Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 423 * 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 423 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 36 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 -108347.43 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 -108347.43

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 36 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 423 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 061436,6225.534,-1007.756,25,1.7,25,-10.2 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.262,0.031

_SM_DEPTHo 1.17 KALMAN_X -250560.0,494.0,508.0,391218.1,-11688.1

_SM_ANGLEo -61.6 KALMAN_Y 73157.9,-721.3,350.8,-188876.6,3964.3

GPS2 062009,6225.598,-1007.798,10,2.9,29,-10.2 MHEAD_RNG_PITCHd_Wd 93.4,18486,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027138 ALTIM_BOTTOM_PING 596.0,27.0

SM_CCo 11164,19.20,0.768,0,0,1608,300.00 _24V_AH 23.7,67.908

SM_GC 0.54,0.00,0.00,19.20,0.000,0.000,0.768,424,2162,1608,-10.68,0.88,300.00 _10V_AH 10.1,30.626

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34838,664

TT8_MAMPS 0.029146 CAP_FILE_SIZE 98107,0

HUMID 1837 CFSIZE 254472192,229199872

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

XPDR_PINGS 48 GPS 021109,092837,6227.342,-1003.513,34,2.0,34,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 100.29 SBE_CT 454 24 258.30

Roll_motor 121 85 247.52 SBE_O2 483 19 217.62

VBD_pump_during_apogee 377 1225 10966.45 WL_BB2F 391 105 975.26

VBD_pump_during_surface 19 767 349.36 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 29 160 110.37 nil 0 0 0.00

Iridium_during_xfer 126 223 669.84

Transponder_ping 17 420 174.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.09

TT8 1198 19 239.63

LPSleep 7926 2 175.34

TT8_Active 493 19 98.73

TT8_Sampling 1435 39 576.96

TT8_CF8 463 45 214.40

TT8_Kalman 33 81 27.57

Analog_circuits 1238 12 150.11

GPS_charging 0 0 0.00

Compass 1378 8 111.35

RAFOS 0 0 0.00

Transponder 42 30 12.95

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

16 -1.44 -146.6 0.0 0.0 0 79 0.00 0.00 -60.90 0.000 2 0.000 0.000 423 2161 2768

83 -1.44 -146.6 2.6 -3.8 3 126 10.93 2.62 -23.00 0.000 4 0.160 0.070 2421 715 3429

294 -1.35 -146.6 34.7 -16.4 12 300 0.15 2.50 0.00 0.000 6 0.102 0.048 2451 2123 3429

611 -1.29 -146.6 80.9 -13.6 27 615 0.00 2.58 0.00 0.000 4 0.000 0.073 2451 3534 3430

645 -1.23 -146.6 85.5 -13.4 28 653 0.12 2.55 0.00 0.000 6 0.101 0.053 2476 2112 3430

962 -1.23 -146.6 124.7 -12.8 44 966 0.00 2.50 0.00 0.000 4 0.000 0.060 2475 708 3430

1002 -1.23 -146.6 130.1 -12.9 46 1006 0.00 2.50 0.00 0.000 6 0.000 0.048 2476 2118 3430

1326 -1.23 -146.6 166.5 -11.5 64 1331 0.00 2.55 0.00 0.000 4 0.000 0.060 2476 712 3430

1366 -1.27 -146.6 171.6 -12.9 66 1372 0.00 2.50 0.00 0.000 6 0.000 0.048 2476 2123 3431

1685 -1.27 -146.6 214.7 -14.2 87 1686 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2123 3431

1999 -1.27 -146.6 254.6 -11.9 107 2004 0.00 2.58 0.00 0.000 4 0.000 0.063 2476 709 3431

2046 -1.30 -146.6 260.2 -11.8 110 2050 0.00 2.47 0.00 0.000 6 0.000 0.049 2476 2105 3431

2372 -1.30 -146.6 299.8 -13.0 131 2377 0.00 2.53 0.00 0.000 4 0.000 0.069 2476 720 3431

2407 -1.34 -146.6 304.8 -13.2 133 2412 0.12 2.45 0.00 0.000 6 0.061 0.050 2443 2100 3431

2728 -1.28 -146.6 351.8 -14.6 153 2730 0.12 0.00 0.00 0.000 6 0.103 0.000 2467 2098 3431

3039 -1.28 -146.6 391.6 -12.6 173 3043 0.00 2.53 0.00 0.000 4 0.000 0.065 2467 716 3431

3068 -1.28 -146.6 395.5 -13.9 175 3072 0.00 2.45 0.00 0.000 6 0.000 0.051 2467 2087 3431

3393 -1.28 -146.6 437.2 -12.8 196 3395 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2088 3431

3705 -1.28 -146.6 478.6 -13.1 216 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2088 3431

4017 -1.28 -146.6 517.2 -12.1 236 4021 0.00 2.50 0.00 0.000 4 0.000 0.066 2466 718 3431

4103 -1.32 -146.6 527.4 -11.3 241 4107 0.00 2.42 0.00 0.000 6 0.000 0.052 2467 2084 3431

4434 -1.32 -146.6 566.9 -11.6 262 4438 0.00 2.70 0.00 0.000 4 0.000 0.080 2467 3539 3431

4497 -1.32 -146.6 574.0 -10.9 266 4501 0.00 2.70 0.00 0.000 6 0.000 0.067 2467 2069 3431

4821 -1.32 -146.6 609.6 -10.4 287 4826 0.00 2.78 0.00 0.000 4 0.000 0.081 2467 3534 3431

4852 end dive: BOTTOM_OBSTACLE_DETECTED

state 4852 begin apogee

4863 -0.33 0.0 613.4 10.7 289 5000 0.93 0.00 133.15 1.226 6 0.082 0.000 2668 1851 2831

5001 end apogee: CONTROL_FINISHED_OK

state 5001 begin climb

5004 1.44 146.6 619.8 0.0 298 5147 1.77 2.72 133.65 1.180 4 0.058 0.077 3059 442 2233

5223 1.32 146.6 608.3 11.8 311 5229 0.15 2.58 0.00 0.000 6 0.102 0.063 3032 1847 2233

5543 1.35 169.4 580.7 9.0 331 5574 0.00 2.70 21.38 1.127 4 0.000 0.086 3032 3260 2140

5609 1.35 169.4 574.1 10.2 335 5613 0.00 2.62 0.00 0.000 6 0.000 0.072 3032 1863 2140

5934 1.35 169.4 541.0 10.5 356 5939 0.00 2.65 0.00 0.000 4 0.000 0.077 3032 3263 2138

5985 1.35 169.4 535.5 10.6 359 5989 0.00 2.58 0.00 0.000 6 0.000 0.071 3031 1879 2138

6305 1.44 220.5 509.1 7.7 379 6353 0.12 0.00 45.58 1.177 6 0.067 0.000 3062 1879 1931

6668 1.39 226.9 473.3 9.7 402 6684 0.00 2.67 6.88 0.960 4 0.000 0.074 3062 3261 1906

6742 1.36 226.9 465.7 10.3 406 6747 0.12 2.58 0.00 0.000 6 0.105 0.067 3040 1869 1906

7062 1.36 226.9 435.6 10.2 426 7066 0.00 2.58 0.00 0.000 4 0.000 0.070 3040 3254 1905

7107 1.36 226.9 430.8 10.8 429 7111 0.00 2.50 0.00 0.000 6 0.000 0.062 3040 1894 1905

7432 1.36 226.9 396.2 10.8 450 7436 0.00 2.53 0.00 0.000 4 0.000 0.068 3040 3258 1905

7476 1.36 226.9 391.0 11.7 452 7482 0.00 2.45 0.00 0.000 6 0.000 0.060 3040 1907 1905

7797 1.38 239.2 359.3 9.4 473 7814 0.00 2.60 12.12 0.996 4 0.000 0.065 3040 3264 1856

7851 1.43 252.8 354.1 9.4 476 7871 0.00 2.47 13.35 0.999 6 0.000 0.058 3040 1913 1799

8199 1.45 264.0 320.9 9.5 498 8217 0.00 2.58 11.43 0.956 4 0.000 0.064 3040 3261 1753

8236 1.49 264.0 317.3 10.2 500 8241 0.15 2.45 0.00 0.000 6 0.058 0.056 3077 1922 1753

8563 1.43 264.0 279.7 11.8 521 8567 0.00 2.45 0.00 0.000 4 0.000 0.064 3077 3257 1754

8592 1.39 264.0 275.9 12.2 522 8598 0.15 2.38 0.00 0.000 6 0.098 0.055 3049 1937 1754

8912 1.39 264.0 243.4 10.2 543 8913 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1937 1754

9223 1.39 264.0 212.2 10.5 563 9227 0.00 2.42 0.00 0.000 4 0.000 0.062 3049 3257 1755

9263 1.43 264.0 207.8 11.4 565 9269 0.00 2.38 0.00 0.000 6 0.000 0.053 3049 1935 1755

9582 1.43 264.0 173.0 11.8 586 9583 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1935 1756

9904 1.43 264.0 136.4 11.8 605 9908 0.00 2.42 0.00 0.000 4 0.000 0.061 3049 3261 1756

9955 1.48 264.0 130.6 10.5 607 9959 0.00 2.35 0.00 0.000 6 0.000 0.051 3049 1947 1755

10277 1.48 264.0 96.6 10.4 623 10281 0.00 2.40 0.00 0.000 4 0.000 0.060 3049 3261 1756

10317 1.53 264.0 92.2 11.2 625 10322 0.12 2.33 0.00 0.000 6 0.059 0.050 3083 1960 1756

10652 1.49 264.0 51.3 11.6 641 10656 0.00 2.38 0.00 0.000 4 0.000 0.059 3083 3264 1756

10676 1.45 264.0 48.1 13.2 642 10681 0.12 2.33 0.00 0.000 6 0.099 0.049 3059 1961 1756

11003 1.45 264.0 15.1 10.3 658 11007 0.00 2.35 0.00 0.000 4 0.000 0.058 3060 3261 1757

11031 1.45 264.0 11.6 12.5 659 11035 0.00 2.30 0.00 0.000 6 0.000 0.048 3059 1970 1757

11118 end climb: SURFACE_DEPTH_REACHED

state 11118 begin surface coast

11140 end surface coast: CONTROL_FINISHED_OK

state 11140 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	423	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	36	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	-108347.43	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	061436,6225.534,-1007.756,25,1.7,25,-10.2	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.262,0.031
_SM_DEPTHo	1.17	KALMAN_X	-250560.0,494.0,508.0,391218.1,-11688.1
_SM_ANGLEo	-61.6	KALMAN_Y	73157.9,-721.3,350.8,-188876.6,3964.3
GPS2	062009,6225.598,-1007.798,10,2.9,29,-10.2	MHEAD_RNG_PITCHd_Wd	93.4,18486,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.9,1.027138	ALTIM_BOTTOM_PING	596.0,27.0
SM_CCo	11164,19.20,0.768,0,0,1608,300.00	_24V_AH	23.7,67.908
SM_GC	0.54,0.00,0.00,19.20,0.000,0.000,0.768,424,2162,1608,-10.68,0.88,300.00	_10V_AH	10.1,30.626
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34838,664
TT8_MAMPS	0.029146	CAP_FILE_SIZE	98107,0
HUMID	1837	CFSIZE	254472192,229199872
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
XPDR_PINGS	48	GPS	021109,092837,6227.342,-1003.513,34,2.0,34,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	100.29	SBE_CT	454	24	258.30
Roll_motor	121	85	247.52	SBE_O2	483	19	217.62
VBD_pump_during_apogee	377	1225	10966.45	WL_BB2F	391	105	975.26
VBD_pump_during_surface	19	767	349.36	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	110.37	nil	0	0	0.00
Iridium_during_xfer	126	223	669.84
Transponder_ping	17	420	174.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.09
TT8	1198	19	239.63
LPSleep	7926	2	175.34
TT8_Active	493	19	98.73
TT8_Sampling	1435	39	576.96
TT8_CF8	463	45	214.40
TT8_Kalman	33	81	27.57
Analog_circuits	1238	12	150.11
GPS_charging	0	0	0.00
Compass	1378	8	111.35
RAFOS	0	0	0.00
Transponder	42	30	12.95

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
16	-1.44	-146.6	0.0	0.0	0	79	0.00	0.00	-60.90	0.000	2	0.000	0.000	423	2161	2768
83	-1.44	-146.6	2.6	-3.8	3	126	10.93	2.62	-23.00	0.000	4	0.160	0.070	2421	715	3429
294	-1.35	-146.6	34.7	-16.4	12	300	0.15	2.50	0.00	0.000	6	0.102	0.048	2451	2123	3429
611	-1.29	-146.6	80.9	-13.6	27	615	0.00	2.58	0.00	0.000	4	0.000	0.073	2451	3534	3430
645	-1.23	-146.6	85.5	-13.4	28	653	0.12	2.55	0.00	0.000	6	0.101	0.053	2476	2112	3430
962	-1.23	-146.6	124.7	-12.8	44	966	0.00	2.50	0.00	0.000	4	0.000	0.060	2475	708	3430
1002	-1.23	-146.6	130.1	-12.9	46	1006	0.00	2.50	0.00	0.000	6	0.000	0.048	2476	2118	3430
1326	-1.23	-146.6	166.5	-11.5	64	1331	0.00	2.55	0.00	0.000	4	0.000	0.060	2476	712	3430
1366	-1.27	-146.6	171.6	-12.9	66	1372	0.00	2.50	0.00	0.000	6	0.000	0.048	2476	2123	3431
1685	-1.27	-146.6	214.7	-14.2	87	1686	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2123	3431
1999	-1.27	-146.6	254.6	-11.9	107	2004	0.00	2.58	0.00	0.000	4	0.000	0.063	2476	709	3431
2046	-1.30	-146.6	260.2	-11.8	110	2050	0.00	2.47	0.00	0.000	6	0.000	0.049	2476	2105	3431
2372	-1.30	-146.6	299.8	-13.0	131	2377	0.00	2.53	0.00	0.000	4	0.000	0.069	2476	720	3431
2407	-1.34	-146.6	304.8	-13.2	133	2412	0.12	2.45	0.00	0.000	6	0.061	0.050	2443	2100	3431
2728	-1.28	-146.6	351.8	-14.6	153	2730	0.12	0.00	0.00	0.000	6	0.103	0.000	2467	2098	3431
3039	-1.28	-146.6	391.6	-12.6	173	3043	0.00	2.53	0.00	0.000	4	0.000	0.065	2467	716	3431
3068	-1.28	-146.6	395.5	-13.9	175	3072	0.00	2.45	0.00	0.000	6	0.000	0.051	2467	2087	3431
3393	-1.28	-146.6	437.2	-12.8	196	3395	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2088	3431
3705	-1.28	-146.6	478.6	-13.1	216	3706	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2088	3431
4017	-1.28	-146.6	517.2	-12.1	236	4021	0.00	2.50	0.00	0.000	4	0.000	0.066	2466	718	3431
4103	-1.32	-146.6	527.4	-11.3	241	4107	0.00	2.42	0.00	0.000	6	0.000	0.052	2467	2084	3431
4434	-1.32	-146.6	566.9	-11.6	262	4438	0.00	2.70	0.00	0.000	4	0.000	0.080	2467	3539	3431
4497	-1.32	-146.6	574.0	-10.9	266	4501	0.00	2.70	0.00	0.000	6	0.000	0.067	2467	2069	3431
4821	-1.32	-146.6	609.6	-10.4	287	4826	0.00	2.78	0.00	0.000	4	0.000	0.081	2467	3534	3431
4852	end dive: BOTTOM_OBSTACLE_DETECTED
state	4852	begin apogee
4863	-0.33	0.0	613.4	10.7	289	5000	0.93	0.00	133.15	1.226	6	0.082	0.000	2668	1851	2831
5001	end apogee: CONTROL_FINISHED_OK
state	5001	begin climb
5004	1.44	146.6	619.8	0.0	298	5147	1.77	2.72	133.65	1.180	4	0.058	0.077	3059	442	2233
5223	1.32	146.6	608.3	11.8	311	5229	0.15	2.58	0.00	0.000	6	0.102	0.063	3032	1847	2233
5543	1.35	169.4	580.7	9.0	331	5574	0.00	2.70	21.38	1.127	4	0.000	0.086	3032	3260	2140
5609	1.35	169.4	574.1	10.2	335	5613	0.00	2.62	0.00	0.000	6	0.000	0.072	3032	1863	2140
5934	1.35	169.4	541.0	10.5	356	5939	0.00	2.65	0.00	0.000	4	0.000	0.077	3032	3263	2138
5985	1.35	169.4	535.5	10.6	359	5989	0.00	2.58	0.00	0.000	6	0.000	0.071	3031	1879	2138
6305	1.44	220.5	509.1	7.7	379	6353	0.12	0.00	45.58	1.177	6	0.067	0.000	3062	1879	1931
6668	1.39	226.9	473.3	9.7	402	6684	0.00	2.67	6.88	0.960	4	0.000	0.074	3062	3261	1906
6742	1.36	226.9	465.7	10.3	406	6747	0.12	2.58	0.00	0.000	6	0.105	0.067	3040	1869	1906
7062	1.36	226.9	435.6	10.2	426	7066	0.00	2.58	0.00	0.000	4	0.000	0.070	3040	3254	1905
7107	1.36	226.9	430.8	10.8	429	7111	0.00	2.50	0.00	0.000	6	0.000	0.062	3040	1894	1905
7432	1.36	226.9	396.2	10.8	450	7436	0.00	2.53	0.00	0.000	4	0.000	0.068	3040	3258	1905
7476	1.36	226.9	391.0	11.7	452	7482	0.00	2.45	0.00	0.000	6	0.000	0.060	3040	1907	1905
7797	1.38	239.2	359.3	9.4	473	7814	0.00	2.60	12.12	0.996	4	0.000	0.065	3040	3264	1856
7851	1.43	252.8	354.1	9.4	476	7871	0.00	2.47	13.35	0.999	6	0.000	0.058	3040	1913	1799
8199	1.45	264.0	320.9	9.5	498	8217	0.00	2.58	11.43	0.956	4	0.000	0.064	3040	3261	1753
8236	1.49	264.0	317.3	10.2	500	8241	0.15	2.45	0.00	0.000	6	0.058	0.056	3077	1922	1753
8563	1.43	264.0	279.7	11.8	521	8567	0.00	2.45	0.00	0.000	4	0.000	0.064	3077	3257	1754
8592	1.39	264.0	275.9	12.2	522	8598	0.15	2.38	0.00	0.000	6	0.098	0.055	3049	1937	1754
8912	1.39	264.0	243.4	10.2	543	8913	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1937	1754
9223	1.39	264.0	212.2	10.5	563	9227	0.00	2.42	0.00	0.000	4	0.000	0.062	3049	3257	1755
9263	1.43	264.0	207.8	11.4	565	9269	0.00	2.38	0.00	0.000	6	0.000	0.053	3049	1935	1755
9582	1.43	264.0	173.0	11.8	586	9583	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	1935	1756
9904	1.43	264.0	136.4	11.8	605	9908	0.00	2.42	0.00	0.000	4	0.000	0.061	3049	3261	1756
9955	1.48	264.0	130.6	10.5	607	9959	0.00	2.35	0.00	0.000	6	0.000	0.051	3049	1947	1755
10277	1.48	264.0	96.6	10.4	623	10281	0.00	2.40	0.00	0.000	4	0.000	0.060	3049	3261	1756
10317	1.53	264.0	92.2	11.2	625	10322	0.12	2.33	0.00	0.000	6	0.059	0.050	3083	1960	1756
10652	1.49	264.0	51.3	11.6	641	10656	0.00	2.38	0.00	0.000	4	0.000	0.059	3083	3264	1756
10676	1.45	264.0	48.1	13.2	642	10681	0.12	2.33	0.00	0.000	6	0.099	0.049	3059	1961	1756
11003	1.45	264.0	15.1	10.3	658	11007	0.00	2.35	0.00	0.000	4	0.000	0.058	3060	3261	1757
11031	1.45	264.0	11.6	12.5	659	11035	0.00	2.30	0.00	0.000	6	0.000	0.048	3059	1970	1757
11118	end climb: SURFACE_DEPTH_REACHED
state	11118	begin surface coast
11140	end surface coast: CONTROL_FINISHED_OK
state	11140	begin surface