Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 403 * 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 403 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 2750 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 440 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 -151590.5 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 0 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 412.5

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 -151590.5

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 440

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 0 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2750 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 403 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 061925,6317.074,-851.746,40,1.6,40,-9.8 TGT_NAME P4

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.069,0.233

_SM_DEPTHo 0.97 KALMAN_X -28164.9,887.0,-201.7,104929.6,-1100.3

_SM_ANGLEo -55.5 KALMAN_Y 8244.4,-466.4,-757.9,54681.1,-5055.9

GPS2 062507,6316.987,-851.706,12,1.2,17,-9.8 MHEAD_RNG_PITCHd_Wd 26.3,66972,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027402 ALTIM_BOTTOM_PING 475.9,81.1

SM_CCo 12239,0.00,0.000,0,0,1879,250.94 _24V_AH 23.1,64.713

SM_GC 1.29,12.00,0.00,0.00,0.028,0.000,0.000,49,2745,1879,-10.93,-0.14,250.94 _10V_AH 10.1,36.636

IRIDIUM_FIX 6254.00,-858.61,100898,030306 DATA_FILE_SIZE 28486,581

TT8_MAMPS 0.028379 CAP_FILE_SIZE 94838,0

HUMID 1802 CFSIZE 260165632,234057728

INTERNAL_PRESSURE 8.55502 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 160509,095137,6316.619,-849.695,63,1.7,63,-9.8

XPDR_PINGS 18

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 99.52 SBE_CT 417 24 231.19

Roll_motor 132 92 283.04 SBE_O2 420 19 184.41

VBD_pump_during_apogee 337 1096 8557.34 WL_BB2F 401 105 973.63

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 31 103 74.84 nil 0 0 0.00

Iridium_during_connect 31 160 114.89 nil 0 0 0.00

Iridium_during_xfer 157 223 813.23

Transponder_ping 8 420 82.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.80

TT8 1111 19 222.36

LPSleep 9117 2 201.67

TT8_Active 428 19 85.62

TT8_Sampling 1447 39 581.92

TT8_CF8 477 45 220.89

TT8_Kalman 33 81 27.56

Analog_circuits 1176 12 142.60

GPS_charging 0 0 0.00

Compass 1410 8 113.95

RAFOS 0 0 0.00

Transponder 33 30 10.09

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 -1.42 -146.6 0.0 0.0 0 64 0.00 0.00 -46.33 0.000 2 0.000 0.000 54 2751 3233

68 -1.42 -146.6 3.9 -7.1 3 90 11.75 1.98 -4.45 0.000 4 0.160 0.093 2124 3787 3502

160 -1.42 -146.6 21.1 -11.8 7 163 0.00 1.85 0.00 0.000 6 0.000 0.042 2124 2741 3502

493 -1.42 -146.6 58.2 -10.9 23 497 0.00 2.58 0.00 0.000 4 0.000 0.064 2124 1337 3502

526 -1.42 -146.6 61.9 -10.8 24 532 0.00 2.65 0.00 0.000 6 0.000 0.065 2124 2763 3502

844 -1.42 -146.6 97.9 -11.5 40 848 0.00 2.62 0.00 0.000 4 0.000 0.059 2124 1334 3502

877 -1.42 -146.6 102.1 -11.5 41 883 0.00 2.62 0.00 0.000 6 0.000 0.062 2124 2758 3502

1193 -1.42 -146.6 137.4 -11.2 57 1194 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3503

1502 -1.42 -146.6 171.5 -10.8 72 1507 0.00 2.62 0.00 0.000 4 0.000 0.062 2124 1333 3503

1537 -1.42 -146.6 175.4 -11.3 73 1543 0.00 2.65 0.00 0.000 6 0.000 0.064 2124 2757 3503

1853 -1.42 -146.6 209.5 -10.7 89 1857 0.00 2.62 0.00 0.000 4 0.000 0.062 2124 1333 3503

1902 -1.42 -146.6 214.8 -10.3 91 1907 0.00 2.60 0.00 0.000 6 0.000 0.060 2123 2752 3503

2219 -1.42 -146.6 247.4 -10.6 106 2223 0.00 2.60 0.00 0.000 4 0.000 0.060 2124 1338 3503

2259 -1.42 -146.6 251.9 -11.5 108 2263 0.00 2.62 0.00 0.000 6 0.000 0.061 2124 2759 3503

2586 -1.42 -146.6 288.0 -11.5 124 2587 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3503

2894 -1.42 -146.6 319.9 -10.2 139 2899 0.00 2.62 0.00 0.000 4 0.000 0.061 2124 1331 3504

2980 -1.42 -146.6 328.2 -9.5 143 2984 0.00 2.65 0.00 0.000 6 0.000 0.063 2124 2760 3504

3307 -1.42 -146.6 361.8 -10.6 159 3311 0.00 2.65 0.00 0.000 4 0.000 0.064 2124 1331 3504

3340 -1.42 -146.6 365.2 -10.4 160 3346 0.00 2.65 0.00 0.000 6 0.000 0.067 2124 2758 3504

3656 -1.42 -146.6 396.5 -10.1 176 3657 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3504

3966 -1.42 -146.6 425.8 -9.4 191 3971 0.00 2.62 0.00 0.000 4 0.000 0.067 2124 1340 3504

4039 -1.42 -146.6 432.9 -9.6 194 4044 0.00 2.65 0.00 0.000 6 0.000 0.069 2124 2747 3504

4355 -1.42 -146.6 462.0 -8.8 209 4360 0.00 2.62 0.00 0.000 4 0.000 0.068 2124 1336 3503

4383 -1.42 -146.6 464.6 -9.2 210 4387 0.00 2.67 0.00 0.000 6 0.000 0.071 2124 2755 3503

4699 -1.42 -146.6 492.1 -9.1 225 4703 0.00 2.65 0.00 0.000 4 0.000 0.069 2124 1337 3502

4726 -1.42 -146.6 494.7 -9.3 226 4731 0.00 2.70 0.00 0.000 6 0.000 0.074 2124 2757 3502

5042 -1.42 -146.6 523.5 -9.2 241 5044 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2757 3501

5307 end dive: BOTTOM_OBSTACLE_DETECTED

state 5307 begin apogee

5316 -0.42 0.0 548.3 9.3 254 5444 1.12 0.00 124.62 1.097 6 0.102 0.000 2345 2005 2902

5445 end apogee: CONTROL_FINISHED_OK

state 5445 begin climb

5448 1.42 146.6 553.2 0.0 260 5581 1.90 2.80 122.35 1.058 4 0.059 0.071 2747 583 2304

5733 1.52 226.1 544.5 5.1 273 5807 0.10 2.58 67.18 1.046 6 0.054 0.043 2779 2025 1980

6116 1.52 226.1 515.5 8.1 291 6118 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2026 1979

6426 1.52 228.5 490.9 7.9 306 6431 0.00 2.72 0.00 0.000 4 0.000 0.071 2779 586 1977

6476 1.52 228.5 486.6 8.2 308 6481 0.00 2.55 0.00 0.000 6 0.000 0.044 2779 2004 1977

6792 1.52 228.5 460.8 8.2 323 6797 0.00 2.65 0.00 0.000 4 0.000 0.071 2779 3413 1976

6848 1.52 228.5 456.3 8.0 325 6855 0.00 2.60 0.00 0.000 6 0.000 0.052 2779 1985 1976

7164 1.54 243.8 431.6 7.4 341 7186 0.00 2.67 15.43 1.006 4 0.000 0.072 2779 588 1907

7305 1.54 243.8 419.8 8.9 347 7309 0.00 2.55 0.00 0.000 6 0.000 0.045 2779 2006 1906

7626 1.54 243.8 392.9 8.1 363 7630 0.00 2.67 0.00 0.000 4 0.000 0.070 2779 586 1906

7733 1.54 243.8 383.8 9.3 368 7738 0.00 2.53 0.00 0.000 6 0.000 0.044 2779 2000 1906

8060 1.54 243.8 354.2 9.1 384 8065 0.00 2.62 0.00 0.000 4 0.000 0.071 2779 3406 1906

8128 1.54 243.8 347.7 9.9 387 8132 0.00 2.55 0.00 0.000 6 0.000 0.051 2779 2000 1906

8449 1.54 243.8 319.6 8.7 403 8454 0.00 2.62 0.00 0.000 4 0.000 0.067 2779 584 1906

8612 1.54 243.8 304.9 9.2 410 8616 0.00 2.53 0.00 0.000 6 0.000 0.041 2779 2007 1905

8928 1.54 243.8 279.0 8.6 425 8933 0.00 2.65 0.00 0.000 4 0.000 0.064 2779 584 1905

9085 1.54 243.8 264.0 10.0 432 9090 0.00 2.53 0.00 0.000 6 0.000 0.041 2779 2005 1906

9406 1.54 243.8 234.4 9.3 448 9411 0.00 2.62 0.00 0.000 4 0.000 0.063 2779 588 1906

9496 1.54 243.8 226.2 8.5 452 9501 0.00 2.53 0.00 0.000 6 0.000 0.041 2779 2011 1906

9818 1.54 243.8 197.0 8.7 468 9822 0.00 2.62 0.00 0.000 4 0.000 0.061 2779 588 1907

9908 1.54 243.8 188.8 9.4 472 9912 0.00 2.50 0.00 0.000 6 0.000 0.039 2779 2003 1907

10229 1.54 243.8 161.7 8.4 488 10233 0.00 2.60 0.00 0.000 4 0.000 0.061 2779 589 1907

10336 1.54 243.8 152.4 8.5 493 10340 0.00 2.50 0.00 0.000 6 0.000 0.039 2779 2008 1908

10665 1.54 243.8 123.9 8.9 509 10669 0.00 2.62 0.00 0.000 4 0.000 0.061 2779 581 1908

10750 1.54 243.8 116.3 8.9 513 10754 0.00 2.50 0.00 0.000 6 0.000 0.038 2779 2003 1909

11077 1.55 251.0 90.1 7.7 529 11091 0.00 2.67 8.18 0.698 4 0.000 0.061 2779 588 1878

11161 1.55 251.0 82.9 8.8 532 11167 0.00 2.50 0.00 0.000 6 0.000 0.038 2779 2002 1878

11477 1.55 251.0 56.0 9.0 548 11478 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2002 1878

11787 1.55 251.0 30.9 8.5 563 11788 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2002 1879

12096 1.55 251.0 3.7 8.4 578 12100 0.00 2.55 0.00 0.000 4 0.000 0.051 2779 588 1879

12106 1.55 251.0 2.8 9.1 578 12113 0.00 2.50 0.00 0.000 6 0.000 0.039 2779 2010 1879

12132 end climb: SURFACE_DEPTH_REACHED

state 12132 begin surface coast

12153 end surface coast: CONTROL_FINISHED_OK

state 12153 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	403	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	2750	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	440	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	-151590.5	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	0	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	061925,6317.074,-851.746,40,1.6,40,-9.8	TGT_NAME	P4
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.069,0.233
_SM_DEPTHo	0.97	KALMAN_X	-28164.9,887.0,-201.7,104929.6,-1100.3
_SM_ANGLEo	-55.5	KALMAN_Y	8244.4,-466.4,-757.9,54681.1,-5055.9
GPS2	062507,6316.987,-851.706,12,1.2,17,-9.8	MHEAD_RNG_PITCHd_Wd	26.3,66972,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	0.2,1.027402	ALTIM_BOTTOM_PING	475.9,81.1
SM_CCo	12239,0.00,0.000,0,0,1879,250.94	_24V_AH	23.1,64.713
SM_GC	1.29,12.00,0.00,0.00,0.028,0.000,0.000,49,2745,1879,-10.93,-0.14,250.94	_10V_AH	10.1,36.636
IRIDIUM_FIX	6254.00,-858.61,100898,030306	DATA_FILE_SIZE	28486,581
TT8_MAMPS	0.028379	CAP_FILE_SIZE	94838,0
HUMID	1802	CFSIZE	260165632,234057728
INTERNAL_PRESSURE	8.55502	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	160509,095137,6316.619,-849.695,63,1.7,63,-9.8
XPDR_PINGS	18

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	99.52	SBE_CT	417	24	231.19
Roll_motor	132	92	283.04	SBE_O2	420	19	184.41
VBD_pump_during_apogee	337	1096	8557.34	WL_BB2F	401	105	973.63
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	31	103	74.84	nil	0	0	0.00
Iridium_during_connect	31	160	114.89	nil	0	0	0.00
Iridium_during_xfer	157	223	813.23
Transponder_ping	8	420	82.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.80
TT8	1111	19	222.36
LPSleep	9117	2	201.67
TT8_Active	428	19	85.62
TT8_Sampling	1447	39	581.92
TT8_CF8	477	45	220.89
TT8_Kalman	33	81	27.56
Analog_circuits	1176	12	142.60
GPS_charging	0	0	0.00
Compass	1410	8	113.95
RAFOS	0	0	0.00
Transponder	33	30	10.09

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	-1.42	-146.6	0.0	0.0	0	64	0.00	0.00	-46.33	0.000	2	0.000	0.000	54	2751	3233
68	-1.42	-146.6	3.9	-7.1	3	90	11.75	1.98	-4.45	0.000	4	0.160	0.093	2124	3787	3502
160	-1.42	-146.6	21.1	-11.8	7	163	0.00	1.85	0.00	0.000	6	0.000	0.042	2124	2741	3502
493	-1.42	-146.6	58.2	-10.9	23	497	0.00	2.58	0.00	0.000	4	0.000	0.064	2124	1337	3502
526	-1.42	-146.6	61.9	-10.8	24	532	0.00	2.65	0.00	0.000	6	0.000	0.065	2124	2763	3502
844	-1.42	-146.6	97.9	-11.5	40	848	0.00	2.62	0.00	0.000	4	0.000	0.059	2124	1334	3502
877	-1.42	-146.6	102.1	-11.5	41	883	0.00	2.62	0.00	0.000	6	0.000	0.062	2124	2758	3502
1193	-1.42	-146.6	137.4	-11.2	57	1194	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3503
1502	-1.42	-146.6	171.5	-10.8	72	1507	0.00	2.62	0.00	0.000	4	0.000	0.062	2124	1333	3503
1537	-1.42	-146.6	175.4	-11.3	73	1543	0.00	2.65	0.00	0.000	6	0.000	0.064	2124	2757	3503
1853	-1.42	-146.6	209.5	-10.7	89	1857	0.00	2.62	0.00	0.000	4	0.000	0.062	2124	1333	3503
1902	-1.42	-146.6	214.8	-10.3	91	1907	0.00	2.60	0.00	0.000	6	0.000	0.060	2123	2752	3503
2219	-1.42	-146.6	247.4	-10.6	106	2223	0.00	2.60	0.00	0.000	4	0.000	0.060	2124	1338	3503
2259	-1.42	-146.6	251.9	-11.5	108	2263	0.00	2.62	0.00	0.000	6	0.000	0.061	2124	2759	3503
2586	-1.42	-146.6	288.0	-11.5	124	2587	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3503
2894	-1.42	-146.6	319.9	-10.2	139	2899	0.00	2.62	0.00	0.000	4	0.000	0.061	2124	1331	3504
2980	-1.42	-146.6	328.2	-9.5	143	2984	0.00	2.65	0.00	0.000	6	0.000	0.063	2124	2760	3504
3307	-1.42	-146.6	361.8	-10.6	159	3311	0.00	2.65	0.00	0.000	4	0.000	0.064	2124	1331	3504
3340	-1.42	-146.6	365.2	-10.4	160	3346	0.00	2.65	0.00	0.000	6	0.000	0.067	2124	2758	3504
3656	-1.42	-146.6	396.5	-10.1	176	3657	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3504
3966	-1.42	-146.6	425.8	-9.4	191	3971	0.00	2.62	0.00	0.000	4	0.000	0.067	2124	1340	3504
4039	-1.42	-146.6	432.9	-9.6	194	4044	0.00	2.65	0.00	0.000	6	0.000	0.069	2124	2747	3504
4355	-1.42	-146.6	462.0	-8.8	209	4360	0.00	2.62	0.00	0.000	4	0.000	0.068	2124	1336	3503
4383	-1.42	-146.6	464.6	-9.2	210	4387	0.00	2.67	0.00	0.000	6	0.000	0.071	2124	2755	3503
4699	-1.42	-146.6	492.1	-9.1	225	4703	0.00	2.65	0.00	0.000	4	0.000	0.069	2124	1337	3502
4726	-1.42	-146.6	494.7	-9.3	226	4731	0.00	2.70	0.00	0.000	6	0.000	0.074	2124	2757	3502
5042	-1.42	-146.6	523.5	-9.2	241	5044	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2757	3501
5307	end dive: BOTTOM_OBSTACLE_DETECTED
state	5307	begin apogee
5316	-0.42	0.0	548.3	9.3	254	5444	1.12	0.00	124.62	1.097	6	0.102	0.000	2345	2005	2902
5445	end apogee: CONTROL_FINISHED_OK
state	5445	begin climb
5448	1.42	146.6	553.2	0.0	260	5581	1.90	2.80	122.35	1.058	4	0.059	0.071	2747	583	2304
5733	1.52	226.1	544.5	5.1	273	5807	0.10	2.58	67.18	1.046	6	0.054	0.043	2779	2025	1980
6116	1.52	226.1	515.5	8.1	291	6118	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2026	1979
6426	1.52	228.5	490.9	7.9	306	6431	0.00	2.72	0.00	0.000	4	0.000	0.071	2779	586	1977
6476	1.52	228.5	486.6	8.2	308	6481	0.00	2.55	0.00	0.000	6	0.000	0.044	2779	2004	1977
6792	1.52	228.5	460.8	8.2	323	6797	0.00	2.65	0.00	0.000	4	0.000	0.071	2779	3413	1976
6848	1.52	228.5	456.3	8.0	325	6855	0.00	2.60	0.00	0.000	6	0.000	0.052	2779	1985	1976
7164	1.54	243.8	431.6	7.4	341	7186	0.00	2.67	15.43	1.006	4	0.000	0.072	2779	588	1907
7305	1.54	243.8	419.8	8.9	347	7309	0.00	2.55	0.00	0.000	6	0.000	0.045	2779	2006	1906
7626	1.54	243.8	392.9	8.1	363	7630	0.00	2.67	0.00	0.000	4	0.000	0.070	2779	586	1906
7733	1.54	243.8	383.8	9.3	368	7738	0.00	2.53	0.00	0.000	6	0.000	0.044	2779	2000	1906
8060	1.54	243.8	354.2	9.1	384	8065	0.00	2.62	0.00	0.000	4	0.000	0.071	2779	3406	1906
8128	1.54	243.8	347.7	9.9	387	8132	0.00	2.55	0.00	0.000	6	0.000	0.051	2779	2000	1906
8449	1.54	243.8	319.6	8.7	403	8454	0.00	2.62	0.00	0.000	4	0.000	0.067	2779	584	1906
8612	1.54	243.8	304.9	9.2	410	8616	0.00	2.53	0.00	0.000	6	0.000	0.041	2779	2007	1905
8928	1.54	243.8	279.0	8.6	425	8933	0.00	2.65	0.00	0.000	4	0.000	0.064	2779	584	1905
9085	1.54	243.8	264.0	10.0	432	9090	0.00	2.53	0.00	0.000	6	0.000	0.041	2779	2005	1906
9406	1.54	243.8	234.4	9.3	448	9411	0.00	2.62	0.00	0.000	4	0.000	0.063	2779	588	1906
9496	1.54	243.8	226.2	8.5	452	9501	0.00	2.53	0.00	0.000	6	0.000	0.041	2779	2011	1906
9818	1.54	243.8	197.0	8.7	468	9822	0.00	2.62	0.00	0.000	4	0.000	0.061	2779	588	1907
9908	1.54	243.8	188.8	9.4	472	9912	0.00	2.50	0.00	0.000	6	0.000	0.039	2779	2003	1907
10229	1.54	243.8	161.7	8.4	488	10233	0.00	2.60	0.00	0.000	4	0.000	0.061	2779	589	1907
10336	1.54	243.8	152.4	8.5	493	10340	0.00	2.50	0.00	0.000	6	0.000	0.039	2779	2008	1908
10665	1.54	243.8	123.9	8.9	509	10669	0.00	2.62	0.00	0.000	4	0.000	0.061	2779	581	1908
10750	1.54	243.8	116.3	8.9	513	10754	0.00	2.50	0.00	0.000	6	0.000	0.038	2779	2003	1909
11077	1.55	251.0	90.1	7.7	529	11091	0.00	2.67	8.18	0.698	4	0.000	0.061	2779	588	1878
11161	1.55	251.0	82.9	8.8	532	11167	0.00	2.50	0.00	0.000	6	0.000	0.038	2779	2002	1878
11477	1.55	251.0	56.0	9.0	548	11478	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2002	1878
11787	1.55	251.0	30.9	8.5	563	11788	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2002	1879
12096	1.55	251.0	3.7	8.4	578	12100	0.00	2.55	0.00	0.000	4	0.000	0.051	2779	588	1879
12106	1.55	251.0	2.8	9.1	578	12113	0.00	2.50	0.00	0.000	6	0.000	0.039	2779	2010	1879
12132	end climb: SURFACE_DEPTH_REACHED
state	12132	begin surface coast
12153	end surface coast: CONTROL_FINISHED_OK
state	12153	begin surface