Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 260 * 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 260 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 23 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -105344.47 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 412.5

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 -105344.47

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 23 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 260 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 191407,6405.860,-1243.423,30,1.1,30,-12.3 TGT_NAME P3

_CALLS 3 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.217,0.115

_SM_DEPTHo 1.25 KALMAN_X -15412.4,-2074.7,-1849.4,-195067.3,23743.9

_SM_ANGLEo -59.9 KALMAN_Y -7272.6,-636.7,-299.6,285153.4,13933.0

GPS2 192650,6406.127,-1243.476,12,1.5,12,-12.3 MHEAD_RNG_PITCHd_Wd 310.3,43191,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.027447 ALTIM_BOTTOM_PING 470.8,69.8

SM_CCo 11551,21.00,0.835,0,0,1608,300.00 _24V_AH 23.8,42.886

SM_GC 0.83,0.00,0.00,21.00,0.000,0.000,0.835,422,2125,1608,-10.69,-0.14,300.00 _10V_AH 10.1,18.981

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34950,683

TT8_MAMPS 0.029146 CAP_FILE_SIZE 101497,0

HUMID 1848 CFSIZE 254472192,238280704

TCM_TEMP 15.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 16 GPS 071009,224154,6409.302,-1247.967,42,1.2,42,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 107.21 SBE_CT 470 24 268.53

Roll_motor 104 86 214.68 SBE_O2 500 19 226.35

VBD_pump_during_apogee 361 1227 10578.94 WL_BB2F 444 105 1111.29

VBD_pump_during_surface 21 835 417.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 280.97 nil 0 0 0.00

Iridium_during_connect 88 160 338.71 nil 0 0 0.00

Iridium_during_xfer 300 223 1594.06

Transponder_ping 8 420 79.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.67

TT8 1211 19 242.37

LPSleep 8438 2 186.65

TT8_Active 500 19 100.18

TT8_Sampling 1411 39 567.57

TT8_CF8 773 45 357.61

TT8_Kalman 33 81 27.56

Analog_circuits 1216 12 147.38

GPS_charging 0 0 0.00

Compass 1379 8 111.45

RAFOS 0 0 0.00

Transponder 30 30 9.35

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.30 0.000 2 0.000 0.000 422 2160 2804

82 -1.22 -146.6 2.5 -3.1 3 124 11.52 0.00 -23.70 0.000 6 0.170 0.000 2469 2147 3429

436 -1.14 -146.6 44.5 -13.1 20 441 0.12 2.53 0.00 0.000 4 0.110 0.065 2494 3537 3429

454 -1.05 -146.6 47.2 -13.0 21 460 0.10 2.53 0.00 0.000 6 0.097 0.051 2515 2124 3429

782 -1.05 -146.6 79.9 -9.9 37 783 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2113 3429

1091 -1.05 -146.6 110.9 -9.9 52 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2113 3430

1401 -1.05 -146.6 147.2 -10.8 67 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2113 3430

1723 -1.05 -146.6 180.7 -10.1 87 1724 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2110 3430

2034 -1.05 -146.6 209.3 -9.1 107 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2110 3430

2347 -1.05 -146.6 242.9 -11.9 127 2348 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2110 3430

2660 -1.05 -146.6 279.6 -10.5 147 2661 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2112 3431

2972 -1.05 -146.6 309.1 -9.4 167 2976 0.00 2.53 0.00 0.000 4 0.000 0.068 2515 721 3430

3086 -1.09 -146.6 320.8 -10.2 174 3090 0.00 2.53 0.00 0.000 6 0.000 0.055 2516 2130 3430

3410 -1.09 -146.6 352.6 -9.0 195 3414 0.00 2.60 0.00 0.000 4 0.000 0.073 2516 721 3430

3449 -1.14 -146.6 356.3 -9.4 197 3455 0.00 2.55 0.00 0.000 6 0.000 0.058 2515 2138 3430

3770 -1.14 -146.6 386.7 -9.6 218 3774 0.00 2.62 0.00 0.000 4 0.000 0.072 2515 719 3429

3854 -1.18 -146.6 395.4 -9.9 223 3859 0.12 2.50 0.00 0.000 6 0.066 0.058 2483 2108 3429

4175 -1.18 -146.6 431.6 -11.6 243 4180 0.00 2.58 0.00 0.000 4 0.000 0.076 2483 722 3429

4214 -1.18 -146.6 436.8 -13.1 245 4221 0.00 2.50 0.00 0.000 6 0.000 0.061 2483 2104 3429

4539 -1.15 -146.6 474.3 -11.3 266 4543 0.00 2.58 0.00 0.000 4 0.000 0.079 2483 723 3428

4628 -1.15 -146.6 484.9 -10.9 271 4634 0.00 2.50 0.00 0.000 6 0.000 0.062 2483 2099 3428

4948 -1.12 -146.6 519.7 -11.0 292 4952 0.00 2.58 0.00 0.000 4 0.000 0.081 2483 723 3427

5031 -1.12 -146.6 530.5 -13.0 297 5035 0.00 2.45 0.00 0.000 4 0.000 0.064 2483 2063 3427

5036 end dive: BOTTOM_OBSTACLE_DETECTED

state 5036 begin apogee

5043 -0.33 0.0 531.1 13.3 297 5175 0.85 0.00 128.40 1.228 6 0.085 0.000 2665 1838 2831

5176 end apogee: CONTROL_FINISHED_OK

state 5176 begin climb

5180 1.22 146.6 537.4 0.0 306 5317 1.58 0.00 128.65 1.178 6 0.067 0.000 3005 1839 2232

5631 1.21 179.0 512.6 6.8 335 5665 0.00 2.70 29.15 1.144 4 0.000 0.087 3005 449 2101

5711 1.13 179.0 506.6 8.2 340 5715 0.00 2.58 0.00 0.000 6 0.000 0.064 3005 1839 2100

6030 1.19 211.5 482.1 6.8 360 6066 0.00 2.72 29.23 1.158 4 0.000 0.085 3005 461 1968

6153 1.16 227.8 473.7 7.4 367 6173 0.00 2.53 15.07 1.108 6 0.000 0.066 3005 1838 1902

6489 1.16 227.8 448.3 8.6 388 6493 0.00 2.65 0.00 0.000 4 0.000 0.080 3005 3240 1901

6517 1.16 227.8 445.7 8.9 390 6522 0.00 2.65 0.00 0.000 6 0.000 0.074 3005 1835 1901

6843 1.16 227.8 416.7 8.9 411 6847 0.00 2.60 0.00 0.000 4 0.000 0.083 3005 435 1901

6889 1.11 227.8 412.5 9.7 414 6893 0.00 2.53 0.00 0.000 6 0.000 0.064 3005 1809 1901

7213 1.11 227.8 383.9 8.9 435 7218 0.00 2.67 0.00 0.000 4 0.000 0.075 3005 3258 1900

7252 1.11 227.8 380.3 9.3 437 7259 0.00 2.70 0.00 0.000 6 0.000 0.071 3005 1813 1899

7571 1.11 227.8 352.8 8.7 458 7573 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 1813 1899

7884 1.11 227.8 327.1 8.4 478 7888 0.00 2.55 0.00 0.000 4 0.000 0.081 3005 433 1899

7923 1.06 227.8 323.4 9.4 480 7930 0.15 2.55 0.00 0.000 6 0.100 0.062 2978 1835 1899

8245 1.15 238.8 299.2 7.6 501 8262 0.00 2.65 10.57 1.019 4 0.000 0.071 2978 3257 1857

8315 1.23 238.8 293.3 8.7 505 8320 0.17 2.65 0.00 0.000 6 0.060 0.065 3019 1827 1857

8643 1.20 238.8 260.2 10.2 526 8644 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1827 1857

8953 1.20 238.8 231.7 10.0 546 8957 0.00 2.55 0.00 0.000 4 0.000 0.077 3019 437 1857

9042 1.14 238.8 221.8 10.7 551 9049 0.15 2.53 0.00 0.000 6 0.099 0.058 2991 1835 1857

9364 1.19 238.8 193.3 8.6 572 9369 0.00 2.58 0.00 0.000 4 0.000 0.069 2991 3254 1857

9421 1.26 238.8 187.8 9.3 575 9428 0.12 2.60 0.00 0.000 6 0.064 0.062 3022 1830 1857

9740 1.26 238.8 156.2 10.7 596 9744 0.00 2.55 0.00 0.000 4 0.000 0.074 3022 433 1857

9836 1.18 238.8 146.4 11.1 601 9841 0.00 2.53 0.00 0.000 6 0.000 0.056 3022 1841 1857

10154 1.18 238.8 119.7 9.4 616 10155 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1856 1857

10462 1.18 238.8 90.9 8.7 631 10467 0.00 2.60 0.00 0.000 4 0.000 0.073 3022 440 1857

10507 1.13 238.8 86.1 10.7 633 10513 0.17 2.50 0.00 0.000 6 0.091 0.054 2988 1835 1857

10830 1.24 262.3 63.3 7.1 649 10857 0.12 2.62 20.90 0.888 4 0.060 0.063 3020 3261 1760

10886 1.27 262.3 58.2 9.7 651 10893 0.00 2.60 0.00 0.000 6 0.000 0.057 3020 1828 1760

11202 1.27 262.3 30.5 8.7 667 11207 0.00 2.62 0.00 0.000 4 0.000 0.064 3020 3257 1760

11243 1.31 262.3 26.7 9.2 669 11247 0.00 2.58 0.00 0.000 6 0.000 0.057 3020 1830 1760

11505 end climb: SURFACE_DEPTH_REACHED

state 11505 begin surface coast

11527 end surface coast: CONTROL_FINISHED_OK

state 11527 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	260	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	23	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-105344.47	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	191407,6405.860,-1243.423,30,1.1,30,-12.3	TGT_NAME	P3
_CALLS	3	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.217,0.115
_SM_DEPTHo	1.25	KALMAN_X	-15412.4,-2074.7,-1849.4,-195067.3,23743.9
_SM_ANGLEo	-59.9	KALMAN_Y	-7272.6,-636.7,-299.6,285153.4,13933.0
GPS2	192650,6406.127,-1243.476,12,1.5,12,-12.3	MHEAD_RNG_PITCHd_Wd	310.3,43191,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.0,1.027447	ALTIM_BOTTOM_PING	470.8,69.8
SM_CCo	11551,21.00,0.835,0,0,1608,300.00	_24V_AH	23.8,42.886
SM_GC	0.83,0.00,0.00,21.00,0.000,0.000,0.835,422,2125,1608,-10.69,-0.14,300.00	_10V_AH	10.1,18.981
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34950,683
TT8_MAMPS	0.029146	CAP_FILE_SIZE	101497,0
HUMID	1848	CFSIZE	254472192,238280704
TCM_TEMP	15.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	16	GPS	071009,224154,6409.302,-1247.967,42,1.2,42,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	107.21	SBE_CT	470	24	268.53
Roll_motor	104	86	214.68	SBE_O2	500	19	226.35
VBD_pump_during_apogee	361	1227	10578.94	WL_BB2F	444	105	1111.29
VBD_pump_during_surface	21	835	417.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	280.97	nil	0	0	0.00
Iridium_during_connect	88	160	338.71	nil	0	0	0.00
Iridium_during_xfer	300	223	1594.06
Transponder_ping	8	420	79.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.67
TT8	1211	19	242.37
LPSleep	8438	2	186.65
TT8_Active	500	19	100.18
TT8_Sampling	1411	39	567.57
TT8_CF8	773	45	357.61
TT8_Kalman	33	81	27.56
Analog_circuits	1216	12	147.38
GPS_charging	0	0	0.00
Compass	1379	8	111.45
RAFOS	0	0	0.00
Transponder	30	30	9.35

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.30	0.000	2	0.000	0.000	422	2160	2804
82	-1.22	-146.6	2.5	-3.1	3	124	11.52	0.00	-23.70	0.000	6	0.170	0.000	2469	2147	3429
436	-1.14	-146.6	44.5	-13.1	20	441	0.12	2.53	0.00	0.000	4	0.110	0.065	2494	3537	3429
454	-1.05	-146.6	47.2	-13.0	21	460	0.10	2.53	0.00	0.000	6	0.097	0.051	2515	2124	3429
782	-1.05	-146.6	79.9	-9.9	37	783	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2113	3429
1091	-1.05	-146.6	110.9	-9.9	52	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2113	3430
1401	-1.05	-146.6	147.2	-10.8	67	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2113	3430
1723	-1.05	-146.6	180.7	-10.1	87	1724	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2110	3430
2034	-1.05	-146.6	209.3	-9.1	107	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2110	3430
2347	-1.05	-146.6	242.9	-11.9	127	2348	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2110	3430
2660	-1.05	-146.6	279.6	-10.5	147	2661	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2112	3431
2972	-1.05	-146.6	309.1	-9.4	167	2976	0.00	2.53	0.00	0.000	4	0.000	0.068	2515	721	3430
3086	-1.09	-146.6	320.8	-10.2	174	3090	0.00	2.53	0.00	0.000	6	0.000	0.055	2516	2130	3430
3410	-1.09	-146.6	352.6	-9.0	195	3414	0.00	2.60	0.00	0.000	4	0.000	0.073	2516	721	3430
3449	-1.14	-146.6	356.3	-9.4	197	3455	0.00	2.55	0.00	0.000	6	0.000	0.058	2515	2138	3430
3770	-1.14	-146.6	386.7	-9.6	218	3774	0.00	2.62	0.00	0.000	4	0.000	0.072	2515	719	3429
3854	-1.18	-146.6	395.4	-9.9	223	3859	0.12	2.50	0.00	0.000	6	0.066	0.058	2483	2108	3429
4175	-1.18	-146.6	431.6	-11.6	243	4180	0.00	2.58	0.00	0.000	4	0.000	0.076	2483	722	3429
4214	-1.18	-146.6	436.8	-13.1	245	4221	0.00	2.50	0.00	0.000	6	0.000	0.061	2483	2104	3429
4539	-1.15	-146.6	474.3	-11.3	266	4543	0.00	2.58	0.00	0.000	4	0.000	0.079	2483	723	3428
4628	-1.15	-146.6	484.9	-10.9	271	4634	0.00	2.50	0.00	0.000	6	0.000	0.062	2483	2099	3428
4948	-1.12	-146.6	519.7	-11.0	292	4952	0.00	2.58	0.00	0.000	4	0.000	0.081	2483	723	3427
5031	-1.12	-146.6	530.5	-13.0	297	5035	0.00	2.45	0.00	0.000	4	0.000	0.064	2483	2063	3427
5036	end dive: BOTTOM_OBSTACLE_DETECTED
state	5036	begin apogee
5043	-0.33	0.0	531.1	13.3	297	5175	0.85	0.00	128.40	1.228	6	0.085	0.000	2665	1838	2831
5176	end apogee: CONTROL_FINISHED_OK
state	5176	begin climb
5180	1.22	146.6	537.4	0.0	306	5317	1.58	0.00	128.65	1.178	6	0.067	0.000	3005	1839	2232
5631	1.21	179.0	512.6	6.8	335	5665	0.00	2.70	29.15	1.144	4	0.000	0.087	3005	449	2101
5711	1.13	179.0	506.6	8.2	340	5715	0.00	2.58	0.00	0.000	6	0.000	0.064	3005	1839	2100
6030	1.19	211.5	482.1	6.8	360	6066	0.00	2.72	29.23	1.158	4	0.000	0.085	3005	461	1968
6153	1.16	227.8	473.7	7.4	367	6173	0.00	2.53	15.07	1.108	6	0.000	0.066	3005	1838	1902
6489	1.16	227.8	448.3	8.6	388	6493	0.00	2.65	0.00	0.000	4	0.000	0.080	3005	3240	1901
6517	1.16	227.8	445.7	8.9	390	6522	0.00	2.65	0.00	0.000	6	0.000	0.074	3005	1835	1901
6843	1.16	227.8	416.7	8.9	411	6847	0.00	2.60	0.00	0.000	4	0.000	0.083	3005	435	1901
6889	1.11	227.8	412.5	9.7	414	6893	0.00	2.53	0.00	0.000	6	0.000	0.064	3005	1809	1901
7213	1.11	227.8	383.9	8.9	435	7218	0.00	2.67	0.00	0.000	4	0.000	0.075	3005	3258	1900
7252	1.11	227.8	380.3	9.3	437	7259	0.00	2.70	0.00	0.000	6	0.000	0.071	3005	1813	1899
7571	1.11	227.8	352.8	8.7	458	7573	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	1813	1899
7884	1.11	227.8	327.1	8.4	478	7888	0.00	2.55	0.00	0.000	4	0.000	0.081	3005	433	1899
7923	1.06	227.8	323.4	9.4	480	7930	0.15	2.55	0.00	0.000	6	0.100	0.062	2978	1835	1899
8245	1.15	238.8	299.2	7.6	501	8262	0.00	2.65	10.57	1.019	4	0.000	0.071	2978	3257	1857
8315	1.23	238.8	293.3	8.7	505	8320	0.17	2.65	0.00	0.000	6	0.060	0.065	3019	1827	1857
8643	1.20	238.8	260.2	10.2	526	8644	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1827	1857
8953	1.20	238.8	231.7	10.0	546	8957	0.00	2.55	0.00	0.000	4	0.000	0.077	3019	437	1857
9042	1.14	238.8	221.8	10.7	551	9049	0.15	2.53	0.00	0.000	6	0.099	0.058	2991	1835	1857
9364	1.19	238.8	193.3	8.6	572	9369	0.00	2.58	0.00	0.000	4	0.000	0.069	2991	3254	1857
9421	1.26	238.8	187.8	9.3	575	9428	0.12	2.60	0.00	0.000	6	0.064	0.062	3022	1830	1857
9740	1.26	238.8	156.2	10.7	596	9744	0.00	2.55	0.00	0.000	4	0.000	0.074	3022	433	1857
9836	1.18	238.8	146.4	11.1	601	9841	0.00	2.53	0.00	0.000	6	0.000	0.056	3022	1841	1857
10154	1.18	238.8	119.7	9.4	616	10155	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1856	1857
10462	1.18	238.8	90.9	8.7	631	10467	0.00	2.60	0.00	0.000	4	0.000	0.073	3022	440	1857
10507	1.13	238.8	86.1	10.7	633	10513	0.17	2.50	0.00	0.000	6	0.091	0.054	2988	1835	1857
10830	1.24	262.3	63.3	7.1	649	10857	0.12	2.62	20.90	0.888	4	0.060	0.063	3020	3261	1760
10886	1.27	262.3	58.2	9.7	651	10893	0.00	2.60	0.00	0.000	6	0.000	0.057	3020	1828	1760
11202	1.27	262.3	30.5	8.7	667	11207	0.00	2.62	0.00	0.000	4	0.000	0.064	3020	3257	1760
11243	1.31	262.3	26.7	9.2	669	11247	0.00	2.58	0.00	0.000	6	0.000	0.057	3020	1830	1760
11505	end climb: SURFACE_DEPTH_REACHED
state	11505	begin surface coast
11527	end surface coast: CONTROL_FINISHED_OK
state	11527	begin surface