Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 439 * 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 439 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -108646.42 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 -108646.42

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 439 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 083754,6223.092,-949.089,43,0.9,43,-10.0 TGT_NAME AE

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.146,-0.220

_SM_DEPTHo 1.05 KALMAN_X -284485.8,825.1,1405.5,439362.8,-14579.0

_SM_ANGLEo -57.7 KALMAN_Y 95973.9,-991.5,678.7,-216256.4,8772.7

GPS2 084350,6223.170,-949.089,13,0.9,13,-10.0 MHEAD_RNG_PITCHd_Wd 156.5,63302,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026910 ALTIM_BOTTOM_PING 546.7,63.2

SM_CCo 10752,1.05,0.121,0,0,1609,300.00 _24V_AH 23.7,70.277

SM_GC 1.61,0.00,0.00,1.05,0.000,0.000,0.121,420,2148,1609,-10.69,0.51,300.00 _10V_AH 10.1,31.613

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31731,642

TT8_MAMPS 0.029146 CAP_FILE_SIZE 100094,0

HUMID 1832 CFSIZE 254472192,228433920

TCM_TEMP 17.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,16,0,0

XPDR_PINGS 42 GPS 041109,114507,6224.153,-945.149,29,1.6,29,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 167 106.59 SBE_CT 437 24 248.98

Roll_motor 134 84 268.24 SBE_O2 469 19 211.60

VBD_pump_during_apogee 405 1189 11426.29 WL_BB2F 388 105 966.50

VBD_pump_during_surface 1 121 3.02 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 32 160 122.75 nil 0 0 0.00

Iridium_during_xfer 164 223 870.37

Transponder_ping 15 420 151.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.99

TT8 1173 19 234.61

LPSleep 7528 2 166.51

TT8_Active 523 19 104.77

TT8_Sampling 1383 39 556.11

TT8_CF8 508 45 235.17

TT8_Kalman 33 81 27.58

Analog_circuits 1258 12 152.54

GPS_charging 0 0 0.00

Compass 1349 8 109.02

RAFOS 0 0 0.00

Transponder 36 30 11.15

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 -61.25 0.000 2 0.000 0.000 423 2148 2717

83 -1.44 -146.6 2.3 -2.5 3 127 11.25 2.65 -26.67 0.000 4 0.168 0.084 2421 3539 3430

155 -1.29 -146.6 9.8 -14.6 6 161 0.20 2.62 0.00 0.000 6 0.101 0.064 2460 2118 3430

477 -1.29 -146.6 50.4 -12.2 22 482 0.00 2.50 0.00 0.000 4 0.000 0.061 2460 713 3430

533 -1.29 -146.6 57.7 -12.6 24 540 0.00 2.53 0.00 0.000 6 0.000 0.050 2461 2136 3431

851 -1.29 -146.6 98.3 -13.0 40 855 0.00 2.58 0.00 0.000 4 0.000 0.071 2461 3541 3431

873 -1.25 -146.6 101.3 -12.4 41 877 0.00 2.60 0.00 0.000 6 0.000 0.064 2461 2125 3431

1195 -1.25 -146.6 140.7 -12.6 57 1200 0.00 2.50 0.00 0.000 4 0.000 0.061 2461 716 3431

1292 -1.25 -146.6 152.8 -11.5 62 1296 0.00 2.47 0.00 0.000 6 0.000 0.047 2461 2116 3431

1616 -1.25 -146.6 190.6 -11.8 83 1620 0.00 2.53 0.00 0.000 4 0.000 0.060 2461 718 3431

1656 -1.25 -146.6 195.5 -12.7 85 1663 0.00 2.45 0.00 0.000 6 0.000 0.048 2461 2105 3431

1977 -1.25 -146.6 236.4 -13.1 106 1981 0.00 2.53 0.00 0.000 4 0.000 0.064 2461 716 3431

2016 -1.25 -146.6 242.0 -13.3 108 2022 0.00 2.42 0.00 0.000 6 0.000 0.049 2461 2080 3431

2336 -1.25 -146.6 285.8 -14.1 129 2340 0.00 2.67 0.00 0.000 4 0.000 0.078 2461 3528 3431

2369 -1.25 -146.6 291.0 -14.8 131 2373 0.00 2.72 0.00 0.000 6 0.000 0.076 2461 2070 3431

2691 -1.25 -146.6 338.6 -15.2 151 2695 0.00 2.78 0.00 0.000 4 0.000 0.078 2461 3538 3431

2721 -1.25 -146.6 343.6 -16.4 153 2725 0.00 2.70 0.00 0.000 6 0.000 0.075 2461 2086 3430

3045 -1.25 -146.6 392.6 -15.0 174 3049 0.00 2.45 0.00 0.000 4 0.000 0.064 2462 714 3431

3079 -1.25 -146.6 397.6 -15.4 176 3083 0.00 2.45 0.00 0.000 6 0.000 0.049 2461 2097 3431

3403 -1.25 -146.6 442.2 -13.0 197 3408 0.00 2.67 0.00 0.000 4 0.000 0.084 2461 3527 3431

3432 -1.25 -146.6 446.1 -12.9 199 3437 0.00 2.70 0.00 0.000 6 0.000 0.081 2461 2096 3430

3758 -1.25 -146.6 484.8 -11.1 220 3762 0.00 2.47 0.00 0.000 4 0.000 0.065 2461 713 3431

3791 -1.25 -146.6 488.9 -11.6 222 3795 0.00 2.42 0.00 0.000 6 0.000 0.050 2461 2078 3432

4111 -1.25 -146.6 524.6 -11.9 242 4115 0.00 2.50 0.00 0.000 4 0.000 0.067 2461 714 3431

4195 -1.29 -146.6 535.7 -14.1 247 4199 0.00 2.40 0.00 0.000 6 0.000 0.053 2461 2055 3431

4514 -1.29 -146.6 574.7 -11.6 267 4518 0.00 2.75 0.00 0.000 4 0.000 0.084 2461 3529 3431

4662 -1.29 -146.6 593.1 -8.1 276 4666 0.00 2.75 0.00 0.000 6 0.000 0.084 2461 2076 3431

4733 end dive: BOTTOM_OBSTACLE_DETECTED

state 4733 begin apogee

4741 -0.33 0.0 600.8 9.9 281 4877 0.98 0.00 132.50 1.190 6 0.077 0.000 2672 1840 2831

4878 end apogee: CONTROL_FINISHED_OK

state 4878 begin climb

4882 1.44 146.6 607.0 0.0 290 5020 1.75 0.00 133.27 1.149 6 0.054 0.000 3059 1840 2233

5333 1.37 147.2 573.5 10.0 319 5338 0.00 2.67 0.00 0.000 4 0.000 0.077 3059 3248 2232

5541 1.37 184.0 554.0 8.3 331 5582 0.00 2.62 34.35 1.115 6 0.000 0.081 3059 1866 2079

5910 1.32 184.0 517.0 10.7 355 5912 0.15 0.00 0.00 0.000 6 0.099 0.000 3031 1866 2078

6220 1.32 184.0 485.2 10.4 375 6224 0.00 2.62 0.00 0.000 4 0.000 0.077 3031 3248 2077

6237 1.32 184.0 483.4 10.6 376 6242 0.00 2.60 0.00 0.000 6 0.000 0.079 3031 1875 2077

6558 1.33 193.3 451.5 9.6 396 6574 0.00 2.65 8.98 0.975 4 0.000 0.069 3031 437 2042

6609 1.33 193.3 446.0 10.4 399 6614 0.00 2.60 0.00 0.000 6 0.000 0.053 3031 1879 2042

6934 1.39 227.4 417.4 8.4 420 6970 0.00 2.58 30.75 1.071 4 0.000 0.073 3031 3255 1903

7023 1.45 233.7 409.3 9.7 425 7038 0.15 2.60 7.30 0.904 6 0.058 0.076 3069 1875 1878

7361 1.41 233.7 373.8 10.3 447 7366 0.00 2.60 0.00 0.000 4 0.000 0.071 3069 3257 1878

7385 1.37 233.7 370.9 10.7 448 7392 0.12 2.55 0.00 0.000 6 0.100 0.073 3045 1893 1877

7704 1.43 272.2 342.7 8.2 469 7744 0.00 2.62 33.90 1.020 4 0.000 0.072 3045 3247 1721

7771 1.52 299.3 337.1 8.8 473 7805 0.15 2.53 24.23 0.985 6 0.058 0.073 3082 1899 1612

8117 1.47 299.3 298.5 11.4 495 8122 0.00 2.53 0.00 0.000 4 0.000 0.072 3082 3251 1613

8157 1.47 299.3 293.8 11.8 497 8163 0.00 2.50 0.00 0.000 6 0.000 0.071 3082 1905 1613

8477 1.43 299.3 256.6 11.6 518 8482 0.15 2.53 0.00 0.000 4 0.094 0.073 3053 3251 1614

8533 1.48 299.3 250.4 10.4 521 8539 0.00 2.45 0.00 0.000 6 0.000 0.069 3053 1925 1614

8853 1.48 299.3 217.8 10.4 542 8857 0.00 2.47 0.00 0.000 4 0.000 0.069 3053 3252 1614

8875 1.52 299.3 215.1 11.1 543 8881 0.00 2.42 0.00 0.000 6 0.000 0.077 3053 1944 1614

9194 1.52 299.3 180.2 10.9 564 9198 0.00 2.45 0.00 0.000 4 0.000 0.068 3053 3257 1614

9211 1.55 299.3 178.4 10.7 565 9216 0.12 2.38 0.00 0.000 6 0.061 0.065 3086 1962 1614

9536 1.52 299.3 138.2 12.6 584 9540 0.00 2.72 0.00 0.000 4 0.000 0.066 3086 436 1615

9569 1.44 299.3 133.7 13.1 585 9576 0.15 2.70 0.00 0.000 6 0.096 0.048 3057 1958 1615

9886 1.44 299.3 99.9 10.6 601 9891 0.00 2.78 0.00 0.000 4 0.000 0.061 3057 433 1615

9927 1.44 299.3 95.2 11.2 603 9931 0.00 2.67 0.00 0.000 6 0.000 0.053 3057 1947 1615

10255 1.48 299.3 58.2 11.5 619 10259 0.00 2.35 0.00 0.000 4 0.000 0.064 3057 3254 1615

10289 1.54 299.3 54.1 11.5 620 10296 0.10 2.38 0.00 0.000 6 0.064 0.061 3084 1936 1615

10607 1.54 299.3 14.1 11.5 636 10608 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 1936 1615

10707 end climb: SURFACE_DEPTH_REACHED

state 10707 begin surface coast

10727 end surface coast: CONTROL_FINISHED_OK

state 10727 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	439	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-108646.42	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	083754,6223.092,-949.089,43,0.9,43,-10.0	TGT_NAME	AE
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.146,-0.220
_SM_DEPTHo	1.05	KALMAN_X	-284485.8,825.1,1405.5,439362.8,-14579.0
_SM_ANGLEo	-57.7	KALMAN_Y	95973.9,-991.5,678.7,-216256.4,8772.7
GPS2	084350,6223.170,-949.089,13,0.9,13,-10.0	MHEAD_RNG_PITCHd_Wd	156.5,63302,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.026910	ALTIM_BOTTOM_PING	546.7,63.2
SM_CCo	10752,1.05,0.121,0,0,1609,300.00	_24V_AH	23.7,70.277
SM_GC	1.61,0.00,0.00,1.05,0.000,0.000,0.121,420,2148,1609,-10.69,0.51,300.00	_10V_AH	10.1,31.613
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31731,642
TT8_MAMPS	0.029146	CAP_FILE_SIZE	100094,0
HUMID	1832	CFSIZE	254472192,228433920
TCM_TEMP	17.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,16,0,0
XPDR_PINGS	42	GPS	041109,114507,6224.153,-945.149,29,1.6,29,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	167	106.59	SBE_CT	437	24	248.98
Roll_motor	134	84	268.24	SBE_O2	469	19	211.60
VBD_pump_during_apogee	405	1189	11426.29	WL_BB2F	388	105	966.50
VBD_pump_during_surface	1	121	3.02	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	32	160	122.75	nil	0	0	0.00
Iridium_during_xfer	164	223	870.37
Transponder_ping	15	420	151.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.99
TT8	1173	19	234.61
LPSleep	7528	2	166.51
TT8_Active	523	19	104.77
TT8_Sampling	1383	39	556.11
TT8_CF8	508	45	235.17
TT8_Kalman	33	81	27.58
Analog_circuits	1258	12	152.54
GPS_charging	0	0	0.00
Compass	1349	8	109.02
RAFOS	0	0	0.00
Transponder	36	30	11.15

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	-61.25	0.000	2	0.000	0.000	423	2148	2717
83	-1.44	-146.6	2.3	-2.5	3	127	11.25	2.65	-26.67	0.000	4	0.168	0.084	2421	3539	3430
155	-1.29	-146.6	9.8	-14.6	6	161	0.20	2.62	0.00	0.000	6	0.101	0.064	2460	2118	3430
477	-1.29	-146.6	50.4	-12.2	22	482	0.00	2.50	0.00	0.000	4	0.000	0.061	2460	713	3430
533	-1.29	-146.6	57.7	-12.6	24	540	0.00	2.53	0.00	0.000	6	0.000	0.050	2461	2136	3431
851	-1.29	-146.6	98.3	-13.0	40	855	0.00	2.58	0.00	0.000	4	0.000	0.071	2461	3541	3431
873	-1.25	-146.6	101.3	-12.4	41	877	0.00	2.60	0.00	0.000	6	0.000	0.064	2461	2125	3431
1195	-1.25	-146.6	140.7	-12.6	57	1200	0.00	2.50	0.00	0.000	4	0.000	0.061	2461	716	3431
1292	-1.25	-146.6	152.8	-11.5	62	1296	0.00	2.47	0.00	0.000	6	0.000	0.047	2461	2116	3431
1616	-1.25	-146.6	190.6	-11.8	83	1620	0.00	2.53	0.00	0.000	4	0.000	0.060	2461	718	3431
1656	-1.25	-146.6	195.5	-12.7	85	1663	0.00	2.45	0.00	0.000	6	0.000	0.048	2461	2105	3431
1977	-1.25	-146.6	236.4	-13.1	106	1981	0.00	2.53	0.00	0.000	4	0.000	0.064	2461	716	3431
2016	-1.25	-146.6	242.0	-13.3	108	2022	0.00	2.42	0.00	0.000	6	0.000	0.049	2461	2080	3431
2336	-1.25	-146.6	285.8	-14.1	129	2340	0.00	2.67	0.00	0.000	4	0.000	0.078	2461	3528	3431
2369	-1.25	-146.6	291.0	-14.8	131	2373	0.00	2.72	0.00	0.000	6	0.000	0.076	2461	2070	3431
2691	-1.25	-146.6	338.6	-15.2	151	2695	0.00	2.78	0.00	0.000	4	0.000	0.078	2461	3538	3431
2721	-1.25	-146.6	343.6	-16.4	153	2725	0.00	2.70	0.00	0.000	6	0.000	0.075	2461	2086	3430
3045	-1.25	-146.6	392.6	-15.0	174	3049	0.00	2.45	0.00	0.000	4	0.000	0.064	2462	714	3431
3079	-1.25	-146.6	397.6	-15.4	176	3083	0.00	2.45	0.00	0.000	6	0.000	0.049	2461	2097	3431
3403	-1.25	-146.6	442.2	-13.0	197	3408	0.00	2.67	0.00	0.000	4	0.000	0.084	2461	3527	3431
3432	-1.25	-146.6	446.1	-12.9	199	3437	0.00	2.70	0.00	0.000	6	0.000	0.081	2461	2096	3430
3758	-1.25	-146.6	484.8	-11.1	220	3762	0.00	2.47	0.00	0.000	4	0.000	0.065	2461	713	3431
3791	-1.25	-146.6	488.9	-11.6	222	3795	0.00	2.42	0.00	0.000	6	0.000	0.050	2461	2078	3432
4111	-1.25	-146.6	524.6	-11.9	242	4115	0.00	2.50	0.00	0.000	4	0.000	0.067	2461	714	3431
4195	-1.29	-146.6	535.7	-14.1	247	4199	0.00	2.40	0.00	0.000	6	0.000	0.053	2461	2055	3431
4514	-1.29	-146.6	574.7	-11.6	267	4518	0.00	2.75	0.00	0.000	4	0.000	0.084	2461	3529	3431
4662	-1.29	-146.6	593.1	-8.1	276	4666	0.00	2.75	0.00	0.000	6	0.000	0.084	2461	2076	3431
4733	end dive: BOTTOM_OBSTACLE_DETECTED
state	4733	begin apogee
4741	-0.33	0.0	600.8	9.9	281	4877	0.98	0.00	132.50	1.190	6	0.077	0.000	2672	1840	2831
4878	end apogee: CONTROL_FINISHED_OK
state	4878	begin climb
4882	1.44	146.6	607.0	0.0	290	5020	1.75	0.00	133.27	1.149	6	0.054	0.000	3059	1840	2233
5333	1.37	147.2	573.5	10.0	319	5338	0.00	2.67	0.00	0.000	4	0.000	0.077	3059	3248	2232
5541	1.37	184.0	554.0	8.3	331	5582	0.00	2.62	34.35	1.115	6	0.000	0.081	3059	1866	2079
5910	1.32	184.0	517.0	10.7	355	5912	0.15	0.00	0.00	0.000	6	0.099	0.000	3031	1866	2078
6220	1.32	184.0	485.2	10.4	375	6224	0.00	2.62	0.00	0.000	4	0.000	0.077	3031	3248	2077
6237	1.32	184.0	483.4	10.6	376	6242	0.00	2.60	0.00	0.000	6	0.000	0.079	3031	1875	2077
6558	1.33	193.3	451.5	9.6	396	6574	0.00	2.65	8.98	0.975	4	0.000	0.069	3031	437	2042
6609	1.33	193.3	446.0	10.4	399	6614	0.00	2.60	0.00	0.000	6	0.000	0.053	3031	1879	2042
6934	1.39	227.4	417.4	8.4	420	6970	0.00	2.58	30.75	1.071	4	0.000	0.073	3031	3255	1903
7023	1.45	233.7	409.3	9.7	425	7038	0.15	2.60	7.30	0.904	6	0.058	0.076	3069	1875	1878
7361	1.41	233.7	373.8	10.3	447	7366	0.00	2.60	0.00	0.000	4	0.000	0.071	3069	3257	1878
7385	1.37	233.7	370.9	10.7	448	7392	0.12	2.55	0.00	0.000	6	0.100	0.073	3045	1893	1877
7704	1.43	272.2	342.7	8.2	469	7744	0.00	2.62	33.90	1.020	4	0.000	0.072	3045	3247	1721
7771	1.52	299.3	337.1	8.8	473	7805	0.15	2.53	24.23	0.985	6	0.058	0.073	3082	1899	1612
8117	1.47	299.3	298.5	11.4	495	8122	0.00	2.53	0.00	0.000	4	0.000	0.072	3082	3251	1613
8157	1.47	299.3	293.8	11.8	497	8163	0.00	2.50	0.00	0.000	6	0.000	0.071	3082	1905	1613
8477	1.43	299.3	256.6	11.6	518	8482	0.15	2.53	0.00	0.000	4	0.094	0.073	3053	3251	1614
8533	1.48	299.3	250.4	10.4	521	8539	0.00	2.45	0.00	0.000	6	0.000	0.069	3053	1925	1614
8853	1.48	299.3	217.8	10.4	542	8857	0.00	2.47	0.00	0.000	4	0.000	0.069	3053	3252	1614
8875	1.52	299.3	215.1	11.1	543	8881	0.00	2.42	0.00	0.000	6	0.000	0.077	3053	1944	1614
9194	1.52	299.3	180.2	10.9	564	9198	0.00	2.45	0.00	0.000	4	0.000	0.068	3053	3257	1614
9211	1.55	299.3	178.4	10.7	565	9216	0.12	2.38	0.00	0.000	6	0.061	0.065	3086	1962	1614
9536	1.52	299.3	138.2	12.6	584	9540	0.00	2.72	0.00	0.000	4	0.000	0.066	3086	436	1615
9569	1.44	299.3	133.7	13.1	585	9576	0.15	2.70	0.00	0.000	6	0.096	0.048	3057	1958	1615
9886	1.44	299.3	99.9	10.6	601	9891	0.00	2.78	0.00	0.000	4	0.000	0.061	3057	433	1615
9927	1.44	299.3	95.2	11.2	603	9931	0.00	2.67	0.00	0.000	6	0.000	0.053	3057	1947	1615
10255	1.48	299.3	58.2	11.5	619	10259	0.00	2.35	0.00	0.000	4	0.000	0.064	3057	3254	1615
10289	1.54	299.3	54.1	11.5	620	10296	0.10	2.38	0.00	0.000	6	0.064	0.061	3084	1936	1615
10607	1.54	299.3	14.1	11.5	636	10608	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	1936	1615
10707	end climb: SURFACE_DEPTH_REACHED
state	10707	begin surface coast
10727	end surface coast: CONTROL_FINISHED_OK
state	10727	begin surface