Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 110 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 11 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 110 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2650 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 225 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2902 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -145186.3 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2440 PRESSURE_YINT -12.802039 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 225

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -12.802039 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 550

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -145186.3

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2440 KALMAN_USE 1 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2650 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 8 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 11 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 110 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 164906,6254.501,-1055.034,38,2.0,43,-10.8 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.133,-0.173

_SM_DEPTHo 1.41 KALMAN_X 128160.9,-2574.0,-2283.0,-184405.6,49284.2

_SM_ANGLEo -57.0 KALMAN_Y 62605.2,-3266.0,-1731.8,45888.5,69388.0

GPS2 165415,6254.613,-1054.821,11,2.4,30,-10.8 MHEAD_RNG_PITCHd_Wd 228.4,59754,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.002889 ALTIM_BOTTOM_PING 426.3,44.1

SM_CCo 12429,0.00,0.000,0,0,1941,235.73 _24V_AH 23.5,25.092

SM_GC 2.08,11.75,0.00,0.00,0.030,0.000,0.000,47,2644,1941,-10.93,-0.17,235.73 _10V_AH 10.1,13.330

IRIDIUM_FIX 6225.82,-1103.81,110698,131335 DATA_FILE_SIZE 28578,591

TT8_MAMPS 0.028379 CAP_FILE_SIZE 84998,0

HUMID 1771 CFSIZE 260165632,250966016

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 170309,202336,6256.470,-1051.649,39,1.3,45,-10.8

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 99.26 SBE_CT 416 24 234.98

Roll_motor 89 94 197.87 SBE_O2 431 19 192.64

VBD_pump_during_apogee 319 974 7307.42 WL_BB2F 441 105 1089.61

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 30 103 73.29 nil 0 0 0.00

Iridium_during_connect 30 160 115.95 nil 0 0 0.00

Iridium_during_xfer 115 223 604.65

Transponder_ping 3 420 34.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.05

TT8 1086 19 217.29

LPSleep 9515 2 210.48

TT8_Active 394 19 78.83

TT8_Sampling 1335 39 537.01

TT8_CF8 406 45 187.97

TT8_Kalman 33 81 27.57

Analog_circuits 1059 12 128.45

GPS_charging 0 0 0.00

Compass 1291 8 104.39

RAFOS 0 0 0.00

Transponder 26 30 8.05

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 -1.10 -146.6 0.0 0.0 0 78 0.00 0.00 -60.88 0.000 6 0.000 0.000 48 2654 3501

82 -1.10 -146.6 5.8 -10.6 3 98 12.25 0.00 0.00 0.000 6 0.160 0.000 2192 2654 3501

409 -1.10 -146.6 42.7 -7.3 19 412 0.00 2.20 0.00 0.000 4 0.000 0.094 2193 3786 3502

478 -1.10 -146.6 48.6 -8.8 22 482 0.00 2.10 0.00 0.000 6 0.000 0.064 2193 2650 3502

812 -1.10 -146.6 75.2 -8.0 38 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2649 3502

1120 -1.10 -146.6 99.6 -8.0 53 1121 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2650 3502

1430 -1.10 -146.6 124.1 -7.6 68 1433 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3793 3502

1486 -1.10 -146.6 128.6 -7.6 70 1489 0.00 2.10 0.00 0.000 6 0.000 0.061 2193 2647 3502

1807 -1.10 -146.6 153.8 -7.8 86 1808 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3502

2117 -1.10 -146.6 177.6 -7.5 101 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2647 3502

2427 -1.10 -146.6 201.5 -7.8 116 2430 0.00 2.22 0.00 0.000 4 0.000 0.089 2193 3792 3502

2472 -1.10 -146.6 205.2 -8.8 118 2476 0.00 2.10 0.00 0.000 6 0.000 0.061 2193 2643 3502

2805 -1.10 -146.6 232.7 -8.4 134 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2643 3502

3114 -1.10 -146.6 259.7 -8.9 149 3118 0.00 2.22 0.00 0.000 4 0.000 0.088 2193 3792 3502

3182 -1.10 -146.6 265.9 -9.1 152 3186 0.00 2.10 0.00 0.000 6 0.000 0.061 2193 2643 3502

3515 -1.10 -146.6 296.1 -9.1 168 3516 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2642 3502

3824 -1.10 -146.6 323.5 -8.8 183 3825 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2642 3502

4134 -1.10 -146.6 351.8 -9.9 198 4138 0.00 2.22 0.00 0.000 4 0.000 0.088 2193 3794 3502

4207 -1.10 -146.6 359.6 -10.9 201 4211 0.00 2.10 0.00 0.000 6 0.000 0.058 2193 2640 3502

4534 -1.10 -146.6 391.2 -8.9 217 4536 0.00 0.00 0.00 0.000 6 0.000 0.000 2193 2640 3502

4844 -1.10 -146.6 416.9 -8.0 232 4847 0.00 2.22 0.00 0.000 4 0.000 0.090 2193 3787 3502

4890 -1.10 -146.6 420.4 -8.6 234 4893 0.00 2.08 0.00 0.000 6 0.000 0.059 2193 2644 3502

5222 -1.10 -146.6 441.8 -6.7 250 5226 0.00 2.22 0.00 0.000 4 0.000 0.091 2193 3792 3502

5290 -1.10 -146.6 446.8 -7.5 253 5294 0.00 2.08 0.00 0.000 6 0.000 0.058 2193 2646 3502

5496 end dive: BOTTOM_OBSTACLE_DETECTED

state 5497 begin apogee

5505 -0.42 0.0 461.4 7.3 263 5630 0.77 0.00 121.65 0.974 6 0.101 0.000 2345 2001 2901

5631 end apogee: CONTROL_FINISHED_OK

state 5631 begin climb

5634 1.10 146.6 465.5 0.0 269 5764 1.58 2.70 119.03 0.941 4 0.064 0.066 2678 590 2303

6017 1.17 201.8 452.0 4.5 286 6070 0.00 2.53 46.00 0.927 6 0.000 0.038 2678 2024 2079

6382 1.19 219.5 431.0 5.5 304 6404 0.00 2.72 16.17 0.892 4 0.000 0.065 2678 588 2005

6489 1.20 227.5 424.5 5.8 308 6505 0.12 2.53 8.02 0.804 6 0.046 0.041 2718 2007 1974

6827 1.20 227.5 399.9 7.7 325 6831 0.00 2.60 0.00 0.000 4 0.000 0.069 2718 3406 1973

6854 1.20 227.5 397.8 8.0 326 6858 0.00 2.58 0.00 0.000 6 0.000 0.051 2719 1985 1973

7170 1.20 227.5 375.7 6.5 341 7171 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1985 1973

7480 1.21 236.1 356.8 5.8 356 7494 0.00 2.62 8.35 0.817 4 0.000 0.064 2719 593 1939

7562 1.21 236.1 351.4 6.4 359 7569 0.00 2.50 0.00 0.000 6 0.000 0.040 2718 2005 1939

7878 1.21 236.1 332.1 6.4 375 7879 0.00 0.00 0.00 0.000 6 0.000 0.000 2719 2006 1939

8188 1.21 236.1 310.8 6.9 390 8192 0.00 2.60 0.00 0.000 4 0.000 0.070 2718 3408 1939

8215 1.21 236.1 308.9 7.7 391 8219 0.00 2.55 0.00 0.000 6 0.000 0.053 2718 2000 1939

8531 1.21 236.1 288.1 6.7 406 8532 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2000 1939

8840 1.21 236.1 267.0 7.3 421 8844 0.00 2.58 0.00 0.000 4 0.000 0.063 2718 582 1939

8886 1.21 236.1 263.5 7.9 423 8890 0.00 2.50 0.00 0.000 6 0.000 0.040 2719 2007 1939

9212 1.21 236.1 241.3 6.6 439 9217 0.00 2.60 0.00 0.000 4 0.000 0.070 2718 3414 1939

9246 1.21 236.1 239.0 6.8 440 9252 0.00 2.55 0.00 0.000 6 0.000 0.052 2718 1995 1939

9562 1.21 236.1 218.0 6.8 456 9563 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1994 1939

9871 1.21 236.1 195.9 7.5 471 9872 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1995 1939

10181 1.21 236.1 171.7 7.9 486 10182 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1995 1939

10490 1.21 236.1 145.8 8.2 501 10495 0.00 2.65 0.00 0.000 4 0.000 0.070 2718 3415 1940

10540 1.21 236.1 141.3 9.0 503 10545 0.00 2.58 0.00 0.000 6 0.000 0.054 2719 1990 1940

10858 1.21 236.1 115.6 8.1 518 10862 0.00 2.55 0.00 0.000 4 0.000 0.064 2718 590 1940

10882 1.21 236.1 113.5 8.4 519 10886 0.00 2.47 0.00 0.000 6 0.000 0.040 2718 2001 1940

11203 1.21 236.1 88.5 7.7 535 11208 0.00 2.60 0.00 0.000 4 0.000 0.069 2719 3415 1940

11226 1.21 236.1 86.7 7.6 536 11230 0.00 2.58 0.00 0.000 6 0.000 0.054 2719 1989 1940

11548 1.21 236.1 64.0 7.2 552 11549 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 1989 1940

11857 1.21 236.1 40.6 7.4 567 11861 0.00 2.55 0.00 0.000 4 0.000 0.065 2718 590 1941

11901 1.21 236.1 36.0 10.7 569 11905 0.00 2.47 0.00 0.000 6 0.000 0.038 2718 2011 1940

12222 1.21 236.1 10.0 7.4 585 12223 0.00 0.00 0.00 0.000 6 0.000 0.000 2718 2012 1941

12322 end climb: SURFACE_DEPTH_REACHED

state 12322 begin surface coast

12344 end surface coast: CONTROL_FINISHED_OK

state 12344 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	11	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	110	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2650	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	225	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2902	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-145186.3	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2440	PRESSURE_YINT	-12.802039	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	164906,6254.501,-1055.034,38,2.0,43,-10.8	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.133,-0.173
_SM_DEPTHo	1.41	KALMAN_X	128160.9,-2574.0,-2283.0,-184405.6,49284.2
_SM_ANGLEo	-57.0	KALMAN_Y	62605.2,-3266.0,-1731.8,45888.5,69388.0
GPS2	165415,6254.613,-1054.821,11,2.4,30,-10.8	MHEAD_RNG_PITCHd_Wd	228.4,59754,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	990

FINISH	0.6,1.002889	ALTIM_BOTTOM_PING	426.3,44.1
SM_CCo	12429,0.00,0.000,0,0,1941,235.73	_24V_AH	23.5,25.092
SM_GC	2.08,11.75,0.00,0.00,0.030,0.000,0.000,47,2644,1941,-10.93,-0.17,235.73	_10V_AH	10.1,13.330
IRIDIUM_FIX	6225.82,-1103.81,110698,131335	DATA_FILE_SIZE	28578,591
TT8_MAMPS	0.028379	CAP_FILE_SIZE	84998,0
HUMID	1771	CFSIZE	260165632,250966016
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	170309,202336,6256.470,-1051.649,39,1.3,45,-10.8
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	99.26	SBE_CT	416	24	234.98
Roll_motor	89	94	197.87	SBE_O2	431	19	192.64
VBD_pump_during_apogee	319	974	7307.42	WL_BB2F	441	105	1089.61
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	30	103	73.29	nil	0	0	0.00
Iridium_during_connect	30	160	115.95	nil	0	0	0.00
Iridium_during_xfer	115	223	604.65
Transponder_ping	3	420	34.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.05
TT8	1086	19	217.29
LPSleep	9515	2	210.48
TT8_Active	394	19	78.83
TT8_Sampling	1335	39	537.01
TT8_CF8	406	45	187.97
TT8_Kalman	33	81	27.57
Analog_circuits	1059	12	128.45
GPS_charging	0	0	0.00
Compass	1291	8	104.39
RAFOS	0	0	0.00
Transponder	26	30	8.05

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	-1.10	-146.6	0.0	0.0	0	78	0.00	0.00	-60.88	0.000	6	0.000	0.000	48	2654	3501
82	-1.10	-146.6	5.8	-10.6	3	98	12.25	0.00	0.00	0.000	6	0.160	0.000	2192	2654	3501
409	-1.10	-146.6	42.7	-7.3	19	412	0.00	2.20	0.00	0.000	4	0.000	0.094	2193	3786	3502
478	-1.10	-146.6	48.6	-8.8	22	482	0.00	2.10	0.00	0.000	6	0.000	0.064	2193	2650	3502
812	-1.10	-146.6	75.2	-8.0	38	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2649	3502
1120	-1.10	-146.6	99.6	-8.0	53	1121	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2650	3502
1430	-1.10	-146.6	124.1	-7.6	68	1433	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3793	3502
1486	-1.10	-146.6	128.6	-7.6	70	1489	0.00	2.10	0.00	0.000	6	0.000	0.061	2193	2647	3502
1807	-1.10	-146.6	153.8	-7.8	86	1808	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3502
2117	-1.10	-146.6	177.6	-7.5	101	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2647	3502
2427	-1.10	-146.6	201.5	-7.8	116	2430	0.00	2.22	0.00	0.000	4	0.000	0.089	2193	3792	3502
2472	-1.10	-146.6	205.2	-8.8	118	2476	0.00	2.10	0.00	0.000	6	0.000	0.061	2193	2643	3502
2805	-1.10	-146.6	232.7	-8.4	134	2806	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2643	3502
3114	-1.10	-146.6	259.7	-8.9	149	3118	0.00	2.22	0.00	0.000	4	0.000	0.088	2193	3792	3502
3182	-1.10	-146.6	265.9	-9.1	152	3186	0.00	2.10	0.00	0.000	6	0.000	0.061	2193	2643	3502
3515	-1.10	-146.6	296.1	-9.1	168	3516	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2642	3502
3824	-1.10	-146.6	323.5	-8.8	183	3825	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2642	3502
4134	-1.10	-146.6	351.8	-9.9	198	4138	0.00	2.22	0.00	0.000	4	0.000	0.088	2193	3794	3502
4207	-1.10	-146.6	359.6	-10.9	201	4211	0.00	2.10	0.00	0.000	6	0.000	0.058	2193	2640	3502
4534	-1.10	-146.6	391.2	-8.9	217	4536	0.00	0.00	0.00	0.000	6	0.000	0.000	2193	2640	3502
4844	-1.10	-146.6	416.9	-8.0	232	4847	0.00	2.22	0.00	0.000	4	0.000	0.090	2193	3787	3502
4890	-1.10	-146.6	420.4	-8.6	234	4893	0.00	2.08	0.00	0.000	6	0.000	0.059	2193	2644	3502
5222	-1.10	-146.6	441.8	-6.7	250	5226	0.00	2.22	0.00	0.000	4	0.000	0.091	2193	3792	3502
5290	-1.10	-146.6	446.8	-7.5	253	5294	0.00	2.08	0.00	0.000	6	0.000	0.058	2193	2646	3502
5496	end dive: BOTTOM_OBSTACLE_DETECTED
state	5497	begin apogee
5505	-0.42	0.0	461.4	7.3	263	5630	0.77	0.00	121.65	0.974	6	0.101	0.000	2345	2001	2901
5631	end apogee: CONTROL_FINISHED_OK
state	5631	begin climb
5634	1.10	146.6	465.5	0.0	269	5764	1.58	2.70	119.03	0.941	4	0.064	0.066	2678	590	2303
6017	1.17	201.8	452.0	4.5	286	6070	0.00	2.53	46.00	0.927	6	0.000	0.038	2678	2024	2079
6382	1.19	219.5	431.0	5.5	304	6404	0.00	2.72	16.17	0.892	4	0.000	0.065	2678	588	2005
6489	1.20	227.5	424.5	5.8	308	6505	0.12	2.53	8.02	0.804	6	0.046	0.041	2718	2007	1974
6827	1.20	227.5	399.9	7.7	325	6831	0.00	2.60	0.00	0.000	4	0.000	0.069	2718	3406	1973
6854	1.20	227.5	397.8	8.0	326	6858	0.00	2.58	0.00	0.000	6	0.000	0.051	2719	1985	1973
7170	1.20	227.5	375.7	6.5	341	7171	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1985	1973
7480	1.21	236.1	356.8	5.8	356	7494	0.00	2.62	8.35	0.817	4	0.000	0.064	2719	593	1939
7562	1.21	236.1	351.4	6.4	359	7569	0.00	2.50	0.00	0.000	6	0.000	0.040	2718	2005	1939
7878	1.21	236.1	332.1	6.4	375	7879	0.00	0.00	0.00	0.000	6	0.000	0.000	2719	2006	1939
8188	1.21	236.1	310.8	6.9	390	8192	0.00	2.60	0.00	0.000	4	0.000	0.070	2718	3408	1939
8215	1.21	236.1	308.9	7.7	391	8219	0.00	2.55	0.00	0.000	6	0.000	0.053	2718	2000	1939
8531	1.21	236.1	288.1	6.7	406	8532	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2000	1939
8840	1.21	236.1	267.0	7.3	421	8844	0.00	2.58	0.00	0.000	4	0.000	0.063	2718	582	1939
8886	1.21	236.1	263.5	7.9	423	8890	0.00	2.50	0.00	0.000	6	0.000	0.040	2719	2007	1939
9212	1.21	236.1	241.3	6.6	439	9217	0.00	2.60	0.00	0.000	4	0.000	0.070	2718	3414	1939
9246	1.21	236.1	239.0	6.8	440	9252	0.00	2.55	0.00	0.000	6	0.000	0.052	2718	1995	1939
9562	1.21	236.1	218.0	6.8	456	9563	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1994	1939
9871	1.21	236.1	195.9	7.5	471	9872	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1995	1939
10181	1.21	236.1	171.7	7.9	486	10182	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1995	1939
10490	1.21	236.1	145.8	8.2	501	10495	0.00	2.65	0.00	0.000	4	0.000	0.070	2718	3415	1940
10540	1.21	236.1	141.3	9.0	503	10545	0.00	2.58	0.00	0.000	6	0.000	0.054	2719	1990	1940
10858	1.21	236.1	115.6	8.1	518	10862	0.00	2.55	0.00	0.000	4	0.000	0.064	2718	590	1940
10882	1.21	236.1	113.5	8.4	519	10886	0.00	2.47	0.00	0.000	6	0.000	0.040	2718	2001	1940
11203	1.21	236.1	88.5	7.7	535	11208	0.00	2.60	0.00	0.000	4	0.000	0.069	2719	3415	1940
11226	1.21	236.1	86.7	7.6	536	11230	0.00	2.58	0.00	0.000	6	0.000	0.054	2719	1989	1940
11548	1.21	236.1	64.0	7.2	552	11549	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	1989	1940
11857	1.21	236.1	40.6	7.4	567	11861	0.00	2.55	0.00	0.000	4	0.000	0.065	2718	590	1941
11901	1.21	236.1	36.0	10.7	569	11905	0.00	2.47	0.00	0.000	6	0.000	0.038	2718	2011	1940
12222	1.21	236.1	10.0	7.4	585	12223	0.00	0.00	0.00	0.000	6	0.000	0.000	2718	2012	1941
12322	end climb: SURFACE_DEPTH_REACHED
state	12322	begin surface coast
12344	end surface coast: CONTROL_FINISHED_OK
state	12344	begin surface