Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 376 * 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 376 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -107420.73 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 -107420.73

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 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 376 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 004537,6238.780,-1119.405,37,0.9,37,-10.9 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.263,0.022

_SM_DEPTHo 1.52 KALMAN_X -147614.6,1390.8,813.5,227777.8,-10532.4

_SM_ANGLEo -64.6 KALMAN_Y 41918.0,90.6,309.5,-133957.4,-5544.4

GPS2 005056,6238.807,-1119.448,12,1.8,12,-10.9 MHEAD_RNG_PITCHd_Wd 96.2,16901,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027379 ALTIM_BOTTOM_PING 620.1,39.2

SM_CCo 11396,7.90,0.686,0,0,1608,300.00 _24V_AH 23.7,61.073

SM_GC 2.50,0.00,0.00,7.90,0.000,0.000,0.686,419,2143,1608,-10.70,0.37,300.00 _10V_AH 10.1,27.707

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34877,684

TT8_MAMPS 0.028379 CAP_FILE_SIZE 96319,0

HUMID 1831 CFSIZE 254472192,231481344

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 46 GPS 271009,040306,6239.085,-1115.863,34,0.9,34,-10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 164 105.91 SBE_CT 467 24 265.82

Roll_motor 106 74 187.92 SBE_O2 498 19 224.33

VBD_pump_during_apogee 390 1243 11516.93 WL_BB2F 395 105 984.68

VBD_pump_during_surface 7 686 128.53 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 27 160 106.15 nil 0 0 0.00

Iridium_during_xfer 130 223 689.00

Transponder_ping 17 420 169.22

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.45

TT8 1213 19 242.64

LPSleep 8189 2 181.14

TT8_Active 504 19 100.96

TT8_Sampling 1354 39 544.43

TT8_CF8 463 45 214.31

TT8_Kalman 33 81 27.56

Analog_circuits 1212 12 146.95

GPS_charging 0 0 0.00

Compass 1324 8 107.00

RAFOS 0 0 0.00

Transponder 41 30 12.55

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.44 -146.6 0.0 0.0 0 59 0.00 0.00 -40.95 0.000 2 0.000 0.000 418 2146 2422

63 -1.44 -146.6 2.2 -3.1 2 128 11.27 2.65 -46.05 0.000 4 0.164 0.066 2426 706 3429

213 -1.37 -146.6 16.7 -15.0 9 218 0.10 2.53 0.00 0.000 6 0.110 0.048 2444 2129 3430

540 -1.30 -146.6 64.0 -14.1 25 542 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2130 3430

849 -1.23 -146.6 109.2 -14.6 40 854 0.15 2.58 0.00 0.000 4 0.100 0.059 2474 706 3430

917 -1.26 -146.6 118.4 -13.1 43 922 0.00 2.53 0.00 0.000 6 0.000 0.048 2474 2131 3430

1240 -1.26 -146.6 158.7 -12.1 60 1241 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2130 3430

1553 -1.26 -146.6 194.6 -11.1 80 1558 0.00 2.58 0.00 0.000 4 0.000 0.061 2474 707 3430

1582 -1.26 -146.6 198.1 -12.3 81 1588 0.00 2.50 0.00 0.000 6 0.000 0.048 2474 2119 3430

1901 -1.26 -146.6 234.4 -11.9 102 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2119 3430

2214 -1.26 -146.6 272.2 -12.2 122 2218 0.00 2.55 0.00 0.000 4 0.000 0.061 2474 708 3430

2259 -1.31 -146.6 278.0 -12.5 124 2265 0.00 2.50 0.00 0.000 6 0.000 0.049 2474 2120 3430

2578 -1.31 -146.6 317.2 -12.4 145 2582 0.00 2.55 0.00 0.000 4 0.000 0.061 2474 708 3430

2612 -1.34 -146.6 321.5 -12.7 147 2616 0.00 2.47 0.00 0.000 6 0.000 0.050 2474 2103 3430

2931 -1.34 -146.6 361.3 -12.4 167 2932 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2103 3431

3244 -1.34 -146.6 399.9 -12.2 187 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2103 3430

3555 -1.34 -146.6 440.2 -13.2 207 3560 0.00 2.53 0.00 0.000 4 0.000 0.064 2474 717 3431

3619 -1.39 -146.6 448.4 -12.8 211 3624 0.15 2.45 0.00 0.000 6 0.058 0.051 2434 2092 3430

3947 -1.33 -146.6 494.0 -13.4 232 3952 0.00 2.50 0.00 0.000 4 0.000 0.063 2434 717 3431

3998 -1.33 -146.6 501.2 -13.0 235 4002 0.00 2.42 0.00 0.000 6 0.000 0.051 2434 2076 3430

4327 -1.28 -146.6 546.4 -14.8 256 4332 0.15 2.67 0.00 0.000 4 0.100 0.074 2465 3531 3430

4360 -1.28 -146.6 552.0 -13.9 258 4364 0.00 2.67 0.00 0.000 6 0.000 0.064 2464 2067 3430

4681 -1.28 -146.6 589.7 -11.0 278 4685 0.00 2.45 0.00 0.000 4 0.000 0.069 2464 707 3430

4727 -1.33 -146.6 594.9 -11.0 281 4732 0.00 2.45 0.00 0.000 6 0.000 0.053 2464 2082 3430

5059 -1.33 -146.6 635.3 -11.8 302 5060 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2082 3430

5179 end dive: BOTTOM_OBSTACLE_DETECTED

state 5179 begin apogee

5187 -0.33 0.0 649.6 11.6 310 5323 0.98 0.00 131.75 1.243 6 0.081 0.000 2673 1846 2831

5323 end apogee: CONTROL_FINISHED_OK

state 5323 begin climb

5327 1.44 146.6 654.9 0.0 319 5466 1.75 0.00 131.02 1.204 6 0.057 0.000 3058 1847 2232

5779 1.37 146.6 619.3 10.3 348 5783 0.00 2.65 0.00 0.000 4 0.000 0.072 3058 3256 2232

5801 1.31 146.6 617.0 10.2 349 5807 0.15 2.62 0.00 0.000 6 0.103 0.068 3031 1850 2232

6120 1.37 184.2 590.6 8.3 370 6160 0.00 2.70 33.67 1.167 4 0.000 0.070 3031 3250 2080

6186 1.39 198.6 584.8 9.3 374 6206 0.00 2.60 14.27 1.095 6 0.000 0.067 3031 1859 2022

6536 1.45 234.6 555.8 8.4 396 6577 0.15 2.70 32.45 1.156 4 0.061 0.070 3068 3254 1874

6585 1.40 234.6 550.6 11.1 399 6589 0.00 2.62 0.00 0.000 6 0.000 0.067 3068 1860 1874

6904 1.35 234.6 512.5 13.1 419 6909 0.15 2.62 0.00 0.000 4 0.101 0.069 3040 3260 1873

6950 1.39 234.6 506.5 13.6 422 6954 0.00 2.53 0.00 0.000 6 0.000 0.064 3040 1892 1874

7274 1.41 246.4 469.7 9.5 443 7291 0.00 2.62 11.60 1.046 4 0.000 0.067 3040 3258 1826

7327 1.50 274.7 465.1 8.7 446 7360 0.15 2.53 25.33 1.107 6 0.061 0.061 3076 1888 1711

7672 1.45 274.7 425.8 12.0 468 7673 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 1888 1712

7985 1.41 274.7 388.0 11.9 488 7990 0.12 2.53 0.00 0.000 4 0.101 0.064 3053 3252 1712

8025 1.44 274.7 383.3 11.1 490 8031 0.00 2.47 0.00 0.000 6 0.000 0.058 3053 1893 1712

8344 1.44 274.7 347.4 12.1 511 8348 0.00 2.50 0.00 0.000 4 0.000 0.064 3053 3252 1712

8377 1.48 274.7 343.1 12.0 513 8381 0.00 2.42 0.00 0.000 6 0.000 0.056 3053 1914 1712

8697 1.48 274.7 305.1 11.5 533 8698 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1914 1712

9008 1.48 274.7 269.4 11.0 553 9013 0.00 2.47 0.00 0.000 4 0.000 0.063 3053 3261 1713

9055 1.52 274.7 264.3 11.2 556 9060 0.10 2.42 0.00 0.000 6 0.064 0.054 3081 1912 1713

9384 1.48 274.7 224.1 11.9 577 9385 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 1912 1713

9693 1.44 274.7 189.2 11.0 597 9698 0.12 2.45 0.00 0.000 4 0.097 0.060 3057 3254 1713

9728 1.48 274.7 185.6 10.1 599 9732 0.00 2.38 0.00 0.000 6 0.000 0.051 3057 1925 1713

10047 1.49 285.0 155.8 9.5 619 10064 0.00 2.47 10.75 0.831 4 0.000 0.059 3057 3262 1668

10076 1.52 285.0 152.9 10.6 620 10082 0.00 2.40 0.00 0.000 6 0.000 0.049 3057 1930 1668

10404 1.52 285.0 119.7 10.7 637 10405 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1930 1668

10713 1.52 285.0 85.6 11.6 652 10718 0.00 2.42 0.00 0.000 4 0.000 0.058 3057 3262 1668

10738 1.56 285.0 82.5 12.1 653 10742 0.12 2.35 0.00 0.000 6 0.059 0.048 3092 1938 1669

11060 1.53 285.0 38.7 13.6 669 11064 0.00 2.40 0.00 0.000 4 0.000 0.058 3092 3261 1670

11077 1.49 285.0 36.2 12.2 669 11084 0.12 2.33 0.00 0.000 6 0.097 0.048 3068 1946 1669

11349 end climb: SURFACE_DEPTH_REACHED

state 11349 begin surface coast

11371 end surface coast: CONTROL_FINISHED_OK

state 11371 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	376	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-107420.73	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	004537,6238.780,-1119.405,37,0.9,37,-10.9	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.263,0.022
_SM_DEPTHo	1.52	KALMAN_X	-147614.6,1390.8,813.5,227777.8,-10532.4
_SM_ANGLEo	-64.6	KALMAN_Y	41918.0,90.6,309.5,-133957.4,-5544.4
GPS2	005056,6238.807,-1119.448,12,1.8,12,-10.9	MHEAD_RNG_PITCHd_Wd	96.2,16901,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.8,1.027379	ALTIM_BOTTOM_PING	620.1,39.2
SM_CCo	11396,7.90,0.686,0,0,1608,300.00	_24V_AH	23.7,61.073
SM_GC	2.50,0.00,0.00,7.90,0.000,0.000,0.686,419,2143,1608,-10.70,0.37,300.00	_10V_AH	10.1,27.707
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34877,684
TT8_MAMPS	0.028379	CAP_FILE_SIZE	96319,0
HUMID	1831	CFSIZE	254472192,231481344
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	46	GPS	271009,040306,6239.085,-1115.863,34,0.9,34,-10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	164	105.91	SBE_CT	467	24	265.82
Roll_motor	106	74	187.92	SBE_O2	498	19	224.33
VBD_pump_during_apogee	390	1243	11516.93	WL_BB2F	395	105	984.68
VBD_pump_during_surface	7	686	128.53	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	106.15	nil	0	0	0.00
Iridium_during_xfer	130	223	689.00
Transponder_ping	17	420	169.22
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.45
TT8	1213	19	242.64
LPSleep	8189	2	181.14
TT8_Active	504	19	100.96
TT8_Sampling	1354	39	544.43
TT8_CF8	463	45	214.31
TT8_Kalman	33	81	27.56
Analog_circuits	1212	12	146.95
GPS_charging	0	0	0.00
Compass	1324	8	107.00
RAFOS	0	0	0.00
Transponder	41	30	12.55

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.44	-146.6	0.0	0.0	0	59	0.00	0.00	-40.95	0.000	2	0.000	0.000	418	2146	2422
63	-1.44	-146.6	2.2	-3.1	2	128	11.27	2.65	-46.05	0.000	4	0.164	0.066	2426	706	3429
213	-1.37	-146.6	16.7	-15.0	9	218	0.10	2.53	0.00	0.000	6	0.110	0.048	2444	2129	3430
540	-1.30	-146.6	64.0	-14.1	25	542	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2130	3430
849	-1.23	-146.6	109.2	-14.6	40	854	0.15	2.58	0.00	0.000	4	0.100	0.059	2474	706	3430
917	-1.26	-146.6	118.4	-13.1	43	922	0.00	2.53	0.00	0.000	6	0.000	0.048	2474	2131	3430
1240	-1.26	-146.6	158.7	-12.1	60	1241	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2130	3430
1553	-1.26	-146.6	194.6	-11.1	80	1558	0.00	2.58	0.00	0.000	4	0.000	0.061	2474	707	3430
1582	-1.26	-146.6	198.1	-12.3	81	1588	0.00	2.50	0.00	0.000	6	0.000	0.048	2474	2119	3430
1901	-1.26	-146.6	234.4	-11.9	102	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2119	3430
2214	-1.26	-146.6	272.2	-12.2	122	2218	0.00	2.55	0.00	0.000	4	0.000	0.061	2474	708	3430
2259	-1.31	-146.6	278.0	-12.5	124	2265	0.00	2.50	0.00	0.000	6	0.000	0.049	2474	2120	3430
2578	-1.31	-146.6	317.2	-12.4	145	2582	0.00	2.55	0.00	0.000	4	0.000	0.061	2474	708	3430
2612	-1.34	-146.6	321.5	-12.7	147	2616	0.00	2.47	0.00	0.000	6	0.000	0.050	2474	2103	3430
2931	-1.34	-146.6	361.3	-12.4	167	2932	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2103	3431
3244	-1.34	-146.6	399.9	-12.2	187	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2103	3430
3555	-1.34	-146.6	440.2	-13.2	207	3560	0.00	2.53	0.00	0.000	4	0.000	0.064	2474	717	3431
3619	-1.39	-146.6	448.4	-12.8	211	3624	0.15	2.45	0.00	0.000	6	0.058	0.051	2434	2092	3430
3947	-1.33	-146.6	494.0	-13.4	232	3952	0.00	2.50	0.00	0.000	4	0.000	0.063	2434	717	3431
3998	-1.33	-146.6	501.2	-13.0	235	4002	0.00	2.42	0.00	0.000	6	0.000	0.051	2434	2076	3430
4327	-1.28	-146.6	546.4	-14.8	256	4332	0.15	2.67	0.00	0.000	4	0.100	0.074	2465	3531	3430
4360	-1.28	-146.6	552.0	-13.9	258	4364	0.00	2.67	0.00	0.000	6	0.000	0.064	2464	2067	3430
4681	-1.28	-146.6	589.7	-11.0	278	4685	0.00	2.45	0.00	0.000	4	0.000	0.069	2464	707	3430
4727	-1.33	-146.6	594.9	-11.0	281	4732	0.00	2.45	0.00	0.000	6	0.000	0.053	2464	2082	3430
5059	-1.33	-146.6	635.3	-11.8	302	5060	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2082	3430
5179	end dive: BOTTOM_OBSTACLE_DETECTED
state	5179	begin apogee
5187	-0.33	0.0	649.6	11.6	310	5323	0.98	0.00	131.75	1.243	6	0.081	0.000	2673	1846	2831
5323	end apogee: CONTROL_FINISHED_OK
state	5323	begin climb
5327	1.44	146.6	654.9	0.0	319	5466	1.75	0.00	131.02	1.204	6	0.057	0.000	3058	1847	2232
5779	1.37	146.6	619.3	10.3	348	5783	0.00	2.65	0.00	0.000	4	0.000	0.072	3058	3256	2232
5801	1.31	146.6	617.0	10.2	349	5807	0.15	2.62	0.00	0.000	6	0.103	0.068	3031	1850	2232
6120	1.37	184.2	590.6	8.3	370	6160	0.00	2.70	33.67	1.167	4	0.000	0.070	3031	3250	2080
6186	1.39	198.6	584.8	9.3	374	6206	0.00	2.60	14.27	1.095	6	0.000	0.067	3031	1859	2022
6536	1.45	234.6	555.8	8.4	396	6577	0.15	2.70	32.45	1.156	4	0.061	0.070	3068	3254	1874
6585	1.40	234.6	550.6	11.1	399	6589	0.00	2.62	0.00	0.000	6	0.000	0.067	3068	1860	1874
6904	1.35	234.6	512.5	13.1	419	6909	0.15	2.62	0.00	0.000	4	0.101	0.069	3040	3260	1873
6950	1.39	234.6	506.5	13.6	422	6954	0.00	2.53	0.00	0.000	6	0.000	0.064	3040	1892	1874
7274	1.41	246.4	469.7	9.5	443	7291	0.00	2.62	11.60	1.046	4	0.000	0.067	3040	3258	1826
7327	1.50	274.7	465.1	8.7	446	7360	0.15	2.53	25.33	1.107	6	0.061	0.061	3076	1888	1711
7672	1.45	274.7	425.8	12.0	468	7673	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	1888	1712
7985	1.41	274.7	388.0	11.9	488	7990	0.12	2.53	0.00	0.000	4	0.101	0.064	3053	3252	1712
8025	1.44	274.7	383.3	11.1	490	8031	0.00	2.47	0.00	0.000	6	0.000	0.058	3053	1893	1712
8344	1.44	274.7	347.4	12.1	511	8348	0.00	2.50	0.00	0.000	4	0.000	0.064	3053	3252	1712
8377	1.48	274.7	343.1	12.0	513	8381	0.00	2.42	0.00	0.000	6	0.000	0.056	3053	1914	1712
8697	1.48	274.7	305.1	11.5	533	8698	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1914	1712
9008	1.48	274.7	269.4	11.0	553	9013	0.00	2.47	0.00	0.000	4	0.000	0.063	3053	3261	1713
9055	1.52	274.7	264.3	11.2	556	9060	0.10	2.42	0.00	0.000	6	0.064	0.054	3081	1912	1713
9384	1.48	274.7	224.1	11.9	577	9385	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	1912	1713
9693	1.44	274.7	189.2	11.0	597	9698	0.12	2.45	0.00	0.000	4	0.097	0.060	3057	3254	1713
9728	1.48	274.7	185.6	10.1	599	9732	0.00	2.38	0.00	0.000	6	0.000	0.051	3057	1925	1713
10047	1.49	285.0	155.8	9.5	619	10064	0.00	2.47	10.75	0.831	4	0.000	0.059	3057	3262	1668
10076	1.52	285.0	152.9	10.6	620	10082	0.00	2.40	0.00	0.000	6	0.000	0.049	3057	1930	1668
10404	1.52	285.0	119.7	10.7	637	10405	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1930	1668
10713	1.52	285.0	85.6	11.6	652	10718	0.00	2.42	0.00	0.000	4	0.000	0.058	3057	3262	1668
10738	1.56	285.0	82.5	12.1	653	10742	0.12	2.35	0.00	0.000	6	0.059	0.048	3092	1938	1669
11060	1.53	285.0	38.7	13.6	669	11064	0.00	2.40	0.00	0.000	4	0.000	0.058	3092	3261	1670
11077	1.49	285.0	36.2	12.2	669	11084	0.12	2.33	0.00	0.000	6	0.097	0.048	3068	1946	1669
11349	end climb: SURFACE_DEPTH_REACHED
state	11349	begin surface coast
11371	end surface coast: CONTROL_FINISHED_OK
state	11371	begin surface