Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 432 * 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 432 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -108542.54 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 -108542.54

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 25 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 432 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 101506,6224.988,-953.628,39,1.5,39,-10.0 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.162,-0.208

_SM_DEPTHo 1.04 KALMAN_X -267386.6,188.5,1309.7,419247.6,-12645.1

_SM_ANGLEo -64.2 KALMAN_Y 88011.0,-2015.5,-135.0,-203013.2,10728.1

GPS2 102131,6225.024,-953.612,17,2.0,29,-10.0 MHEAD_RNG_PITCHd_Wd 151.9,9809,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027122 ALTIM_BOTTOM_PING 596.7,19.0

SM_CCo 10921,1.75,0.114,0,0,1608,300.00 _24V_AH 23.7,69.194

SM_GC 1.71,0.00,0.00,1.75,0.000,0.000,0.114,420,2160,1608,-10.70,0.79,300.00 _10V_AH 10.1,31.172

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31718,650

TT8_MAMPS 0.029146 CAP_FILE_SIZE 95658,0

HUMID 1844 CFSIZE 254472192,228777984

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

XPDR_PINGS 41 GPS 031109,132536,6223.396,-953.395,28,1.1,28,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 102.10 SBE_CT 444 24 252.92

Roll_motor 111 76 203.27 SBE_O2 474 19 213.61

VBD_pump_during_apogee 404 1212 11619.28 WL_BB2F 384 105 957.70

VBD_pump_during_surface 1 113 4.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.19 nil 0 0 0.00

Iridium_during_connect 26 160 100.76 nil 0 0 0.00

Iridium_during_xfer 176 223 935.05

Transponder_ping 15 420 156.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.06

TT8 1163 19 232.66

LPSleep 7776 2 172.01

TT8_Active 490 19 98.01

TT8_Sampling 1372 39 551.58

TT8_CF8 510 45 236.15

TT8_Kalman 33 81 27.56

Analog_circuits 1206 12 146.28

GPS_charging 0 0 0.00

Compass 1317 8 106.43

RAFOS 0 0 0.00

Transponder 39 30 11.94

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 78 0.00 0.00 -60.50 0.000 2 0.000 0.000 416 2162 2761

82 -1.44 -146.6 2.7 -4.0 3 125 11.02 2.62 -22.38 0.000 4 0.165 0.067 2424 723 3429

172 -1.35 -146.6 13.8 -14.5 7 177 0.12 2.50 0.00 0.000 6 0.108 0.047 2448 2129 3429

501 -1.28 -146.6 60.8 -13.6 23 506 0.00 2.58 0.00 0.000 4 0.000 0.059 2448 712 3429

567 -1.25 -146.6 70.0 -14.5 26 572 0.12 2.47 0.00 0.000 6 0.101 0.047 2472 2108 3430

896 -1.25 -146.6 109.8 -11.8 42 897 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2108 3430

1204 -1.25 -146.6 148.3 -12.3 57 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2108 3430

1522 -1.25 -146.6 190.6 -13.8 77 1526 0.00 2.53 0.00 0.000 4 0.000 0.059 2472 713 3430

1589 -1.29 -146.6 200.6 -13.8 81 1594 0.00 2.45 0.00 0.000 6 0.000 0.047 2472 2096 3430

1910 -1.29 -146.6 244.6 -14.2 101 1917 0.00 2.62 0.00 0.000 4 0.000 0.067 2473 3538 3430

1951 -1.29 -146.6 250.7 -13.9 103 1956 0.00 2.60 0.00 0.000 6 0.000 0.055 2472 2090 3430

2271 -1.29 -146.6 291.6 -12.1 123 2275 0.00 2.45 0.00 0.000 4 0.000 0.061 2472 714 3430

2319 -1.32 -146.6 297.6 -12.6 126 2323 0.00 2.47 0.00 0.000 6 0.000 0.048 2473 2110 3430

2643 -1.32 -146.6 337.9 -12.3 147 2644 0.00 0.00 0.00 0.000 6 0.000 0.000 2473 2110 3430

2956 -1.32 -146.6 373.1 -10.3 167 2960 0.00 2.53 0.00 0.000 4 0.000 0.062 2473 719 3430

3019 -1.36 -146.6 380.0 -10.6 171 3024 0.12 2.42 0.00 0.000 6 0.060 0.050 2440 2090 3430

3347 -1.31 -146.6 420.4 -13.0 192 3351 0.00 2.50 0.00 0.000 4 0.000 0.063 2440 717 3430

3427 -1.31 -146.6 430.9 -11.6 197 3432 0.10 2.42 0.00 0.000 6 0.107 0.051 2458 2077 3430

3756 -1.31 -146.6 470.8 -12.3 218 3760 0.00 2.50 0.00 0.000 4 0.000 0.067 2458 717 3430

3790 -1.31 -146.6 476.0 -13.7 220 3794 0.00 2.40 0.00 0.000 6 0.000 0.052 2458 2056 3430

4109 -1.31 -146.6 513.2 -11.4 240 4110 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2056 3430

4423 -1.31 -146.6 545.3 -10.3 260 4427 0.00 2.72 0.00 0.000 4 0.000 0.077 2458 3537 3429

4451 -1.31 -146.6 548.5 -10.5 262 4456 0.00 2.72 0.00 0.000 6 0.000 0.067 2458 2050 3429

4776 -1.31 -146.6 587.0 -11.9 283 4777 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2050 3429

4929 end dive: BOTTOM_OBSTACLE_DETECTED

state 4929 begin apogee

4938 -0.33 0.0 606.2 12.1 293 5073 1.00 0.00 131.65 1.213 6 0.083 0.000 2673 1843 2831

5074 end apogee: CONTROL_FINISHED_OK

state 5074 begin climb

5077 1.44 146.6 611.4 0.0 302 5219 1.75 2.62 131.90 1.167 4 0.061 0.075 3054 451 2232

5335 1.32 146.6 595.7 11.2 317 5342 0.12 2.55 0.00 0.000 6 0.101 0.055 3033 1855 2232

5655 1.38 182.2 568.4 8.4 338 5694 0.00 2.65 32.20 1.132 4 0.000 0.071 3032 3257 2088

5707 1.39 191.2 563.9 9.6 341 5722 0.00 2.62 9.65 1.001 6 0.000 0.067 3032 1853 2051

6050 1.45 223.4 534.1 8.5 363 6085 0.12 2.70 29.00 1.127 4 0.063 0.070 3064 3245 1920

6104 1.41 223.4 529.1 10.3 366 6108 0.00 2.60 0.00 0.000 6 0.000 0.067 3064 1854 1920

6424 1.36 223.4 495.5 11.0 386 6429 0.12 2.62 0.00 0.000 4 0.107 0.071 3041 3251 1919

6497 1.36 223.4 487.8 10.3 390 6503 0.00 2.50 0.00 0.000 6 0.000 0.063 3041 1887 1919

6817 1.40 246.4 458.3 9.0 411 6843 0.00 2.62 21.38 1.092 4 0.000 0.068 3041 3258 1826

6855 1.42 258.0 454.6 9.5 412 6871 0.00 2.50 11.70 1.022 6 0.000 0.062 3042 1908 1779

7188 1.47 290.0 426.3 8.5 433 7224 0.10 2.58 28.75 1.085 4 0.066 0.067 3068 3249 1648

7253 1.47 290.0 419.6 10.6 437 7257 0.00 2.47 0.00 0.000 6 0.000 0.062 3068 1914 1648

7578 1.48 297.3 388.0 9.7 458 7595 0.00 2.75 8.07 0.939 4 0.000 0.068 3067 442 1619

7630 1.43 297.3 382.6 10.6 461 7635 0.00 2.67 0.00 0.000 6 0.000 0.053 3067 1915 1619

7955 1.43 297.3 345.8 11.7 482 7959 0.00 2.42 0.00 0.000 4 0.000 0.066 3068 3257 1619

8000 1.43 297.3 340.1 13.1 484 8006 0.00 2.45 0.00 0.000 6 0.000 0.058 3068 1914 1619

8319 1.43 297.3 301.3 12.4 505 8323 0.00 2.47 0.00 0.000 4 0.000 0.064 3068 3255 1619

8341 1.43 297.3 298.5 12.5 506 8347 0.00 2.38 0.00 0.000 6 0.000 0.055 3068 1945 1619

8661 1.43 297.3 261.7 10.3 527 8665 0.00 2.42 0.00 0.000 4 0.000 0.063 3068 3260 1619

8694 1.43 297.3 257.7 10.9 529 8698 0.00 2.35 0.00 0.000 6 0.000 0.054 3067 1960 1619

9013 1.43 297.3 222.4 11.0 549 9017 0.00 2.38 0.00 0.000 4 0.000 0.061 3068 3255 1619

9043 1.43 297.3 219.1 11.9 551 9047 0.00 2.30 0.00 0.000 6 0.000 0.052 3068 1970 1619

9367 1.43 297.3 181.4 11.3 572 9368 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 1970 1620

9690 1.43 297.3 144.6 12.1 592 9691 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 1970 1620

9999 1.43 297.3 107.6 11.8 607 10003 0.00 2.35 0.00 0.000 4 0.000 0.059 3068 3259 1621

10027 1.46 297.3 104.0 13.2 608 10031 0.00 2.28 0.00 0.000 6 0.000 0.049 3068 1985 1621

10345 1.46 297.3 66.4 11.4 623 10350 0.00 2.75 0.00 0.000 4 0.000 0.060 3068 438 1622

10364 1.46 297.3 64.0 11.9 624 10369 0.00 2.75 0.00 0.000 6 0.000 0.046 3067 2000 1622

10692 1.46 297.3 26.0 12.6 640 10693 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2000 1622

10874 end climb: SURFACE_DEPTH_REACHED

state 10874 begin surface coast

10896 end surface coast: CONTROL_FINISHED_OK

state 10897 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	432	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-108542.54	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	101506,6224.988,-953.628,39,1.5,39,-10.0	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.162,-0.208
_SM_DEPTHo	1.04	KALMAN_X	-267386.6,188.5,1309.7,419247.6,-12645.1
_SM_ANGLEo	-64.2	KALMAN_Y	88011.0,-2015.5,-135.0,-203013.2,10728.1
GPS2	102131,6225.024,-953.612,17,2.0,29,-10.0	MHEAD_RNG_PITCHd_Wd	151.9,9809,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.027122	ALTIM_BOTTOM_PING	596.7,19.0
SM_CCo	10921,1.75,0.114,0,0,1608,300.00	_24V_AH	23.7,69.194
SM_GC	1.71,0.00,0.00,1.75,0.000,0.000,0.114,420,2160,1608,-10.70,0.79,300.00	_10V_AH	10.1,31.172
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31718,650
TT8_MAMPS	0.029146	CAP_FILE_SIZE	95658,0
HUMID	1844	CFSIZE	254472192,228777984
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
XPDR_PINGS	41	GPS	031109,132536,6223.396,-953.395,28,1.1,28,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	102.10	SBE_CT	444	24	252.92
Roll_motor	111	76	203.27	SBE_O2	474	19	213.61
VBD_pump_during_apogee	404	1212	11619.28	WL_BB2F	384	105	957.70
VBD_pump_during_surface	1	113	4.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.19	nil	0	0	0.00
Iridium_during_connect	26	160	100.76	nil	0	0	0.00
Iridium_during_xfer	176	223	935.05
Transponder_ping	15	420	156.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.06
TT8	1163	19	232.66
LPSleep	7776	2	172.01
TT8_Active	490	19	98.01
TT8_Sampling	1372	39	551.58
TT8_CF8	510	45	236.15
TT8_Kalman	33	81	27.56
Analog_circuits	1206	12	146.28
GPS_charging	0	0	0.00
Compass	1317	8	106.43
RAFOS	0	0	0.00
Transponder	39	30	11.94

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	78	0.00	0.00	-60.50	0.000	2	0.000	0.000	416	2162	2761
82	-1.44	-146.6	2.7	-4.0	3	125	11.02	2.62	-22.38	0.000	4	0.165	0.067	2424	723	3429
172	-1.35	-146.6	13.8	-14.5	7	177	0.12	2.50	0.00	0.000	6	0.108	0.047	2448	2129	3429
501	-1.28	-146.6	60.8	-13.6	23	506	0.00	2.58	0.00	0.000	4	0.000	0.059	2448	712	3429
567	-1.25	-146.6	70.0	-14.5	26	572	0.12	2.47	0.00	0.000	6	0.101	0.047	2472	2108	3430
896	-1.25	-146.6	109.8	-11.8	42	897	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2108	3430
1204	-1.25	-146.6	148.3	-12.3	57	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2108	3430
1522	-1.25	-146.6	190.6	-13.8	77	1526	0.00	2.53	0.00	0.000	4	0.000	0.059	2472	713	3430
1589	-1.29	-146.6	200.6	-13.8	81	1594	0.00	2.45	0.00	0.000	6	0.000	0.047	2472	2096	3430
1910	-1.29	-146.6	244.6	-14.2	101	1917	0.00	2.62	0.00	0.000	4	0.000	0.067	2473	3538	3430
1951	-1.29	-146.6	250.7	-13.9	103	1956	0.00	2.60	0.00	0.000	6	0.000	0.055	2472	2090	3430
2271	-1.29	-146.6	291.6	-12.1	123	2275	0.00	2.45	0.00	0.000	4	0.000	0.061	2472	714	3430
2319	-1.32	-146.6	297.6	-12.6	126	2323	0.00	2.47	0.00	0.000	6	0.000	0.048	2473	2110	3430
2643	-1.32	-146.6	337.9	-12.3	147	2644	0.00	0.00	0.00	0.000	6	0.000	0.000	2473	2110	3430
2956	-1.32	-146.6	373.1	-10.3	167	2960	0.00	2.53	0.00	0.000	4	0.000	0.062	2473	719	3430
3019	-1.36	-146.6	380.0	-10.6	171	3024	0.12	2.42	0.00	0.000	6	0.060	0.050	2440	2090	3430
3347	-1.31	-146.6	420.4	-13.0	192	3351	0.00	2.50	0.00	0.000	4	0.000	0.063	2440	717	3430
3427	-1.31	-146.6	430.9	-11.6	197	3432	0.10	2.42	0.00	0.000	6	0.107	0.051	2458	2077	3430
3756	-1.31	-146.6	470.8	-12.3	218	3760	0.00	2.50	0.00	0.000	4	0.000	0.067	2458	717	3430
3790	-1.31	-146.6	476.0	-13.7	220	3794	0.00	2.40	0.00	0.000	6	0.000	0.052	2458	2056	3430
4109	-1.31	-146.6	513.2	-11.4	240	4110	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2056	3430
4423	-1.31	-146.6	545.3	-10.3	260	4427	0.00	2.72	0.00	0.000	4	0.000	0.077	2458	3537	3429
4451	-1.31	-146.6	548.5	-10.5	262	4456	0.00	2.72	0.00	0.000	6	0.000	0.067	2458	2050	3429
4776	-1.31	-146.6	587.0	-11.9	283	4777	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2050	3429
4929	end dive: BOTTOM_OBSTACLE_DETECTED
state	4929	begin apogee
4938	-0.33	0.0	606.2	12.1	293	5073	1.00	0.00	131.65	1.213	6	0.083	0.000	2673	1843	2831
5074	end apogee: CONTROL_FINISHED_OK
state	5074	begin climb
5077	1.44	146.6	611.4	0.0	302	5219	1.75	2.62	131.90	1.167	4	0.061	0.075	3054	451	2232
5335	1.32	146.6	595.7	11.2	317	5342	0.12	2.55	0.00	0.000	6	0.101	0.055	3033	1855	2232
5655	1.38	182.2	568.4	8.4	338	5694	0.00	2.65	32.20	1.132	4	0.000	0.071	3032	3257	2088
5707	1.39	191.2	563.9	9.6	341	5722	0.00	2.62	9.65	1.001	6	0.000	0.067	3032	1853	2051
6050	1.45	223.4	534.1	8.5	363	6085	0.12	2.70	29.00	1.127	4	0.063	0.070	3064	3245	1920
6104	1.41	223.4	529.1	10.3	366	6108	0.00	2.60	0.00	0.000	6	0.000	0.067	3064	1854	1920
6424	1.36	223.4	495.5	11.0	386	6429	0.12	2.62	0.00	0.000	4	0.107	0.071	3041	3251	1919
6497	1.36	223.4	487.8	10.3	390	6503	0.00	2.50	0.00	0.000	6	0.000	0.063	3041	1887	1919
6817	1.40	246.4	458.3	9.0	411	6843	0.00	2.62	21.38	1.092	4	0.000	0.068	3041	3258	1826
6855	1.42	258.0	454.6	9.5	412	6871	0.00	2.50	11.70	1.022	6	0.000	0.062	3042	1908	1779
7188	1.47	290.0	426.3	8.5	433	7224	0.10	2.58	28.75	1.085	4	0.066	0.067	3068	3249	1648
7253	1.47	290.0	419.6	10.6	437	7257	0.00	2.47	0.00	0.000	6	0.000	0.062	3068	1914	1648
7578	1.48	297.3	388.0	9.7	458	7595	0.00	2.75	8.07	0.939	4	0.000	0.068	3067	442	1619
7630	1.43	297.3	382.6	10.6	461	7635	0.00	2.67	0.00	0.000	6	0.000	0.053	3067	1915	1619
7955	1.43	297.3	345.8	11.7	482	7959	0.00	2.42	0.00	0.000	4	0.000	0.066	3068	3257	1619
8000	1.43	297.3	340.1	13.1	484	8006	0.00	2.45	0.00	0.000	6	0.000	0.058	3068	1914	1619
8319	1.43	297.3	301.3	12.4	505	8323	0.00	2.47	0.00	0.000	4	0.000	0.064	3068	3255	1619
8341	1.43	297.3	298.5	12.5	506	8347	0.00	2.38	0.00	0.000	6	0.000	0.055	3068	1945	1619
8661	1.43	297.3	261.7	10.3	527	8665	0.00	2.42	0.00	0.000	4	0.000	0.063	3068	3260	1619
8694	1.43	297.3	257.7	10.9	529	8698	0.00	2.35	0.00	0.000	6	0.000	0.054	3067	1960	1619
9013	1.43	297.3	222.4	11.0	549	9017	0.00	2.38	0.00	0.000	4	0.000	0.061	3068	3255	1619
9043	1.43	297.3	219.1	11.9	551	9047	0.00	2.30	0.00	0.000	6	0.000	0.052	3068	1970	1619
9367	1.43	297.3	181.4	11.3	572	9368	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	1970	1620
9690	1.43	297.3	144.6	12.1	592	9691	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	1970	1620
9999	1.43	297.3	107.6	11.8	607	10003	0.00	2.35	0.00	0.000	4	0.000	0.059	3068	3259	1621
10027	1.46	297.3	104.0	13.2	608	10031	0.00	2.28	0.00	0.000	6	0.000	0.049	3068	1985	1621
10345	1.46	297.3	66.4	11.4	623	10350	0.00	2.75	0.00	0.000	4	0.000	0.060	3068	438	1622
10364	1.46	297.3	64.0	11.9	624	10369	0.00	2.75	0.00	0.000	6	0.000	0.046	3067	2000	1622
10692	1.46	297.3	26.0	12.6	640	10693	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2000	1622
10874	end climb: SURFACE_DEPTH_REACHED
state	10874	begin surface coast
10896	end surface coast: CONTROL_FINISHED_OK
state	10897	begin surface