Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 383 * 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 383 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 19 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -107547.73 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 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 -107547.73

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 19 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 383 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 234807,6238.575,-1104.659,67,1.1,67,-10.8 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 17 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.254,0.069

_SM_DEPTHo 1.41 KALMAN_X -164890.0,1428.7,528.8,257333.7,-12943.4

_SM_ANGLEo -57.3 KALMAN_Y 50499.1,-508.2,-424.5,-141554.8,4411.0

GPS2 235502,6238.606,-1104.910,13,1.2,13,-10.8 MHEAD_RNG_PITCHd_Wd 85.6,5132,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027218 ALTIM_BOTTOM_PING 571.6,67.2

SM_CCo 10730,10.93,0.727,0,0,1608,300.00 _24V_AH 23.7,62.104

SM_GC 1.81,0.00,0.00,10.93,0.000,0.000,0.727,418,2147,1608,-10.70,0.51,300.00 _10V_AH 10.1,28.151

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31713,644

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97244,0

HUMID 1843 CFSIZE 254472192,231133184

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 46 GPS 281009,025630,6239.354,-1103.577,51,1.3,56,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 159 102.09 SBE_CT 439 24 249.92

Roll_motor 121 73 212.81 SBE_O2 470 19 211.74

VBD_pump_during_apogee 387 1244 11424.53 WL_BB2F 374 105 932.71

VBD_pump_during_surface 10 727 188.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.19 nil 0 0 0.00

Iridium_during_connect 35 160 133.34 nil 0 0 0.00

Iridium_during_xfer 214 223 1133.46

Transponder_ping 16 420 164.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.75

TT8 1146 19 229.31

LPSleep 7632 2 168.82

TT8_Active 521 19 104.26

TT8_Sampling 1305 39 524.65

TT8_CF8 552 45 255.80

TT8_Kalman 33 81 27.56

Analog_circuits 1220 12 147.97

GPS_charging 0 0 0.00

Compass 1275 8 103.09

RAFOS 0 0 0.00

Transponder 35 30 10.63

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 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -60.50 0.000 2 0.000 0.000 421 2144 2801

83 -1.44 -146.6 2.8 -2.8 3 118 11.10 0.00 -21.40 0.000 6 0.160 0.000 2423 2147 3430

416 -1.32 -146.6 57.4 -16.9 19 421 0.15 2.60 0.00 0.000 4 0.110 0.057 2452 707 3431

471 -1.32 -146.6 67.8 -19.9 21 478 0.00 2.53 0.00 0.000 6 0.000 0.049 2453 2131 3431

789 -1.27 -146.6 116.1 -15.4 37 793 0.00 2.60 0.00 0.000 4 0.000 0.061 2453 703 3431

822 -1.27 -146.6 121.0 -13.2 38 828 0.00 2.55 0.00 0.000 6 0.000 0.048 2453 2137 3431

1151 -1.21 -146.6 164.2 -14.0 56 1153 0.12 0.00 0.00 0.000 6 0.107 0.000 2477 2137 3431

1462 -1.21 -146.6 202.3 -11.8 76 1467 0.00 2.60 0.00 0.000 4 0.000 0.061 2477 704 3431

1496 -1.25 -146.6 206.7 -12.4 78 1501 0.00 2.53 0.00 0.000 6 0.000 0.049 2477 2125 3431

1816 -1.25 -146.6 244.7 -11.7 98 1824 0.00 2.58 0.00 0.000 4 0.000 0.064 2477 710 3432

1853 -1.30 -146.6 249.3 -12.8 100 1858 0.00 2.50 0.00 0.000 6 0.000 0.050 2477 2120 3431

2184 -1.30 -146.6 288.2 -12.0 121 2188 0.00 2.58 0.00 0.000 4 0.000 0.063 2478 700 3431

2218 -1.34 -146.6 292.5 -12.3 123 2223 0.12 2.50 0.00 0.000 6 0.057 0.050 2445 2109 3431

2540 -1.29 -146.6 335.5 -13.3 143 2544 0.00 2.55 0.00 0.000 4 0.000 0.063 2445 703 3431

2579 -1.29 -146.6 341.3 -13.6 145 2585 0.00 2.47 0.00 0.000 6 0.000 0.050 2444 2099 3431

2901 -1.25 -146.6 383.4 -13.1 166 2902 0.15 0.00 0.00 0.000 6 0.104 0.000 2473 2099 3431

3213 -1.25 -146.6 421.4 -12.5 186 3217 0.00 2.53 0.00 0.000 4 0.000 0.064 2473 708 3431

3253 -1.29 -146.6 426.9 -13.0 188 3259 0.00 2.45 0.00 0.000 6 0.000 0.051 2473 2089 3432

3572 -1.29 -146.6 466.2 -12.3 209 3576 0.00 2.65 0.00 0.000 4 0.000 0.072 2473 3538 3431

3610 -1.29 -146.6 471.4 -13.1 211 3616 0.00 2.67 0.00 0.000 6 0.000 0.062 2473 2070 3431

3930 -1.29 -146.6 513.5 -12.9 232 3931 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2069 3431

4241 -1.29 -146.6 553.4 -12.2 252 4243 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2065 3431

4555 -1.32 -146.6 589.5 -11.4 272 4559 0.00 2.45 0.00 0.000 4 0.000 0.071 2473 715 3431

4594 -1.38 -146.6 594.1 -11.3 274 4601 0.15 2.47 0.00 0.000 6 0.060 0.055 2435 2098 3431

4879 end dive: BOTTOM_OBSTACLE_DETECTED

state 4879 begin apogee

4887 -0.33 0.0 630.7 12.8 293 5023 1.12 0.00 132.00 1.244 6 0.086 0.000 2672 1831 2831

5024 end apogee: CONTROL_FINISHED_OK

state 5024 begin climb

5027 1.44 146.6 636.7 0.0 302 5167 1.75 2.75 131.85 1.201 4 0.061 0.072 3059 3255 2232

5236 1.40 167.2 625.0 9.1 315 5261 0.00 2.62 19.67 1.116 6 0.000 0.070 3058 1851 2148

5586 1.34 172.4 589.9 9.8 337 5602 0.12 2.67 6.15 0.919 4 0.106 0.074 3037 3249 2128

5648 1.37 197.0 583.8 8.9 340 5679 0.00 2.60 23.17 1.140 6 0.000 0.071 3037 1854 2027

6002 1.43 234.1 553.2 8.3 363 6045 0.00 2.72 33.38 1.170 4 0.000 0.074 3037 3255 1876

6057 1.48 263.1 548.1 8.7 366 6090 0.15 2.65 26.58 1.143 6 0.064 0.071 3072 1849 1759

6403 1.42 263.1 509.9 11.6 388 6407 0.00 2.65 0.00 0.000 4 0.000 0.072 3072 3252 1758

6458 1.42 263.1 502.5 13.0 391 6464 0.00 2.58 0.00 0.000 6 0.000 0.068 3072 1863 1758

6778 1.37 263.1 461.1 13.4 412 6783 0.15 2.60 0.00 0.000 4 0.104 0.069 3045 3251 1758

6800 1.37 263.1 457.9 13.6 413 6806 0.00 2.53 0.00 0.000 6 0.000 0.064 3045 1887 1757

7120 1.37 263.1 419.1 12.1 434 7124 0.00 2.55 0.00 0.000 4 0.000 0.067 3044 3257 1757

7153 1.37 263.1 414.8 12.7 436 7157 0.00 2.50 0.00 0.000 6 0.000 0.061 3045 1895 1757

7472 1.37 263.1 378.0 11.4 456 7477 0.00 2.50 0.00 0.000 4 0.000 0.067 3045 3253 1757

7513 1.40 263.1 373.3 12.1 458 7519 0.00 2.45 0.00 0.000 6 0.000 0.058 3045 1908 1757

7832 1.40 263.1 336.7 11.6 479 7836 0.00 2.50 0.00 0.000 4 0.000 0.065 3045 3261 1757

7871 1.44 263.1 332.0 12.3 481 7877 0.00 2.45 0.00 0.000 6 0.000 0.057 3044 1911 1757

8190 1.44 263.1 295.7 11.1 502 8195 0.00 2.47 0.00 0.000 4 0.000 0.064 3044 3254 1757

8230 1.48 263.1 291.2 11.5 504 8236 0.10 2.40 0.00 0.000 6 0.067 0.055 3071 1924 1757

8549 1.45 263.1 252.2 11.7 525 8550 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1924 1757

8862 1.41 263.1 216.0 11.5 545 8866 0.00 2.45 0.00 0.000 4 0.000 0.062 3071 3261 1758

8908 1.41 263.1 210.3 12.7 548 8912 0.00 2.38 0.00 0.000 6 0.000 0.052 3071 1933 1758

9239 1.37 263.1 173.0 11.8 569 9244 0.15 2.42 0.00 0.000 4 0.095 0.061 3042 3258 1758

9261 1.37 263.1 170.1 11.4 570 9267 0.00 2.35 0.00 0.000 6 0.000 0.051 3042 1946 1759

9580 1.40 263.1 135.6 11.5 589 9584 0.00 2.40 0.00 0.000 4 0.000 0.061 3042 3260 1759

9614 1.46 263.1 131.4 11.9 590 9621 0.00 2.35 0.00 0.000 6 0.000 0.051 3042 1942 1759

9931 1.50 263.1 98.4 11.3 606 9936 0.12 2.40 0.00 0.000 4 0.060 0.059 3074 3258 1759

9953 1.50 263.1 95.3 13.4 607 9957 0.00 2.33 0.00 0.000 6 0.000 0.050 3075 1958 1759

10276 1.52 279.1 60.0 9.3 623 10298 0.00 2.38 14.68 0.794 4 0.000 0.058 3075 3252 1693

10326 1.52 279.1 53.4 12.3 625 10330 0.00 2.30 0.00 0.000 6 0.000 0.049 3074 1974 1693

10647 1.52 279.1 8.5 13.6 641 10652 0.00 2.75 0.00 0.000 4 0.000 0.064 3074 439 1693

10659 1.52 279.1 7.1 12.4 641 10665 0.00 2.72 0.00 0.000 6 0.000 0.044 3074 1990 1693

10683 end climb: SURFACE_DEPTH_REACHED

state 10684 begin surface coast

10706 end surface coast: CONTROL_FINISHED_OK

state 10706 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	383	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	19	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-107547.73	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	234807,6238.575,-1104.659,67,1.1,67,-10.8	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	17	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.254,0.069
_SM_DEPTHo	1.41	KALMAN_X	-164890.0,1428.7,528.8,257333.7,-12943.4
_SM_ANGLEo	-57.3	KALMAN_Y	50499.1,-508.2,-424.5,-141554.8,4411.0
GPS2	235502,6238.606,-1104.910,13,1.2,13,-10.8	MHEAD_RNG_PITCHd_Wd	85.6,5132,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.027218	ALTIM_BOTTOM_PING	571.6,67.2
SM_CCo	10730,10.93,0.727,0,0,1608,300.00	_24V_AH	23.7,62.104
SM_GC	1.81,0.00,0.00,10.93,0.000,0.000,0.727,418,2147,1608,-10.70,0.51,300.00	_10V_AH	10.1,28.151
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31713,644
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97244,0
HUMID	1843	CFSIZE	254472192,231133184
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	46	GPS	281009,025630,6239.354,-1103.577,51,1.3,56,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	159	102.09	SBE_CT	439	24	249.92
Roll_motor	121	73	212.81	SBE_O2	470	19	211.74
VBD_pump_during_apogee	387	1244	11424.53	WL_BB2F	374	105	932.71
VBD_pump_during_surface	10	727	188.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.19	nil	0	0	0.00
Iridium_during_connect	35	160	133.34	nil	0	0	0.00
Iridium_during_xfer	214	223	1133.46
Transponder_ping	16	420	164.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.75
TT8	1146	19	229.31
LPSleep	7632	2	168.82
TT8_Active	521	19	104.26
TT8_Sampling	1305	39	524.65
TT8_CF8	552	45	255.80
TT8_Kalman	33	81	27.56
Analog_circuits	1220	12	147.97
GPS_charging	0	0	0.00
Compass	1275	8	103.09
RAFOS	0	0	0.00
Transponder	35	30	10.63

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	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-60.50	0.000	2	0.000	0.000	421	2144	2801
83	-1.44	-146.6	2.8	-2.8	3	118	11.10	0.00	-21.40	0.000	6	0.160	0.000	2423	2147	3430
416	-1.32	-146.6	57.4	-16.9	19	421	0.15	2.60	0.00	0.000	4	0.110	0.057	2452	707	3431
471	-1.32	-146.6	67.8	-19.9	21	478	0.00	2.53	0.00	0.000	6	0.000	0.049	2453	2131	3431
789	-1.27	-146.6	116.1	-15.4	37	793	0.00	2.60	0.00	0.000	4	0.000	0.061	2453	703	3431
822	-1.27	-146.6	121.0	-13.2	38	828	0.00	2.55	0.00	0.000	6	0.000	0.048	2453	2137	3431
1151	-1.21	-146.6	164.2	-14.0	56	1153	0.12	0.00	0.00	0.000	6	0.107	0.000	2477	2137	3431
1462	-1.21	-146.6	202.3	-11.8	76	1467	0.00	2.60	0.00	0.000	4	0.000	0.061	2477	704	3431
1496	-1.25	-146.6	206.7	-12.4	78	1501	0.00	2.53	0.00	0.000	6	0.000	0.049	2477	2125	3431
1816	-1.25	-146.6	244.7	-11.7	98	1824	0.00	2.58	0.00	0.000	4	0.000	0.064	2477	710	3432
1853	-1.30	-146.6	249.3	-12.8	100	1858	0.00	2.50	0.00	0.000	6	0.000	0.050	2477	2120	3431
2184	-1.30	-146.6	288.2	-12.0	121	2188	0.00	2.58	0.00	0.000	4	0.000	0.063	2478	700	3431
2218	-1.34	-146.6	292.5	-12.3	123	2223	0.12	2.50	0.00	0.000	6	0.057	0.050	2445	2109	3431
2540	-1.29	-146.6	335.5	-13.3	143	2544	0.00	2.55	0.00	0.000	4	0.000	0.063	2445	703	3431
2579	-1.29	-146.6	341.3	-13.6	145	2585	0.00	2.47	0.00	0.000	6	0.000	0.050	2444	2099	3431
2901	-1.25	-146.6	383.4	-13.1	166	2902	0.15	0.00	0.00	0.000	6	0.104	0.000	2473	2099	3431
3213	-1.25	-146.6	421.4	-12.5	186	3217	0.00	2.53	0.00	0.000	4	0.000	0.064	2473	708	3431
3253	-1.29	-146.6	426.9	-13.0	188	3259	0.00	2.45	0.00	0.000	6	0.000	0.051	2473	2089	3432
3572	-1.29	-146.6	466.2	-12.3	209	3576	0.00	2.65	0.00	0.000	4	0.000	0.072	2473	3538	3431
3610	-1.29	-146.6	471.4	-13.1	211	3616	0.00	2.67	0.00	0.000	6	0.000	0.062	2473	2070	3431
3930	-1.29	-146.6	513.5	-12.9	232	3931	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2069	3431
4241	-1.29	-146.6	553.4	-12.2	252	4243	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2065	3431
4555	-1.32	-146.6	589.5	-11.4	272	4559	0.00	2.45	0.00	0.000	4	0.000	0.071	2473	715	3431
4594	-1.38	-146.6	594.1	-11.3	274	4601	0.15	2.47	0.00	0.000	6	0.060	0.055	2435	2098	3431
4879	end dive: BOTTOM_OBSTACLE_DETECTED
state	4879	begin apogee
4887	-0.33	0.0	630.7	12.8	293	5023	1.12	0.00	132.00	1.244	6	0.086	0.000	2672	1831	2831
5024	end apogee: CONTROL_FINISHED_OK
state	5024	begin climb
5027	1.44	146.6	636.7	0.0	302	5167	1.75	2.75	131.85	1.201	4	0.061	0.072	3059	3255	2232
5236	1.40	167.2	625.0	9.1	315	5261	0.00	2.62	19.67	1.116	6	0.000	0.070	3058	1851	2148
5586	1.34	172.4	589.9	9.8	337	5602	0.12	2.67	6.15	0.919	4	0.106	0.074	3037	3249	2128
5648	1.37	197.0	583.8	8.9	340	5679	0.00	2.60	23.17	1.140	6	0.000	0.071	3037	1854	2027
6002	1.43	234.1	553.2	8.3	363	6045	0.00	2.72	33.38	1.170	4	0.000	0.074	3037	3255	1876
6057	1.48	263.1	548.1	8.7	366	6090	0.15	2.65	26.58	1.143	6	0.064	0.071	3072	1849	1759
6403	1.42	263.1	509.9	11.6	388	6407	0.00	2.65	0.00	0.000	4	0.000	0.072	3072	3252	1758
6458	1.42	263.1	502.5	13.0	391	6464	0.00	2.58	0.00	0.000	6	0.000	0.068	3072	1863	1758
6778	1.37	263.1	461.1	13.4	412	6783	0.15	2.60	0.00	0.000	4	0.104	0.069	3045	3251	1758
6800	1.37	263.1	457.9	13.6	413	6806	0.00	2.53	0.00	0.000	6	0.000	0.064	3045	1887	1757
7120	1.37	263.1	419.1	12.1	434	7124	0.00	2.55	0.00	0.000	4	0.000	0.067	3044	3257	1757
7153	1.37	263.1	414.8	12.7	436	7157	0.00	2.50	0.00	0.000	6	0.000	0.061	3045	1895	1757
7472	1.37	263.1	378.0	11.4	456	7477	0.00	2.50	0.00	0.000	4	0.000	0.067	3045	3253	1757
7513	1.40	263.1	373.3	12.1	458	7519	0.00	2.45	0.00	0.000	6	0.000	0.058	3045	1908	1757
7832	1.40	263.1	336.7	11.6	479	7836	0.00	2.50	0.00	0.000	4	0.000	0.065	3045	3261	1757
7871	1.44	263.1	332.0	12.3	481	7877	0.00	2.45	0.00	0.000	6	0.000	0.057	3044	1911	1757
8190	1.44	263.1	295.7	11.1	502	8195	0.00	2.47	0.00	0.000	4	0.000	0.064	3044	3254	1757
8230	1.48	263.1	291.2	11.5	504	8236	0.10	2.40	0.00	0.000	6	0.067	0.055	3071	1924	1757
8549	1.45	263.1	252.2	11.7	525	8550	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1924	1757
8862	1.41	263.1	216.0	11.5	545	8866	0.00	2.45	0.00	0.000	4	0.000	0.062	3071	3261	1758
8908	1.41	263.1	210.3	12.7	548	8912	0.00	2.38	0.00	0.000	6	0.000	0.052	3071	1933	1758
9239	1.37	263.1	173.0	11.8	569	9244	0.15	2.42	0.00	0.000	4	0.095	0.061	3042	3258	1758
9261	1.37	263.1	170.1	11.4	570	9267	0.00	2.35	0.00	0.000	6	0.000	0.051	3042	1946	1759
9580	1.40	263.1	135.6	11.5	589	9584	0.00	2.40	0.00	0.000	4	0.000	0.061	3042	3260	1759
9614	1.46	263.1	131.4	11.9	590	9621	0.00	2.35	0.00	0.000	6	0.000	0.051	3042	1942	1759
9931	1.50	263.1	98.4	11.3	606	9936	0.12	2.40	0.00	0.000	4	0.060	0.059	3074	3258	1759
9953	1.50	263.1	95.3	13.4	607	9957	0.00	2.33	0.00	0.000	6	0.000	0.050	3075	1958	1759
10276	1.52	279.1	60.0	9.3	623	10298	0.00	2.38	14.68	0.794	4	0.000	0.058	3075	3252	1693
10326	1.52	279.1	53.4	12.3	625	10330	0.00	2.30	0.00	0.000	6	0.000	0.049	3074	1974	1693
10647	1.52	279.1	8.5	13.6	641	10652	0.00	2.75	0.00	0.000	4	0.000	0.064	3074	439	1693
10659	1.52	279.1	7.1	12.4	641	10665	0.00	2.72	0.00	0.000	6	0.000	0.044	3074	1990	1693
10683	end climb: SURFACE_DEPTH_REACHED
state	10684	begin surface coast
10706	end surface coast: CONTROL_FINISHED_OK
state	10706	begin surface