Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 263 * 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 263 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 300 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 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -105390.53 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 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 412.5

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 -105390.53

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 263 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 040507,6404.004,-1258.923,30,1.2,30,-12.4 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 11 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.180,-0.167

_SM_DEPTHo 1.17 KALMAN_X -23265.4,-1452.8,-1165.4,-202241.4,10132.1

_SM_ANGLEo -58.8 KALMAN_Y -14583.6,-1666.8,-562.7,289559.3,1420.2

GPS2 041108,6403.856,-1258.979,17,1.3,17,-12.4 MHEAD_RNG_PITCHd_Wd 239.5,31773,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027262 ALTIM_BOTTOM_PING 595.3,48.2

SM_CCo 11789,0.00,0.000,0,0,894,475.15 _24V_AH 23.7,43.410

SM_GC 1.12,11.48,0.00,0.00,0.038,0.000,0.000,425,2148,894,-10.59,0.54,475.15 _10V_AH 10.1,19.156

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37900,705

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102049,0

HUMID 1858 CFSIZE 254472192,238141440

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 21 GPS 081009,072937,6359.578,-1304.394,32,1.0,32,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 171 111.57 SBE_CT 484 24 275.78

Roll_motor 120 91 261.15 SBE_O2 517 19 232.88

VBD_pump_during_apogee 553 1334 17512.49 WL_BB2F 396 105 986.04

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 33 160 128.63 nil 0 0 0.00

Iridium_during_xfer 172 223 911.99

Transponder_ping 10 420 107.01

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.59

TT8 1242 19 248.42

LPSleep 8290 2 183.37

TT8_Active 673 19 134.68

TT8_Sampling 1445 39 581.15

TT8_CF8 500 45 231.50

TT8_Kalman 33 81 27.56

Analog_circuits 1437 12 174.17

GPS_charging 0 0 0.00

Compass 1402 8 113.33

RAFOS 0 0 0.00

Transponder 41 30 12.66

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.12 0.000 2 0.000 0.000 421 2153 2435

83 -1.22 -146.6 2.2 -2.2 3 155 11.68 2.62 -52.28 0.000 4 0.172 0.081 2473 3540 3429

363 -1.16 -146.6 33.3 -15.9 15 369 0.00 2.55 0.00 0.000 6 0.000 0.053 2473 2122 3429

681 -1.09 -146.6 75.1 -11.1 31 686 0.17 2.65 0.00 0.000 4 0.110 0.071 2513 3536 3429

714 -1.09 -146.6 80.0 -12.9 32 721 0.00 2.53 0.00 0.000 6 0.000 0.055 2512 2137 3429

1032 -1.09 -146.6 119.4 -11.0 48 1037 0.00 2.58 0.00 0.000 4 0.000 0.067 2513 715 3429

1059 -1.09 -146.6 122.9 -11.7 49 1064 0.00 2.55 0.00 0.000 6 0.000 0.054 2513 2132 3429

1376 -1.09 -146.6 155.2 -12.4 65 1380 0.00 2.55 0.00 0.000 4 0.000 0.065 2513 3539 3429

1411 -1.09 -146.6 160.2 -13.1 67 1415 0.00 2.53 0.00 0.000 6 0.000 0.056 2512 2142 3430

1735 -1.09 -146.6 212.8 -19.9 88 1740 0.00 2.58 0.00 0.000 4 0.000 0.068 2513 716 3429

1770 -1.14 -146.6 220.6 -21.9 90 1774 0.00 2.58 0.00 0.000 6 0.000 0.054 2513 2150 3430

2091 -1.14 -146.6 265.0 -6.5 110 2095 0.00 2.60 0.00 0.000 4 0.000 0.070 2512 720 3430

2154 -1.18 -146.6 267.6 -4.2 114 2159 0.12 2.55 0.00 0.000 6 0.066 0.057 2480 2134 3430

2481 -1.14 -146.6 287.0 -6.9 135 2486 0.00 2.60 0.00 0.000 4 0.000 0.068 2480 721 3430

2538 -1.14 -146.6 292.1 -8.9 138 2544 0.00 2.50 0.00 0.000 6 0.000 0.056 2480 2112 3430

2860 -1.09 -146.6 327.7 -14.1 159 2864 0.12 2.58 0.00 0.000 4 0.104 0.071 2505 720 3430

2883 -1.09 -146.6 331.7 -15.6 160 2889 0.00 2.47 0.00 0.000 6 0.000 0.058 2505 2093 3430

3202 -1.09 -146.6 383.1 -15.3 181 3206 0.00 2.55 0.00 0.000 4 0.000 0.073 2504 717 3430

3230 -1.09 -146.6 387.3 -14.4 182 3236 0.00 2.47 0.00 0.000 6 0.000 0.058 2505 2086 3430

3551 -1.09 -146.6 412.6 -5.0 203 3556 0.00 2.67 0.00 0.000 4 0.000 0.077 2505 3533 3430

3602 -1.09 -146.6 415.4 -5.2 206 3606 0.00 2.65 0.00 0.000 6 0.000 0.066 2504 2097 3430

3921 -1.09 -146.6 440.8 -10.0 226 3925 0.00 2.70 0.00 0.000 4 0.000 0.078 2505 3531 3430

3971 -1.09 -146.6 446.2 -10.6 229 3975 0.00 2.62 0.00 0.000 6 0.000 0.067 2505 2109 3430

4290 -1.09 -146.6 489.4 -17.1 249 4291 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2097 3430

4602 -1.09 -146.6 549.4 -16.4 269 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2097 3430

4915 -1.09 -146.6 577.5 -6.6 289 4919 0.00 2.72 0.00 0.000 4 0.000 0.084 2505 3534 3429

4944 -1.09 -146.6 579.2 -5.8 291 4948 0.00 2.62 0.00 0.000 6 0.000 0.072 2505 2127 3429

5269 -1.09 -146.6 594.8 -5.1 312 5276 0.00 2.70 0.00 0.000 4 0.000 0.085 2505 3537 3428

5344 -1.09 -146.6 598.6 -4.8 316 5348 0.00 2.60 0.00 0.000 6 0.000 0.071 2505 2144 3428

5664 -1.13 -146.6 627.6 -10.6 336 5665 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2117 3428

5722 end dive: BOTTOM_OBSTACLE_DETECTED

state 5722 begin apogee

5730 -0.33 0.0 635.1 12.0 340 5864 0.80 0.00 130.52 1.335 6 0.088 0.000 2671 1845 2831

5864 end apogee: CONTROL_FINISHED_OK

state 5864 begin climb

5867 1.22 146.6 640.4 0.0 349 6004 1.58 0.00 131.57 1.279 6 0.067 0.000 3009 1845 2233

6311 1.15 146.6 611.0 8.1 378 6315 0.00 2.67 0.00 0.000 4 0.000 0.091 3009 437 2232

6333 1.07 146.6 609.1 8.5 379 6340 0.17 2.62 0.00 0.000 6 0.104 0.066 2978 1855 2232

6652 1.16 205.6 588.4 5.9 400 6711 0.00 0.00 52.42 1.270 6 0.000 0.000 2978 1871 1992

7025 1.34 316.9 574.0 4.0 424 7129 0.28 0.00 97.30 1.274 6 0.060 0.000 3039 1871 1538

7445 1.30 331.1 542.0 7.5 451 7462 0.00 0.00 14.02 1.168 6 0.000 0.000 3039 1873 1481

7775 1.27 331.1 517.1 8.6 472 7779 0.00 2.72 0.00 0.000 4 0.000 0.087 3039 439 1481

7842 1.18 331.1 512.1 8.1 476 7847 0.20 2.60 0.00 0.000 6 0.106 0.065 3003 1845 1481

8165 1.30 381.5 498.2 6.2 496 8215 0.12 2.78 44.80 1.246 4 0.068 0.087 3032 445 1275

8250 1.31 387.7 491.6 7.8 501 8262 0.00 2.58 7.25 1.029 6 0.000 0.065 3032 1835 1250

8574 1.31 387.7 459.8 12.1 522 8575 0.00 0.00 0.00 0.000 6 0.000 0.000 3032 1842 1250

8886 1.31 387.7 409.9 17.9 542 8891 0.00 2.62 0.00 0.000 4 0.000 0.074 3032 3248 1250

8921 1.36 387.7 403.5 18.3 544 8925 0.00 2.65 0.00 0.000 6 0.000 0.071 3031 1833 1250

9240 1.36 387.7 354.3 12.0 564 9244 0.00 2.60 0.00 0.000 4 0.000 0.081 3032 432 1250

9272 1.36 387.7 350.5 11.4 566 9277 0.00 2.53 0.00 0.000 6 0.000 0.060 3032 1816 1250

9592 1.50 476.1 328.3 4.8 586 9676 0.17 2.78 75.78 1.122 4 0.061 0.069 3074 3258 890

9688 1.46 476.1 318.4 12.3 592 9693 0.00 2.72 0.00 0.000 6 0.000 0.066 3074 1814 890

10008 1.39 476.1 265.4 25.6 612 10013 0.15 2.70 0.00 0.000 4 0.099 0.067 3046 3259 891

10054 1.47 476.1 253.1 24.7 615 10059 0.00 2.62 0.00 0.000 6 0.000 0.062 3046 1837 891

10380 1.47 476.1 187.7 15.6 636 10383 0.00 2.58 0.00 0.000 4 0.000 0.078 3046 440 892

10414 1.47 476.1 182.7 13.8 638 10418 0.00 2.58 0.00 0.000 6 0.000 0.056 3046 1862 891

10744 1.47 476.1 147.3 12.3 659 10748 0.00 2.53 0.00 0.000 4 0.000 0.066 3046 3257 892

10807 1.57 476.1 138.5 13.0 662 10813 0.17 2.53 0.00 0.000 6 0.056 0.058 3091 1871 892

11137 1.50 476.1 78.9 17.5 678 11138 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 1871 892

11445 1.42 476.1 29.6 15.9 693 11449 0.17 2.55 0.00 0.000 4 0.088 0.061 3052 3263 893

11473 1.42 476.1 25.8 12.9 694 11477 0.00 2.47 0.00 0.000 6 0.000 0.054 3052 1890 893

11684 end climb: SURFACE_DEPTH_REACHED

state 11684 begin surface coast

11705 end surface coast: CONTROL_FINISHED_OK

state 11705 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	263	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	300	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	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-105390.53	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	040507,6404.004,-1258.923,30,1.2,30,-12.4	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	11	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.180,-0.167
_SM_DEPTHo	1.17	KALMAN_X	-23265.4,-1452.8,-1165.4,-202241.4,10132.1
_SM_ANGLEo	-58.8	KALMAN_Y	-14583.6,-1666.8,-562.7,289559.3,1420.2
GPS2	041108,6403.856,-1258.979,17,1.3,17,-12.4	MHEAD_RNG_PITCHd_Wd	239.5,31773,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027262	ALTIM_BOTTOM_PING	595.3,48.2
SM_CCo	11789,0.00,0.000,0,0,894,475.15	_24V_AH	23.7,43.410
SM_GC	1.12,11.48,0.00,0.00,0.038,0.000,0.000,425,2148,894,-10.59,0.54,475.15	_10V_AH	10.1,19.156
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37900,705
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102049,0
HUMID	1858	CFSIZE	254472192,238141440
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	21	GPS	081009,072937,6359.578,-1304.394,32,1.0,32,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	171	111.57	SBE_CT	484	24	275.78
Roll_motor	120	91	261.15	SBE_O2	517	19	232.88
VBD_pump_during_apogee	553	1334	17512.49	WL_BB2F	396	105	986.04
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	33	160	128.63	nil	0	0	0.00
Iridium_during_xfer	172	223	911.99
Transponder_ping	10	420	107.01
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.59
TT8	1242	19	248.42
LPSleep	8290	2	183.37
TT8_Active	673	19	134.68
TT8_Sampling	1445	39	581.15
TT8_CF8	500	45	231.50
TT8_Kalman	33	81	27.56
Analog_circuits	1437	12	174.17
GPS_charging	0	0	0.00
Compass	1402	8	113.33
RAFOS	0	0	0.00
Transponder	41	30	12.66

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.12	0.000	2	0.000	0.000	421	2153	2435
83	-1.22	-146.6	2.2	-2.2	3	155	11.68	2.62	-52.28	0.000	4	0.172	0.081	2473	3540	3429
363	-1.16	-146.6	33.3	-15.9	15	369	0.00	2.55	0.00	0.000	6	0.000	0.053	2473	2122	3429
681	-1.09	-146.6	75.1	-11.1	31	686	0.17	2.65	0.00	0.000	4	0.110	0.071	2513	3536	3429
714	-1.09	-146.6	80.0	-12.9	32	721	0.00	2.53	0.00	0.000	6	0.000	0.055	2512	2137	3429
1032	-1.09	-146.6	119.4	-11.0	48	1037	0.00	2.58	0.00	0.000	4	0.000	0.067	2513	715	3429
1059	-1.09	-146.6	122.9	-11.7	49	1064	0.00	2.55	0.00	0.000	6	0.000	0.054	2513	2132	3429
1376	-1.09	-146.6	155.2	-12.4	65	1380	0.00	2.55	0.00	0.000	4	0.000	0.065	2513	3539	3429
1411	-1.09	-146.6	160.2	-13.1	67	1415	0.00	2.53	0.00	0.000	6	0.000	0.056	2512	2142	3430
1735	-1.09	-146.6	212.8	-19.9	88	1740	0.00	2.58	0.00	0.000	4	0.000	0.068	2513	716	3429
1770	-1.14	-146.6	220.6	-21.9	90	1774	0.00	2.58	0.00	0.000	6	0.000	0.054	2513	2150	3430
2091	-1.14	-146.6	265.0	-6.5	110	2095	0.00	2.60	0.00	0.000	4	0.000	0.070	2512	720	3430
2154	-1.18	-146.6	267.6	-4.2	114	2159	0.12	2.55	0.00	0.000	6	0.066	0.057	2480	2134	3430
2481	-1.14	-146.6	287.0	-6.9	135	2486	0.00	2.60	0.00	0.000	4	0.000	0.068	2480	721	3430
2538	-1.14	-146.6	292.1	-8.9	138	2544	0.00	2.50	0.00	0.000	6	0.000	0.056	2480	2112	3430
2860	-1.09	-146.6	327.7	-14.1	159	2864	0.12	2.58	0.00	0.000	4	0.104	0.071	2505	720	3430
2883	-1.09	-146.6	331.7	-15.6	160	2889	0.00	2.47	0.00	0.000	6	0.000	0.058	2505	2093	3430
3202	-1.09	-146.6	383.1	-15.3	181	3206	0.00	2.55	0.00	0.000	4	0.000	0.073	2504	717	3430
3230	-1.09	-146.6	387.3	-14.4	182	3236	0.00	2.47	0.00	0.000	6	0.000	0.058	2505	2086	3430
3551	-1.09	-146.6	412.6	-5.0	203	3556	0.00	2.67	0.00	0.000	4	0.000	0.077	2505	3533	3430
3602	-1.09	-146.6	415.4	-5.2	206	3606	0.00	2.65	0.00	0.000	6	0.000	0.066	2504	2097	3430
3921	-1.09	-146.6	440.8	-10.0	226	3925	0.00	2.70	0.00	0.000	4	0.000	0.078	2505	3531	3430
3971	-1.09	-146.6	446.2	-10.6	229	3975	0.00	2.62	0.00	0.000	6	0.000	0.067	2505	2109	3430
4290	-1.09	-146.6	489.4	-17.1	249	4291	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2097	3430
4602	-1.09	-146.6	549.4	-16.4	269	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2097	3430
4915	-1.09	-146.6	577.5	-6.6	289	4919	0.00	2.72	0.00	0.000	4	0.000	0.084	2505	3534	3429
4944	-1.09	-146.6	579.2	-5.8	291	4948	0.00	2.62	0.00	0.000	6	0.000	0.072	2505	2127	3429
5269	-1.09	-146.6	594.8	-5.1	312	5276	0.00	2.70	0.00	0.000	4	0.000	0.085	2505	3537	3428
5344	-1.09	-146.6	598.6	-4.8	316	5348	0.00	2.60	0.00	0.000	6	0.000	0.071	2505	2144	3428
5664	-1.13	-146.6	627.6	-10.6	336	5665	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2117	3428
5722	end dive: BOTTOM_OBSTACLE_DETECTED
state	5722	begin apogee
5730	-0.33	0.0	635.1	12.0	340	5864	0.80	0.00	130.52	1.335	6	0.088	0.000	2671	1845	2831
5864	end apogee: CONTROL_FINISHED_OK
state	5864	begin climb
5867	1.22	146.6	640.4	0.0	349	6004	1.58	0.00	131.57	1.279	6	0.067	0.000	3009	1845	2233
6311	1.15	146.6	611.0	8.1	378	6315	0.00	2.67	0.00	0.000	4	0.000	0.091	3009	437	2232
6333	1.07	146.6	609.1	8.5	379	6340	0.17	2.62	0.00	0.000	6	0.104	0.066	2978	1855	2232
6652	1.16	205.6	588.4	5.9	400	6711	0.00	0.00	52.42	1.270	6	0.000	0.000	2978	1871	1992
7025	1.34	316.9	574.0	4.0	424	7129	0.28	0.00	97.30	1.274	6	0.060	0.000	3039	1871	1538
7445	1.30	331.1	542.0	7.5	451	7462	0.00	0.00	14.02	1.168	6	0.000	0.000	3039	1873	1481
7775	1.27	331.1	517.1	8.6	472	7779	0.00	2.72	0.00	0.000	4	0.000	0.087	3039	439	1481
7842	1.18	331.1	512.1	8.1	476	7847	0.20	2.60	0.00	0.000	6	0.106	0.065	3003	1845	1481
8165	1.30	381.5	498.2	6.2	496	8215	0.12	2.78	44.80	1.246	4	0.068	0.087	3032	445	1275
8250	1.31	387.7	491.6	7.8	501	8262	0.00	2.58	7.25	1.029	6	0.000	0.065	3032	1835	1250
8574	1.31	387.7	459.8	12.1	522	8575	0.00	0.00	0.00	0.000	6	0.000	0.000	3032	1842	1250
8886	1.31	387.7	409.9	17.9	542	8891	0.00	2.62	0.00	0.000	4	0.000	0.074	3032	3248	1250
8921	1.36	387.7	403.5	18.3	544	8925	0.00	2.65	0.00	0.000	6	0.000	0.071	3031	1833	1250
9240	1.36	387.7	354.3	12.0	564	9244	0.00	2.60	0.00	0.000	4	0.000	0.081	3032	432	1250
9272	1.36	387.7	350.5	11.4	566	9277	0.00	2.53	0.00	0.000	6	0.000	0.060	3032	1816	1250
9592	1.50	476.1	328.3	4.8	586	9676	0.17	2.78	75.78	1.122	4	0.061	0.069	3074	3258	890
9688	1.46	476.1	318.4	12.3	592	9693	0.00	2.72	0.00	0.000	6	0.000	0.066	3074	1814	890
10008	1.39	476.1	265.4	25.6	612	10013	0.15	2.70	0.00	0.000	4	0.099	0.067	3046	3259	891
10054	1.47	476.1	253.1	24.7	615	10059	0.00	2.62	0.00	0.000	6	0.000	0.062	3046	1837	891
10380	1.47	476.1	187.7	15.6	636	10383	0.00	2.58	0.00	0.000	4	0.000	0.078	3046	440	892
10414	1.47	476.1	182.7	13.8	638	10418	0.00	2.58	0.00	0.000	6	0.000	0.056	3046	1862	891
10744	1.47	476.1	147.3	12.3	659	10748	0.00	2.53	0.00	0.000	4	0.000	0.066	3046	3257	892
10807	1.57	476.1	138.5	13.0	662	10813	0.17	2.53	0.00	0.000	6	0.056	0.058	3091	1871	892
11137	1.50	476.1	78.9	17.5	678	11138	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	1871	892
11445	1.42	476.1	29.6	15.9	693	11449	0.17	2.55	0.00	0.000	4	0.088	0.061	3052	3263	893
11473	1.42	476.1	25.8	12.9	694	11477	0.00	2.47	0.00	0.000	6	0.000	0.054	3052	1890	893
11684	end climb: SURFACE_DEPTH_REACHED
state	11684	begin surface coast
11705	end surface coast: CONTROL_FINISHED_OK
state	11705	begin surface