Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 441 * 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 441 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -108692.22 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 -108692.22

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 441 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 145307,6224.045,-942.748,36,1.3,36,-9.9 TGT_NAME AE

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,-0.201

_SM_DEPTHo 1.15 KALMAN_X -283247.9,1334.3,-100.5,444282.7,-7485.8

_SM_ANGLEo -62.7 KALMAN_Y 103687.2,147.4,-1829.5,-220889.7,14217.0

GPS2 145846,6224.065,-942.869,14,2.5,33,-9.9 MHEAD_RNG_PITCHd_Wd 149.5,62463,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027161 ALTIM_BOTTOM_PING 570.3,37.8

SM_CCo 10843,8.77,0.688,0,0,1607,300.00 _24V_AH 23.7,70.548

SM_GC 1.88,0.00,0.00,8.77,0.000,0.000,0.688,417,2137,1607,-10.71,0.23,300.00 _10V_AH 10.1,31.736

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31723,642

TT8_MAMPS 0.029146 CAP_FILE_SIZE 96698,0

HUMID 1842 CFSIZE 254472192,228335616

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 46 GPS 041109,180154,6223.579,-942.952,45,1.3,45,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 169 108.87 SBE_CT 438 24 249.56

Roll_motor 123 79 230.53 SBE_O2 470 19 211.79

VBD_pump_during_apogee 385 1197 10945.22 WL_BB2F 391 105 974.97

VBD_pump_during_surface 8 687 143.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.17 nil 0 0 0.00

Iridium_during_connect 26 160 100.84 nil 0 0 0.00

Iridium_during_xfer 132 223 699.65

Transponder_ping 16 420 164.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.22

TT8 1163 19 232.77

LPSleep 7700 2 170.33

TT8_Active 483 19 96.74

TT8_Sampling 1375 39 552.94

TT8_CF8 469 45 216.99

TT8_Kalman 33 81 27.56

Analog_circuits 1204 12 145.95

GPS_charging 0 0 0.00

Compass 1319 8 106.59

RAFOS 0 0 0.00

Transponder 38 30 11.61

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 -60.97 0.000 2 0.000 0.000 421 2148 2789

83 -1.44 -146.6 2.5 -3.1 3 126 11.32 2.67 -20.98 0.000 4 0.170 0.072 2423 708 3430

272 -1.36 -146.6 30.9 -14.7 11 277 0.12 2.53 0.00 0.000 6 0.108 0.048 2447 2129 3430

590 -1.30 -146.6 76.2 -14.2 26 594 0.00 2.58 0.00 0.000 4 0.000 0.061 2448 713 3430

630 -1.30 -146.6 82.1 -14.3 28 634 0.00 2.50 0.00 0.000 6 0.000 0.048 2447 2118 3430

958 -1.25 -146.6 127.7 -13.6 44 960 0.12 0.00 0.00 0.000 6 0.106 0.000 2471 2117 3430

1267 -1.25 -146.6 165.7 -12.2 61 1272 0.00 2.55 0.00 0.000 4 0.000 0.059 2471 708 3430

1314 -1.28 -146.6 171.8 -12.7 64 1318 0.00 2.47 0.00 0.000 6 0.000 0.048 2472 2106 3430

1645 -1.28 -146.6 215.9 -13.5 85 1646 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2107 3430

1957 -1.28 -146.6 259.4 -13.8 105 1961 0.00 2.53 0.00 0.000 4 0.000 0.062 2471 716 3430

2014 -1.32 -146.6 267.4 -14.4 108 2020 0.00 2.42 0.00 0.000 6 0.000 0.050 2472 2081 3430

2333 -1.32 -146.6 310.6 -13.3 129 2337 0.00 2.67 0.00 0.000 4 0.000 0.074 2472 3535 3430

2367 -1.32 -146.6 315.1 -13.2 131 2371 0.00 2.72 0.00 0.000 6 0.000 0.071 2472 2068 3430

2688 -1.32 -146.6 354.9 -12.2 151 2692 0.00 2.42 0.00 0.000 4 0.000 0.064 2472 710 3430

2716 -1.32 -146.6 358.6 -12.3 153 2720 0.00 2.45 0.00 0.000 6 0.000 0.050 2472 2090 3430

3048 -1.32 -146.6 397.4 -11.8 174 3049 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2089 3431

3359 -1.32 -146.6 433.4 -11.3 194 3363 0.00 2.65 0.00 0.000 4 0.000 0.074 2471 3535 3430

3381 -1.32 -146.6 435.9 -10.8 195 3387 0.00 2.72 0.00 0.000 6 0.000 0.071 2472 2064 3430

3703 -1.32 -146.6 470.7 -10.3 216 3708 0.00 2.75 0.00 0.000 4 0.000 0.075 2471 3533 3430

3770 -1.32 -146.6 478.4 -10.8 220 3775 0.00 2.70 0.00 0.000 6 0.000 0.072 2472 2081 3430

4090 -1.35 -146.6 510.9 -10.3 240 4095 0.00 2.45 0.00 0.000 4 0.000 0.067 2472 717 3430

4130 -1.39 -146.6 515.4 -11.1 242 4137 0.15 2.40 0.00 0.000 6 0.058 0.051 2434 2064 3430

4452 -1.34 -146.6 557.6 -13.7 263 4456 0.00 2.72 0.00 0.000 4 0.000 0.079 2434 3540 3430

4520 -1.29 -146.6 567.3 -13.7 267 4525 0.15 2.70 0.00 0.000 6 0.098 0.077 2462 2100 3430

4790 end dive: BOTTOM_OBSTACLE_DETECTED

state 4792 begin apogee

4800 -0.33 0.0 599.1 10.8 284 4934 0.98 0.00 130.80 1.197 6 0.080 0.000 2672 1840 2831

4935 end apogee: CONTROL_FINISHED_OK

state 4935 begin climb

4939 1.44 146.6 604.6 0.0 293 5080 1.75 2.72 131.48 1.152 4 0.056 0.071 3060 3254 2232

5135 1.37 146.6 594.5 10.6 305 5140 0.00 2.67 0.00 0.000 6 0.000 0.077 3060 1842 2232

5464 1.32 165.8 564.8 9.1 326 5489 0.15 2.65 17.80 1.070 4 0.100 0.072 3032 445 2155

5523 1.32 197.5 559.1 8.6 329 5561 0.00 2.53 29.62 1.104 6 0.000 0.054 3032 1852 2024

5877 1.38 233.2 528.3 8.4 352 5916 0.00 2.65 32.05 1.108 4 0.000 0.073 3032 3239 1879

5965 1.46 254.0 520.5 9.1 357 5994 0.15 2.65 19.23 1.070 6 0.060 0.078 3069 1848 1795

6308 1.40 254.0 480.7 11.1 379 6313 0.00 2.62 0.00 0.000 4 0.000 0.073 3069 3237 1795

6338 1.37 254.0 476.9 12.4 381 6343 0.15 2.53 0.00 0.000 6 0.102 0.071 3041 1876 1795

6665 1.37 254.0 445.4 10.2 402 6669 0.00 2.55 0.00 0.000 4 0.000 0.071 3040 3234 1794

6732 1.41 254.0 438.1 10.5 406 6736 0.00 2.50 0.00 0.000 6 0.000 0.074 3041 1892 1794

7053 1.42 255.6 405.6 9.9 426 7057 0.00 2.53 0.00 0.000 4 0.000 0.071 3041 3244 1794

7088 1.46 255.6 402.0 10.1 428 7092 0.00 2.45 0.00 0.000 6 0.000 0.069 3040 1915 1794

7412 1.46 255.6 369.1 10.2 449 7416 0.00 2.47 0.00 0.000 4 0.000 0.069 3041 3240 1794

7435 1.50 255.6 366.6 11.0 450 7440 0.15 2.45 0.00 0.000 6 0.060 0.068 3077 1913 1794

7757 1.45 255.6 326.4 12.9 470 7761 0.00 2.47 0.00 0.000 4 0.000 0.067 3077 3243 1794

7774 1.41 255.6 323.8 12.9 471 7779 0.15 2.42 0.00 0.000 6 0.098 0.066 3049 1921 1794

8094 1.41 255.6 288.1 11.1 491 8098 0.00 2.45 0.00 0.000 4 0.000 0.067 3048 3241 1794

8122 1.41 255.6 284.7 11.2 493 8127 0.00 2.40 0.00 0.000 6 0.000 0.066 3048 1927 1794

8447 1.41 255.6 248.8 11.0 514 8451 0.00 2.42 0.00 0.000 4 0.000 0.066 3048 3237 1794

8464 1.41 255.6 246.7 11.5 515 8468 0.00 2.35 0.00 0.000 6 0.000 0.065 3048 1952 1794

8783 1.41 255.6 210.9 11.1 535 8788 0.00 2.70 0.00 0.000 4 0.000 0.064 3049 442 1794

8799 1.41 255.6 208.9 11.5 536 8804 0.00 2.65 0.00 0.000 6 0.000 0.048 3049 1938 1794

9119 1.41 255.6 172.8 11.3 556 9121 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1938 1794

9440 1.41 255.6 138.4 10.0 575 9441 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 1939 1795

9749 1.41 255.6 108.0 10.1 590 9753 0.00 2.35 0.00 0.000 4 0.000 0.063 3048 3249 1795

9791 1.46 255.7 103.9 10.0 592 9795 0.00 2.35 0.00 0.000 6 0.000 0.054 3048 1946 1795

10125 1.54 283.0 73.0 8.8 608 10156 0.15 2.78 24.75 0.815 4 0.056 0.061 3089 432 1677

10174 1.47 283.0 67.4 12.8 610 10179 0.12 2.70 0.00 0.000 6 0.093 0.046 3066 1942 1676

10496 1.47 283.0 33.6 11.3 626 10500 0.00 2.33 0.00 0.000 4 0.000 0.060 3066 3241 1676

10514 1.47 283.0 31.4 11.9 627 10518 0.00 2.38 0.00 0.000 6 0.000 0.056 3066 1931 1676

10796 end climb: SURFACE_DEPTH_REACHED

state 10796 begin surface coast

10818 end surface coast: CONTROL_FINISHED_OK

state 10819 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	441	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-108692.22	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	145307,6224.045,-942.748,36,1.3,36,-9.9	TGT_NAME	AE
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,-0.201
_SM_DEPTHo	1.15	KALMAN_X	-283247.9,1334.3,-100.5,444282.7,-7485.8
_SM_ANGLEo	-62.7	KALMAN_Y	103687.2,147.4,-1829.5,-220889.7,14217.0
GPS2	145846,6224.065,-942.869,14,2.5,33,-9.9	MHEAD_RNG_PITCHd_Wd	149.5,62463,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.027161	ALTIM_BOTTOM_PING	570.3,37.8
SM_CCo	10843,8.77,0.688,0,0,1607,300.00	_24V_AH	23.7,70.548
SM_GC	1.88,0.00,0.00,8.77,0.000,0.000,0.688,417,2137,1607,-10.71,0.23,300.00	_10V_AH	10.1,31.736
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31723,642
TT8_MAMPS	0.029146	CAP_FILE_SIZE	96698,0
HUMID	1842	CFSIZE	254472192,228335616
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	46	GPS	041109,180154,6223.579,-942.952,45,1.3,45,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	169	108.87	SBE_CT	438	24	249.56
Roll_motor	123	79	230.53	SBE_O2	470	19	211.79
VBD_pump_during_apogee	385	1197	10945.22	WL_BB2F	391	105	974.97
VBD_pump_during_surface	8	687	143.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.17	nil	0	0	0.00
Iridium_during_connect	26	160	100.84	nil	0	0	0.00
Iridium_during_xfer	132	223	699.65
Transponder_ping	16	420	164.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.22
TT8	1163	19	232.77
LPSleep	7700	2	170.33
TT8_Active	483	19	96.74
TT8_Sampling	1375	39	552.94
TT8_CF8	469	45	216.99
TT8_Kalman	33	81	27.56
Analog_circuits	1204	12	145.95
GPS_charging	0	0	0.00
Compass	1319	8	106.59
RAFOS	0	0	0.00
Transponder	38	30	11.61

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	-60.97	0.000	2	0.000	0.000	421	2148	2789
83	-1.44	-146.6	2.5	-3.1	3	126	11.32	2.67	-20.98	0.000	4	0.170	0.072	2423	708	3430
272	-1.36	-146.6	30.9	-14.7	11	277	0.12	2.53	0.00	0.000	6	0.108	0.048	2447	2129	3430
590	-1.30	-146.6	76.2	-14.2	26	594	0.00	2.58	0.00	0.000	4	0.000	0.061	2448	713	3430
630	-1.30	-146.6	82.1	-14.3	28	634	0.00	2.50	0.00	0.000	6	0.000	0.048	2447	2118	3430
958	-1.25	-146.6	127.7	-13.6	44	960	0.12	0.00	0.00	0.000	6	0.106	0.000	2471	2117	3430
1267	-1.25	-146.6	165.7	-12.2	61	1272	0.00	2.55	0.00	0.000	4	0.000	0.059	2471	708	3430
1314	-1.28	-146.6	171.8	-12.7	64	1318	0.00	2.47	0.00	0.000	6	0.000	0.048	2472	2106	3430
1645	-1.28	-146.6	215.9	-13.5	85	1646	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2107	3430
1957	-1.28	-146.6	259.4	-13.8	105	1961	0.00	2.53	0.00	0.000	4	0.000	0.062	2471	716	3430
2014	-1.32	-146.6	267.4	-14.4	108	2020	0.00	2.42	0.00	0.000	6	0.000	0.050	2472	2081	3430
2333	-1.32	-146.6	310.6	-13.3	129	2337	0.00	2.67	0.00	0.000	4	0.000	0.074	2472	3535	3430
2367	-1.32	-146.6	315.1	-13.2	131	2371	0.00	2.72	0.00	0.000	6	0.000	0.071	2472	2068	3430
2688	-1.32	-146.6	354.9	-12.2	151	2692	0.00	2.42	0.00	0.000	4	0.000	0.064	2472	710	3430
2716	-1.32	-146.6	358.6	-12.3	153	2720	0.00	2.45	0.00	0.000	6	0.000	0.050	2472	2090	3430
3048	-1.32	-146.6	397.4	-11.8	174	3049	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2089	3431
3359	-1.32	-146.6	433.4	-11.3	194	3363	0.00	2.65	0.00	0.000	4	0.000	0.074	2471	3535	3430
3381	-1.32	-146.6	435.9	-10.8	195	3387	0.00	2.72	0.00	0.000	6	0.000	0.071	2472	2064	3430
3703	-1.32	-146.6	470.7	-10.3	216	3708	0.00	2.75	0.00	0.000	4	0.000	0.075	2471	3533	3430
3770	-1.32	-146.6	478.4	-10.8	220	3775	0.00	2.70	0.00	0.000	6	0.000	0.072	2472	2081	3430
4090	-1.35	-146.6	510.9	-10.3	240	4095	0.00	2.45	0.00	0.000	4	0.000	0.067	2472	717	3430
4130	-1.39	-146.6	515.4	-11.1	242	4137	0.15	2.40	0.00	0.000	6	0.058	0.051	2434	2064	3430
4452	-1.34	-146.6	557.6	-13.7	263	4456	0.00	2.72	0.00	0.000	4	0.000	0.079	2434	3540	3430
4520	-1.29	-146.6	567.3	-13.7	267	4525	0.15	2.70	0.00	0.000	6	0.098	0.077	2462	2100	3430
4790	end dive: BOTTOM_OBSTACLE_DETECTED
state	4792	begin apogee
4800	-0.33	0.0	599.1	10.8	284	4934	0.98	0.00	130.80	1.197	6	0.080	0.000	2672	1840	2831
4935	end apogee: CONTROL_FINISHED_OK
state	4935	begin climb
4939	1.44	146.6	604.6	0.0	293	5080	1.75	2.72	131.48	1.152	4	0.056	0.071	3060	3254	2232
5135	1.37	146.6	594.5	10.6	305	5140	0.00	2.67	0.00	0.000	6	0.000	0.077	3060	1842	2232
5464	1.32	165.8	564.8	9.1	326	5489	0.15	2.65	17.80	1.070	4	0.100	0.072	3032	445	2155
5523	1.32	197.5	559.1	8.6	329	5561	0.00	2.53	29.62	1.104	6	0.000	0.054	3032	1852	2024
5877	1.38	233.2	528.3	8.4	352	5916	0.00	2.65	32.05	1.108	4	0.000	0.073	3032	3239	1879
5965	1.46	254.0	520.5	9.1	357	5994	0.15	2.65	19.23	1.070	6	0.060	0.078	3069	1848	1795
6308	1.40	254.0	480.7	11.1	379	6313	0.00	2.62	0.00	0.000	4	0.000	0.073	3069	3237	1795
6338	1.37	254.0	476.9	12.4	381	6343	0.15	2.53	0.00	0.000	6	0.102	0.071	3041	1876	1795
6665	1.37	254.0	445.4	10.2	402	6669	0.00	2.55	0.00	0.000	4	0.000	0.071	3040	3234	1794
6732	1.41	254.0	438.1	10.5	406	6736	0.00	2.50	0.00	0.000	6	0.000	0.074	3041	1892	1794
7053	1.42	255.6	405.6	9.9	426	7057	0.00	2.53	0.00	0.000	4	0.000	0.071	3041	3244	1794
7088	1.46	255.6	402.0	10.1	428	7092	0.00	2.45	0.00	0.000	6	0.000	0.069	3040	1915	1794
7412	1.46	255.6	369.1	10.2	449	7416	0.00	2.47	0.00	0.000	4	0.000	0.069	3041	3240	1794
7435	1.50	255.6	366.6	11.0	450	7440	0.15	2.45	0.00	0.000	6	0.060	0.068	3077	1913	1794
7757	1.45	255.6	326.4	12.9	470	7761	0.00	2.47	0.00	0.000	4	0.000	0.067	3077	3243	1794
7774	1.41	255.6	323.8	12.9	471	7779	0.15	2.42	0.00	0.000	6	0.098	0.066	3049	1921	1794
8094	1.41	255.6	288.1	11.1	491	8098	0.00	2.45	0.00	0.000	4	0.000	0.067	3048	3241	1794
8122	1.41	255.6	284.7	11.2	493	8127	0.00	2.40	0.00	0.000	6	0.000	0.066	3048	1927	1794
8447	1.41	255.6	248.8	11.0	514	8451	0.00	2.42	0.00	0.000	4	0.000	0.066	3048	3237	1794
8464	1.41	255.6	246.7	11.5	515	8468	0.00	2.35	0.00	0.000	6	0.000	0.065	3048	1952	1794
8783	1.41	255.6	210.9	11.1	535	8788	0.00	2.70	0.00	0.000	4	0.000	0.064	3049	442	1794
8799	1.41	255.6	208.9	11.5	536	8804	0.00	2.65	0.00	0.000	6	0.000	0.048	3049	1938	1794
9119	1.41	255.6	172.8	11.3	556	9121	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1938	1794
9440	1.41	255.6	138.4	10.0	575	9441	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	1939	1795
9749	1.41	255.6	108.0	10.1	590	9753	0.00	2.35	0.00	0.000	4	0.000	0.063	3048	3249	1795
9791	1.46	255.7	103.9	10.0	592	9795	0.00	2.35	0.00	0.000	6	0.000	0.054	3048	1946	1795
10125	1.54	283.0	73.0	8.8	608	10156	0.15	2.78	24.75	0.815	4	0.056	0.061	3089	432	1677
10174	1.47	283.0	67.4	12.8	610	10179	0.12	2.70	0.00	0.000	6	0.093	0.046	3066	1942	1676
10496	1.47	283.0	33.6	11.3	626	10500	0.00	2.33	0.00	0.000	4	0.000	0.060	3066	3241	1676
10514	1.47	283.0	31.4	11.9	627	10518	0.00	2.38	0.00	0.000	6	0.000	0.056	3066	1931	1676
10796	end climb: SURFACE_DEPTH_REACHED
state	10796	begin surface coast
10818	end surface coast: CONTROL_FINISHED_OK
state	10819	begin surface