Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 43 * 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 43 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -101082.31 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 -101082.31

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 43 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 225506,6132.195,-908.074,40,1.2,51,-9.3 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.246,0.094

_SM_DEPTHo 1.34 KALMAN_X -33702.0,-1381.8,-523.5,10652.6,5812.6

_SM_ANGLEo -61.9 KALMAN_Y 38192.2,740.0,117.4,-47293.4,-5560.2

GPS2 230022,6132.168,-908.215,16,2.4,35,-9.3 MHEAD_RNG_PITCHd_Wd 300.1,24497,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015709 ALTIM_BOTTOM_PING 670.3,70.6

SM_CCo 12947,27.83,0.763,0,0,1608,300.00 _24V_AH 23.8,8.970

SM_GC 1.76,0.00,0.00,27.83,0.000,0.000,0.763,424,2146,1608,-10.67,0.48,300.00 _10V_AH 10.1,4.330

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31680,621

TT8_MAMPS 0.029146 CAP_FILE_SIZE 96932,0

HUMID 1853 CFSIZE 254472192,249671680

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,0,0

XPDR_PINGS 30 GPS 040909,023836,6131.230,-915.308,29,1.0,29,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 156 95.43 SBE_CT 424 24 242.49

Roll_motor 101 78 189.64 SBE_O2 464 19 210.05

VBD_pump_during_apogee 346 1283 10575.43 WL_BB2F 379 105 949.60

VBD_pump_during_surface 27 763 505.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.64 nil 0 0 0.00

Iridium_during_connect 30 160 114.30 nil 0 0 0.00

Iridium_during_xfer 116 223 619.35

Transponder_ping 13 420 134.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.13

TT8 1161 19 232.33

LPSleep 9859 2 218.07

TT8_Active 486 19 97.20

TT8_Sampling 1369 39 550.64

TT8_CF8 419 45 194.26

TT8_Kalman 33 81 27.55

Analog_circuits 1176 12 142.61

GPS_charging 0 0 0.00

Compass 1316 8 106.40

RAFOS 0 0 0.00

Transponder 43 30 13.10

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 12 begin dive

16 -1.44 -146.6 0.0 0.0 0 59 0.00 0.00 -41.38 0.000 2 0.000 0.000 419 2148 2481

63 -1.44 -146.6 2.2 -4.0 2 119 10.88 2.50 -37.12 0.000 4 0.156 0.078 2425 3527 3429

374 -1.31 -146.6 48.2 -16.4 16 379 0.17 2.47 0.00 0.000 6 0.096 0.048 2460 2124 3429

701 -1.31 -146.6 90.3 -12.8 32 705 0.00 2.58 0.00 0.000 4 0.000 0.067 2460 3534 3430

779 -1.31 -146.6 100.3 -12.3 35 786 0.00 2.50 0.00 0.000 6 0.000 0.048 2461 2116 3429

1095 -1.31 -146.6 139.8 -12.9 51 1099 0.00 2.50 0.00 0.000 4 0.000 0.064 2461 716 3429

1138 -1.36 -146.6 145.3 -13.2 53 1143 0.00 2.47 0.00 0.000 6 0.000 0.049 2461 2127 3430

1465 -1.36 -146.6 188.5 -13.3 69 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2127 3430

1774 -1.36 -146.6 228.7 -12.8 84 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2128 3430

2083 -1.36 -146.6 266.8 -11.9 99 2085 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2128 3430

2393 -1.36 -146.6 305.1 -12.9 114 2397 0.00 2.55 0.00 0.000 4 0.000 0.070 2460 723 3430

2420 -1.41 -146.6 308.7 -13.4 115 2424 0.00 2.47 0.00 0.000 6 0.000 0.055 2461 2126 3430

2736 -1.41 -146.6 350.9 -13.4 130 2738 0.10 0.00 0.00 0.000 6 0.060 0.000 2431 2125 3430

3046 -1.36 -146.6 395.5 -14.3 145 3048 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2125 3430

3354 -1.36 -146.6 438.6 -13.7 160 3359 0.00 2.55 0.00 0.000 4 0.000 0.069 2431 716 3429

3400 -1.36 -146.6 445.1 -14.5 162 3404 0.00 2.47 0.00 0.000 6 0.000 0.054 2431 2118 3429

3721 -1.36 -146.6 490.1 -14.4 178 3725 0.00 2.53 0.00 0.000 4 0.000 0.067 2431 721 3429

3748 -1.36 -146.6 494.2 -14.9 179 3752 0.00 2.45 0.00 0.000 6 0.000 0.053 2431 2119 3429

4064 -1.36 -146.6 538.7 -14.2 194 4068 0.00 2.60 0.00 0.000 4 0.000 0.074 2431 3541 3429

4111 -1.32 -146.6 545.1 -14.2 196 4116 0.12 2.55 0.00 0.000 6 0.097 0.058 2455 2116 3428

4432 -1.32 -146.6 585.7 -12.2 212 4437 0.00 2.62 0.00 0.000 4 0.000 0.073 2455 3540 3428

4460 -1.32 -146.6 589.3 -12.5 213 4464 0.00 2.55 0.00 0.000 6 0.000 0.058 2455 2116 3428

4776 -1.32 -146.6 626.1 -11.5 228 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2107 3428

5085 -1.32 -146.6 661.6 -11.4 243 5090 0.00 2.50 0.00 0.000 4 0.000 0.068 2455 717 3427

5108 -1.37 -146.6 664.3 -11.5 244 5112 0.00 2.47 0.00 0.000 6 0.000 0.054 2455 2121 3427

5429 -1.37 -146.6 700.3 -11.6 260 5430 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2121 3427

5694 end dive: BOTTOM_OBSTACLE_DETECTED

state 5694 begin apogee

5702 -0.33 0.0 731.6 11.7 273 5830 1.00 0.00 125.18 1.284 6 0.075 0.000 2674 1897 2831

5831 end apogee: CONTROL_FINISHED_OK

state 5831 begin climb

5834 1.44 146.6 735.8 0.0 279 5964 1.73 0.00 125.57 1.247 6 0.051 0.000 3060 1897 2233

6270 1.33 146.6 701.5 10.8 300 6275 0.15 2.65 0.00 0.000 4 0.101 0.066 3032 3327 2233

6338 1.29 168.9 694.5 9.0 303 6363 0.00 2.53 20.25 1.151 6 0.000 0.061 3032 1940 2142

6682 1.26 174.9 663.6 9.7 320 6691 0.00 0.00 6.80 0.963 6 0.000 0.000 3032 1939 2118

7015 1.32 213.9 635.3 8.2 336 7057 0.00 2.67 34.12 1.175 4 0.000 0.072 3032 514 1958

7161 1.26 213.9 620.9 11.0 342 7165 0.00 2.53 0.00 0.000 6 0.000 0.052 3032 1929 1958

7477 1.29 229.6 589.7 9.3 357 7498 0.00 2.60 14.60 1.092 4 0.000 0.068 3032 3330 1895

7522 1.30 235.2 585.4 9.7 359 7536 0.00 2.58 6.53 0.927 6 0.000 0.061 3032 1923 1872

7854 1.31 240.6 552.7 9.8 375 7862 0.00 0.00 6.45 0.917 6 0.000 0.000 3032 1923 1850

8163 1.32 246.4 522.8 9.7 390 8171 0.00 0.00 6.57 0.918 6 0.000 0.000 3032 1923 1826

8471 1.32 246.4 491.2 10.4 405 8476 0.00 2.58 0.00 0.000 4 0.000 0.074 3032 508 1826

8512 1.32 246.4 486.8 10.9 407 8516 0.00 2.53 0.00 0.000 6 0.000 0.053 3032 1933 1826

8838 1.32 246.4 453.2 10.3 423 8843 0.00 2.62 0.00 0.000 4 0.000 0.074 3032 512 1826

8883 1.32 246.4 448.1 11.4 425 8887 0.00 2.50 0.00 0.000 6 0.000 0.052 3032 1925 1826

9204 1.32 246.4 414.0 10.7 441 9206 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1926 1826

9513 1.32 246.4 380.7 10.6 456 9518 0.00 2.60 0.00 0.000 4 0.000 0.071 3032 509 1826

9569 1.32 246.4 374.1 11.7 458 9575 0.00 2.47 0.00 0.000 6 0.000 0.051 3032 1914 1826

9885 1.32 246.4 339.8 11.0 474 9886 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1919 1826

10194 1.32 246.4 304.4 11.7 489 10198 0.00 2.58 0.00 0.000 4 0.000 0.074 3032 508 1826

10244 1.32 246.4 298.2 12.2 491 10248 0.00 2.47 0.00 0.000 6 0.000 0.050 3032 1915 1826

10565 1.32 246.4 259.7 12.3 507 10569 0.00 2.58 0.00 0.000 4 0.000 0.072 3032 511 1826

10598 1.32 246.4 255.3 12.8 508 10604 0.00 2.42 0.00 0.000 6 0.000 0.050 3032 1894 1826

10913 1.32 246.4 219.3 11.3 524 10915 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1905 1826

11223 1.32 246.4 185.5 10.7 539 11227 0.00 2.53 0.00 0.000 4 0.000 0.072 3032 507 1826

11272 1.32 246.4 179.6 11.8 541 11277 0.00 2.42 0.00 0.000 6 0.000 0.048 3032 1890 1826

11589 1.32 246.4 146.4 10.5 556 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1904 1826

11898 1.32 246.4 113.6 10.6 571 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1904 1826

12209 1.36 246.4 78.7 11.3 586 12213 0.00 2.53 0.00 0.000 4 0.000 0.071 3032 508 1826

12298 1.36 246.4 67.4 12.8 590 12302 0.00 2.42 0.00 0.000 6 0.000 0.051 3032 1895 1826

12620 1.43 246.8 32.0 10.0 606 12625 0.10 2.55 0.00 0.000 4 0.059 0.069 3062 506 1826

12665 1.36 246.8 26.4 12.0 608 12670 0.12 2.42 0.00 0.000 6 0.093 0.050 3038 1895 1826

12902 end climb: SURFACE_DEPTH_REACHED

state 12902 begin surface coast

12923 end surface coast: CONTROL_FINISHED_OK

state 12923 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	43	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-101082.31	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	225506,6132.195,-908.074,40,1.2,51,-9.3	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.246,0.094
_SM_DEPTHo	1.34	KALMAN_X	-33702.0,-1381.8,-523.5,10652.6,5812.6
_SM_ANGLEo	-61.9	KALMAN_Y	38192.2,740.0,117.4,-47293.4,-5560.2
GPS2	230022,6132.168,-908.215,16,2.4,35,-9.3	MHEAD_RNG_PITCHd_Wd	300.1,24497,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.015709	ALTIM_BOTTOM_PING	670.3,70.6
SM_CCo	12947,27.83,0.763,0,0,1608,300.00	_24V_AH	23.8,8.970
SM_GC	1.76,0.00,0.00,27.83,0.000,0.000,0.763,424,2146,1608,-10.67,0.48,300.00	_10V_AH	10.1,4.330
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31680,621
TT8_MAMPS	0.029146	CAP_FILE_SIZE	96932,0
HUMID	1853	CFSIZE	254472192,249671680
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,0,0
XPDR_PINGS	30	GPS	040909,023836,6131.230,-915.308,29,1.0,29,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	156	95.43	SBE_CT	424	24	242.49
Roll_motor	101	78	189.64	SBE_O2	464	19	210.05
VBD_pump_during_apogee	346	1283	10575.43	WL_BB2F	379	105	949.60
VBD_pump_during_surface	27	763	505.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.64	nil	0	0	0.00
Iridium_during_connect	30	160	114.30	nil	0	0	0.00
Iridium_during_xfer	116	223	619.35
Transponder_ping	13	420	134.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.13
TT8	1161	19	232.33
LPSleep	9859	2	218.07
TT8_Active	486	19	97.20
TT8_Sampling	1369	39	550.64
TT8_CF8	419	45	194.26
TT8_Kalman	33	81	27.55
Analog_circuits	1176	12	142.61
GPS_charging	0	0	0.00
Compass	1316	8	106.40
RAFOS	0	0	0.00
Transponder	43	30	13.10

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	12	begin dive
16	-1.44	-146.6	0.0	0.0	0	59	0.00	0.00	-41.38	0.000	2	0.000	0.000	419	2148	2481
63	-1.44	-146.6	2.2	-4.0	2	119	10.88	2.50	-37.12	0.000	4	0.156	0.078	2425	3527	3429
374	-1.31	-146.6	48.2	-16.4	16	379	0.17	2.47	0.00	0.000	6	0.096	0.048	2460	2124	3429
701	-1.31	-146.6	90.3	-12.8	32	705	0.00	2.58	0.00	0.000	4	0.000	0.067	2460	3534	3430
779	-1.31	-146.6	100.3	-12.3	35	786	0.00	2.50	0.00	0.000	6	0.000	0.048	2461	2116	3429
1095	-1.31	-146.6	139.8	-12.9	51	1099	0.00	2.50	0.00	0.000	4	0.000	0.064	2461	716	3429
1138	-1.36	-146.6	145.3	-13.2	53	1143	0.00	2.47	0.00	0.000	6	0.000	0.049	2461	2127	3430
1465	-1.36	-146.6	188.5	-13.3	69	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2127	3430
1774	-1.36	-146.6	228.7	-12.8	84	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2128	3430
2083	-1.36	-146.6	266.8	-11.9	99	2085	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2128	3430
2393	-1.36	-146.6	305.1	-12.9	114	2397	0.00	2.55	0.00	0.000	4	0.000	0.070	2460	723	3430
2420	-1.41	-146.6	308.7	-13.4	115	2424	0.00	2.47	0.00	0.000	6	0.000	0.055	2461	2126	3430
2736	-1.41	-146.6	350.9	-13.4	130	2738	0.10	0.00	0.00	0.000	6	0.060	0.000	2431	2125	3430
3046	-1.36	-146.6	395.5	-14.3	145	3048	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2125	3430
3354	-1.36	-146.6	438.6	-13.7	160	3359	0.00	2.55	0.00	0.000	4	0.000	0.069	2431	716	3429
3400	-1.36	-146.6	445.1	-14.5	162	3404	0.00	2.47	0.00	0.000	6	0.000	0.054	2431	2118	3429
3721	-1.36	-146.6	490.1	-14.4	178	3725	0.00	2.53	0.00	0.000	4	0.000	0.067	2431	721	3429
3748	-1.36	-146.6	494.2	-14.9	179	3752	0.00	2.45	0.00	0.000	6	0.000	0.053	2431	2119	3429
4064	-1.36	-146.6	538.7	-14.2	194	4068	0.00	2.60	0.00	0.000	4	0.000	0.074	2431	3541	3429
4111	-1.32	-146.6	545.1	-14.2	196	4116	0.12	2.55	0.00	0.000	6	0.097	0.058	2455	2116	3428
4432	-1.32	-146.6	585.7	-12.2	212	4437	0.00	2.62	0.00	0.000	4	0.000	0.073	2455	3540	3428
4460	-1.32	-146.6	589.3	-12.5	213	4464	0.00	2.55	0.00	0.000	6	0.000	0.058	2455	2116	3428
4776	-1.32	-146.6	626.1	-11.5	228	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2107	3428
5085	-1.32	-146.6	661.6	-11.4	243	5090	0.00	2.50	0.00	0.000	4	0.000	0.068	2455	717	3427
5108	-1.37	-146.6	664.3	-11.5	244	5112	0.00	2.47	0.00	0.000	6	0.000	0.054	2455	2121	3427
5429	-1.37	-146.6	700.3	-11.6	260	5430	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2121	3427
5694	end dive: BOTTOM_OBSTACLE_DETECTED
state	5694	begin apogee
5702	-0.33	0.0	731.6	11.7	273	5830	1.00	0.00	125.18	1.284	6	0.075	0.000	2674	1897	2831
5831	end apogee: CONTROL_FINISHED_OK
state	5831	begin climb
5834	1.44	146.6	735.8	0.0	279	5964	1.73	0.00	125.57	1.247	6	0.051	0.000	3060	1897	2233
6270	1.33	146.6	701.5	10.8	300	6275	0.15	2.65	0.00	0.000	4	0.101	0.066	3032	3327	2233
6338	1.29	168.9	694.5	9.0	303	6363	0.00	2.53	20.25	1.151	6	0.000	0.061	3032	1940	2142
6682	1.26	174.9	663.6	9.7	320	6691	0.00	0.00	6.80	0.963	6	0.000	0.000	3032	1939	2118
7015	1.32	213.9	635.3	8.2	336	7057	0.00	2.67	34.12	1.175	4	0.000	0.072	3032	514	1958
7161	1.26	213.9	620.9	11.0	342	7165	0.00	2.53	0.00	0.000	6	0.000	0.052	3032	1929	1958
7477	1.29	229.6	589.7	9.3	357	7498	0.00	2.60	14.60	1.092	4	0.000	0.068	3032	3330	1895
7522	1.30	235.2	585.4	9.7	359	7536	0.00	2.58	6.53	0.927	6	0.000	0.061	3032	1923	1872
7854	1.31	240.6	552.7	9.8	375	7862	0.00	0.00	6.45	0.917	6	0.000	0.000	3032	1923	1850
8163	1.32	246.4	522.8	9.7	390	8171	0.00	0.00	6.57	0.918	6	0.000	0.000	3032	1923	1826
8471	1.32	246.4	491.2	10.4	405	8476	0.00	2.58	0.00	0.000	4	0.000	0.074	3032	508	1826
8512	1.32	246.4	486.8	10.9	407	8516	0.00	2.53	0.00	0.000	6	0.000	0.053	3032	1933	1826
8838	1.32	246.4	453.2	10.3	423	8843	0.00	2.62	0.00	0.000	4	0.000	0.074	3032	512	1826
8883	1.32	246.4	448.1	11.4	425	8887	0.00	2.50	0.00	0.000	6	0.000	0.052	3032	1925	1826
9204	1.32	246.4	414.0	10.7	441	9206	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1926	1826
9513	1.32	246.4	380.7	10.6	456	9518	0.00	2.60	0.00	0.000	4	0.000	0.071	3032	509	1826
9569	1.32	246.4	374.1	11.7	458	9575	0.00	2.47	0.00	0.000	6	0.000	0.051	3032	1914	1826
9885	1.32	246.4	339.8	11.0	474	9886	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1919	1826
10194	1.32	246.4	304.4	11.7	489	10198	0.00	2.58	0.00	0.000	4	0.000	0.074	3032	508	1826
10244	1.32	246.4	298.2	12.2	491	10248	0.00	2.47	0.00	0.000	6	0.000	0.050	3032	1915	1826
10565	1.32	246.4	259.7	12.3	507	10569	0.00	2.58	0.00	0.000	4	0.000	0.072	3032	511	1826
10598	1.32	246.4	255.3	12.8	508	10604	0.00	2.42	0.00	0.000	6	0.000	0.050	3032	1894	1826
10913	1.32	246.4	219.3	11.3	524	10915	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1905	1826
11223	1.32	246.4	185.5	10.7	539	11227	0.00	2.53	0.00	0.000	4	0.000	0.072	3032	507	1826
11272	1.32	246.4	179.6	11.8	541	11277	0.00	2.42	0.00	0.000	6	0.000	0.048	3032	1890	1826
11589	1.32	246.4	146.4	10.5	556	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1904	1826
11898	1.32	246.4	113.6	10.6	571	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1904	1826
12209	1.36	246.4	78.7	11.3	586	12213	0.00	2.53	0.00	0.000	4	0.000	0.071	3032	508	1826
12298	1.36	246.4	67.4	12.8	590	12302	0.00	2.42	0.00	0.000	6	0.000	0.051	3032	1895	1826
12620	1.43	246.8	32.0	10.0	606	12625	0.10	2.55	0.00	0.000	4	0.059	0.069	3062	506	1826
12665	1.36	246.8	26.4	12.0	608	12670	0.12	2.42	0.00	0.000	6	0.093	0.050	3038	1895	1826
12902	end climb: SURFACE_DEPTH_REACHED
state	12902	begin surface coast
12923	end surface coast: CONTROL_FINISHED_OK
state	12923	begin surface