Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 455 * 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 455 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -108975.63 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 -108975.63

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 455 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 104236,6212.948,-941.941,67,1.1,67,-9.9 TGT_NAME AE

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.168,-0.204

_SM_DEPTHo 1.15 KALMAN_X -294263.2,655.7,952.1,455717.2,-9429.0

_SM_ANGLEo -57.2 KALMAN_Y 120819.0,-1320.3,364.9,-259201.3,1414.4

GPS2 104825,6213.044,-941.913,19,2.0,19,-9.9 MHEAD_RNG_PITCHd_Wd 150.4,43929,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.027157 ALTIM_BOTTOM_PING 595.8,63.7

SM_CCo 11362,2.75,0.370,0,0,1608,300.00 _24V_AH 23.6,72.589

SM_GC 2.06,0.00,0.00,2.75,0.000,0.000,0.370,420,2158,1608,-10.70,0.68,300.00 _10V_AH 10.1,32.598

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34774,678

TT8_MAMPS 0.029146 CAP_FILE_SIZE 103155,0

HUMID 1844 CFSIZE 254472192,227639296

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 40 GPS 061109,140007,6212.291,-937.521,45,1.3,45,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 99.31 SBE_CT 464 24 262.82

Roll_motor 134 90 288.19 SBE_O2 495 19 222.29

VBD_pump_during_apogee 404 1270 12117.63 WL_BB2F 398 105 988.08

VBD_pump_during_surface 2 370 24.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.79 nil 0 0 0.00

Iridium_during_connect 30 160 116.28 nil 0 0 0.00

Iridium_during_xfer 144 223 762.29

Transponder_ping 15 420 151.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.88

TT8 1240 19 248.12

LPSleep 7959 2 176.06

TT8_Active 511 19 102.37

TT8_Sampling 1500 39 603.11

TT8_CF8 503 45 233.02

TT8_Kalman 33 81 27.56

Analog_circuits 1300 12 157.61

GPS_charging 0 0 0.00

Compass 1453 8 117.44

RAFOS 0 0 0.00

Transponder 36 30 11.10

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.44 -146.6 0.0 0.0 0 82 0.00 0.00 -61.40 0.000 2 0.000 0.000 417 2149 2635

86 -1.44 -146.6 2.3 -2.6 3 137 11.18 2.62 -33.92 0.000 4 0.160 0.071 2424 690 3429

300 -1.36 -146.6 26.6 -13.4 12 307 0.12 2.58 0.00 0.000 6 0.109 0.049 2448 2140 3430

618 -1.29 -146.6 71.0 -16.3 28 623 0.00 2.58 0.00 0.000 4 0.000 0.073 2448 3537 3430

642 -1.22 -146.6 74.5 -13.7 29 647 0.15 2.60 0.00 0.000 6 0.108 0.066 2476 2132 3430

966 -1.22 -146.6 113.0 -9.3 45 970 0.00 2.65 0.00 0.000 4 0.000 0.073 2476 3540 3430

993 -1.22 -146.6 115.8 -9.4 46 998 0.00 2.58 0.00 0.000 6 0.000 0.066 2476 2143 3430

1321 -1.22 -146.6 154.7 -11.6 62 1322 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2141 3430

1632 -1.22 -146.6 197.2 -13.8 82 1636 0.00 2.55 0.00 0.000 4 0.000 0.061 2476 716 3430

1682 -1.28 -146.6 204.3 -13.8 85 1687 0.00 2.58 0.00 0.000 6 0.000 0.048 2476 2163 3430

2005 -1.28 -146.6 245.2 -12.6 105 2006 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2163 3431

2314 -1.28 -146.6 282.6 -11.7 125 2318 0.00 2.62 0.00 0.000 4 0.000 0.061 2476 716 3431

2398 -1.34 -146.6 292.6 -11.8 130 2403 0.00 2.58 0.00 0.000 6 0.000 0.048 2476 2164 3431

2718 -1.34 -146.6 327.0 -10.3 150 2722 0.00 2.65 0.00 0.000 4 0.000 0.064 2476 714 3431

2770 -1.40 -146.6 332.1 -10.4 153 2775 0.17 2.55 0.00 0.000 6 0.054 0.050 2431 2146 3430

3093 -1.34 -146.6 371.6 -12.9 173 3098 0.12 2.60 0.00 0.000 4 0.102 0.064 2455 723 3430

3126 -1.34 -146.6 376.3 -12.2 175 3130 0.00 2.53 0.00 0.000 6 0.000 0.051 2455 2138 3430

3446 -1.34 -146.6 414.4 -12.2 195 3450 0.00 2.58 0.00 0.000 4 0.000 0.064 2454 723 3431

3507 -1.34 -146.6 422.3 -12.4 198 3513 0.00 2.50 0.00 0.000 6 0.000 0.051 2455 2122 3430

3827 -1.34 -146.6 460.0 -12.2 219 3831 0.00 2.58 0.00 0.000 4 0.000 0.067 2455 717 3430

3894 -1.38 -146.6 469.1 -13.6 223 3898 0.00 2.47 0.00 0.000 6 0.000 0.052 2455 2098 3430

4213 -1.38 -146.6 507.6 -11.5 243 4217 0.00 2.55 0.00 0.000 4 0.000 0.068 2455 717 3430

4344 -1.42 -146.6 524.1 -12.6 251 4348 0.00 2.40 0.00 0.000 6 0.000 0.054 2455 2053 3430

4669 -1.42 -146.6 562.2 -11.9 272 4674 0.00 2.78 0.00 0.000 4 0.000 0.087 2455 3533 3430

4701 -1.42 -146.6 565.8 -13.0 274 4705 0.00 2.83 0.00 0.000 6 0.000 0.091 2455 2059 3430

5029 -1.42 -146.6 605.0 -12.4 295 5033 0.00 2.85 0.00 0.000 4 0.000 0.090 2455 3534 3428

5176 -1.42 -146.6 625.6 -11.9 304 5181 0.00 2.78 0.00 0.000 6 0.000 0.091 2455 2091 3428

5372 end dive: BOTTOM_OBSTACLE_DETECTED

state 5372 begin apogee

5380 -0.33 0.0 650.0 12.5 317 5517 1.02 0.00 132.90 1.270 6 0.086 0.000 2671 1846 2831

5517 end apogee: CONTROL_FINISHED_OK

state 5517 begin climb

5521 1.44 146.6 655.8 0.0 326 5663 1.75 2.72 133.30 1.221 4 0.056 0.077 3056 445 2233

5796 1.47 242.0 638.5 5.7 342 5888 0.00 2.58 86.55 1.191 6 0.000 0.058 3057 1869 1844

6208 1.43 242.0 596.8 12.0 369 6212 0.00 2.62 0.00 0.000 4 0.000 0.083 3057 3244 1843

6263 1.43 242.0 590.4 11.9 372 6270 0.00 2.65 0.00 0.000 6 0.000 0.086 3057 1867 1843

6583 1.43 242.0 552.8 11.2 393 6588 0.00 2.62 0.00 0.000 4 0.000 0.082 3057 3235 1842

6630 1.44 243.7 548.0 9.9 396 6634 0.00 2.60 0.00 0.000 6 0.000 0.087 3057 1876 1842

6955 1.44 243.7 509.7 12.4 417 6959 0.00 2.62 0.00 0.000 4 0.000 0.081 3056 3245 1841

6983 1.44 243.7 506.2 12.0 419 6988 0.00 2.58 0.00 0.000 6 0.000 0.084 3057 1896 1841

7308 1.44 243.7 469.8 12.1 440 7312 0.00 2.67 0.00 0.000 4 0.000 0.074 3057 436 1841

7354 1.37 243.7 464.0 12.5 443 7359 0.00 2.60 0.00 0.000 6 0.000 0.058 3057 1870 1840

7679 1.37 243.7 424.6 11.8 464 7683 0.00 2.58 0.00 0.000 4 0.000 0.080 3057 3253 1840

7700 1.37 243.7 421.9 12.0 465 7707 0.00 2.62 0.00 0.000 6 0.000 0.083 3057 1870 1840

8021 1.37 243.7 382.3 13.5 486 8022 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1870 1839

8332 1.37 243.7 339.7 13.4 506 8336 0.00 2.60 0.00 0.000 4 0.000 0.073 3057 3253 1839

8387 1.37 243.7 332.1 13.0 509 8393 0.00 2.60 0.00 0.000 6 0.000 0.074 3057 1860 1839

8707 1.37 243.7 295.3 10.9 530 8711 0.00 2.60 0.00 0.000 4 0.000 0.070 3057 3253 1839

8740 1.37 243.7 291.4 11.5 532 8744 0.00 2.55 0.00 0.000 6 0.000 0.071 3057 1877 1839

9059 1.39 255.5 259.8 9.5 552 9077 0.00 2.65 12.20 0.920 4 0.000 0.067 3057 3256 1789

9117 1.40 259.4 254.4 9.8 555 9129 0.00 2.53 5.32 0.761 6 0.000 0.069 3057 1898 1773

9442 1.42 274.0 225.1 9.3 576 9462 0.00 2.60 13.90 0.909 4 0.000 0.066 3057 3257 1713

9486 1.42 274.0 220.5 10.7 578 9492 0.00 2.50 0.00 0.000 6 0.000 0.067 3057 1911 1713

9805 1.42 274.0 185.5 10.9 599 9810 0.00 2.50 0.00 0.000 4 0.000 0.065 3057 3258 1713

9845 1.45 274.0 181.1 11.5 601 9851 0.00 2.45 0.00 0.000 6 0.000 0.064 3057 1920 1713

10166 1.45 274.0 140.5 12.9 621 10170 0.00 2.47 0.00 0.000 4 0.000 0.064 3057 3258 1714

10199 1.49 274.0 135.8 13.0 622 10206 0.00 2.42 0.00 0.000 6 0.000 0.063 3057 1928 1714

10517 1.49 274.0 100.1 10.6 638 10521 0.00 2.45 0.00 0.000 4 0.000 0.064 3057 3257 1715

10552 1.57 296.3 96.6 9.0 639 10581 0.12 2.40 20.08 0.835 6 0.063 0.063 3091 1935 1623

10894 1.52 296.3 53.2 11.4 656 10895 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 1935 1623

11200 1.48 296.3 17.6 10.8 671 11205 0.12 2.45 0.00 0.000 4 0.101 0.063 3068 3262 1623

11245 1.52 296.3 11.5 13.3 673 11249 0.00 2.38 0.00 0.000 6 0.000 0.061 3068 1954 1624

11316 end climb: SURFACE_DEPTH_REACHED

state 11316 begin surface coast

11338 end surface coast: CONTROL_FINISHED_OK

state 11338 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	455	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-108975.63	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	104236,6212.948,-941.941,67,1.1,67,-9.9	TGT_NAME	AE
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.168,-0.204
_SM_DEPTHo	1.15	KALMAN_X	-294263.2,655.7,952.1,455717.2,-9429.0
_SM_ANGLEo	-57.2	KALMAN_Y	120819.0,-1320.3,364.9,-259201.3,1414.4
GPS2	104825,6213.044,-941.913,19,2.0,19,-9.9	MHEAD_RNG_PITCHd_Wd	150.4,43929,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.027157	ALTIM_BOTTOM_PING	595.8,63.7
SM_CCo	11362,2.75,0.370,0,0,1608,300.00	_24V_AH	23.6,72.589
SM_GC	2.06,0.00,0.00,2.75,0.000,0.000,0.370,420,2158,1608,-10.70,0.68,300.00	_10V_AH	10.1,32.598
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34774,678
TT8_MAMPS	0.029146	CAP_FILE_SIZE	103155,0
HUMID	1844	CFSIZE	254472192,227639296
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	40	GPS	061109,140007,6212.291,-937.521,45,1.3,45,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	99.31	SBE_CT	464	24	262.82
Roll_motor	134	90	288.19	SBE_O2	495	19	222.29
VBD_pump_during_apogee	404	1270	12117.63	WL_BB2F	398	105	988.08
VBD_pump_during_surface	2	370	24.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.79	nil	0	0	0.00
Iridium_during_connect	30	160	116.28	nil	0	0	0.00
Iridium_during_xfer	144	223	762.29
Transponder_ping	15	420	151.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.88
TT8	1240	19	248.12
LPSleep	7959	2	176.06
TT8_Active	511	19	102.37
TT8_Sampling	1500	39	603.11
TT8_CF8	503	45	233.02
TT8_Kalman	33	81	27.56
Analog_circuits	1300	12	157.61
GPS_charging	0	0	0.00
Compass	1453	8	117.44
RAFOS	0	0	0.00
Transponder	36	30	11.10

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.44	-146.6	0.0	0.0	0	82	0.00	0.00	-61.40	0.000	2	0.000	0.000	417	2149	2635
86	-1.44	-146.6	2.3	-2.6	3	137	11.18	2.62	-33.92	0.000	4	0.160	0.071	2424	690	3429
300	-1.36	-146.6	26.6	-13.4	12	307	0.12	2.58	0.00	0.000	6	0.109	0.049	2448	2140	3430
618	-1.29	-146.6	71.0	-16.3	28	623	0.00	2.58	0.00	0.000	4	0.000	0.073	2448	3537	3430
642	-1.22	-146.6	74.5	-13.7	29	647	0.15	2.60	0.00	0.000	6	0.108	0.066	2476	2132	3430
966	-1.22	-146.6	113.0	-9.3	45	970	0.00	2.65	0.00	0.000	4	0.000	0.073	2476	3540	3430
993	-1.22	-146.6	115.8	-9.4	46	998	0.00	2.58	0.00	0.000	6	0.000	0.066	2476	2143	3430
1321	-1.22	-146.6	154.7	-11.6	62	1322	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2141	3430
1632	-1.22	-146.6	197.2	-13.8	82	1636	0.00	2.55	0.00	0.000	4	0.000	0.061	2476	716	3430
1682	-1.28	-146.6	204.3	-13.8	85	1687	0.00	2.58	0.00	0.000	6	0.000	0.048	2476	2163	3430
2005	-1.28	-146.6	245.2	-12.6	105	2006	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2163	3431
2314	-1.28	-146.6	282.6	-11.7	125	2318	0.00	2.62	0.00	0.000	4	0.000	0.061	2476	716	3431
2398	-1.34	-146.6	292.6	-11.8	130	2403	0.00	2.58	0.00	0.000	6	0.000	0.048	2476	2164	3431
2718	-1.34	-146.6	327.0	-10.3	150	2722	0.00	2.65	0.00	0.000	4	0.000	0.064	2476	714	3431
2770	-1.40	-146.6	332.1	-10.4	153	2775	0.17	2.55	0.00	0.000	6	0.054	0.050	2431	2146	3430
3093	-1.34	-146.6	371.6	-12.9	173	3098	0.12	2.60	0.00	0.000	4	0.102	0.064	2455	723	3430
3126	-1.34	-146.6	376.3	-12.2	175	3130	0.00	2.53	0.00	0.000	6	0.000	0.051	2455	2138	3430
3446	-1.34	-146.6	414.4	-12.2	195	3450	0.00	2.58	0.00	0.000	4	0.000	0.064	2454	723	3431
3507	-1.34	-146.6	422.3	-12.4	198	3513	0.00	2.50	0.00	0.000	6	0.000	0.051	2455	2122	3430
3827	-1.34	-146.6	460.0	-12.2	219	3831	0.00	2.58	0.00	0.000	4	0.000	0.067	2455	717	3430
3894	-1.38	-146.6	469.1	-13.6	223	3898	0.00	2.47	0.00	0.000	6	0.000	0.052	2455	2098	3430
4213	-1.38	-146.6	507.6	-11.5	243	4217	0.00	2.55	0.00	0.000	4	0.000	0.068	2455	717	3430
4344	-1.42	-146.6	524.1	-12.6	251	4348	0.00	2.40	0.00	0.000	6	0.000	0.054	2455	2053	3430
4669	-1.42	-146.6	562.2	-11.9	272	4674	0.00	2.78	0.00	0.000	4	0.000	0.087	2455	3533	3430
4701	-1.42	-146.6	565.8	-13.0	274	4705	0.00	2.83	0.00	0.000	6	0.000	0.091	2455	2059	3430
5029	-1.42	-146.6	605.0	-12.4	295	5033	0.00	2.85	0.00	0.000	4	0.000	0.090	2455	3534	3428
5176	-1.42	-146.6	625.6	-11.9	304	5181	0.00	2.78	0.00	0.000	6	0.000	0.091	2455	2091	3428
5372	end dive: BOTTOM_OBSTACLE_DETECTED
state	5372	begin apogee
5380	-0.33	0.0	650.0	12.5	317	5517	1.02	0.00	132.90	1.270	6	0.086	0.000	2671	1846	2831
5517	end apogee: CONTROL_FINISHED_OK
state	5517	begin climb
5521	1.44	146.6	655.8	0.0	326	5663	1.75	2.72	133.30	1.221	4	0.056	0.077	3056	445	2233
5796	1.47	242.0	638.5	5.7	342	5888	0.00	2.58	86.55	1.191	6	0.000	0.058	3057	1869	1844
6208	1.43	242.0	596.8	12.0	369	6212	0.00	2.62	0.00	0.000	4	0.000	0.083	3057	3244	1843
6263	1.43	242.0	590.4	11.9	372	6270	0.00	2.65	0.00	0.000	6	0.000	0.086	3057	1867	1843
6583	1.43	242.0	552.8	11.2	393	6588	0.00	2.62	0.00	0.000	4	0.000	0.082	3057	3235	1842
6630	1.44	243.7	548.0	9.9	396	6634	0.00	2.60	0.00	0.000	6	0.000	0.087	3057	1876	1842
6955	1.44	243.7	509.7	12.4	417	6959	0.00	2.62	0.00	0.000	4	0.000	0.081	3056	3245	1841
6983	1.44	243.7	506.2	12.0	419	6988	0.00	2.58	0.00	0.000	6	0.000	0.084	3057	1896	1841
7308	1.44	243.7	469.8	12.1	440	7312	0.00	2.67	0.00	0.000	4	0.000	0.074	3057	436	1841
7354	1.37	243.7	464.0	12.5	443	7359	0.00	2.60	0.00	0.000	6	0.000	0.058	3057	1870	1840
7679	1.37	243.7	424.6	11.8	464	7683	0.00	2.58	0.00	0.000	4	0.000	0.080	3057	3253	1840
7700	1.37	243.7	421.9	12.0	465	7707	0.00	2.62	0.00	0.000	6	0.000	0.083	3057	1870	1840
8021	1.37	243.7	382.3	13.5	486	8022	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1870	1839
8332	1.37	243.7	339.7	13.4	506	8336	0.00	2.60	0.00	0.000	4	0.000	0.073	3057	3253	1839
8387	1.37	243.7	332.1	13.0	509	8393	0.00	2.60	0.00	0.000	6	0.000	0.074	3057	1860	1839
8707	1.37	243.7	295.3	10.9	530	8711	0.00	2.60	0.00	0.000	4	0.000	0.070	3057	3253	1839
8740	1.37	243.7	291.4	11.5	532	8744	0.00	2.55	0.00	0.000	6	0.000	0.071	3057	1877	1839
9059	1.39	255.5	259.8	9.5	552	9077	0.00	2.65	12.20	0.920	4	0.000	0.067	3057	3256	1789
9117	1.40	259.4	254.4	9.8	555	9129	0.00	2.53	5.32	0.761	6	0.000	0.069	3057	1898	1773
9442	1.42	274.0	225.1	9.3	576	9462	0.00	2.60	13.90	0.909	4	0.000	0.066	3057	3257	1713
9486	1.42	274.0	220.5	10.7	578	9492	0.00	2.50	0.00	0.000	6	0.000	0.067	3057	1911	1713
9805	1.42	274.0	185.5	10.9	599	9810	0.00	2.50	0.00	0.000	4	0.000	0.065	3057	3258	1713
9845	1.45	274.0	181.1	11.5	601	9851	0.00	2.45	0.00	0.000	6	0.000	0.064	3057	1920	1713
10166	1.45	274.0	140.5	12.9	621	10170	0.00	2.47	0.00	0.000	4	0.000	0.064	3057	3258	1714
10199	1.49	274.0	135.8	13.0	622	10206	0.00	2.42	0.00	0.000	6	0.000	0.063	3057	1928	1714
10517	1.49	274.0	100.1	10.6	638	10521	0.00	2.45	0.00	0.000	4	0.000	0.064	3057	3257	1715
10552	1.57	296.3	96.6	9.0	639	10581	0.12	2.40	20.08	0.835	6	0.063	0.063	3091	1935	1623
10894	1.52	296.3	53.2	11.4	656	10895	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	1935	1623
11200	1.48	296.3	17.6	10.8	671	11205	0.12	2.45	0.00	0.000	4	0.101	0.063	3068	3262	1623
11245	1.52	296.3	11.5	13.3	673	11249	0.00	2.38	0.00	0.000	6	0.000	0.061	3068	1954	1624
11316	end climb: SURFACE_DEPTH_REACHED
state	11316	begin surface coast
11338	end surface coast: CONTROL_FINISHED_OK
state	11338	begin surface