Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 403 * 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 403 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -107942.63 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 -107942.63

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 403 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 143756,6233.627,-1037.366,32,3.5,51,-10.5 TGT_NAME CE

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.231,-0.126

_SM_DEPTHo 1.21 KALMAN_X -207035.6,1443.3,218.0,322489.1,-15992.6

_SM_ANGLEo -55.1 KALMAN_Y 71613.8,-641.6,-663.1,-171453.4,5329.5

GPS2 144329,6233.646,-1037.470,14,1.8,29,-10.5 MHEAD_RNG_PITCHd_Wd 129.2,9296,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027176 ALTIM_BOTTOM_PING 570.8,34.3

SM_CCo 10722,15.35,0.752,0,0,1608,300.00 _24V_AH 23.7,64.964

SM_GC 1.40,0.00,0.00,15.35,0.000,0.000,0.752,416,2166,1608,-10.70,1.13,300.00 _10V_AH 10.1,29.382

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31687,635

TT8_MAMPS 0.029913 CAP_FILE_SIZE 99823,0

HUMID 1844 CFSIZE 254472192,230178816

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 52 GPS 301009,174437,6233.452,-1037.692,40,0.8,40,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 100.09 SBE_CT 433 24 246.75

Roll_motor 133 79 252.00 SBE_O2 468 19 210.83

VBD_pump_during_apogee 381 1210 10939.64 WL_BB2F 388 105 967.15

VBD_pump_during_surface 15 752 273.73 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 27 160 105.24 nil 0 0 0.00

Iridium_during_xfer 131 223 692.62

Transponder_ping 18 420 179.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 14.84

TT8 1164 19 232.90

LPSleep 7556 2 167.13

TT8_Active 511 19 102.28

TT8_Sampling 1374 39 552.70

TT8_CF8 465 45 215.46

TT8_Kalman 33 81 27.56

Analog_circuits 1234 12 149.62

GPS_charging 0 0 0.00

Compass 1324 8 107.00

RAFOS 0 0 0.00

Transponder 38 30 11.59

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 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -60.83 0.000 2 0.000 0.000 419 2154 2765

83 -1.44 -146.6 2.6 -3.6 3 123 10.95 2.58 -22.62 0.000 4 0.159 0.078 2428 3531 3430

167 -1.35 -146.6 13.8 -18.8 7 172 0.12 2.53 0.00 0.000 6 0.106 0.049 2452 2120 3429

496 -1.30 -146.6 63.1 -15.1 23 500 0.00 2.60 0.00 0.000 4 0.000 0.065 2453 3535 3430

529 -1.25 -146.6 68.9 -16.1 24 536 0.10 2.47 0.00 0.000 6 0.106 0.050 2471 2148 3430

847 -1.25 -146.6 113.6 -13.8 40 851 0.00 2.55 0.00 0.000 4 0.000 0.059 2472 708 3430

947 -1.28 -146.6 128.0 -13.5 44 954 0.00 2.50 0.00 0.000 6 0.000 0.047 2472 2122 3431

1276 -1.28 -146.6 172.7 -13.9 63 1280 0.00 2.55 0.00 0.000 4 0.000 0.060 2472 711 3431

1309 -1.31 -146.6 177.5 -13.2 65 1314 0.00 2.50 0.00 0.000 6 0.000 0.048 2472 2122 3430

1629 -1.31 -146.6 219.9 -12.9 85 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2123 3431

1942 -1.31 -146.6 261.9 -13.7 105 1946 0.00 2.55 0.00 0.000 4 0.000 0.063 2472 717 3431

1970 -1.31 -146.6 266.3 -14.8 107 1974 0.00 2.47 0.00 0.000 6 0.000 0.050 2472 2114 3431

2296 -1.31 -146.6 311.1 -14.0 128 2301 0.00 2.53 0.00 0.000 4 0.000 0.061 2472 717 3431

2337 -1.35 -146.6 317.2 -14.7 130 2343 0.00 2.45 0.00 0.000 6 0.000 0.049 2472 2101 3431

2657 -1.35 -146.6 358.3 -11.4 151 2662 0.00 2.62 0.00 0.000 4 0.000 0.079 2471 3527 3431

2686 -1.35 -146.6 361.9 -11.9 153 2691 0.00 2.62 0.00 0.000 6 0.000 0.061 2472 2077 3431

3012 -1.35 -146.6 394.5 -9.6 174 3013 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2077 3431

3324 -1.35 -146.6 423.5 -8.7 194 3328 0.00 2.70 0.00 0.000 4 0.000 0.071 2472 3534 3431

3380 -1.35 -146.6 428.5 -9.1 197 3387 0.00 2.62 0.00 0.000 6 0.000 0.060 2472 2086 3430

3700 -1.35 -146.6 460.1 -9.9 218 3704 0.00 2.45 0.00 0.000 4 0.000 0.063 2472 713 3430

3770 -1.39 -146.6 466.7 -9.6 222 3775 0.15 2.42 0.00 0.000 6 0.059 0.050 2434 2077 3430

4091 -1.34 -146.6 507.1 -15.1 242 4096 0.00 2.67 0.00 0.000 4 0.000 0.076 2433 3528 3430

4114 -1.30 -146.6 511.0 -15.5 243 4120 0.12 2.70 0.00 0.000 6 0.100 0.064 2459 2054 3430

4436 -1.30 -146.6 551.5 -12.4 264 4437 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2054 3430

4745 -1.30 -146.6 591.8 -12.9 284 4749 0.00 2.80 0.00 0.000 4 0.000 0.080 2459 3535 3430

4771 end dive: BOTTOM_OBSTACLE_DETECTED

state 4771 begin apogee

4783 -0.33 0.0 595.4 12.1 286 4917 0.95 0.00 130.98 1.210 6 0.086 0.000 2664 1846 2831

4918 end apogee: CONTROL_FINISHED_OK

state 4918 begin climb

4921 1.44 146.6 602.8 0.0 295 5062 1.80 2.72 132.07 1.166 4 0.061 0.072 3058 3257 2233

5319 1.44 189.8 578.5 8.0 319 5366 0.00 2.65 38.90 1.145 6 0.000 0.070 3058 1841 2057

5683 1.44 217.9 547.1 8.7 342 5715 0.00 2.72 25.67 1.135 4 0.000 0.075 3058 3247 1941

5777 1.44 217.9 537.6 10.0 347 5783 0.00 2.60 0.00 0.000 6 0.000 0.071 3059 1857 1941

6098 1.40 217.9 503.6 11.5 368 6102 0.00 2.62 0.00 0.000 4 0.000 0.074 3058 3248 1940

6114 1.36 217.9 501.2 12.2 369 6118 0.00 2.55 0.00 0.000 6 0.000 0.067 3059 1878 1940

6433 1.32 217.9 461.8 13.9 389 6438 0.15 2.65 0.00 0.000 4 0.101 0.073 3031 432 1939

6473 1.32 217.9 455.7 15.4 391 6479 0.00 2.62 0.00 0.000 6 0.000 0.056 3031 1881 1939

6792 1.32 217.9 410.2 13.0 412 6796 0.00 2.50 0.00 0.000 4 0.000 0.070 3031 3255 1939

6825 1.36 217.9 405.6 13.2 414 6830 0.00 2.53 0.00 0.000 6 0.000 0.061 3031 1876 1938

7146 1.39 217.9 368.4 11.1 434 7150 0.00 2.58 0.00 0.000 4 0.000 0.067 3031 3262 1938

7179 1.43 217.9 364.5 11.5 436 7184 0.12 2.47 0.00 0.000 6 0.063 0.059 3064 1903 1938

7502 1.39 217.9 326.9 11.5 456 7506 0.00 2.50 0.00 0.000 4 0.000 0.065 3064 3259 1938

7541 1.39 217.9 321.8 11.6 458 7545 0.00 2.42 0.00 0.000 6 0.000 0.056 3064 1915 1938

7866 1.35 217.9 285.6 11.4 479 7871 0.12 2.47 0.00 0.000 4 0.099 0.067 3039 3257 1938

7889 1.35 217.9 282.9 11.6 480 7895 0.00 2.42 0.00 0.000 6 0.000 0.054 3040 1912 1938

8208 1.38 234.7 252.2 9.2 501 8229 0.00 2.55 15.12 0.932 4 0.000 0.063 3040 3264 1874

8263 1.42 234.7 246.7 10.5 504 8269 0.00 2.42 0.00 0.000 6 0.000 0.052 3039 1926 1874

8583 1.44 243.1 217.8 9.6 525 8600 0.00 2.50 9.00 0.855 4 0.000 0.062 3040 3255 1838

8623 1.48 243.1 213.2 11.0 527 8628 0.12 2.38 0.00 0.000 6 0.060 0.052 3073 1945 1838

8943 1.44 243.1 177.3 11.4 547 8947 0.00 2.70 0.00 0.000 4 0.000 0.063 3073 438 1838

8959 1.39 243.1 175.0 12.0 548 8965 0.15 2.70 0.00 0.000 6 0.095 0.048 3044 1958 1838

9278 1.39 243.1 143.0 10.1 567 9282 0.00 2.33 0.00 0.000 4 0.000 0.062 3045 3265 1839

9298 1.43 247.1 141.3 9.8 568 9308 0.00 2.38 5.03 0.682 6 0.000 0.051 3045 1938 1823

9626 1.45 261.6 110.6 9.3 584 9647 0.00 2.47 13.65 0.833 4 0.000 0.060 3045 3258 1764

9676 1.52 266.5 105.4 9.8 586 9687 0.15 2.38 5.62 0.688 6 0.054 0.050 3084 1939 1744

10000 1.48 266.5 70.0 11.1 601 10005 0.00 2.67 0.00 0.000 4 0.000 0.061 3084 442 1744

10019 1.43 266.5 67.6 11.1 602 10024 0.15 2.70 0.00 0.000 6 0.097 0.047 3056 1969 1744

10348 1.43 270.8 35.9 9.8 618 10358 0.00 2.30 5.32 0.641 4 0.000 0.057 3056 3257 1727

10392 1.49 270.8 31.2 11.2 620 10396 0.00 2.35 0.00 0.000 6 0.000 0.048 3056 1945 1727

10676 end climb: SURFACE_DEPTH_REACHED

state 10677 begin surface coast

10697 end surface coast: CONTROL_FINISHED_OK

state 10697 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	403	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-107942.63	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	143756,6233.627,-1037.366,32,3.5,51,-10.5	TGT_NAME	CE
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.231,-0.126
_SM_DEPTHo	1.21	KALMAN_X	-207035.6,1443.3,218.0,322489.1,-15992.6
_SM_ANGLEo	-55.1	KALMAN_Y	71613.8,-641.6,-663.1,-171453.4,5329.5
GPS2	144329,6233.646,-1037.470,14,1.8,29,-10.5	MHEAD_RNG_PITCHd_Wd	129.2,9296,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.027176	ALTIM_BOTTOM_PING	570.8,34.3
SM_CCo	10722,15.35,0.752,0,0,1608,300.00	_24V_AH	23.7,64.964
SM_GC	1.40,0.00,0.00,15.35,0.000,0.000,0.752,416,2166,1608,-10.70,1.13,300.00	_10V_AH	10.1,29.382
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31687,635
TT8_MAMPS	0.029913	CAP_FILE_SIZE	99823,0
HUMID	1844	CFSIZE	254472192,230178816
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	52	GPS	301009,174437,6233.452,-1037.692,40,0.8,40,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	100.09	SBE_CT	433	24	246.75
Roll_motor	133	79	252.00	SBE_O2	468	19	210.83
VBD_pump_during_apogee	381	1210	10939.64	WL_BB2F	388	105	967.15
VBD_pump_during_surface	15	752	273.73	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	27	160	105.24	nil	0	0	0.00
Iridium_during_xfer	131	223	692.62
Transponder_ping	18	420	179.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	14.84
TT8	1164	19	232.90
LPSleep	7556	2	167.13
TT8_Active	511	19	102.28
TT8_Sampling	1374	39	552.70
TT8_CF8	465	45	215.46
TT8_Kalman	33	81	27.56
Analog_circuits	1234	12	149.62
GPS_charging	0	0	0.00
Compass	1324	8	107.00
RAFOS	0	0	0.00
Transponder	38	30	11.59

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	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-60.83	0.000	2	0.000	0.000	419	2154	2765
83	-1.44	-146.6	2.6	-3.6	3	123	10.95	2.58	-22.62	0.000	4	0.159	0.078	2428	3531	3430
167	-1.35	-146.6	13.8	-18.8	7	172	0.12	2.53	0.00	0.000	6	0.106	0.049	2452	2120	3429
496	-1.30	-146.6	63.1	-15.1	23	500	0.00	2.60	0.00	0.000	4	0.000	0.065	2453	3535	3430
529	-1.25	-146.6	68.9	-16.1	24	536	0.10	2.47	0.00	0.000	6	0.106	0.050	2471	2148	3430
847	-1.25	-146.6	113.6	-13.8	40	851	0.00	2.55	0.00	0.000	4	0.000	0.059	2472	708	3430
947	-1.28	-146.6	128.0	-13.5	44	954	0.00	2.50	0.00	0.000	6	0.000	0.047	2472	2122	3431
1276	-1.28	-146.6	172.7	-13.9	63	1280	0.00	2.55	0.00	0.000	4	0.000	0.060	2472	711	3431
1309	-1.31	-146.6	177.5	-13.2	65	1314	0.00	2.50	0.00	0.000	6	0.000	0.048	2472	2122	3430
1629	-1.31	-146.6	219.9	-12.9	85	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2123	3431
1942	-1.31	-146.6	261.9	-13.7	105	1946	0.00	2.55	0.00	0.000	4	0.000	0.063	2472	717	3431
1970	-1.31	-146.6	266.3	-14.8	107	1974	0.00	2.47	0.00	0.000	6	0.000	0.050	2472	2114	3431
2296	-1.31	-146.6	311.1	-14.0	128	2301	0.00	2.53	0.00	0.000	4	0.000	0.061	2472	717	3431
2337	-1.35	-146.6	317.2	-14.7	130	2343	0.00	2.45	0.00	0.000	6	0.000	0.049	2472	2101	3431
2657	-1.35	-146.6	358.3	-11.4	151	2662	0.00	2.62	0.00	0.000	4	0.000	0.079	2471	3527	3431
2686	-1.35	-146.6	361.9	-11.9	153	2691	0.00	2.62	0.00	0.000	6	0.000	0.061	2472	2077	3431
3012	-1.35	-146.6	394.5	-9.6	174	3013	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2077	3431
3324	-1.35	-146.6	423.5	-8.7	194	3328	0.00	2.70	0.00	0.000	4	0.000	0.071	2472	3534	3431
3380	-1.35	-146.6	428.5	-9.1	197	3387	0.00	2.62	0.00	0.000	6	0.000	0.060	2472	2086	3430
3700	-1.35	-146.6	460.1	-9.9	218	3704	0.00	2.45	0.00	0.000	4	0.000	0.063	2472	713	3430
3770	-1.39	-146.6	466.7	-9.6	222	3775	0.15	2.42	0.00	0.000	6	0.059	0.050	2434	2077	3430
4091	-1.34	-146.6	507.1	-15.1	242	4096	0.00	2.67	0.00	0.000	4	0.000	0.076	2433	3528	3430
4114	-1.30	-146.6	511.0	-15.5	243	4120	0.12	2.70	0.00	0.000	6	0.100	0.064	2459	2054	3430
4436	-1.30	-146.6	551.5	-12.4	264	4437	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	2054	3430
4745	-1.30	-146.6	591.8	-12.9	284	4749	0.00	2.80	0.00	0.000	4	0.000	0.080	2459	3535	3430
4771	end dive: BOTTOM_OBSTACLE_DETECTED
state	4771	begin apogee
4783	-0.33	0.0	595.4	12.1	286	4917	0.95	0.00	130.98	1.210	6	0.086	0.000	2664	1846	2831
4918	end apogee: CONTROL_FINISHED_OK
state	4918	begin climb
4921	1.44	146.6	602.8	0.0	295	5062	1.80	2.72	132.07	1.166	4	0.061	0.072	3058	3257	2233
5319	1.44	189.8	578.5	8.0	319	5366	0.00	2.65	38.90	1.145	6	0.000	0.070	3058	1841	2057
5683	1.44	217.9	547.1	8.7	342	5715	0.00	2.72	25.67	1.135	4	0.000	0.075	3058	3247	1941
5777	1.44	217.9	537.6	10.0	347	5783	0.00	2.60	0.00	0.000	6	0.000	0.071	3059	1857	1941
6098	1.40	217.9	503.6	11.5	368	6102	0.00	2.62	0.00	0.000	4	0.000	0.074	3058	3248	1940
6114	1.36	217.9	501.2	12.2	369	6118	0.00	2.55	0.00	0.000	6	0.000	0.067	3059	1878	1940
6433	1.32	217.9	461.8	13.9	389	6438	0.15	2.65	0.00	0.000	4	0.101	0.073	3031	432	1939
6473	1.32	217.9	455.7	15.4	391	6479	0.00	2.62	0.00	0.000	6	0.000	0.056	3031	1881	1939
6792	1.32	217.9	410.2	13.0	412	6796	0.00	2.50	0.00	0.000	4	0.000	0.070	3031	3255	1939
6825	1.36	217.9	405.6	13.2	414	6830	0.00	2.53	0.00	0.000	6	0.000	0.061	3031	1876	1938
7146	1.39	217.9	368.4	11.1	434	7150	0.00	2.58	0.00	0.000	4	0.000	0.067	3031	3262	1938
7179	1.43	217.9	364.5	11.5	436	7184	0.12	2.47	0.00	0.000	6	0.063	0.059	3064	1903	1938
7502	1.39	217.9	326.9	11.5	456	7506	0.00	2.50	0.00	0.000	4	0.000	0.065	3064	3259	1938
7541	1.39	217.9	321.8	11.6	458	7545	0.00	2.42	0.00	0.000	6	0.000	0.056	3064	1915	1938
7866	1.35	217.9	285.6	11.4	479	7871	0.12	2.47	0.00	0.000	4	0.099	0.067	3039	3257	1938
7889	1.35	217.9	282.9	11.6	480	7895	0.00	2.42	0.00	0.000	6	0.000	0.054	3040	1912	1938
8208	1.38	234.7	252.2	9.2	501	8229	0.00	2.55	15.12	0.932	4	0.000	0.063	3040	3264	1874
8263	1.42	234.7	246.7	10.5	504	8269	0.00	2.42	0.00	0.000	6	0.000	0.052	3039	1926	1874
8583	1.44	243.1	217.8	9.6	525	8600	0.00	2.50	9.00	0.855	4	0.000	0.062	3040	3255	1838
8623	1.48	243.1	213.2	11.0	527	8628	0.12	2.38	0.00	0.000	6	0.060	0.052	3073	1945	1838
8943	1.44	243.1	177.3	11.4	547	8947	0.00	2.70	0.00	0.000	4	0.000	0.063	3073	438	1838
8959	1.39	243.1	175.0	12.0	548	8965	0.15	2.70	0.00	0.000	6	0.095	0.048	3044	1958	1838
9278	1.39	243.1	143.0	10.1	567	9282	0.00	2.33	0.00	0.000	4	0.000	0.062	3045	3265	1839
9298	1.43	247.1	141.3	9.8	568	9308	0.00	2.38	5.03	0.682	6	0.000	0.051	3045	1938	1823
9626	1.45	261.6	110.6	9.3	584	9647	0.00	2.47	13.65	0.833	4	0.000	0.060	3045	3258	1764
9676	1.52	266.5	105.4	9.8	586	9687	0.15	2.38	5.62	0.688	6	0.054	0.050	3084	1939	1744
10000	1.48	266.5	70.0	11.1	601	10005	0.00	2.67	0.00	0.000	4	0.000	0.061	3084	442	1744
10019	1.43	266.5	67.6	11.1	602	10024	0.15	2.70	0.00	0.000	6	0.097	0.047	3056	1969	1744
10348	1.43	270.8	35.9	9.8	618	10358	0.00	2.30	5.32	0.641	4	0.000	0.057	3056	3257	1727
10392	1.49	270.8	31.2	11.2	620	10396	0.00	2.35	0.00	0.000	6	0.000	0.048	3056	1945	1727
10676	end climb: SURFACE_DEPTH_REACHED
state	10677	begin surface coast
10697	end surface coast: CONTROL_FINISHED_OK
state	10697	begin surface