Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 44 * 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 44 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 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 -1628865.9 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 -1628865.9

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 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 44 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 110637,6213.625,-919.456,33,1.0,33,-9.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6213.676,-942.619

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.88 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -63.2 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 111114,6213.676,-919.442,12,1.9,12,-9.7 MHEAD_RNG_PITCHd_Wd 279.7,20000,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.027213 ALTIM_BOTTOM_PING 526.0,43.2

SM_CCo 11229,0.00,0.000,0,0,1167,408.18 _24V_AH 23.3,24.426

SM_GC 0.91,11.90,0.00,0.00,0.025,0.000,0.000,393,2452,1167,-11.00,-0.71,408.18 _10V_AH 10.1,10.498

IRIDIUM_FIX 6148.92,-920.16,070998,070704 DATA_FILE_SIZE 25374,531

TT8_MAMPS 0.026845 CAP_FILE_SIZE 93421,0

HUMID 1836 CFSIZE 260165632,255504384

INTERNAL_PRESSURE 8.05043 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 17.30 GPS 130609,142000,6215.476,-921.499,36,1.4,41,-9.7

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 83.41 SBE_CT 470 24 262.88

Roll_motor 124 63 184.49 SBE_O2 363 19 160.91

VBD_pump_during_apogee 478 1121 12506.60 WL_BB2F 354 105 867.41

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 28 103 67.90 nil 0 0 0.00

Iridium_during_connect 25 160 93.52 nil 0 0 0.00

Iridium_during_xfer 119 223 619.18

Transponder_ping 4 420 44.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.17

TT8 1050 19 210.15

LPSleep 7960 2 176.07

TT8_Active 509 19 101.96

TT8_Sampling 1441 39 579.31

TT8_CF8 547 45 253.41

TT8_Kalman 0 81 0.00

Analog_circuits 1322 12 160.23

GPS_charging 0 0 0.00

Compass 1522 8 122.99

RAFOS 0 0 0.00

Transponder 32 30 9.91

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 78 0.00 0.00 -59.33 0.000 6 0.000 0.000 397 2459 3432

81 -1.17 -146.6 4.3 -8.4 3 102 11.48 2.53 0.00 0.000 4 0.137 0.053 2535 3831 3433

439 -1.17 -146.6 49.5 -10.0 19 444 0.00 2.35 0.00 0.000 6 0.000 0.025 2535 2443 3433

771 -1.17 -146.6 81.0 -9.2 35 775 0.00 2.50 0.00 0.000 4 0.000 0.053 2535 3827 3434

928 -1.17 -146.6 96.4 -9.2 42 932 0.00 2.25 0.00 0.000 6 0.000 0.025 2535 2481 3434

1249 -1.17 -146.6 124.4 -8.7 58 1253 0.00 2.40 0.00 0.000 4 0.000 0.036 2535 1085 3434

1311 -1.17 -146.6 130.1 -9.3 61 1315 0.00 2.40 0.00 0.000 6 0.000 0.032 2535 2476 3434

1638 -1.17 -146.6 161.3 -9.9 77 1642 0.00 2.42 0.00 0.000 4 0.000 0.037 2535 1077 3434

1700 -1.17 -146.6 167.5 -10.2 80 1704 0.00 2.42 0.00 0.000 6 0.000 0.034 2535 2476 3434

2026 -1.17 -146.6 197.8 -9.0 96 2030 0.00 2.40 0.00 0.000 4 0.000 0.038 2535 1087 3434

2098 -1.17 -146.6 204.2 -8.6 99 2102 0.00 2.42 0.00 0.000 6 0.000 0.035 2535 2475 3434

2416 -1.17 -146.6 229.8 -7.9 114 2420 0.00 2.42 0.00 0.000 4 0.000 0.038 2535 1080 3434

2471 -1.17 -146.6 234.6 -8.8 116 2477 0.00 2.42 0.00 0.000 6 0.000 0.036 2535 2476 3434

2786 -1.17 -146.6 261.5 -8.8 132 2790 0.00 2.42 0.00 0.000 4 0.000 0.039 2535 1080 3434

2841 -1.17 -146.6 266.5 -9.3 134 2847 0.00 2.45 0.00 0.000 6 0.000 0.037 2535 2482 3434

3157 -1.17 -146.6 296.4 -9.9 150 3161 0.00 2.42 0.00 0.000 4 0.000 0.039 2535 1088 3434

3207 -1.17 -146.6 301.5 -10.2 152 3211 0.00 2.42 0.00 0.000 6 0.000 0.038 2535 2475 3434

3523 -1.17 -146.6 335.2 -11.2 167 3527 0.00 2.42 0.00 0.000 4 0.000 0.040 2535 1086 3434

3589 -1.17 -146.6 343.2 -11.8 170 3594 0.00 2.42 0.00 0.000 6 0.000 0.038 2535 2474 3434

3911 -1.17 -146.6 380.6 -11.1 186 3916 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1094 3434

3949 -1.17 -146.6 385.0 -11.6 187 3955 0.00 2.42 0.00 0.000 6 0.000 0.038 2535 2480 3434

4266 -1.17 -146.6 411.3 -6.3 203 4270 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1082 3434

4321 -1.17 -146.6 415.0 -6.6 205 4328 0.00 2.45 0.00 0.000 6 0.000 0.039 2535 2480 3434

4639 -1.17 -146.6 426.0 -2.1 221 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2480 3434

4947 -1.17 -146.6 433.3 -4.9 236 4951 0.00 2.45 0.00 0.000 4 0.000 0.064 2535 3828 3434

5009 -1.17 -146.6 437.6 -6.4 239 5013 0.00 2.28 0.00 0.000 6 0.000 0.029 2535 2484 3433

5335 -1.17 -146.6 462.0 -8.6 255 5339 0.00 2.45 0.00 0.000 4 0.000 0.041 2535 1076 3434

5457 -1.17 -146.6 472.5 -8.7 260 5464 0.00 2.45 0.00 0.000 6 0.000 0.039 2535 2483 3433

5774 -1.17 -146.6 501.0 -9.3 276 5779 0.00 2.47 0.00 0.000 4 0.000 0.043 2535 1078 3433

5869 -1.17 -146.6 510.1 -9.4 280 5873 0.00 2.47 0.00 0.000 6 0.000 0.040 2535 2485 3433

6185 -1.17 -146.6 539.1 -9.0 295 6189 0.00 2.47 0.00 0.000 4 0.000 0.044 2535 1081 3431

6229 -1.17 -146.6 543.3 -9.6 297 6234 0.00 2.47 0.00 0.000 6 0.000 0.040 2535 2475 3431

6410 end dive: BOTTOM_OBSTACLE_DETECTED

state 6410 begin apogee

6418 -0.36 0.0 559.3 9.0 306 6551 0.88 0.00 126.38 1.121 6 0.073 0.000 2719 1465 2831

6552 end apogee: CONTROL_FINISHED_OK

state 6552 begin climb

6555 1.17 146.6 564.7 0.0 313 6690 1.50 2.60 127.07 1.082 4 0.048 0.050 3052 2865 2232

6720 1.24 201.9 560.1 5.6 320 6775 0.00 2.50 48.17 1.050 6 0.000 0.040 3052 1455 2009

7100 1.24 201.9 529.6 8.4 339 7104 0.00 2.53 0.00 0.000 4 0.000 0.046 3052 2864 1999

7139 1.24 201.9 526.0 8.8 341 7144 0.00 2.50 0.00 0.000 6 0.000 0.040 3052 1448 1999

7466 1.24 201.9 499.5 8.5 357 7469 0.00 2.17 0.00 0.000 4 0.000 0.061 3052 261 1998

7527 1.24 201.9 493.1 11.0 359 7533 0.00 2.05 0.00 0.000 6 0.000 0.032 3052 1478 1998

7845 1.24 201.9 453.1 14.3 375 7848 0.00 2.22 0.00 0.000 4 0.000 0.059 3052 264 1997

8038 1.49 403.6 441.3 0.6 383 8225 0.32 2.03 177.05 1.042 6 0.031 0.032 3140 1458 1186

8547 1.49 403.6 392.3 11.1 408 8550 0.00 2.20 0.00 0.000 4 0.000 0.058 3139 258 1174

8596 1.49 403.6 386.9 11.2 410 8600 0.00 2.03 0.00 0.000 6 0.000 0.031 3140 1459 1172

8925 1.49 403.6 336.4 18.8 426 8929 0.00 2.17 0.00 0.000 4 0.000 0.056 3140 259 1171

8975 1.49 403.6 325.9 19.6 428 8979 0.00 2.03 0.00 0.000 6 0.000 0.030 3140 1455 1170

9302 1.49 403.6 274.1 12.8 444 9306 0.00 2.20 0.00 0.000 4 0.000 0.056 3140 263 1170

9414 1.49 403.6 260.1 12.8 449 9417 0.00 2.00 0.00 0.000 6 0.000 0.030 3140 1454 1170

9748 1.49 403.6 213.6 15.4 465 9752 0.00 2.17 0.00 0.000 4 0.000 0.055 3139 258 1169

9804 1.49 403.6 203.7 17.9 467 9808 0.00 2.03 0.00 0.000 6 0.000 0.029 3140 1459 1169

10127 1.49 403.6 153.2 15.2 483 10131 0.00 2.17 0.00 0.000 4 0.000 0.054 3139 256 1168

10205 1.49 403.6 140.0 16.2 486 10209 0.00 2.03 0.00 0.000 6 0.000 0.028 3140 1468 1168

10527 1.49 403.6 89.1 15.0 502 10531 0.00 2.17 0.00 0.000 4 0.000 0.054 3140 262 1169

10618 1.49 403.6 75.4 15.0 506 10622 0.00 1.98 0.00 0.000 6 0.000 0.028 3140 1454 1168

10952 1.49 403.6 29.3 13.8 522 10956 0.00 2.15 0.00 0.000 4 0.000 0.053 3140 261 1169

11057 1.49 403.6 12.7 15.9 526 11064 0.00 2.03 0.00 0.000 6 0.000 0.028 3140 1455 1169

11123 end climb: SURFACE_DEPTH_REACHED

state 11123 begin surface coast

11145 end surface coast: CONTROL_FINISHED_OK

state 11145 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	44	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	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	-1628865.9	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	110637,6213.625,-919.456,33,1.0,33,-9.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6213.676,-942.619
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.88	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-63.2	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	111114,6213.676,-919.442,12,1.9,12,-9.7	MHEAD_RNG_PITCHd_Wd	279.7,20000,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.1,1.027213	ALTIM_BOTTOM_PING	526.0,43.2
SM_CCo	11229,0.00,0.000,0,0,1167,408.18	_24V_AH	23.3,24.426
SM_GC	0.91,11.90,0.00,0.00,0.025,0.000,0.000,393,2452,1167,-11.00,-0.71,408.18	_10V_AH	10.1,10.498
IRIDIUM_FIX	6148.92,-920.16,070998,070704	DATA_FILE_SIZE	25374,531
TT8_MAMPS	0.026845	CAP_FILE_SIZE	93421,0
HUMID	1836	CFSIZE	260165632,255504384
INTERNAL_PRESSURE	8.05043	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	17.30	GPS	130609,142000,6215.476,-921.499,36,1.4,41,-9.7
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	83.41	SBE_CT	470	24	262.88
Roll_motor	124	63	184.49	SBE_O2	363	19	160.91
VBD_pump_during_apogee	478	1121	12506.60	WL_BB2F	354	105	867.41
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	28	103	67.90	nil	0	0	0.00
Iridium_during_connect	25	160	93.52	nil	0	0	0.00
Iridium_during_xfer	119	223	619.18
Transponder_ping	4	420	44.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.17
TT8	1050	19	210.15
LPSleep	7960	2	176.07
TT8_Active	509	19	101.96
TT8_Sampling	1441	39	579.31
TT8_CF8	547	45	253.41
TT8_Kalman	0	81	0.00
Analog_circuits	1322	12	160.23
GPS_charging	0	0	0.00
Compass	1522	8	122.99
RAFOS	0	0	0.00
Transponder	32	30	9.91

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	78	0.00	0.00	-59.33	0.000	6	0.000	0.000	397	2459	3432
81	-1.17	-146.6	4.3	-8.4	3	102	11.48	2.53	0.00	0.000	4	0.137	0.053	2535	3831	3433
439	-1.17	-146.6	49.5	-10.0	19	444	0.00	2.35	0.00	0.000	6	0.000	0.025	2535	2443	3433
771	-1.17	-146.6	81.0	-9.2	35	775	0.00	2.50	0.00	0.000	4	0.000	0.053	2535	3827	3434
928	-1.17	-146.6	96.4	-9.2	42	932	0.00	2.25	0.00	0.000	6	0.000	0.025	2535	2481	3434
1249	-1.17	-146.6	124.4	-8.7	58	1253	0.00	2.40	0.00	0.000	4	0.000	0.036	2535	1085	3434
1311	-1.17	-146.6	130.1	-9.3	61	1315	0.00	2.40	0.00	0.000	6	0.000	0.032	2535	2476	3434
1638	-1.17	-146.6	161.3	-9.9	77	1642	0.00	2.42	0.00	0.000	4	0.000	0.037	2535	1077	3434
1700	-1.17	-146.6	167.5	-10.2	80	1704	0.00	2.42	0.00	0.000	6	0.000	0.034	2535	2476	3434
2026	-1.17	-146.6	197.8	-9.0	96	2030	0.00	2.40	0.00	0.000	4	0.000	0.038	2535	1087	3434
2098	-1.17	-146.6	204.2	-8.6	99	2102	0.00	2.42	0.00	0.000	6	0.000	0.035	2535	2475	3434
2416	-1.17	-146.6	229.8	-7.9	114	2420	0.00	2.42	0.00	0.000	4	0.000	0.038	2535	1080	3434
2471	-1.17	-146.6	234.6	-8.8	116	2477	0.00	2.42	0.00	0.000	6	0.000	0.036	2535	2476	3434
2786	-1.17	-146.6	261.5	-8.8	132	2790	0.00	2.42	0.00	0.000	4	0.000	0.039	2535	1080	3434
2841	-1.17	-146.6	266.5	-9.3	134	2847	0.00	2.45	0.00	0.000	6	0.000	0.037	2535	2482	3434
3157	-1.17	-146.6	296.4	-9.9	150	3161	0.00	2.42	0.00	0.000	4	0.000	0.039	2535	1088	3434
3207	-1.17	-146.6	301.5	-10.2	152	3211	0.00	2.42	0.00	0.000	6	0.000	0.038	2535	2475	3434
3523	-1.17	-146.6	335.2	-11.2	167	3527	0.00	2.42	0.00	0.000	4	0.000	0.040	2535	1086	3434
3589	-1.17	-146.6	343.2	-11.8	170	3594	0.00	2.42	0.00	0.000	6	0.000	0.038	2535	2474	3434
3911	-1.17	-146.6	380.6	-11.1	186	3916	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1094	3434
3949	-1.17	-146.6	385.0	-11.6	187	3955	0.00	2.42	0.00	0.000	6	0.000	0.038	2535	2480	3434
4266	-1.17	-146.6	411.3	-6.3	203	4270	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1082	3434
4321	-1.17	-146.6	415.0	-6.6	205	4328	0.00	2.45	0.00	0.000	6	0.000	0.039	2535	2480	3434
4639	-1.17	-146.6	426.0	-2.1	221	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2480	3434
4947	-1.17	-146.6	433.3	-4.9	236	4951	0.00	2.45	0.00	0.000	4	0.000	0.064	2535	3828	3434
5009	-1.17	-146.6	437.6	-6.4	239	5013	0.00	2.28	0.00	0.000	6	0.000	0.029	2535	2484	3433
5335	-1.17	-146.6	462.0	-8.6	255	5339	0.00	2.45	0.00	0.000	4	0.000	0.041	2535	1076	3434
5457	-1.17	-146.6	472.5	-8.7	260	5464	0.00	2.45	0.00	0.000	6	0.000	0.039	2535	2483	3433
5774	-1.17	-146.6	501.0	-9.3	276	5779	0.00	2.47	0.00	0.000	4	0.000	0.043	2535	1078	3433
5869	-1.17	-146.6	510.1	-9.4	280	5873	0.00	2.47	0.00	0.000	6	0.000	0.040	2535	2485	3433
6185	-1.17	-146.6	539.1	-9.0	295	6189	0.00	2.47	0.00	0.000	4	0.000	0.044	2535	1081	3431
6229	-1.17	-146.6	543.3	-9.6	297	6234	0.00	2.47	0.00	0.000	6	0.000	0.040	2535	2475	3431
6410	end dive: BOTTOM_OBSTACLE_DETECTED
state	6410	begin apogee
6418	-0.36	0.0	559.3	9.0	306	6551	0.88	0.00	126.38	1.121	6	0.073	0.000	2719	1465	2831
6552	end apogee: CONTROL_FINISHED_OK
state	6552	begin climb
6555	1.17	146.6	564.7	0.0	313	6690	1.50	2.60	127.07	1.082	4	0.048	0.050	3052	2865	2232
6720	1.24	201.9	560.1	5.6	320	6775	0.00	2.50	48.17	1.050	6	0.000	0.040	3052	1455	2009
7100	1.24	201.9	529.6	8.4	339	7104	0.00	2.53	0.00	0.000	4	0.000	0.046	3052	2864	1999
7139	1.24	201.9	526.0	8.8	341	7144	0.00	2.50	0.00	0.000	6	0.000	0.040	3052	1448	1999
7466	1.24	201.9	499.5	8.5	357	7469	0.00	2.17	0.00	0.000	4	0.000	0.061	3052	261	1998
7527	1.24	201.9	493.1	11.0	359	7533	0.00	2.05	0.00	0.000	6	0.000	0.032	3052	1478	1998
7845	1.24	201.9	453.1	14.3	375	7848	0.00	2.22	0.00	0.000	4	0.000	0.059	3052	264	1997
8038	1.49	403.6	441.3	0.6	383	8225	0.32	2.03	177.05	1.042	6	0.031	0.032	3140	1458	1186
8547	1.49	403.6	392.3	11.1	408	8550	0.00	2.20	0.00	0.000	4	0.000	0.058	3139	258	1174
8596	1.49	403.6	386.9	11.2	410	8600	0.00	2.03	0.00	0.000	6	0.000	0.031	3140	1459	1172
8925	1.49	403.6	336.4	18.8	426	8929	0.00	2.17	0.00	0.000	4	0.000	0.056	3140	259	1171
8975	1.49	403.6	325.9	19.6	428	8979	0.00	2.03	0.00	0.000	6	0.000	0.030	3140	1455	1170
9302	1.49	403.6	274.1	12.8	444	9306	0.00	2.20	0.00	0.000	4	0.000	0.056	3140	263	1170
9414	1.49	403.6	260.1	12.8	449	9417	0.00	2.00	0.00	0.000	6	0.000	0.030	3140	1454	1170
9748	1.49	403.6	213.6	15.4	465	9752	0.00	2.17	0.00	0.000	4	0.000	0.055	3139	258	1169
9804	1.49	403.6	203.7	17.9	467	9808	0.00	2.03	0.00	0.000	6	0.000	0.029	3140	1459	1169
10127	1.49	403.6	153.2	15.2	483	10131	0.00	2.17	0.00	0.000	4	0.000	0.054	3139	256	1168
10205	1.49	403.6	140.0	16.2	486	10209	0.00	2.03	0.00	0.000	6	0.000	0.028	3140	1468	1168
10527	1.49	403.6	89.1	15.0	502	10531	0.00	2.17	0.00	0.000	4	0.000	0.054	3140	262	1169
10618	1.49	403.6	75.4	15.0	506	10622	0.00	1.98	0.00	0.000	6	0.000	0.028	3140	1454	1168
10952	1.49	403.6	29.3	13.8	522	10956	0.00	2.15	0.00	0.000	4	0.000	0.053	3140	261	1169
11057	1.49	403.6	12.7	15.9	526	11064	0.00	2.03	0.00	0.000	6	0.000	0.028	3140	1455	1169
11123	end climb: SURFACE_DEPTH_REACHED
state	11123	begin surface coast
11145	end surface coast: CONTROL_FINISHED_OK
state	11145	begin surface