Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 312 * 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 312 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 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 -106277.06 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 0 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 -106277.06

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 0 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 312 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 114436,6309.509,-1251.853,39,1.1,45,-12.0 TGT_NAME GE

_CALLS 2 TGT_LATLONG 6300.000,-1255.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,-0.221

_SM_DEPTHo 1.67 KALMAN_X 14031.9,-791.8,-658.6,-6558.7,12088.7

_SM_ANGLEo -61.4 KALMAN_Y 21377.5,25.5,-1190.0,-54948.7,13028.7

GPS2 115349,6309.510,-1251.818,15,1.1,15,-12.0 MHEAD_RNG_PITCHd_Wd 217.7,17815,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.2,1.027259 ALTIM_BOTTOM_PING 520.4,50.6

SM_CCo 11897,6.57,0.663,0,0,1608,300.00 _24V_AH 23.8,51.131

SM_GC 2.82,0.00,0.00,6.57,0.000,0.000,0.663,419,2085,1608,-10.70,-1.27,300.00 _10V_AH 10.1,22.919

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34811,705

TT8_MAMPS 0.029146 CAP_FILE_SIZE 98134,0

HUMID 1816 CFSIZE 254472192,235212800

TCM_TEMP 19.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 53 GPS 161009,151424,6307.471,-1253.839,41,1.3,41,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 160 96.43 SBE_CT 481 24 275.17

Roll_motor 105 77 194.88 SBE_O2 515 19 232.89

VBD_pump_during_apogee 383 1175 10742.47 WL_BB2F 447 105 1117.05

VBD_pump_during_surface 6 662 103.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.13 nil 0 0 0.00

Iridium_during_connect 54 160 207.78 nil 0 0 0.00

Iridium_during_xfer 231 223 1230.61

Transponder_ping 17 420 177.43

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.15

TT8 1230 19 246.00

LPSleep 8710 2 192.67

TT8_Active 477 19 95.44

TT8_Sampling 1416 39 569.44

TT8_CF8 623 45 288.30

TT8_Kalman 33 81 27.56

Analog_circuits 1212 12 146.92

GPS_charging 0 0 0.00

Compass 1382 8 111.69

RAFOS 0 0 0.00

Transponder 32 30 9.94

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

16 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.40 0.000 2 0.000 0.000 419 2153 2441

63 -1.22 -146.6 2.3 -2.4 2 121 11.25 2.53 -40.53 0.000 4 0.160 0.077 2471 3531 3428

155 -1.08 -146.6 9.7 -15.4 5 160 0.17 2.53 0.00 0.000 6 0.097 0.048 2508 2116 3428

473 -1.08 -146.6 46.4 -11.6 20 474 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2101 3428

780 -1.08 -146.6 80.7 -10.5 35 781 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2101 3428

1090 -1.08 -146.6 115.3 -11.8 50 1091 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2101 3428

1410 -1.08 -146.6 155.9 -12.3 66 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2101 3428

1722 -1.08 -146.6 194.1 -12.4 86 1726 0.00 2.58 0.00 0.000 4 0.000 0.066 2508 3525 3428

1767 -1.08 -146.6 199.5 -11.6 89 1771 0.00 2.53 0.00 0.000 6 0.000 0.053 2508 2115 3428

2091 -1.08 -146.6 236.2 -10.8 110 2092 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2102 3428

2403 -1.08 -146.6 269.7 -10.7 130 2408 0.00 2.47 0.00 0.000 4 0.000 0.061 2508 720 3428

2425 -1.08 -146.6 272.2 -10.7 131 2430 0.00 2.47 0.00 0.000 6 0.000 0.049 2508 2118 3428

2745 -1.08 -146.6 306.0 -10.7 151 2749 0.00 2.53 0.00 0.000 4 0.000 0.060 2508 717 3428

2767 -1.08 -146.6 308.6 -11.2 152 2773 0.00 2.47 0.00 0.000 6 0.000 0.051 2508 2115 3428

3086 -1.08 -146.6 344.0 -11.4 173 3088 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2114 3428

3398 -1.08 -146.6 379.4 -11.0 193 3402 0.00 2.53 0.00 0.000 4 0.000 0.061 2508 716 3428

3426 -1.08 -146.6 382.6 -11.3 195 3430 0.00 2.47 0.00 0.000 6 0.000 0.051 2508 2114 3428

3752 -1.08 -146.6 417.9 -10.8 216 3753 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2114 3428

4065 -1.08 -146.6 450.1 -9.5 236 4069 0.00 2.53 0.00 0.000 4 0.000 0.063 2509 717 3428

4121 -1.11 -146.6 455.8 -9.6 239 4127 0.00 2.47 0.00 0.000 6 0.000 0.051 2508 2114 3428

4440 -1.11 -146.6 486.2 -9.9 260 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2113 3428

4753 -1.11 -146.6 519.7 -10.5 280 4762 0.00 2.53 0.00 0.000 4 0.000 0.063 2508 718 3427

4831 -1.17 -146.6 528.6 -11.2 284 4835 0.00 2.45 0.00 0.000 6 0.000 0.052 2508 2097 3427

5147 end dive: BOTTOM_OBSTACLE_DETECTED

state 5147 begin apogee

5155 -0.33 0.0 562.3 10.2 304 5288 0.75 0.00 129.02 1.176 6 0.075 0.000 2670 1836 2831

5288 end apogee: CONTROL_FINISHED_OK

state 5288 begin climb

5292 1.22 146.6 568.0 0.0 313 5433 1.55 2.62 128.93 1.140 4 0.062 0.071 3009 453 2233

5544 1.12 150.1 555.2 7.9 328 5555 0.00 2.53 4.82 0.780 6 0.000 0.053 3009 1848 2219

5871 1.16 227.4 535.3 5.2 349 5944 0.00 2.65 67.62 1.129 4 0.000 0.069 3009 3260 1902

5963 1.16 227.4 528.9 8.5 354 5967 0.00 2.65 0.00 0.000 6 0.000 0.067 3009 1843 1902

6287 1.16 227.4 499.6 9.1 375 6288 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 1843 1901

6599 1.16 227.4 473.7 8.2 395 6603 0.00 2.62 0.00 0.000 4 0.000 0.067 3009 3256 1900

6638 1.16 227.4 470.3 8.7 397 6644 0.00 2.60 0.00 0.000 6 0.000 0.062 3009 1840 1900

6957 1.16 227.4 441.5 9.7 418 6961 0.00 2.62 0.00 0.000 4 0.000 0.065 3009 3258 1900

6985 1.16 227.4 438.6 10.1 420 6990 0.00 2.58 0.00 0.000 6 0.000 0.061 3009 1845 1900

7310 1.16 227.4 407.1 9.4 441 7315 0.00 2.60 0.00 0.000 4 0.000 0.064 3009 3258 1899

7339 1.16 227.4 404.3 9.9 443 7344 0.00 2.55 0.00 0.000 6 0.000 0.058 3009 1850 1899

7663 1.16 227.4 375.5 8.8 464 7668 0.00 2.58 0.00 0.000 4 0.000 0.064 3009 3262 1899

7714 1.16 227.4 370.8 9.3 467 7718 0.00 2.53 0.00 0.000 6 0.000 0.057 3009 1869 1899

8033 1.16 227.4 343.5 8.5 487 8034 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 1869 1899

8346 1.16 227.4 316.0 8.6 507 8350 0.00 2.55 0.00 0.000 4 0.000 0.063 3010 3258 1899

8401 1.16 227.4 310.8 9.3 510 8408 0.00 2.47 0.00 0.000 6 0.000 0.055 3009 1882 1899

8722 1.16 227.4 280.6 9.7 531 8726 0.00 2.53 0.00 0.000 4 0.000 0.062 3009 3261 1899

8744 1.16 227.4 278.1 10.4 532 8751 0.00 2.47 0.00 0.000 6 0.000 0.054 3009 1886 1900

9064 1.16 227.4 247.2 9.8 553 9068 0.00 2.50 0.00 0.000 4 0.000 0.061 3009 3256 1899

9092 1.16 227.4 244.3 10.5 555 9097 0.00 2.42 0.00 0.000 6 0.000 0.054 3009 1897 1899

9418 1.16 227.4 213.1 9.7 576 9419 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 1897 1900

9730 1.16 227.4 183.6 9.6 596 9734 0.00 2.47 0.00 0.000 4 0.000 0.061 3009 3255 1900

9763 1.16 227.4 180.4 10.0 598 9767 0.00 2.42 0.00 0.000 6 0.000 0.051 3009 1898 1900

10082 1.16 227.4 152.3 8.5 618 10083 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 1898 1899

10403 1.25 279.0 130.9 6.1 634 10452 0.00 2.53 42.75 0.881 4 0.000 0.059 3009 3261 1693

10480 1.31 283.3 125.3 7.8 637 10491 0.00 2.45 5.07 0.666 6 0.000 0.049 3009 1899 1676

10820 1.31 287.6 100.0 7.8 654 10831 0.00 2.50 5.65 0.687 4 0.000 0.058 3009 3258 1657

10854 1.36 287.6 96.9 8.5 655 10861 0.15 2.40 0.00 0.000 6 0.052 0.049 3049 1919 1657

11173 1.31 287.6 66.4 9.7 671 11177 0.00 2.45 0.00 0.000 4 0.000 0.059 3050 3264 1657

11196 1.27 287.6 63.8 10.0 672 11201 0.15 2.38 0.00 0.000 6 0.089 0.048 3021 1930 1657

11518 1.27 287.6 34.9 9.8 688 11519 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 1930 1658

11829 1.27 287.6 6.9 8.8 703 11833 0.00 2.42 0.00 0.000 4 0.000 0.060 3021 3263 1657

11866 end climb: SURFACE_DEPTH_REACHED

state 11866 begin surface coast

11871 end surface coast: CONTROL_FINISHED_OK

state 11871 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	312	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	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	-106277.06	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	0	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	114436,6309.509,-1251.853,39,1.1,45,-12.0	TGT_NAME	GE
_CALLS	2	TGT_LATLONG	6300.000,-1255.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,-0.221
_SM_DEPTHo	1.67	KALMAN_X	14031.9,-791.8,-658.6,-6558.7,12088.7
_SM_ANGLEo	-61.4	KALMAN_Y	21377.5,25.5,-1190.0,-54948.7,13028.7
GPS2	115349,6309.510,-1251.818,15,1.1,15,-12.0	MHEAD_RNG_PITCHd_Wd	217.7,17815,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	2.2,1.027259	ALTIM_BOTTOM_PING	520.4,50.6
SM_CCo	11897,6.57,0.663,0,0,1608,300.00	_24V_AH	23.8,51.131
SM_GC	2.82,0.00,0.00,6.57,0.000,0.000,0.663,419,2085,1608,-10.70,-1.27,300.00	_10V_AH	10.1,22.919
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34811,705
TT8_MAMPS	0.029146	CAP_FILE_SIZE	98134,0
HUMID	1816	CFSIZE	254472192,235212800
TCM_TEMP	19.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	53	GPS	161009,151424,6307.471,-1253.839,41,1.3,41,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	160	96.43	SBE_CT	481	24	275.17
Roll_motor	105	77	194.88	SBE_O2	515	19	232.89
VBD_pump_during_apogee	383	1175	10742.47	WL_BB2F	447	105	1117.05
VBD_pump_during_surface	6	662	103.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.13	nil	0	0	0.00
Iridium_during_connect	54	160	207.78	nil	0	0	0.00
Iridium_during_xfer	231	223	1230.61
Transponder_ping	17	420	177.43
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.15
TT8	1230	19	246.00
LPSleep	8710	2	192.67
TT8_Active	477	19	95.44
TT8_Sampling	1416	39	569.44
TT8_CF8	623	45	288.30
TT8_Kalman	33	81	27.56
Analog_circuits	1212	12	146.92
GPS_charging	0	0	0.00
Compass	1382	8	111.69
RAFOS	0	0	0.00
Transponder	32	30	9.94

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
16	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.40	0.000	2	0.000	0.000	419	2153	2441
63	-1.22	-146.6	2.3	-2.4	2	121	11.25	2.53	-40.53	0.000	4	0.160	0.077	2471	3531	3428
155	-1.08	-146.6	9.7	-15.4	5	160	0.17	2.53	0.00	0.000	6	0.097	0.048	2508	2116	3428
473	-1.08	-146.6	46.4	-11.6	20	474	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2101	3428
780	-1.08	-146.6	80.7	-10.5	35	781	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2101	3428
1090	-1.08	-146.6	115.3	-11.8	50	1091	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2101	3428
1410	-1.08	-146.6	155.9	-12.3	66	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2101	3428
1722	-1.08	-146.6	194.1	-12.4	86	1726	0.00	2.58	0.00	0.000	4	0.000	0.066	2508	3525	3428
1767	-1.08	-146.6	199.5	-11.6	89	1771	0.00	2.53	0.00	0.000	6	0.000	0.053	2508	2115	3428
2091	-1.08	-146.6	236.2	-10.8	110	2092	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2102	3428
2403	-1.08	-146.6	269.7	-10.7	130	2408	0.00	2.47	0.00	0.000	4	0.000	0.061	2508	720	3428
2425	-1.08	-146.6	272.2	-10.7	131	2430	0.00	2.47	0.00	0.000	6	0.000	0.049	2508	2118	3428
2745	-1.08	-146.6	306.0	-10.7	151	2749	0.00	2.53	0.00	0.000	4	0.000	0.060	2508	717	3428
2767	-1.08	-146.6	308.6	-11.2	152	2773	0.00	2.47	0.00	0.000	6	0.000	0.051	2508	2115	3428
3086	-1.08	-146.6	344.0	-11.4	173	3088	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2114	3428
3398	-1.08	-146.6	379.4	-11.0	193	3402	0.00	2.53	0.00	0.000	4	0.000	0.061	2508	716	3428
3426	-1.08	-146.6	382.6	-11.3	195	3430	0.00	2.47	0.00	0.000	6	0.000	0.051	2508	2114	3428
3752	-1.08	-146.6	417.9	-10.8	216	3753	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2114	3428
4065	-1.08	-146.6	450.1	-9.5	236	4069	0.00	2.53	0.00	0.000	4	0.000	0.063	2509	717	3428
4121	-1.11	-146.6	455.8	-9.6	239	4127	0.00	2.47	0.00	0.000	6	0.000	0.051	2508	2114	3428
4440	-1.11	-146.6	486.2	-9.9	260	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2113	3428
4753	-1.11	-146.6	519.7	-10.5	280	4762	0.00	2.53	0.00	0.000	4	0.000	0.063	2508	718	3427
4831	-1.17	-146.6	528.6	-11.2	284	4835	0.00	2.45	0.00	0.000	6	0.000	0.052	2508	2097	3427
5147	end dive: BOTTOM_OBSTACLE_DETECTED
state	5147	begin apogee
5155	-0.33	0.0	562.3	10.2	304	5288	0.75	0.00	129.02	1.176	6	0.075	0.000	2670	1836	2831
5288	end apogee: CONTROL_FINISHED_OK
state	5288	begin climb
5292	1.22	146.6	568.0	0.0	313	5433	1.55	2.62	128.93	1.140	4	0.062	0.071	3009	453	2233
5544	1.12	150.1	555.2	7.9	328	5555	0.00	2.53	4.82	0.780	6	0.000	0.053	3009	1848	2219
5871	1.16	227.4	535.3	5.2	349	5944	0.00	2.65	67.62	1.129	4	0.000	0.069	3009	3260	1902
5963	1.16	227.4	528.9	8.5	354	5967	0.00	2.65	0.00	0.000	6	0.000	0.067	3009	1843	1902
6287	1.16	227.4	499.6	9.1	375	6288	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	1843	1901
6599	1.16	227.4	473.7	8.2	395	6603	0.00	2.62	0.00	0.000	4	0.000	0.067	3009	3256	1900
6638	1.16	227.4	470.3	8.7	397	6644	0.00	2.60	0.00	0.000	6	0.000	0.062	3009	1840	1900
6957	1.16	227.4	441.5	9.7	418	6961	0.00	2.62	0.00	0.000	4	0.000	0.065	3009	3258	1900
6985	1.16	227.4	438.6	10.1	420	6990	0.00	2.58	0.00	0.000	6	0.000	0.061	3009	1845	1900
7310	1.16	227.4	407.1	9.4	441	7315	0.00	2.60	0.00	0.000	4	0.000	0.064	3009	3258	1899
7339	1.16	227.4	404.3	9.9	443	7344	0.00	2.55	0.00	0.000	6	0.000	0.058	3009	1850	1899
7663	1.16	227.4	375.5	8.8	464	7668	0.00	2.58	0.00	0.000	4	0.000	0.064	3009	3262	1899
7714	1.16	227.4	370.8	9.3	467	7718	0.00	2.53	0.00	0.000	6	0.000	0.057	3009	1869	1899
8033	1.16	227.4	343.5	8.5	487	8034	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	1869	1899
8346	1.16	227.4	316.0	8.6	507	8350	0.00	2.55	0.00	0.000	4	0.000	0.063	3010	3258	1899
8401	1.16	227.4	310.8	9.3	510	8408	0.00	2.47	0.00	0.000	6	0.000	0.055	3009	1882	1899
8722	1.16	227.4	280.6	9.7	531	8726	0.00	2.53	0.00	0.000	4	0.000	0.062	3009	3261	1899
8744	1.16	227.4	278.1	10.4	532	8751	0.00	2.47	0.00	0.000	6	0.000	0.054	3009	1886	1900
9064	1.16	227.4	247.2	9.8	553	9068	0.00	2.50	0.00	0.000	4	0.000	0.061	3009	3256	1899
9092	1.16	227.4	244.3	10.5	555	9097	0.00	2.42	0.00	0.000	6	0.000	0.054	3009	1897	1899
9418	1.16	227.4	213.1	9.7	576	9419	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	1897	1900
9730	1.16	227.4	183.6	9.6	596	9734	0.00	2.47	0.00	0.000	4	0.000	0.061	3009	3255	1900
9763	1.16	227.4	180.4	10.0	598	9767	0.00	2.42	0.00	0.000	6	0.000	0.051	3009	1898	1900
10082	1.16	227.4	152.3	8.5	618	10083	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	1898	1899
10403	1.25	279.0	130.9	6.1	634	10452	0.00	2.53	42.75	0.881	4	0.000	0.059	3009	3261	1693
10480	1.31	283.3	125.3	7.8	637	10491	0.00	2.45	5.07	0.666	6	0.000	0.049	3009	1899	1676
10820	1.31	287.6	100.0	7.8	654	10831	0.00	2.50	5.65	0.687	4	0.000	0.058	3009	3258	1657
10854	1.36	287.6	96.9	8.5	655	10861	0.15	2.40	0.00	0.000	6	0.052	0.049	3049	1919	1657
11173	1.31	287.6	66.4	9.7	671	11177	0.00	2.45	0.00	0.000	4	0.000	0.059	3050	3264	1657
11196	1.27	287.6	63.8	10.0	672	11201	0.15	2.38	0.00	0.000	6	0.089	0.048	3021	1930	1657
11518	1.27	287.6	34.9	9.8	688	11519	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	1930	1658
11829	1.27	287.6	6.9	8.8	703	11833	0.00	2.42	0.00	0.000	4	0.000	0.060	3021	3263	1657
11866	end climb: SURFACE_DEPTH_REACHED
state	11866	begin surface coast
11871	end surface coast: CONTROL_FINISHED_OK
state	11871	begin surface