Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 410 * 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 410 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 13 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -151746.06 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 -151746.06

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 13 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 410 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 063037,6320.604,-824.983,31,1.7,31,-9.6 TGT_NAME P4

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.056,0.237

_SM_DEPTHo 0.69 KALMAN_X -21638.6,278.1,-135.6,121807.1,5861.7

_SM_ANGLEo -53.8 KALMAN_Y -14225.5,1431.3,586.3,80311.8,-18761.8

GPS2 063904,6320.487,-824.785,16,3.2,35,-9.6 MHEAD_RNG_PITCHd_Wd 22.9,49730,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.027512 ALTIM_BOTTOM_PING 576.9,20.1

SM_CCo 11482,0.00,0.000,0,0,1476,350.04 _24V_AH 22.9,65.640

SM_GC 0.73,12.30,0.00,0.00,0.034,0.000,0.000,54,2751,1476,-10.93,0.03,350.04 _10V_AH 10.1,37.054

IRIDIUM_FIX 6254.00,-824.74,110898,060616 DATA_FILE_SIZE 28518,548

TT8_MAMPS 0.029146 CAP_FILE_SIZE 87855,0

HUMID 1852 CFSIZE 260165632,233754624

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.20 GPS 170509,095236,6320.232,-821.839,41,1.3,41,-9.5

XPDR_PINGS 41

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 163 102.70 SBE_CT 407 24 224.22

Roll_motor 112 102 265.13 SBE_O2 381 19 166.03

VBD_pump_during_apogee 424 1151 11188.23 WL_BB2F 350 105 843.05

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 54 103 127.69 nil 0 0 0.00

Iridium_during_connect 58 160 213.31 nil 0 0 0.00

Iridium_during_xfer 186 223 951.54

Transponder_ping 15 420 146.67

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.34

TT8 1006 19 201.21

LPSleep 8669 2 191.77

TT8_Active 495 19 99.12

TT8_Sampling 1264 39 508.43

TT8_CF8 553 45 256.16

TT8_Kalman 33 81 27.56

Analog_circuits 1165 12 141.23

GPS_charging 0 0 0.00

Compass 1207 8 97.57

RAFOS 0 0 0.00

Transponder 43 30 13.23

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 -1.42 -146.6 0.0 0.0 0 76 0.00 0.00 -54.50 0.000 6 0.000 0.000 48 2751 3502

80 -1.42 -146.6 7.3 -16.0 3 101 11.88 2.03 0.00 0.000 4 0.163 0.078 2123 3793 3502

151 -1.42 -146.6 27.6 -12.2 6 155 0.00 1.88 0.00 0.000 6 0.000 0.041 2123 2736 3502

481 -1.42 -146.6 66.9 -11.6 22 485 0.00 2.55 0.00 0.000 4 0.000 0.064 2123 1340 3502

525 -1.42 -146.6 72.4 -10.9 24 530 0.00 2.65 0.00 0.000 6 0.000 0.066 2123 2754 3503

846 -1.42 -146.6 107.7 -11.1 40 851 0.00 2.62 0.00 0.000 4 0.000 0.063 2123 1340 3503

887 -1.42 -146.6 112.1 -11.2 42 892 0.00 2.65 0.00 0.000 6 0.000 0.068 2123 2748 3503

1215 -1.42 -146.6 144.5 -9.7 58 1219 0.00 2.60 0.00 0.000 4 0.000 0.064 2123 1338 3503

1247 -1.42 -146.6 147.8 -9.6 59 1254 0.00 2.67 0.00 0.000 6 0.000 0.068 2123 2762 3503

1563 -1.42 -146.6 178.2 -9.8 75 1568 0.00 2.65 0.00 0.000 4 0.000 0.062 2123 1331 3503

1597 -1.42 -146.6 181.8 -10.4 76 1603 0.00 2.70 0.00 0.000 6 0.000 0.071 2123 2760 3503

1913 -1.42 -146.6 213.0 -9.2 92 1917 0.00 2.65 0.00 0.000 4 0.000 0.064 2123 1333 3504

1946 -1.42 -146.6 216.1 -9.4 93 1953 0.00 2.70 0.00 0.000 6 0.000 0.072 2123 2756 3503

2263 -1.42 -146.6 246.3 -9.4 109 2267 0.00 2.62 0.00 0.000 4 0.000 0.067 2123 1340 3504

2296 -1.42 -146.6 249.6 -9.6 110 2304 0.00 2.67 0.00 0.000 6 0.000 0.071 2123 2758 3504

2612 -1.42 -146.6 279.1 -9.9 126 2616 0.00 2.65 0.00 0.000 4 0.000 0.068 2123 1342 3504

2652 -1.42 -146.6 283.2 -10.3 128 2657 0.00 2.67 0.00 0.000 6 0.000 0.072 2123 2752 3504

2979 -1.42 -146.6 318.1 -10.1 144 2980 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2752 3504

3289 -1.42 -146.6 350.1 -10.2 159 3290 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2752 3504

3598 -1.42 -146.6 379.3 -9.2 174 3602 0.00 2.67 0.00 0.000 4 0.000 0.071 2123 1332 3504

3642 -1.42 -146.6 383.6 -9.0 176 3646 0.00 2.72 0.00 0.000 6 0.000 0.079 2123 2750 3503

3963 -1.42 -146.6 413.3 -9.1 192 3967 0.00 2.65 0.00 0.000 4 0.000 0.071 2123 1338 3502

4003 -1.42 -146.6 416.7 -8.8 194 4007 0.00 2.72 0.00 0.000 6 0.000 0.080 2123 2757 3502

4329 -1.42 -146.6 444.1 -9.0 210 4330 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2757 3501

4639 -1.42 -146.6 472.2 -8.6 225 4643 0.00 2.70 0.00 0.000 4 0.000 0.074 2123 1333 3500

4673 -1.42 -146.6 475.1 -9.0 226 4679 0.00 2.70 0.00 0.000 6 0.000 0.075 2123 2748 3500

4989 -1.42 -146.6 502.3 -8.7 242 4990 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3499

5298 -1.42 -146.6 528.4 -8.7 257 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3498

5608 -1.42 -146.6 556.7 -9.7 272 5609 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3497

5916 -1.42 -146.6 587.0 -9.8 287 5918 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2748 3496

5934 end dive: BOTTOM_OBSTACLE_DETECTED

state 5934 begin apogee

5943 -0.42 0.0 589.0 9.9 288 6077 1.15 0.00 126.45 1.151 6 0.111 0.000 2344 1998 2902

6078 end apogee: CONTROL_FINISHED_OK

state 6078 begin climb

6082 1.42 146.6 595.9 0.0 295 6215 1.90 2.75 124.80 1.108 4 0.044 0.074 2757 586 2304

6241 1.67 349.2 596.1 0.6 302 6425 0.22 2.60 173.12 1.085 6 0.037 0.044 2814 2024 1478

6732 1.67 349.2 545.1 12.5 325 6736 0.00 2.62 0.00 0.000 4 0.000 0.077 2814 3401 1476

6909 1.67 349.2 521.6 14.0 333 6914 0.00 2.60 0.00 0.000 6 0.000 0.054 2814 1987 1476

7236 1.67 349.2 480.3 11.9 349 7241 0.00 2.65 0.00 0.000 4 0.000 0.075 2814 585 1476

7287 1.67 349.2 474.1 12.1 351 7291 0.00 2.58 0.00 0.000 6 0.000 0.049 2814 1997 1475

7604 1.67 349.2 439.1 10.8 366 7605 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1997 1475

7912 1.67 349.2 406.0 10.9 381 7914 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 1997 1474

8222 1.67 349.2 372.5 11.1 396 8226 0.00 2.67 0.00 0.000 4 0.000 0.074 2814 591 1474

8284 1.67 349.2 365.3 11.1 399 8289 0.00 2.58 0.00 0.000 6 0.000 0.051 2814 2005 1474

8611 1.67 349.2 331.1 10.9 415 8616 0.00 2.67 0.00 0.000 4 0.000 0.079 2814 3412 1474

8639 1.67 349.2 328.0 11.5 416 8644 0.00 2.60 0.00 0.000 6 0.000 0.057 2814 1993 1474

8956 1.67 349.2 292.9 11.5 431 8960 0.00 2.62 0.00 0.000 4 0.000 0.073 2814 590 1473

9000 1.67 349.2 287.4 12.6 433 9005 0.00 2.58 0.00 0.000 6 0.000 0.049 2814 2009 1474

9322 1.67 349.2 250.0 12.0 449 9326 0.00 2.67 0.00 0.000 4 0.000 0.071 2814 588 1474

9366 1.67 349.2 244.2 12.9 451 9371 0.00 2.58 0.00 0.000 6 0.000 0.048 2814 2009 1474

9688 1.67 349.2 204.2 12.3 467 9692 0.00 2.67 0.00 0.000 4 0.000 0.071 2814 590 1474

9783 1.67 349.2 192.2 12.4 471 9787 0.00 2.58 0.00 0.000 6 0.000 0.048 2814 2009 1474

10099 1.67 349.2 156.4 11.1 486 10104 0.00 2.67 0.00 0.000 4 0.000 0.069 2814 586 1474

10150 1.67 349.2 150.6 10.8 488 10154 0.00 2.58 0.00 0.000 6 0.000 0.047 2814 2012 1474

10466 1.67 349.2 114.3 12.4 503 10467 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2012 1474

10776 1.67 349.2 77.1 11.8 518 10780 0.00 2.67 0.00 0.000 4 0.000 0.068 2814 586 1475

10854 1.67 349.2 67.1 11.9 521 10860 0.00 2.55 0.00 0.000 6 0.000 0.045 2814 2009 1475

11170 1.67 349.2 28.0 13.2 537 11171 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2010 1476

11373 end climb: SURFACE_DEPTH_REACHED

state 11373 begin surface coast

11395 end surface coast: CONTROL_FINISHED_OK

state 11395 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	410	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	13	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-151746.06	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	063037,6320.604,-824.983,31,1.7,31,-9.6	TGT_NAME	P4
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.056,0.237
_SM_DEPTHo	0.69	KALMAN_X	-21638.6,278.1,-135.6,121807.1,5861.7
_SM_ANGLEo	-53.8	KALMAN_Y	-14225.5,1431.3,586.3,80311.8,-18761.8
GPS2	063904,6320.487,-824.785,16,3.2,35,-9.6	MHEAD_RNG_PITCHd_Wd	22.9,49730,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	-0.0,1.027512	ALTIM_BOTTOM_PING	576.9,20.1
SM_CCo	11482,0.00,0.000,0,0,1476,350.04	_24V_AH	22.9,65.640
SM_GC	0.73,12.30,0.00,0.00,0.034,0.000,0.000,54,2751,1476,-10.93,0.03,350.04	_10V_AH	10.1,37.054
IRIDIUM_FIX	6254.00,-824.74,110898,060616	DATA_FILE_SIZE	28518,548
TT8_MAMPS	0.029146	CAP_FILE_SIZE	87855,0
HUMID	1852	CFSIZE	260165632,233754624
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.20	GPS	170509,095236,6320.232,-821.839,41,1.3,41,-9.5
XPDR_PINGS	41

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	163	102.70	SBE_CT	407	24	224.22
Roll_motor	112	102	265.13	SBE_O2	381	19	166.03
VBD_pump_during_apogee	424	1151	11188.23	WL_BB2F	350	105	843.05
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	54	103	127.69	nil	0	0	0.00
Iridium_during_connect	58	160	213.31	nil	0	0	0.00
Iridium_during_xfer	186	223	951.54
Transponder_ping	15	420	146.67
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.34
TT8	1006	19	201.21
LPSleep	8669	2	191.77
TT8_Active	495	19	99.12
TT8_Sampling	1264	39	508.43
TT8_CF8	553	45	256.16
TT8_Kalman	33	81	27.56
Analog_circuits	1165	12	141.23
GPS_charging	0	0	0.00
Compass	1207	8	97.57
RAFOS	0	0	0.00
Transponder	43	30	13.23

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	-1.42	-146.6	0.0	0.0	0	76	0.00	0.00	-54.50	0.000	6	0.000	0.000	48	2751	3502
80	-1.42	-146.6	7.3	-16.0	3	101	11.88	2.03	0.00	0.000	4	0.163	0.078	2123	3793	3502
151	-1.42	-146.6	27.6	-12.2	6	155	0.00	1.88	0.00	0.000	6	0.000	0.041	2123	2736	3502
481	-1.42	-146.6	66.9	-11.6	22	485	0.00	2.55	0.00	0.000	4	0.000	0.064	2123	1340	3502
525	-1.42	-146.6	72.4	-10.9	24	530	0.00	2.65	0.00	0.000	6	0.000	0.066	2123	2754	3503
846	-1.42	-146.6	107.7	-11.1	40	851	0.00	2.62	0.00	0.000	4	0.000	0.063	2123	1340	3503
887	-1.42	-146.6	112.1	-11.2	42	892	0.00	2.65	0.00	0.000	6	0.000	0.068	2123	2748	3503
1215	-1.42	-146.6	144.5	-9.7	58	1219	0.00	2.60	0.00	0.000	4	0.000	0.064	2123	1338	3503
1247	-1.42	-146.6	147.8	-9.6	59	1254	0.00	2.67	0.00	0.000	6	0.000	0.068	2123	2762	3503
1563	-1.42	-146.6	178.2	-9.8	75	1568	0.00	2.65	0.00	0.000	4	0.000	0.062	2123	1331	3503
1597	-1.42	-146.6	181.8	-10.4	76	1603	0.00	2.70	0.00	0.000	6	0.000	0.071	2123	2760	3503
1913	-1.42	-146.6	213.0	-9.2	92	1917	0.00	2.65	0.00	0.000	4	0.000	0.064	2123	1333	3504
1946	-1.42	-146.6	216.1	-9.4	93	1953	0.00	2.70	0.00	0.000	6	0.000	0.072	2123	2756	3503
2263	-1.42	-146.6	246.3	-9.4	109	2267	0.00	2.62	0.00	0.000	4	0.000	0.067	2123	1340	3504
2296	-1.42	-146.6	249.6	-9.6	110	2304	0.00	2.67	0.00	0.000	6	0.000	0.071	2123	2758	3504
2612	-1.42	-146.6	279.1	-9.9	126	2616	0.00	2.65	0.00	0.000	4	0.000	0.068	2123	1342	3504
2652	-1.42	-146.6	283.2	-10.3	128	2657	0.00	2.67	0.00	0.000	6	0.000	0.072	2123	2752	3504
2979	-1.42	-146.6	318.1	-10.1	144	2980	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2752	3504
3289	-1.42	-146.6	350.1	-10.2	159	3290	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2752	3504
3598	-1.42	-146.6	379.3	-9.2	174	3602	0.00	2.67	0.00	0.000	4	0.000	0.071	2123	1332	3504
3642	-1.42	-146.6	383.6	-9.0	176	3646	0.00	2.72	0.00	0.000	6	0.000	0.079	2123	2750	3503
3963	-1.42	-146.6	413.3	-9.1	192	3967	0.00	2.65	0.00	0.000	4	0.000	0.071	2123	1338	3502
4003	-1.42	-146.6	416.7	-8.8	194	4007	0.00	2.72	0.00	0.000	6	0.000	0.080	2123	2757	3502
4329	-1.42	-146.6	444.1	-9.0	210	4330	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2757	3501
4639	-1.42	-146.6	472.2	-8.6	225	4643	0.00	2.70	0.00	0.000	4	0.000	0.074	2123	1333	3500
4673	-1.42	-146.6	475.1	-9.0	226	4679	0.00	2.70	0.00	0.000	6	0.000	0.075	2123	2748	3500
4989	-1.42	-146.6	502.3	-8.7	242	4990	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3499
5298	-1.42	-146.6	528.4	-8.7	257	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3498
5608	-1.42	-146.6	556.7	-9.7	272	5609	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3497
5916	-1.42	-146.6	587.0	-9.8	287	5918	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2748	3496
5934	end dive: BOTTOM_OBSTACLE_DETECTED
state	5934	begin apogee
5943	-0.42	0.0	589.0	9.9	288	6077	1.15	0.00	126.45	1.151	6	0.111	0.000	2344	1998	2902
6078	end apogee: CONTROL_FINISHED_OK
state	6078	begin climb
6082	1.42	146.6	595.9	0.0	295	6215	1.90	2.75	124.80	1.108	4	0.044	0.074	2757	586	2304
6241	1.67	349.2	596.1	0.6	302	6425	0.22	2.60	173.12	1.085	6	0.037	0.044	2814	2024	1478
6732	1.67	349.2	545.1	12.5	325	6736	0.00	2.62	0.00	0.000	4	0.000	0.077	2814	3401	1476
6909	1.67	349.2	521.6	14.0	333	6914	0.00	2.60	0.00	0.000	6	0.000	0.054	2814	1987	1476
7236	1.67	349.2	480.3	11.9	349	7241	0.00	2.65	0.00	0.000	4	0.000	0.075	2814	585	1476
7287	1.67	349.2	474.1	12.1	351	7291	0.00	2.58	0.00	0.000	6	0.000	0.049	2814	1997	1475
7604	1.67	349.2	439.1	10.8	366	7605	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	1997	1475
7912	1.67	349.2	406.0	10.9	381	7914	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	1997	1474
8222	1.67	349.2	372.5	11.1	396	8226	0.00	2.67	0.00	0.000	4	0.000	0.074	2814	591	1474
8284	1.67	349.2	365.3	11.1	399	8289	0.00	2.58	0.00	0.000	6	0.000	0.051	2814	2005	1474
8611	1.67	349.2	331.1	10.9	415	8616	0.00	2.67	0.00	0.000	4	0.000	0.079	2814	3412	1474
8639	1.67	349.2	328.0	11.5	416	8644	0.00	2.60	0.00	0.000	6	0.000	0.057	2814	1993	1474
8956	1.67	349.2	292.9	11.5	431	8960	0.00	2.62	0.00	0.000	4	0.000	0.073	2814	590	1473
9000	1.67	349.2	287.4	12.6	433	9005	0.00	2.58	0.00	0.000	6	0.000	0.049	2814	2009	1474
9322	1.67	349.2	250.0	12.0	449	9326	0.00	2.67	0.00	0.000	4	0.000	0.071	2814	588	1474
9366	1.67	349.2	244.2	12.9	451	9371	0.00	2.58	0.00	0.000	6	0.000	0.048	2814	2009	1474
9688	1.67	349.2	204.2	12.3	467	9692	0.00	2.67	0.00	0.000	4	0.000	0.071	2814	590	1474
9783	1.67	349.2	192.2	12.4	471	9787	0.00	2.58	0.00	0.000	6	0.000	0.048	2814	2009	1474
10099	1.67	349.2	156.4	11.1	486	10104	0.00	2.67	0.00	0.000	4	0.000	0.069	2814	586	1474
10150	1.67	349.2	150.6	10.8	488	10154	0.00	2.58	0.00	0.000	6	0.000	0.047	2814	2012	1474
10466	1.67	349.2	114.3	12.4	503	10467	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2012	1474
10776	1.67	349.2	77.1	11.8	518	10780	0.00	2.67	0.00	0.000	4	0.000	0.068	2814	586	1475
10854	1.67	349.2	67.1	11.9	521	10860	0.00	2.55	0.00	0.000	6	0.000	0.045	2814	2009	1475
11170	1.67	349.2	28.0	13.2	537	11171	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2010	1476
11373	end climb: SURFACE_DEPTH_REACHED
state	11373	begin surface coast
11395	end surface coast: CONTROL_FINISHED_OK
state	11395	begin surface