Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 414 * 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 414 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 41 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 -108140.38 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 -108140.38

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 20 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 41 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 414 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 005724,6228.542,-1028.055,40,2.0,40,-10.4 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.249,-0.085

_SM_DEPTHo 1.26 KALMAN_X -233530.2,1891.4,349.4,356110.8,-11996.7

_SM_ANGLEo -64.9 KALMAN_Y 66886.6,78.4,-560.0,-177129.2,-805.7

GPS2 010336,6228.496,-1028.120,15,1.7,31,-10.4 MHEAD_RNG_PITCHd_Wd 119.3,36361,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.003384 ALTIM_BOTTOM_PING 620.0,24.0

SM_CCo 11517,14.45,0.750,0,0,1608,300.00 _24V_AH 23.7,66.556

SM_GC 1.49,0.00,0.00,14.45,0.000,0.000,0.750,418,2159,1608,-10.70,0.82,300.00 _10V_AH 10.1,30.059

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34909,684

TT8_MAMPS 0.029146 CAP_FILE_SIZE 100198,0

HUMID 1830 CFSIZE 254472192,229642240

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 37 GPS 011109,041821,6226.664,-1028.046,39,2.1,58,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 99.15 SBE_CT 468 24 266.24

Roll_motor 112 87 233.39 SBE_O2 499 19 225.00

VBD_pump_during_apogee 389 1238 11445.68 WL_BB2F 404 105 1005.53

VBD_pump_during_surface 14 750 256.89 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 33 160 125.60 nil 0 0 0.00

Iridium_during_xfer 154 223 818.42

Transponder_ping 14 420 146.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.88

TT8 1236 19 247.21

LPSleep 8189 2 181.15

TT8_Active 507 19 101.41

TT8_Sampling 1471 39 591.55

TT8_CF8 503 45 232.99

TT8_Kalman 33 81 27.56

Analog_circuits 1259 12 152.71

GPS_charging 0 0 0.00

Compass 1417 8 114.52

RAFOS 0 0 0.00

Transponder 38 30 11.55

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

15 -1.44 -146.6 0.0 0.0 0 59 0.00 0.00 -41.72 0.000 2 0.000 0.000 420 2156 2415

63 -1.44 -146.6 2.0 -3.0 2 130 11.00 2.55 -49.30 0.000 4 0.159 0.087 2423 3510 3429

284 -1.33 -146.6 28.4 -15.7 12 289 0.15 2.50 0.00 0.000 6 0.106 0.050 2453 2115 3430

612 -1.29 -146.6 76.7 -14.8 28 617 0.00 2.47 0.00 0.000 4 0.000 0.058 2453 718 3430

668 -1.29 -146.6 85.2 -14.1 30 675 0.00 2.45 0.00 0.000 6 0.000 0.048 2453 2104 3430

985 -1.25 -146.6 125.8 -12.4 46 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2104 3430

1296 -1.22 -146.6 168.5 -14.1 63 1298 0.12 0.00 0.00 0.000 6 0.102 0.000 2478 2104 3430

1607 -1.22 -146.6 207.8 -12.3 83 1611 0.00 2.53 0.00 0.000 4 0.000 0.061 2477 714 3430

1663 -1.27 -146.6 215.1 -13.1 86 1667 0.00 2.47 0.00 0.000 6 0.000 0.049 2478 2112 3430

1983 -1.27 -146.6 254.8 -12.5 106 1988 0.00 2.60 0.00 0.000 4 0.000 0.070 2478 3538 3430

2034 -1.27 -146.6 261.5 -13.2 109 2038 0.00 2.58 0.00 0.000 6 0.000 0.056 2478 2111 3430

2354 -1.27 -146.6 302.1 -12.6 129 2358 0.00 2.50 0.00 0.000 4 0.000 0.062 2478 709 3430

2405 -1.32 -146.6 308.7 -13.6 132 2410 0.00 2.47 0.00 0.000 6 0.000 0.048 2478 2109 3430

2724 -1.32 -146.6 347.7 -12.0 152 2729 0.00 2.53 0.00 0.000 4 0.000 0.061 2478 715 3430

2759 -1.36 -146.6 351.7 -11.7 154 2764 0.15 2.45 0.00 0.000 6 0.059 0.050 2440 2096 3430

3083 -1.31 -146.6 395.9 -14.0 174 3088 0.00 2.50 0.00 0.000 4 0.000 0.064 2440 719 3430

3130 -1.31 -146.6 403.1 -13.9 177 3135 0.10 2.40 0.00 0.000 6 0.106 0.050 2458 2075 3430

3454 -1.31 -146.6 444.8 -12.8 198 3459 0.00 2.67 0.00 0.000 4 0.000 0.074 2458 3532 3430

3488 -1.31 -146.6 449.2 -12.9 200 3493 0.00 2.65 0.00 0.000 6 0.000 0.062 2458 2081 3430

3813 -1.31 -146.6 486.1 -10.5 221 3818 0.00 2.45 0.00 0.000 4 0.000 0.064 2458 704 3431

3881 -1.34 -146.6 494.2 -11.4 225 3886 0.00 2.42 0.00 0.000 6 0.000 0.051 2458 2065 3430

4200 -1.34 -146.6 530.6 -12.7 245 4205 0.00 2.67 0.00 0.000 4 0.000 0.074 2458 3527 3430

4297 -1.34 -146.6 543.3 -12.6 251 4302 0.00 2.62 0.00 0.000 6 0.000 0.064 2458 2094 3431

4622 -1.34 -146.6 584.6 -12.7 272 4626 0.00 2.70 0.00 0.000 4 0.000 0.077 2458 3526 3430

4686 -1.34 -146.6 593.0 -13.7 276 4690 0.00 2.60 0.00 0.000 6 0.000 0.067 2458 2115 3430

5009 end dive: BOTTOM_OBSTACLE_DETECTED

state 5009 begin apogee

5017 -0.33 0.0 634.5 13.1 297 5154 1.00 0.00 133.00 1.239 6 0.079 0.000 2673 1838 2831

5154 end apogee: CONTROL_FINISHED_OK

state 5154 begin climb

5158 1.44 146.6 639.8 0.0 306 5300 1.75 2.78 133.35 1.203 4 0.062 0.073 3054 3255 2233

5349 1.41 158.5 633.1 9.5 317 5371 0.00 2.62 12.23 1.065 6 0.000 0.069 3054 1852 2184

5686 1.34 158.5 601.4 10.1 339 5691 0.00 2.62 0.00 0.000 4 0.000 0.081 3054 439 2183

5737 1.24 158.5 595.9 10.0 342 5742 0.20 2.55 0.00 0.000 6 0.097 0.060 3016 1835 2183

6059 1.31 202.1 571.0 8.0 362 6101 0.00 0.00 39.92 1.196 6 0.000 0.000 3016 1850 2007

6414 1.37 214.2 539.2 9.4 385 6432 0.12 2.75 12.02 1.103 4 0.065 0.074 3046 3261 1957

6529 1.37 214.2 526.5 10.9 391 6535 0.00 2.65 0.00 0.000 6 0.000 0.068 3047 1837 1957

6850 1.38 219.3 494.1 9.8 412 6861 0.00 2.70 5.95 0.938 4 0.000 0.071 3047 3255 1936

6931 1.41 236.1 486.5 9.2 416 6953 0.00 2.60 16.27 1.124 6 0.000 0.066 3047 1853 1868

7276 1.41 236.1 452.6 11.6 438 7277 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1853 1867

7585 1.41 236.1 417.8 10.7 458 7589 0.00 2.60 0.00 0.000 4 0.000 0.067 3047 3255 1867

7669 1.41 236.1 408.5 10.5 463 7673 0.00 2.53 0.00 0.000 6 0.000 0.060 3046 1871 1867

7988 1.42 245.7 377.0 9.6 483 8005 0.00 2.60 9.73 0.977 4 0.000 0.064 3047 3262 1829

8028 1.43 250.5 373.3 9.8 485 8041 0.00 2.50 6.05 0.866 6 0.000 0.058 3047 1892 1809

8353 1.43 250.5 341.1 10.3 506 8354 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1892 1809

8666 1.44 258.8 310.1 9.6 526 8682 0.00 2.58 8.85 0.911 4 0.000 0.064 3047 3272 1775

8728 1.48 258.8 303.5 11.1 529 8734 0.00 2.53 0.00 0.000 6 0.000 0.054 3047 1886 1775

9047 1.48 259.0 272.0 10.0 550 9051 0.00 2.53 0.00 0.000 4 0.000 0.062 3047 3258 1775

9082 1.52 259.0 268.4 10.1 552 9087 0.12 2.42 0.00 0.000 6 0.058 0.054 3081 1916 1775

9404 1.46 259.0 230.3 12.4 572 9408 0.00 2.47 0.00 0.000 4 0.000 0.061 3081 3265 1776

9439 1.43 259.0 225.6 13.1 574 9444 0.12 2.42 0.00 0.000 6 0.100 0.053 3058 1917 1776

9763 1.43 259.0 189.4 11.3 595 9764 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 1917 1776

10075 1.43 259.0 154.3 10.9 615 10079 0.00 2.45 0.00 0.000 4 0.000 0.061 3057 3259 1777

10109 1.43 259.0 150.4 11.0 617 10113 0.00 2.38 0.00 0.000 6 0.000 0.051 3058 1932 1777

10427 1.43 259.0 116.6 11.0 632 10428 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1932 1778

10734 1.43 259.0 81.1 11.0 647 10738 0.00 2.42 0.00 0.000 4 0.000 0.059 3057 3264 1778

10780 1.47 259.0 76.0 11.4 649 10784 0.00 2.33 0.00 0.000 6 0.000 0.049 3058 1960 1778

11102 1.47 259.0 40.5 11.0 665 11103 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1961 1779

11411 1.49 272.0 8.2 9.4 680 11430 0.00 0.00 12.50 0.752 6 0.000 0.000 3057 1961 1721

11469 end climb: SURFACE_DEPTH_REACHED

state 11469 begin surface coast

11492 end surface coast: CONTROL_FINISHED_OK

state 11492 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	414	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	41	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	-108140.38	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	005724,6228.542,-1028.055,40,2.0,40,-10.4	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.249,-0.085
_SM_DEPTHo	1.26	KALMAN_X	-233530.2,1891.4,349.4,356110.8,-11996.7
_SM_ANGLEo	-64.9	KALMAN_Y	66886.6,78.4,-560.0,-177129.2,-805.7
GPS2	010336,6228.496,-1028.120,15,1.7,31,-10.4	MHEAD_RNG_PITCHd_Wd	119.3,36361,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.003384	ALTIM_BOTTOM_PING	620.0,24.0
SM_CCo	11517,14.45,0.750,0,0,1608,300.00	_24V_AH	23.7,66.556
SM_GC	1.49,0.00,0.00,14.45,0.000,0.000,0.750,418,2159,1608,-10.70,0.82,300.00	_10V_AH	10.1,30.059
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34909,684
TT8_MAMPS	0.029146	CAP_FILE_SIZE	100198,0
HUMID	1830	CFSIZE	254472192,229642240
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	37	GPS	011109,041821,6226.664,-1028.046,39,2.1,58,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	99.15	SBE_CT	468	24	266.24
Roll_motor	112	87	233.39	SBE_O2	499	19	225.00
VBD_pump_during_apogee	389	1238	11445.68	WL_BB2F	404	105	1005.53
VBD_pump_during_surface	14	750	256.89	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	125.60	nil	0	0	0.00
Iridium_during_xfer	154	223	818.42
Transponder_ping	14	420	146.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.88
TT8	1236	19	247.21
LPSleep	8189	2	181.15
TT8_Active	507	19	101.41
TT8_Sampling	1471	39	591.55
TT8_CF8	503	45	232.99
TT8_Kalman	33	81	27.56
Analog_circuits	1259	12	152.71
GPS_charging	0	0	0.00
Compass	1417	8	114.52
RAFOS	0	0	0.00
Transponder	38	30	11.55

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
15	-1.44	-146.6	0.0	0.0	0	59	0.00	0.00	-41.72	0.000	2	0.000	0.000	420	2156	2415
63	-1.44	-146.6	2.0	-3.0	2	130	11.00	2.55	-49.30	0.000	4	0.159	0.087	2423	3510	3429
284	-1.33	-146.6	28.4	-15.7	12	289	0.15	2.50	0.00	0.000	6	0.106	0.050	2453	2115	3430
612	-1.29	-146.6	76.7	-14.8	28	617	0.00	2.47	0.00	0.000	4	0.000	0.058	2453	718	3430
668	-1.29	-146.6	85.2	-14.1	30	675	0.00	2.45	0.00	0.000	6	0.000	0.048	2453	2104	3430
985	-1.25	-146.6	125.8	-12.4	46	986	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2104	3430
1296	-1.22	-146.6	168.5	-14.1	63	1298	0.12	0.00	0.00	0.000	6	0.102	0.000	2478	2104	3430
1607	-1.22	-146.6	207.8	-12.3	83	1611	0.00	2.53	0.00	0.000	4	0.000	0.061	2477	714	3430
1663	-1.27	-146.6	215.1	-13.1	86	1667	0.00	2.47	0.00	0.000	6	0.000	0.049	2478	2112	3430
1983	-1.27	-146.6	254.8	-12.5	106	1988	0.00	2.60	0.00	0.000	4	0.000	0.070	2478	3538	3430
2034	-1.27	-146.6	261.5	-13.2	109	2038	0.00	2.58	0.00	0.000	6	0.000	0.056	2478	2111	3430
2354	-1.27	-146.6	302.1	-12.6	129	2358	0.00	2.50	0.00	0.000	4	0.000	0.062	2478	709	3430
2405	-1.32	-146.6	308.7	-13.6	132	2410	0.00	2.47	0.00	0.000	6	0.000	0.048	2478	2109	3430
2724	-1.32	-146.6	347.7	-12.0	152	2729	0.00	2.53	0.00	0.000	4	0.000	0.061	2478	715	3430
2759	-1.36	-146.6	351.7	-11.7	154	2764	0.15	2.45	0.00	0.000	6	0.059	0.050	2440	2096	3430
3083	-1.31	-146.6	395.9	-14.0	174	3088	0.00	2.50	0.00	0.000	4	0.000	0.064	2440	719	3430
3130	-1.31	-146.6	403.1	-13.9	177	3135	0.10	2.40	0.00	0.000	6	0.106	0.050	2458	2075	3430
3454	-1.31	-146.6	444.8	-12.8	198	3459	0.00	2.67	0.00	0.000	4	0.000	0.074	2458	3532	3430
3488	-1.31	-146.6	449.2	-12.9	200	3493	0.00	2.65	0.00	0.000	6	0.000	0.062	2458	2081	3430
3813	-1.31	-146.6	486.1	-10.5	221	3818	0.00	2.45	0.00	0.000	4	0.000	0.064	2458	704	3431
3881	-1.34	-146.6	494.2	-11.4	225	3886	0.00	2.42	0.00	0.000	6	0.000	0.051	2458	2065	3430
4200	-1.34	-146.6	530.6	-12.7	245	4205	0.00	2.67	0.00	0.000	4	0.000	0.074	2458	3527	3430
4297	-1.34	-146.6	543.3	-12.6	251	4302	0.00	2.62	0.00	0.000	6	0.000	0.064	2458	2094	3431
4622	-1.34	-146.6	584.6	-12.7	272	4626	0.00	2.70	0.00	0.000	4	0.000	0.077	2458	3526	3430
4686	-1.34	-146.6	593.0	-13.7	276	4690	0.00	2.60	0.00	0.000	6	0.000	0.067	2458	2115	3430
5009	end dive: BOTTOM_OBSTACLE_DETECTED
state	5009	begin apogee
5017	-0.33	0.0	634.5	13.1	297	5154	1.00	0.00	133.00	1.239	6	0.079	0.000	2673	1838	2831
5154	end apogee: CONTROL_FINISHED_OK
state	5154	begin climb
5158	1.44	146.6	639.8	0.0	306	5300	1.75	2.78	133.35	1.203	4	0.062	0.073	3054	3255	2233
5349	1.41	158.5	633.1	9.5	317	5371	0.00	2.62	12.23	1.065	6	0.000	0.069	3054	1852	2184
5686	1.34	158.5	601.4	10.1	339	5691	0.00	2.62	0.00	0.000	4	0.000	0.081	3054	439	2183
5737	1.24	158.5	595.9	10.0	342	5742	0.20	2.55	0.00	0.000	6	0.097	0.060	3016	1835	2183
6059	1.31	202.1	571.0	8.0	362	6101	0.00	0.00	39.92	1.196	6	0.000	0.000	3016	1850	2007
6414	1.37	214.2	539.2	9.4	385	6432	0.12	2.75	12.02	1.103	4	0.065	0.074	3046	3261	1957
6529	1.37	214.2	526.5	10.9	391	6535	0.00	2.65	0.00	0.000	6	0.000	0.068	3047	1837	1957
6850	1.38	219.3	494.1	9.8	412	6861	0.00	2.70	5.95	0.938	4	0.000	0.071	3047	3255	1936
6931	1.41	236.1	486.5	9.2	416	6953	0.00	2.60	16.27	1.124	6	0.000	0.066	3047	1853	1868
7276	1.41	236.1	452.6	11.6	438	7277	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1853	1867
7585	1.41	236.1	417.8	10.7	458	7589	0.00	2.60	0.00	0.000	4	0.000	0.067	3047	3255	1867
7669	1.41	236.1	408.5	10.5	463	7673	0.00	2.53	0.00	0.000	6	0.000	0.060	3046	1871	1867
7988	1.42	245.7	377.0	9.6	483	8005	0.00	2.60	9.73	0.977	4	0.000	0.064	3047	3262	1829
8028	1.43	250.5	373.3	9.8	485	8041	0.00	2.50	6.05	0.866	6	0.000	0.058	3047	1892	1809
8353	1.43	250.5	341.1	10.3	506	8354	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1892	1809
8666	1.44	258.8	310.1	9.6	526	8682	0.00	2.58	8.85	0.911	4	0.000	0.064	3047	3272	1775
8728	1.48	258.8	303.5	11.1	529	8734	0.00	2.53	0.00	0.000	6	0.000	0.054	3047	1886	1775
9047	1.48	259.0	272.0	10.0	550	9051	0.00	2.53	0.00	0.000	4	0.000	0.062	3047	3258	1775
9082	1.52	259.0	268.4	10.1	552	9087	0.12	2.42	0.00	0.000	6	0.058	0.054	3081	1916	1775
9404	1.46	259.0	230.3	12.4	572	9408	0.00	2.47	0.00	0.000	4	0.000	0.061	3081	3265	1776
9439	1.43	259.0	225.6	13.1	574	9444	0.12	2.42	0.00	0.000	6	0.100	0.053	3058	1917	1776
9763	1.43	259.0	189.4	11.3	595	9764	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	1917	1776
10075	1.43	259.0	154.3	10.9	615	10079	0.00	2.45	0.00	0.000	4	0.000	0.061	3057	3259	1777
10109	1.43	259.0	150.4	11.0	617	10113	0.00	2.38	0.00	0.000	6	0.000	0.051	3058	1932	1777
10427	1.43	259.0	116.6	11.0	632	10428	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1932	1778
10734	1.43	259.0	81.1	11.0	647	10738	0.00	2.42	0.00	0.000	4	0.000	0.059	3057	3264	1778
10780	1.47	259.0	76.0	11.4	649	10784	0.00	2.33	0.00	0.000	6	0.000	0.049	3058	1960	1778
11102	1.47	259.0	40.5	11.0	665	11103	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1961	1779
11411	1.49	272.0	8.2	9.4	680	11430	0.00	0.00	12.50	0.752	6	0.000	0.000	3057	1961	1721
11469	end climb: SURFACE_DEPTH_REACHED
state	11469	begin surface coast
11492	end surface coast: CONTROL_FINISHED_OK
state	11492	begin surface