Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 387 * 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 387 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 32 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 -107628.35 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 -107628.35

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 32 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 387 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 124131,6238.911,-1101.384,36,1.8,36,-10.8 TGT_NAME CE

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.240,-0.110

_SM_DEPTHo 1.38 KALMAN_X -176870.6,1392.2,623.9,272089.3,-14978.5

_SM_ANGLEo -64.9 KALMAN_Y 50516.1,-162.8,-207.9,-141523.9,2314.1

GPS2 124650,6238.940,-1101.478,13,0.9,13,-10.8 MHEAD_RNG_PITCHd_Wd 125.5,31603,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.017345 ALTIM_BOTTOM_PING 595.4,35.8

SM_CCo 11211,18.62,0.761,0,0,1607,300.00 _24V_AH 23.7,62.680

SM_GC 1.16,0.00,0.00,18.62,0.000,0.000,0.761,418,2101,1607,-10.70,-0.82,300.00 _10V_AH 10.1,28.404

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34816,672

TT8_MAMPS 0.029146 CAP_FILE_SIZE 95785,0

HUMID 1836 CFSIZE 254472192,230928384

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

XPDR_PINGS 44 GPS 281009,155606,6238.812,-1059.757,34,1.4,34,-10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 152 94.78 SBE_CT 459 24 261.26

Roll_motor 113 77 209.16 SBE_O2 494 19 222.50

VBD_pump_during_apogee 376 1236 11027.37 WL_BB2F 397 105 989.05

VBD_pump_during_surface 18 760 335.85 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 29 160 111.64 nil 0 0 0.00

Iridium_during_xfer 131 223 693.15

Transponder_ping 16 420 161.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.75

TT8 1205 19 241.14

LPSleep 8030 2 177.63

TT8_Active 494 19 98.83

TT8_Sampling 1358 39 546.28

TT8_CF8 463 45 214.39

TT8_Kalman 33 81 27.56

Analog_circuits 1210 12 146.72

GPS_charging 0 0 0.00

Compass 1326 8 107.17

RAFOS 0 0 0.00

Transponder 39 30 12.06

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 -40.85 0.000 2 0.000 0.000 415 2144 2414

63 -1.44 -146.6 2.2 -3.8 2 126 10.85 0.00 -46.25 0.000 6 0.153 0.000 2424 2140 3428

438 -1.32 -146.6 53.9 -16.9 20 443 0.15 2.60 0.00 0.000 4 0.114 0.059 2453 707 3429

483 -1.29 -146.6 62.0 -16.2 22 487 0.00 2.53 0.00 0.000 6 0.000 0.048 2453 2132 3429

805 -1.24 -146.6 106.5 -13.1 38 809 0.00 2.58 0.00 0.000 4 0.000 0.059 2453 709 3429

839 -1.21 -146.6 110.8 -12.6 39 846 0.12 2.53 0.00 0.000 6 0.102 0.048 2478 2138 3429

1155 -1.21 -146.6 147.6 -12.4 55 1159 0.00 2.58 0.00 0.000 4 0.000 0.059 2478 715 3429

1189 -1.24 -146.6 152.0 -13.2 56 1195 0.00 2.53 0.00 0.000 6 0.000 0.048 2479 2140 3429

1508 -1.24 -146.6 191.1 -12.5 77 1510 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2141 3429

1821 -1.24 -146.6 230.7 -12.6 97 1826 0.00 2.60 0.00 0.000 4 0.000 0.061 2479 706 3429

1878 -1.28 -146.6 238.1 -13.2 100 1885 0.00 2.53 0.00 0.000 6 0.000 0.048 2479 2132 3429

2199 -1.28 -146.6 277.4 -12.3 121 2201 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2132 3429

2510 -1.28 -146.6 314.9 -11.7 141 2514 0.00 2.58 0.00 0.000 4 0.000 0.063 2479 716 3429

2578 -1.33 -146.6 323.0 -11.7 145 2583 0.12 2.47 0.00 0.000 6 0.060 0.050 2446 2114 3429

2899 -1.27 -146.6 367.1 -14.0 165 2901 0.10 0.00 0.00 0.000 6 0.104 0.000 2464 2114 3429

3210 -1.27 -146.6 405.6 -11.8 185 3214 0.00 2.55 0.00 0.000 4 0.000 0.064 2464 707 3429

3243 -1.27 -146.6 409.8 -12.0 187 3247 0.00 2.47 0.00 0.000 6 0.000 0.050 2464 2101 3429

3562 -1.27 -146.6 447.2 -11.9 207 3563 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 2101 3429

3875 -1.27 -146.6 485.1 -11.9 227 3876 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 2101 3429

4186 -1.27 -146.6 522.7 -12.0 247 4191 0.00 2.55 0.00 0.000 4 0.000 0.069 2464 715 3429

4238 -1.31 -146.6 528.8 -11.8 250 4242 0.00 2.45 0.00 0.000 6 0.000 0.054 2464 2085 3429

4559 -1.31 -146.6 562.2 -9.7 270 4563 0.00 2.50 0.00 0.000 4 0.000 0.068 2464 718 3429

4587 -1.31 -146.6 565.5 -11.1 272 4591 0.00 2.45 0.00 0.000 6 0.000 0.055 2465 2086 3429

4916 -1.31 -146.6 602.7 -11.6 293 4920 0.00 2.53 0.00 0.000 4 0.000 0.071 2464 717 3428

4937 -1.31 -146.6 606.2 -13.0 294 4943 0.00 2.45 0.00 0.000 6 0.000 0.058 2465 2077 3428

5082 end dive: BOTTOM_OBSTACLE_DETECTED

state 5082 begin apogee

5090 -0.33 0.0 622.7 11.4 304 5227 0.98 0.00 132.52 1.236 6 0.083 0.000 2673 1839 2831

5227 end apogee: CONTROL_FINISHED_OK

state 5227 begin climb

5231 1.44 146.6 627.9 0.0 313 5375 1.75 2.67 134.05 1.187 4 0.061 0.077 3053 454 2233

5463 1.33 146.6 615.0 11.6 327 5467 0.00 2.55 0.00 0.000 6 0.000 0.056 3054 1853 2233

5782 1.28 159.5 585.6 9.4 347 5803 0.15 2.65 12.73 1.074 4 0.099 0.072 3025 3255 2180

5850 1.33 189.7 579.7 8.6 351 5885 0.00 2.60 27.98 1.147 6 0.000 0.070 3025 1867 2058

6214 1.39 225.1 547.7 8.4 374 6251 0.00 2.67 31.98 1.154 4 0.000 0.071 3025 3254 1913

6263 1.47 252.8 543.3 8.7 377 6294 0.20 2.60 25.45 1.132 6 0.056 0.070 3073 1870 1800

6616 1.41 252.8 498.5 13.8 400 6620 0.00 2.60 0.00 0.000 4 0.000 0.072 3073 3253 1800

6661 1.38 252.8 492.0 13.5 403 6666 0.15 2.53 0.00 0.000 6 0.105 0.067 3045 1895 1800

6986 1.38 252.8 456.0 10.6 424 6991 0.00 2.55 0.00 0.000 4 0.000 0.071 3045 3263 1799

7049 1.38 252.8 449.2 10.3 428 7053 0.00 2.47 0.00 0.000 6 0.000 0.063 3045 1917 1799

7374 1.38 252.8 413.8 10.5 449 7378 0.00 2.50 0.00 0.000 4 0.000 0.069 3045 3259 1799

7419 1.41 252.8 408.8 10.7 452 7424 0.00 2.42 0.00 0.000 6 0.000 0.061 3045 1933 1798

7744 1.41 252.8 373.9 10.2 473 7745 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 1933 1798

8057 1.41 252.8 343.9 10.1 493 8061 0.00 2.45 0.00 0.000 4 0.000 0.066 3045 3258 1799

8103 1.45 252.8 339.1 10.6 496 8107 0.00 2.38 0.00 0.000 6 0.000 0.058 3045 1938 1799

8436 1.45 252.8 300.4 12.5 517 8440 0.00 2.42 0.00 0.000 4 0.000 0.064 3045 3255 1799

8457 1.45 252.8 297.2 12.5 518 8463 0.00 2.35 0.00 0.000 6 0.000 0.055 3045 1955 1799

8776 1.45 252.8 259.9 11.1 539 8780 0.00 2.40 0.00 0.000 4 0.000 0.063 3045 3258 1799

8799 1.48 252.8 257.2 11.3 540 8805 0.00 2.35 0.00 0.000 6 0.000 0.054 3045 1953 1799

9119 1.49 264.5 225.7 9.5 561 9133 0.10 0.00 11.62 0.886 6 0.063 0.000 3073 1952 1752

9446 1.46 264.5 191.8 10.3 582 9450 0.00 2.40 0.00 0.000 4 0.000 0.061 3073 3258 1752

9468 1.46 264.5 189.3 10.7 583 9474 0.00 2.33 0.00 0.000 6 0.000 0.051 3073 1966 1752

9787 1.46 264.5 155.7 10.3 604 9788 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 1966 1752

10097 1.46 264.5 124.9 10.1 620 10102 0.00 2.38 0.00 0.000 4 0.000 0.061 3074 3263 1752

10126 1.46 264.5 121.7 11.3 621 10130 0.00 2.30 0.00 0.000 6 0.000 0.050 3073 1977 1753

10444 1.46 264.5 87.3 11.1 636 10448 0.00 2.35 0.00 0.000 4 0.000 0.059 3073 3264 1753

10462 1.46 264.5 85.0 11.3 637 10466 0.00 2.30 0.00 0.000 6 0.000 0.048 3073 1973 1753

10796 1.46 264.5 45.0 12.1 653 10800 0.00 2.35 0.00 0.000 4 0.000 0.059 3073 3262 1754

10814 1.46 264.5 42.7 12.5 654 10818 0.00 2.28 0.00 0.000 6 0.000 0.048 3073 1984 1754

11142 1.46 264.5 3.4 11.4 670 11146 0.00 2.20 0.00 0.000 3 0.000 0.058 3073 3199 1754

11147 end climb: SURFACE_DEPTH_REACHED

state 11147 begin surface coast

11185 end surface coast: CONTROL_FINISHED_OK

state 11185 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	387	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	32	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	-107628.35	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	124131,6238.911,-1101.384,36,1.8,36,-10.8	TGT_NAME	CE
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.240,-0.110
_SM_DEPTHo	1.38	KALMAN_X	-176870.6,1392.2,623.9,272089.3,-14978.5
_SM_ANGLEo	-64.9	KALMAN_Y	50516.1,-162.8,-207.9,-141523.9,2314.1
GPS2	124650,6238.940,-1101.478,13,0.9,13,-10.8	MHEAD_RNG_PITCHd_Wd	125.5,31603,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.017345	ALTIM_BOTTOM_PING	595.4,35.8
SM_CCo	11211,18.62,0.761,0,0,1607,300.00	_24V_AH	23.7,62.680
SM_GC	1.16,0.00,0.00,18.62,0.000,0.000,0.761,418,2101,1607,-10.70,-0.82,300.00	_10V_AH	10.1,28.404
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34816,672
TT8_MAMPS	0.029146	CAP_FILE_SIZE	95785,0
HUMID	1836	CFSIZE	254472192,230928384
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	44	GPS	281009,155606,6238.812,-1059.757,34,1.4,34,-10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	152	94.78	SBE_CT	459	24	261.26
Roll_motor	113	77	209.16	SBE_O2	494	19	222.50
VBD_pump_during_apogee	376	1236	11027.37	WL_BB2F	397	105	989.05
VBD_pump_during_surface	18	760	335.85	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	111.64	nil	0	0	0.00
Iridium_during_xfer	131	223	693.15
Transponder_ping	16	420	161.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.75
TT8	1205	19	241.14
LPSleep	8030	2	177.63
TT8_Active	494	19	98.83
TT8_Sampling	1358	39	546.28
TT8_CF8	463	45	214.39
TT8_Kalman	33	81	27.56
Analog_circuits	1210	12	146.72
GPS_charging	0	0	0.00
Compass	1326	8	107.17
RAFOS	0	0	0.00
Transponder	39	30	12.06

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	-40.85	0.000	2	0.000	0.000	415	2144	2414
63	-1.44	-146.6	2.2	-3.8	2	126	10.85	0.00	-46.25	0.000	6	0.153	0.000	2424	2140	3428
438	-1.32	-146.6	53.9	-16.9	20	443	0.15	2.60	0.00	0.000	4	0.114	0.059	2453	707	3429
483	-1.29	-146.6	62.0	-16.2	22	487	0.00	2.53	0.00	0.000	6	0.000	0.048	2453	2132	3429
805	-1.24	-146.6	106.5	-13.1	38	809	0.00	2.58	0.00	0.000	4	0.000	0.059	2453	709	3429
839	-1.21	-146.6	110.8	-12.6	39	846	0.12	2.53	0.00	0.000	6	0.102	0.048	2478	2138	3429
1155	-1.21	-146.6	147.6	-12.4	55	1159	0.00	2.58	0.00	0.000	4	0.000	0.059	2478	715	3429
1189	-1.24	-146.6	152.0	-13.2	56	1195	0.00	2.53	0.00	0.000	6	0.000	0.048	2479	2140	3429
1508	-1.24	-146.6	191.1	-12.5	77	1510	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2141	3429
1821	-1.24	-146.6	230.7	-12.6	97	1826	0.00	2.60	0.00	0.000	4	0.000	0.061	2479	706	3429
1878	-1.28	-146.6	238.1	-13.2	100	1885	0.00	2.53	0.00	0.000	6	0.000	0.048	2479	2132	3429
2199	-1.28	-146.6	277.4	-12.3	121	2201	0.00	0.00	0.00	0.000	6	0.000	0.000	2479	2132	3429
2510	-1.28	-146.6	314.9	-11.7	141	2514	0.00	2.58	0.00	0.000	4	0.000	0.063	2479	716	3429
2578	-1.33	-146.6	323.0	-11.7	145	2583	0.12	2.47	0.00	0.000	6	0.060	0.050	2446	2114	3429
2899	-1.27	-146.6	367.1	-14.0	165	2901	0.10	0.00	0.00	0.000	6	0.104	0.000	2464	2114	3429
3210	-1.27	-146.6	405.6	-11.8	185	3214	0.00	2.55	0.00	0.000	4	0.000	0.064	2464	707	3429
3243	-1.27	-146.6	409.8	-12.0	187	3247	0.00	2.47	0.00	0.000	6	0.000	0.050	2464	2101	3429
3562	-1.27	-146.6	447.2	-11.9	207	3563	0.00	0.00	0.00	0.000	6	0.000	0.000	2465	2101	3429
3875	-1.27	-146.6	485.1	-11.9	227	3876	0.00	0.00	0.00	0.000	6	0.000	0.000	2464	2101	3429
4186	-1.27	-146.6	522.7	-12.0	247	4191	0.00	2.55	0.00	0.000	4	0.000	0.069	2464	715	3429
4238	-1.31	-146.6	528.8	-11.8	250	4242	0.00	2.45	0.00	0.000	6	0.000	0.054	2464	2085	3429
4559	-1.31	-146.6	562.2	-9.7	270	4563	0.00	2.50	0.00	0.000	4	0.000	0.068	2464	718	3429
4587	-1.31	-146.6	565.5	-11.1	272	4591	0.00	2.45	0.00	0.000	6	0.000	0.055	2465	2086	3429
4916	-1.31	-146.6	602.7	-11.6	293	4920	0.00	2.53	0.00	0.000	4	0.000	0.071	2464	717	3428
4937	-1.31	-146.6	606.2	-13.0	294	4943	0.00	2.45	0.00	0.000	6	0.000	0.058	2465	2077	3428
5082	end dive: BOTTOM_OBSTACLE_DETECTED
state	5082	begin apogee
5090	-0.33	0.0	622.7	11.4	304	5227	0.98	0.00	132.52	1.236	6	0.083	0.000	2673	1839	2831
5227	end apogee: CONTROL_FINISHED_OK
state	5227	begin climb
5231	1.44	146.6	627.9	0.0	313	5375	1.75	2.67	134.05	1.187	4	0.061	0.077	3053	454	2233
5463	1.33	146.6	615.0	11.6	327	5467	0.00	2.55	0.00	0.000	6	0.000	0.056	3054	1853	2233
5782	1.28	159.5	585.6	9.4	347	5803	0.15	2.65	12.73	1.074	4	0.099	0.072	3025	3255	2180
5850	1.33	189.7	579.7	8.6	351	5885	0.00	2.60	27.98	1.147	6	0.000	0.070	3025	1867	2058
6214	1.39	225.1	547.7	8.4	374	6251	0.00	2.67	31.98	1.154	4	0.000	0.071	3025	3254	1913
6263	1.47	252.8	543.3	8.7	377	6294	0.20	2.60	25.45	1.132	6	0.056	0.070	3073	1870	1800
6616	1.41	252.8	498.5	13.8	400	6620	0.00	2.60	0.00	0.000	4	0.000	0.072	3073	3253	1800
6661	1.38	252.8	492.0	13.5	403	6666	0.15	2.53	0.00	0.000	6	0.105	0.067	3045	1895	1800
6986	1.38	252.8	456.0	10.6	424	6991	0.00	2.55	0.00	0.000	4	0.000	0.071	3045	3263	1799
7049	1.38	252.8	449.2	10.3	428	7053	0.00	2.47	0.00	0.000	6	0.000	0.063	3045	1917	1799
7374	1.38	252.8	413.8	10.5	449	7378	0.00	2.50	0.00	0.000	4	0.000	0.069	3045	3259	1799
7419	1.41	252.8	408.8	10.7	452	7424	0.00	2.42	0.00	0.000	6	0.000	0.061	3045	1933	1798
7744	1.41	252.8	373.9	10.2	473	7745	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	1933	1798
8057	1.41	252.8	343.9	10.1	493	8061	0.00	2.45	0.00	0.000	4	0.000	0.066	3045	3258	1799
8103	1.45	252.8	339.1	10.6	496	8107	0.00	2.38	0.00	0.000	6	0.000	0.058	3045	1938	1799
8436	1.45	252.8	300.4	12.5	517	8440	0.00	2.42	0.00	0.000	4	0.000	0.064	3045	3255	1799
8457	1.45	252.8	297.2	12.5	518	8463	0.00	2.35	0.00	0.000	6	0.000	0.055	3045	1955	1799
8776	1.45	252.8	259.9	11.1	539	8780	0.00	2.40	0.00	0.000	4	0.000	0.063	3045	3258	1799
8799	1.48	252.8	257.2	11.3	540	8805	0.00	2.35	0.00	0.000	6	0.000	0.054	3045	1953	1799
9119	1.49	264.5	225.7	9.5	561	9133	0.10	0.00	11.62	0.886	6	0.063	0.000	3073	1952	1752
9446	1.46	264.5	191.8	10.3	582	9450	0.00	2.40	0.00	0.000	4	0.000	0.061	3073	3258	1752
9468	1.46	264.5	189.3	10.7	583	9474	0.00	2.33	0.00	0.000	6	0.000	0.051	3073	1966	1752
9787	1.46	264.5	155.7	10.3	604	9788	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	1966	1752
10097	1.46	264.5	124.9	10.1	620	10102	0.00	2.38	0.00	0.000	4	0.000	0.061	3074	3263	1752
10126	1.46	264.5	121.7	11.3	621	10130	0.00	2.30	0.00	0.000	6	0.000	0.050	3073	1977	1753
10444	1.46	264.5	87.3	11.1	636	10448	0.00	2.35	0.00	0.000	4	0.000	0.059	3073	3264	1753
10462	1.46	264.5	85.0	11.3	637	10466	0.00	2.30	0.00	0.000	6	0.000	0.048	3073	1973	1753
10796	1.46	264.5	45.0	12.1	653	10800	0.00	2.35	0.00	0.000	4	0.000	0.059	3073	3262	1754
10814	1.46	264.5	42.7	12.5	654	10818	0.00	2.28	0.00	0.000	6	0.000	0.048	3073	1984	1754
11142	1.46	264.5	3.4	11.4	670	11146	0.00	2.20	0.00	0.000	3	0.000	0.058	3073	3199	1754
11147	end climb: SURFACE_DEPTH_REACHED
state	11147	begin surface coast
11185	end surface coast: CONTROL_FINISHED_OK
state	11185	begin surface