Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 457 * 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 457 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 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 -109005.95 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 -109005.95

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 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 457 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 173136,6211.264,-934.675,38,0.9,42,-9.8 TGT_NAME AE

_CALLS 3 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.250,-0.083

_SM_DEPTHo 1.12 KALMAN_X -294172.8,1111.5,-250.4,462248.8,-5195.9

_SM_ANGLEo -59.2 KALMAN_Y 121975.6,691.3,-563.2,-264679.6,2159.7

GPS2 174326,6211.288,-934.822,12,1.1,12,-9.8 MHEAD_RNG_PITCHd_Wd 118.3,38032,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027272 ALTIM_BOTTOM_PING 570.6,71.7

SM_CCo 11001,0.00,0.000,0,0,1566,310.30 _24V_AH 23.6,72.927

SM_GC 1.15,11.75,0.00,0.00,0.044,0.000,0.000,425,2146,1566,-10.58,0.45,310.30 _10V_AH 10.1,32.737

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31755,650

TT8_MAMPS 0.029146 CAP_FILE_SIZE 101300,0

HUMID 1842 CFSIZE 254472192,227545088

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

XPDR_PINGS 40 GPS 061109,204900,6211.460,-931.736,45,1.4,45,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 106.15 SBE_CT 444 24 251.97

Roll_motor 119 86 245.30 SBE_O2 473 19 212.50

VBD_pump_during_apogee 418 1245 12299.43 WL_BB2F 385 105 954.54

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 275.36 nil 0 0 0.00

Iridium_during_connect 87 160 330.21 nil 0 0 0.00

Iridium_during_xfer 251 223 1326.03

Transponder_ping 15 420 148.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.17

TT8 1168 19 233.69

LPSleep 7919 2 175.18

TT8_Active 506 19 101.23

TT8_Sampling 1380 39 554.96

TT8_CF8 733 45 339.51

TT8_Kalman 33 81 27.56

Analog_circuits 1242 12 150.61

GPS_charging 0 0 0.00

Compass 1342 8 108.44

RAFOS 0 0 0.00

Transponder 37 30 11.35

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

19 -1.44 -146.6 0.0 0.0 0 82 0.00 0.00 -61.17 0.000 2 0.000 0.000 417 2156 2782

86 -1.44 -146.6 2.7 -3.8 3 129 11.25 2.65 -21.55 0.000 4 0.166 0.067 2422 702 3430

170 -1.38 -146.6 13.5 -15.2 6 177 0.10 2.55 0.00 0.000 6 0.117 0.047 2441 2133 3431

486 -1.31 -146.6 64.7 -16.5 22 491 0.00 2.58 0.00 0.000 4 0.000 0.058 2441 717 3431

515 -1.26 -146.6 70.0 -17.9 23 520 0.15 2.50 0.00 0.000 6 0.098 0.048 2470 2117 3431

833 -1.26 -146.6 109.9 -13.4 38 835 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2118 3431

1140 -1.26 -146.6 150.3 -13.3 53 1144 0.00 2.55 0.00 0.000 4 0.000 0.058 2471 713 3431

1231 -1.26 -146.6 161.6 -11.6 58 1237 0.00 2.47 0.00 0.000 6 0.000 0.047 2471 2108 3431

1550 -1.26 -146.6 201.1 -12.2 79 1554 0.00 2.62 0.00 0.000 4 0.000 0.072 2471 3534 3431

1582 -1.26 -146.6 205.1 -12.0 81 1587 0.00 2.67 0.00 0.000 6 0.000 0.072 2471 2101 3431

1903 -1.26 -146.6 240.5 -10.9 101 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2099 3431

2215 -1.26 -146.6 276.7 -11.8 121 2219 0.00 2.47 0.00 0.000 4 0.000 0.062 2471 707 3431

2267 -1.30 -146.6 283.4 -12.3 124 2271 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2110 3431

2593 -1.30 -146.6 323.4 -13.3 145 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2110 3431

2904 -1.30 -146.6 362.9 -12.9 165 2905 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2111 3431

3217 -1.30 -146.6 403.1 -12.8 185 3221 0.00 2.55 0.00 0.000 4 0.000 0.064 2470 713 3431

3279 -1.34 -146.6 411.5 -13.5 189 3284 0.00 2.47 0.00 0.000 6 0.000 0.051 2471 2104 3431

3606 -1.34 -146.6 450.4 -11.7 210 3611 0.00 2.65 0.00 0.000 4 0.000 0.080 2471 3535 3431

3696 -1.34 -146.6 461.6 -12.5 215 3703 0.00 2.65 0.00 0.000 6 0.000 0.084 2471 2139 3431

4016 -1.37 -146.6 502.5 -13.4 236 4021 0.12 2.55 0.00 0.000 4 0.062 0.066 2438 716 3431

4200 -1.37 -146.6 531.1 -15.2 247 4205 0.00 2.47 0.00 0.000 6 0.000 0.052 2438 2100 3431

4525 -1.34 -146.6 575.1 -14.1 267 4529 0.00 2.58 0.00 0.000 4 0.000 0.072 2439 713 3430

4570 -1.34 -146.6 582.1 -13.6 270 4574 0.00 2.47 0.00 0.000 6 0.000 0.057 2438 2083 3430

4894 -1.34 -146.6 625.3 -12.8 291 4899 0.00 2.55 0.00 0.000 4 0.000 0.073 2439 710 3429

4924 -1.34 -146.6 629.2 -13.4 293 4929 0.00 2.47 0.00 0.000 6 0.000 0.060 2438 2072 3429

4949 end dive: BOTTOM_OBSTACLE_DETECTED

state 4949 begin apogee

4957 -0.33 0.0 632.9 12.9 295 5095 1.10 0.00 134.12 1.246 6 0.087 0.000 2669 1837 2831

5096 end apogee: CONTROL_FINISHED_OK

state 5096 begin climb

5099 1.44 146.6 638.7 0.0 304 5242 1.77 2.67 134.20 1.200 4 0.063 0.074 3053 454 2233

5274 1.35 171.1 630.8 8.9 314 5304 0.00 2.58 23.48 1.131 6 0.000 0.058 3053 1861 2134

5630 1.33 181.4 597.9 9.5 337 5643 0.00 0.00 10.40 1.046 6 0.000 0.000 3053 1870 2091

5953 1.28 181.4 564.3 10.7 358 5955 0.15 0.00 0.00 0.000 6 0.102 0.000 3026 1870 2090

6265 1.33 210.5 536.4 8.7 378 6298 0.00 2.78 26.88 1.160 4 0.000 0.076 3026 449 1972

6343 1.33 210.5 529.0 10.1 382 6350 0.00 2.58 0.00 0.000 6 0.000 0.061 3026 1847 1972

6663 1.44 258.6 502.3 7.8 403 6715 0.15 2.75 43.40 1.168 4 0.063 0.080 3062 3260 1776

6728 1.44 258.6 496.1 10.4 407 6733 0.00 2.75 0.00 0.000 6 0.000 0.087 3062 1854 1775

7053 1.40 258.6 456.9 13.7 428 7057 0.00 2.60 0.00 0.000 4 0.000 0.073 3062 434 1775

7121 1.33 258.6 446.6 15.5 432 7126 0.15 2.55 0.00 0.000 6 0.104 0.058 3035 1834 1775

7440 1.33 258.6 408.4 12.4 452 7444 0.00 2.62 0.00 0.000 4 0.000 0.075 3034 3255 1774

7473 1.37 258.6 404.1 12.9 454 7478 0.00 2.70 0.00 0.000 6 0.000 0.077 3034 1822 1774

7793 1.42 285.8 372.6 8.8 474 7827 0.00 2.78 23.98 1.071 4 0.000 0.071 3035 3255 1666

7867 1.49 285.8 365.3 10.3 478 7872 0.15 2.67 0.00 0.000 6 0.061 0.074 3071 1840 1666

8189 1.45 285.8 326.2 12.8 498 8194 0.00 2.62 0.00 0.000 4 0.000 0.069 3071 3252 1667

8240 1.45 285.8 318.8 13.3 501 8244 0.00 2.60 0.00 0.000 6 0.000 0.072 3071 1858 1667

8560 1.41 285.8 275.7 13.7 521 8564 0.00 2.60 0.00 0.000 4 0.000 0.067 3071 3255 1667

8623 1.41 285.8 267.2 13.5 525 8627 0.00 2.53 0.00 0.000 6 0.000 0.068 3071 1882 1667

8947 1.41 285.8 224.2 13.3 546 8951 0.00 2.55 0.00 0.000 4 0.000 0.064 3071 3258 1667

8976 1.41 285.8 220.3 13.8 548 8980 0.00 2.50 0.00 0.000 6 0.000 0.066 3071 1895 1667

9301 1.41 285.8 180.3 12.1 569 9305 0.00 2.53 0.00 0.000 4 0.000 0.064 3071 3263 1668

9317 1.41 285.8 178.2 11.7 570 9322 0.00 2.47 0.00 0.000 6 0.000 0.062 3071 1904 1668

9642 1.41 285.8 137.4 13.7 589 9646 0.00 2.50 0.00 0.000 4 0.000 0.062 3071 3262 1668

9676 1.41 285.8 132.6 13.0 590 9682 0.00 2.42 0.00 0.000 6 0.000 0.061 3071 1923 1668

9993 1.41 285.8 92.2 12.2 606 9998 0.00 2.65 0.00 0.000 4 0.000 0.061 3071 436 1669

10022 1.37 285.8 88.2 13.1 607 10027 0.15 2.67 0.00 0.000 6 0.093 0.047 3042 1949 1669

10340 1.43 285.8 54.8 10.5 622 10341 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 1966 1669

10648 1.52 309.6 26.8 8.9 637 10678 0.15 2.80 21.95 0.786 4 0.053 0.058 3082 438 1567

10685 1.52 309.6 23.5 11.1 638 10691 0.00 2.67 0.00 0.000 6 0.000 0.045 3082 1936 1567

10895 end climb: SURFACE_DEPTH_REACHED

state 10895 begin surface coast

10917 end surface coast: CONTROL_FINISHED_OK

state 10917 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	457	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	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	-109005.95	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	173136,6211.264,-934.675,38,0.9,42,-9.8	TGT_NAME	AE
_CALLS	3	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.250,-0.083
_SM_DEPTHo	1.12	KALMAN_X	-294172.8,1111.5,-250.4,462248.8,-5195.9
_SM_ANGLEo	-59.2	KALMAN_Y	121975.6,691.3,-563.2,-264679.6,2159.7
GPS2	174326,6211.288,-934.822,12,1.1,12,-9.8	MHEAD_RNG_PITCHd_Wd	118.3,38032,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.027272	ALTIM_BOTTOM_PING	570.6,71.7
SM_CCo	11001,0.00,0.000,0,0,1566,310.30	_24V_AH	23.6,72.927
SM_GC	1.15,11.75,0.00,0.00,0.044,0.000,0.000,425,2146,1566,-10.58,0.45,310.30	_10V_AH	10.1,32.737
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31755,650
TT8_MAMPS	0.029146	CAP_FILE_SIZE	101300,0
HUMID	1842	CFSIZE	254472192,227545088
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
XPDR_PINGS	40	GPS	061109,204900,6211.460,-931.736,45,1.4,45,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	106.15	SBE_CT	444	24	251.97
Roll_motor	119	86	245.30	SBE_O2	473	19	212.50
VBD_pump_during_apogee	418	1245	12299.43	WL_BB2F	385	105	954.54
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	275.36	nil	0	0	0.00
Iridium_during_connect	87	160	330.21	nil	0	0	0.00
Iridium_during_xfer	251	223	1326.03
Transponder_ping	15	420	148.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.17
TT8	1168	19	233.69
LPSleep	7919	2	175.18
TT8_Active	506	19	101.23
TT8_Sampling	1380	39	554.96
TT8_CF8	733	45	339.51
TT8_Kalman	33	81	27.56
Analog_circuits	1242	12	150.61
GPS_charging	0	0	0.00
Compass	1342	8	108.44
RAFOS	0	0	0.00
Transponder	37	30	11.35

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
19	-1.44	-146.6	0.0	0.0	0	82	0.00	0.00	-61.17	0.000	2	0.000	0.000	417	2156	2782
86	-1.44	-146.6	2.7	-3.8	3	129	11.25	2.65	-21.55	0.000	4	0.166	0.067	2422	702	3430
170	-1.38	-146.6	13.5	-15.2	6	177	0.10	2.55	0.00	0.000	6	0.117	0.047	2441	2133	3431
486	-1.31	-146.6	64.7	-16.5	22	491	0.00	2.58	0.00	0.000	4	0.000	0.058	2441	717	3431
515	-1.26	-146.6	70.0	-17.9	23	520	0.15	2.50	0.00	0.000	6	0.098	0.048	2470	2117	3431
833	-1.26	-146.6	109.9	-13.4	38	835	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2118	3431
1140	-1.26	-146.6	150.3	-13.3	53	1144	0.00	2.55	0.00	0.000	4	0.000	0.058	2471	713	3431
1231	-1.26	-146.6	161.6	-11.6	58	1237	0.00	2.47	0.00	0.000	6	0.000	0.047	2471	2108	3431
1550	-1.26	-146.6	201.1	-12.2	79	1554	0.00	2.62	0.00	0.000	4	0.000	0.072	2471	3534	3431
1582	-1.26	-146.6	205.1	-12.0	81	1587	0.00	2.67	0.00	0.000	6	0.000	0.072	2471	2101	3431
1903	-1.26	-146.6	240.5	-10.9	101	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2099	3431
2215	-1.26	-146.6	276.7	-11.8	121	2219	0.00	2.47	0.00	0.000	4	0.000	0.062	2471	707	3431
2267	-1.30	-146.6	283.4	-12.3	124	2271	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2110	3431
2593	-1.30	-146.6	323.4	-13.3	145	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2110	3431
2904	-1.30	-146.6	362.9	-12.9	165	2905	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2111	3431
3217	-1.30	-146.6	403.1	-12.8	185	3221	0.00	2.55	0.00	0.000	4	0.000	0.064	2470	713	3431
3279	-1.34	-146.6	411.5	-13.5	189	3284	0.00	2.47	0.00	0.000	6	0.000	0.051	2471	2104	3431
3606	-1.34	-146.6	450.4	-11.7	210	3611	0.00	2.65	0.00	0.000	4	0.000	0.080	2471	3535	3431
3696	-1.34	-146.6	461.6	-12.5	215	3703	0.00	2.65	0.00	0.000	6	0.000	0.084	2471	2139	3431
4016	-1.37	-146.6	502.5	-13.4	236	4021	0.12	2.55	0.00	0.000	4	0.062	0.066	2438	716	3431
4200	-1.37	-146.6	531.1	-15.2	247	4205	0.00	2.47	0.00	0.000	6	0.000	0.052	2438	2100	3431
4525	-1.34	-146.6	575.1	-14.1	267	4529	0.00	2.58	0.00	0.000	4	0.000	0.072	2439	713	3430
4570	-1.34	-146.6	582.1	-13.6	270	4574	0.00	2.47	0.00	0.000	6	0.000	0.057	2438	2083	3430
4894	-1.34	-146.6	625.3	-12.8	291	4899	0.00	2.55	0.00	0.000	4	0.000	0.073	2439	710	3429
4924	-1.34	-146.6	629.2	-13.4	293	4929	0.00	2.47	0.00	0.000	6	0.000	0.060	2438	2072	3429
4949	end dive: BOTTOM_OBSTACLE_DETECTED
state	4949	begin apogee
4957	-0.33	0.0	632.9	12.9	295	5095	1.10	0.00	134.12	1.246	6	0.087	0.000	2669	1837	2831
5096	end apogee: CONTROL_FINISHED_OK
state	5096	begin climb
5099	1.44	146.6	638.7	0.0	304	5242	1.77	2.67	134.20	1.200	4	0.063	0.074	3053	454	2233
5274	1.35	171.1	630.8	8.9	314	5304	0.00	2.58	23.48	1.131	6	0.000	0.058	3053	1861	2134
5630	1.33	181.4	597.9	9.5	337	5643	0.00	0.00	10.40	1.046	6	0.000	0.000	3053	1870	2091
5953	1.28	181.4	564.3	10.7	358	5955	0.15	0.00	0.00	0.000	6	0.102	0.000	3026	1870	2090
6265	1.33	210.5	536.4	8.7	378	6298	0.00	2.78	26.88	1.160	4	0.000	0.076	3026	449	1972
6343	1.33	210.5	529.0	10.1	382	6350	0.00	2.58	0.00	0.000	6	0.000	0.061	3026	1847	1972
6663	1.44	258.6	502.3	7.8	403	6715	0.15	2.75	43.40	1.168	4	0.063	0.080	3062	3260	1776
6728	1.44	258.6	496.1	10.4	407	6733	0.00	2.75	0.00	0.000	6	0.000	0.087	3062	1854	1775
7053	1.40	258.6	456.9	13.7	428	7057	0.00	2.60	0.00	0.000	4	0.000	0.073	3062	434	1775
7121	1.33	258.6	446.6	15.5	432	7126	0.15	2.55	0.00	0.000	6	0.104	0.058	3035	1834	1775
7440	1.33	258.6	408.4	12.4	452	7444	0.00	2.62	0.00	0.000	4	0.000	0.075	3034	3255	1774
7473	1.37	258.6	404.1	12.9	454	7478	0.00	2.70	0.00	0.000	6	0.000	0.077	3034	1822	1774
7793	1.42	285.8	372.6	8.8	474	7827	0.00	2.78	23.98	1.071	4	0.000	0.071	3035	3255	1666
7867	1.49	285.8	365.3	10.3	478	7872	0.15	2.67	0.00	0.000	6	0.061	0.074	3071	1840	1666
8189	1.45	285.8	326.2	12.8	498	8194	0.00	2.62	0.00	0.000	4	0.000	0.069	3071	3252	1667
8240	1.45	285.8	318.8	13.3	501	8244	0.00	2.60	0.00	0.000	6	0.000	0.072	3071	1858	1667
8560	1.41	285.8	275.7	13.7	521	8564	0.00	2.60	0.00	0.000	4	0.000	0.067	3071	3255	1667
8623	1.41	285.8	267.2	13.5	525	8627	0.00	2.53	0.00	0.000	6	0.000	0.068	3071	1882	1667
8947	1.41	285.8	224.2	13.3	546	8951	0.00	2.55	0.00	0.000	4	0.000	0.064	3071	3258	1667
8976	1.41	285.8	220.3	13.8	548	8980	0.00	2.50	0.00	0.000	6	0.000	0.066	3071	1895	1667
9301	1.41	285.8	180.3	12.1	569	9305	0.00	2.53	0.00	0.000	4	0.000	0.064	3071	3263	1668
9317	1.41	285.8	178.2	11.7	570	9322	0.00	2.47	0.00	0.000	6	0.000	0.062	3071	1904	1668
9642	1.41	285.8	137.4	13.7	589	9646	0.00	2.50	0.00	0.000	4	0.000	0.062	3071	3262	1668
9676	1.41	285.8	132.6	13.0	590	9682	0.00	2.42	0.00	0.000	6	0.000	0.061	3071	1923	1668
9993	1.41	285.8	92.2	12.2	606	9998	0.00	2.65	0.00	0.000	4	0.000	0.061	3071	436	1669
10022	1.37	285.8	88.2	13.1	607	10027	0.15	2.67	0.00	0.000	6	0.093	0.047	3042	1949	1669
10340	1.43	285.8	54.8	10.5	622	10341	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	1966	1669
10648	1.52	309.6	26.8	8.9	637	10678	0.15	2.80	21.95	0.786	4	0.053	0.058	3082	438	1567
10685	1.52	309.6	23.5	11.1	638	10691	0.00	2.67	0.00	0.000	6	0.000	0.045	3082	1936	1567
10895	end climb: SURFACE_DEPTH_REACHED
state	10895	begin surface coast
10917	end surface coast: CONTROL_FINISHED_OK
state	10917	begin surface