Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 388 * 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 388 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -107644.55 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 -107644.55

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 388 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 155606,6238.812,-1059.757,34,1.4,34,-10.7 TGT_NAME CE

_CALLS 4 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.238,-0.112

_SM_DEPTHo 1.39 KALMAN_X -179345.7,1528.0,1192.1,275363.2,-14727.7

_SM_ANGLEo -63.2 KALMAN_Y 51997.8,-73.4,394.1,-143689.0,1940.2

GPS2 161208,6238.949,-1059.645,15,1.4,15,-10.7 MHEAD_RNG_PITCHd_Wd 125.9,30288,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.017702 ALTIM_BOTTOM_PING 545.0,78.9

SM_CCo 10819,4.85,0.588,0,0,1607,300.00 _24V_AH 23.7,62.846

SM_GC 2.40,0.00,0.00,4.85,0.000,0.000,0.588,420,2150,1607,-10.70,0.57,300.00 _10V_AH 10.1,28.471

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31716,645

TT8_MAMPS 0.028379 CAP_FILE_SIZE 102609,0

HUMID 1832 CFSIZE 254472192,230875136

TCM_TEMP 16.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 43 GPS 281009,191457,6238.598,-1056.357,32,4.6,51,-10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 102.10 SBE_CT 440 24 250.72

Roll_motor 121 75 215.91 SBE_O2 468 19 211.07

VBD_pump_during_apogee 398 1225 11580.82 WL_BB2F 383 105 954.69

VBD_pump_during_surface 4 587 67.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 151 103 368.71 nil 0 0 0.00

Iridium_during_connect 223 160 845.92 nil 0 0 0.00

Iridium_during_xfer 272 223 1438.96

Transponder_ping 15 420 154.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.86

TT8 1162 19 232.53

LPSleep 7869 2 174.07

TT8_Active 499 19 99.79

TT8_Sampling 1334 39 536.35

TT8_CF8 925 45 427.95

TT8_Kalman 33 81 27.56

Analog_circuits 1210 12 146.67

GPS_charging 0 0 0.00

Compass 1296 8 104.79

RAFOS 0 0 0.00

Transponder 35 30 10.81

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

19 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -57.47 0.000 2 0.000 0.000 418 2089 2744

83 -1.44 -146.6 2.6 -3.1 3 124 11.20 2.45 -24.30 0.000 4 0.160 0.067 2428 735 3429

131 -1.35 -146.6 7.0 -10.0 5 138 0.12 2.50 0.00 0.000 6 0.103 0.048 2452 2138 3429

448 -1.29 -146.6 52.4 -14.0 21 452 0.00 2.55 0.00 0.000 4 0.000 0.065 2452 3540 3430

481 -1.24 -146.6 57.4 -13.6 22 488 0.10 2.53 0.00 0.000 6 0.104 0.051 2471 2132 3430

798 -1.24 -146.6 98.2 -12.7 38 802 0.00 2.53 0.00 0.000 4 0.000 0.060 2471 711 3430

847 -1.24 -146.6 104.7 -13.4 40 852 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2122 3429

1164 -1.24 -146.6 142.9 -12.9 55 1169 0.00 2.58 0.00 0.000 4 0.000 0.067 2471 3540 3429

1194 -1.24 -146.6 146.8 -13.6 56 1198 0.00 2.55 0.00 0.000 6 0.000 0.053 2472 2123 3430

1519 -1.24 -146.6 187.1 -12.3 76 1523 0.00 2.50 0.00 0.000 4 0.000 0.061 2471 716 3430

1598 -1.24 -146.6 197.5 -12.8 81 1603 0.00 2.50 0.00 0.000 6 0.000 0.048 2472 2130 3430

1922 -1.24 -146.6 239.6 -13.0 102 1926 0.00 2.58 0.00 0.000 4 0.000 0.061 2472 711 3430

1957 -1.24 -146.6 244.2 -13.2 104 1962 0.00 2.47 0.00 0.000 6 0.000 0.049 2472 2107 3429

2281 -1.24 -146.6 285.4 -11.9 125 2282 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2107 3430

2595 -1.24 -146.6 321.2 -11.3 145 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2106 3430

2906 -1.24 -146.6 357.2 -11.7 165 2910 0.00 2.53 0.00 0.000 4 0.000 0.065 2471 718 3429

2973 -1.28 -146.6 365.4 -11.6 169 2977 0.00 2.45 0.00 0.000 6 0.000 0.050 2471 2100 3430

3293 -1.28 -146.6 402.4 -11.5 189 3297 0.00 2.62 0.00 0.000 4 0.000 0.072 2472 3531 3430

3322 -1.28 -146.6 405.8 -11.6 191 3326 0.00 2.60 0.00 0.000 6 0.000 0.061 2472 2101 3430

3648 -1.28 -146.6 442.3 -10.4 212 3652 0.00 2.50 0.00 0.000 4 0.000 0.064 2472 698 3430

3693 -1.33 -146.6 447.4 -11.0 215 3697 0.00 2.47 0.00 0.000 6 0.000 0.050 2472 2098 3430

4017 -1.33 -146.6 486.9 -15.1 236 4022 0.00 2.62 0.00 0.000 4 0.000 0.072 2472 3531 3429

4066 -1.33 -146.6 494.3 -16.6 239 4070 0.00 2.65 0.00 0.000 6 0.000 0.061 2472 2074 3429

4398 -1.36 -146.6 532.9 -10.1 260 4402 0.00 2.45 0.00 0.000 4 0.000 0.067 2472 707 3429

4449 -1.43 -146.6 538.0 -8.5 263 4454 0.17 2.45 0.00 0.000 6 0.059 0.052 2427 2084 3429

4772 -1.37 -146.6 577.5 -14.5 283 4773 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2085 3429

5031 end dive: BOTTOM_OBSTACLE_DETECTED

state 5031 begin apogee

5039 -0.33 0.0 614.9 14.2 300 5175 1.15 0.00 131.82 1.226 6 0.084 0.000 2671 1831 2831

5176 end apogee: CONTROL_FINISHED_OK

state 5176 begin climb

5179 1.44 146.6 621.0 0.0 309 5321 1.75 2.62 132.00 1.184 4 0.059 0.075 3054 446 2233

5449 1.32 150.5 604.0 9.8 325 5461 0.00 2.55 5.15 0.832 6 0.000 0.056 3054 1846 2217

5776 1.33 190.7 575.0 8.2 346 5817 0.00 0.00 36.60 1.154 6 0.000 0.000 3054 1861 2053

6131 1.29 190.7 536.9 11.1 369 6133 0.15 0.00 0.00 0.000 6 0.101 0.000 3027 1861 2052

6443 1.35 227.3 509.3 8.3 389 6483 0.00 2.70 32.83 1.150 4 0.000 0.073 3027 3257 1904

6519 1.47 264.4 503.0 8.3 393 6561 0.17 2.60 33.92 1.136 6 0.060 0.067 3069 1869 1754

6887 1.43 264.4 458.4 11.9 417 6891 0.00 2.60 0.00 0.000 4 0.000 0.071 3069 3262 1753

6919 1.43 264.4 454.5 11.8 419 6924 0.00 2.55 0.00 0.000 6 0.000 0.064 3069 1882 1752

7241 1.39 264.4 419.6 12.2 439 7246 0.00 2.55 0.00 0.000 4 0.000 0.069 3069 3257 1752

7264 1.36 264.4 416.4 12.5 440 7271 0.15 2.53 0.00 0.000 6 0.101 0.062 3040 1882 1751

7584 1.39 282.5 383.9 9.2 461 7608 0.00 2.60 16.77 1.039 4 0.000 0.065 3040 3258 1679

7633 1.46 291.5 379.3 9.6 464 7650 0.12 2.47 9.57 0.965 6 0.064 0.060 3072 1910 1642

7966 1.43 291.5 340.0 12.5 485 7970 0.00 2.47 0.00 0.000 4 0.000 0.064 3072 3257 1643

7983 1.43 291.5 337.2 12.8 486 7988 0.00 2.45 0.00 0.000 6 0.000 0.058 3071 1912 1643

8308 1.43 291.5 295.6 12.7 507 8312 0.00 2.47 0.00 0.000 4 0.000 0.063 3072 3255 1643

8330 1.43 291.5 292.4 13.6 508 8334 0.00 2.42 0.00 0.000 6 0.000 0.056 3072 1918 1643

8650 1.43 291.5 252.3 12.0 528 8654 0.00 2.47 0.00 0.000 4 0.000 0.062 3072 3264 1644

8678 1.43 291.5 248.7 12.7 530 8682 0.00 2.40 0.00 0.000 6 0.000 0.053 3072 1930 1644

9004 1.43 291.5 209.7 11.8 551 9008 0.00 2.45 0.00 0.000 4 0.000 0.061 3072 3266 1644

9037 1.43 291.5 205.2 12.5 553 9041 0.00 2.38 0.00 0.000 6 0.000 0.051 3072 1942 1644

9356 1.43 291.5 167.2 11.4 573 9360 0.00 2.70 0.00 0.000 4 0.000 0.063 3072 435 1644

9378 1.40 291.5 164.5 12.0 574 9385 0.12 2.72 0.00 0.000 6 0.098 0.048 3048 1970 1644

9713 1.44 291.5 131.0 10.2 593 9717 0.00 2.30 0.00 0.000 4 0.000 0.059 3048 3261 1645

9746 1.51 291.5 127.4 10.1 594 9753 0.12 2.35 0.00 0.000 6 0.059 0.050 3082 1941 1645

10063 1.51 291.5 90.1 12.2 610 10067 0.00 2.40 0.00 0.000 4 0.000 0.059 3081 3259 1645

10082 1.51 291.5 87.9 12.1 611 10086 0.00 2.33 0.00 0.000 6 0.000 0.050 3081 1957 1645

10409 1.51 291.5 47.4 12.5 627 10410 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 1957 1645

10721 1.51 291.5 9.5 12.3 642 10725 0.00 2.38 0.00 0.000 4 0.000 0.059 3081 3259 1645

10749 1.51 291.5 5.7 13.2 643 10753 0.00 2.33 0.00 0.000 6 0.000 0.049 3081 1956 1646

10773 end climb: SURFACE_DEPTH_REACHED

state 10773 begin surface coast

10796 end surface coast: CONTROL_FINISHED_OK

state 10796 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	388	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-107644.55	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	155606,6238.812,-1059.757,34,1.4,34,-10.7	TGT_NAME	CE
_CALLS	4	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.238,-0.112
_SM_DEPTHo	1.39	KALMAN_X	-179345.7,1528.0,1192.1,275363.2,-14727.7
_SM_ANGLEo	-63.2	KALMAN_Y	51997.8,-73.4,394.1,-143689.0,1940.2
GPS2	161208,6238.949,-1059.645,15,1.4,15,-10.7	MHEAD_RNG_PITCHd_Wd	125.9,30288,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.017702	ALTIM_BOTTOM_PING	545.0,78.9
SM_CCo	10819,4.85,0.588,0,0,1607,300.00	_24V_AH	23.7,62.846
SM_GC	2.40,0.00,0.00,4.85,0.000,0.000,0.588,420,2150,1607,-10.70,0.57,300.00	_10V_AH	10.1,28.471
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31716,645
TT8_MAMPS	0.028379	CAP_FILE_SIZE	102609,0
HUMID	1832	CFSIZE	254472192,230875136
TCM_TEMP	16.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	43	GPS	281009,191457,6238.598,-1056.357,32,4.6,51,-10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	102.10	SBE_CT	440	24	250.72
Roll_motor	121	75	215.91	SBE_O2	468	19	211.07
VBD_pump_during_apogee	398	1225	11580.82	WL_BB2F	383	105	954.69
VBD_pump_during_surface	4	587	67.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	151	103	368.71	nil	0	0	0.00
Iridium_during_connect	223	160	845.92	nil	0	0	0.00
Iridium_during_xfer	272	223	1438.96
Transponder_ping	15	420	154.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.86
TT8	1162	19	232.53
LPSleep	7869	2	174.07
TT8_Active	499	19	99.79
TT8_Sampling	1334	39	536.35
TT8_CF8	925	45	427.95
TT8_Kalman	33	81	27.56
Analog_circuits	1210	12	146.67
GPS_charging	0	0	0.00
Compass	1296	8	104.79
RAFOS	0	0	0.00
Transponder	35	30	10.81

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
19	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-57.47	0.000	2	0.000	0.000	418	2089	2744
83	-1.44	-146.6	2.6	-3.1	3	124	11.20	2.45	-24.30	0.000	4	0.160	0.067	2428	735	3429
131	-1.35	-146.6	7.0	-10.0	5	138	0.12	2.50	0.00	0.000	6	0.103	0.048	2452	2138	3429
448	-1.29	-146.6	52.4	-14.0	21	452	0.00	2.55	0.00	0.000	4	0.000	0.065	2452	3540	3430
481	-1.24	-146.6	57.4	-13.6	22	488	0.10	2.53	0.00	0.000	6	0.104	0.051	2471	2132	3430
798	-1.24	-146.6	98.2	-12.7	38	802	0.00	2.53	0.00	0.000	4	0.000	0.060	2471	711	3430
847	-1.24	-146.6	104.7	-13.4	40	852	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2122	3429
1164	-1.24	-146.6	142.9	-12.9	55	1169	0.00	2.58	0.00	0.000	4	0.000	0.067	2471	3540	3429
1194	-1.24	-146.6	146.8	-13.6	56	1198	0.00	2.55	0.00	0.000	6	0.000	0.053	2472	2123	3430
1519	-1.24	-146.6	187.1	-12.3	76	1523	0.00	2.50	0.00	0.000	4	0.000	0.061	2471	716	3430
1598	-1.24	-146.6	197.5	-12.8	81	1603	0.00	2.50	0.00	0.000	6	0.000	0.048	2472	2130	3430
1922	-1.24	-146.6	239.6	-13.0	102	1926	0.00	2.58	0.00	0.000	4	0.000	0.061	2472	711	3430
1957	-1.24	-146.6	244.2	-13.2	104	1962	0.00	2.47	0.00	0.000	6	0.000	0.049	2472	2107	3429
2281	-1.24	-146.6	285.4	-11.9	125	2282	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2107	3430
2595	-1.24	-146.6	321.2	-11.3	145	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2106	3430
2906	-1.24	-146.6	357.2	-11.7	165	2910	0.00	2.53	0.00	0.000	4	0.000	0.065	2471	718	3429
2973	-1.28	-146.6	365.4	-11.6	169	2977	0.00	2.45	0.00	0.000	6	0.000	0.050	2471	2100	3430
3293	-1.28	-146.6	402.4	-11.5	189	3297	0.00	2.62	0.00	0.000	4	0.000	0.072	2472	3531	3430
3322	-1.28	-146.6	405.8	-11.6	191	3326	0.00	2.60	0.00	0.000	6	0.000	0.061	2472	2101	3430
3648	-1.28	-146.6	442.3	-10.4	212	3652	0.00	2.50	0.00	0.000	4	0.000	0.064	2472	698	3430
3693	-1.33	-146.6	447.4	-11.0	215	3697	0.00	2.47	0.00	0.000	6	0.000	0.050	2472	2098	3430
4017	-1.33	-146.6	486.9	-15.1	236	4022	0.00	2.62	0.00	0.000	4	0.000	0.072	2472	3531	3429
4066	-1.33	-146.6	494.3	-16.6	239	4070	0.00	2.65	0.00	0.000	6	0.000	0.061	2472	2074	3429
4398	-1.36	-146.6	532.9	-10.1	260	4402	0.00	2.45	0.00	0.000	4	0.000	0.067	2472	707	3429
4449	-1.43	-146.6	538.0	-8.5	263	4454	0.17	2.45	0.00	0.000	6	0.059	0.052	2427	2084	3429
4772	-1.37	-146.6	577.5	-14.5	283	4773	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	2085	3429
5031	end dive: BOTTOM_OBSTACLE_DETECTED
state	5031	begin apogee
5039	-0.33	0.0	614.9	14.2	300	5175	1.15	0.00	131.82	1.226	6	0.084	0.000	2671	1831	2831
5176	end apogee: CONTROL_FINISHED_OK
state	5176	begin climb
5179	1.44	146.6	621.0	0.0	309	5321	1.75	2.62	132.00	1.184	4	0.059	0.075	3054	446	2233
5449	1.32	150.5	604.0	9.8	325	5461	0.00	2.55	5.15	0.832	6	0.000	0.056	3054	1846	2217
5776	1.33	190.7	575.0	8.2	346	5817	0.00	0.00	36.60	1.154	6	0.000	0.000	3054	1861	2053
6131	1.29	190.7	536.9	11.1	369	6133	0.15	0.00	0.00	0.000	6	0.101	0.000	3027	1861	2052
6443	1.35	227.3	509.3	8.3	389	6483	0.00	2.70	32.83	1.150	4	0.000	0.073	3027	3257	1904
6519	1.47	264.4	503.0	8.3	393	6561	0.17	2.60	33.92	1.136	6	0.060	0.067	3069	1869	1754
6887	1.43	264.4	458.4	11.9	417	6891	0.00	2.60	0.00	0.000	4	0.000	0.071	3069	3262	1753
6919	1.43	264.4	454.5	11.8	419	6924	0.00	2.55	0.00	0.000	6	0.000	0.064	3069	1882	1752
7241	1.39	264.4	419.6	12.2	439	7246	0.00	2.55	0.00	0.000	4	0.000	0.069	3069	3257	1752
7264	1.36	264.4	416.4	12.5	440	7271	0.15	2.53	0.00	0.000	6	0.101	0.062	3040	1882	1751
7584	1.39	282.5	383.9	9.2	461	7608	0.00	2.60	16.77	1.039	4	0.000	0.065	3040	3258	1679
7633	1.46	291.5	379.3	9.6	464	7650	0.12	2.47	9.57	0.965	6	0.064	0.060	3072	1910	1642
7966	1.43	291.5	340.0	12.5	485	7970	0.00	2.47	0.00	0.000	4	0.000	0.064	3072	3257	1643
7983	1.43	291.5	337.2	12.8	486	7988	0.00	2.45	0.00	0.000	6	0.000	0.058	3071	1912	1643
8308	1.43	291.5	295.6	12.7	507	8312	0.00	2.47	0.00	0.000	4	0.000	0.063	3072	3255	1643
8330	1.43	291.5	292.4	13.6	508	8334	0.00	2.42	0.00	0.000	6	0.000	0.056	3072	1918	1643
8650	1.43	291.5	252.3	12.0	528	8654	0.00	2.47	0.00	0.000	4	0.000	0.062	3072	3264	1644
8678	1.43	291.5	248.7	12.7	530	8682	0.00	2.40	0.00	0.000	6	0.000	0.053	3072	1930	1644
9004	1.43	291.5	209.7	11.8	551	9008	0.00	2.45	0.00	0.000	4	0.000	0.061	3072	3266	1644
9037	1.43	291.5	205.2	12.5	553	9041	0.00	2.38	0.00	0.000	6	0.000	0.051	3072	1942	1644
9356	1.43	291.5	167.2	11.4	573	9360	0.00	2.70	0.00	0.000	4	0.000	0.063	3072	435	1644
9378	1.40	291.5	164.5	12.0	574	9385	0.12	2.72	0.00	0.000	6	0.098	0.048	3048	1970	1644
9713	1.44	291.5	131.0	10.2	593	9717	0.00	2.30	0.00	0.000	4	0.000	0.059	3048	3261	1645
9746	1.51	291.5	127.4	10.1	594	9753	0.12	2.35	0.00	0.000	6	0.059	0.050	3082	1941	1645
10063	1.51	291.5	90.1	12.2	610	10067	0.00	2.40	0.00	0.000	4	0.000	0.059	3081	3259	1645
10082	1.51	291.5	87.9	12.1	611	10086	0.00	2.33	0.00	0.000	6	0.000	0.050	3081	1957	1645
10409	1.51	291.5	47.4	12.5	627	10410	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	1957	1645
10721	1.51	291.5	9.5	12.3	642	10725	0.00	2.38	0.00	0.000	4	0.000	0.059	3081	3259	1645
10749	1.51	291.5	5.7	13.2	643	10753	0.00	2.33	0.00	0.000	6	0.000	0.049	3081	1956	1646
10773	end climb: SURFACE_DEPTH_REACHED
state	10773	begin surface coast
10796	end surface coast: CONTROL_FINISHED_OK
state	10796	begin surface