Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 450 * 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 450 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 35 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 -108834.67 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 -108834.67

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 35 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 450 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 184930,6220.268,-939.415,37,1.4,37,-9.9 TGT_NAME AE

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 22 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.008,-0.263

_SM_DEPTHo 1.30 KALMAN_X -284167.6,-45.8,-449.9,449742.4,-2508.7

_SM_ANGLEo -63.8 KALMAN_Y 122155.0,-1414.6,-581.1,-246027.8,11070.2

GPS2 185644,6220.293,-939.534,11,1.5,11,-9.9 MHEAD_RNG_PITCHd_Wd 188.1,54895,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027196 ALTIM_BOTTOM_PING 546.9,65.2

SM_CCo 10619,0.00,0.000,0,0,1513,323.31 _24V_AH 23.7,71.825

SM_GC 1.14,11.52,0.00,0.00,0.037,0.000,0.000,421,2137,1513,-10.58,0.20,323.31 _10V_AH 10.1,32.282

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31660,633

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97828,0

HUMID 1844 CFSIZE 254472192,227905536

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 40 GPS 051109,215536,6220.134,-940.572,25,1.9,25,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 101.15 SBE_CT 431 24 245.69

Roll_motor 129 82 253.89 SBE_O2 461 19 207.73

VBD_pump_during_apogee 411 1200 11707.23 WL_BB2F 381 105 948.56

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 92.17 nil 0 0 0.00

Iridium_during_connect 27 160 105.11 nil 0 0 0.00

Iridium_during_xfer 245 223 1297.27

Transponder_ping 14 420 146.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.99

TT8 1148 19 229.77

LPSleep 7482 2 165.50

TT8_Active 522 19 104.57

TT8_Sampling 1317 39 529.66

TT8_CF8 581 45 269.15

TT8_Kalman 33 81 27.57

Analog_circuits 1233 12 149.50

GPS_charging 0 0 0.00

Compass 1285 8 103.85

RAFOS 0 0 0.00

Transponder 36 30 11.16

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 -146.5 0.0 0.0 0 79 0.00 0.00 -60.65 0.000 2 0.000 0.000 418 2158 2721

83 -1.44 -146.6 2.7 -3.4 3 126 11.10 2.62 -24.42 0.000 4 0.160 0.069 2421 714 3429

143 -1.32 -146.6 9.3 -13.4 5 151 0.17 2.53 0.00 0.000 6 0.104 0.047 2455 2132 3429

462 -1.28 -146.6 55.2 -15.1 21 466 0.00 2.58 0.00 0.000 4 0.000 0.058 2455 719 3430

495 -1.28 -146.6 60.9 -15.5 22 501 0.00 2.50 0.00 0.000 6 0.000 0.048 2455 2116 3430

811 -1.28 -146.6 113.4 -17.3 38 815 0.00 2.55 0.00 0.000 4 0.000 0.059 2455 716 3430

853 -1.28 -146.6 120.5 -18.2 40 858 0.00 2.42 0.00 0.000 6 0.000 0.048 2455 2077 3429

1178 -1.28 -146.6 176.7 -16.9 58 1182 0.00 2.67 0.00 0.000 4 0.000 0.074 2455 3531 3430

1207 -1.25 -146.6 181.7 -17.3 60 1211 0.00 2.75 0.00 0.000 6 0.000 0.074 2455 2063 3430

1534 -1.25 -146.6 235.8 -16.8 81 1538 0.00 2.78 0.00 0.000 4 0.000 0.075 2455 3538 3430

1564 -1.22 -146.6 241.0 -16.5 83 1569 0.12 2.75 0.00 0.000 6 0.104 0.074 2480 2063 3430

1892 -1.22 -146.6 285.3 -12.3 104 1894 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2064 3430

2203 -1.25 -146.6 317.8 -9.4 124 2207 0.00 2.78 0.00 0.000 4 0.000 0.077 2480 3539 3430

2231 -1.25 -146.6 320.8 -10.1 126 2236 0.00 2.72 0.00 0.000 6 0.000 0.077 2480 2080 3430

2559 -1.28 -146.6 351.8 -10.4 147 2564 0.00 2.75 0.00 0.000 4 0.000 0.079 2481 3532 3430

2587 -1.28 -146.6 355.4 -11.6 149 2592 0.00 2.72 0.00 0.000 6 0.000 0.079 2481 2084 3430

2912 -1.31 -146.6 394.6 -12.0 170 2920 0.00 2.45 0.00 0.000 4 0.000 0.064 2481 713 3430

2952 -1.38 -146.6 399.1 -11.9 172 2957 0.17 2.47 0.00 0.000 6 0.054 0.050 2434 2102 3430

3279 -1.32 -146.6 438.1 -10.8 193 3281 0.10 0.00 0.00 0.000 6 0.107 0.000 2453 2102 3430

3589 -1.32 -146.6 472.3 -12.2 213 3594 0.00 2.53 0.00 0.000 4 0.000 0.064 2454 719 3430

3703 -1.32 -146.6 489.0 -15.3 220 3707 0.00 2.45 0.00 0.000 6 0.000 0.049 2454 2091 3430

4029 -1.32 -146.6 536.4 -13.7 241 4033 0.00 2.53 0.00 0.000 4 0.000 0.067 2453 719 3430

4057 -1.32 -146.6 540.7 -14.1 243 4061 0.00 2.42 0.00 0.000 6 0.000 0.052 2454 2076 3430

4381 -1.32 -146.6 578.1 -10.6 264 4385 0.00 2.50 0.00 0.000 4 0.000 0.067 2454 718 3430

4438 -1.36 -146.6 584.4 -11.6 267 4444 0.00 2.35 0.00 0.000 6 0.000 0.054 2453 2025 3430

4582 end dive: BOTTOM_OBSTACLE_DETECTED

state 4582 begin apogee

4590 -0.33 0.0 602.2 12.6 277 4722 1.02 0.00 128.35 1.200 6 0.081 0.000 2673 1824 2831

4723 end apogee: CONTROL_FINISHED_OK

state 4723 begin climb

4726 1.44 146.6 606.1 0.0 286 4866 1.75 2.65 128.18 1.164 4 0.060 0.074 3054 452 2233

4916 1.37 176.5 594.6 8.6 297 4952 0.00 2.55 27.20 1.104 6 0.000 0.055 3054 1869 2111

5268 1.33 176.5 555.7 12.4 320 5273 0.00 2.62 0.00 0.000 4 0.000 0.075 3053 452 2110

5348 1.25 176.5 545.3 12.7 325 5353 0.20 2.47 0.00 0.000 6 0.097 0.058 3017 1810 2110

5677 1.37 222.3 517.5 7.9 346 5725 0.12 2.75 39.80 1.134 4 0.062 0.076 3047 3258 1924

5794 1.37 222.3 505.0 11.3 353 5798 0.00 2.72 0.00 0.000 6 0.000 0.083 3047 1837 1923

6119 1.37 222.3 468.8 11.3 374 6123 0.00 2.55 0.00 0.000 4 0.000 0.070 3047 430 1922

6147 1.33 222.3 465.4 11.7 375 6154 0.00 2.50 0.00 0.000 6 0.000 0.054 3048 1819 1922

6468 1.33 222.3 432.6 10.6 396 6472 0.00 2.65 0.00 0.000 4 0.000 0.073 3047 3258 1922

6490 1.33 222.3 429.7 11.6 397 6496 0.00 2.72 0.00 0.000 6 0.000 0.077 3047 1811 1922

6810 1.33 222.3 393.5 11.9 418 6814 0.00 2.70 0.00 0.000 4 0.000 0.070 3047 3254 1921

6855 1.33 222.3 388.0 11.5 421 6860 0.00 2.67 0.00 0.000 6 0.000 0.076 3047 1833 1922

7181 1.33 222.3 350.3 11.7 442 7185 0.00 2.62 0.00 0.000 4 0.000 0.068 3047 3253 1921

7243 1.33 222.3 342.7 12.2 446 7248 0.00 2.60 0.00 0.000 6 0.000 0.073 3047 1861 1921

7568 1.33 222.3 306.9 10.8 467 7572 0.00 2.60 0.00 0.000 4 0.000 0.067 3048 3258 1921

7602 1.33 222.3 303.2 11.0 469 7606 0.00 2.58 0.00 0.000 6 0.000 0.071 3047 1869 1921

7921 1.34 228.0 271.0 9.7 489 7936 0.00 2.60 6.25 0.800 4 0.000 0.066 3047 3254 1901

7971 1.34 228.0 265.6 11.0 492 7976 0.00 2.53 0.00 0.000 6 0.000 0.069 3047 1891 1901

8297 1.34 228.0 231.1 10.7 513 8301 0.00 2.53 0.00 0.000 4 0.000 0.067 3048 3254 1901

8335 1.34 228.0 226.5 11.8 515 8340 0.00 2.47 0.00 0.000 6 0.000 0.067 3047 1903 1901

8655 1.34 228.0 192.8 10.5 535 8659 0.00 2.50 0.00 0.000 4 0.000 0.065 3047 3255 1901

8679 1.34 228.0 190.5 10.4 536 8685 0.00 2.45 0.00 0.000 6 0.000 0.066 3047 1915 1901

8998 1.36 239.7 159.0 9.5 557 9015 0.00 2.55 11.57 0.838 4 0.000 0.064 3047 3255 1853

9052 1.40 239.7 153.9 10.1 560 9056 0.00 2.42 0.00 0.000 6 0.000 0.064 3047 1931 1853

9384 1.48 291.1 125.6 7.7 577 9429 0.00 0.00 42.67 0.874 6 0.000 0.000 3048 1930 1644

9736 1.57 323.2 97.1 8.5 594 9766 0.17 0.00 27.50 0.834 6 0.053 0.000 3097 1930 1513

10070 1.52 323.2 52.5 14.1 610 10074 0.00 2.42 0.00 0.000 4 0.000 0.063 3097 3255 1513

10088 1.49 323.2 50.0 13.0 611 10093 0.15 2.42 0.00 0.000 6 0.100 0.062 3070 1921 1513

10416 1.49 323.2 13.0 11.6 627 10420 0.00 2.47 0.00 0.000 4 0.000 0.063 3069 3261 1513

10427 1.49 323.2 11.3 11.3 627 10433 0.00 2.40 0.00 0.000 6 0.000 0.059 3069 1930 1513

10513 end climb: SURFACE_DEPTH_REACHED

state 10513 begin surface coast

10535 end surface coast: CONTROL_FINISHED_OK

state 10535 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	450	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	35	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	-108834.67	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	184930,6220.268,-939.415,37,1.4,37,-9.9	TGT_NAME	AE
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	22	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.008,-0.263
_SM_DEPTHo	1.30	KALMAN_X	-284167.6,-45.8,-449.9,449742.4,-2508.7
_SM_ANGLEo	-63.8	KALMAN_Y	122155.0,-1414.6,-581.1,-246027.8,11070.2
GPS2	185644,6220.293,-939.534,11,1.5,11,-9.9	MHEAD_RNG_PITCHd_Wd	188.1,54895,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.027196	ALTIM_BOTTOM_PING	546.9,65.2
SM_CCo	10619,0.00,0.000,0,0,1513,323.31	_24V_AH	23.7,71.825
SM_GC	1.14,11.52,0.00,0.00,0.037,0.000,0.000,421,2137,1513,-10.58,0.20,323.31	_10V_AH	10.1,32.282
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31660,633
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97828,0
HUMID	1844	CFSIZE	254472192,227905536
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	40	GPS	051109,215536,6220.134,-940.572,25,1.9,25,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	101.15	SBE_CT	431	24	245.69
Roll_motor	129	82	253.89	SBE_O2	461	19	207.73
VBD_pump_during_apogee	411	1200	11707.23	WL_BB2F	381	105	948.56
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	92.17	nil	0	0	0.00
Iridium_during_connect	27	160	105.11	nil	0	0	0.00
Iridium_during_xfer	245	223	1297.27
Transponder_ping	14	420	146.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.99
TT8	1148	19	229.77
LPSleep	7482	2	165.50
TT8_Active	522	19	104.57
TT8_Sampling	1317	39	529.66
TT8_CF8	581	45	269.15
TT8_Kalman	33	81	27.57
Analog_circuits	1233	12	149.50
GPS_charging	0	0	0.00
Compass	1285	8	103.85
RAFOS	0	0	0.00
Transponder	36	30	11.16

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	-146.5	0.0	0.0	0	79	0.00	0.00	-60.65	0.000	2	0.000	0.000	418	2158	2721
83	-1.44	-146.6	2.7	-3.4	3	126	11.10	2.62	-24.42	0.000	4	0.160	0.069	2421	714	3429
143	-1.32	-146.6	9.3	-13.4	5	151	0.17	2.53	0.00	0.000	6	0.104	0.047	2455	2132	3429
462	-1.28	-146.6	55.2	-15.1	21	466	0.00	2.58	0.00	0.000	4	0.000	0.058	2455	719	3430
495	-1.28	-146.6	60.9	-15.5	22	501	0.00	2.50	0.00	0.000	6	0.000	0.048	2455	2116	3430
811	-1.28	-146.6	113.4	-17.3	38	815	0.00	2.55	0.00	0.000	4	0.000	0.059	2455	716	3430
853	-1.28	-146.6	120.5	-18.2	40	858	0.00	2.42	0.00	0.000	6	0.000	0.048	2455	2077	3429
1178	-1.28	-146.6	176.7	-16.9	58	1182	0.00	2.67	0.00	0.000	4	0.000	0.074	2455	3531	3430
1207	-1.25	-146.6	181.7	-17.3	60	1211	0.00	2.75	0.00	0.000	6	0.000	0.074	2455	2063	3430
1534	-1.25	-146.6	235.8	-16.8	81	1538	0.00	2.78	0.00	0.000	4	0.000	0.075	2455	3538	3430
1564	-1.22	-146.6	241.0	-16.5	83	1569	0.12	2.75	0.00	0.000	6	0.104	0.074	2480	2063	3430
1892	-1.22	-146.6	285.3	-12.3	104	1894	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2064	3430
2203	-1.25	-146.6	317.8	-9.4	124	2207	0.00	2.78	0.00	0.000	4	0.000	0.077	2480	3539	3430
2231	-1.25	-146.6	320.8	-10.1	126	2236	0.00	2.72	0.00	0.000	6	0.000	0.077	2480	2080	3430
2559	-1.28	-146.6	351.8	-10.4	147	2564	0.00	2.75	0.00	0.000	4	0.000	0.079	2481	3532	3430
2587	-1.28	-146.6	355.4	-11.6	149	2592	0.00	2.72	0.00	0.000	6	0.000	0.079	2481	2084	3430
2912	-1.31	-146.6	394.6	-12.0	170	2920	0.00	2.45	0.00	0.000	4	0.000	0.064	2481	713	3430
2952	-1.38	-146.6	399.1	-11.9	172	2957	0.17	2.47	0.00	0.000	6	0.054	0.050	2434	2102	3430
3279	-1.32	-146.6	438.1	-10.8	193	3281	0.10	0.00	0.00	0.000	6	0.107	0.000	2453	2102	3430
3589	-1.32	-146.6	472.3	-12.2	213	3594	0.00	2.53	0.00	0.000	4	0.000	0.064	2454	719	3430
3703	-1.32	-146.6	489.0	-15.3	220	3707	0.00	2.45	0.00	0.000	6	0.000	0.049	2454	2091	3430
4029	-1.32	-146.6	536.4	-13.7	241	4033	0.00	2.53	0.00	0.000	4	0.000	0.067	2453	719	3430
4057	-1.32	-146.6	540.7	-14.1	243	4061	0.00	2.42	0.00	0.000	6	0.000	0.052	2454	2076	3430
4381	-1.32	-146.6	578.1	-10.6	264	4385	0.00	2.50	0.00	0.000	4	0.000	0.067	2454	718	3430
4438	-1.36	-146.6	584.4	-11.6	267	4444	0.00	2.35	0.00	0.000	6	0.000	0.054	2453	2025	3430
4582	end dive: BOTTOM_OBSTACLE_DETECTED
state	4582	begin apogee
4590	-0.33	0.0	602.2	12.6	277	4722	1.02	0.00	128.35	1.200	6	0.081	0.000	2673	1824	2831
4723	end apogee: CONTROL_FINISHED_OK
state	4723	begin climb
4726	1.44	146.6	606.1	0.0	286	4866	1.75	2.65	128.18	1.164	4	0.060	0.074	3054	452	2233
4916	1.37	176.5	594.6	8.6	297	4952	0.00	2.55	27.20	1.104	6	0.000	0.055	3054	1869	2111
5268	1.33	176.5	555.7	12.4	320	5273	0.00	2.62	0.00	0.000	4	0.000	0.075	3053	452	2110
5348	1.25	176.5	545.3	12.7	325	5353	0.20	2.47	0.00	0.000	6	0.097	0.058	3017	1810	2110
5677	1.37	222.3	517.5	7.9	346	5725	0.12	2.75	39.80	1.134	4	0.062	0.076	3047	3258	1924
5794	1.37	222.3	505.0	11.3	353	5798	0.00	2.72	0.00	0.000	6	0.000	0.083	3047	1837	1923
6119	1.37	222.3	468.8	11.3	374	6123	0.00	2.55	0.00	0.000	4	0.000	0.070	3047	430	1922
6147	1.33	222.3	465.4	11.7	375	6154	0.00	2.50	0.00	0.000	6	0.000	0.054	3048	1819	1922
6468	1.33	222.3	432.6	10.6	396	6472	0.00	2.65	0.00	0.000	4	0.000	0.073	3047	3258	1922
6490	1.33	222.3	429.7	11.6	397	6496	0.00	2.72	0.00	0.000	6	0.000	0.077	3047	1811	1922
6810	1.33	222.3	393.5	11.9	418	6814	0.00	2.70	0.00	0.000	4	0.000	0.070	3047	3254	1921
6855	1.33	222.3	388.0	11.5	421	6860	0.00	2.67	0.00	0.000	6	0.000	0.076	3047	1833	1922
7181	1.33	222.3	350.3	11.7	442	7185	0.00	2.62	0.00	0.000	4	0.000	0.068	3047	3253	1921
7243	1.33	222.3	342.7	12.2	446	7248	0.00	2.60	0.00	0.000	6	0.000	0.073	3047	1861	1921
7568	1.33	222.3	306.9	10.8	467	7572	0.00	2.60	0.00	0.000	4	0.000	0.067	3048	3258	1921
7602	1.33	222.3	303.2	11.0	469	7606	0.00	2.58	0.00	0.000	6	0.000	0.071	3047	1869	1921
7921	1.34	228.0	271.0	9.7	489	7936	0.00	2.60	6.25	0.800	4	0.000	0.066	3047	3254	1901
7971	1.34	228.0	265.6	11.0	492	7976	0.00	2.53	0.00	0.000	6	0.000	0.069	3047	1891	1901
8297	1.34	228.0	231.1	10.7	513	8301	0.00	2.53	0.00	0.000	4	0.000	0.067	3048	3254	1901
8335	1.34	228.0	226.5	11.8	515	8340	0.00	2.47	0.00	0.000	6	0.000	0.067	3047	1903	1901
8655	1.34	228.0	192.8	10.5	535	8659	0.00	2.50	0.00	0.000	4	0.000	0.065	3047	3255	1901
8679	1.34	228.0	190.5	10.4	536	8685	0.00	2.45	0.00	0.000	6	0.000	0.066	3047	1915	1901
8998	1.36	239.7	159.0	9.5	557	9015	0.00	2.55	11.57	0.838	4	0.000	0.064	3047	3255	1853
9052	1.40	239.7	153.9	10.1	560	9056	0.00	2.42	0.00	0.000	6	0.000	0.064	3047	1931	1853
9384	1.48	291.1	125.6	7.7	577	9429	0.00	0.00	42.67	0.874	6	0.000	0.000	3048	1930	1644
9736	1.57	323.2	97.1	8.5	594	9766	0.17	0.00	27.50	0.834	6	0.053	0.000	3097	1930	1513
10070	1.52	323.2	52.5	14.1	610	10074	0.00	2.42	0.00	0.000	4	0.000	0.063	3097	3255	1513
10088	1.49	323.2	50.0	13.0	611	10093	0.15	2.42	0.00	0.000	6	0.100	0.062	3070	1921	1513
10416	1.49	323.2	13.0	11.6	627	10420	0.00	2.47	0.00	0.000	4	0.000	0.063	3069	3261	1513
10427	1.49	323.2	11.3	11.3	627	10433	0.00	2.40	0.00	0.000	6	0.000	0.059	3069	1930	1513
10513	end climb: SURFACE_DEPTH_REACHED
state	10513	begin surface coast
10535	end surface coast: CONTROL_FINISHED_OK
state	10535	begin surface