Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 21 * 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 21 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 1920 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 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 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 360 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 -100615.25 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0.039999999 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 -100615.25

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 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 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 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 23 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 21 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 103037,6129.128,-820.653,27,1.4,27,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.159

_SM_DEPTHo 1.22 KALMAN_X -44020.8,1272.9,778.4,58870.0,-12129.3

_SM_ANGLEo -64.2 KALMAN_Y 36262.6,-300.5,-336.9,-49474.0,6468.5

GPS2 103555,6129.127,-820.617,17,1.5,17,-8.9 MHEAD_RNG_PITCHd_Wd 135.9,4197,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.010070 ALTIM_BOTTOM_PING 670.7,62.6

SM_CCo 12259,5.12,0.604,0,0,1608,300.00 _24V_AH 23.7,6.147

SM_GC 2.26,0.00,0.00,5.12,0.000,0.000,0.604,421,2146,1608,-10.69,0.45,300.00 _10V_AH 10.1,3.233

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28550,584

TT8_MAMPS 0.028379 CAP_FILE_SIZE 96523,0

HUMID 1830 CFSIZE 254472192,250540032

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,36,0,0

XPDR_PINGS 52 GPS 010909,140230,6129.028,-821.331,39,2.0,39,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 167 107.89 SBE_CT 400 24 227.57

Roll_motor 107 86 221.23 SBE_O2 436 19 196.34

VBD_pump_during_apogee 380 1321 11902.58 WL_BB2F 349 105 869.05

VBD_pump_during_surface 5 604 73.41 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 32 160 124.71 nil 0 0 0.00

Iridium_during_xfer 130 223 690.30

Transponder_ping 19 420 189.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.65

TT8 1103 19 220.74

LPSleep 9279 2 205.24

TT8_Active 486 19 97.19

TT8_Sampling 1287 39 517.53

TT8_CF8 432 45 199.99

TT8_Kalman 33 81 27.55

Analog_circuits 1169 12 141.73

GPS_charging 0 0 0.00

Compass 1252 8 101.18

RAFOS 0 0 0.00

Transponder 41 30 12.43

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.44 -146.6 0.0 0.0 0 61 0.00 0.00 -42.03 0.000 2 0.000 0.000 423 2141 2483

65 -1.44 -146.6 2.0 -3.6 2 122 11.05 2.55 -40.53 0.000 4 0.167 0.079 2423 3533 3429

157 -1.30 -146.6 9.0 -14.5 5 162 0.17 2.50 0.00 0.000 6 0.104 0.049 2458 2127 3428

474 -1.30 -146.6 53.6 -13.7 20 479 0.00 2.58 0.00 0.000 4 0.000 0.066 2458 3530 3429

502 -1.30 -146.6 57.9 -14.3 21 507 0.00 2.47 0.00 0.000 6 0.000 0.049 2458 2139 3429

819 -1.30 -146.6 102.2 -13.9 36 820 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2126 3430

1128 -1.30 -146.6 144.9 -13.6 51 1135 0.00 2.55 0.00 0.000 4 0.000 0.067 2458 3524 3431

1165 -1.30 -146.6 149.8 -13.3 52 1169 0.00 2.47 0.00 0.000 6 0.000 0.052 2458 2137 3431

1481 -1.30 -146.6 190.0 -12.7 67 1482 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2123 3431

1790 -1.30 -146.6 231.4 -13.6 82 1794 0.00 2.58 0.00 0.000 4 0.000 0.071 2458 3531 3431

1829 -1.30 -146.6 237.0 -14.2 84 1834 0.00 2.47 0.00 0.000 6 0.000 0.056 2458 2144 3431

2157 -1.30 -146.6 279.6 -12.7 100 2158 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2131 3431

2466 -1.30 -146.6 319.4 -12.4 115 2470 0.00 2.55 0.00 0.000 4 0.000 0.071 2458 3524 3431

2499 -1.30 -146.6 323.5 -12.5 116 2503 0.00 2.45 0.00 0.000 6 0.000 0.055 2458 2154 3431

2815 -1.30 -146.6 362.3 -13.1 131 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2142 3431

3124 -1.34 -146.6 407.1 -14.8 146 3129 0.00 2.55 0.00 0.000 4 0.000 0.073 2458 3533 3431

3158 -1.34 -146.6 412.2 -14.1 147 3164 0.00 2.47 0.00 0.000 6 0.000 0.056 2458 2150 3431

3474 -1.39 -146.6 452.5 -12.4 163 3478 0.00 2.55 0.00 0.000 4 0.000 0.070 2458 725 3430

3507 -1.46 -146.6 456.8 -12.3 164 3514 0.15 2.53 0.00 0.000 6 0.053 0.051 2418 2149 3431

3824 -1.40 -146.6 500.8 -13.9 180 3825 0.10 0.00 0.00 0.000 6 0.108 0.000 2436 2150 3431

4132 -1.40 -146.6 540.8 -12.5 195 4137 0.00 2.60 0.00 0.000 4 0.000 0.068 2435 723 3430

4241 -1.44 -146.6 554.6 -13.0 200 4245 0.00 2.50 0.00 0.000 6 0.000 0.053 2435 2142 3430

4569 -1.44 -146.6 596.4 -12.2 216 4573 0.00 2.55 0.00 0.000 4 0.000 0.074 2436 3535 3430

4725 -1.44 -146.6 616.6 -12.5 223 4729 0.00 2.53 0.00 0.000 6 0.000 0.057 2436 2126 3430

5046 -1.44 -146.6 655.2 -11.8 239 5047 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2113 3430

5355 -1.44 -146.6 693.7 -10.5 254 5356 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2107 3430

5579 end dive: BOTTOM_OBSTACLE_DETECTED

state 5579 begin apogee

5587 -0.33 0.0 723.4 16.5 265 5722 1.10 0.00 127.70 1.322 6 0.086 0.000 2670 1905 2832

5723 end apogee: CONTROL_FINISHED_OK

state 5723 begin climb

5726 1.44 146.6 728.6 0.0 272 5863 1.77 2.70 126.90 1.286 4 0.062 0.085 3058 512 2233

5906 1.27 183.9 720.2 8.3 280 5946 0.20 2.58 33.58 1.230 6 0.091 0.060 3020 1933 2081

6272 1.27 214.0 688.1 8.6 298 6305 0.00 2.67 26.90 1.232 4 0.000 0.081 3020 3310 1958

6391 1.27 214.0 675.7 11.0 303 6396 0.00 2.62 0.00 0.000 6 0.000 0.077 3020 1926 1957

6707 1.27 214.0 644.6 10.0 318 6708 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1927 1956

7016 1.27 214.5 611.7 10.0 333 7018 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1926 1955

7326 1.27 214.5 577.3 11.7 348 7330 0.00 2.65 0.00 0.000 4 0.000 0.087 3020 510 1953

7365 1.21 214.5 572.1 13.6 350 7370 0.00 2.55 0.00 0.000 6 0.000 0.061 3020 1921 1953

7692 1.21 214.5 531.3 12.3 366 7694 0.00 0.00 0.00 0.000 6 0.000 0.000 3020 1935 1952

8002 1.21 214.5 493.7 11.7 381 8006 0.00 2.65 0.00 0.000 4 0.000 0.081 3020 511 1952

8097 1.15 214.5 482.1 11.6 385 8102 0.15 2.55 0.00 0.000 6 0.104 0.055 2993 1938 1952

8413 1.36 291.5 459.1 6.5 400 8486 0.22 2.78 64.95 1.161 4 0.052 0.076 3047 509 1642

8498 1.30 291.5 449.7 14.1 404 8502 0.00 2.60 0.00 0.000 6 0.000 0.053 3047 1939 1642

8819 1.30 291.5 404.7 11.6 420 8823 0.00 2.70 0.00 0.000 4 0.000 0.076 3047 503 1644

8897 1.23 291.5 395.5 12.1 423 8904 0.17 2.53 0.00 0.000 6 0.095 0.053 3013 1914 1644

9213 1.30 291.5 360.1 10.4 439 9218 0.00 2.60 0.00 0.000 4 0.000 0.077 3013 510 1644

9231 1.36 291.5 358.2 10.5 440 9236 0.12 2.47 0.00 0.000 6 0.059 0.052 3046 1901 1644

9559 1.36 291.5 317.9 12.5 456 9560 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 1915 1644

9868 1.36 291.5 280.2 12.2 471 9873 0.00 2.58 0.00 0.000 4 0.000 0.074 3046 510 1645

9891 1.31 291.5 277.0 13.7 472 9895 0.00 2.45 0.00 0.000 6 0.000 0.051 3046 1891 1645

10212 1.31 291.5 238.6 11.3 488 10216 0.00 2.58 0.00 0.000 4 0.000 0.074 3046 503 1645

10239 1.27 291.5 235.1 12.7 489 10245 0.15 2.45 0.00 0.000 6 0.094 0.051 3017 1884 1645

10556 1.34 291.5 205.0 10.0 504 10557 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 1899 1646

10865 1.42 291.5 173.5 10.4 519 10867 0.17 0.00 0.00 0.000 6 0.054 0.000 3062 1899 1646

11175 1.38 291.5 131.8 13.7 534 11179 0.00 2.53 0.00 0.000 4 0.000 0.071 3062 510 1647

11203 1.30 291.5 127.4 15.4 535 11208 0.17 2.40 0.00 0.000 6 0.092 0.049 3028 1875 1647

11521 1.36 291.5 90.7 11.0 550 11525 0.00 2.53 0.00 0.000 4 0.000 0.073 3027 503 1647

11548 1.36 291.5 87.2 11.3 551 11553 0.00 2.40 0.00 0.000 6 0.000 0.049 3027 1868 1647

11865 1.44 291.5 46.9 13.3 566 11870 0.12 2.53 0.00 0.000 4 0.057 0.071 3063 503 1648

11928 1.37 291.5 37.4 14.7 569 11933 0.00 2.38 0.00 0.000 6 0.000 0.048 3063 1858 1648

12212 end climb: SURFACE_DEPTH_REACHED

state 12212 begin surface coast

12235 end surface coast: CONTROL_FINISHED_OK

state 12235 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	21	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	1920	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	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	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	360	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	-100615.25	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	103037,6129.128,-820.653,27,1.4,27,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.159
_SM_DEPTHo	1.22	KALMAN_X	-44020.8,1272.9,778.4,58870.0,-12129.3
_SM_ANGLEo	-64.2	KALMAN_Y	36262.6,-300.5,-336.9,-49474.0,6468.5
GPS2	103555,6129.127,-820.617,17,1.5,17,-8.9	MHEAD_RNG_PITCHd_Wd	135.9,4197,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.010070	ALTIM_BOTTOM_PING	670.7,62.6
SM_CCo	12259,5.12,0.604,0,0,1608,300.00	_24V_AH	23.7,6.147
SM_GC	2.26,0.00,0.00,5.12,0.000,0.000,0.604,421,2146,1608,-10.69,0.45,300.00	_10V_AH	10.1,3.233
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28550,584
TT8_MAMPS	0.028379	CAP_FILE_SIZE	96523,0
HUMID	1830	CFSIZE	254472192,250540032
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,36,0,0
XPDR_PINGS	52	GPS	010909,140230,6129.028,-821.331,39,2.0,39,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	167	107.89	SBE_CT	400	24	227.57
Roll_motor	107	86	221.23	SBE_O2	436	19	196.34
VBD_pump_during_apogee	380	1321	11902.58	WL_BB2F	349	105	869.05
VBD_pump_during_surface	5	604	73.41	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	32	160	124.71	nil	0	0	0.00
Iridium_during_xfer	130	223	690.30
Transponder_ping	19	420	189.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.65
TT8	1103	19	220.74
LPSleep	9279	2	205.24
TT8_Active	486	19	97.19
TT8_Sampling	1287	39	517.53
TT8_CF8	432	45	199.99
TT8_Kalman	33	81	27.55
Analog_circuits	1169	12	141.73
GPS_charging	0	0	0.00
Compass	1252	8	101.18
RAFOS	0	0	0.00
Transponder	41	30	12.43

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.44	-146.6	0.0	0.0	0	61	0.00	0.00	-42.03	0.000	2	0.000	0.000	423	2141	2483
65	-1.44	-146.6	2.0	-3.6	2	122	11.05	2.55	-40.53	0.000	4	0.167	0.079	2423	3533	3429
157	-1.30	-146.6	9.0	-14.5	5	162	0.17	2.50	0.00	0.000	6	0.104	0.049	2458	2127	3428
474	-1.30	-146.6	53.6	-13.7	20	479	0.00	2.58	0.00	0.000	4	0.000	0.066	2458	3530	3429
502	-1.30	-146.6	57.9	-14.3	21	507	0.00	2.47	0.00	0.000	6	0.000	0.049	2458	2139	3429
819	-1.30	-146.6	102.2	-13.9	36	820	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2126	3430
1128	-1.30	-146.6	144.9	-13.6	51	1135	0.00	2.55	0.00	0.000	4	0.000	0.067	2458	3524	3431
1165	-1.30	-146.6	149.8	-13.3	52	1169	0.00	2.47	0.00	0.000	6	0.000	0.052	2458	2137	3431
1481	-1.30	-146.6	190.0	-12.7	67	1482	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2123	3431
1790	-1.30	-146.6	231.4	-13.6	82	1794	0.00	2.58	0.00	0.000	4	0.000	0.071	2458	3531	3431
1829	-1.30	-146.6	237.0	-14.2	84	1834	0.00	2.47	0.00	0.000	6	0.000	0.056	2458	2144	3431
2157	-1.30	-146.6	279.6	-12.7	100	2158	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2131	3431
2466	-1.30	-146.6	319.4	-12.4	115	2470	0.00	2.55	0.00	0.000	4	0.000	0.071	2458	3524	3431
2499	-1.30	-146.6	323.5	-12.5	116	2503	0.00	2.45	0.00	0.000	6	0.000	0.055	2458	2154	3431
2815	-1.30	-146.6	362.3	-13.1	131	2816	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2142	3431
3124	-1.34	-146.6	407.1	-14.8	146	3129	0.00	2.55	0.00	0.000	4	0.000	0.073	2458	3533	3431
3158	-1.34	-146.6	412.2	-14.1	147	3164	0.00	2.47	0.00	0.000	6	0.000	0.056	2458	2150	3431
3474	-1.39	-146.6	452.5	-12.4	163	3478	0.00	2.55	0.00	0.000	4	0.000	0.070	2458	725	3430
3507	-1.46	-146.6	456.8	-12.3	164	3514	0.15	2.53	0.00	0.000	6	0.053	0.051	2418	2149	3431
3824	-1.40	-146.6	500.8	-13.9	180	3825	0.10	0.00	0.00	0.000	6	0.108	0.000	2436	2150	3431
4132	-1.40	-146.6	540.8	-12.5	195	4137	0.00	2.60	0.00	0.000	4	0.000	0.068	2435	723	3430
4241	-1.44	-146.6	554.6	-13.0	200	4245	0.00	2.50	0.00	0.000	6	0.000	0.053	2435	2142	3430
4569	-1.44	-146.6	596.4	-12.2	216	4573	0.00	2.55	0.00	0.000	4	0.000	0.074	2436	3535	3430
4725	-1.44	-146.6	616.6	-12.5	223	4729	0.00	2.53	0.00	0.000	6	0.000	0.057	2436	2126	3430
5046	-1.44	-146.6	655.2	-11.8	239	5047	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	2113	3430
5355	-1.44	-146.6	693.7	-10.5	254	5356	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2107	3430
5579	end dive: BOTTOM_OBSTACLE_DETECTED
state	5579	begin apogee
5587	-0.33	0.0	723.4	16.5	265	5722	1.10	0.00	127.70	1.322	6	0.086	0.000	2670	1905	2832
5723	end apogee: CONTROL_FINISHED_OK
state	5723	begin climb
5726	1.44	146.6	728.6	0.0	272	5863	1.77	2.70	126.90	1.286	4	0.062	0.085	3058	512	2233
5906	1.27	183.9	720.2	8.3	280	5946	0.20	2.58	33.58	1.230	6	0.091	0.060	3020	1933	2081
6272	1.27	214.0	688.1	8.6	298	6305	0.00	2.67	26.90	1.232	4	0.000	0.081	3020	3310	1958
6391	1.27	214.0	675.7	11.0	303	6396	0.00	2.62	0.00	0.000	6	0.000	0.077	3020	1926	1957
6707	1.27	214.0	644.6	10.0	318	6708	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1927	1956
7016	1.27	214.5	611.7	10.0	333	7018	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1926	1955
7326	1.27	214.5	577.3	11.7	348	7330	0.00	2.65	0.00	0.000	4	0.000	0.087	3020	510	1953
7365	1.21	214.5	572.1	13.6	350	7370	0.00	2.55	0.00	0.000	6	0.000	0.061	3020	1921	1953
7692	1.21	214.5	531.3	12.3	366	7694	0.00	0.00	0.00	0.000	6	0.000	0.000	3020	1935	1952
8002	1.21	214.5	493.7	11.7	381	8006	0.00	2.65	0.00	0.000	4	0.000	0.081	3020	511	1952
8097	1.15	214.5	482.1	11.6	385	8102	0.15	2.55	0.00	0.000	6	0.104	0.055	2993	1938	1952
8413	1.36	291.5	459.1	6.5	400	8486	0.22	2.78	64.95	1.161	4	0.052	0.076	3047	509	1642
8498	1.30	291.5	449.7	14.1	404	8502	0.00	2.60	0.00	0.000	6	0.000	0.053	3047	1939	1642
8819	1.30	291.5	404.7	11.6	420	8823	0.00	2.70	0.00	0.000	4	0.000	0.076	3047	503	1644
8897	1.23	291.5	395.5	12.1	423	8904	0.17	2.53	0.00	0.000	6	0.095	0.053	3013	1914	1644
9213	1.30	291.5	360.1	10.4	439	9218	0.00	2.60	0.00	0.000	4	0.000	0.077	3013	510	1644
9231	1.36	291.5	358.2	10.5	440	9236	0.12	2.47	0.00	0.000	6	0.059	0.052	3046	1901	1644
9559	1.36	291.5	317.9	12.5	456	9560	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	1915	1644
9868	1.36	291.5	280.2	12.2	471	9873	0.00	2.58	0.00	0.000	4	0.000	0.074	3046	510	1645
9891	1.31	291.5	277.0	13.7	472	9895	0.00	2.45	0.00	0.000	6	0.000	0.051	3046	1891	1645
10212	1.31	291.5	238.6	11.3	488	10216	0.00	2.58	0.00	0.000	4	0.000	0.074	3046	503	1645
10239	1.27	291.5	235.1	12.7	489	10245	0.15	2.45	0.00	0.000	6	0.094	0.051	3017	1884	1645
10556	1.34	291.5	205.0	10.0	504	10557	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	1899	1646
10865	1.42	291.5	173.5	10.4	519	10867	0.17	0.00	0.00	0.000	6	0.054	0.000	3062	1899	1646
11175	1.38	291.5	131.8	13.7	534	11179	0.00	2.53	0.00	0.000	4	0.000	0.071	3062	510	1647
11203	1.30	291.5	127.4	15.4	535	11208	0.17	2.40	0.00	0.000	6	0.092	0.049	3028	1875	1647
11521	1.36	291.5	90.7	11.0	550	11525	0.00	2.53	0.00	0.000	4	0.000	0.073	3027	503	1647
11548	1.36	291.5	87.2	11.3	551	11553	0.00	2.40	0.00	0.000	6	0.000	0.049	3027	1868	1647
11865	1.44	291.5	46.9	13.3	566	11870	0.12	2.53	0.00	0.000	4	0.057	0.071	3063	503	1648
11928	1.37	291.5	37.4	14.7	569	11933	0.00	2.38	0.00	0.000	6	0.000	0.048	3063	1858	1648
12212	end climb: SURFACE_DEPTH_REACHED
state	12212	begin surface coast
12235	end surface coast: CONTROL_FINISHED_OK
state	12235	begin surface