Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 41 * 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 41 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -1628800.6 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 -1628800.6

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 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 41 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 003407,6209.171,-915.217,40,1.2,40,-9.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6209.208,-938.214

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.84 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -60.3 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 003850,6209.208,-915.095,13,1.2,13,-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 0.1,1.014644 ALTIM_BOTTOM_PING 425.4,87.5

SM_CCo 12543,0.00,0.000,0,0,1405,350.04 _24V_AH 23.4,24.030

SM_GC 0.85,11.75,0.00,0.00,0.025,0.000,0.000,395,2467,1405,-10.99,-0.25,350.04 _10V_AH 10.1,10.306

IRIDIUM_FIX 6139.81,-922.46,060998,212135 DATA_FILE_SIZE 28555,592

TT8_MAMPS 0.026845 CAP_FILE_SIZE 94980,0

HUMID 1813 CFSIZE 260165632,255643648

INTERNAL_PRESSURE 8.07973 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 17.30 GPS 130609,040930,6210.668,-914.190,36,2.0,41,-9.6

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.65 SBE_CT 517 24 290.45

Roll_motor 112 63 167.03 SBE_O2 411 19 183.00

VBD_pump_during_apogee 428 1079 10808.72 WL_BB2F 438 105 1076.26

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 24 103 58.17 nil 0 0 0.00

Iridium_during_connect 30 160 114.38 nil 0 0 0.00

Iridium_during_xfer 123 223 643.74

Transponder_ping 3 420 31.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.03

TT8 1134 19 226.93

LPSleep 9178 2 203.02

TT8_Active 480 19 96.02

TT8_Sampling 1458 39 586.20

TT8_CF8 578 45 267.59

TT8_Kalman 0 81 0.00

Analog_circuits 1276 12 154.76

GPS_charging 0 0 0.00

Compass 1559 8 126.02

RAFOS 0 0 0.00

Transponder 23 30 7.10

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 14 begin dive

17 -1.17 -146.6 0.0 0.0 0 83 0.00 0.00 -64.03 0.000 6 0.000 0.000 397 2455 3433

86 -1.17 -146.6 3.6 -6.7 3 107 11.48 2.53 0.00 0.000 4 0.137 0.051 2538 3831 3434

444 -1.17 -146.6 55.4 -11.3 19 449 0.00 2.35 0.00 0.000 6 0.000 0.026 2537 2452 3434

777 -1.17 -146.6 72.9 -2.0 35 781 0.00 2.50 0.00 0.000 4 0.000 0.053 2537 3819 3434

1010 -1.17 -146.6 81.5 -6.1 45 1014 0.00 2.25 0.00 0.000 6 0.000 0.025 2538 2477 3434

1326 -1.17 -146.6 101.3 -6.5 60 1331 0.00 2.42 0.00 0.000 4 0.000 0.036 2537 1090 3434

1368 -1.17 -146.6 103.9 -6.6 61 1374 0.00 2.40 0.00 0.000 6 0.000 0.032 2538 2482 3434

1683 -1.17 -146.6 128.5 -8.6 77 1687 0.00 2.42 0.00 0.000 4 0.000 0.036 2537 1084 3435

1723 -1.17 -146.6 132.0 -9.0 79 1728 0.00 2.45 0.00 0.000 6 0.000 0.035 2538 2474 3435

2055 -1.17 -146.6 161.2 -9.0 95 2059 0.00 2.42 0.00 0.000 4 0.000 0.037 2537 1079 3435

2105 -1.17 -146.6 165.9 -10.0 97 2109 0.00 2.45 0.00 0.000 6 0.000 0.035 2537 2487 3435

2421 -1.17 -146.6 195.6 -9.5 112 2425 0.00 2.45 0.00 0.000 4 0.000 0.038 2537 1079 3435

2502 -1.17 -146.6 203.0 -9.5 115 2508 0.00 2.42 0.00 0.000 6 0.000 0.036 2537 2473 3435

2820 -1.17 -146.6 231.6 -8.7 131 2821 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2473 3435

3127 -1.17 -146.6 258.1 -8.7 146 3131 0.00 2.42 0.00 0.000 4 0.000 0.038 2538 1079 3434

3189 -1.17 -146.6 263.8 -9.0 149 3193 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2484 3434

3515 -1.17 -146.6 293.0 -9.0 165 3519 0.00 2.45 0.00 0.000 4 0.000 0.039 2538 1079 3434

3547 -1.17 -146.6 296.1 -9.5 166 3554 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2479 3434

3864 -1.17 -146.6 326.2 -9.7 182 3869 0.00 2.42 0.00 0.000 4 0.000 0.039 2537 1088 3434

3914 -1.17 -146.6 331.3 -9.5 184 3919 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2485 3434

4231 -1.17 -146.6 359.7 -8.6 199 4235 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1085 3434

4302 -1.17 -146.6 366.2 -9.0 202 4307 0.00 2.47 0.00 0.000 6 0.000 0.038 2538 2479 3434

4623 -1.17 -146.6 390.5 -7.1 218 4627 0.00 2.42 0.00 0.000 4 0.000 0.039 2538 1087 3434

4651 -1.17 -146.6 392.5 -6.7 219 4655 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2486 3434

4967 -1.17 -146.6 409.6 -4.6 234 4972 0.00 2.47 0.00 0.000 4 0.000 0.041 2537 1091 3434

5038 -1.17 -146.6 413.0 -4.8 237 5043 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2477 3433

5360 -1.17 -146.6 426.2 -3.6 253 5364 0.00 2.42 0.00 0.000 4 0.000 0.041 2538 1088 3434

5433 -1.17 -146.6 429.2 -4.2 256 5438 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2479 3434

5750 -1.17 -146.6 444.9 -5.4 271 5754 0.00 2.45 0.00 0.000 4 0.000 0.064 2537 3827 3433

5902 -1.17 -146.6 457.6 -7.6 278 5906 0.00 2.28 0.00 0.000 6 0.000 0.030 2537 2479 3433

6228 -1.17 -146.6 484.5 -11.7 294 6232 0.00 2.42 0.00 0.000 4 0.000 0.041 2537 1086 3433

6257 -1.17 -146.6 487.5 -11.3 295 6261 0.00 2.42 0.00 0.000 6 0.000 0.038 2538 2474 3433

6467 end dive: BOTTOM_OBSTACLE_DETECTED

state 6467 begin apogee

6475 -0.36 0.0 503.9 7.0 305 6604 0.88 0.00 125.32 1.079 6 0.071 0.000 2724 1473 2832

6604 end apogee: CONTROL_FINISHED_OK

state 6604 begin climb

6607 1.17 146.6 508.6 0.0 311 6738 1.52 0.00 126.18 1.036 6 0.054 0.000 3055 1472 2234

7060 1.24 201.2 482.6 5.6 333 7109 0.00 0.00 47.55 1.022 6 0.000 0.000 3055 1472 2011

7431 1.28 233.2 458.7 6.4 351 7466 0.10 2.58 28.38 1.006 4 0.048 0.047 3100 2864 1880

7685 1.28 233.2 432.6 10.0 362 7689 0.00 2.50 0.00 0.000 6 0.000 0.038 3100 1450 1875

8001 1.28 233.2 401.5 9.8 377 8006 0.00 2.17 0.00 0.000 4 0.000 0.058 3100 267 1873

8078 1.28 233.2 393.5 10.4 380 8082 0.00 2.03 0.00 0.000 6 0.000 0.029 3100 1479 1873

8401 1.28 233.2 363.5 9.3 396 8402 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1481 1872

8709 1.28 233.2 336.6 8.8 411 8711 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1481 1872

9018 1.28 233.2 306.5 10.0 426 9022 0.00 2.20 0.00 0.000 4 0.000 0.054 3100 264 1871

9046 1.28 233.2 303.6 10.9 427 9049 0.00 2.00 0.00 0.000 6 0.000 0.028 3100 1459 1871

9372 1.28 233.2 271.1 9.8 443 9377 0.00 2.45 0.00 0.000 4 0.000 0.042 3100 2839 1871

9411 1.28 233.2 267.3 9.7 444 9417 0.00 2.42 0.00 0.000 6 0.000 0.035 3100 1446 1871

9729 1.28 233.2 236.3 9.8 460 9730 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1446 1871

10035 1.28 233.2 207.9 8.9 475 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1446 1871

10345 1.30 248.4 184.1 7.0 490 10367 0.00 2.17 13.23 0.822 4 0.000 0.055 3100 271 1819

10390 1.30 248.4 180.4 8.3 492 10393 0.00 1.98 0.00 0.000 6 0.000 0.028 3100 1456 1818

10725 1.35 291.8 157.9 6.0 508 10766 0.00 0.00 39.15 0.848 6 0.000 0.000 3100 1458 1642

11072 1.42 347.0 138.7 5.6 525 11127 0.00 2.25 48.22 0.828 4 0.000 0.053 3100 258 1416

11150 1.42 347.0 133.0 8.3 528 11156 0.00 2.03 0.00 0.000 6 0.000 0.028 3100 1455 1413

11467 1.42 347.0 106.8 8.6 544 11468 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 1457 1410

11775 1.42 347.0 74.3 12.3 559 11779 0.00 2.15 0.00 0.000 4 0.000 0.052 3100 264 1408

11826 1.42 347.0 67.8 13.6 561 11830 0.00 1.98 0.00 0.000 6 0.000 0.028 3100 1460 1407

12153 1.42 347.0 33.7 10.2 577 12158 0.00 2.42 0.00 0.000 4 0.000 0.039 3100 2838 1407

12180 1.42 347.0 30.9 9.8 578 12185 0.00 2.40 0.00 0.000 6 0.000 0.034 3100 1452 1407

12437 end climb: SURFACE_DEPTH_REACHED

state 12437 begin surface coast

12459 end surface coast: CONTROL_FINISHED_OK

state 12459 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	41	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-1628800.6	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	003407,6209.171,-915.217,40,1.2,40,-9.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6209.208,-938.214
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.84	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-60.3	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	003850,6209.208,-915.095,13,1.2,13,-9.6	MHEAD_RNG_PITCHd_Wd	279.6,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.014644	ALTIM_BOTTOM_PING	425.4,87.5
SM_CCo	12543,0.00,0.000,0,0,1405,350.04	_24V_AH	23.4,24.030
SM_GC	0.85,11.75,0.00,0.00,0.025,0.000,0.000,395,2467,1405,-10.99,-0.25,350.04	_10V_AH	10.1,10.306
IRIDIUM_FIX	6139.81,-922.46,060998,212135	DATA_FILE_SIZE	28555,592
TT8_MAMPS	0.026845	CAP_FILE_SIZE	94980,0
HUMID	1813	CFSIZE	260165632,255643648
INTERNAL_PRESSURE	8.07973	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	17.30	GPS	130609,040930,6210.668,-914.190,36,2.0,41,-9.6
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.65	SBE_CT	517	24	290.45
Roll_motor	112	63	167.03	SBE_O2	411	19	183.00
VBD_pump_during_apogee	428	1079	10808.72	WL_BB2F	438	105	1076.26
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	24	103	58.17	nil	0	0	0.00
Iridium_during_connect	30	160	114.38	nil	0	0	0.00
Iridium_during_xfer	123	223	643.74
Transponder_ping	3	420	31.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.03
TT8	1134	19	226.93
LPSleep	9178	2	203.02
TT8_Active	480	19	96.02
TT8_Sampling	1458	39	586.20
TT8_CF8	578	45	267.59
TT8_Kalman	0	81	0.00
Analog_circuits	1276	12	154.76
GPS_charging	0	0	0.00
Compass	1559	8	126.02
RAFOS	0	0	0.00
Transponder	23	30	7.10

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	14	begin dive
17	-1.17	-146.6	0.0	0.0	0	83	0.00	0.00	-64.03	0.000	6	0.000	0.000	397	2455	3433
86	-1.17	-146.6	3.6	-6.7	3	107	11.48	2.53	0.00	0.000	4	0.137	0.051	2538	3831	3434
444	-1.17	-146.6	55.4	-11.3	19	449	0.00	2.35	0.00	0.000	6	0.000	0.026	2537	2452	3434
777	-1.17	-146.6	72.9	-2.0	35	781	0.00	2.50	0.00	0.000	4	0.000	0.053	2537	3819	3434
1010	-1.17	-146.6	81.5	-6.1	45	1014	0.00	2.25	0.00	0.000	6	0.000	0.025	2538	2477	3434
1326	-1.17	-146.6	101.3	-6.5	60	1331	0.00	2.42	0.00	0.000	4	0.000	0.036	2537	1090	3434
1368	-1.17	-146.6	103.9	-6.6	61	1374	0.00	2.40	0.00	0.000	6	0.000	0.032	2538	2482	3434
1683	-1.17	-146.6	128.5	-8.6	77	1687	0.00	2.42	0.00	0.000	4	0.000	0.036	2537	1084	3435
1723	-1.17	-146.6	132.0	-9.0	79	1728	0.00	2.45	0.00	0.000	6	0.000	0.035	2538	2474	3435
2055	-1.17	-146.6	161.2	-9.0	95	2059	0.00	2.42	0.00	0.000	4	0.000	0.037	2537	1079	3435
2105	-1.17	-146.6	165.9	-10.0	97	2109	0.00	2.45	0.00	0.000	6	0.000	0.035	2537	2487	3435
2421	-1.17	-146.6	195.6	-9.5	112	2425	0.00	2.45	0.00	0.000	4	0.000	0.038	2537	1079	3435
2502	-1.17	-146.6	203.0	-9.5	115	2508	0.00	2.42	0.00	0.000	6	0.000	0.036	2537	2473	3435
2820	-1.17	-146.6	231.6	-8.7	131	2821	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2473	3435
3127	-1.17	-146.6	258.1	-8.7	146	3131	0.00	2.42	0.00	0.000	4	0.000	0.038	2538	1079	3434
3189	-1.17	-146.6	263.8	-9.0	149	3193	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2484	3434
3515	-1.17	-146.6	293.0	-9.0	165	3519	0.00	2.45	0.00	0.000	4	0.000	0.039	2538	1079	3434
3547	-1.17	-146.6	296.1	-9.5	166	3554	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2479	3434
3864	-1.17	-146.6	326.2	-9.7	182	3869	0.00	2.42	0.00	0.000	4	0.000	0.039	2537	1088	3434
3914	-1.17	-146.6	331.3	-9.5	184	3919	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2485	3434
4231	-1.17	-146.6	359.7	-8.6	199	4235	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1085	3434
4302	-1.17	-146.6	366.2	-9.0	202	4307	0.00	2.47	0.00	0.000	6	0.000	0.038	2538	2479	3434
4623	-1.17	-146.6	390.5	-7.1	218	4627	0.00	2.42	0.00	0.000	4	0.000	0.039	2538	1087	3434
4651	-1.17	-146.6	392.5	-6.7	219	4655	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2486	3434
4967	-1.17	-146.6	409.6	-4.6	234	4972	0.00	2.47	0.00	0.000	4	0.000	0.041	2537	1091	3434
5038	-1.17	-146.6	413.0	-4.8	237	5043	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2477	3433
5360	-1.17	-146.6	426.2	-3.6	253	5364	0.00	2.42	0.00	0.000	4	0.000	0.041	2538	1088	3434
5433	-1.17	-146.6	429.2	-4.2	256	5438	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2479	3434
5750	-1.17	-146.6	444.9	-5.4	271	5754	0.00	2.45	0.00	0.000	4	0.000	0.064	2537	3827	3433
5902	-1.17	-146.6	457.6	-7.6	278	5906	0.00	2.28	0.00	0.000	6	0.000	0.030	2537	2479	3433
6228	-1.17	-146.6	484.5	-11.7	294	6232	0.00	2.42	0.00	0.000	4	0.000	0.041	2537	1086	3433
6257	-1.17	-146.6	487.5	-11.3	295	6261	0.00	2.42	0.00	0.000	6	0.000	0.038	2538	2474	3433
6467	end dive: BOTTOM_OBSTACLE_DETECTED
state	6467	begin apogee
6475	-0.36	0.0	503.9	7.0	305	6604	0.88	0.00	125.32	1.079	6	0.071	0.000	2724	1473	2832
6604	end apogee: CONTROL_FINISHED_OK
state	6604	begin climb
6607	1.17	146.6	508.6	0.0	311	6738	1.52	0.00	126.18	1.036	6	0.054	0.000	3055	1472	2234
7060	1.24	201.2	482.6	5.6	333	7109	0.00	0.00	47.55	1.022	6	0.000	0.000	3055	1472	2011
7431	1.28	233.2	458.7	6.4	351	7466	0.10	2.58	28.38	1.006	4	0.048	0.047	3100	2864	1880
7685	1.28	233.2	432.6	10.0	362	7689	0.00	2.50	0.00	0.000	6	0.000	0.038	3100	1450	1875
8001	1.28	233.2	401.5	9.8	377	8006	0.00	2.17	0.00	0.000	4	0.000	0.058	3100	267	1873
8078	1.28	233.2	393.5	10.4	380	8082	0.00	2.03	0.00	0.000	6	0.000	0.029	3100	1479	1873
8401	1.28	233.2	363.5	9.3	396	8402	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1481	1872
8709	1.28	233.2	336.6	8.8	411	8711	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1481	1872
9018	1.28	233.2	306.5	10.0	426	9022	0.00	2.20	0.00	0.000	4	0.000	0.054	3100	264	1871
9046	1.28	233.2	303.6	10.9	427	9049	0.00	2.00	0.00	0.000	6	0.000	0.028	3100	1459	1871
9372	1.28	233.2	271.1	9.8	443	9377	0.00	2.45	0.00	0.000	4	0.000	0.042	3100	2839	1871
9411	1.28	233.2	267.3	9.7	444	9417	0.00	2.42	0.00	0.000	6	0.000	0.035	3100	1446	1871
9729	1.28	233.2	236.3	9.8	460	9730	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1446	1871
10035	1.28	233.2	207.9	8.9	475	10037	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1446	1871
10345	1.30	248.4	184.1	7.0	490	10367	0.00	2.17	13.23	0.822	4	0.000	0.055	3100	271	1819
10390	1.30	248.4	180.4	8.3	492	10393	0.00	1.98	0.00	0.000	6	0.000	0.028	3100	1456	1818
10725	1.35	291.8	157.9	6.0	508	10766	0.00	0.00	39.15	0.848	6	0.000	0.000	3100	1458	1642
11072	1.42	347.0	138.7	5.6	525	11127	0.00	2.25	48.22	0.828	4	0.000	0.053	3100	258	1416
11150	1.42	347.0	133.0	8.3	528	11156	0.00	2.03	0.00	0.000	6	0.000	0.028	3100	1455	1413
11467	1.42	347.0	106.8	8.6	544	11468	0.00	0.00	0.00	0.000	6	0.000	0.000	3100	1457	1410
11775	1.42	347.0	74.3	12.3	559	11779	0.00	2.15	0.00	0.000	4	0.000	0.052	3100	264	1408
11826	1.42	347.0	67.8	13.6	561	11830	0.00	1.98	0.00	0.000	6	0.000	0.028	3100	1460	1407
12153	1.42	347.0	33.7	10.2	577	12158	0.00	2.42	0.00	0.000	4	0.000	0.039	3100	2838	1407
12180	1.42	347.0	30.9	9.8	578	12185	0.00	2.40	0.00	0.000	6	0.000	0.034	3100	1452	1407
12437	end climb: SURFACE_DEPTH_REACHED
state	12437	begin surface coast
12459	end surface coast: CONTROL_FINISHED_OK
state	12459	begin surface