Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 412 * 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 412 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 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 -151799.84 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 -151799.84

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 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 412 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 132926,6320.834,-818.568,35,2.8,54,-9.5 TGT_NAME P4

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.030,0.241

_SM_DEPTHo 0.74 KALMAN_X -18910.9,-690.2,-184.1,125477.3,7145.0

_SM_ANGLEo -58.8 KALMAN_Y -22015.9,1250.3,1421.5,88049.8,-22473.4

GPS2 133504,6320.821,-818.469,15,2.4,34,-9.5 MHEAD_RNG_PITCHd_Wd 16.7,47266,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.014376 ALTIM_BOTTOM_PING 551.2,78.2

SM_CCo 13209,0.00,0.000,0,0,1710,292.64 _24V_AH 22.8,65.905

SM_GC 0.68,12.15,0.00,0.00,0.031,0.000,0.000,43,2741,1710,-10.93,-0.25,292.64 _10V_AH 10.1,37.179

IRIDIUM_FIX 6254.00,-824.74,110898,101013 DATA_FILE_SIZE 31727,632

TT8_MAMPS 0.028379 CAP_FILE_SIZE 93587,0

HUMID 1867 CFSIZE 260165632,233656320

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

TCM_TEMP 15.50 GPS 170509,171707,6321.822,-814.637,28,1.2,28,-9.5

XPDR_PINGS 56

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 103.12 SBE_CT 470 24 257.73

Roll_motor 106 97 236.25 SBE_O2 440 19 190.82

VBD_pump_during_apogee 376 1191 10230.30 WL_BB2F 391 105 938.28

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 23 103 54.43 nil 0 0 0.00

Iridium_during_connect 27 160 100.36 nil 0 0 0.00

Iridium_during_xfer 146 223 745.57

Transponder_ping 18 420 177.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.77

TT8 1167 19 233.39

LPSleep 9973 2 220.60

TT8_Active 447 19 89.56

TT8_Sampling 1499 39 602.57

TT8_CF8 457 45 211.70

TT8_Kalman 33 81 27.55

Analog_circuits 1206 12 146.26

GPS_charging 0 0 0.00

Compass 1443 8 116.64

RAFOS 0 0 0.00

Transponder 35 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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.42 -146.6 0.0 0.0 0 76 0.00 0.00 -52.72 0.000 6 0.000 0.000 50 2751 3500

79 -1.42 -146.6 6.6 -11.9 3 100 11.95 2.05 0.00 0.000 4 0.166 0.084 2125 3792 3500

225 -1.42 -146.6 34.2 -10.4 9 229 0.00 1.90 0.00 0.000 6 0.000 0.042 2125 2742 3501

547 -1.42 -146.6 69.9 -11.4 25 551 0.00 2.62 0.00 0.000 4 0.000 0.071 2125 1332 3501

633 -1.42 -146.6 80.0 -11.3 29 638 0.00 2.70 0.00 0.000 6 0.000 0.071 2125 2754 3501

962 -1.42 -146.6 120.1 -12.0 45 963 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2754 3501

1269 -1.42 -146.6 155.2 -11.3 60 1272 0.00 2.00 0.00 0.000 4 0.000 0.090 2125 3790 3502

1337 -1.42 -146.6 163.1 -11.6 63 1340 0.00 1.90 0.00 0.000 6 0.000 0.051 2125 2734 3502

1670 -1.42 -146.6 198.9 -10.7 79 1671 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2734 3502

1979 -1.42 -146.6 233.7 -11.1 94 1980 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2733 3503

2288 -1.42 -146.6 269.1 -11.6 109 2289 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2733 3503

2598 -1.42 -146.6 304.7 -11.1 124 2602 0.00 2.62 0.00 0.000 4 0.000 0.075 2125 1334 3503

2630 -1.42 -146.6 308.5 -11.7 125 2637 0.00 2.72 0.00 0.000 6 0.000 0.077 2125 2758 3503

2947 -1.42 -146.6 339.5 -9.8 141 2948 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2758 3503

3256 -1.42 -146.6 370.2 -9.8 156 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2758 3503

3566 -1.42 -146.6 400.1 -9.2 171 3571 0.00 2.67 0.00 0.000 4 0.000 0.074 2125 1338 3502

3622 -1.42 -146.6 405.4 -9.1 173 3628 0.00 2.72 0.00 0.000 6 0.000 0.077 2125 2754 3502

3938 -1.42 -146.6 433.9 -9.2 189 3939 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2755 3502

4247 -1.42 -146.6 462.9 -9.6 204 4251 0.00 2.70 0.00 0.000 4 0.000 0.074 2125 1332 3501

4287 -1.42 -146.6 466.8 -9.9 206 4292 0.00 2.75 0.00 0.000 6 0.000 0.080 2125 2756 3501

4614 -1.42 -146.6 499.5 -10.2 222 4615 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2755 3500

4923 -1.42 -146.6 530.7 -10.1 237 4927 0.00 2.70 0.00 0.000 4 0.000 0.075 2125 1338 3499

4978 -1.42 -146.6 536.4 -10.4 239 4985 0.00 2.75 0.00 0.000 6 0.000 0.083 2125 2756 3498

5295 -1.42 -146.6 566.9 -9.4 255 5299 0.00 2.72 0.00 0.000 4 0.000 0.077 2125 1331 3498

5334 -1.42 -146.6 570.8 -9.4 257 5339 0.00 2.78 0.00 0.000 6 0.000 0.084 2125 2758 3497

5661 -1.42 -146.6 602.6 -9.7 273 5663 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2758 3496

5844 end dive: BOTTOM_OBSTACLE_DETECTED

state 5844 begin apogee

5853 -0.42 0.0 621.1 10.7 282 5986 1.12 0.00 126.68 1.192 6 0.104 0.000 2344 2004 2902

5987 end apogee: CONTROL_FINISHED_OK

state 5987 begin climb

5990 1.42 146.6 629.1 0.0 289 6124 1.92 2.75 125.00 1.144 4 0.064 0.068 2747 3414 2304

6386 1.56 257.9 621.2 3.9 307 6490 0.15 2.62 95.45 1.133 6 0.044 0.051 2790 1981 1850

6799 1.56 257.9 586.9 8.6 327 6803 0.00 2.75 0.00 0.000 4 0.000 0.074 2789 3414 1849

6871 1.56 257.9 580.5 8.8 330 6875 0.00 2.60 0.00 0.000 6 0.000 0.052 2789 1996 1849

7187 1.56 257.9 551.7 9.3 345 7192 0.00 2.65 0.00 0.000 4 0.000 0.074 2789 588 1849

7238 1.56 257.9 546.5 9.9 347 7242 0.00 2.58 0.00 0.000 6 0.000 0.047 2789 2009 1849

7554 1.56 257.9 516.8 9.6 362 7555 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2009 1848

7863 1.56 257.9 487.4 9.5 377 7868 0.00 2.70 0.00 0.000 4 0.000 0.073 2790 586 1847

7910 1.56 257.9 482.8 10.4 379 7914 0.00 2.58 0.00 0.000 6 0.000 0.048 2789 2005 1847

8231 1.56 257.9 452.2 9.6 395 8232 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2006 1846

8540 1.56 257.9 422.7 9.5 410 8541 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2006 1846

8849 1.56 257.9 394.6 9.1 425 8854 0.00 2.67 0.00 0.000 4 0.000 0.073 2789 589 1847

8905 1.56 257.9 389.3 9.9 427 8911 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 1996 1846

9220 1.56 257.9 361.3 9.3 443 9222 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 1996 1846

9530 1.56 257.9 333.9 9.4 458 9535 0.00 2.65 0.00 0.000 4 0.000 0.071 2789 594 1846

9631 1.56 257.9 323.2 10.9 462 9637 0.00 2.55 0.00 0.000 6 0.000 0.048 2789 2001 1846

9947 1.56 257.9 293.8 9.0 478 9951 0.00 2.67 0.00 0.000 4 0.000 0.075 2789 3417 1846

10010 1.56 257.9 288.3 8.5 481 10015 0.00 2.60 0.00 0.000 6 0.000 0.054 2789 1998 1846

10337 1.56 257.9 259.9 8.9 497 10341 0.00 2.65 0.00 0.000 4 0.000 0.072 2789 584 1845

10471 1.56 257.9 247.3 9.0 503 10476 0.00 2.58 0.00 0.000 6 0.000 0.045 2789 2014 1845

10793 1.56 258.9 221.0 8.0 519 10794 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2014 1845

11102 1.60 292.9 198.8 6.8 534 11137 0.00 2.78 29.33 0.912 4 0.000 0.070 2790 587 1708

11212 1.60 292.9 190.3 8.6 539 11217 0.00 2.58 0.00 0.000 6 0.000 0.047 2789 2002 1708

11539 1.60 292.9 163.3 8.9 555 11543 0.00 2.65 0.00 0.000 4 0.000 0.067 2790 589 1708

11629 1.60 292.9 154.6 10.2 559 11633 0.00 2.55 0.00 0.000 6 0.000 0.045 2789 2004 1707

11950 1.60 292.9 122.6 10.2 575 11951 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2005 1708

12259 1.60 292.9 90.1 10.8 590 12264 0.00 2.65 0.00 0.000 4 0.000 0.074 2789 3410 1708

12300 1.60 292.9 85.1 11.9 592 12305 0.00 2.58 0.00 0.000 6 0.000 0.054 2790 1998 1708

12628 1.60 292.9 47.6 10.6 608 12632 0.00 2.60 0.00 0.000 4 0.000 0.065 2789 589 1709

12762 1.60 292.9 34.0 10.2 614 12766 0.00 2.53 0.00 0.000 6 0.000 0.043 2789 2003 1709

13084 1.60 292.9 2.0 9.6 630 13085 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2004 1710

13101 end climb: SURFACE_DEPTH_REACHED

state 13101 begin surface coast

13123 end surface coast: CONTROL_FINISHED_OK

state 13123 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	412	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	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	-151799.84	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	132926,6320.834,-818.568,35,2.8,54,-9.5	TGT_NAME	P4
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.030,0.241
_SM_DEPTHo	0.74	KALMAN_X	-18910.9,-690.2,-184.1,125477.3,7145.0
_SM_ANGLEo	-58.8	KALMAN_Y	-22015.9,1250.3,1421.5,88049.8,-22473.4
GPS2	133504,6320.821,-818.469,15,2.4,34,-9.5	MHEAD_RNG_PITCHd_Wd	16.7,47266,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	-0.2,1.014376	ALTIM_BOTTOM_PING	551.2,78.2
SM_CCo	13209,0.00,0.000,0,0,1710,292.64	_24V_AH	22.8,65.905
SM_GC	0.68,12.15,0.00,0.00,0.031,0.000,0.000,43,2741,1710,-10.93,-0.25,292.64	_10V_AH	10.1,37.179
IRIDIUM_FIX	6254.00,-824.74,110898,101013	DATA_FILE_SIZE	31727,632
TT8_MAMPS	0.028379	CAP_FILE_SIZE	93587,0
HUMID	1867	CFSIZE	260165632,233656320
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.50	GPS	170509,171707,6321.822,-814.637,28,1.2,28,-9.5
XPDR_PINGS	56

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	103.12	SBE_CT	470	24	257.73
Roll_motor	106	97	236.25	SBE_O2	440	19	190.82
VBD_pump_during_apogee	376	1191	10230.30	WL_BB2F	391	105	938.28
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	23	103	54.43	nil	0	0	0.00
Iridium_during_connect	27	160	100.36	nil	0	0	0.00
Iridium_during_xfer	146	223	745.57
Transponder_ping	18	420	177.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.77
TT8	1167	19	233.39
LPSleep	9973	2	220.60
TT8_Active	447	19	89.56
TT8_Sampling	1499	39	602.57
TT8_CF8	457	45	211.70
TT8_Kalman	33	81	27.55
Analog_circuits	1206	12	146.26
GPS_charging	0	0	0.00
Compass	1443	8	116.64
RAFOS	0	0	0.00
Transponder	35	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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.42	-146.6	0.0	0.0	0	76	0.00	0.00	-52.72	0.000	6	0.000	0.000	50	2751	3500
79	-1.42	-146.6	6.6	-11.9	3	100	11.95	2.05	0.00	0.000	4	0.166	0.084	2125	3792	3500
225	-1.42	-146.6	34.2	-10.4	9	229	0.00	1.90	0.00	0.000	6	0.000	0.042	2125	2742	3501
547	-1.42	-146.6	69.9	-11.4	25	551	0.00	2.62	0.00	0.000	4	0.000	0.071	2125	1332	3501
633	-1.42	-146.6	80.0	-11.3	29	638	0.00	2.70	0.00	0.000	6	0.000	0.071	2125	2754	3501
962	-1.42	-146.6	120.1	-12.0	45	963	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2754	3501
1269	-1.42	-146.6	155.2	-11.3	60	1272	0.00	2.00	0.00	0.000	4	0.000	0.090	2125	3790	3502
1337	-1.42	-146.6	163.1	-11.6	63	1340	0.00	1.90	0.00	0.000	6	0.000	0.051	2125	2734	3502
1670	-1.42	-146.6	198.9	-10.7	79	1671	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2734	3502
1979	-1.42	-146.6	233.7	-11.1	94	1980	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2733	3503
2288	-1.42	-146.6	269.1	-11.6	109	2289	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2733	3503
2598	-1.42	-146.6	304.7	-11.1	124	2602	0.00	2.62	0.00	0.000	4	0.000	0.075	2125	1334	3503
2630	-1.42	-146.6	308.5	-11.7	125	2637	0.00	2.72	0.00	0.000	6	0.000	0.077	2125	2758	3503
2947	-1.42	-146.6	339.5	-9.8	141	2948	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2758	3503
3256	-1.42	-146.6	370.2	-9.8	156	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2758	3503
3566	-1.42	-146.6	400.1	-9.2	171	3571	0.00	2.67	0.00	0.000	4	0.000	0.074	2125	1338	3502
3622	-1.42	-146.6	405.4	-9.1	173	3628	0.00	2.72	0.00	0.000	6	0.000	0.077	2125	2754	3502
3938	-1.42	-146.6	433.9	-9.2	189	3939	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2755	3502
4247	-1.42	-146.6	462.9	-9.6	204	4251	0.00	2.70	0.00	0.000	4	0.000	0.074	2125	1332	3501
4287	-1.42	-146.6	466.8	-9.9	206	4292	0.00	2.75	0.00	0.000	6	0.000	0.080	2125	2756	3501
4614	-1.42	-146.6	499.5	-10.2	222	4615	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2755	3500
4923	-1.42	-146.6	530.7	-10.1	237	4927	0.00	2.70	0.00	0.000	4	0.000	0.075	2125	1338	3499
4978	-1.42	-146.6	536.4	-10.4	239	4985	0.00	2.75	0.00	0.000	6	0.000	0.083	2125	2756	3498
5295	-1.42	-146.6	566.9	-9.4	255	5299	0.00	2.72	0.00	0.000	4	0.000	0.077	2125	1331	3498
5334	-1.42	-146.6	570.8	-9.4	257	5339	0.00	2.78	0.00	0.000	6	0.000	0.084	2125	2758	3497
5661	-1.42	-146.6	602.6	-9.7	273	5663	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2758	3496
5844	end dive: BOTTOM_OBSTACLE_DETECTED
state	5844	begin apogee
5853	-0.42	0.0	621.1	10.7	282	5986	1.12	0.00	126.68	1.192	6	0.104	0.000	2344	2004	2902
5987	end apogee: CONTROL_FINISHED_OK
state	5987	begin climb
5990	1.42	146.6	629.1	0.0	289	6124	1.92	2.75	125.00	1.144	4	0.064	0.068	2747	3414	2304
6386	1.56	257.9	621.2	3.9	307	6490	0.15	2.62	95.45	1.133	6	0.044	0.051	2790	1981	1850
6799	1.56	257.9	586.9	8.6	327	6803	0.00	2.75	0.00	0.000	4	0.000	0.074	2789	3414	1849
6871	1.56	257.9	580.5	8.8	330	6875	0.00	2.60	0.00	0.000	6	0.000	0.052	2789	1996	1849
7187	1.56	257.9	551.7	9.3	345	7192	0.00	2.65	0.00	0.000	4	0.000	0.074	2789	588	1849
7238	1.56	257.9	546.5	9.9	347	7242	0.00	2.58	0.00	0.000	6	0.000	0.047	2789	2009	1849
7554	1.56	257.9	516.8	9.6	362	7555	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2009	1848
7863	1.56	257.9	487.4	9.5	377	7868	0.00	2.70	0.00	0.000	4	0.000	0.073	2790	586	1847
7910	1.56	257.9	482.8	10.4	379	7914	0.00	2.58	0.00	0.000	6	0.000	0.048	2789	2005	1847
8231	1.56	257.9	452.2	9.6	395	8232	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2006	1846
8540	1.56	257.9	422.7	9.5	410	8541	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2006	1846
8849	1.56	257.9	394.6	9.1	425	8854	0.00	2.67	0.00	0.000	4	0.000	0.073	2789	589	1847
8905	1.56	257.9	389.3	9.9	427	8911	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	1996	1846
9220	1.56	257.9	361.3	9.3	443	9222	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	1996	1846
9530	1.56	257.9	333.9	9.4	458	9535	0.00	2.65	0.00	0.000	4	0.000	0.071	2789	594	1846
9631	1.56	257.9	323.2	10.9	462	9637	0.00	2.55	0.00	0.000	6	0.000	0.048	2789	2001	1846
9947	1.56	257.9	293.8	9.0	478	9951	0.00	2.67	0.00	0.000	4	0.000	0.075	2789	3417	1846
10010	1.56	257.9	288.3	8.5	481	10015	0.00	2.60	0.00	0.000	6	0.000	0.054	2789	1998	1846
10337	1.56	257.9	259.9	8.9	497	10341	0.00	2.65	0.00	0.000	4	0.000	0.072	2789	584	1845
10471	1.56	257.9	247.3	9.0	503	10476	0.00	2.58	0.00	0.000	6	0.000	0.045	2789	2014	1845
10793	1.56	258.9	221.0	8.0	519	10794	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2014	1845
11102	1.60	292.9	198.8	6.8	534	11137	0.00	2.78	29.33	0.912	4	0.000	0.070	2790	587	1708
11212	1.60	292.9	190.3	8.6	539	11217	0.00	2.58	0.00	0.000	6	0.000	0.047	2789	2002	1708
11539	1.60	292.9	163.3	8.9	555	11543	0.00	2.65	0.00	0.000	4	0.000	0.067	2790	589	1708
11629	1.60	292.9	154.6	10.2	559	11633	0.00	2.55	0.00	0.000	6	0.000	0.045	2789	2004	1707
11950	1.60	292.9	122.6	10.2	575	11951	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2005	1708
12259	1.60	292.9	90.1	10.8	590	12264	0.00	2.65	0.00	0.000	4	0.000	0.074	2789	3410	1708
12300	1.60	292.9	85.1	11.9	592	12305	0.00	2.58	0.00	0.000	6	0.000	0.054	2790	1998	1708
12628	1.60	292.9	47.6	10.6	608	12632	0.00	2.60	0.00	0.000	4	0.000	0.065	2789	589	1709
12762	1.60	292.9	34.0	10.2	614	12766	0.00	2.53	0.00	0.000	6	0.000	0.043	2789	2003	1709
13084	1.60	292.9	2.0	9.6	630	13085	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2004	1710
13101	end climb: SURFACE_DEPTH_REACHED
state	13101	begin surface coast
13123	end surface coast: CONTROL_FINISHED_OK
state	13123	begin surface