Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 436 * 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 436 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 598.77728 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 33 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 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 -108600.41 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 598.77728

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 -108600.41

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 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 33 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 436 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 225825,6223.538,-949.953,40,1.2,40,-10.0 TGT_NAME BE

_CALLS 5 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.188,-0.185

_SM_DEPTHo 1.05 KALMAN_X -277465.0,1546.1,1717.2,430589.5,-13988.9

_SM_ANGLEo -60.5 KALMAN_Y 91569.7,-600.5,-4.1,-210786.8,7143.8

GPS2 231431,6223.586,-949.926,17,1.3,17,-10.0 MHEAD_RNG_PITCHd_Wd 144.6,6643,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027132 ALTIM_BOTTOM_PING 570.3,45.3

SM_CCo 11149,145.60,0.762,0,0,389,598.78 _24V_AH 23.7,69.824

SM_GC 0.67,0.00,0.00,145.60,0.000,0.000,0.762,421,2153,389,-10.69,0.62,598.78 _10V_AH 10.1,31.426

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34837,663

TT8_MAMPS 0.029146 CAP_FILE_SIZE 106191,0

HUMID 1803 CFSIZE 254472192,228560896

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 41 GPS 041109,022509,6221.979,-948.926,44,1.6,47,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 99.51 SBE_CT 452 24 257.56

Roll_motor 134 82 260.73 SBE_O2 482 19 217.38

VBD_pump_during_apogee 422 1208 12103.41 WL_BB2F 388 105 966.63

VBD_pump_during_surface 145 761 2628.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 191 103 468.69 nil 0 0 0.00

Iridium_during_connect 273 160 1036.37 nil 0 0 0.00

Iridium_during_xfer 124 223 660.23

Transponder_ping 15 420 151.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.72

TT8 1201 19 240.35

LPSleep 8084 2 178.81

TT8_Active 669 19 133.90

TT8_Sampling 1431 39 575.41

TT8_CF8 881 45 407.80

TT8_Kalman 33 81 27.56

Analog_circuits 1438 12 174.29

GPS_charging 0 0 0.00

Compass 1391 8 112.42

RAFOS 0 0 0.00

Transponder 35 30 10.69

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 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -61.33 0.000 2 0.000 0.000 416 2149 2795

83 -1.44 -146.6 2.4 -3.2 3 126 10.98 2.65 -22.08 0.000 4 0.158 0.073 2423 716 3431

252 -1.36 -146.6 26.5 -17.5 10 257 0.12 2.50 0.00 0.000 6 0.108 0.048 2447 2123 3431

570 -1.30 -146.6 73.3 -14.5 25 574 0.00 2.55 0.00 0.000 4 0.000 0.061 2447 715 3431

625 -1.30 -146.6 81.6 -14.9 27 631 0.00 2.50 0.00 0.000 6 0.000 0.049 2447 2123 3431

943 -1.25 -146.6 128.5 -14.4 43 948 0.12 2.60 0.00 0.000 4 0.104 0.074 2471 3533 3431

976 -1.25 -146.6 133.6 -13.8 44 982 0.00 2.60 0.00 0.000 6 0.000 0.061 2472 2109 3431

1294 -1.25 -146.6 175.7 -12.9 63 1298 0.00 2.47 0.00 0.000 4 0.000 0.063 2472 716 3431

1351 -1.28 -146.6 183.3 -12.8 66 1357 0.00 2.50 0.00 0.000 6 0.000 0.051 2472 2125 3431

1670 -1.28 -146.6 223.3 -12.3 87 1674 0.00 2.58 0.00 0.000 4 0.000 0.063 2472 710 3431

1693 -1.28 -146.6 226.2 -12.4 88 1699 0.00 2.47 0.00 0.000 6 0.000 0.049 2472 2106 3431

2013 -1.28 -146.6 263.4 -10.8 109 2014 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2105 3431

2324 -1.28 -146.6 297.3 -10.4 129 2326 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2105 3431

2638 -1.28 -146.6 332.1 -11.4 149 2642 0.00 2.55 0.00 0.000 4 0.000 0.066 2472 709 3431

2705 -1.32 -146.6 340.1 -11.6 153 2709 0.00 2.45 0.00 0.000 6 0.000 0.050 2472 2089 3431

3024 -1.32 -146.6 374.7 -10.7 173 3028 0.00 2.50 0.00 0.000 4 0.000 0.067 2472 717 3431

3058 -1.36 -146.6 378.5 -11.0 175 3063 0.10 2.42 0.00 0.000 6 0.066 0.051 2444 2082 3431

3380 -1.31 -146.6 419.0 -13.4 195 3387 0.00 2.67 0.00 0.000 4 0.000 0.078 2445 3529 3431

3411 -1.27 -146.6 423.8 -14.1 196 3418 0.12 2.72 0.00 0.000 6 0.104 0.074 2468 2066 3431

3730 -1.27 -146.6 464.0 -12.3 217 3734 0.00 2.40 0.00 0.000 4 0.000 0.067 2468 718 3431

3747 -1.27 -146.6 466.2 -11.9 218 3751 0.00 2.47 0.00 0.000 6 0.000 0.054 2468 2103 3431

4067 -1.27 -146.6 502.0 -11.1 238 4071 0.00 2.55 0.00 0.000 4 0.000 0.065 2468 715 3431

4100 -1.32 -146.6 506.0 -11.5 240 4105 0.00 2.42 0.00 0.000 6 0.000 0.054 2468 2074 3431

4420 -1.32 -146.6 541.4 -11.8 260 4425 0.00 2.50 0.00 0.000 4 0.000 0.072 2468 718 3431

4500 -1.36 -146.6 551.6 -12.8 265 4505 0.00 2.40 0.00 0.000 6 0.000 0.055 2468 2053 3431

4826 -1.36 -146.6 591.0 -11.7 286 4830 0.00 2.75 0.00 0.000 4 0.000 0.082 2468 3529 3430

4888 -1.36 -146.6 598.7 -12.4 290 4893 0.00 2.70 0.00 0.000 6 0.000 0.075 2468 2081 3430

4960 end dive: BOTTOM_OBSTACLE_DETECTED

state 4960 begin apogee

4967 -0.33 0.0 607.1 11.4 295 5102 0.95 0.00 130.50 1.208 6 0.081 0.000 2670 1835 2831

5102 end apogee: CONTROL_FINISHED_OK

state 5102 begin climb

5106 1.44 146.6 612.7 0.0 304 5247 1.77 2.65 129.62 1.171 4 0.064 0.077 3055 453 2232

5313 1.32 147.6 602.3 10.0 316 5320 0.12 2.55 0.00 0.000 6 0.104 0.058 3032 1851 2233

5633 1.41 206.2 578.2 7.3 337 5697 0.00 2.70 53.08 1.151 4 0.000 0.078 3033 3251 1990

5736 1.44 222.4 569.2 9.3 343 5758 0.12 2.62 15.30 1.071 6 0.064 0.077 3063 1871 1924

6071 1.39 222.4 529.0 12.0 364 6072 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 1871 1923

6383 1.34 222.4 493.0 11.9 384 6388 0.15 2.65 0.00 0.000 4 0.100 0.074 3035 429 1922

6413 1.30 222.4 489.7 11.8 386 6417 0.00 2.62 0.00 0.000 6 0.000 0.058 3035 1873 1922

6738 1.30 222.4 453.7 11.4 407 6742 0.00 2.55 0.00 0.000 4 0.000 0.077 3035 3254 1921

6855 1.30 222.4 441.1 10.8 414 6859 0.00 2.53 0.00 0.000 6 0.000 0.074 3035 1907 1921

7175 1.30 222.4 407.6 10.8 434 7179 0.00 2.67 0.00 0.000 4 0.000 0.077 3035 436 1920

7220 1.30 222.4 402.6 10.7 437 7225 0.00 2.62 0.00 0.000 6 0.000 0.054 3035 1897 1920

7545 1.32 230.7 370.3 9.6 458 7562 0.00 2.53 7.97 0.926 4 0.000 0.071 3035 3246 1890

7625 1.37 238.1 362.3 9.7 462 7640 0.00 2.50 8.27 0.926 6 0.000 0.064 3035 1884 1859

7963 1.38 240.9 330.3 9.9 484 7972 0.00 2.58 4.15 0.698 4 0.000 0.068 3034 3260 1849

7986 1.42 241.9 327.9 10.0 485 7990 0.00 2.50 0.00 0.000 6 0.000 0.063 3035 1898 1849

8305 1.48 280.6 301.0 8.2 505 8346 0.15 2.60 34.40 0.999 4 0.058 0.066 3074 3255 1687

8375 1.48 280.6 293.9 10.8 509 8380 0.00 2.47 0.00 0.000 6 0.000 0.061 3074 1911 1687

8695 1.44 280.6 259.7 11.0 529 8699 0.00 2.50 0.00 0.000 4 0.000 0.065 3074 3257 1687

8724 1.44 280.6 256.6 11.1 531 8728 0.00 2.45 0.00 0.000 6 0.000 0.059 3074 1916 1688

9050 1.41 280.6 220.9 10.8 552 9054 0.12 2.47 0.00 0.000 4 0.097 0.063 3050 3257 1688

9078 1.41 280.6 217.6 10.7 554 9082 0.00 2.40 0.00 0.000 6 0.000 0.058 3050 1931 1689

9403 1.46 311.3 188.2 8.6 575 9436 0.00 2.53 27.15 0.899 4 0.000 0.061 3050 3254 1562

9483 1.55 324.2 180.8 9.4 579 9505 0.15 2.35 12.30 0.840 6 0.057 0.056 3088 1959 1509

9821 1.52 324.2 142.1 11.6 600 9825 0.00 2.72 0.00 0.000 4 0.000 0.064 3088 439 1510

9839 1.47 324.2 139.3 12.4 601 9844 0.12 2.72 0.00 0.000 6 0.099 0.048 3066 1970 1509

10168 1.47 324.2 103.7 10.5 617 10173 0.00 2.80 0.00 0.000 4 0.000 0.061 3065 436 1510

10196 1.47 324.2 100.3 12.2 618 10201 0.00 2.67 0.00 0.000 6 0.000 0.047 3065 1944 1510

10514 1.47 324.2 66.5 10.5 633 10515 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 1945 1510

10823 1.50 324.2 31.7 12.0 648 10827 0.00 2.75 0.00 0.000 4 0.000 0.061 3065 436 1511

10840 1.50 324.2 29.4 12.9 649 10845 0.00 2.65 0.00 0.000 6 0.000 0.047 3065 1932 1511

11102 end climb: SURFACE_DEPTH_REACHED

state 11102 begin surface coast

11124 end surface coast: CONTROL_FINISHED_OK

state 11124 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	436	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	598.77728	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	33	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	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	-108600.41	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	225825,6223.538,-949.953,40,1.2,40,-10.0	TGT_NAME	BE
_CALLS	5	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.188,-0.185
_SM_DEPTHo	1.05	KALMAN_X	-277465.0,1546.1,1717.2,430589.5,-13988.9
_SM_ANGLEo	-60.5	KALMAN_Y	91569.7,-600.5,-4.1,-210786.8,7143.8
GPS2	231431,6223.586,-949.926,17,1.3,17,-10.0	MHEAD_RNG_PITCHd_Wd	144.6,6643,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.027132	ALTIM_BOTTOM_PING	570.3,45.3
SM_CCo	11149,145.60,0.762,0,0,389,598.78	_24V_AH	23.7,69.824
SM_GC	0.67,0.00,0.00,145.60,0.000,0.000,0.762,421,2153,389,-10.69,0.62,598.78	_10V_AH	10.1,31.426
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34837,663
TT8_MAMPS	0.029146	CAP_FILE_SIZE	106191,0
HUMID	1803	CFSIZE	254472192,228560896
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	41	GPS	041109,022509,6221.979,-948.926,44,1.6,47,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	99.51	SBE_CT	452	24	257.56
Roll_motor	134	82	260.73	SBE_O2	482	19	217.38
VBD_pump_during_apogee	422	1208	12103.41	WL_BB2F	388	105	966.63
VBD_pump_during_surface	145	761	2628.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	191	103	468.69	nil	0	0	0.00
Iridium_during_connect	273	160	1036.37	nil	0	0	0.00
Iridium_during_xfer	124	223	660.23
Transponder_ping	15	420	151.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.72
TT8	1201	19	240.35
LPSleep	8084	2	178.81
TT8_Active	669	19	133.90
TT8_Sampling	1431	39	575.41
TT8_CF8	881	45	407.80
TT8_Kalman	33	81	27.56
Analog_circuits	1438	12	174.29
GPS_charging	0	0	0.00
Compass	1391	8	112.42
RAFOS	0	0	0.00
Transponder	35	30	10.69

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	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-61.33	0.000	2	0.000	0.000	416	2149	2795
83	-1.44	-146.6	2.4	-3.2	3	126	10.98	2.65	-22.08	0.000	4	0.158	0.073	2423	716	3431
252	-1.36	-146.6	26.5	-17.5	10	257	0.12	2.50	0.00	0.000	6	0.108	0.048	2447	2123	3431
570	-1.30	-146.6	73.3	-14.5	25	574	0.00	2.55	0.00	0.000	4	0.000	0.061	2447	715	3431
625	-1.30	-146.6	81.6	-14.9	27	631	0.00	2.50	0.00	0.000	6	0.000	0.049	2447	2123	3431
943	-1.25	-146.6	128.5	-14.4	43	948	0.12	2.60	0.00	0.000	4	0.104	0.074	2471	3533	3431
976	-1.25	-146.6	133.6	-13.8	44	982	0.00	2.60	0.00	0.000	6	0.000	0.061	2472	2109	3431
1294	-1.25	-146.6	175.7	-12.9	63	1298	0.00	2.47	0.00	0.000	4	0.000	0.063	2472	716	3431
1351	-1.28	-146.6	183.3	-12.8	66	1357	0.00	2.50	0.00	0.000	6	0.000	0.051	2472	2125	3431
1670	-1.28	-146.6	223.3	-12.3	87	1674	0.00	2.58	0.00	0.000	4	0.000	0.063	2472	710	3431
1693	-1.28	-146.6	226.2	-12.4	88	1699	0.00	2.47	0.00	0.000	6	0.000	0.049	2472	2106	3431
2013	-1.28	-146.6	263.4	-10.8	109	2014	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2105	3431
2324	-1.28	-146.6	297.3	-10.4	129	2326	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2105	3431
2638	-1.28	-146.6	332.1	-11.4	149	2642	0.00	2.55	0.00	0.000	4	0.000	0.066	2472	709	3431
2705	-1.32	-146.6	340.1	-11.6	153	2709	0.00	2.45	0.00	0.000	6	0.000	0.050	2472	2089	3431
3024	-1.32	-146.6	374.7	-10.7	173	3028	0.00	2.50	0.00	0.000	4	0.000	0.067	2472	717	3431
3058	-1.36	-146.6	378.5	-11.0	175	3063	0.10	2.42	0.00	0.000	6	0.066	0.051	2444	2082	3431
3380	-1.31	-146.6	419.0	-13.4	195	3387	0.00	2.67	0.00	0.000	4	0.000	0.078	2445	3529	3431
3411	-1.27	-146.6	423.8	-14.1	196	3418	0.12	2.72	0.00	0.000	6	0.104	0.074	2468	2066	3431
3730	-1.27	-146.6	464.0	-12.3	217	3734	0.00	2.40	0.00	0.000	4	0.000	0.067	2468	718	3431
3747	-1.27	-146.6	466.2	-11.9	218	3751	0.00	2.47	0.00	0.000	6	0.000	0.054	2468	2103	3431
4067	-1.27	-146.6	502.0	-11.1	238	4071	0.00	2.55	0.00	0.000	4	0.000	0.065	2468	715	3431
4100	-1.32	-146.6	506.0	-11.5	240	4105	0.00	2.42	0.00	0.000	6	0.000	0.054	2468	2074	3431
4420	-1.32	-146.6	541.4	-11.8	260	4425	0.00	2.50	0.00	0.000	4	0.000	0.072	2468	718	3431
4500	-1.36	-146.6	551.6	-12.8	265	4505	0.00	2.40	0.00	0.000	6	0.000	0.055	2468	2053	3431
4826	-1.36	-146.6	591.0	-11.7	286	4830	0.00	2.75	0.00	0.000	4	0.000	0.082	2468	3529	3430
4888	-1.36	-146.6	598.7	-12.4	290	4893	0.00	2.70	0.00	0.000	6	0.000	0.075	2468	2081	3430
4960	end dive: BOTTOM_OBSTACLE_DETECTED
state	4960	begin apogee
4967	-0.33	0.0	607.1	11.4	295	5102	0.95	0.00	130.50	1.208	6	0.081	0.000	2670	1835	2831
5102	end apogee: CONTROL_FINISHED_OK
state	5102	begin climb
5106	1.44	146.6	612.7	0.0	304	5247	1.77	2.65	129.62	1.171	4	0.064	0.077	3055	453	2232
5313	1.32	147.6	602.3	10.0	316	5320	0.12	2.55	0.00	0.000	6	0.104	0.058	3032	1851	2233
5633	1.41	206.2	578.2	7.3	337	5697	0.00	2.70	53.08	1.151	4	0.000	0.078	3033	3251	1990
5736	1.44	222.4	569.2	9.3	343	5758	0.12	2.62	15.30	1.071	6	0.064	0.077	3063	1871	1924
6071	1.39	222.4	529.0	12.0	364	6072	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	1871	1923
6383	1.34	222.4	493.0	11.9	384	6388	0.15	2.65	0.00	0.000	4	0.100	0.074	3035	429	1922
6413	1.30	222.4	489.7	11.8	386	6417	0.00	2.62	0.00	0.000	6	0.000	0.058	3035	1873	1922
6738	1.30	222.4	453.7	11.4	407	6742	0.00	2.55	0.00	0.000	4	0.000	0.077	3035	3254	1921
6855	1.30	222.4	441.1	10.8	414	6859	0.00	2.53	0.00	0.000	6	0.000	0.074	3035	1907	1921
7175	1.30	222.4	407.6	10.8	434	7179	0.00	2.67	0.00	0.000	4	0.000	0.077	3035	436	1920
7220	1.30	222.4	402.6	10.7	437	7225	0.00	2.62	0.00	0.000	6	0.000	0.054	3035	1897	1920
7545	1.32	230.7	370.3	9.6	458	7562	0.00	2.53	7.97	0.926	4	0.000	0.071	3035	3246	1890
7625	1.37	238.1	362.3	9.7	462	7640	0.00	2.50	8.27	0.926	6	0.000	0.064	3035	1884	1859
7963	1.38	240.9	330.3	9.9	484	7972	0.00	2.58	4.15	0.698	4	0.000	0.068	3034	3260	1849
7986	1.42	241.9	327.9	10.0	485	7990	0.00	2.50	0.00	0.000	6	0.000	0.063	3035	1898	1849
8305	1.48	280.6	301.0	8.2	505	8346	0.15	2.60	34.40	0.999	4	0.058	0.066	3074	3255	1687
8375	1.48	280.6	293.9	10.8	509	8380	0.00	2.47	0.00	0.000	6	0.000	0.061	3074	1911	1687
8695	1.44	280.6	259.7	11.0	529	8699	0.00	2.50	0.00	0.000	4	0.000	0.065	3074	3257	1687
8724	1.44	280.6	256.6	11.1	531	8728	0.00	2.45	0.00	0.000	6	0.000	0.059	3074	1916	1688
9050	1.41	280.6	220.9	10.8	552	9054	0.12	2.47	0.00	0.000	4	0.097	0.063	3050	3257	1688
9078	1.41	280.6	217.6	10.7	554	9082	0.00	2.40	0.00	0.000	6	0.000	0.058	3050	1931	1689
9403	1.46	311.3	188.2	8.6	575	9436	0.00	2.53	27.15	0.899	4	0.000	0.061	3050	3254	1562
9483	1.55	324.2	180.8	9.4	579	9505	0.15	2.35	12.30	0.840	6	0.057	0.056	3088	1959	1509
9821	1.52	324.2	142.1	11.6	600	9825	0.00	2.72	0.00	0.000	4	0.000	0.064	3088	439	1510
9839	1.47	324.2	139.3	12.4	601	9844	0.12	2.72	0.00	0.000	6	0.099	0.048	3066	1970	1509
10168	1.47	324.2	103.7	10.5	617	10173	0.00	2.80	0.00	0.000	4	0.000	0.061	3065	436	1510
10196	1.47	324.2	100.3	12.2	618	10201	0.00	2.67	0.00	0.000	6	0.000	0.047	3065	1944	1510
10514	1.47	324.2	66.5	10.5	633	10515	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	1945	1510
10823	1.50	324.2	31.7	12.0	648	10827	0.00	2.75	0.00	0.000	4	0.000	0.061	3065	436	1511
10840	1.50	324.2	29.4	12.9	649	10845	0.00	2.65	0.00	0.000	6	0.000	0.047	3065	1932	1511
11102	end climb: SURFACE_DEPTH_REACHED
state	11102	begin surface coast
11124	end surface coast: CONTROL_FINISHED_OK
state	11124	begin surface