Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 415 * 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 415 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 21 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 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 -108171.9 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 -108171.9

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 21 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 415 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 041821,6226.664,-1028.046,39,2.1,58,-10.4 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.258,-0.055

_SM_DEPTHo 1.31 KALMAN_X -237419.5,1650.3,502.2,360155.4,-13688.2

_SM_ANGLEo -65.6 KALMAN_Y 64767.2,-171.1,11.9,-178711.1,-2724.6

GPS2 042433,6226.672,-1028.055,11,2.3,30,-10.4 MHEAD_RNG_PITCHd_Wd 112.4,34980,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.026959 ALTIM_BOTTOM_PING 596.7,58.3

SM_CCo 11311,22.65,0.765,0,0,1607,300.00 _24V_AH 23.7,66.702

SM_GC 1.38,0.00,0.00,22.65,0.000,0.000,0.765,422,2159,1607,-10.69,0.82,300.00 _10V_AH 10.1,30.123

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34860,676

TT8_MAMPS 0.029146 CAP_FILE_SIZE 99213,0

HUMID 1850 CFSIZE 254472192,229588992

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 52 GPS 011109,073536,6226.599,-1024.948,34,1.5,34,-10.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 163 103.96 SBE_CT 462 24 262.85

Roll_motor 116 80 222.17 SBE_O2 492 19 221.71

VBD_pump_during_apogee 367 1256 10955.11 WL_BB2F 395 105 984.27

VBD_pump_during_surface 22 765 410.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.17 nil 0 0 0.00

Iridium_during_connect 27 160 105.22 nil 0 0 0.00

Iridium_during_xfer 160 223 850.10

Transponder_ping 18 420 181.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.60

TT8 1212 19 242.40

LPSleep 8070 2 178.50

TT8_Active 495 19 99.02

TT8_Sampling 1430 39 575.16

TT8_CF8 503 45 232.94

TT8_Kalman 33 81 27.56

Analog_circuits 1232 12 149.34

GPS_charging 0 0 0.00

Compass 1378 8 111.39

RAFOS 0 0 0.00

Transponder 36 30 11.10

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 78 0.00 0.00 -60.53 0.000 2 0.000 0.000 417 2158 2814

82 -1.44 -146.6 2.9 -3.8 3 118 11.07 2.53 -19.65 0.000 4 0.163 0.080 2423 3527 3428

270 -1.33 -146.6 31.3 -17.0 10 277 0.15 2.50 0.00 0.000 6 0.103 0.049 2453 2125 3428

587 -1.28 -146.6 75.3 -13.8 26 591 0.00 2.50 0.00 0.000 4 0.000 0.059 2453 716 3428

615 -1.28 -146.6 79.5 -14.3 27 620 0.00 2.50 0.00 0.000 6 0.000 0.048 2453 2125 3428

933 -1.24 -146.6 122.2 -13.4 42 938 0.10 2.58 0.00 0.000 4 0.107 0.061 2472 711 3429

989 -1.27 -146.6 129.5 -11.9 44 995 0.00 2.50 0.00 0.000 6 0.000 0.048 2472 2125 3429

1307 -1.27 -146.6 165.7 -11.6 62 1311 0.00 2.58 0.00 0.000 4 0.000 0.061 2472 708 3429

1358 -1.27 -146.6 172.1 -11.9 65 1362 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2104 3429

1678 -1.27 -146.6 210.5 -11.9 85 1679 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2105 3429

1989 -1.27 -146.6 248.6 -12.1 105 1994 0.00 2.53 0.00 0.000 4 0.000 0.063 2472 716 3429

2023 -1.30 -146.6 252.9 -12.0 107 2028 0.00 2.45 0.00 0.000 6 0.000 0.050 2472 2097 3429

2343 -1.30 -146.6 290.0 -11.6 127 2344 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2096 3429

2654 -1.30 -146.6 327.4 -12.5 147 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2096 3429

2968 -1.30 -146.6 368.7 -13.7 167 2972 0.00 2.50 0.00 0.000 4 0.000 0.063 2472 719 3429

3023 -1.34 -146.6 376.7 -14.4 170 3030 0.00 2.40 0.00 0.000 6 0.000 0.051 2472 2073 3429

3344 -1.34 -146.6 420.1 -12.8 191 3348 0.00 2.67 0.00 0.000 4 0.000 0.074 2472 3532 3429

3377 -1.34 -146.6 424.6 -13.2 193 3382 0.00 2.65 0.00 0.000 6 0.000 0.061 2472 2079 3429

3696 -1.34 -146.6 461.5 -12.2 213 3701 0.00 2.42 0.00 0.000 4 0.000 0.064 2472 717 3429

3759 -1.39 -146.6 469.3 -12.1 217 3765 0.15 2.38 0.00 0.000 6 0.059 0.051 2433 2053 3429

4093 -1.34 -146.6 512.8 -13.2 238 4099 0.10 2.72 0.00 0.000 4 0.106 0.075 2452 3537 3428

4150 -1.34 -146.6 520.6 -12.8 241 4156 0.00 2.70 0.00 0.000 6 0.000 0.063 2452 2059 3429

4470 -1.34 -146.6 560.0 -12.3 262 4474 0.00 2.40 0.00 0.000 4 0.000 0.067 2452 719 3429

4526 -1.34 -146.6 567.4 -12.9 265 4532 0.00 2.38 0.00 0.000 6 0.000 0.053 2452 2050 3429

4848 -1.34 -146.6 606.1 -12.0 286 4852 0.00 2.75 0.00 0.000 4 0.000 0.081 2452 3531 3428

4954 -1.34 -146.6 619.6 -11.7 292 4960 0.00 2.72 0.00 0.000 6 0.000 0.069 2452 2057 3428

5176 end dive: BOTTOM_OBSTACLE_DETECTED

state 5176 begin apogee

5185 -0.33 0.0 645.8 11.2 307 5321 1.02 0.00 132.65 1.256 6 0.083 0.000 2670 1848 2831

5322 end apogee: CONTROL_FINISHED_OK

state 5322 begin climb

5325 1.44 146.6 650.6 0.0 316 5466 1.77 2.75 132.80 1.214 4 0.058 0.072 3058 3251 2233

5507 1.36 161.4 642.5 9.3 327 5526 0.00 2.65 14.50 1.098 6 0.000 0.074 3058 1845 2173

5849 1.31 171.1 608.3 9.6 349 5867 0.15 2.72 10.45 1.065 4 0.100 0.076 3031 3255 2132

5971 1.37 205.6 597.7 8.4 356 6010 0.00 2.58 31.88 1.180 6 0.000 0.072 3031 1876 1993

6334 1.37 205.6 562.5 10.2 379 6338 0.00 2.62 0.00 0.000 4 0.000 0.078 3031 3254 1990

6372 1.40 205.6 557.8 11.3 381 6379 0.00 2.58 0.00 0.000 6 0.000 0.073 3031 1876 1990

6693 1.41 206.7 523.2 10.0 402 6694 0.00 0.00 0.00 0.000 6 0.000 0.000 3031 1876 1989

7004 1.49 257.3 496.9 7.7 422 7056 0.17 2.65 45.65 1.182 4 0.061 0.071 3076 3250 1781

7081 1.44 257.3 488.8 12.4 427 7085 0.00 2.55 0.00 0.000 6 0.000 0.066 3076 1885 1781

7405 1.38 257.3 448.9 12.8 448 7410 0.17 2.58 0.00 0.000 4 0.100 0.070 3039 3257 1781

7427 1.38 257.3 446.0 12.7 449 7433 0.00 2.53 0.00 0.000 6 0.000 0.063 3039 1888 1781

7747 1.38 257.3 409.6 11.3 470 7751 0.00 2.53 0.00 0.000 4 0.000 0.068 3039 3252 1781

7803 1.42 257.3 403.0 11.3 473 7810 0.00 2.45 0.00 0.000 6 0.000 0.060 3039 1911 1781

8123 1.42 257.3 368.7 10.8 494 8127 0.00 2.50 0.00 0.000 4 0.000 0.066 3039 3259 1781

8162 1.47 257.3 364.3 11.0 496 8168 0.12 2.45 0.00 0.000 6 0.062 0.058 3071 1915 1781

8481 1.43 257.3 324.9 12.4 517 8486 0.00 2.47 0.00 0.000 4 0.000 0.065 3072 3255 1781

8516 1.43 257.3 320.5 12.5 519 8520 0.00 2.38 0.00 0.000 6 0.000 0.056 3071 1935 1781

8835 1.39 257.3 280.1 12.8 539 8837 0.12 0.00 0.00 0.000 6 0.098 0.000 3047 1935 1781

9148 1.39 257.3 245.1 11.2 559 9152 0.00 2.42 0.00 0.000 4 0.000 0.064 3047 3254 1782

9170 1.39 257.3 242.3 11.8 560 9176 0.00 2.40 0.00 0.000 6 0.000 0.054 3047 1923 1782

9489 1.39 257.3 206.1 11.4 581 9494 0.00 2.45 0.00 0.000 4 0.000 0.062 3047 3258 1783

9529 1.43 257.3 201.2 12.3 583 9535 0.00 2.35 0.00 0.000 6 0.000 0.052 3047 1948 1783

9849 1.43 257.3 164.1 11.4 604 9850 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1949 1783

10159 1.43 257.3 127.2 12.0 621 10160 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1948 1783

10469 1.46 257.3 92.1 11.2 636 10473 0.00 2.38 0.00 0.000 4 0.000 0.061 3047 3251 1784

10493 1.51 257.3 89.4 10.5 637 10497 0.12 2.30 0.00 0.000 6 0.058 0.049 3081 1963 1784

10820 1.47 257.3 52.0 10.9 653 10824 0.00 2.35 0.00 0.000 4 0.000 0.059 3081 3252 1785

10843 1.47 257.3 49.1 12.3 654 10847 0.00 2.28 0.00 0.000 6 0.000 0.048 3081 1972 1785

11166 1.43 257.3 11.9 11.6 670 11168 0.12 0.00 0.00 0.000 6 0.094 0.000 3057 1972 1785

11267 end climb: SURFACE_DEPTH_REACHED

state 11267 begin surface coast

11287 end surface coast: CONTROL_FINISHED_OK

state 11287 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	415	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	21	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	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	-108171.9	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	041821,6226.664,-1028.046,39,2.1,58,-10.4	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.258,-0.055
_SM_DEPTHo	1.31	KALMAN_X	-237419.5,1650.3,502.2,360155.4,-13688.2
_SM_ANGLEo	-65.6	KALMAN_Y	64767.2,-171.1,11.9,-178711.1,-2724.6
GPS2	042433,6226.672,-1028.055,11,2.3,30,-10.4	MHEAD_RNG_PITCHd_Wd	112.4,34980,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.026959	ALTIM_BOTTOM_PING	596.7,58.3
SM_CCo	11311,22.65,0.765,0,0,1607,300.00	_24V_AH	23.7,66.702
SM_GC	1.38,0.00,0.00,22.65,0.000,0.000,0.765,422,2159,1607,-10.69,0.82,300.00	_10V_AH	10.1,30.123
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34860,676
TT8_MAMPS	0.029146	CAP_FILE_SIZE	99213,0
HUMID	1850	CFSIZE	254472192,229588992
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	52	GPS	011109,073536,6226.599,-1024.948,34,1.5,34,-10.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	163	103.96	SBE_CT	462	24	262.85
Roll_motor	116	80	222.17	SBE_O2	492	19	221.71
VBD_pump_during_apogee	367	1256	10955.11	WL_BB2F	395	105	984.27
VBD_pump_during_surface	22	765	410.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.17	nil	0	0	0.00
Iridium_during_connect	27	160	105.22	nil	0	0	0.00
Iridium_during_xfer	160	223	850.10
Transponder_ping	18	420	181.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.60
TT8	1212	19	242.40
LPSleep	8070	2	178.50
TT8_Active	495	19	99.02
TT8_Sampling	1430	39	575.16
TT8_CF8	503	45	232.94
TT8_Kalman	33	81	27.56
Analog_circuits	1232	12	149.34
GPS_charging	0	0	0.00
Compass	1378	8	111.39
RAFOS	0	0	0.00
Transponder	36	30	11.10

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	78	0.00	0.00	-60.53	0.000	2	0.000	0.000	417	2158	2814
82	-1.44	-146.6	2.9	-3.8	3	118	11.07	2.53	-19.65	0.000	4	0.163	0.080	2423	3527	3428
270	-1.33	-146.6	31.3	-17.0	10	277	0.15	2.50	0.00	0.000	6	0.103	0.049	2453	2125	3428
587	-1.28	-146.6	75.3	-13.8	26	591	0.00	2.50	0.00	0.000	4	0.000	0.059	2453	716	3428
615	-1.28	-146.6	79.5	-14.3	27	620	0.00	2.50	0.00	0.000	6	0.000	0.048	2453	2125	3428
933	-1.24	-146.6	122.2	-13.4	42	938	0.10	2.58	0.00	0.000	4	0.107	0.061	2472	711	3429
989	-1.27	-146.6	129.5	-11.9	44	995	0.00	2.50	0.00	0.000	6	0.000	0.048	2472	2125	3429
1307	-1.27	-146.6	165.7	-11.6	62	1311	0.00	2.58	0.00	0.000	4	0.000	0.061	2472	708	3429
1358	-1.27	-146.6	172.1	-11.9	65	1362	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2104	3429
1678	-1.27	-146.6	210.5	-11.9	85	1679	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2105	3429
1989	-1.27	-146.6	248.6	-12.1	105	1994	0.00	2.53	0.00	0.000	4	0.000	0.063	2472	716	3429
2023	-1.30	-146.6	252.9	-12.0	107	2028	0.00	2.45	0.00	0.000	6	0.000	0.050	2472	2097	3429
2343	-1.30	-146.6	290.0	-11.6	127	2344	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2096	3429
2654	-1.30	-146.6	327.4	-12.5	147	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2096	3429
2968	-1.30	-146.6	368.7	-13.7	167	2972	0.00	2.50	0.00	0.000	4	0.000	0.063	2472	719	3429
3023	-1.34	-146.6	376.7	-14.4	170	3030	0.00	2.40	0.00	0.000	6	0.000	0.051	2472	2073	3429
3344	-1.34	-146.6	420.1	-12.8	191	3348	0.00	2.67	0.00	0.000	4	0.000	0.074	2472	3532	3429
3377	-1.34	-146.6	424.6	-13.2	193	3382	0.00	2.65	0.00	0.000	6	0.000	0.061	2472	2079	3429
3696	-1.34	-146.6	461.5	-12.2	213	3701	0.00	2.42	0.00	0.000	4	0.000	0.064	2472	717	3429
3759	-1.39	-146.6	469.3	-12.1	217	3765	0.15	2.38	0.00	0.000	6	0.059	0.051	2433	2053	3429
4093	-1.34	-146.6	512.8	-13.2	238	4099	0.10	2.72	0.00	0.000	4	0.106	0.075	2452	3537	3428
4150	-1.34	-146.6	520.6	-12.8	241	4156	0.00	2.70	0.00	0.000	6	0.000	0.063	2452	2059	3429
4470	-1.34	-146.6	560.0	-12.3	262	4474	0.00	2.40	0.00	0.000	4	0.000	0.067	2452	719	3429
4526	-1.34	-146.6	567.4	-12.9	265	4532	0.00	2.38	0.00	0.000	6	0.000	0.053	2452	2050	3429
4848	-1.34	-146.6	606.1	-12.0	286	4852	0.00	2.75	0.00	0.000	4	0.000	0.081	2452	3531	3428
4954	-1.34	-146.6	619.6	-11.7	292	4960	0.00	2.72	0.00	0.000	6	0.000	0.069	2452	2057	3428
5176	end dive: BOTTOM_OBSTACLE_DETECTED
state	5176	begin apogee
5185	-0.33	0.0	645.8	11.2	307	5321	1.02	0.00	132.65	1.256	6	0.083	0.000	2670	1848	2831
5322	end apogee: CONTROL_FINISHED_OK
state	5322	begin climb
5325	1.44	146.6	650.6	0.0	316	5466	1.77	2.75	132.80	1.214	4	0.058	0.072	3058	3251	2233
5507	1.36	161.4	642.5	9.3	327	5526	0.00	2.65	14.50	1.098	6	0.000	0.074	3058	1845	2173
5849	1.31	171.1	608.3	9.6	349	5867	0.15	2.72	10.45	1.065	4	0.100	0.076	3031	3255	2132
5971	1.37	205.6	597.7	8.4	356	6010	0.00	2.58	31.88	1.180	6	0.000	0.072	3031	1876	1993
6334	1.37	205.6	562.5	10.2	379	6338	0.00	2.62	0.00	0.000	4	0.000	0.078	3031	3254	1990
6372	1.40	205.6	557.8	11.3	381	6379	0.00	2.58	0.00	0.000	6	0.000	0.073	3031	1876	1990
6693	1.41	206.7	523.2	10.0	402	6694	0.00	0.00	0.00	0.000	6	0.000	0.000	3031	1876	1989
7004	1.49	257.3	496.9	7.7	422	7056	0.17	2.65	45.65	1.182	4	0.061	0.071	3076	3250	1781
7081	1.44	257.3	488.8	12.4	427	7085	0.00	2.55	0.00	0.000	6	0.000	0.066	3076	1885	1781
7405	1.38	257.3	448.9	12.8	448	7410	0.17	2.58	0.00	0.000	4	0.100	0.070	3039	3257	1781
7427	1.38	257.3	446.0	12.7	449	7433	0.00	2.53	0.00	0.000	6	0.000	0.063	3039	1888	1781
7747	1.38	257.3	409.6	11.3	470	7751	0.00	2.53	0.00	0.000	4	0.000	0.068	3039	3252	1781
7803	1.42	257.3	403.0	11.3	473	7810	0.00	2.45	0.00	0.000	6	0.000	0.060	3039	1911	1781
8123	1.42	257.3	368.7	10.8	494	8127	0.00	2.50	0.00	0.000	4	0.000	0.066	3039	3259	1781
8162	1.47	257.3	364.3	11.0	496	8168	0.12	2.45	0.00	0.000	6	0.062	0.058	3071	1915	1781
8481	1.43	257.3	324.9	12.4	517	8486	0.00	2.47	0.00	0.000	4	0.000	0.065	3072	3255	1781
8516	1.43	257.3	320.5	12.5	519	8520	0.00	2.38	0.00	0.000	6	0.000	0.056	3071	1935	1781
8835	1.39	257.3	280.1	12.8	539	8837	0.12	0.00	0.00	0.000	6	0.098	0.000	3047	1935	1781
9148	1.39	257.3	245.1	11.2	559	9152	0.00	2.42	0.00	0.000	4	0.000	0.064	3047	3254	1782
9170	1.39	257.3	242.3	11.8	560	9176	0.00	2.40	0.00	0.000	6	0.000	0.054	3047	1923	1782
9489	1.39	257.3	206.1	11.4	581	9494	0.00	2.45	0.00	0.000	4	0.000	0.062	3047	3258	1783
9529	1.43	257.3	201.2	12.3	583	9535	0.00	2.35	0.00	0.000	6	0.000	0.052	3047	1948	1783
9849	1.43	257.3	164.1	11.4	604	9850	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1949	1783
10159	1.43	257.3	127.2	12.0	621	10160	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1948	1783
10469	1.46	257.3	92.1	11.2	636	10473	0.00	2.38	0.00	0.000	4	0.000	0.061	3047	3251	1784
10493	1.51	257.3	89.4	10.5	637	10497	0.12	2.30	0.00	0.000	6	0.058	0.049	3081	1963	1784
10820	1.47	257.3	52.0	10.9	653	10824	0.00	2.35	0.00	0.000	4	0.000	0.059	3081	3252	1785
10843	1.47	257.3	49.1	12.3	654	10847	0.00	2.28	0.00	0.000	6	0.000	0.048	3081	1972	1785
11166	1.43	257.3	11.9	11.6	670	11168	0.12	0.00	0.00	0.000	6	0.094	0.000	3057	1972	1785
11267	end climb: SURFACE_DEPTH_REACHED
state	11267	begin surface coast
11287	end surface coast: CONTROL_FINISHED_OK
state	11287	begin surface