.000 0.074 2417 208 3139

2655 -1.16 -146.6 271.7 -10.4 127 2659 0.00 2.35 0.00 0.000 6 0.000 0.058 2417 1597 3140

2976 -1.16 -146.6 304.2 -9.9 143 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1601 3139

3286 -1.16 -146.6 335.2 -10.2 158 3287 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 1601 3139

3596 -1.16 -146.6 366.5 -10.2 173 3600 0.00 2.50 0.00 0.000 4 0.000 0.077 2417 209 3139

3651 -1.16 -146.6 372.8 -10.9 175 3658 0.00 2.38 0.00 0.000 6 0.000 0.058 2418 1606 3139

3968 -1.16 -146.6 404.1 -9.6 191 3973 0.00 2.53 0.00 0.000 4 0.000 0.077 2417 202 3139

4032 -1.16 -146.6 410.3 -9.8 194 4036 0.00 2.38 0.00 0.000 6 0.000 0.058 2417 1599 3139

4359 -1.16 -146.6 441.4 -9.5 210 4360 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1603 3139

4668 -1.16 -146.6 469.7 -9.0 225 4670 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1603 3140

4978 -1.16 -146.6 497.6 -9.0 240 4982 0.00 2.50 0.00 0.000 4 0.000 0.079 2417 211 3140

5085 -1.16 -146.6 507.8 -9.2 244 5092 0.00 2.38 0.00 0.000 6 0.000 0.058 2417 1598 3141

5402 -1.16 -146.6 537.3 -9.7 260 5404 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 1602 3141

5711 -1.16 -146.6 566.6 -9.8 275 5715 0.00 2.53 0.00 0.000 4 0.000 0.081 2417 210 3141

5806 -1.16 -146.6 576.6 -10.4 279 5811 0.00 2.40 0.00 0.000 6 0.000 0.060 2417 1603 3141

5872 end dive: BOTTOM_OBSTACLE_DETECTED

state 5872 begin apogee

5882 -0.32 0.0 583.5 10.3 282 6019 0.88 0.00 128.98 1.059 6 0.100 0.000 2600 2201 2539

6020 end apogee: CONTROL_FINISHED_OK

state 6020 begin climb

6024 1.16 146.6 588.9 0.0 289 6151 1.50 0.00 122.40 1.042 6 0.077 0.000 2926 2201 1941

6457 1.19 165.0 567.0 7.3 310 6480 0.00 2.60 16.27 0.969 4 0.000 0.073 2926 792 1865

6648 1.21 176.1 553.2 7.6 318 6664 0.00 2.50 10.48 0.920 6 0.000 0.065 2926 2200 1821

6987 1.26 204.1 529.4 6.9 335 7018 0.10 2.62 24.35 1.003 4 0.071 0.074 2958 793 1705

7134 1.26 204.1 516.1 9.5 341 7139 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2204 1704

7452 1.26 204.1 486.4 9.9 356 7456 0.00 2.58 0.00 0.000 4 0.000 0.073 2958 783 1702

7560 1.26 204.1 475.5 9.9 361 7564 0.00 2.50 0.00 0.000 6 0.000 0.064 2958 2204 1701

7887 1.26 204.1 444.5 9.0 377 7891 0.00 2.55 0.00 0.000 4 0.000 0.072 2958 791 1699

7973 1.26 204.1 436.6 9.9 381 7977 0.00 2.47 0.00 0.000 6 0.000 0.063 2958 2203 1699

8300 1.26 204.1 407.3 9.2 397 8304 0.00 2.53 0.00 0.000 4 0.000 0.071 2958 790 1698

8401 1.26 204.1 397.7 9.5 401 8407 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2206 1698

8718 1.26 204.1 369.8 8.7 417 8722 0.00 2.53 0.00 0.000 4 0.000 0.071 2958 787 1697

8825 1.26 204.1 359.7 9.2 421 8831 0.00 2.47 0.00 0.000 6 0.000 0.062 2958 2207 1697

9141 1.26 204.1 328.9 10.2 437 9145 0.00 2.53 0.00 0.000 4 0.000 0.071 2958 787 1697

9242 1.26 204.1 318.1 11.1 441 9249 0.00 2.45 0.00 0.000 6 0.000 0.061 2958 2202 1697

9559 1.26 204.1 287.3 9.7 457 9563 0.00 2.50 0.00 0.000 4 0.000 0.070 2958 790 1698

9655 1.26 204.1 277.4 10.5 461 9659 0.00 2.45 0.00 0.000 6 0.000 0.061 2958 2201 1697

9974 1.26 204.1 246.7 9.2 476 9978 0.00 2.50 0.00 0.000 4 0.000 0.071 2958 789 1697

10065 1.26 204.1 238.4 9.1 480 10069 0.00 2.47 0.00 0.000 6 0.000 0.061 2958 2208 1697

10388 1.28 217.3 214.4 7.5 496 10404 0.00 2.58 11.07 0.747 4 0.000 0.070 2958 786 1652

10511 1.28 217.3 201.9 10.6 500 10518 0.00 2.47 0.00 0.000 6 0.000 0.061 2959 2199 1652

10829 1.28 217.3 170.2 8.2 516 10830 0.00 0.00 0.00 0.000 6 0.000 0.000 2958 2200 1652

11137 1.28 217.3 144.2 9.4 531 11142 0.00 2.53 0.00 0.000 4 0.000 0.071 2958 789 1652

11228 1.28 217.3 135.4 10.2 535 11232 0.00 2.47 0.00 0.000 6 0.000 0.061 2958 2213 1652

11552 1.28 217.3 102.7 13.3 551 11556 0.00 2.53 0.00 0.000 4 0.000 0.071 2958 788 1652

11652 1.28 217.3 90.2 11.3 555 11659 0.00 2.45 0.00 0.000 6 0.000 0.062 2958 2202 1652

11969 1.28 217.3 57.2 12.0 571 11973 0.00 2.50 0.00 0.000 4 0.000 0.068 2958 784 1652

12088 1.28 217.3 40.5 12.4 576 12092 0.00 2.45 0.00 0.000 6 0.000 0.061 2958 2201 1652

12411 1.29 228.1 15.4 7.6 592 12426 0.00 2.55 10.55 0.614 4 0.000 0.071 2958 789 1609

12506 1.29 228.1 7.7 17.3 595 12510 0.00 2.45 0.00 0.000 6 0.000 0.061 2959 2201 1609

12578 end climb: SURFACE_DEPTH_REACHED

state 12578 begin surface coast

12601 end surface coast: CONTROL_FINISHED_OK

state 12601 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	400	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	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	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	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-657941.94	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	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	185138,6247.231,-1139.693,40,0.9,53,-11.2	TGT_NAME	CS
_CALLS	2	TGT_LATLONG	6321.000,-1058.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	1.53	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-52.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	190017,6247.193,-1139.547,11,1.7,13,-11.2	MHEAD_RNG_PITCHd_Wd	40.1,71493,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.7,1.027247	ALTIM_BOTTOM_PING	525.3,66.4
SM_CCo	12627,44.80,0.647,0,0,1315,300.00	_24V_AH	23.6,53.464
SM_GC	1.56,0.00,0.00,44.80,0.000,0.000,0.647,377,1594,1315,-10.57,-0.17,300.00	_10V_AH	10.2,27.150
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31680,600
TT8_MAMPS	0.023777	CAP_FILE_SIZE	97520,0
HUMID	1880	CFSIZE	254472192,233287680
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,1,0
XPDR_PINGS	1	GPS	261008,223408,6248.813,-1133.734,93,1.7,93,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	103.24	SBE_CT	447	24	253.36
Roll_motor	116	91	250.57	SBE_O2	408	19	182.99
VBD_pump_during_apogee	324	1059	8101.77	WL_BB2F	412	105	1021.39
VBD_pump_during_surface	44	646	683.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	186.90	nil	0	0	0.00
Iridium_during_connect	61	160	232.02	nil	0	0	0.00
Iridium_during_xfer	176	223	929.22
Transponder_ping	4	420	44.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.50
TT8	1155	19	233.36
LPSleep	9404	2	210.07
TT8_Active	500	19	101.05
TT8_Sampling	1502	39	610.00
TT8_CF8	633	45	296.04
TT8_Kalman	0	81	0.00
Analog_circuits	1253	12	153.37
GPS_charging	0	0	0.00
Compass	1467	8	119.74
RAFOS	0	0	0.00
Transponder	29	30	9.15

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
17	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.10	0.000	2	0.000	0.000	379	1591	2609
83	-1.16	-146.6	3.2	-3.8	3	120	11.40	2.53	-15.70	0.000	4	0.174	0.091	2417	215	3138
199	-1.16	-146.6	15.8	-10.1	8	203	0.00	2.40	0.00	0.000	6	0.000	0.058	2417	1620	3139
521	-1.16	-146.6	53.6	-15.3	24	522	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	1624	3139
831	-1.16	-146.6	75.1	-6.5	39	836	0.00	2.53	0.00	0.000	4	0.000	0.074	2417	206	3139
917	-1.16	-146.6	81.2	-8.4	43	921	0.00	2.38	0.00	0.000	6	0.000	0.058	2417	1601	3139
1245	-1.16	-146.6	107.7	-9.3	59	1249	0.00	2.50	0.00	0.000	4	0.000	0.074	2418	206	3139
1296	-1.16	-146.6	114.4	-13.3	61	1300	0.00	2.38	0.00	0.000	6	0.000	0.058	2417	1606	3139
1618	-1.16	-146.6	147.0	-11.2	77	1623	0.00	2.50	0.00	0.000	4	0.000	0.074	2417	209	3139
1664	-1.16	-146.6	153.2	-13.8	79	1668	0.00	2.38	0.00	0.000	6	0.000	0.058	2417	1608	3139
1986	-1.16	-146.6	195.0	-10.6	95	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1609	3139
2295	-1.16	-146.6	231.6	-10.8	110	2296	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	1609	3139
2604	-1.16	-146.6	266.0	-10.6	125	2608	0.00	2.50	0.00	0.000	4	0.000	0.074	2417	208	3139
2655	-1.16	-146.6	271.7	-10.4	127	2659	0.00	2.35	0.00	0.000	6	0.000	0.058	2417	1597	3140
2976	-1.16	-146.6	304.2	-9.9	143	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1601	3139
3286	-1.16	-146.6	335.2	-10.2	158	3287	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	1601	3139
3596	-1.16	-146.6	366.5	-10.2	173	3600	0.00	2.50	0.00	0.000	4	0.000	0.077	2417	209	3139
3651	-1.16	-146.6	372.8	-10.9	175	3658	0.00	2.38	0.00	0.000	6	0.000	0.058	2418	1606	3139
3968	-1.16	-146.6	404.1	-9.6	191	3973	0.00	2.53	0.00	0.000	4	0.000	0.077	2417	202	3139
4032	-1.16	-146.6	410.3	-9.8	194	4036	0.00	2.38	0.00	0.000	6	0.000	0.058	2417	1599	3139
4359	-1.16	-146.6	441.4	-9.5	210	4360	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1603	3139
4668	-1.16	-146.6	469.7	-9.0	225	4670	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1603	3140
4978	-1.16	-146.6	497.6	-9.0	240	4982	0.00	2.50	0.00	0.000	4	0.000	0.079	2417	211	3140
5085	-1.16	-146.6	507.8	-9.2	244	5092	0.00	2.38	0.00	0.000	6	0.000	0.058	2417	1598	3141
5402	-1.16	-146.6	537.3	-9.7	260	5404	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	1602	3141
5711	-1.16	-146.6	566.6	-9.8	275	5715	0.00	2.53	0.00	0.000	4	0.000	0.081	2417	210	3141
5806	-1.16	-146.6	576.6	-10.4	279	5811	0.00	2.40	0.00	0.000	6	0.000	0.060	2417	1603	3141
5872	end dive: BOTTOM_OBSTACLE_DETECTED
state	5872	begin apogee
5882	-0.32	0.0	583.5	10.3	282	6019	0.88	0.00	128.98	1.059	6	0.100	0.000	2600	2201	2539
6020	end apogee: CONTROL_FINISHED_OK
state	6020	begin climb
6024	1.16	146.6	588.9	0.0	289	6151	1.50	0.00	122.40	1.042	6	0.077	0.000	2926	2201	1941
6457	1.19	165.0	567.0	7.3	310	6480	0.00	2.60	16.27	0.969	4	0.000	0.073	2926	792	1865
6648	1.21	176.1	553.2	7.6	318	6664	0.00	2.50	10.48	0.920	6	0.000	0.065	2926	2200	1821
6987	1.26	204.1	529.4	6.9	335	7018	0.10	2.62	24.35	1.003	4	0.071	0.074	2958	793	1705
7134	1.26	204.1	516.1	9.5	341	7139	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2204	1704
7452	1.26	204.1	486.4	9.9	356	7456	0.00	2.58	0.00	0.000	4	0.000	0.073	2958	783	1702
7560	1.26	204.1	475.5	9.9	361	7564	0.00	2.50	0.00	0.000	6	0.000	0.064	2958	2204	1701
7887	1.26	204.1	444.5	9.0	377	7891	0.00	2.55	0.00	0.000	4	0.000	0.072	2958	791	1699
7973	1.26	204.1	436.6	9.9	381	7977	0.00	2.47	0.00	0.000	6	0.000	0.063	2958	2203	1699
8300	1.26	204.1	407.3	9.2	397	8304	0.00	2.53	0.00	0.000	4	0.000	0.071	2958	790	1698
8401	1.26	204.1	397.7	9.5	401	8407	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2206	1698
8718	1.26	204.1	369.8	8.7	417	8722	0.00	2.53	0.00	0.000	4	0.000	0.071	2958	787	1697
8825	1.26	204.1	359.7	9.2	421	8831	0.00	2.47	0.00	0.000	6	0.000	0.062	2958	2207	1697
9141	1.26	204.1	328.9	10.2	437	9145	0.00	2.53	0.00	0.000	4	0.000	0.071	2958	787	1697
9242	1.26	204.1	318.1	11.1	441	9249	0.00	2.45	0.00	0.000	6	0.000	0.061	2958	2202	1697
9559	1.26	204.1	287.3	9.7	457	9563	0.00	2.50	0.00	0.000	4	0.000	0.070	2958	790	1698
9655	1.26	204.1	277.4	10.5	461	9659	0.00	2.45	0.00	0.000	6	0.000	0.061	2958	2201	1697
9974	1.26	204.1	246.7	9.2	476	9978	0.00	2.50	0.00	0.000	4	0.000	0.071	2958	789	1697
10065	1.26	204.1	238.4	9.1	480	10069	0.00	2.47	0.00	0.000	6	0.000	0.061	2958	2208	1697
10388	1.28	217.3	214.4	7.5	496	10404	0.00	2.58	11.07	0.747	4	0.000	0.070	2958	786	1652
10511	1.28	217.3	201.9	10.6	500	10518	0.00	2.47	0.00	0.000	6	0.000	0.061	2959	2199	1652
10829	1.28	217.3	170.2	8.2	516	10830	0.00	0.00	0.00	0.000	6	0.000	0.000	2958	2200	1652
11137	1.28	217.3	144.2	9.4	531	11142	0.00	2.53	0.00	0.000	4	0.000	0.071	2958	789	1652
11228	1.28	217.3	135.4	10.2	535	11232	0.00	2.47	0.00	0.000	6	0.000	0.061	2958	2213	1652
11552	1.28	217.3	102.7	13.3	551	11556	0.00	2.53	0.00	0.000	4	0.000	0.071	2958	788	1652
11652	1.28	217.3	90.2	11.3	555	11659	0.00	2.45	0.00	0.000	6	0.000	0.062	2958	2202	1652
11969	1.28	217.3	57.2	12.0	571	11973	0.00	2.50	0.00	0.000	4	0.000	0.068	2958	784	1652
12088	1.28	217.3	40.5	12.4	576	12092	0.00	2.45	0.00	0.000	6	0.000	0.061	2958	2201	1652
12411	1.29	228.1	15.4	7.6	592	12426	0.00	2.55	10.55	0.614	4	0.000	0.071	2958	789	1609
12506	1.29	228.1	7.7	17.3	595	12510	0.00	2.45	0.00	0.000	6	0.000	0.061	2959	2201	1609
12578	end climb: SURFACE_DEPTH_REACHED
state	12578	begin surface coast
12601	end surface coast: CONTROL_FINISHED_OK
state	12601	begin surface