Glider dive log

Faroes Aug08 * SG014 * Dive index * Mission links * Dive 345 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 202 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 345 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3893 ALTIM_PING_DEPTH 150

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 187 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3559 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2539 DEVICE4 -1

T_TURN 240 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00159 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -656801 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 95.400002 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 383 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3719 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2675 PRESSURE_YINT -15.110782 SEABIRD_T_G 0.0043093944

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064003747

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.16239e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_T_J 2.0570888e-06

FERRY_MAX 22 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_G -10.001513

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1265433

HD_A 0.00312 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010666439

HD_B 0.0099099996 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016314148

HD_C 2.4896e-05 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 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3719 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 383 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -0.69999999

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_ROLL_OFFSET 0.5

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.110782 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 15

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_CHARGE -656801

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 240

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 14 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3893 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2675 KALMAN_USE 2 ROLL_MIN 202 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1600 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2539 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.001513 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1265433 VBD_MAX 3559

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010666439 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016314148 VBD_MIN 187

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043093944 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064003747 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.16239e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.0570888e-06 XPDR_DEVICE 21

DIVE 345 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 092008,6357.757,-1317.246,40,1.3,40,-12.6 TGT_NAME BT4

_CALLS 1 TGT_LATLONG 6339.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.083,-0.242

_SM_DEPTHo 2.06 KALMAN_X 65426.2,-9.8,97.6,-67618.7,1620.8

_SM_ANGLEo -64.0 KALMAN_Y 66441.6,-131.4,393.1,-108976.0,1249.1

GPS2 092551,6357.841,-1317.144,15,1.4,15,-12.6 MHEAD_RNG_PITCHd_Wd 189.7,34937,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.018194 ALTIM_BOTTOM_PING 600.6,105.4

SM_CCo 12802,0.00,0.000,0,0,1238,318.89 _24V_AH 23.5,45.664

SM_GC 1.38,11.27,0.00,0.00,0.055,0.000,0.000,378,1593,1238,-10.50,-0.17,318.89 _10V_AH 10.2,22.825

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31621,609

TT8_MAMPS 0.02301 CAP_FILE_SIZE 97097,0

HUMID 1914 CFSIZE 254472192,236515328

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,1,0

XPDR_PINGS 0 GPS 161008,130038,6356.890,-1317.092,24,1.7,24,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 177 105.90 SBE_CT 449 24 253.67

Roll_motor 122 114 328.05 SBE_O2 414 19 184.93

VBD_pump_during_apogee 389 1164 10668.81 WL_BB2F 367 105 906.63

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 37 103 91.40 nil 0 0 0.00

Iridium_during_connect 25 160 97.18 nil 0 0 0.00

Iridium_during_xfer 144 223 759.29

Transponder_ping 5 420 49.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.62

TT8 1167 19 235.74

LPSleep 9443 2 210.95

TT8_Active 478 19 96.69

TT8_Sampling 1547 39 628.05

TT8_CF8 508 45 237.55

TT8_Kalman 0 81 0.00

Analog_circuits 1277 12 156.41

GPS_charging 0 0 0.00

Compass 1503 8 122.72

RAFOS 0 0 0.00

Transponder 34 30 10.66

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -1.16 -146.6 0.0 0.0 0 79 0.00 0.00 -60.12 0.000 2 0.000 0.000 381 1590 2611

83 -1.16 -146.6 3.6 -3.1 3 116 11.38 2.50 -14.70 0.000 4 0.178 0.090 2413 212 3137

385 -1.16 -146.6 46.1 -15.1 16 392 0.00 2.40 0.00 0.000 6 0.000 0.058 2413 1622 3139

702 -1.16 -146.6 87.2 -12.3 32 706 0.00 2.55 0.00 0.000 4 0.000 0.075 2413 203 3139

838 -1.16 -146.6 105.2 -13.3 38 842 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1596 3140

1161 -1.16 -146.6 143.9 -11.7 54 1165 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 3000 3140

1195 -1.16 -146.6 148.3 -11.3 55 1202 0.00 2.42 0.00 0.000 6 0.000 0.064 2413 1601 3139

1513 -1.16 -146.6 185.0 -11.2 71 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1601 3140

1821 -1.16 -146.6 218.6 -10.6 86 1822 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1601 3139

2131 -1.16 -146.6 250.5 -9.9 101 2136 0.00 2.50 0.00 0.000 4 0.000 0.080 2413 206 3139

2228 -1.16 -146.6 261.4 -12.1 105 2232 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1601 3139

2544 -1.16 -146.6 290.8 -8.7 120 2548 0.00 2.50 0.00 0.000 4 0.000 0.077 2413 211 3140

2617 -1.16 -146.6 297.4 -9.3 123 2621 0.00 2.38 0.00 0.000 6 0.000 0.058 2413 1605 3140

2939 -1.16 -146.6 323.1 -8.0 139 2940 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1607 3139

3248 -1.16 -146.6 351.5 -10.0 154 3253 0.00 2.50 0.00 0.000 4 0.000 0.077 2414 211 3140

3316 -1.16 -146.6 359.2 -11.3 157 3320 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1599 3140

3638 -1.16 -146.6 394.4 -11.3 173 3642 0.00 2.50 0.00 0.000 4 0.000 0.079 2413 209 3139

3677 -1.16 -146.6 399.2 -11.6 174 3683 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1602 3139

3994 -1.16 -146.6 438.9 -12.4 190 3995 0.00 0.00 0.00 0.000 6 0.000 0.000 2413 1606 3139

4303 -1.16 -146.6 479.3 -13.2 205 4307 0.00 2.53 0.00 0.000 4 0.000 0.081 2413 207 3139

4347 -1.16 -146.6 485.1 -10.6 207 4352 0.00 2.38 0.00 0.000 6 0.000 0.059 2413 1597 3139

4670 -1.16 -146.6 522.7 -12.8 223 4674 0.00 2.55 0.00 0.000 4 0.000 0.089 2414 2995 3139

4732 -1.16 -146.6 529.2 -9.5 226 4736 0.00 2.42 0.00 0.000 6 0.000 0.069 2413 1603 3140

5065 -1.16 -146.6 567.2 -11.3 242 5069 0.00 2.53 0.00 0.000 4 0.000 0.085 2413 2998 3140

5151 -1.16 -146.6 576.2 -10.9 245 5157 0.00 2.47 0.00 0.000 6 0.000 0.071 2413 1592 3140

5467 -1.16 -146.6 609.5 -10.8 261 5471 0.00 2.53 0.00 0.000 4 0.000 0.087 2413 202 3140

5518 -1.16 -146.6 615.7 -11.9 263 5523 0.00 2.40 0.00 0.000 6 0.000 0.061 2413 1601 3140

5841 -1.16 -146.6 653.6 -11.8 279 5845 0.00 2.55 0.00 0.000 4 0.000 0.091 2413 2994 3141

5942 -1.16 -146.6 665.0 -10.8 283 5948 0.00 2.47 0.00 0.000 6 0.000 0.071 2414 1593 3141

6234 end dive: BOTTOM_OBSTACLE_DETECTED

state 6234 begin apogee

6244 -0.32 0.0 697.5 10.9 298 6383 0.90 0.00 130.32 1.164 6 0.107 0.000 2599 2197 2539

6384 end apogee: CONTROL_FINISHED_OK

state 6384 begin climb

6388 1.16 146.6 702.2 0.0 305 6520 1.52 2.85 122.45 1.149 4 0.083 0.114 2926 3597 1941

6637 1.16 146.6 686.4 10.8 316 6641 0.00 2.53 0.00 0.000 6 0.000 0.073 2926 2199 1937

6954 1.16 146.6 658.7 8.3 331 6955 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2200 1937

7263 1.16 146.6 632.5 8.0 346 7267 0.00 2.67 0.00 0.000 4 0.000 0.101 2926 3601 1935

7353 1.16 146.6 624.7 9.0 350 7357 0.00 2.50 0.00 0.000 6 0.000 0.071 2926 2198 1933

7681 1.17 147.6 596.6 8.0 366 7683 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2199 1933

7991 1.43 316.7 581.5 1.6 381 8136 0.25 2.75 137.15 1.126 4 0.061 0.097 2994 3599 1246

8231 1.43 316.7 563.9 10.1 392 8236 0.00 2.50 0.00 0.000 6 0.000 0.070 2994 2203 1244

8559 1.43 316.7 530.2 10.2 408 8564 0.00 2.65 0.00 0.000 4 0.000 0.098 2994 3594 1241

8600 1.43 316.7 524.2 16.0 410 8604 0.00 2.50 0.00 0.000 6 0.000 0.068 2994 2194 1241

8928 1.43 316.7 478.4 15.0 426 8929 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2194 1239

9237 1.43 316.7 437.2 12.6 441 9239 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2194 1239

9546 1.43 316.7 400.3 12.2 456 9550 0.00 2.55 0.00 0.000 4 0.000 0.079 2995 786 1239

9568 1.43 316.7 397.3 12.9 457 9573 0.00 2.47 0.00 0.000 6 0.000 0.061 2994 2203 1239

9890 1.43 316.7 356.6 12.8 473 9894 0.00 2.53 0.00 0.000 4 0.000 0.072 2994 786 1239

9964 1.43 316.7 346.6 13.9 476 9969 0.00 2.47 0.00 0.000 6 0.000 0.061 2995 2208 1238

10286 1.43 316.7 305.6 12.8 492 10290 0.00 2.53 0.00 0.000 4 0.000 0.071 2994 788 1239

10372 1.43 316.7 293.9 14.3 496 10377 0.00 2.45 0.00 0.000 6 0.000 0.061 2994 2199 1239

10700 1.43 316.7 251.6 12.8 512 10704 0.00 2.53 0.00 0.000 4 0.000 0.072 2994 784 1239

10801 1.43 316.7 237.8 13.7 516 10807 0.00 2.47 0.00 0.000 6 0.000 0.061 2994 2206 1239

11118 1.43 316.7 196.7 12.9 532 11122 0.00 2.53 0.00 0.000 4 0.000 0.073 2994 789 1239

11207 1.43 316.7 183.8 13.7 536 11212 0.00 2.45 0.00 0.000 6 0.000 0.062 2995 2199 1239

11530 1.43 316.7 142.1 12.8 552 11534 0.00 2.53 0.00 0.000 4 0.000 0.073 2996 785 1239

11616 1.43 316.7 130.3 14.3 556 11621 0.00 2.47 0.00 0.000 6 0.000 0.061 2994 2198 1239

11943 1.43 316.7 89.1 12.5 572 11948 0.00 2.53 0.00 0.000 4 0.000 0.073 2994 783 1239

12032 1.43 316.7 78.5 12.6 576 12036 0.00 2.47 0.00 0.000 6 0.000 0.062 2995 2200 1239

12361 1.43 316.7 41.1 11.3 592 12365 0.00 2.53 0.00 0.000 4 0.000 0.072 2995 780 1238

12518 1.43 316.7 21.3 12.9 599 12522 0.00 2.47 0.00 0.000 6 0.000 0.061 2994 2198 1239

12691 end climb: SURFACE_DEPTH_REACHED

state 12692 begin surface coast

12715 end surface coast: CONTROL_FINISHED_OK

state 12715 begin surface

ID	14	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	202	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	345	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3893	ALTIM_PING_DEPTH	150
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	187	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3559	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2539	DEVICE4	-1
T_TURN	240	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00159	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-656801	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	95.400002	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	383	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3719	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2675	PRESSURE_YINT	-15.110782	SEABIRD_T_G	0.0043093944
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064003747
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.16239e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_T_J	2.0570888e-06
FERRY_MAX	22	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_G	-10.001513
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1265433
HD_A	0.00312	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010666439
HD_B	0.0099099996	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016314148
HD_C	2.4896e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	092008,6357.757,-1317.246,40,1.3,40,-12.6	TGT_NAME	BT4
_CALLS	1	TGT_LATLONG	6339.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.083,-0.242
_SM_DEPTHo	2.06	KALMAN_X	65426.2,-9.8,97.6,-67618.7,1620.8
_SM_ANGLEo	-64.0	KALMAN_Y	66441.6,-131.4,393.1,-108976.0,1249.1
GPS2	092551,6357.841,-1317.144,15,1.4,15,-12.6	MHEAD_RNG_PITCHd_Wd	189.7,34937,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	0.6,1.018194	ALTIM_BOTTOM_PING	600.6,105.4
SM_CCo	12802,0.00,0.000,0,0,1238,318.89	_24V_AH	23.5,45.664
SM_GC	1.38,11.27,0.00,0.00,0.055,0.000,0.000,378,1593,1238,-10.50,-0.17,318.89	_10V_AH	10.2,22.825
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31621,609
TT8_MAMPS	0.02301	CAP_FILE_SIZE	97097,0
HUMID	1914	CFSIZE	254472192,236515328
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,1,0
XPDR_PINGS	0	GPS	161008,130038,6356.890,-1317.092,24,1.7,24,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	177	105.90	SBE_CT	449	24	253.67
Roll_motor	122	114	328.05	SBE_O2	414	19	184.93
VBD_pump_during_apogee	389	1164	10668.81	WL_BB2F	367	105	906.63
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	37	103	91.40	nil	0	0	0.00
Iridium_during_connect	25	160	97.18	nil	0	0	0.00
Iridium_during_xfer	144	223	759.29
Transponder_ping	5	420	49.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.62
TT8	1167	19	235.74
LPSleep	9443	2	210.95
TT8_Active	478	19	96.69
TT8_Sampling	1547	39	628.05
TT8_CF8	508	45	237.55
TT8_Kalman	0	81	0.00
Analog_circuits	1277	12	156.41
GPS_charging	0	0	0.00
Compass	1503	8	122.72
RAFOS	0	0	0.00
Transponder	34	30	10.66

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-1.16	-146.6	0.0	0.0	0	79	0.00	0.00	-60.12	0.000	2	0.000	0.000	381	1590	2611
83	-1.16	-146.6	3.6	-3.1	3	116	11.38	2.50	-14.70	0.000	4	0.178	0.090	2413	212	3137
385	-1.16	-146.6	46.1	-15.1	16	392	0.00	2.40	0.00	0.000	6	0.000	0.058	2413	1622	3139
702	-1.16	-146.6	87.2	-12.3	32	706	0.00	2.55	0.00	0.000	4	0.000	0.075	2413	203	3139
838	-1.16	-146.6	105.2	-13.3	38	842	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1596	3140
1161	-1.16	-146.6	143.9	-11.7	54	1165	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	3000	3140
1195	-1.16	-146.6	148.3	-11.3	55	1202	0.00	2.42	0.00	0.000	6	0.000	0.064	2413	1601	3139
1513	-1.16	-146.6	185.0	-11.2	71	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1601	3140
1821	-1.16	-146.6	218.6	-10.6	86	1822	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1601	3139
2131	-1.16	-146.6	250.5	-9.9	101	2136	0.00	2.50	0.00	0.000	4	0.000	0.080	2413	206	3139
2228	-1.16	-146.6	261.4	-12.1	105	2232	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1601	3139
2544	-1.16	-146.6	290.8	-8.7	120	2548	0.00	2.50	0.00	0.000	4	0.000	0.077	2413	211	3140
2617	-1.16	-146.6	297.4	-9.3	123	2621	0.00	2.38	0.00	0.000	6	0.000	0.058	2413	1605	3140
2939	-1.16	-146.6	323.1	-8.0	139	2940	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1607	3139
3248	-1.16	-146.6	351.5	-10.0	154	3253	0.00	2.50	0.00	0.000	4	0.000	0.077	2414	211	3140
3316	-1.16	-146.6	359.2	-11.3	157	3320	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1599	3140
3638	-1.16	-146.6	394.4	-11.3	173	3642	0.00	2.50	0.00	0.000	4	0.000	0.079	2413	209	3139
3677	-1.16	-146.6	399.2	-11.6	174	3683	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1602	3139
3994	-1.16	-146.6	438.9	-12.4	190	3995	0.00	0.00	0.00	0.000	6	0.000	0.000	2413	1606	3139
4303	-1.16	-146.6	479.3	-13.2	205	4307	0.00	2.53	0.00	0.000	4	0.000	0.081	2413	207	3139
4347	-1.16	-146.6	485.1	-10.6	207	4352	0.00	2.38	0.00	0.000	6	0.000	0.059	2413	1597	3139
4670	-1.16	-146.6	522.7	-12.8	223	4674	0.00	2.55	0.00	0.000	4	0.000	0.089	2414	2995	3139
4732	-1.16	-146.6	529.2	-9.5	226	4736	0.00	2.42	0.00	0.000	6	0.000	0.069	2413	1603	3140
5065	-1.16	-146.6	567.2	-11.3	242	5069	0.00	2.53	0.00	0.000	4	0.000	0.085	2413	2998	3140
5151	-1.16	-146.6	576.2	-10.9	245	5157	0.00	2.47	0.00	0.000	6	0.000	0.071	2413	1592	3140
5467	-1.16	-146.6	609.5	-10.8	261	5471	0.00	2.53	0.00	0.000	4	0.000	0.087	2413	202	3140
5518	-1.16	-146.6	615.7	-11.9	263	5523	0.00	2.40	0.00	0.000	6	0.000	0.061	2413	1601	3140
5841	-1.16	-146.6	653.6	-11.8	279	5845	0.00	2.55	0.00	0.000	4	0.000	0.091	2413	2994	3141
5942	-1.16	-146.6	665.0	-10.8	283	5948	0.00	2.47	0.00	0.000	6	0.000	0.071	2414	1593	3141
6234	end dive: BOTTOM_OBSTACLE_DETECTED
state	6234	begin apogee
6244	-0.32	0.0	697.5	10.9	298	6383	0.90	0.00	130.32	1.164	6	0.107	0.000	2599	2197	2539
6384	end apogee: CONTROL_FINISHED_OK
state	6384	begin climb
6388	1.16	146.6	702.2	0.0	305	6520	1.52	2.85	122.45	1.149	4	0.083	0.114	2926	3597	1941
6637	1.16	146.6	686.4	10.8	316	6641	0.00	2.53	0.00	0.000	6	0.000	0.073	2926	2199	1937
6954	1.16	146.6	658.7	8.3	331	6955	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2200	1937
7263	1.16	146.6	632.5	8.0	346	7267	0.00	2.67	0.00	0.000	4	0.000	0.101	2926	3601	1935
7353	1.16	146.6	624.7	9.0	350	7357	0.00	2.50	0.00	0.000	6	0.000	0.071	2926	2198	1933
7681	1.17	147.6	596.6	8.0	366	7683	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2199	1933
7991	1.43	316.7	581.5	1.6	381	8136	0.25	2.75	137.15	1.126	4	0.061	0.097	2994	3599	1246
8231	1.43	316.7	563.9	10.1	392	8236	0.00	2.50	0.00	0.000	6	0.000	0.070	2994	2203	1244
8559	1.43	316.7	530.2	10.2	408	8564	0.00	2.65	0.00	0.000	4	0.000	0.098	2994	3594	1241
8600	1.43	316.7	524.2	16.0	410	8604	0.00	2.50	0.00	0.000	6	0.000	0.068	2994	2194	1241
8928	1.43	316.7	478.4	15.0	426	8929	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2194	1239
9237	1.43	316.7	437.2	12.6	441	9239	0.00	0.00	0.00	0.000	6	0.000	0.000	2993	2194	1239
9546	1.43	316.7	400.3	12.2	456	9550	0.00	2.55	0.00	0.000	4	0.000	0.079	2995	786	1239
9568	1.43	316.7	397.3	12.9	457	9573	0.00	2.47	0.00	0.000	6	0.000	0.061	2994	2203	1239
9890	1.43	316.7	356.6	12.8	473	9894	0.00	2.53	0.00	0.000	4	0.000	0.072	2994	786	1239
9964	1.43	316.7	346.6	13.9	476	9969	0.00	2.47	0.00	0.000	6	0.000	0.061	2995	2208	1238
10286	1.43	316.7	305.6	12.8	492	10290	0.00	2.53	0.00	0.000	4	0.000	0.071	2994	788	1239
10372	1.43	316.7	293.9	14.3	496	10377	0.00	2.45	0.00	0.000	6	0.000	0.061	2994	2199	1239
10700	1.43	316.7	251.6	12.8	512	10704	0.00	2.53	0.00	0.000	4	0.000	0.072	2994	784	1239
10801	1.43	316.7	237.8	13.7	516	10807	0.00	2.47	0.00	0.000	6	0.000	0.061	2994	2206	1239
11118	1.43	316.7	196.7	12.9	532	11122	0.00	2.53	0.00	0.000	4	0.000	0.073	2994	789	1239
11207	1.43	316.7	183.8	13.7	536	11212	0.00	2.45	0.00	0.000	6	0.000	0.062	2995	2199	1239
11530	1.43	316.7	142.1	12.8	552	11534	0.00	2.53	0.00	0.000	4	0.000	0.073	2996	785	1239
11616	1.43	316.7	130.3	14.3	556	11621	0.00	2.47	0.00	0.000	6	0.000	0.061	2994	2198	1239
11943	1.43	316.7	89.1	12.5	572	11948	0.00	2.53	0.00	0.000	4	0.000	0.073	2994	783	1239
12032	1.43	316.7	78.5	12.6	576	12036	0.00	2.47	0.00	0.000	6	0.000	0.062	2995	2200	1239
12361	1.43	316.7	41.1	11.3	592	12365	0.00	2.53	0.00	0.000	4	0.000	0.072	2995	780	1238
12518	1.43	316.7	21.3	12.9	599	12522	0.00	2.47	0.00	0.000	6	0.000	0.061	2994	2198	1239
12691	end climb: SURFACE_DEPTH_REACHED
state	12692	begin surface coast
12715	end surface coast: CONTROL_FINISHED_OK
state	12715	begin surface