Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 417 * 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 417 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 21 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 -108242.47 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 -108242.47

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 21 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 417 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 105707,6226.111,-1020.665,32,1.7,32,-10.3 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.220,0.146

_SM_DEPTHo 1.30 KALMAN_X -238319.7,794.3,935.1,367544.4,-9857.3

_SM_ANGLEo -63.5 KALMAN_Y 66233.6,313.2,-59.9,-181739.2,-456.3

GPS2 110313,6226.061,-1020.695,15,1.6,32,-10.3 MHEAD_RNG_PITCHd_Wd 66.8,28683,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027168 ALTIM_BOTTOM_PING 621.6,25.5

SM_CCo 11543,0.00,0.000,0,0,1527,319.87 _24V_AH 23.7,67.000

SM_GC 1.32,11.62,0.00,0.00,0.036,0.000,0.000,418,2162,1527,-10.61,0.90,319.87 _10V_AH 10.1,30.254

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34885,687

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97699,0

HUMID 1847 CFSIZE 254472192,229490688

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 47 GPS 011109,141736,6226.165,-1019.149,30,1.1,30,-10.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 100.77 SBE_CT 468 24 266.77

Roll_motor 111 76 202.64 SBE_O2 503 19 226.71

VBD_pump_during_apogee 428 1235 12535.27 WL_BB2F 397 105 988.21

VBD_pump_during_surface 0 0 0.00 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 25 160 95.76 nil 0 0 0.00

Iridium_during_xfer 151 223 801.90

Transponder_ping 17 420 174.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.58

TT8 1227 19 245.45

LPSleep 8223 2 181.89

TT8_Active 538 19 107.76

TT8_Sampling 1427 39 573.96

TT8_CF8 491 45 227.34

TT8_Kalman 33 81 27.56

Analog_circuits 1265 12 153.35

GPS_charging 0 0 0.00

Compass 1374 8 111.03

RAFOS 0 0 0.00

Transponder 40 30 12.42

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 12 begin dive

15 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -61.42 0.000 2 0.000 0.000 416 2162 2826

83 -1.44 -146.6 2.9 -3.6 3 119 10.90 2.62 -19.40 0.000 4 0.160 0.070 2423 704 3430

171 -1.35 -146.6 15.3 -16.4 6 176 0.12 2.53 0.00 0.000 6 0.110 0.048 2448 2123 3431

495 -1.29 -146.6 63.1 -15.6 22 499 0.00 2.58 0.00 0.000 4 0.000 0.060 2448 704 3431

596 -1.29 -146.6 79.4 -15.0 26 602 0.00 2.50 0.00 0.000 6 0.000 0.048 2448 2118 3430

913 -1.24 -146.6 127.0 -14.1 42 918 0.12 2.55 0.00 0.000 4 0.107 0.058 2472 705 3431

940 -1.24 -146.6 130.9 -13.1 43 944 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2102 3431

1264 -1.24 -146.6 172.7 -13.7 61 1268 0.00 2.53 0.00 0.000 4 0.000 0.061 2472 713 3431

1292 -1.24 -146.6 176.9 -13.7 62 1298 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2106 3431

1611 -1.24 -146.6 217.8 -12.6 83 1612 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2107 3431

1924 -1.24 -146.6 258.6 -12.9 103 1929 0.00 2.55 0.00 0.000 4 0.000 0.063 2472 703 3431

1981 -1.27 -146.6 266.1 -13.0 106 1987 0.00 2.47 0.00 0.000 6 0.000 0.049 2472 2099 3431

2302 -1.27 -146.6 307.0 -13.1 127 2303 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2097 3431

2612 -1.27 -146.6 347.9 -12.7 147 2613 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2097 3431

2924 -1.27 -146.6 385.5 -11.4 167 2928 0.00 2.53 0.00 0.000 4 0.000 0.064 2472 710 3431

3010 -1.32 -146.6 395.5 -11.8 172 3015 0.00 2.45 0.00 0.000 6 0.000 0.050 2472 2088 3431

3329 -1.32 -146.6 430.1 -10.5 192 3331 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2088 3431

3642 -1.32 -146.6 463.6 -11.2 212 3646 0.00 2.50 0.00 0.000 4 0.000 0.064 2472 714 3431

3671 -1.36 -146.6 467.0 -11.4 213 3677 0.12 2.45 0.00 0.000 6 0.063 0.051 2441 2090 3431

3992 -1.31 -146.6 506.8 -12.7 234 3997 0.00 2.50 0.00 0.000 4 0.000 0.064 2441 717 3431

4062 -1.31 -146.6 516.1 -12.9 238 4066 0.00 2.40 0.00 0.000 6 0.000 0.051 2440 2062 3431

4384 -1.28 -146.6 560.4 -13.9 258 4389 0.12 2.70 0.00 0.000 4 0.104 0.074 2464 3534 3431

4413 -1.28 -146.6 564.7 -13.6 260 4418 0.00 2.70 0.00 0.000 6 0.000 0.064 2464 2060 3431

4738 -1.28 -146.6 602.2 -11.6 281 4742 0.00 2.42 0.00 0.000 4 0.000 0.070 2464 717 3431

4778 -1.32 -146.6 606.9 -12.3 283 4784 0.00 2.42 0.00 0.000 6 0.000 0.054 2464 2069 3431

5047 end dive: BOTTOM_OBSTACLE_DETECTED

state 5048 begin apogee

5056 -0.33 0.0 637.7 11.9 301 5193 0.98 0.00 133.07 1.236 6 0.082 0.000 2674 1833 2831

5194 end apogee: CONTROL_FINISHED_OK

state 5194 begin climb

5197 1.44 146.6 643.2 0.0 310 5341 1.75 2.75 134.75 1.192 4 0.061 0.071 3056 3260 2232

5432 1.40 157.6 631.1 9.5 325 5449 0.00 2.60 11.27 1.041 6 0.000 0.068 3055 1859 2188

5772 1.36 168.8 599.4 9.5 347 5789 0.00 2.72 11.45 1.062 4 0.000 0.077 3056 439 2142

5829 1.25 168.8 593.2 10.5 350 5834 0.20 2.58 0.00 0.000 6 0.100 0.058 3019 1849 2142

6148 1.30 202.7 565.2 8.5 370 6181 0.00 0.00 31.15 1.164 6 0.000 0.000 3018 1864 2004

6492 1.40 242.7 536.6 8.2 392 6534 0.15 0.00 36.10 1.164 6 0.061 0.000 3055 1865 1841

6847 1.40 242.7 498.6 10.7 415 6852 0.00 2.65 0.00 0.000 4 0.000 0.074 3056 439 1840

6871 1.35 242.7 495.8 12.1 416 6877 0.00 2.55 0.00 0.000 6 0.000 0.057 3055 1842 1840

7190 1.35 242.7 461.9 10.5 437 7194 0.00 2.60 0.00 0.000 4 0.000 0.071 3056 3261 1839

7235 1.35 242.7 456.8 11.4 440 7239 0.00 2.62 0.00 0.000 6 0.000 0.064 3056 1841 1839

7560 1.35 242.7 418.7 12.5 461 7565 0.00 2.62 0.00 0.000 4 0.000 0.067 3056 3257 1839

7608 1.35 242.7 412.6 12.6 464 7612 0.00 2.55 0.00 0.000 6 0.000 0.061 3056 1860 1839

7932 1.35 242.7 372.6 12.2 485 7936 0.00 2.60 0.00 0.000 4 0.000 0.066 3056 3264 1839

7978 1.35 242.7 366.9 12.4 488 7982 0.00 2.53 0.00 0.000 6 0.000 0.059 3056 1869 1839

8302 1.35 242.7 329.1 11.9 509 8303 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 1869 1838

8617 1.35 242.7 292.3 11.8 529 8621 0.00 2.55 0.00 0.000 4 0.000 0.064 3056 3255 1839

8655 1.35 242.7 287.3 12.4 531 8661 0.00 2.50 0.00 0.000 6 0.000 0.056 3056 1875 1839

8974 1.35 243.2 254.6 10.0 552 8979 0.00 2.55 0.00 0.000 4 0.000 0.062 3056 3264 1839

9082 1.35 243.2 243.5 10.3 558 9088 0.00 2.42 0.00 0.000 6 0.000 0.053 3056 1914 1840

9401 1.40 271.0 214.2 8.7 579 9433 0.00 2.50 24.80 0.931 4 0.000 0.061 3056 3257 1726

9533 1.49 302.0 202.9 8.6 586 9569 0.00 2.38 27.20 0.928 6 0.000 0.051 3056 1939 1599

9885 1.52 305.1 171.1 9.9 609 9894 0.00 2.42 4.45 0.652 4 0.000 0.061 3056 3260 1587

9923 1.58 305.1 166.7 10.2 611 9928 0.15 2.35 0.00 0.000 6 0.054 0.052 3097 1962 1588

10253 1.53 305.1 130.7 10.7 629 10257 0.00 2.38 0.00 0.000 4 0.000 0.061 3097 3258 1588

10281 1.49 305.1 127.1 12.7 630 10285 0.15 2.30 0.00 0.000 6 0.097 0.051 3068 1981 1588

10599 1.52 319.7 97.4 9.3 645 10616 0.00 0.00 13.80 0.815 6 0.000 0.000 3068 1982 1527

10928 1.52 319.7 63.9 10.7 661 10932 0.00 2.35 0.00 0.000 4 0.000 0.060 3068 3262 1527

10952 1.56 319.7 61.2 11.3 662 10956 0.00 2.30 0.00 0.000 6 0.000 0.049 3068 1977 1527

11275 1.60 319.7 25.2 11.5 678 11276 0.12 0.00 0.00 0.000 6 0.058 0.000 3104 1977 1528

11435 end climb: SURFACE_DEPTH_REACHED

state 11435 begin surface coast

11458 end surface coast: CONTROL_FINISHED_OK

state 11459 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	417	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	21	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	-108242.47	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	105707,6226.111,-1020.665,32,1.7,32,-10.3	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.220,0.146
_SM_DEPTHo	1.30	KALMAN_X	-238319.7,794.3,935.1,367544.4,-9857.3
_SM_ANGLEo	-63.5	KALMAN_Y	66233.6,313.2,-59.9,-181739.2,-456.3
GPS2	110313,6226.061,-1020.695,15,1.6,32,-10.3	MHEAD_RNG_PITCHd_Wd	66.8,28683,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.027168	ALTIM_BOTTOM_PING	621.6,25.5
SM_CCo	11543,0.00,0.000,0,0,1527,319.87	_24V_AH	23.7,67.000
SM_GC	1.32,11.62,0.00,0.00,0.036,0.000,0.000,418,2162,1527,-10.61,0.90,319.87	_10V_AH	10.1,30.254
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34885,687
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97699,0
HUMID	1847	CFSIZE	254472192,229490688
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	47	GPS	011109,141736,6226.165,-1019.149,30,1.1,30,-10.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	100.77	SBE_CT	468	24	266.77
Roll_motor	111	76	202.64	SBE_O2	503	19	226.71
VBD_pump_during_apogee	428	1235	12535.27	WL_BB2F	397	105	988.21
VBD_pump_during_surface	0	0	0.00	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	25	160	95.76	nil	0	0	0.00
Iridium_during_xfer	151	223	801.90
Transponder_ping	17	420	174.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.58
TT8	1227	19	245.45
LPSleep	8223	2	181.89
TT8_Active	538	19	107.76
TT8_Sampling	1427	39	573.96
TT8_CF8	491	45	227.34
TT8_Kalman	33	81	27.56
Analog_circuits	1265	12	153.35
GPS_charging	0	0	0.00
Compass	1374	8	111.03
RAFOS	0	0	0.00
Transponder	40	30	12.42

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	12	begin dive
15	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-61.42	0.000	2	0.000	0.000	416	2162	2826
83	-1.44	-146.6	2.9	-3.6	3	119	10.90	2.62	-19.40	0.000	4	0.160	0.070	2423	704	3430
171	-1.35	-146.6	15.3	-16.4	6	176	0.12	2.53	0.00	0.000	6	0.110	0.048	2448	2123	3431
495	-1.29	-146.6	63.1	-15.6	22	499	0.00	2.58	0.00	0.000	4	0.000	0.060	2448	704	3431
596	-1.29	-146.6	79.4	-15.0	26	602	0.00	2.50	0.00	0.000	6	0.000	0.048	2448	2118	3430
913	-1.24	-146.6	127.0	-14.1	42	918	0.12	2.55	0.00	0.000	4	0.107	0.058	2472	705	3431
940	-1.24	-146.6	130.9	-13.1	43	944	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2102	3431
1264	-1.24	-146.6	172.7	-13.7	61	1268	0.00	2.53	0.00	0.000	4	0.000	0.061	2472	713	3431
1292	-1.24	-146.6	176.9	-13.7	62	1298	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2106	3431
1611	-1.24	-146.6	217.8	-12.6	83	1612	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2107	3431
1924	-1.24	-146.6	258.6	-12.9	103	1929	0.00	2.55	0.00	0.000	4	0.000	0.063	2472	703	3431
1981	-1.27	-146.6	266.1	-13.0	106	1987	0.00	2.47	0.00	0.000	6	0.000	0.049	2472	2099	3431
2302	-1.27	-146.6	307.0	-13.1	127	2303	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2097	3431
2612	-1.27	-146.6	347.9	-12.7	147	2613	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2097	3431
2924	-1.27	-146.6	385.5	-11.4	167	2928	0.00	2.53	0.00	0.000	4	0.000	0.064	2472	710	3431
3010	-1.32	-146.6	395.5	-11.8	172	3015	0.00	2.45	0.00	0.000	6	0.000	0.050	2472	2088	3431
3329	-1.32	-146.6	430.1	-10.5	192	3331	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2088	3431
3642	-1.32	-146.6	463.6	-11.2	212	3646	0.00	2.50	0.00	0.000	4	0.000	0.064	2472	714	3431
3671	-1.36	-146.6	467.0	-11.4	213	3677	0.12	2.45	0.00	0.000	6	0.063	0.051	2441	2090	3431
3992	-1.31	-146.6	506.8	-12.7	234	3997	0.00	2.50	0.00	0.000	4	0.000	0.064	2441	717	3431
4062	-1.31	-146.6	516.1	-12.9	238	4066	0.00	2.40	0.00	0.000	6	0.000	0.051	2440	2062	3431
4384	-1.28	-146.6	560.4	-13.9	258	4389	0.12	2.70	0.00	0.000	4	0.104	0.074	2464	3534	3431
4413	-1.28	-146.6	564.7	-13.6	260	4418	0.00	2.70	0.00	0.000	6	0.000	0.064	2464	2060	3431
4738	-1.28	-146.6	602.2	-11.6	281	4742	0.00	2.42	0.00	0.000	4	0.000	0.070	2464	717	3431
4778	-1.32	-146.6	606.9	-12.3	283	4784	0.00	2.42	0.00	0.000	6	0.000	0.054	2464	2069	3431
5047	end dive: BOTTOM_OBSTACLE_DETECTED
state	5048	begin apogee
5056	-0.33	0.0	637.7	11.9	301	5193	0.98	0.00	133.07	1.236	6	0.082	0.000	2674	1833	2831
5194	end apogee: CONTROL_FINISHED_OK
state	5194	begin climb
5197	1.44	146.6	643.2	0.0	310	5341	1.75	2.75	134.75	1.192	4	0.061	0.071	3056	3260	2232
5432	1.40	157.6	631.1	9.5	325	5449	0.00	2.60	11.27	1.041	6	0.000	0.068	3055	1859	2188
5772	1.36	168.8	599.4	9.5	347	5789	0.00	2.72	11.45	1.062	4	0.000	0.077	3056	439	2142
5829	1.25	168.8	593.2	10.5	350	5834	0.20	2.58	0.00	0.000	6	0.100	0.058	3019	1849	2142
6148	1.30	202.7	565.2	8.5	370	6181	0.00	0.00	31.15	1.164	6	0.000	0.000	3018	1864	2004
6492	1.40	242.7	536.6	8.2	392	6534	0.15	0.00	36.10	1.164	6	0.061	0.000	3055	1865	1841
6847	1.40	242.7	498.6	10.7	415	6852	0.00	2.65	0.00	0.000	4	0.000	0.074	3056	439	1840
6871	1.35	242.7	495.8	12.1	416	6877	0.00	2.55	0.00	0.000	6	0.000	0.057	3055	1842	1840
7190	1.35	242.7	461.9	10.5	437	7194	0.00	2.60	0.00	0.000	4	0.000	0.071	3056	3261	1839
7235	1.35	242.7	456.8	11.4	440	7239	0.00	2.62	0.00	0.000	6	0.000	0.064	3056	1841	1839
7560	1.35	242.7	418.7	12.5	461	7565	0.00	2.62	0.00	0.000	4	0.000	0.067	3056	3257	1839
7608	1.35	242.7	412.6	12.6	464	7612	0.00	2.55	0.00	0.000	6	0.000	0.061	3056	1860	1839
7932	1.35	242.7	372.6	12.2	485	7936	0.00	2.60	0.00	0.000	4	0.000	0.066	3056	3264	1839
7978	1.35	242.7	366.9	12.4	488	7982	0.00	2.53	0.00	0.000	6	0.000	0.059	3056	1869	1839
8302	1.35	242.7	329.1	11.9	509	8303	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	1869	1838
8617	1.35	242.7	292.3	11.8	529	8621	0.00	2.55	0.00	0.000	4	0.000	0.064	3056	3255	1839
8655	1.35	242.7	287.3	12.4	531	8661	0.00	2.50	0.00	0.000	6	0.000	0.056	3056	1875	1839
8974	1.35	243.2	254.6	10.0	552	8979	0.00	2.55	0.00	0.000	4	0.000	0.062	3056	3264	1839
9082	1.35	243.2	243.5	10.3	558	9088	0.00	2.42	0.00	0.000	6	0.000	0.053	3056	1914	1840
9401	1.40	271.0	214.2	8.7	579	9433	0.00	2.50	24.80	0.931	4	0.000	0.061	3056	3257	1726
9533	1.49	302.0	202.9	8.6	586	9569	0.00	2.38	27.20	0.928	6	0.000	0.051	3056	1939	1599
9885	1.52	305.1	171.1	9.9	609	9894	0.00	2.42	4.45	0.652	4	0.000	0.061	3056	3260	1587
9923	1.58	305.1	166.7	10.2	611	9928	0.15	2.35	0.00	0.000	6	0.054	0.052	3097	1962	1588
10253	1.53	305.1	130.7	10.7	629	10257	0.00	2.38	0.00	0.000	4	0.000	0.061	3097	3258	1588
10281	1.49	305.1	127.1	12.7	630	10285	0.15	2.30	0.00	0.000	6	0.097	0.051	3068	1981	1588
10599	1.52	319.7	97.4	9.3	645	10616	0.00	0.00	13.80	0.815	6	0.000	0.000	3068	1982	1527
10928	1.52	319.7	63.9	10.7	661	10932	0.00	2.35	0.00	0.000	4	0.000	0.060	3068	3262	1527
10952	1.56	319.7	61.2	11.3	662	10956	0.00	2.30	0.00	0.000	6	0.000	0.049	3068	1977	1527
11275	1.60	319.7	25.2	11.5	678	11276	0.12	0.00	0.00	0.000	6	0.058	0.000	3104	1977	1528
11435	end climb: SURFACE_DEPTH_REACHED
state	11435	begin surface coast
11458	end surface coast: CONTROL_FINISHED_OK
state	11459	begin surface