Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 212 * 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 212 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 27 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -104306.58 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 412.5

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 -104306.58

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 27 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 212 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 094857,6400.802,-1318.445,29,2.1,48,-12.6 TGT_NAME P3

_CALLS 2 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,-0.162

_SM_DEPTHo 1.27 KALMAN_X -29561.6,-6408.5,-1296.2,-207690.4,39951.5

_SM_ANGLEo -57.4 KALMAN_Y -15412.2,-1735.8,-609.3,284893.5,17085.4

GPS2 095813,6400.845,-1318.101,13,1.8,30,-12.6 MHEAD_RNG_PITCHd_Wd 241.2,20695,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027162 ALTIM_BOTTOM_PING 396.5,73.4

SM_CCo 9165,17.92,0.758,0,0,1608,300.00 _24V_AH 23.9,36.809

SM_GC 1.30,0.00,0.00,17.92,0.000,0.000,0.758,421,2133,1608,-10.69,0.11,300.00 _10V_AH 10.1,16.685

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28539,535

TT8_MAMPS 0.029146 CAP_FILE_SIZE 81383,0

HUMID 1831 CFSIZE 254472192,240058368

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 37 GPS 031009,123337,6359.961,-1317.473,52,1.1,52,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 162 97.84 SBE_CT 365 24 209.86

Roll_motor 82 75 150.58 SBE_O2 392 19 178.01

VBD_pump_during_apogee 358 1134 9718.29 WL_BB2F 361 105 907.43

VBD_pump_during_surface 17 757 324.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.91 nil 0 0 0.00

Iridium_during_connect 51 160 197.47 nil 0 0 0.00

Iridium_during_xfer 232 223 1240.40

Transponder_ping 12 420 125.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.33

TT8 970 19 194.01

LPSleep 6557 2 145.06

TT8_Active 453 19 90.66

TT8_Sampling 1184 39 476.31

TT8_CF8 575 45 266.00

TT8_Kalman 33 81 27.55

Analog_circuits 1058 12 128.31

GPS_charging 0 0 0.00

Compass 1144 8 92.47

RAFOS 0 0 0.00

Transponder 24 30 7.45

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 -1.22 -146.6 0.0 0.0 0 73 0.00 0.00 -55.88 0.000 2 0.000 0.000 422 2134 2689

77 -1.22 -146.6 2.3 -2.2 3 121 11.18 2.53 -24.77 0.000 4 0.163 0.075 2471 3534 3430

280 -1.13 -146.6 32.1 -16.6 12 285 0.12 2.53 0.00 0.000 6 0.108 0.049 2495 2116 3430

607 -1.13 -146.6 85.2 -15.2 28 608 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2089 3430

918 -1.13 -146.6 128.4 -13.0 43 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2089 3431

1226 -1.13 -146.6 166.3 -11.7 60 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2089 3431

1539 -1.13 -146.6 202.7 -11.7 80 1543 0.00 2.62 0.00 0.000 4 0.000 0.067 2496 3539 3432

1585 -1.13 -146.6 207.9 -12.0 83 1589 0.00 2.53 0.00 0.000 6 0.000 0.054 2496 2130 3431

1915 -1.13 -146.6 243.8 -10.2 104 1916 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2117 3432

2227 -1.13 -146.6 272.9 -8.9 124 2231 0.00 2.60 0.00 0.000 4 0.000 0.067 2496 3538 3432

2283 -1.13 -146.6 278.6 -10.1 127 2289 0.00 2.50 0.00 0.000 6 0.000 0.053 2496 2142 3432

2602 -1.13 -146.6 311.9 -10.3 148 2606 0.00 2.58 0.00 0.000 4 0.000 0.069 2496 3534 3432

2676 -1.13 -146.6 320.2 -11.9 152 2682 0.00 2.47 0.00 0.000 6 0.000 0.058 2496 2162 3432

2995 -1.13 -146.6 358.1 -13.4 173 2999 0.00 2.60 0.00 0.000 4 0.000 0.067 2495 715 3431

3046 -1.13 -146.6 364.9 -13.4 176 3050 0.00 2.58 0.00 0.000 6 0.000 0.054 2496 2159 3432

3370 -1.13 -146.6 404.3 -12.6 196 3374 0.00 2.65 0.00 0.000 4 0.000 0.069 2496 716 3432

3425 -1.13 -146.6 412.9 -14.1 199 3431 0.00 2.55 0.00 0.000 6 0.000 0.054 2495 2140 3431

3744 -1.13 -146.6 449.3 -10.8 220 3749 0.00 2.62 0.00 0.000 4 0.000 0.071 2496 717 3431

3846 -1.16 -146.6 459.8 -11.6 226 3850 0.00 2.47 0.00 0.000 4 0.000 0.056 2496 2095 3431

3851 end dive: BOTTOM_OBSTACLE_DETECTED

state 3851 begin apogee

3859 -0.33 0.0 460.2 10.9 226 3988 0.77 0.00 126.32 1.134 6 0.084 0.000 2664 1831 2831

3989 end apogee: CONTROL_FINISHED_OK

state 3989 begin climb

3993 1.22 146.6 463.8 0.0 235 4128 1.58 2.65 125.70 1.085 4 0.069 0.076 3004 460 2233

4159 1.13 164.6 455.8 7.3 245 4181 0.00 2.55 16.77 0.998 6 0.000 0.055 3004 1879 2160

4497 1.24 231.1 431.8 5.6 266 4560 0.00 2.78 57.85 1.060 4 0.000 0.076 3004 457 1888

4583 1.19 231.1 423.9 10.9 271 4588 0.00 2.50 0.00 0.000 6 0.000 0.056 3004 1825 1887

4903 1.19 231.1 394.1 8.7 291 4908 0.00 2.58 0.00 0.000 4 0.000 0.076 3004 456 1887

4925 1.19 231.1 392.0 8.7 292 4932 0.00 2.50 0.00 0.000 6 0.000 0.057 3004 1835 1887

5244 1.19 231.1 361.1 10.0 313 5249 0.00 2.58 0.00 0.000 4 0.000 0.076 3004 460 1887

5342 1.14 231.1 350.6 11.3 319 5346 0.00 2.45 0.00 0.000 6 0.000 0.056 3004 1816 1886

5666 1.14 231.1 319.8 10.1 340 5671 0.00 2.60 0.00 0.000 4 0.000 0.066 3004 3261 1886

5852 1.20 231.4 303.5 8.0 351 5856 0.00 2.62 0.00 0.000 6 0.000 0.064 3004 1835 1885

6176 1.20 231.4 274.2 8.2 372 6177 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1835 1885

6489 1.20 231.4 241.5 10.9 392 6493 0.00 2.62 0.00 0.000 4 0.000 0.064 3004 3263 1884

6572 1.20 231.4 232.8 9.9 397 6577 0.00 2.58 0.00 0.000 6 0.000 0.056 3004 1840 1884

6891 1.20 234.3 205.7 7.9 417 6900 0.00 2.60 4.00 0.650 4 0.000 0.061 3004 3263 1875

6931 1.24 234.3 202.3 8.2 419 6935 0.00 2.53 0.00 0.000 6 0.000 0.054 3004 1861 1875

7250 1.24 234.3 175.6 8.5 439 7254 0.00 2.55 0.00 0.000 4 0.000 0.060 3004 3261 1875

7283 1.27 234.3 172.7 8.4 441 7287 0.00 2.50 0.00 0.000 6 0.000 0.053 3004 1868 1875

7618 1.27 234.3 144.5 8.5 461 7619 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 1868 1876

7927 1.32 266.6 121.5 6.8 476 7957 0.12 0.00 27.80 0.874 6 0.054 0.000 3039 1867 1744

8258 1.29 266.6 93.4 8.7 492 8263 0.00 2.53 0.00 0.000 4 0.000 0.058 3039 3257 1744

8299 1.29 266.6 89.3 9.5 494 8303 0.00 2.50 0.00 0.000 6 0.000 0.051 3039 1861 1744

8626 1.26 266.6 59.0 10.9 510 8627 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1860 1744

8935 1.26 266.6 21.0 11.3 525 8937 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 1860 1745

9117 end climb: SURFACE_DEPTH_REACHED

state 9117 begin surface coast

9141 end surface coast: CONTROL_FINISHED_OK

state 9141 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	212	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	27	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-104306.58	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	094857,6400.802,-1318.445,29,2.1,48,-12.6	TGT_NAME	P3
_CALLS	2	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,-0.162
_SM_DEPTHo	1.27	KALMAN_X	-29561.6,-6408.5,-1296.2,-207690.4,39951.5
_SM_ANGLEo	-57.4	KALMAN_Y	-15412.2,-1735.8,-609.3,284893.5,17085.4
GPS2	095813,6400.845,-1318.101,13,1.8,30,-12.6	MHEAD_RNG_PITCHd_Wd	241.2,20695,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.4,1.027162	ALTIM_BOTTOM_PING	396.5,73.4
SM_CCo	9165,17.92,0.758,0,0,1608,300.00	_24V_AH	23.9,36.809
SM_GC	1.30,0.00,0.00,17.92,0.000,0.000,0.758,421,2133,1608,-10.69,0.11,300.00	_10V_AH	10.1,16.685
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28539,535
TT8_MAMPS	0.029146	CAP_FILE_SIZE	81383,0
HUMID	1831	CFSIZE	254472192,240058368
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	37	GPS	031009,123337,6359.961,-1317.473,52,1.1,52,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	162	97.84	SBE_CT	365	24	209.86
Roll_motor	82	75	150.58	SBE_O2	392	19	178.01
VBD_pump_during_apogee	358	1134	9718.29	WL_BB2F	361	105	907.43
VBD_pump_during_surface	17	757	324.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.91	nil	0	0	0.00
Iridium_during_connect	51	160	197.47	nil	0	0	0.00
Iridium_during_xfer	232	223	1240.40
Transponder_ping	12	420	125.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.33
TT8	970	19	194.01
LPSleep	6557	2	145.06
TT8_Active	453	19	90.66
TT8_Sampling	1184	39	476.31
TT8_CF8	575	45	266.00
TT8_Kalman	33	81	27.55
Analog_circuits	1058	12	128.31
GPS_charging	0	0	0.00
Compass	1144	8	92.47
RAFOS	0	0	0.00
Transponder	24	30	7.45

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	-1.22	-146.6	0.0	0.0	0	73	0.00	0.00	-55.88	0.000	2	0.000	0.000	422	2134	2689
77	-1.22	-146.6	2.3	-2.2	3	121	11.18	2.53	-24.77	0.000	4	0.163	0.075	2471	3534	3430
280	-1.13	-146.6	32.1	-16.6	12	285	0.12	2.53	0.00	0.000	6	0.108	0.049	2495	2116	3430
607	-1.13	-146.6	85.2	-15.2	28	608	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2089	3430
918	-1.13	-146.6	128.4	-13.0	43	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2089	3431
1226	-1.13	-146.6	166.3	-11.7	60	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2089	3431
1539	-1.13	-146.6	202.7	-11.7	80	1543	0.00	2.62	0.00	0.000	4	0.000	0.067	2496	3539	3432
1585	-1.13	-146.6	207.9	-12.0	83	1589	0.00	2.53	0.00	0.000	6	0.000	0.054	2496	2130	3431
1915	-1.13	-146.6	243.8	-10.2	104	1916	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2117	3432
2227	-1.13	-146.6	272.9	-8.9	124	2231	0.00	2.60	0.00	0.000	4	0.000	0.067	2496	3538	3432
2283	-1.13	-146.6	278.6	-10.1	127	2289	0.00	2.50	0.00	0.000	6	0.000	0.053	2496	2142	3432
2602	-1.13	-146.6	311.9	-10.3	148	2606	0.00	2.58	0.00	0.000	4	0.000	0.069	2496	3534	3432
2676	-1.13	-146.6	320.2	-11.9	152	2682	0.00	2.47	0.00	0.000	6	0.000	0.058	2496	2162	3432
2995	-1.13	-146.6	358.1	-13.4	173	2999	0.00	2.60	0.00	0.000	4	0.000	0.067	2495	715	3431
3046	-1.13	-146.6	364.9	-13.4	176	3050	0.00	2.58	0.00	0.000	6	0.000	0.054	2496	2159	3432
3370	-1.13	-146.6	404.3	-12.6	196	3374	0.00	2.65	0.00	0.000	4	0.000	0.069	2496	716	3432
3425	-1.13	-146.6	412.9	-14.1	199	3431	0.00	2.55	0.00	0.000	6	0.000	0.054	2495	2140	3431
3744	-1.13	-146.6	449.3	-10.8	220	3749	0.00	2.62	0.00	0.000	4	0.000	0.071	2496	717	3431
3846	-1.16	-146.6	459.8	-11.6	226	3850	0.00	2.47	0.00	0.000	4	0.000	0.056	2496	2095	3431
3851	end dive: BOTTOM_OBSTACLE_DETECTED
state	3851	begin apogee
3859	-0.33	0.0	460.2	10.9	226	3988	0.77	0.00	126.32	1.134	6	0.084	0.000	2664	1831	2831
3989	end apogee: CONTROL_FINISHED_OK
state	3989	begin climb
3993	1.22	146.6	463.8	0.0	235	4128	1.58	2.65	125.70	1.085	4	0.069	0.076	3004	460	2233
4159	1.13	164.6	455.8	7.3	245	4181	0.00	2.55	16.77	0.998	6	0.000	0.055	3004	1879	2160
4497	1.24	231.1	431.8	5.6	266	4560	0.00	2.78	57.85	1.060	4	0.000	0.076	3004	457	1888
4583	1.19	231.1	423.9	10.9	271	4588	0.00	2.50	0.00	0.000	6	0.000	0.056	3004	1825	1887
4903	1.19	231.1	394.1	8.7	291	4908	0.00	2.58	0.00	0.000	4	0.000	0.076	3004	456	1887
4925	1.19	231.1	392.0	8.7	292	4932	0.00	2.50	0.00	0.000	6	0.000	0.057	3004	1835	1887
5244	1.19	231.1	361.1	10.0	313	5249	0.00	2.58	0.00	0.000	4	0.000	0.076	3004	460	1887
5342	1.14	231.1	350.6	11.3	319	5346	0.00	2.45	0.00	0.000	6	0.000	0.056	3004	1816	1886
5666	1.14	231.1	319.8	10.1	340	5671	0.00	2.60	0.00	0.000	4	0.000	0.066	3004	3261	1886
5852	1.20	231.4	303.5	8.0	351	5856	0.00	2.62	0.00	0.000	6	0.000	0.064	3004	1835	1885
6176	1.20	231.4	274.2	8.2	372	6177	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1835	1885
6489	1.20	231.4	241.5	10.9	392	6493	0.00	2.62	0.00	0.000	4	0.000	0.064	3004	3263	1884
6572	1.20	231.4	232.8	9.9	397	6577	0.00	2.58	0.00	0.000	6	0.000	0.056	3004	1840	1884
6891	1.20	234.3	205.7	7.9	417	6900	0.00	2.60	4.00	0.650	4	0.000	0.061	3004	3263	1875
6931	1.24	234.3	202.3	8.2	419	6935	0.00	2.53	0.00	0.000	6	0.000	0.054	3004	1861	1875
7250	1.24	234.3	175.6	8.5	439	7254	0.00	2.55	0.00	0.000	4	0.000	0.060	3004	3261	1875
7283	1.27	234.3	172.7	8.4	441	7287	0.00	2.50	0.00	0.000	6	0.000	0.053	3004	1868	1875
7618	1.27	234.3	144.5	8.5	461	7619	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	1868	1876
7927	1.32	266.6	121.5	6.8	476	7957	0.12	0.00	27.80	0.874	6	0.054	0.000	3039	1867	1744
8258	1.29	266.6	93.4	8.7	492	8263	0.00	2.53	0.00	0.000	4	0.000	0.058	3039	3257	1744
8299	1.29	266.6	89.3	9.5	494	8303	0.00	2.50	0.00	0.000	6	0.000	0.051	3039	1861	1744
8626	1.26	266.6	59.0	10.9	510	8627	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1860	1744
8935	1.26	266.6	21.0	11.3	525	8937	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	1860	1745
9117	end climb: SURFACE_DEPTH_REACHED
state	9117	begin surface coast
9141	end surface coast: CONTROL_FINISHED_OK
state	9141	begin surface