Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 413 * 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 413 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 24 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 -108108.3 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 -108108.3

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 24 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 413 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 214037,6230.879,-1029.733,27,1.3,27,-10.4 TGT_NAME BE

_CALLS 2 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.244,-0.100

_SM_DEPTHo 1.25 KALMAN_X -231953.8,1645.6,1266.7,352582.5,-13810.1

_SM_ANGLEo -62.6 KALMAN_Y 68277.0,264.6,344.8,-175328.0,-907.6

GPS2 214919,6230.822,-1029.638,11,2.0,11,-10.4 MHEAD_RNG_PITCHd_Wd 122.7,39542,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027177 ALTIM_BOTTOM_PING 570.4,45.9

SM_CCo 11149,2.47,0.305,0,0,1608,300.00 _24V_AH 23.7,66.410

SM_GC 2.15,0.00,0.00,2.47,0.000,0.000,0.305,421,2145,1608,-10.69,0.42,300.00 _10V_AH 10.1,29.994

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34848,661

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104417,0

HUMID 1836 CFSIZE 254472192,229691392

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 37 GPS 011109,005724,6228.542,-1028.055,40,2.0,40,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 153 95.16 SBE_CT 452 24 257.19

Roll_motor 133 84 266.14 SBE_O2 481 19 216.76

VBD_pump_during_apogee 401 1228 11700.09 WL_BB2F 386 105 963.03

VBD_pump_during_surface 2 305 17.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 184.35 nil 0 0 0.00

Iridium_during_connect 56 160 214.32 nil 0 0 0.00

Iridium_during_xfer 205 223 1085.75

Transponder_ping 14 420 144.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1208 19 241.73

LPSleep 7902 2 174.79

TT8_Active 504 19 100.98

TT8_Sampling 1445 39 580.99

TT8_CF8 616 45 285.23

TT8_Kalman 33 81 27.56

Analog_circuits 1262 12 152.96

GPS_charging 0 0 0.00

Compass 1409 8 113.86

RAFOS 0 0 0.00

Transponder 42 30 12.77

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 79 0.00 0.00 -60.58 0.000 2 0.000 0.000 419 2157 2814

83 -1.44 -146.6 2.9 -3.7 3 119 10.88 2.60 -19.40 0.000 4 0.153 0.072 2424 716 3430

373 -1.37 -146.6 45.7 -14.9 15 378 0.10 2.53 0.00 0.000 6 0.112 0.048 2443 2138 3430

697 -1.32 -146.6 88.5 -13.1 31 701 0.00 2.58 0.00 0.000 4 0.000 0.057 2443 710 3430

809 -1.32 -146.6 103.2 -12.1 36 814 0.00 2.50 0.00 0.000 6 0.000 0.047 2444 2122 3430

1131 -1.27 -146.6 143.2 -12.7 52 1136 0.12 2.55 0.00 0.000 4 0.101 0.058 2468 713 3431

1187 -1.30 -146.6 150.0 -11.2 54 1194 0.00 2.50 0.00 0.000 6 0.000 0.048 2468 2123 3431

1507 -1.30 -146.6 188.6 -12.2 75 1511 0.00 2.55 0.00 0.000 4 0.000 0.061 2468 717 3430

1553 -1.33 -146.6 194.3 -12.8 78 1558 0.00 2.45 0.00 0.000 6 0.000 0.049 2468 2103 3431

1884 -1.33 -146.6 233.7 -11.7 99 1888 0.00 2.53 0.00 0.000 4 0.000 0.062 2468 714 3431

1916 -1.33 -146.6 237.9 -12.3 101 1921 0.00 2.45 0.00 0.000 6 0.000 0.050 2468 2094 3431

2239 -1.33 -146.6 274.7 -11.5 121 2243 0.00 2.62 0.00 0.000 4 0.000 0.070 2468 3533 3431

2273 -1.33 -146.6 279.1 -12.1 123 2277 0.00 2.62 0.00 0.000 6 0.000 0.058 2468 2084 3431

2592 -1.33 -146.6 313.6 -10.3 143 2596 0.00 2.45 0.00 0.000 4 0.000 0.063 2468 712 3431

2638 -1.37 -146.6 318.6 -10.9 146 2642 0.00 2.45 0.00 0.000 6 0.000 0.050 2468 2093 3431

2964 -1.37 -146.6 351.2 -9.5 167 2968 0.00 2.62 0.00 0.000 4 0.000 0.071 2468 3531 3431

2993 -1.37 -146.6 354.0 -9.6 169 2997 0.00 2.62 0.00 0.000 6 0.000 0.059 2468 2083 3431

3318 -1.37 -146.6 383.2 -9.6 190 3322 0.00 2.45 0.00 0.000 4 0.000 0.063 2468 712 3431

3357 -1.41 -146.6 387.2 -9.9 192 3364 0.15 2.45 0.00 0.000 6 0.059 0.050 2428 2095 3431

3680 -1.35 -146.6 424.9 -12.3 213 3685 0.12 2.50 0.00 0.000 4 0.101 0.063 2452 717 3431

3730 -1.35 -146.6 431.5 -11.5 216 3734 0.00 2.40 0.00 0.000 6 0.000 0.050 2452 2067 3431

4049 -1.35 -146.6 468.4 -11.0 236 4054 0.00 2.67 0.00 0.000 4 0.000 0.073 2452 3528 3431

4151 -1.35 -146.6 479.9 -11.5 242 4156 0.00 2.60 0.00 0.000 6 0.000 0.061 2452 2103 3430

4470 -1.35 -146.6 514.9 -11.3 262 4474 0.00 2.50 0.00 0.000 4 0.000 0.068 2452 712 3430

4527 -1.39 -146.6 521.5 -12.0 265 4531 0.00 2.45 0.00 0.000 6 0.000 0.052 2452 2085 3430

4846 -1.39 -146.6 557.0 -11.0 285 4850 0.00 2.53 0.00 0.000 4 0.000 0.071 2452 717 3430

4880 -1.39 -146.6 561.0 -12.2 287 4884 0.00 2.45 0.00 0.000 6 0.000 0.056 2452 2082 3430

5211 -1.39 -146.6 601.4 -12.4 308 5216 0.00 2.72 0.00 0.000 4 0.000 0.084 2452 3537 3429

5248 end dive: BOTTOM_OBSTACLE_DETECTED

state 5248 begin apogee

5258 -0.33 0.0 606.9 13.7 310 5394 1.00 0.00 132.05 1.229 6 0.083 0.000 2669 1829 2831

5395 end apogee: CONTROL_FINISHED_OK

state 5395 begin climb

5399 1.44 146.6 610.5 0.0 319 5541 1.77 2.67 131.85 1.185 4 0.061 0.081 3057 440 2233

5640 1.35 164.9 595.7 9.2 333 5662 0.00 2.58 17.73 1.095 6 0.000 0.059 3056 1849 2158

5978 1.35 201.2 566.6 8.3 355 6018 0.00 2.72 33.08 1.154 4 0.000 0.078 3056 3257 2010

6037 1.34 219.0 560.7 9.2 358 6061 0.00 2.65 16.90 1.104 6 0.000 0.074 3056 1850 1938

6377 1.30 219.0 527.2 10.1 380 6382 0.15 2.67 0.00 0.000 4 0.100 0.077 3029 3257 1936

6433 1.36 230.2 521.5 9.5 383 6449 0.00 2.60 10.88 1.065 6 0.000 0.073 3029 1866 1892

6764 1.36 230.2 490.5 10.1 404 6768 0.00 2.62 0.00 0.000 4 0.000 0.075 3029 3254 1891

6816 1.41 230.2 485.1 10.7 407 6820 0.00 2.50 0.00 0.000 6 0.000 0.070 3029 1905 1891

7135 1.44 230.2 451.6 10.1 427 7140 0.12 2.55 0.00 0.000 4 0.064 0.073 3060 3260 1891

7152 1.44 230.2 449.5 10.7 428 7156 0.00 2.53 0.00 0.000 6 0.000 0.067 3060 1896 1891

7471 1.40 230.2 412.3 11.8 448 7476 0.00 2.53 0.00 0.000 4 0.000 0.071 3060 3255 1891

7505 1.40 230.2 408.1 11.9 450 7509 0.00 2.45 0.00 0.000 6 0.000 0.063 3060 1913 1891

7826 1.36 235.4 373.6 9.8 470 7837 0.00 2.70 6.07 0.880 4 0.000 0.067 3060 436 1871

7849 1.31 235.4 370.8 11.0 470 7856 0.15 2.70 0.00 0.000 6 0.101 0.052 3032 1931 1870

8170 1.44 296.1 346.9 7.2 491 8227 0.12 0.00 53.22 1.071 6 0.063 0.000 3064 1946 1623

8543 1.44 296.9 310.8 10.0 515 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 1946 1624

8853 1.44 296.9 277.7 10.8 535 8858 0.00 2.75 0.00 0.000 4 0.000 0.065 3064 437 1624

8876 1.40 296.9 274.8 12.0 536 8882 0.00 2.65 0.00 0.000 6 0.000 0.050 3064 1919 1624

9195 1.40 296.9 238.1 12.0 557 9199 0.00 2.40 0.00 0.000 4 0.000 0.063 3064 3254 1624

9211 1.40 296.9 235.8 12.7 558 9215 0.00 2.42 0.00 0.000 6 0.000 0.054 3064 1915 1624

9531 1.40 296.9 195.6 12.7 578 9535 0.00 2.47 0.00 0.000 4 0.000 0.062 3064 3262 1624

9570 1.40 296.9 190.2 13.0 580 9576 0.00 2.40 0.00 0.000 6 0.000 0.053 3064 1928 1624

9890 1.40 296.9 148.8 13.4 601 9891 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 1928 1625

10200 1.40 296.9 108.0 12.5 616 10204 0.00 2.42 0.00 0.000 4 0.000 0.061 3064 3257 1626

10267 1.45 296.9 99.4 12.6 619 10271 0.00 2.38 0.00 0.000 6 0.000 0.050 3064 1928 1626

10589 1.45 296.9 61.4 11.9 635 10593 0.00 2.42 0.00 0.000 4 0.000 0.059 3064 3261 1626

10613 1.45 296.9 58.4 12.2 636 10617 0.00 2.38 0.00 0.000 6 0.000 0.050 3064 1933 1626

10940 1.45 296.9 19.7 12.2 652 10941 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 1933 1627

11102 end climb: SURFACE_DEPTH_REACHED

state 11102 begin surface coast

11124 end surface coast: CONTROL_FINISHED_OK

state 11124 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	413	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	24	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	-108108.3	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	214037,6230.879,-1029.733,27,1.3,27,-10.4	TGT_NAME	BE
_CALLS	2	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.244,-0.100
_SM_DEPTHo	1.25	KALMAN_X	-231953.8,1645.6,1266.7,352582.5,-13810.1
_SM_ANGLEo	-62.6	KALMAN_Y	68277.0,264.6,344.8,-175328.0,-907.6
GPS2	214919,6230.822,-1029.638,11,2.0,11,-10.4	MHEAD_RNG_PITCHd_Wd	122.7,39542,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.027177	ALTIM_BOTTOM_PING	570.4,45.9
SM_CCo	11149,2.47,0.305,0,0,1608,300.00	_24V_AH	23.7,66.410
SM_GC	2.15,0.00,0.00,2.47,0.000,0.000,0.305,421,2145,1608,-10.69,0.42,300.00	_10V_AH	10.1,29.994
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34848,661
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104417,0
HUMID	1836	CFSIZE	254472192,229691392
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	37	GPS	011109,005724,6228.542,-1028.055,40,2.0,40,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	153	95.16	SBE_CT	452	24	257.19
Roll_motor	133	84	266.14	SBE_O2	481	19	216.76
VBD_pump_during_apogee	401	1228	11700.09	WL_BB2F	386	105	963.03
VBD_pump_during_surface	2	305	17.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	184.35	nil	0	0	0.00
Iridium_during_connect	56	160	214.32	nil	0	0	0.00
Iridium_during_xfer	205	223	1085.75
Transponder_ping	14	420	144.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1208	19	241.73
LPSleep	7902	2	174.79
TT8_Active	504	19	100.98
TT8_Sampling	1445	39	580.99
TT8_CF8	616	45	285.23
TT8_Kalman	33	81	27.56
Analog_circuits	1262	12	152.96
GPS_charging	0	0	0.00
Compass	1409	8	113.86
RAFOS	0	0	0.00
Transponder	42	30	12.77

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	79	0.00	0.00	-60.58	0.000	2	0.000	0.000	419	2157	2814
83	-1.44	-146.6	2.9	-3.7	3	119	10.88	2.60	-19.40	0.000	4	0.153	0.072	2424	716	3430
373	-1.37	-146.6	45.7	-14.9	15	378	0.10	2.53	0.00	0.000	6	0.112	0.048	2443	2138	3430
697	-1.32	-146.6	88.5	-13.1	31	701	0.00	2.58	0.00	0.000	4	0.000	0.057	2443	710	3430
809	-1.32	-146.6	103.2	-12.1	36	814	0.00	2.50	0.00	0.000	6	0.000	0.047	2444	2122	3430
1131	-1.27	-146.6	143.2	-12.7	52	1136	0.12	2.55	0.00	0.000	4	0.101	0.058	2468	713	3431
1187	-1.30	-146.6	150.0	-11.2	54	1194	0.00	2.50	0.00	0.000	6	0.000	0.048	2468	2123	3431
1507	-1.30	-146.6	188.6	-12.2	75	1511	0.00	2.55	0.00	0.000	4	0.000	0.061	2468	717	3430
1553	-1.33	-146.6	194.3	-12.8	78	1558	0.00	2.45	0.00	0.000	6	0.000	0.049	2468	2103	3431
1884	-1.33	-146.6	233.7	-11.7	99	1888	0.00	2.53	0.00	0.000	4	0.000	0.062	2468	714	3431
1916	-1.33	-146.6	237.9	-12.3	101	1921	0.00	2.45	0.00	0.000	6	0.000	0.050	2468	2094	3431
2239	-1.33	-146.6	274.7	-11.5	121	2243	0.00	2.62	0.00	0.000	4	0.000	0.070	2468	3533	3431
2273	-1.33	-146.6	279.1	-12.1	123	2277	0.00	2.62	0.00	0.000	6	0.000	0.058	2468	2084	3431
2592	-1.33	-146.6	313.6	-10.3	143	2596	0.00	2.45	0.00	0.000	4	0.000	0.063	2468	712	3431
2638	-1.37	-146.6	318.6	-10.9	146	2642	0.00	2.45	0.00	0.000	6	0.000	0.050	2468	2093	3431
2964	-1.37	-146.6	351.2	-9.5	167	2968	0.00	2.62	0.00	0.000	4	0.000	0.071	2468	3531	3431
2993	-1.37	-146.6	354.0	-9.6	169	2997	0.00	2.62	0.00	0.000	6	0.000	0.059	2468	2083	3431
3318	-1.37	-146.6	383.2	-9.6	190	3322	0.00	2.45	0.00	0.000	4	0.000	0.063	2468	712	3431
3357	-1.41	-146.6	387.2	-9.9	192	3364	0.15	2.45	0.00	0.000	6	0.059	0.050	2428	2095	3431
3680	-1.35	-146.6	424.9	-12.3	213	3685	0.12	2.50	0.00	0.000	4	0.101	0.063	2452	717	3431
3730	-1.35	-146.6	431.5	-11.5	216	3734	0.00	2.40	0.00	0.000	6	0.000	0.050	2452	2067	3431
4049	-1.35	-146.6	468.4	-11.0	236	4054	0.00	2.67	0.00	0.000	4	0.000	0.073	2452	3528	3431
4151	-1.35	-146.6	479.9	-11.5	242	4156	0.00	2.60	0.00	0.000	6	0.000	0.061	2452	2103	3430
4470	-1.35	-146.6	514.9	-11.3	262	4474	0.00	2.50	0.00	0.000	4	0.000	0.068	2452	712	3430
4527	-1.39	-146.6	521.5	-12.0	265	4531	0.00	2.45	0.00	0.000	6	0.000	0.052	2452	2085	3430
4846	-1.39	-146.6	557.0	-11.0	285	4850	0.00	2.53	0.00	0.000	4	0.000	0.071	2452	717	3430
4880	-1.39	-146.6	561.0	-12.2	287	4884	0.00	2.45	0.00	0.000	6	0.000	0.056	2452	2082	3430
5211	-1.39	-146.6	601.4	-12.4	308	5216	0.00	2.72	0.00	0.000	4	0.000	0.084	2452	3537	3429
5248	end dive: BOTTOM_OBSTACLE_DETECTED
state	5248	begin apogee
5258	-0.33	0.0	606.9	13.7	310	5394	1.00	0.00	132.05	1.229	6	0.083	0.000	2669	1829	2831
5395	end apogee: CONTROL_FINISHED_OK
state	5395	begin climb
5399	1.44	146.6	610.5	0.0	319	5541	1.77	2.67	131.85	1.185	4	0.061	0.081	3057	440	2233
5640	1.35	164.9	595.7	9.2	333	5662	0.00	2.58	17.73	1.095	6	0.000	0.059	3056	1849	2158
5978	1.35	201.2	566.6	8.3	355	6018	0.00	2.72	33.08	1.154	4	0.000	0.078	3056	3257	2010
6037	1.34	219.0	560.7	9.2	358	6061	0.00	2.65	16.90	1.104	6	0.000	0.074	3056	1850	1938
6377	1.30	219.0	527.2	10.1	380	6382	0.15	2.67	0.00	0.000	4	0.100	0.077	3029	3257	1936
6433	1.36	230.2	521.5	9.5	383	6449	0.00	2.60	10.88	1.065	6	0.000	0.073	3029	1866	1892
6764	1.36	230.2	490.5	10.1	404	6768	0.00	2.62	0.00	0.000	4	0.000	0.075	3029	3254	1891
6816	1.41	230.2	485.1	10.7	407	6820	0.00	2.50	0.00	0.000	6	0.000	0.070	3029	1905	1891
7135	1.44	230.2	451.6	10.1	427	7140	0.12	2.55	0.00	0.000	4	0.064	0.073	3060	3260	1891
7152	1.44	230.2	449.5	10.7	428	7156	0.00	2.53	0.00	0.000	6	0.000	0.067	3060	1896	1891
7471	1.40	230.2	412.3	11.8	448	7476	0.00	2.53	0.00	0.000	4	0.000	0.071	3060	3255	1891
7505	1.40	230.2	408.1	11.9	450	7509	0.00	2.45	0.00	0.000	6	0.000	0.063	3060	1913	1891
7826	1.36	235.4	373.6	9.8	470	7837	0.00	2.70	6.07	0.880	4	0.000	0.067	3060	436	1871
7849	1.31	235.4	370.8	11.0	470	7856	0.15	2.70	0.00	0.000	6	0.101	0.052	3032	1931	1870
8170	1.44	296.1	346.9	7.2	491	8227	0.12	0.00	53.22	1.071	6	0.063	0.000	3064	1946	1623
8543	1.44	296.9	310.8	10.0	515	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	1946	1624
8853	1.44	296.9	277.7	10.8	535	8858	0.00	2.75	0.00	0.000	4	0.000	0.065	3064	437	1624
8876	1.40	296.9	274.8	12.0	536	8882	0.00	2.65	0.00	0.000	6	0.000	0.050	3064	1919	1624
9195	1.40	296.9	238.1	12.0	557	9199	0.00	2.40	0.00	0.000	4	0.000	0.063	3064	3254	1624
9211	1.40	296.9	235.8	12.7	558	9215	0.00	2.42	0.00	0.000	6	0.000	0.054	3064	1915	1624
9531	1.40	296.9	195.6	12.7	578	9535	0.00	2.47	0.00	0.000	4	0.000	0.062	3064	3262	1624
9570	1.40	296.9	190.2	13.0	580	9576	0.00	2.40	0.00	0.000	6	0.000	0.053	3064	1928	1624
9890	1.40	296.9	148.8	13.4	601	9891	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	1928	1625
10200	1.40	296.9	108.0	12.5	616	10204	0.00	2.42	0.00	0.000	4	0.000	0.061	3064	3257	1626
10267	1.45	296.9	99.4	12.6	619	10271	0.00	2.38	0.00	0.000	6	0.000	0.050	3064	1928	1626
10589	1.45	296.9	61.4	11.9	635	10593	0.00	2.42	0.00	0.000	4	0.000	0.059	3064	3261	1626
10613	1.45	296.9	58.4	12.2	636	10617	0.00	2.38	0.00	0.000	6	0.000	0.050	3064	1933	1626
10940	1.45	296.9	19.7	12.2	652	10941	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	1933	1627
11102	end climb: SURFACE_DEPTH_REACHED
state	11102	begin surface coast
11124	end surface coast: CONTROL_FINISHED_OK
state	11124	begin surface