Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 435 * 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 435 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 22 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 -108582.52 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 -108582.52

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 22 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 435 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 194355,6222.642,-954.431,42,1.0,42,-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 0.244,-0.099

_SM_DEPTHo 1.04 KALMAN_X -278370.7,1968.4,1223.7,427855.7,-17634.5

_SM_ANGLEo -58.5 KALMAN_Y 87038.2,-51.6,387.4,-208829.7,3682.5

GPS2 194907,6222.697,-954.447,12,1.0,12,-10.0 MHEAD_RNG_PITCHd_Wd 122.1,6290,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.023466 ALTIM_BOTTOM_PING 595.8,39.9

SM_CCo 11215,10.35,0.706,0,0,1607,300.00 _24V_AH 23.7,69.632

SM_GC 1.79,0.00,0.00,10.35,0.000,0.000,0.706,417,2154,1607,-10.71,0.68,300.00 _10V_AH 10.1,31.356

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34860,671

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97237,0

HUMID 1845 CFSIZE 254472192,228626432

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

XPDR_PINGS 51 GPS 031109,225825,6223.538,-949.953,40,1.2,40,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 100.87 SBE_CT 458 24 260.77

Roll_motor 123 79 230.53 SBE_O2 488 19 220.17

VBD_pump_during_apogee 390 1221 11313.65 WL_BB2F 388 105 966.85

VBD_pump_during_surface 10 706 173.28 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 26 160 101.02 nil 0 0 0.00

Iridium_during_xfer 127 223 671.93

Transponder_ping 18 420 181.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.07

TT8 1194 19 238.86

LPSleep 7997 2 176.90

TT8_Active 505 19 101.15

TT8_Sampling 1387 39 557.78

TT8_CF8 455 45 210.64

TT8_Kalman 33 81 27.57

Analog_circuits 1232 12 149.44

GPS_charging 0 0 0.00

Compass 1353 8 109.40

RAFOS 0 0 0.00

Transponder 42 30 12.98

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 -60.62 0.000 2 0.000 0.000 420 2148 2758

83 -1.44 -146.6 2.6 -3.6 3 126 10.95 2.60 -22.92 0.000 4 0.163 0.069 2421 717 3430

196 -1.34 -146.6 16.6 -15.1 8 201 0.15 2.50 0.00 0.000 6 0.101 0.048 2450 2128 3430

524 -1.28 -146.6 62.3 -14.3 24 528 0.00 2.58 0.00 0.000 4 0.000 0.061 2450 714 3430

557 -1.28 -146.6 67.4 -14.6 25 563 0.00 2.50 0.00 0.000 6 0.000 0.048 2450 2123 3430

876 -1.23 -146.6 111.4 -14.1 41 881 0.12 2.58 0.00 0.000 4 0.106 0.060 2475 705 3430

926 -1.27 -146.6 118.8 -13.5 43 931 0.00 2.50 0.00 0.000 6 0.000 0.048 2475 2116 3430

1243 -1.27 -146.6 158.0 -11.7 59 1247 0.00 2.58 0.00 0.000 4 0.000 0.066 2475 3535 3430

1273 -1.27 -146.6 161.3 -11.7 61 1278 0.00 2.58 0.00 0.000 6 0.000 0.054 2475 2100 3430

1597 -1.27 -146.6 196.9 -10.5 82 1601 0.00 2.47 0.00 0.000 4 0.000 0.061 2475 707 3431

1654 -1.31 -146.6 203.4 -12.1 85 1660 0.00 2.47 0.00 0.000 6 0.000 0.047 2474 2110 3431

1973 -1.31 -146.6 240.1 -11.2 106 1974 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2110 3431

2286 -1.31 -146.6 273.0 -10.0 126 2289 0.00 2.53 0.00 0.000 4 0.000 0.061 2475 714 3431

2332 -1.34 -146.6 277.6 -10.2 128 2338 0.12 2.45 0.00 0.000 6 0.056 0.048 2442 2099 3431

2653 -1.29 -146.6 318.0 -12.8 149 2658 0.12 2.53 0.00 0.000 4 0.100 0.062 2466 711 3431

2700 -1.29 -146.6 323.9 -11.5 152 2704 0.00 2.42 0.00 0.000 6 0.000 0.048 2466 2086 3431

3030 -1.29 -146.6 365.2 -13.1 173 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2087 3431

3342 -1.29 -146.6 406.7 -13.8 193 3347 0.00 2.50 0.00 0.000 4 0.000 0.064 2466 715 3431

3383 -1.33 -146.6 412.0 -12.9 195 3389 0.00 2.42 0.00 0.000 6 0.000 0.050 2466 2084 3431

3704 -1.33 -146.6 453.9 -12.7 216 3708 0.00 2.50 0.00 0.000 4 0.000 0.064 2466 714 3431

3742 -1.33 -146.6 459.3 -12.9 218 3748 0.00 2.40 0.00 0.000 6 0.000 0.051 2466 2062 3431

4062 -1.33 -146.6 498.7 -12.6 239 4067 0.00 2.47 0.00 0.000 4 0.000 0.066 2466 712 3431

4096 -1.36 -146.6 503.0 -12.3 241 4101 0.00 2.40 0.00 0.000 6 0.000 0.051 2466 2061 3431

4417 -1.36 -146.6 541.6 -12.4 261 4421 0.00 2.70 0.00 0.000 4 0.000 0.074 2465 3534 3431

4474 -1.36 -146.6 549.1 -12.4 264 4480 0.00 2.72 0.00 0.000 6 0.000 0.067 2466 2053 3431

4793 -1.36 -146.6 586.5 -11.7 285 4797 0.00 2.78 0.00 0.000 4 0.000 0.077 2466 3527 3430

4826 -1.36 -146.6 590.3 -11.4 287 4831 0.00 2.72 0.00 0.000 6 0.000 0.070 2466 2059 3430

5145 -1.36 -146.6 624.6 -10.5 307 5150 0.00 2.78 0.00 0.000 4 0.000 0.079 2466 3527 3429

5154 end dive: BOTTOM_OBSTACLE_DETECTED

state 5154 begin apogee

5166 -0.33 0.0 625.8 10.7 308 5301 0.93 0.00 132.18 1.222 6 0.083 0.000 2666 1855 2831

5302 end apogee: CONTROL_FINISHED_OK

state 5302 begin climb

5305 1.44 146.6 631.8 0.0 317 5447 1.80 2.70 132.25 1.178 4 0.062 0.071 3058 3249 2233

5541 1.42 181.0 617.5 8.4 331 5578 0.00 2.62 31.50 1.127 6 0.000 0.067 3058 1838 2093

5894 1.36 181.0 582.3 11.0 353 5898 0.00 2.65 0.00 0.000 4 0.000 0.072 3058 3252 2092

5996 1.32 181.0 571.1 11.6 359 6001 0.15 2.55 0.00 0.000 6 0.100 0.068 3031 1875 2092

6315 1.36 203.6 540.5 9.0 379 6342 0.00 2.65 21.30 1.111 4 0.000 0.071 3031 3248 2000

6416 1.37 210.1 530.7 9.7 384 6428 0.00 2.50 7.47 0.962 6 0.000 0.067 3031 1901 1974

6740 1.37 210.1 498.0 10.0 405 6744 0.00 2.55 0.00 0.000 4 0.000 0.073 3031 3255 1973

6768 1.37 210.1 495.0 10.8 407 6773 0.00 2.50 0.00 0.000 6 0.000 0.068 3031 1911 1973

7094 1.40 232.7 462.9 9.0 428 7117 0.00 0.00 20.80 1.087 6 0.000 0.000 3031 1911 1882

7421 1.44 251.9 432.4 9.1 449 7445 0.12 2.58 18.25 1.061 4 0.064 0.070 3063 3244 1803

7470 1.44 251.9 427.1 11.2 452 7474 0.00 2.47 0.00 0.000 6 0.000 0.066 3063 1917 1803

7795 1.40 251.9 391.4 11.2 473 7799 0.00 2.67 0.00 0.000 4 0.000 0.067 3063 436 1803

7811 1.35 251.9 389.2 11.6 474 7816 0.12 2.70 0.00 0.000 6 0.102 0.051 3040 1940 1802

8131 1.35 251.9 355.6 10.2 494 8132 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1941 1802

8443 1.38 267.5 324.9 9.3 514 8465 0.00 2.88 14.82 0.973 4 0.000 0.064 3040 439 1739

8473 1.38 269.1 321.8 9.9 516 8478 0.00 2.70 0.00 0.000 6 0.000 0.051 3040 1931 1739

8799 1.42 269.1 289.0 10.5 537 8800 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 1931 1739

9111 1.47 280.2 257.7 9.5 557 9128 0.12 2.47 12.12 0.902 4 0.061 0.064 3073 3248 1688

9141 1.47 280.2 254.2 12.0 558 9147 0.00 2.42 0.00 0.000 6 0.000 0.056 3073 1925 1688

9460 1.47 280.2 216.5 12.0 579 9464 0.00 2.45 0.00 0.000 4 0.000 0.063 3073 3254 1688

9498 1.47 280.2 211.3 12.8 581 9504 0.00 2.38 0.00 0.000 6 0.000 0.057 3073 1937 1688

9818 1.47 280.2 169.6 13.3 602 9819 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 1937 1688

10139 1.47 280.2 127.9 12.1 620 10140 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 1937 1689

10448 1.47 280.2 91.4 12.3 635 10452 0.00 2.40 0.00 0.000 4 0.000 0.060 3073 3249 1689

10493 1.47 280.2 85.3 13.7 637 10497 0.00 2.38 0.00 0.000 6 0.000 0.053 3073 1927 1689

10816 1.47 280.2 45.2 12.8 653 10820 0.00 2.42 0.00 0.000 4 0.000 0.060 3073 3257 1690

10850 1.47 280.2 40.3 13.0 654 10854 0.00 2.35 0.00 0.000 6 0.000 0.053 3073 1945 1690

11169 end climb: SURFACE_DEPTH_REACHED

state 11169 begin surface coast

11191 end surface coast: CONTROL_FINISHED_OK

state 11191 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	435	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	22	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	-108582.52	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	194355,6222.642,-954.431,42,1.0,42,-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	0.244,-0.099
_SM_DEPTHo	1.04	KALMAN_X	-278370.7,1968.4,1223.7,427855.7,-17634.5
_SM_ANGLEo	-58.5	KALMAN_Y	87038.2,-51.6,387.4,-208829.7,3682.5
GPS2	194907,6222.697,-954.447,12,1.0,12,-10.0	MHEAD_RNG_PITCHd_Wd	122.1,6290,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.023466	ALTIM_BOTTOM_PING	595.8,39.9
SM_CCo	11215,10.35,0.706,0,0,1607,300.00	_24V_AH	23.7,69.632
SM_GC	1.79,0.00,0.00,10.35,0.000,0.000,0.706,417,2154,1607,-10.71,0.68,300.00	_10V_AH	10.1,31.356
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34860,671
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97237,0
HUMID	1845	CFSIZE	254472192,228626432
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
XPDR_PINGS	51	GPS	031109,225825,6223.538,-949.953,40,1.2,40,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	100.87	SBE_CT	458	24	260.77
Roll_motor	123	79	230.53	SBE_O2	488	19	220.17
VBD_pump_during_apogee	390	1221	11313.65	WL_BB2F	388	105	966.85
VBD_pump_during_surface	10	706	173.28	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	26	160	101.02	nil	0	0	0.00
Iridium_during_xfer	127	223	671.93
Transponder_ping	18	420	181.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.07
TT8	1194	19	238.86
LPSleep	7997	2	176.90
TT8_Active	505	19	101.15
TT8_Sampling	1387	39	557.78
TT8_CF8	455	45	210.64
TT8_Kalman	33	81	27.57
Analog_circuits	1232	12	149.44
GPS_charging	0	0	0.00
Compass	1353	8	109.40
RAFOS	0	0	0.00
Transponder	42	30	12.98

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	-60.62	0.000	2	0.000	0.000	420	2148	2758
83	-1.44	-146.6	2.6	-3.6	3	126	10.95	2.60	-22.92	0.000	4	0.163	0.069	2421	717	3430
196	-1.34	-146.6	16.6	-15.1	8	201	0.15	2.50	0.00	0.000	6	0.101	0.048	2450	2128	3430
524	-1.28	-146.6	62.3	-14.3	24	528	0.00	2.58	0.00	0.000	4	0.000	0.061	2450	714	3430
557	-1.28	-146.6	67.4	-14.6	25	563	0.00	2.50	0.00	0.000	6	0.000	0.048	2450	2123	3430
876	-1.23	-146.6	111.4	-14.1	41	881	0.12	2.58	0.00	0.000	4	0.106	0.060	2475	705	3430
926	-1.27	-146.6	118.8	-13.5	43	931	0.00	2.50	0.00	0.000	6	0.000	0.048	2475	2116	3430
1243	-1.27	-146.6	158.0	-11.7	59	1247	0.00	2.58	0.00	0.000	4	0.000	0.066	2475	3535	3430
1273	-1.27	-146.6	161.3	-11.7	61	1278	0.00	2.58	0.00	0.000	6	0.000	0.054	2475	2100	3430
1597	-1.27	-146.6	196.9	-10.5	82	1601	0.00	2.47	0.00	0.000	4	0.000	0.061	2475	707	3431
1654	-1.31	-146.6	203.4	-12.1	85	1660	0.00	2.47	0.00	0.000	6	0.000	0.047	2474	2110	3431
1973	-1.31	-146.6	240.1	-11.2	106	1974	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2110	3431
2286	-1.31	-146.6	273.0	-10.0	126	2289	0.00	2.53	0.00	0.000	4	0.000	0.061	2475	714	3431
2332	-1.34	-146.6	277.6	-10.2	128	2338	0.12	2.45	0.00	0.000	6	0.056	0.048	2442	2099	3431
2653	-1.29	-146.6	318.0	-12.8	149	2658	0.12	2.53	0.00	0.000	4	0.100	0.062	2466	711	3431
2700	-1.29	-146.6	323.9	-11.5	152	2704	0.00	2.42	0.00	0.000	6	0.000	0.048	2466	2086	3431
3030	-1.29	-146.6	365.2	-13.1	173	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2087	3431
3342	-1.29	-146.6	406.7	-13.8	193	3347	0.00	2.50	0.00	0.000	4	0.000	0.064	2466	715	3431
3383	-1.33	-146.6	412.0	-12.9	195	3389	0.00	2.42	0.00	0.000	6	0.000	0.050	2466	2084	3431
3704	-1.33	-146.6	453.9	-12.7	216	3708	0.00	2.50	0.00	0.000	4	0.000	0.064	2466	714	3431
3742	-1.33	-146.6	459.3	-12.9	218	3748	0.00	2.40	0.00	0.000	6	0.000	0.051	2466	2062	3431
4062	-1.33	-146.6	498.7	-12.6	239	4067	0.00	2.47	0.00	0.000	4	0.000	0.066	2466	712	3431
4096	-1.36	-146.6	503.0	-12.3	241	4101	0.00	2.40	0.00	0.000	6	0.000	0.051	2466	2061	3431
4417	-1.36	-146.6	541.6	-12.4	261	4421	0.00	2.70	0.00	0.000	4	0.000	0.074	2465	3534	3431
4474	-1.36	-146.6	549.1	-12.4	264	4480	0.00	2.72	0.00	0.000	6	0.000	0.067	2466	2053	3431
4793	-1.36	-146.6	586.5	-11.7	285	4797	0.00	2.78	0.00	0.000	4	0.000	0.077	2466	3527	3430
4826	-1.36	-146.6	590.3	-11.4	287	4831	0.00	2.72	0.00	0.000	6	0.000	0.070	2466	2059	3430
5145	-1.36	-146.6	624.6	-10.5	307	5150	0.00	2.78	0.00	0.000	4	0.000	0.079	2466	3527	3429
5154	end dive: BOTTOM_OBSTACLE_DETECTED
state	5154	begin apogee
5166	-0.33	0.0	625.8	10.7	308	5301	0.93	0.00	132.18	1.222	6	0.083	0.000	2666	1855	2831
5302	end apogee: CONTROL_FINISHED_OK
state	5302	begin climb
5305	1.44	146.6	631.8	0.0	317	5447	1.80	2.70	132.25	1.178	4	0.062	0.071	3058	3249	2233
5541	1.42	181.0	617.5	8.4	331	5578	0.00	2.62	31.50	1.127	6	0.000	0.067	3058	1838	2093
5894	1.36	181.0	582.3	11.0	353	5898	0.00	2.65	0.00	0.000	4	0.000	0.072	3058	3252	2092
5996	1.32	181.0	571.1	11.6	359	6001	0.15	2.55	0.00	0.000	6	0.100	0.068	3031	1875	2092
6315	1.36	203.6	540.5	9.0	379	6342	0.00	2.65	21.30	1.111	4	0.000	0.071	3031	3248	2000
6416	1.37	210.1	530.7	9.7	384	6428	0.00	2.50	7.47	0.962	6	0.000	0.067	3031	1901	1974
6740	1.37	210.1	498.0	10.0	405	6744	0.00	2.55	0.00	0.000	4	0.000	0.073	3031	3255	1973
6768	1.37	210.1	495.0	10.8	407	6773	0.00	2.50	0.00	0.000	6	0.000	0.068	3031	1911	1973
7094	1.40	232.7	462.9	9.0	428	7117	0.00	0.00	20.80	1.087	6	0.000	0.000	3031	1911	1882
7421	1.44	251.9	432.4	9.1	449	7445	0.12	2.58	18.25	1.061	4	0.064	0.070	3063	3244	1803
7470	1.44	251.9	427.1	11.2	452	7474	0.00	2.47	0.00	0.000	6	0.000	0.066	3063	1917	1803
7795	1.40	251.9	391.4	11.2	473	7799	0.00	2.67	0.00	0.000	4	0.000	0.067	3063	436	1803
7811	1.35	251.9	389.2	11.6	474	7816	0.12	2.70	0.00	0.000	6	0.102	0.051	3040	1940	1802
8131	1.35	251.9	355.6	10.2	494	8132	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1941	1802
8443	1.38	267.5	324.9	9.3	514	8465	0.00	2.88	14.82	0.973	4	0.000	0.064	3040	439	1739
8473	1.38	269.1	321.8	9.9	516	8478	0.00	2.70	0.00	0.000	6	0.000	0.051	3040	1931	1739
8799	1.42	269.1	289.0	10.5	537	8800	0.00	0.00	0.00	0.000	6	0.000	0.000	3040	1931	1739
9111	1.47	280.2	257.7	9.5	557	9128	0.12	2.47	12.12	0.902	4	0.061	0.064	3073	3248	1688
9141	1.47	280.2	254.2	12.0	558	9147	0.00	2.42	0.00	0.000	6	0.000	0.056	3073	1925	1688
9460	1.47	280.2	216.5	12.0	579	9464	0.00	2.45	0.00	0.000	4	0.000	0.063	3073	3254	1688
9498	1.47	280.2	211.3	12.8	581	9504	0.00	2.38	0.00	0.000	6	0.000	0.057	3073	1937	1688
9818	1.47	280.2	169.6	13.3	602	9819	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	1937	1688
10139	1.47	280.2	127.9	12.1	620	10140	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	1937	1689
10448	1.47	280.2	91.4	12.3	635	10452	0.00	2.40	0.00	0.000	4	0.000	0.060	3073	3249	1689
10493	1.47	280.2	85.3	13.7	637	10497	0.00	2.38	0.00	0.000	6	0.000	0.053	3073	1927	1689
10816	1.47	280.2	45.2	12.8	653	10820	0.00	2.42	0.00	0.000	4	0.000	0.060	3073	3257	1690
10850	1.47	280.2	40.3	13.0	654	10854	0.00	2.35	0.00	0.000	6	0.000	0.053	3073	1945	1690
11169	end climb: SURFACE_DEPTH_REACHED
state	11169	begin surface coast
11191	end surface coast: CONTROL_FINISHED_OK
state	11191	begin surface