Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 378 * 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 378 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 34 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 -107456.27 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 -107456.27

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 378 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 071906,6239.371,-1112.657,29,1.2,29,-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 0.264,-0.007

_SM_DEPTHo 1.43 KALMAN_X -149465.8,539.2,389.3,236451.2,-7994.5

_SM_ANGLEo -61.9 KALMAN_Y 42442.0,1041.4,389.2,-134461.5,-3881.2

GPS2 072419,6239.385,-1112.754,14,1.2,14,-10.9 MHEAD_RNG_PITCHd_Wd 102.5,11727,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.009794 ALTIM_BOTTOM_PING 621.0,26.6

SM_CCo 11468,16.02,0.755,0,0,1608,300.00 _24V_AH 23.7,61.365

SM_GC 1.43,0.00,0.00,16.02,0.000,0.000,0.755,423,2145,1608,-10.68,0.42,300.00 _10V_AH 10.1,27.833

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34911,686

TT8_MAMPS 0.029146 CAP_FILE_SIZE 99152,0

HUMID 1836 CFSIZE 254472192,231383040

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 51 GPS 271009,103754,6239.293,-1111.085,38,1.6,38,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 105.23 SBE_CT 468 24 266.76

Roll_motor 121 77 222.34 SBE_O2 502 19 226.42

VBD_pump_during_apogee 383 1245 11309.46 WL_BB2F 402 105 1001.87

VBD_pump_during_surface 16 755 286.93 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 29 160 111.47 nil 0 0 0.00

Iridium_during_xfer 126 223 669.39

Transponder_ping 18 420 181.66

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1225 19 245.17

LPSleep 8198 2 181.34

TT8_Active 516 19 103.39

TT8_Sampling 1397 39 561.95

TT8_CF8 463 45 214.20

TT8_Kalman 33 81 27.56

Analog_circuits 1248 12 151.30

GPS_charging 0 0 0.00

Compass 1362 8 110.07

RAFOS 0 0 0.00

Transponder 41 30 12.53

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 -146.6 0.0 0.0 0 79 0.00 0.00 -60.65 0.000 2 0.000 0.000 419 2150 2693

83 -1.44 -146.6 2.8 -3.2 3 127 11.30 2.65 -26.20 0.000 4 0.165 0.066 2425 702 3430

164 -1.35 -146.6 12.1 -17.5 7 169 0.12 2.53 0.00 0.000 6 0.107 0.048 2448 2131 3430

492 -1.28 -146.6 66.4 -19.3 23 496 0.00 2.58 0.00 0.000 4 0.000 0.057 2449 702 3430

526 -1.24 -146.6 73.5 -19.9 24 533 0.12 2.53 0.00 0.000 6 0.105 0.049 2472 2128 3430

843 -1.24 -146.6 116.7 -12.5 40 844 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2129 3431

1152 -1.24 -146.6 149.6 -9.4 55 1156 0.00 2.58 0.00 0.000 4 0.000 0.060 2472 706 3430

1236 -1.24 -146.6 159.2 -11.6 60 1240 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2102 3430

1558 -1.24 -146.6 196.6 -11.6 80 1562 0.00 2.53 0.00 0.000 4 0.000 0.061 2472 709 3431

1603 -1.24 -146.6 202.4 -12.6 83 1607 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2102 3430

1928 -1.24 -146.6 239.9 -11.0 104 1932 0.00 2.53 0.00 0.000 4 0.000 0.060 2472 704 3430

1967 -1.24 -146.6 244.5 -11.1 106 1972 0.00 2.45 0.00 0.000 6 0.000 0.049 2473 2082 3430

2291 -1.24 -146.6 284.2 -13.2 127 2295 0.00 2.50 0.00 0.000 4 0.000 0.062 2472 705 3430

2320 -1.24 -146.6 288.2 -13.7 129 2324 0.00 2.45 0.00 0.000 6 0.000 0.050 2472 2079 3430

2646 -1.24 -146.6 332.4 -13.2 150 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2080 3430

2957 -1.24 -146.6 371.1 -11.8 170 2961 0.00 2.50 0.00 0.000 4 0.000 0.065 2472 707 3430

3020 -1.27 -146.6 378.6 -12.6 174 3024 0.00 2.42 0.00 0.000 6 0.000 0.052 2473 2069 3430

3351 -1.27 -146.6 419.4 -13.1 195 3352 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2070 3430

3664 -1.27 -146.6 458.3 -12.0 215 3668 0.00 2.47 0.00 0.000 4 0.000 0.064 2473 711 3430

3697 -1.31 -146.6 462.5 -12.2 217 3701 0.00 2.40 0.00 0.000 6 0.000 0.051 2473 2059 3430

4016 -1.31 -146.6 498.4 -11.4 237 4020 0.00 2.47 0.00 0.000 4 0.000 0.065 2472 705 3430

4067 -1.36 -146.6 504.4 -11.4 240 4072 0.12 2.40 0.00 0.000 6 0.061 0.051 2440 2051 3430

4390 -1.32 -146.6 546.0 -12.5 260 4394 0.00 2.70 0.00 0.000 4 0.000 0.076 2439 3530 3430

4463 -1.28 -146.6 556.3 -12.4 264 4470 0.12 2.70 0.00 0.000 6 0.100 0.064 2463 2052 3430

4782 -1.28 -146.6 592.7 -11.9 285 4787 0.00 2.78 0.00 0.000 4 0.000 0.077 2463 3528 3430

4811 -1.28 -146.6 596.2 -12.7 287 4816 0.00 2.67 0.00 0.000 6 0.000 0.067 2463 2065 3430

5137 -1.28 -146.6 633.7 -11.4 308 5141 0.00 2.45 0.00 0.000 4 0.000 0.072 2463 708 3429

5167 end dive: BOTTOM_OBSTACLE_DETECTED

state 5167 begin apogee

5176 -0.33 0.0 638.0 12.0 310 5313 0.93 0.00 132.48 1.246 6 0.081 0.000 2665 1871 2831

5313 end apogee: CONTROL_FINISHED_OK

state 5313 begin climb

5317 1.44 146.6 643.6 0.0 319 5462 1.77 2.75 133.80 1.200 4 0.061 0.074 3060 448 2233

5477 1.35 155.5 637.0 9.6 329 5491 0.00 2.58 9.65 1.018 6 0.000 0.056 3060 1852 2196

5815 1.28 155.5 603.7 10.2 351 5820 0.20 2.58 0.00 0.000 4 0.099 0.072 3018 3254 2195

5844 1.31 173.1 600.7 9.2 353 5868 0.00 2.62 16.60 1.111 6 0.000 0.069 3018 1850 2125

6192 1.36 202.2 570.2 8.7 375 6225 0.00 2.70 27.02 1.160 4 0.000 0.071 3018 3252 2005

6261 1.45 225.6 563.9 8.9 379 6292 0.20 2.60 21.33 1.137 6 0.061 0.069 3065 1867 1912

6608 1.39 225.6 525.2 11.6 401 6612 0.00 2.60 0.00 0.000 4 0.000 0.073 3065 3258 1910

6658 1.39 225.6 518.3 12.5 404 6662 0.00 2.53 0.00 0.000 6 0.000 0.067 3065 1890 1910

6978 1.35 225.6 481.6 11.4 424 6979 0.15 0.00 0.00 0.000 6 0.108 0.000 3037 1890 1909

7290 1.35 225.6 449.8 10.4 444 7294 0.00 2.53 0.00 0.000 4 0.000 0.069 3037 3254 1909

7357 1.38 225.6 442.5 10.7 448 7362 0.00 2.53 0.00 0.000 6 0.000 0.062 3037 1877 1909

7677 1.41 244.7 412.9 9.1 468 7702 0.00 2.62 17.62 1.066 4 0.000 0.065 3038 3252 1833

7750 1.46 244.7 405.6 10.2 472 7755 0.12 2.50 0.00 0.000 6 0.065 0.060 3067 1892 1833

8072 1.43 244.7 367.6 12.2 492 8076 0.00 2.53 0.00 0.000 4 0.000 0.065 3068 3255 1833

8094 1.40 244.7 364.4 12.3 493 8100 0.00 2.47 0.00 0.000 6 0.000 0.058 3068 1896 1833

8414 1.37 244.7 326.8 11.9 514 8418 0.12 2.50 0.00 0.000 4 0.102 0.064 3044 3255 1833

8453 1.40 244.7 322.1 11.3 516 8460 0.00 2.42 0.00 0.000 6 0.000 0.056 3045 1914 1833

8773 1.41 246.7 289.6 9.9 537 8774 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1914 1833

9085 1.43 263.8 259.4 9.2 557 9109 0.00 2.53 17.73 0.948 4 0.000 0.062 3045 3249 1755

9140 1.48 263.8 254.0 10.3 560 9145 0.10 2.40 0.00 0.000 6 0.067 0.053 3071 1926 1755

9459 1.48 263.8 218.2 11.0 580 9460 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1926 1755

9772 1.48 263.8 182.5 11.3 600 9776 0.00 2.45 0.00 0.000 4 0.000 0.062 3071 3262 1756

9811 1.48 263.8 177.8 11.0 602 9817 0.00 2.40 0.00 0.000 6 0.000 0.051 3070 1923 1755

10146 1.48 263.8 143.1 10.5 623 10147 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1923 1756

10455 1.48 263.8 108.4 10.1 638 10459 0.00 2.42 0.00 0.000 4 0.000 0.060 3071 3255 1756

10500 1.49 269.9 103.8 9.7 640 10516 0.00 2.35 6.88 0.737 6 0.000 0.049 3071 1937 1730

10828 1.49 269.9 68.0 12.1 656 10832 0.00 2.42 0.00 0.000 4 0.000 0.060 3071 3265 1730

10862 1.49 269.9 64.0 10.1 657 10868 0.00 2.35 0.00 0.000 6 0.000 0.048 3071 1937 1730

11178 1.49 269.9 27.3 11.8 673 11179 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 1937 1730

11424 end climb: SURFACE_DEPTH_REACHED

state 11424 begin surface coast

11444 end surface coast: CONTROL_FINISHED_OK

state 11444 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	378	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	34	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	-107456.27	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	071906,6239.371,-1112.657,29,1.2,29,-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	0.264,-0.007
_SM_DEPTHo	1.43	KALMAN_X	-149465.8,539.2,389.3,236451.2,-7994.5
_SM_ANGLEo	-61.9	KALMAN_Y	42442.0,1041.4,389.2,-134461.5,-3881.2
GPS2	072419,6239.385,-1112.754,14,1.2,14,-10.9	MHEAD_RNG_PITCHd_Wd	102.5,11727,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.7,1.009794	ALTIM_BOTTOM_PING	621.0,26.6
SM_CCo	11468,16.02,0.755,0,0,1608,300.00	_24V_AH	23.7,61.365
SM_GC	1.43,0.00,0.00,16.02,0.000,0.000,0.755,423,2145,1608,-10.68,0.42,300.00	_10V_AH	10.1,27.833
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34911,686
TT8_MAMPS	0.029146	CAP_FILE_SIZE	99152,0
HUMID	1836	CFSIZE	254472192,231383040
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	51	GPS	271009,103754,6239.293,-1111.085,38,1.6,38,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	105.23	SBE_CT	468	24	266.76
Roll_motor	121	77	222.34	SBE_O2	502	19	226.42
VBD_pump_during_apogee	383	1245	11309.46	WL_BB2F	402	105	1001.87
VBD_pump_during_surface	16	755	286.93	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	29	160	111.47	nil	0	0	0.00
Iridium_during_xfer	126	223	669.39
Transponder_ping	18	420	181.66
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1225	19	245.17
LPSleep	8198	2	181.34
TT8_Active	516	19	103.39
TT8_Sampling	1397	39	561.95
TT8_CF8	463	45	214.20
TT8_Kalman	33	81	27.56
Analog_circuits	1248	12	151.30
GPS_charging	0	0	0.00
Compass	1362	8	110.07
RAFOS	0	0	0.00
Transponder	41	30	12.53

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	-146.6	0.0	0.0	0	79	0.00	0.00	-60.65	0.000	2	0.000	0.000	419	2150	2693
83	-1.44	-146.6	2.8	-3.2	3	127	11.30	2.65	-26.20	0.000	4	0.165	0.066	2425	702	3430
164	-1.35	-146.6	12.1	-17.5	7	169	0.12	2.53	0.00	0.000	6	0.107	0.048	2448	2131	3430
492	-1.28	-146.6	66.4	-19.3	23	496	0.00	2.58	0.00	0.000	4	0.000	0.057	2449	702	3430
526	-1.24	-146.6	73.5	-19.9	24	533	0.12	2.53	0.00	0.000	6	0.105	0.049	2472	2128	3430
843	-1.24	-146.6	116.7	-12.5	40	844	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2129	3431
1152	-1.24	-146.6	149.6	-9.4	55	1156	0.00	2.58	0.00	0.000	4	0.000	0.060	2472	706	3430
1236	-1.24	-146.6	159.2	-11.6	60	1240	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2102	3430
1558	-1.24	-146.6	196.6	-11.6	80	1562	0.00	2.53	0.00	0.000	4	0.000	0.061	2472	709	3431
1603	-1.24	-146.6	202.4	-12.6	83	1607	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2102	3430
1928	-1.24	-146.6	239.9	-11.0	104	1932	0.00	2.53	0.00	0.000	4	0.000	0.060	2472	704	3430
1967	-1.24	-146.6	244.5	-11.1	106	1972	0.00	2.45	0.00	0.000	6	0.000	0.049	2473	2082	3430
2291	-1.24	-146.6	284.2	-13.2	127	2295	0.00	2.50	0.00	0.000	4	0.000	0.062	2472	705	3430
2320	-1.24	-146.6	288.2	-13.7	129	2324	0.00	2.45	0.00	0.000	6	0.000	0.050	2472	2079	3430
2646	-1.24	-146.6	332.4	-13.2	150	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2080	3430
2957	-1.24	-146.6	371.1	-11.8	170	2961	0.00	2.50	0.00	0.000	4	0.000	0.065	2472	707	3430
3020	-1.27	-146.6	378.6	-12.6	174	3024	0.00	2.42	0.00	0.000	6	0.000	0.052	2473	2069	3430
3351	-1.27	-146.6	419.4	-13.1	195	3352	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2070	3430
3664	-1.27	-146.6	458.3	-12.0	215	3668	0.00	2.47	0.00	0.000	4	0.000	0.064	2473	711	3430
3697	-1.31	-146.6	462.5	-12.2	217	3701	0.00	2.40	0.00	0.000	6	0.000	0.051	2473	2059	3430
4016	-1.31	-146.6	498.4	-11.4	237	4020	0.00	2.47	0.00	0.000	4	0.000	0.065	2472	705	3430
4067	-1.36	-146.6	504.4	-11.4	240	4072	0.12	2.40	0.00	0.000	6	0.061	0.051	2440	2051	3430
4390	-1.32	-146.6	546.0	-12.5	260	4394	0.00	2.70	0.00	0.000	4	0.000	0.076	2439	3530	3430
4463	-1.28	-146.6	556.3	-12.4	264	4470	0.12	2.70	0.00	0.000	6	0.100	0.064	2463	2052	3430
4782	-1.28	-146.6	592.7	-11.9	285	4787	0.00	2.78	0.00	0.000	4	0.000	0.077	2463	3528	3430
4811	-1.28	-146.6	596.2	-12.7	287	4816	0.00	2.67	0.00	0.000	6	0.000	0.067	2463	2065	3430
5137	-1.28	-146.6	633.7	-11.4	308	5141	0.00	2.45	0.00	0.000	4	0.000	0.072	2463	708	3429
5167	end dive: BOTTOM_OBSTACLE_DETECTED
state	5167	begin apogee
5176	-0.33	0.0	638.0	12.0	310	5313	0.93	0.00	132.48	1.246	6	0.081	0.000	2665	1871	2831
5313	end apogee: CONTROL_FINISHED_OK
state	5313	begin climb
5317	1.44	146.6	643.6	0.0	319	5462	1.77	2.75	133.80	1.200	4	0.061	0.074	3060	448	2233
5477	1.35	155.5	637.0	9.6	329	5491	0.00	2.58	9.65	1.018	6	0.000	0.056	3060	1852	2196
5815	1.28	155.5	603.7	10.2	351	5820	0.20	2.58	0.00	0.000	4	0.099	0.072	3018	3254	2195
5844	1.31	173.1	600.7	9.2	353	5868	0.00	2.62	16.60	1.111	6	0.000	0.069	3018	1850	2125
6192	1.36	202.2	570.2	8.7	375	6225	0.00	2.70	27.02	1.160	4	0.000	0.071	3018	3252	2005
6261	1.45	225.6	563.9	8.9	379	6292	0.20	2.60	21.33	1.137	6	0.061	0.069	3065	1867	1912
6608	1.39	225.6	525.2	11.6	401	6612	0.00	2.60	0.00	0.000	4	0.000	0.073	3065	3258	1910
6658	1.39	225.6	518.3	12.5	404	6662	0.00	2.53	0.00	0.000	6	0.000	0.067	3065	1890	1910
6978	1.35	225.6	481.6	11.4	424	6979	0.15	0.00	0.00	0.000	6	0.108	0.000	3037	1890	1909
7290	1.35	225.6	449.8	10.4	444	7294	0.00	2.53	0.00	0.000	4	0.000	0.069	3037	3254	1909
7357	1.38	225.6	442.5	10.7	448	7362	0.00	2.53	0.00	0.000	6	0.000	0.062	3037	1877	1909
7677	1.41	244.7	412.9	9.1	468	7702	0.00	2.62	17.62	1.066	4	0.000	0.065	3038	3252	1833
7750	1.46	244.7	405.6	10.2	472	7755	0.12	2.50	0.00	0.000	6	0.065	0.060	3067	1892	1833
8072	1.43	244.7	367.6	12.2	492	8076	0.00	2.53	0.00	0.000	4	0.000	0.065	3068	3255	1833
8094	1.40	244.7	364.4	12.3	493	8100	0.00	2.47	0.00	0.000	6	0.000	0.058	3068	1896	1833
8414	1.37	244.7	326.8	11.9	514	8418	0.12	2.50	0.00	0.000	4	0.102	0.064	3044	3255	1833
8453	1.40	244.7	322.1	11.3	516	8460	0.00	2.42	0.00	0.000	6	0.000	0.056	3045	1914	1833
8773	1.41	246.7	289.6	9.9	537	8774	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1914	1833
9085	1.43	263.8	259.4	9.2	557	9109	0.00	2.53	17.73	0.948	4	0.000	0.062	3045	3249	1755
9140	1.48	263.8	254.0	10.3	560	9145	0.10	2.40	0.00	0.000	6	0.067	0.053	3071	1926	1755
9459	1.48	263.8	218.2	11.0	580	9460	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1926	1755
9772	1.48	263.8	182.5	11.3	600	9776	0.00	2.45	0.00	0.000	4	0.000	0.062	3071	3262	1756
9811	1.48	263.8	177.8	11.0	602	9817	0.00	2.40	0.00	0.000	6	0.000	0.051	3070	1923	1755
10146	1.48	263.8	143.1	10.5	623	10147	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1923	1756
10455	1.48	263.8	108.4	10.1	638	10459	0.00	2.42	0.00	0.000	4	0.000	0.060	3071	3255	1756
10500	1.49	269.9	103.8	9.7	640	10516	0.00	2.35	6.88	0.737	6	0.000	0.049	3071	1937	1730
10828	1.49	269.9	68.0	12.1	656	10832	0.00	2.42	0.00	0.000	4	0.000	0.060	3071	3265	1730
10862	1.49	269.9	64.0	10.1	657	10868	0.00	2.35	0.00	0.000	6	0.000	0.048	3071	1937	1730
11178	1.49	269.9	27.3	11.8	673	11179	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	1937	1730
11424	end climb: SURFACE_DEPTH_REACHED
state	11424	begin surface coast
11444	end surface coast: CONTROL_FINISHED_OK
state	11444	begin surface