Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 42 * 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 42 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 1920 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 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 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 -101045.78 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0.039999999 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 -101045.78

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 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 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 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 42 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 192806,6130.715,-905.481,28,1.1,28,-9.3 TGT_NAME BW

_CALLS 2 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.124,0.233

_SM_DEPTHo 1.31 KALMAN_X -32733.3,-1487.3,-308.8,11939.2,8373.4

_SM_ANGLEo -63.6 KALMAN_Y 40603.0,-428.6,265.6,-51462.0,-4993.8

GPS2 193604,6130.674,-905.517,13,1.6,15,-9.3 MHEAD_RNG_PITCHd_Wd 341.4,27804,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.023220 ALTIM_BOTTOM_PING 622.0,74.4

SM_CCo 11786,11.10,0.720,0,0,1608,300.00 _24V_AH 23.8,8.833

SM_GC 2.00,0.00,0.00,11.10,0.000,0.000,0.720,419,2146,1608,-10.70,0.45,300.00 _10V_AH 10.1,4.268

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28550,565

TT8_MAMPS 0.029146 CAP_FILE_SIZE 95633,0

HUMID 1839 CFSIZE 254472192,249724928

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,38,0,0

XPDR_PINGS 32 GPS 030909,225506,6132.195,-908.074,40,1.2,51,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 159 104.61 SBE_CT 385 24 220.17

Roll_motor 101 78 188.15 SBE_O2 421 19 190.69

VBD_pump_during_apogee 370 1245 10991.80 WL_BB2F 357 105 893.96

VBD_pump_during_surface 11 720 190.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.12 nil 0 0 0.00

Iridium_during_connect 81 160 309.99 nil 0 0 0.00

Iridium_during_xfer 155 223 822.97

Transponder_ping 13 420 134.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.96

TT8 1071 19 214.28

LPSleep 8931 2 197.56

TT8_Active 499 19 99.85

TT8_Sampling 1249 39 502.39

TT8_CF8 536 45 248.01

TT8_Kalman 33 81 27.54

Analog_circuits 1145 12 138.81

GPS_charging 0 0 0.00

Compass 1217 8 98.37

RAFOS 0 0 0.00

Transponder 38 30 11.60

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.44 -146.6 0.0 0.0 0 78 0.00 0.00 -60.75 0.000 2 0.000 0.000 415 2145 2932

81 -1.44 -146.6 3.4 -4.8 3 112 10.95 2.53 -13.40 0.000 4 0.160 0.078 2423 3521 3430

250 -1.34 -146.6 31.8 -16.8 10 255 0.15 2.47 0.00 0.000 6 0.097 0.046 2453 2118 3431

566 -1.34 -146.6 74.4 -13.1 25 570 0.00 2.47 0.00 0.000 4 0.000 0.061 2453 717 3431

606 -1.38 -146.6 79.5 -13.3 27 611 0.00 2.42 0.00 0.000 6 0.000 0.047 2453 2113 3431

939 -1.38 -146.6 124.0 -13.8 43 944 0.00 2.58 0.00 0.000 4 0.000 0.067 2453 3538 3431

1018 -1.38 -146.6 135.1 -13.7 46 1024 0.00 2.50 0.00 0.000 6 0.000 0.049 2454 2119 3431

1334 -1.38 -146.6 178.1 -13.5 62 1338 0.00 2.60 0.00 0.000 4 0.000 0.067 2454 3538 3432

1400 -1.38 -146.6 187.5 -14.0 65 1404 0.00 2.53 0.00 0.000 6 0.000 0.051 2454 2113 3432

1722 -1.38 -146.6 231.1 -13.8 81 1726 0.00 2.60 0.00 0.000 4 0.000 0.067 2454 3534 3432

1749 -1.38 -146.6 235.2 -14.2 82 1753 0.00 2.50 0.00 0.000 6 0.000 0.053 2454 2123 3432

2064 -1.38 -146.6 279.1 -14.1 97 2066 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2111 3432

2375 -1.38 -146.6 322.4 -13.9 112 2379 0.00 2.60 0.00 0.000 4 0.000 0.071 2453 3538 3432

2396 -1.38 -146.6 325.9 -14.9 113 2401 0.00 2.53 0.00 0.000 6 0.000 0.056 2453 2123 3432

2718 -1.38 -146.6 374.1 -14.8 129 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2112 3432

3027 -1.38 -146.6 415.2 -12.6 144 3028 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2113 3431

3336 -1.38 -146.6 452.5 -11.7 159 3341 0.00 2.58 0.00 0.000 4 0.000 0.071 2454 3530 3431

3386 -1.38 -146.6 458.6 -11.7 161 3391 0.00 2.50 0.00 0.000 6 0.000 0.057 2454 2133 3431

3704 -1.38 -146.6 496.4 -12.6 176 3708 0.00 2.58 0.00 0.000 4 0.000 0.073 2454 3536 3431

3766 -1.38 -146.6 504.7 -12.9 179 3770 0.00 2.50 0.00 0.000 6 0.000 0.058 2454 2139 3431

4093 -1.38 -146.6 545.3 -12.3 195 4094 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2126 3431

4401 -1.38 -146.6 583.8 -12.4 210 4403 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2127 3431

4715 -1.38 -146.6 622.0 -12.0 225 4719 0.00 2.53 0.00 0.000 4 0.000 0.069 2454 725 3430

4760 -1.47 -146.6 628.0 -12.0 227 4765 0.12 2.50 0.00 0.000 6 0.058 0.057 2418 2141 3430

5082 -1.40 -146.6 669.9 -13.2 243 5086 0.10 2.60 0.00 0.000 4 0.104 0.071 2437 715 3430

5115 -1.40 -146.6 674.5 -13.4 244 5121 0.00 2.50 0.00 0.000 6 0.000 0.054 2437 2133 3430

5221 end dive: BOTTOM_OBSTACLE_DETECTED

state 5221 begin apogee

5229 -0.33 0.0 688.2 12.7 250 5358 1.08 0.00 125.60 1.246 6 0.078 0.000 2671 1895 2831

5359 end apogee: CONTROL_FINISHED_OK

state 5359 begin climb

5362 1.44 146.6 692.6 0.0 256 5491 1.73 0.00 125.03 1.215 6 0.056 0.000 3060 1895 2233

5801 1.33 146.6 657.4 10.6 278 5806 0.12 2.53 0.00 0.000 4 0.101 0.072 3038 522 2233

5913 1.19 146.6 644.2 11.8 283 5918 0.17 2.47 0.00 0.000 6 0.097 0.051 3005 1911 2233

6235 1.29 209.5 617.0 7.1 299 6297 0.00 2.65 53.95 1.164 4 0.000 0.072 3005 534 1976

6337 1.35 245.6 608.9 8.4 303 6374 0.15 2.45 31.40 1.131 6 0.052 0.052 3043 1904 1829

6693 1.35 245.6 566.4 12.8 321 6698 0.00 2.55 0.00 0.000 4 0.000 0.074 3043 529 1829

6794 1.29 245.6 552.1 13.9 325 6801 0.00 2.40 0.00 0.000 6 0.000 0.053 3043 1879 1830

7111 1.29 245.6 510.6 13.1 341 7112 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 1882 1829

7420 1.29 245.6 472.4 11.9 356 7424 0.00 2.50 0.00 0.000 4 0.000 0.072 3043 521 1829

7466 1.23 245.6 466.7 12.9 358 7470 0.17 2.38 0.00 0.000 6 0.091 0.051 3010 1870 1828

7793 1.32 249.6 434.0 9.8 374 7800 0.00 0.00 5.03 0.783 6 0.000 0.000 3010 1885 1813

8102 1.42 258.5 404.6 9.6 389 8114 0.20 0.00 8.95 0.923 6 0.048 0.000 3062 1885 1777

8411 1.37 258.5 364.6 13.2 404 8415 0.00 2.45 0.00 0.000 4 0.000 0.071 3062 531 1777

8468 1.28 258.5 356.5 14.5 406 8473 0.20 2.35 0.00 0.000 6 0.089 0.051 3022 1866 1777

8785 1.35 260.4 323.3 9.9 421 8786 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1879 1777

9094 1.41 260.4 292.5 10.4 436 9103 0.12 2.50 3.40 0.565 4 0.058 0.071 3057 526 1769

9132 1.32 260.4 287.5 13.2 437 9139 0.12 2.35 0.00 0.000 6 0.095 0.051 3032 1862 1769

9449 1.37 265.0 253.7 9.8 453 9456 0.00 0.00 5.80 0.759 6 0.000 0.000 3033 1875 1750

9758 1.43 265.0 220.5 11.3 468 9763 0.10 2.45 0.00 0.000 4 0.060 0.068 3061 521 1750

9798 1.35 265.0 215.3 13.9 470 9802 0.12 2.33 0.00 0.000 6 0.097 0.050 3038 1856 1750

10130 1.35 265.0 176.1 11.7 486 10135 0.00 2.60 0.00 0.000 4 0.000 0.063 3038 3324 1750

10171 1.43 265.0 171.2 12.0 488 10175 0.00 2.60 0.00 0.000 6 0.000 0.057 3038 1872 1750

10499 1.43 265.0 135.5 10.4 504 10500 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1871 1750

10807 1.43 265.0 103.1 10.1 519 10808 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 1871 1750

11117 1.49 278.3 73.6 9.4 534 11139 0.15 2.53 11.62 0.779 4 0.052 0.069 3078 508 1696

11179 1.39 278.3 65.9 13.9 536 11186 0.15 2.40 0.00 0.000 6 0.090 0.048 3049 1870 1696

11496 1.44 278.3 31.7 10.2 552 11500 0.00 2.58 0.00 0.000 4 0.000 0.061 3049 3325 1696

11581 1.53 278.3 22.3 10.6 556 11586 0.12 2.55 0.00 0.000 6 0.056 0.051 3084 1878 1696

11742 end climb: SURFACE_DEPTH_REACHED

state 11742 begin surface coast

11762 end surface coast: CONTROL_FINISHED_OK

state 11763 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	42	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	1920	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	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	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	-101045.78	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	192806,6130.715,-905.481,28,1.1,28,-9.3	TGT_NAME	BW
_CALLS	2	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.124,0.233
_SM_DEPTHo	1.31	KALMAN_X	-32733.3,-1487.3,-308.8,11939.2,8373.4
_SM_ANGLEo	-63.6	KALMAN_Y	40603.0,-428.6,265.6,-51462.0,-4993.8
GPS2	193604,6130.674,-905.517,13,1.6,15,-9.3	MHEAD_RNG_PITCHd_Wd	341.4,27804,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.023220	ALTIM_BOTTOM_PING	622.0,74.4
SM_CCo	11786,11.10,0.720,0,0,1608,300.00	_24V_AH	23.8,8.833
SM_GC	2.00,0.00,0.00,11.10,0.000,0.000,0.720,419,2146,1608,-10.70,0.45,300.00	_10V_AH	10.1,4.268
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28550,565
TT8_MAMPS	0.029146	CAP_FILE_SIZE	95633,0
HUMID	1839	CFSIZE	254472192,249724928
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,38,0,0
XPDR_PINGS	32	GPS	030909,225506,6132.195,-908.074,40,1.2,51,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	159	104.61	SBE_CT	385	24	220.17
Roll_motor	101	78	188.15	SBE_O2	421	19	190.69
VBD_pump_during_apogee	370	1245	10991.80	WL_BB2F	357	105	893.96
VBD_pump_during_surface	11	720	190.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.12	nil	0	0	0.00
Iridium_during_connect	81	160	309.99	nil	0	0	0.00
Iridium_during_xfer	155	223	822.97
Transponder_ping	13	420	134.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.96
TT8	1071	19	214.28
LPSleep	8931	2	197.56
TT8_Active	499	19	99.85
TT8_Sampling	1249	39	502.39
TT8_CF8	536	45	248.01
TT8_Kalman	33	81	27.54
Analog_circuits	1145	12	138.81
GPS_charging	0	0	0.00
Compass	1217	8	98.37
RAFOS	0	0	0.00
Transponder	38	30	11.60

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.44	-146.6	0.0	0.0	0	78	0.00	0.00	-60.75	0.000	2	0.000	0.000	415	2145	2932
81	-1.44	-146.6	3.4	-4.8	3	112	10.95	2.53	-13.40	0.000	4	0.160	0.078	2423	3521	3430
250	-1.34	-146.6	31.8	-16.8	10	255	0.15	2.47	0.00	0.000	6	0.097	0.046	2453	2118	3431
566	-1.34	-146.6	74.4	-13.1	25	570	0.00	2.47	0.00	0.000	4	0.000	0.061	2453	717	3431
606	-1.38	-146.6	79.5	-13.3	27	611	0.00	2.42	0.00	0.000	6	0.000	0.047	2453	2113	3431
939	-1.38	-146.6	124.0	-13.8	43	944	0.00	2.58	0.00	0.000	4	0.000	0.067	2453	3538	3431
1018	-1.38	-146.6	135.1	-13.7	46	1024	0.00	2.50	0.00	0.000	6	0.000	0.049	2454	2119	3431
1334	-1.38	-146.6	178.1	-13.5	62	1338	0.00	2.60	0.00	0.000	4	0.000	0.067	2454	3538	3432
1400	-1.38	-146.6	187.5	-14.0	65	1404	0.00	2.53	0.00	0.000	6	0.000	0.051	2454	2113	3432
1722	-1.38	-146.6	231.1	-13.8	81	1726	0.00	2.60	0.00	0.000	4	0.000	0.067	2454	3534	3432
1749	-1.38	-146.6	235.2	-14.2	82	1753	0.00	2.50	0.00	0.000	6	0.000	0.053	2454	2123	3432
2064	-1.38	-146.6	279.1	-14.1	97	2066	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2111	3432
2375	-1.38	-146.6	322.4	-13.9	112	2379	0.00	2.60	0.00	0.000	4	0.000	0.071	2453	3538	3432
2396	-1.38	-146.6	325.9	-14.9	113	2401	0.00	2.53	0.00	0.000	6	0.000	0.056	2453	2123	3432
2718	-1.38	-146.6	374.1	-14.8	129	2719	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2112	3432
3027	-1.38	-146.6	415.2	-12.6	144	3028	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2113	3431
3336	-1.38	-146.6	452.5	-11.7	159	3341	0.00	2.58	0.00	0.000	4	0.000	0.071	2454	3530	3431
3386	-1.38	-146.6	458.6	-11.7	161	3391	0.00	2.50	0.00	0.000	6	0.000	0.057	2454	2133	3431
3704	-1.38	-146.6	496.4	-12.6	176	3708	0.00	2.58	0.00	0.000	4	0.000	0.073	2454	3536	3431
3766	-1.38	-146.6	504.7	-12.9	179	3770	0.00	2.50	0.00	0.000	6	0.000	0.058	2454	2139	3431
4093	-1.38	-146.6	545.3	-12.3	195	4094	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2126	3431
4401	-1.38	-146.6	583.8	-12.4	210	4403	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2127	3431
4715	-1.38	-146.6	622.0	-12.0	225	4719	0.00	2.53	0.00	0.000	4	0.000	0.069	2454	725	3430
4760	-1.47	-146.6	628.0	-12.0	227	4765	0.12	2.50	0.00	0.000	6	0.058	0.057	2418	2141	3430
5082	-1.40	-146.6	669.9	-13.2	243	5086	0.10	2.60	0.00	0.000	4	0.104	0.071	2437	715	3430
5115	-1.40	-146.6	674.5	-13.4	244	5121	0.00	2.50	0.00	0.000	6	0.000	0.054	2437	2133	3430
5221	end dive: BOTTOM_OBSTACLE_DETECTED
state	5221	begin apogee
5229	-0.33	0.0	688.2	12.7	250	5358	1.08	0.00	125.60	1.246	6	0.078	0.000	2671	1895	2831
5359	end apogee: CONTROL_FINISHED_OK
state	5359	begin climb
5362	1.44	146.6	692.6	0.0	256	5491	1.73	0.00	125.03	1.215	6	0.056	0.000	3060	1895	2233
5801	1.33	146.6	657.4	10.6	278	5806	0.12	2.53	0.00	0.000	4	0.101	0.072	3038	522	2233
5913	1.19	146.6	644.2	11.8	283	5918	0.17	2.47	0.00	0.000	6	0.097	0.051	3005	1911	2233
6235	1.29	209.5	617.0	7.1	299	6297	0.00	2.65	53.95	1.164	4	0.000	0.072	3005	534	1976
6337	1.35	245.6	608.9	8.4	303	6374	0.15	2.45	31.40	1.131	6	0.052	0.052	3043	1904	1829
6693	1.35	245.6	566.4	12.8	321	6698	0.00	2.55	0.00	0.000	4	0.000	0.074	3043	529	1829
6794	1.29	245.6	552.1	13.9	325	6801	0.00	2.40	0.00	0.000	6	0.000	0.053	3043	1879	1830
7111	1.29	245.6	510.6	13.1	341	7112	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	1882	1829
7420	1.29	245.6	472.4	11.9	356	7424	0.00	2.50	0.00	0.000	4	0.000	0.072	3043	521	1829
7466	1.23	245.6	466.7	12.9	358	7470	0.17	2.38	0.00	0.000	6	0.091	0.051	3010	1870	1828
7793	1.32	249.6	434.0	9.8	374	7800	0.00	0.00	5.03	0.783	6	0.000	0.000	3010	1885	1813
8102	1.42	258.5	404.6	9.6	389	8114	0.20	0.00	8.95	0.923	6	0.048	0.000	3062	1885	1777
8411	1.37	258.5	364.6	13.2	404	8415	0.00	2.45	0.00	0.000	4	0.000	0.071	3062	531	1777
8468	1.28	258.5	356.5	14.5	406	8473	0.20	2.35	0.00	0.000	6	0.089	0.051	3022	1866	1777
8785	1.35	260.4	323.3	9.9	421	8786	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1879	1777
9094	1.41	260.4	292.5	10.4	436	9103	0.12	2.50	3.40	0.565	4	0.058	0.071	3057	526	1769
9132	1.32	260.4	287.5	13.2	437	9139	0.12	2.35	0.00	0.000	6	0.095	0.051	3032	1862	1769
9449	1.37	265.0	253.7	9.8	453	9456	0.00	0.00	5.80	0.759	6	0.000	0.000	3033	1875	1750
9758	1.43	265.0	220.5	11.3	468	9763	0.10	2.45	0.00	0.000	4	0.060	0.068	3061	521	1750
9798	1.35	265.0	215.3	13.9	470	9802	0.12	2.33	0.00	0.000	6	0.097	0.050	3038	1856	1750
10130	1.35	265.0	176.1	11.7	486	10135	0.00	2.60	0.00	0.000	4	0.000	0.063	3038	3324	1750
10171	1.43	265.0	171.2	12.0	488	10175	0.00	2.60	0.00	0.000	6	0.000	0.057	3038	1872	1750
10499	1.43	265.0	135.5	10.4	504	10500	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1871	1750
10807	1.43	265.0	103.1	10.1	519	10808	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	1871	1750
11117	1.49	278.3	73.6	9.4	534	11139	0.15	2.53	11.62	0.779	4	0.052	0.069	3078	508	1696
11179	1.39	278.3	65.9	13.9	536	11186	0.15	2.40	0.00	0.000	6	0.090	0.048	3049	1870	1696
11496	1.44	278.3	31.7	10.2	552	11500	0.00	2.58	0.00	0.000	4	0.000	0.061	3049	3325	1696
11581	1.53	278.3	22.3	10.6	556	11586	0.12	2.55	0.00	0.000	6	0.056	0.051	3084	1878	1696
11742	end climb: SURFACE_DEPTH_REACHED
state	11742	begin surface coast
11762	end surface coast: CONTROL_FINISHED_OK
state	11763	begin surface