Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 343 * 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 343 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -106899.99 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 -106899.99

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 343 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 143926,6254.904,-1225.557,40,2.5,59,-11.7 TGT_NAME EE

_CALLS 2 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.228,-0.090

_SM_DEPTHo 1.30 KALMAN_X -67225.3,2131.3,908.7,91715.9,-23558.9

_SM_ANGLEo -59.0 KALMAN_Y 46534.3,87.8,-1059.9,-107416.1,4191.8

GPS2 144858,6254.871,-1225.705,11,2.5,30,-11.7 MHEAD_RNG_PITCHd_Wd 123.1,39059,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027225 ALTIM_BOTTOM_PING 520.7,83.7

SM_CCo 12299,0.00,0.000,0,0,1481,331.15 _24V_AH 23.8,56.076

SM_GC 1.38,11.35,0.00,0.00,0.039,0.000,0.000,418,2113,1481,-10.61,-0.48,331.15 _10V_AH 10.1,25.257

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37908,733

TT8_MAMPS 0.029146 CAP_FILE_SIZE 101678,0

HUMID 1825 CFSIZE 254472192,233377792

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 46 GPS 211009,181606,6253.486,-1226.168,40,1.1,45,-11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 97.30 SBE_CT 500 24 286.04

Roll_motor 100 73 175.95 SBE_O2 535 19 242.30

VBD_pump_during_apogee 434 1213 12546.38 WL_BB2F 426 105 1065.98

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 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 55 160 211.31 nil 0 0 0.00

Iridium_during_xfer 236 223 1252.67

Transponder_ping 16 420 159.94

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.72

TT8 1267 19 253.48

LPSleep 8991 2 198.89

TT8_Active 502 19 100.49

TT8_Sampling 1467 39 590.00

TT8_CF8 637 45 294.96

TT8_Kalman 33 81 27.56

Analog_circuits 1259 12 152.71

GPS_charging 0 0 0.00

Compass 1418 8 114.62

RAFOS 0 0 0.00

Transponder 33 30 10.04

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -60.60 0.000 2 0.000 0.000 424 2148 2763

82 -1.22 -146.6 2.8 -4.0 3 126 11.30 2.65 -22.62 0.000 4 0.157 0.074 2471 717 3430

165 -1.14 -146.6 11.7 -10.7 6 173 0.12 2.50 0.00 0.000 6 0.101 0.048 2496 2127 3430

483 -1.08 -146.6 48.0 -12.8 22 487 0.00 2.58 0.00 0.000 4 0.000 0.061 2496 709 3430

516 -1.08 -146.6 53.4 -15.1 23 522 0.00 2.50 0.00 0.000 6 0.000 0.049 2496 2120 3430

835 -1.03 -146.6 97.8 -14.2 39 836 0.12 0.00 0.00 0.000 6 0.098 0.000 2522 2120 3430

1141 -1.03 -146.6 138.7 -12.7 54 1145 0.00 2.55 0.00 0.000 4 0.000 0.060 2522 710 3431

1204 -1.07 -146.6 147.0 -13.3 57 1209 0.00 2.47 0.00 0.000 6 0.000 0.048 2522 2110 3431

1525 -1.07 -146.6 184.8 -10.6 77 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2110 3430

1837 -1.07 -146.6 220.4 -11.0 97 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2110 3431

2149 -1.07 -146.6 252.2 -9.9 117 2154 0.00 2.53 0.00 0.000 4 0.000 0.063 2522 717 3430

2183 -1.10 -146.6 255.7 -10.4 119 2188 0.00 2.45 0.00 0.000 6 0.000 0.049 2522 2099 3431

2502 -1.10 -146.6 288.2 -10.4 139 2504 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2100 3431

2816 -1.10 -146.6 320.0 -10.1 159 2820 0.00 2.53 0.00 0.000 4 0.000 0.064 2522 714 3430

2872 -1.15 -146.6 325.9 -10.3 162 2877 0.15 2.45 0.00 0.000 6 0.054 0.051 2482 2093 3431

3194 -1.09 -146.6 363.6 -11.9 182 3196 0.12 0.00 0.00 0.000 6 0.095 0.000 2507 2093 3431

3503 -1.09 -146.6 397.3 -10.7 202 3504 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2092 3430

3815 -1.09 -146.6 430.7 -10.5 222 3819 0.00 2.50 0.00 0.000 4 0.000 0.062 2507 716 3430

3867 -1.09 -146.6 436.0 -10.5 225 3872 0.00 2.42 0.00 0.000 6 0.000 0.051 2507 2078 3430

4193 -1.09 -146.6 467.0 -8.8 246 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2078 3430

4505 -1.09 -146.6 493.2 -8.5 266 4507 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2078 3430

4822 -1.09 -146.6 520.7 -9.7 286 4826 0.00 2.50 0.00 0.000 4 0.000 0.066 2508 714 3430

4878 -1.13 -146.6 527.0 -10.6 289 4884 0.00 2.40 0.00 0.000 6 0.000 0.054 2507 2055 3430

5198 -1.13 -146.6 559.3 -9.8 310 5199 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2055 3430

5509 -1.13 -146.6 592.8 -12.2 330 5510 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2058 3430

5524 end dive: BOTTOM_OBSTACLE_DETECTED

state 5524 begin apogee

5531 -0.33 0.0 594.6 11.6 331 5667 0.77 0.00 131.93 1.213 6 0.075 0.000 2675 1839 2831

5668 end apogee: CONTROL_FINISHED_OK

state 5668 begin climb

5671 1.22 146.6 600.4 0.0 340 5813 1.55 2.67 132.85 1.170 4 0.065 0.071 3009 443 2233

5885 1.11 158.1 590.7 7.6 353 5902 0.12 2.58 11.68 1.032 6 0.097 0.057 2986 1872 2186

6219 1.18 227.0 573.0 5.5 374 6286 0.00 2.72 61.10 1.159 4 0.000 0.071 2986 438 1905

6327 1.25 270.7 566.0 6.4 380 6374 0.15 2.53 39.72 1.136 6 0.055 0.057 3023 1841 1727

6694 1.28 310.2 544.2 6.6 404 6735 0.00 2.65 35.65 1.142 4 0.000 0.072 3023 3241 1566

6758 1.29 320.8 539.6 7.6 407 6775 0.00 2.62 10.88 1.032 6 0.000 0.068 3023 1847 1523

7098 1.29 320.8 513.5 8.8 429 7102 0.00 2.60 0.00 0.000 4 0.000 0.070 3023 3242 1523

7147 1.29 320.8 508.5 9.4 432 7152 0.00 2.58 0.00 0.000 6 0.000 0.065 3023 1854 1523

7467 1.29 320.8 480.9 8.5 452 7471 0.00 2.58 0.00 0.000 4 0.000 0.067 3023 3245 1523

7500 1.31 331.4 478.1 7.6 454 7516 0.00 2.53 10.65 1.032 6 0.000 0.064 3023 1877 1480

7838 1.31 331.4 450.6 8.4 476 7842 0.00 2.53 0.00 0.000 4 0.000 0.066 3023 3248 1480

7890 1.31 332.0 446.0 8.0 479 7895 0.00 2.50 0.00 0.000 6 0.000 0.061 3023 1882 1480

8214 1.31 332.0 419.5 8.3 500 8218 0.00 2.53 0.00 0.000 4 0.000 0.064 3023 3251 1480

8254 1.34 332.0 415.8 8.4 502 8260 0.00 2.45 0.00 0.000 6 0.000 0.060 3023 1914 1480

8573 1.34 332.0 386.9 9.4 523 8578 0.00 2.45 0.00 0.000 4 0.000 0.064 3023 3254 1480

8596 1.34 332.0 384.6 9.7 524 8602 0.00 2.42 0.00 0.000 6 0.000 0.058 3023 1918 1480

8915 1.34 332.0 353.0 10.1 545 8919 0.00 2.45 0.00 0.000 4 0.000 0.064 3023 3252 1480

8932 1.34 332.0 351.2 10.0 546 8936 0.00 2.40 0.00 0.000 6 0.000 0.057 3023 1932 1480

9251 1.34 332.0 318.9 10.2 566 9252 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1932 1481

9564 1.34 332.0 287.0 10.5 586 9568 0.00 2.40 0.00 0.000 4 0.000 0.062 3023 3244 1480

9604 1.38 332.0 282.7 10.6 588 9610 0.10 2.38 0.00 0.000 6 0.061 0.054 3052 1924 1481

9924 1.31 332.0 242.3 13.0 609 9929 0.12 2.42 0.00 0.000 4 0.097 0.061 3029 3253 1481

9940 1.27 332.0 240.0 12.8 610 9944 0.00 2.35 0.00 0.000 6 0.000 0.053 3029 1951 1481

10259 1.27 332.0 205.5 10.7 630 10261 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1951 1481

10572 1.27 332.0 172.9 10.2 650 10576 0.00 2.38 0.00 0.000 4 0.000 0.061 3029 3253 1481

10601 1.27 332.0 169.9 10.7 652 10605 0.00 2.33 0.00 0.000 6 0.000 0.051 3029 1950 1482

10924 1.27 332.0 137.3 9.9 671 10926 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1951 1482

11234 1.27 332.0 105.3 10.9 686 11235 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1951 1482

11543 1.27 332.0 71.8 10.8 701 11547 0.00 2.35 0.00 0.000 4 0.000 0.058 3029 3246 1482

11571 1.30 332.0 68.7 11.8 702 11575 0.00 2.30 0.00 0.000 6 0.000 0.049 3029 1955 1483

11889 1.30 332.0 35.0 11.2 717 11890 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1955 1483

12193 end climb: SURFACE_DEPTH_REACHED

state 12193 begin surface coast

12215 end surface coast: CONTROL_FINISHED_OK

state 12215 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	343	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-106899.99	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	143926,6254.904,-1225.557,40,2.5,59,-11.7	TGT_NAME	EE
_CALLS	2	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.228,-0.090
_SM_DEPTHo	1.30	KALMAN_X	-67225.3,2131.3,908.7,91715.9,-23558.9
_SM_ANGLEo	-59.0	KALMAN_Y	46534.3,87.8,-1059.9,-107416.1,4191.8
GPS2	144858,6254.871,-1225.705,11,2.5,30,-11.7	MHEAD_RNG_PITCHd_Wd	123.1,39059,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027225	ALTIM_BOTTOM_PING	520.7,83.7
SM_CCo	12299,0.00,0.000,0,0,1481,331.15	_24V_AH	23.8,56.076
SM_GC	1.38,11.35,0.00,0.00,0.039,0.000,0.000,418,2113,1481,-10.61,-0.48,331.15	_10V_AH	10.1,25.257
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37908,733
TT8_MAMPS	0.029146	CAP_FILE_SIZE	101678,0
HUMID	1825	CFSIZE	254472192,233377792
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	46	GPS	211009,181606,6253.486,-1226.168,40,1.1,45,-11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	97.30	SBE_CT	500	24	286.04
Roll_motor	100	73	175.95	SBE_O2	535	19	242.30
VBD_pump_during_apogee	434	1213	12546.38	WL_BB2F	426	105	1065.98
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	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	55	160	211.31	nil	0	0	0.00
Iridium_during_xfer	236	223	1252.67
Transponder_ping	16	420	159.94
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.72
TT8	1267	19	253.48
LPSleep	8991	2	198.89
TT8_Active	502	19	100.49
TT8_Sampling	1467	39	590.00
TT8_CF8	637	45	294.96
TT8_Kalman	33	81	27.56
Analog_circuits	1259	12	152.71
GPS_charging	0	0	0.00
Compass	1418	8	114.62
RAFOS	0	0	0.00
Transponder	33	30	10.04

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-60.60	0.000	2	0.000	0.000	424	2148	2763
82	-1.22	-146.6	2.8	-4.0	3	126	11.30	2.65	-22.62	0.000	4	0.157	0.074	2471	717	3430
165	-1.14	-146.6	11.7	-10.7	6	173	0.12	2.50	0.00	0.000	6	0.101	0.048	2496	2127	3430
483	-1.08	-146.6	48.0	-12.8	22	487	0.00	2.58	0.00	0.000	4	0.000	0.061	2496	709	3430
516	-1.08	-146.6	53.4	-15.1	23	522	0.00	2.50	0.00	0.000	6	0.000	0.049	2496	2120	3430
835	-1.03	-146.6	97.8	-14.2	39	836	0.12	0.00	0.00	0.000	6	0.098	0.000	2522	2120	3430
1141	-1.03	-146.6	138.7	-12.7	54	1145	0.00	2.55	0.00	0.000	4	0.000	0.060	2522	710	3431
1204	-1.07	-146.6	147.0	-13.3	57	1209	0.00	2.47	0.00	0.000	6	0.000	0.048	2522	2110	3431
1525	-1.07	-146.6	184.8	-10.6	77	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2110	3430
1837	-1.07	-146.6	220.4	-11.0	97	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2110	3431
2149	-1.07	-146.6	252.2	-9.9	117	2154	0.00	2.53	0.00	0.000	4	0.000	0.063	2522	717	3430
2183	-1.10	-146.6	255.7	-10.4	119	2188	0.00	2.45	0.00	0.000	6	0.000	0.049	2522	2099	3431
2502	-1.10	-146.6	288.2	-10.4	139	2504	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2100	3431
2816	-1.10	-146.6	320.0	-10.1	159	2820	0.00	2.53	0.00	0.000	4	0.000	0.064	2522	714	3430
2872	-1.15	-146.6	325.9	-10.3	162	2877	0.15	2.45	0.00	0.000	6	0.054	0.051	2482	2093	3431
3194	-1.09	-146.6	363.6	-11.9	182	3196	0.12	0.00	0.00	0.000	6	0.095	0.000	2507	2093	3431
3503	-1.09	-146.6	397.3	-10.7	202	3504	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2092	3430
3815	-1.09	-146.6	430.7	-10.5	222	3819	0.00	2.50	0.00	0.000	4	0.000	0.062	2507	716	3430
3867	-1.09	-146.6	436.0	-10.5	225	3872	0.00	2.42	0.00	0.000	6	0.000	0.051	2507	2078	3430
4193	-1.09	-146.6	467.0	-8.8	246	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2078	3430
4505	-1.09	-146.6	493.2	-8.5	266	4507	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2078	3430
4822	-1.09	-146.6	520.7	-9.7	286	4826	0.00	2.50	0.00	0.000	4	0.000	0.066	2508	714	3430
4878	-1.13	-146.6	527.0	-10.6	289	4884	0.00	2.40	0.00	0.000	6	0.000	0.054	2507	2055	3430
5198	-1.13	-146.6	559.3	-9.8	310	5199	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2055	3430
5509	-1.13	-146.6	592.8	-12.2	330	5510	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2058	3430
5524	end dive: BOTTOM_OBSTACLE_DETECTED
state	5524	begin apogee
5531	-0.33	0.0	594.6	11.6	331	5667	0.77	0.00	131.93	1.213	6	0.075	0.000	2675	1839	2831
5668	end apogee: CONTROL_FINISHED_OK
state	5668	begin climb
5671	1.22	146.6	600.4	0.0	340	5813	1.55	2.67	132.85	1.170	4	0.065	0.071	3009	443	2233
5885	1.11	158.1	590.7	7.6	353	5902	0.12	2.58	11.68	1.032	6	0.097	0.057	2986	1872	2186
6219	1.18	227.0	573.0	5.5	374	6286	0.00	2.72	61.10	1.159	4	0.000	0.071	2986	438	1905
6327	1.25	270.7	566.0	6.4	380	6374	0.15	2.53	39.72	1.136	6	0.055	0.057	3023	1841	1727
6694	1.28	310.2	544.2	6.6	404	6735	0.00	2.65	35.65	1.142	4	0.000	0.072	3023	3241	1566
6758	1.29	320.8	539.6	7.6	407	6775	0.00	2.62	10.88	1.032	6	0.000	0.068	3023	1847	1523
7098	1.29	320.8	513.5	8.8	429	7102	0.00	2.60	0.00	0.000	4	0.000	0.070	3023	3242	1523
7147	1.29	320.8	508.5	9.4	432	7152	0.00	2.58	0.00	0.000	6	0.000	0.065	3023	1854	1523
7467	1.29	320.8	480.9	8.5	452	7471	0.00	2.58	0.00	0.000	4	0.000	0.067	3023	3245	1523
7500	1.31	331.4	478.1	7.6	454	7516	0.00	2.53	10.65	1.032	6	0.000	0.064	3023	1877	1480
7838	1.31	331.4	450.6	8.4	476	7842	0.00	2.53	0.00	0.000	4	0.000	0.066	3023	3248	1480
7890	1.31	332.0	446.0	8.0	479	7895	0.00	2.50	0.00	0.000	6	0.000	0.061	3023	1882	1480
8214	1.31	332.0	419.5	8.3	500	8218	0.00	2.53	0.00	0.000	4	0.000	0.064	3023	3251	1480
8254	1.34	332.0	415.8	8.4	502	8260	0.00	2.45	0.00	0.000	6	0.000	0.060	3023	1914	1480
8573	1.34	332.0	386.9	9.4	523	8578	0.00	2.45	0.00	0.000	4	0.000	0.064	3023	3254	1480
8596	1.34	332.0	384.6	9.7	524	8602	0.00	2.42	0.00	0.000	6	0.000	0.058	3023	1918	1480
8915	1.34	332.0	353.0	10.1	545	8919	0.00	2.45	0.00	0.000	4	0.000	0.064	3023	3252	1480
8932	1.34	332.0	351.2	10.0	546	8936	0.00	2.40	0.00	0.000	6	0.000	0.057	3023	1932	1480
9251	1.34	332.0	318.9	10.2	566	9252	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1932	1481
9564	1.34	332.0	287.0	10.5	586	9568	0.00	2.40	0.00	0.000	4	0.000	0.062	3023	3244	1480
9604	1.38	332.0	282.7	10.6	588	9610	0.10	2.38	0.00	0.000	6	0.061	0.054	3052	1924	1481
9924	1.31	332.0	242.3	13.0	609	9929	0.12	2.42	0.00	0.000	4	0.097	0.061	3029	3253	1481
9940	1.27	332.0	240.0	12.8	610	9944	0.00	2.35	0.00	0.000	6	0.000	0.053	3029	1951	1481
10259	1.27	332.0	205.5	10.7	630	10261	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1951	1481
10572	1.27	332.0	172.9	10.2	650	10576	0.00	2.38	0.00	0.000	4	0.000	0.061	3029	3253	1481
10601	1.27	332.0	169.9	10.7	652	10605	0.00	2.33	0.00	0.000	6	0.000	0.051	3029	1950	1482
10924	1.27	332.0	137.3	9.9	671	10926	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1951	1482
11234	1.27	332.0	105.3	10.9	686	11235	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1951	1482
11543	1.27	332.0	71.8	10.8	701	11547	0.00	2.35	0.00	0.000	4	0.000	0.058	3029	3246	1482
11571	1.30	332.0	68.7	11.8	702	11575	0.00	2.30	0.00	0.000	6	0.000	0.049	3029	1955	1483
11889	1.30	332.0	35.0	11.2	717	11890	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1955	1483
12193	end climb: SURFACE_DEPTH_REACHED
state	12193	begin surface coast
12215	end surface coast: CONTROL_FINISHED_OK
state	12215	begin surface