Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 433 * 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 433 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 53 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 -108557.43 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 -108557.43

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 53 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 433 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 132536,6223.396,-953.395,28,1.1,28,-10.0 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,-0.200

_SM_DEPTHo 1.04 KALMAN_X -269176.0,865.7,533.9,421234.5,-11094.4

_SM_ANGLEo -61.0 KALMAN_Y 87778.2,-880.9,-1197.6,-205878.2,10130.7

GPS2 133102,6223.371,-953.505,14,1.4,14,-10.0 MHEAD_RNG_PITCHd_Wd 149.5,6933,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026851 ALTIM_BOTTOM_PING 570.2,69.4

SM_CCo 11105,0.00,0.000,0,0,1533,318.40 _24V_AH 23.7,69.344

SM_GC 1.06,11.52,0.00,0.00,0.034,0.000,0.000,422,2162,1533,-10.58,0.93,318.40 _10V_AH 10.1,31.234

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34795,661

TT8_MAMPS 0.029146 CAP_FILE_SIZE 96046,0

HUMID 1838 CFSIZE 254472192,228720640

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 42 GPS 031109,163806,6221.602,-955.872,31,1.4,31,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 102.99 SBE_CT 451 24 256.94

Roll_motor 118 71 200.03 SBE_O2 482 19 217.07

VBD_pump_during_apogee 421 1227 12270.81 WL_BB2F 381 105 949.57

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 27 160 105.21 nil 0 0 0.00

Iridium_during_xfer 130 223 689.39

Transponder_ping 15 420 154.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.21

TT8 1185 19 237.07

LPSleep 7859 2 173.85

TT8_Active 507 19 101.49

TT8_Sampling 1407 39 565.69

TT8_CF8 469 45 217.40

TT8_Kalman 33 81 27.56

Analog_circuits 1250 12 151.55

GPS_charging 0 0 0.00

Compass 1368 8 110.61

RAFOS 0 0 0.00

Transponder 38 30 11.64

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 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -60.60 0.000 2 0.000 0.000 419 2156 2762

83 -1.44 -146.6 2.4 -3.1 3 126 10.98 2.65 -23.90 0.000 4 0.164 0.067 2423 706 3430

225 -1.36 -146.6 22.7 -16.8 9 230 0.12 2.50 0.00 0.000 6 0.105 0.048 2448 2115 3430

548 -1.29 -146.6 70.0 -14.6 25 552 0.00 2.55 0.00 0.000 4 0.000 0.057 2448 703 3430

593 -1.25 -146.6 76.9 -14.5 27 598 0.12 2.53 0.00 0.000 6 0.108 0.047 2471 2128 3430

915 -1.25 -146.6 118.7 -12.2 43 919 0.00 2.58 0.00 0.000 4 0.000 0.059 2471 704 3430

987 -1.25 -146.6 127.8 -12.3 46 991 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2114 3430

1305 -1.25 -146.6 167.5 -13.2 63 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2114 3430

1618 -1.25 -146.6 209.7 -14.0 83 1622 0.00 2.53 0.00 0.000 4 0.000 0.058 2471 712 3431

1664 -1.25 -146.6 216.6 -14.5 86 1668 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2107 3431

1990 -1.25 -146.6 261.5 -13.5 107 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2106 3431

2300 -1.25 -146.6 302.6 -12.6 127 2305 0.00 2.53 0.00 0.000 4 0.000 0.061 2472 713 3431

2351 -1.25 -146.6 309.2 -12.8 130 2355 0.00 2.45 0.00 0.000 6 0.000 0.050 2471 2091 3431

2671 -1.25 -146.6 346.1 -10.3 150 2676 0.00 2.62 0.00 0.000 4 0.000 0.069 2472 3533 3431

2705 -1.25 -146.6 350.1 -11.3 152 2709 0.00 2.62 0.00 0.000 6 0.000 0.059 2471 2085 3431

3025 -1.25 -146.6 383.3 -10.8 172 3029 0.00 2.70 0.00 0.000 4 0.000 0.071 2472 3537 3431

3058 -1.25 -146.6 387.5 -12.0 174 3062 0.00 2.60 0.00 0.000 6 0.000 0.060 2472 2108 3431

3377 -1.25 -146.6 426.4 -13.2 194 3381 0.00 2.47 0.00 0.000 4 0.000 0.063 2472 719 3431

3410 -1.25 -146.6 430.8 -13.1 196 3415 0.00 2.53 0.00 0.000 6 0.000 0.050 2471 2142 3431

3732 -1.25 -146.6 470.7 -12.2 216 3734 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2140 3431

4045 -1.25 -146.6 505.0 -10.6 236 4049 0.00 2.60 0.00 0.000 4 0.000 0.065 2471 717 3431

4101 -1.30 -146.6 511.5 -11.3 239 4107 0.00 2.50 0.00 0.000 6 0.000 0.052 2472 2118 3431

4420 -1.30 -146.6 550.5 -12.8 260 4424 0.00 2.58 0.00 0.000 4 0.000 0.067 2471 714 3431

4466 -1.35 -146.6 556.4 -12.9 263 4471 0.00 2.50 0.00 0.000 6 0.000 0.054 2472 2114 3431

4792 -1.35 -146.6 598.4 -13.5 284 4797 0.00 2.55 0.00 0.000 4 0.000 0.068 2471 719 3430

4900 -1.41 -146.6 612.8 -13.1 290 4907 0.15 2.42 0.00 0.000 6 0.059 0.055 2432 2077 3430

5013 end dive: BOTTOM_OBSTACLE_DETECTED

state 5013 begin apogee

5021 -0.33 0.0 630.1 14.5 298 5157 1.12 0.00 131.70 1.227 6 0.086 0.000 2671 1843 2831

5157 end apogee: CONTROL_FINISHED_OK

state 5157 begin climb

5161 1.44 146.6 636.4 0.0 307 5301 1.75 2.62 132.32 1.183 4 0.058 0.071 3063 445 2233

5401 1.30 146.6 622.1 10.9 321 5407 0.20 2.55 0.00 0.000 6 0.097 0.054 3026 1853 2232

5721 1.41 215.4 597.5 6.9 342 5789 0.12 2.70 61.90 1.158 4 0.063 0.071 3057 442 1952

5851 1.31 215.4 585.1 11.7 350 5856 0.15 2.55 0.00 0.000 6 0.098 0.056 3029 1841 1952

6179 1.32 220.3 553.5 9.8 371 6190 0.00 2.62 5.72 0.881 4 0.000 0.071 3029 3255 1933

6225 1.36 220.3 548.5 10.2 373 6230 0.00 2.60 0.00 0.000 6 0.000 0.067 3029 1857 1933

6550 1.36 220.3 514.4 10.7 394 6555 0.00 2.62 0.00 0.000 4 0.000 0.071 3029 3259 1932

6580 1.40 220.3 511.2 10.7 396 6585 0.00 2.60 0.00 0.000 6 0.000 0.066 3029 1850 1932

6907 1.44 241.7 479.2 9.0 417 6929 0.12 0.00 20.23 1.094 6 0.064 0.000 3061 1849 1845

7234 1.51 290.7 447.3 7.8 438 7285 0.00 2.72 43.70 1.110 4 0.000 0.067 3061 3255 1645

7325 1.51 290.8 439.0 10.0 443 7332 0.00 2.58 0.00 0.000 6 0.000 0.064 3061 1861 1645

7645 1.51 290.8 409.0 10.2 464 7650 0.00 2.60 0.00 0.000 4 0.000 0.067 3061 3255 1646

7708 1.51 290.8 402.5 10.1 468 7712 0.00 2.50 0.00 0.000 6 0.000 0.061 3061 1884 1646

8032 1.51 290.8 366.9 11.3 489 8036 0.00 2.55 0.00 0.000 4 0.000 0.066 3061 3258 1645

8139 1.51 290.8 354.2 12.4 495 8145 0.00 2.42 0.00 0.000 6 0.000 0.058 3061 1918 1646

8458 1.51 290.8 318.8 11.7 516 8463 0.00 2.47 0.00 0.000 4 0.000 0.064 3061 3257 1646

8487 1.51 290.8 315.3 12.2 518 8492 0.00 2.38 0.00 0.000 6 0.000 0.057 3061 1943 1646

8813 1.51 290.8 277.0 13.0 539 8817 0.00 2.42 0.00 0.000 4 0.000 0.064 3061 3257 1646

8834 1.51 290.8 273.8 14.5 540 8841 0.00 2.38 0.00 0.000 6 0.000 0.055 3061 1945 1646

9154 1.51 290.8 233.3 11.9 561 9155 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 1944 1646

9467 1.51 290.8 194.2 12.3 581 9471 0.00 2.42 0.00 0.000 4 0.000 0.062 3061 3263 1646

9489 1.51 290.8 190.9 13.6 582 9495 0.00 2.35 0.00 0.000 6 0.000 0.052 3061 1958 1646

9809 1.51 290.8 150.1 12.1 603 9814 0.00 2.72 0.00 0.000 4 0.000 0.062 3061 432 1646

9837 1.51 290.8 146.2 13.8 605 9842 0.00 2.72 0.00 0.000 6 0.000 0.046 3060 1972 1646

10155 1.52 295.6 112.3 9.8 620 10169 0.00 2.80 6.30 0.712 4 0.000 0.058 3061 439 1626

10211 1.56 318.3 106.8 9.0 622 10237 0.10 2.67 20.02 0.836 6 0.064 0.047 3090 1946 1533

10552 1.56 318.3 63.3 13.9 638 10553 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 1946 1532

10857 1.56 318.3 20.6 12.9 653 10858 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 1964 1533

10998 end climb: SURFACE_DEPTH_REACHED

state 10998 begin surface coast

11021 end surface coast: CONTROL_FINISHED_OK

state 11021 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	433	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	53	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	-108557.43	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	132536,6223.396,-953.395,28,1.1,28,-10.0	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,-0.200
_SM_DEPTHo	1.04	KALMAN_X	-269176.0,865.7,533.9,421234.5,-11094.4
_SM_ANGLEo	-61.0	KALMAN_Y	87778.2,-880.9,-1197.6,-205878.2,10130.7
GPS2	133102,6223.371,-953.505,14,1.4,14,-10.0	MHEAD_RNG_PITCHd_Wd	149.5,6933,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.026851	ALTIM_BOTTOM_PING	570.2,69.4
SM_CCo	11105,0.00,0.000,0,0,1533,318.40	_24V_AH	23.7,69.344
SM_GC	1.06,11.52,0.00,0.00,0.034,0.000,0.000,422,2162,1533,-10.58,0.93,318.40	_10V_AH	10.1,31.234
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34795,661
TT8_MAMPS	0.029146	CAP_FILE_SIZE	96046,0
HUMID	1838	CFSIZE	254472192,228720640
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	42	GPS	031109,163806,6221.602,-955.872,31,1.4,31,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	102.99	SBE_CT	451	24	256.94
Roll_motor	118	71	200.03	SBE_O2	482	19	217.07
VBD_pump_during_apogee	421	1227	12270.81	WL_BB2F	381	105	949.57
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	27	160	105.21	nil	0	0	0.00
Iridium_during_xfer	130	223	689.39
Transponder_ping	15	420	154.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.21
TT8	1185	19	237.07
LPSleep	7859	2	173.85
TT8_Active	507	19	101.49
TT8_Sampling	1407	39	565.69
TT8_CF8	469	45	217.40
TT8_Kalman	33	81	27.56
Analog_circuits	1250	12	151.55
GPS_charging	0	0	0.00
Compass	1368	8	110.61
RAFOS	0	0	0.00
Transponder	38	30	11.64

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	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-60.60	0.000	2	0.000	0.000	419	2156	2762
83	-1.44	-146.6	2.4	-3.1	3	126	10.98	2.65	-23.90	0.000	4	0.164	0.067	2423	706	3430
225	-1.36	-146.6	22.7	-16.8	9	230	0.12	2.50	0.00	0.000	6	0.105	0.048	2448	2115	3430
548	-1.29	-146.6	70.0	-14.6	25	552	0.00	2.55	0.00	0.000	4	0.000	0.057	2448	703	3430
593	-1.25	-146.6	76.9	-14.5	27	598	0.12	2.53	0.00	0.000	6	0.108	0.047	2471	2128	3430
915	-1.25	-146.6	118.7	-12.2	43	919	0.00	2.58	0.00	0.000	4	0.000	0.059	2471	704	3430
987	-1.25	-146.6	127.8	-12.3	46	991	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2114	3430
1305	-1.25	-146.6	167.5	-13.2	63	1306	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2114	3430
1618	-1.25	-146.6	209.7	-14.0	83	1622	0.00	2.53	0.00	0.000	4	0.000	0.058	2471	712	3431
1664	-1.25	-146.6	216.6	-14.5	86	1668	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2107	3431
1990	-1.25	-146.6	261.5	-13.5	107	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2106	3431
2300	-1.25	-146.6	302.6	-12.6	127	2305	0.00	2.53	0.00	0.000	4	0.000	0.061	2472	713	3431
2351	-1.25	-146.6	309.2	-12.8	130	2355	0.00	2.45	0.00	0.000	6	0.000	0.050	2471	2091	3431
2671	-1.25	-146.6	346.1	-10.3	150	2676	0.00	2.62	0.00	0.000	4	0.000	0.069	2472	3533	3431
2705	-1.25	-146.6	350.1	-11.3	152	2709	0.00	2.62	0.00	0.000	6	0.000	0.059	2471	2085	3431
3025	-1.25	-146.6	383.3	-10.8	172	3029	0.00	2.70	0.00	0.000	4	0.000	0.071	2472	3537	3431
3058	-1.25	-146.6	387.5	-12.0	174	3062	0.00	2.60	0.00	0.000	6	0.000	0.060	2472	2108	3431
3377	-1.25	-146.6	426.4	-13.2	194	3381	0.00	2.47	0.00	0.000	4	0.000	0.063	2472	719	3431
3410	-1.25	-146.6	430.8	-13.1	196	3415	0.00	2.53	0.00	0.000	6	0.000	0.050	2471	2142	3431
3732	-1.25	-146.6	470.7	-12.2	216	3734	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2140	3431
4045	-1.25	-146.6	505.0	-10.6	236	4049	0.00	2.60	0.00	0.000	4	0.000	0.065	2471	717	3431
4101	-1.30	-146.6	511.5	-11.3	239	4107	0.00	2.50	0.00	0.000	6	0.000	0.052	2472	2118	3431
4420	-1.30	-146.6	550.5	-12.8	260	4424	0.00	2.58	0.00	0.000	4	0.000	0.067	2471	714	3431
4466	-1.35	-146.6	556.4	-12.9	263	4471	0.00	2.50	0.00	0.000	6	0.000	0.054	2472	2114	3431
4792	-1.35	-146.6	598.4	-13.5	284	4797	0.00	2.55	0.00	0.000	4	0.000	0.068	2471	719	3430
4900	-1.41	-146.6	612.8	-13.1	290	4907	0.15	2.42	0.00	0.000	6	0.059	0.055	2432	2077	3430
5013	end dive: BOTTOM_OBSTACLE_DETECTED
state	5013	begin apogee
5021	-0.33	0.0	630.1	14.5	298	5157	1.12	0.00	131.70	1.227	6	0.086	0.000	2671	1843	2831
5157	end apogee: CONTROL_FINISHED_OK
state	5157	begin climb
5161	1.44	146.6	636.4	0.0	307	5301	1.75	2.62	132.32	1.183	4	0.058	0.071	3063	445	2233
5401	1.30	146.6	622.1	10.9	321	5407	0.20	2.55	0.00	0.000	6	0.097	0.054	3026	1853	2232
5721	1.41	215.4	597.5	6.9	342	5789	0.12	2.70	61.90	1.158	4	0.063	0.071	3057	442	1952
5851	1.31	215.4	585.1	11.7	350	5856	0.15	2.55	0.00	0.000	6	0.098	0.056	3029	1841	1952
6179	1.32	220.3	553.5	9.8	371	6190	0.00	2.62	5.72	0.881	4	0.000	0.071	3029	3255	1933
6225	1.36	220.3	548.5	10.2	373	6230	0.00	2.60	0.00	0.000	6	0.000	0.067	3029	1857	1933
6550	1.36	220.3	514.4	10.7	394	6555	0.00	2.62	0.00	0.000	4	0.000	0.071	3029	3259	1932
6580	1.40	220.3	511.2	10.7	396	6585	0.00	2.60	0.00	0.000	6	0.000	0.066	3029	1850	1932
6907	1.44	241.7	479.2	9.0	417	6929	0.12	0.00	20.23	1.094	6	0.064	0.000	3061	1849	1845
7234	1.51	290.7	447.3	7.8	438	7285	0.00	2.72	43.70	1.110	4	0.000	0.067	3061	3255	1645
7325	1.51	290.8	439.0	10.0	443	7332	0.00	2.58	0.00	0.000	6	0.000	0.064	3061	1861	1645
7645	1.51	290.8	409.0	10.2	464	7650	0.00	2.60	0.00	0.000	4	0.000	0.067	3061	3255	1646
7708	1.51	290.8	402.5	10.1	468	7712	0.00	2.50	0.00	0.000	6	0.000	0.061	3061	1884	1646
8032	1.51	290.8	366.9	11.3	489	8036	0.00	2.55	0.00	0.000	4	0.000	0.066	3061	3258	1645
8139	1.51	290.8	354.2	12.4	495	8145	0.00	2.42	0.00	0.000	6	0.000	0.058	3061	1918	1646
8458	1.51	290.8	318.8	11.7	516	8463	0.00	2.47	0.00	0.000	4	0.000	0.064	3061	3257	1646
8487	1.51	290.8	315.3	12.2	518	8492	0.00	2.38	0.00	0.000	6	0.000	0.057	3061	1943	1646
8813	1.51	290.8	277.0	13.0	539	8817	0.00	2.42	0.00	0.000	4	0.000	0.064	3061	3257	1646
8834	1.51	290.8	273.8	14.5	540	8841	0.00	2.38	0.00	0.000	6	0.000	0.055	3061	1945	1646
9154	1.51	290.8	233.3	11.9	561	9155	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	1944	1646
9467	1.51	290.8	194.2	12.3	581	9471	0.00	2.42	0.00	0.000	4	0.000	0.062	3061	3263	1646
9489	1.51	290.8	190.9	13.6	582	9495	0.00	2.35	0.00	0.000	6	0.000	0.052	3061	1958	1646
9809	1.51	290.8	150.1	12.1	603	9814	0.00	2.72	0.00	0.000	4	0.000	0.062	3061	432	1646
9837	1.51	290.8	146.2	13.8	605	9842	0.00	2.72	0.00	0.000	6	0.000	0.046	3060	1972	1646
10155	1.52	295.6	112.3	9.8	620	10169	0.00	2.80	6.30	0.712	4	0.000	0.058	3061	439	1626
10211	1.56	318.3	106.8	9.0	622	10237	0.10	2.67	20.02	0.836	6	0.064	0.047	3090	1946	1533
10552	1.56	318.3	63.3	13.9	638	10553	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	1946	1532
10857	1.56	318.3	20.6	12.9	653	10858	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	1964	1533
10998	end climb: SURFACE_DEPTH_REACHED
state	10998	begin surface coast
11021	end surface coast: CONTROL_FINISHED_OK
state	11021	begin surface