Glider dive log

Faroes Feb09 * SG103 * Dive index * Mission links * Dive 417 * 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 417 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 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 7 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 -151898.55 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 -151898.55

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 18 VBD_BLEED_AD_RATE 8

C_VBD 2902 MAX_BUOY 150 R_STBD_OVSHOOT 7 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 417 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 100006,6325.213,-813.052,50,1.3,50,-9.5 TGT_NAME P4

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.192,0.149

_SM_DEPTHo 0.59 KALMAN_X -20981.3,-340.6,-811.0,132253.7,1518.5

_SM_ANGLEo -59.8 KALMAN_Y -33362.1,1321.5,530.1,108203.5,-14308.8

GPS2 100831,6325.122,-813.261,10,1.6,15,-9.5 MHEAD_RNG_PITCHd_Wd 317.2,38384,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.4,1.027495 ALTIM_BOTTOM_PING 625.5,29.8

SM_CCo 13790,0.00,0.000,0,0,1664,303.68 _24V_AH 22.8,66.637

SM_GC 0.40,12.27,0.00,0.00,0.038,0.000,0.000,53,2752,1664,-10.93,0.06,303.68 _10V_AH 10.0,37.519

IRIDIUM_FIX 6258.74,-811.88,120898,101049 DATA_FILE_SIZE 34905,662

TT8_MAMPS 0.029146 CAP_FILE_SIZE 88739,0

HUMID 1839 CFSIZE 260165632,233418752

INTERNAL_PRESSURE 8.44759 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.60 GPS 180509,140030,6324.867,-819.736,41,1.3,41,-9.5

XPDR_PINGS 57

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 165 103.59 SBE_CT 498 24 272.52

Roll_motor 65 83 124.95 SBE_O2 461 19 200.13

VBD_pump_during_apogee 393 1201 10787.90 WL_BB2F 401 105 961.93

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 57 103 135.49 nil 0 0 0.00

Iridium_during_connect 56 160 204.56 nil 0 0 0.00

Iridium_during_xfer 202 223 1027.49

Transponder_ping 19 420 189.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1176 19 232.91

LPSleep 10703 2 234.40

TT8_Active 451 19 89.44

TT8_Sampling 1391 39 553.84

TT8_CF8 569 45 261.06

TT8_Kalman 33 81 27.28

Analog_circuits 1152 12 138.32

GPS_charging 0 0 0.00

Compass 1359 8 108.79

RAFOS 0 0 0.00

Transponder 43 30 13.12

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 76 0.00 0.00 -54.92 0.000 6 0.000 0.000 50 2753 3501

80 -1.42 -146.6 7.2 -16.1 3 101 11.98 2.05 0.00 0.000 4 0.166 0.084 2124 3794 3501

327 -1.42 -146.6 49.4 -13.3 14 331 0.00 1.88 0.00 0.000 6 0.000 0.043 2125 2740 3501

661 -1.42 -146.6 91.5 -12.6 30 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2740 3501

970 -1.42 -146.6 130.1 -11.4 45 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2740 3502

1278 -1.42 -146.6 168.0 -11.5 60 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2740 3502

1588 -1.42 -146.6 203.4 -11.7 75 1589 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2740 3502

1897 -1.42 -146.6 236.6 -11.3 90 1898 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2740 3502

2206 -1.42 -146.6 278.0 -13.7 105 2211 0.00 2.65 0.00 0.000 4 0.000 0.077 2125 1333 3502

2270 -1.42 -146.6 285.4 -11.2 108 2274 0.00 2.75 0.00 0.000 6 0.000 0.080 2124 2761 3502

2596 -1.42 -146.6 317.3 -9.7 124 2597 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2761 3502

2906 -1.42 -146.6 350.5 -11.5 139 2907 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2761 3502

3215 -1.42 -146.6 387.5 -12.1 154 3216 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2761 3502

3524 -1.42 -146.6 422.0 -10.6 169 3525 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2761 3501

3834 -1.42 -146.6 449.3 -7.9 184 3838 0.00 2.72 0.00 0.000 4 0.000 0.077 2124 1332 3500

3879 -1.42 -146.6 452.7 -7.2 186 3883 0.00 2.75 0.00 0.000 6 0.000 0.081 2124 2754 3500

4200 -1.42 -146.6 477.0 -7.6 202 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2754 3499

4509 -1.42 -146.6 502.7 -8.7 217 4510 0.00 0.00 0.00 0.000 6 0.000 0.000 2124 2754 3498

4818 -1.42 -146.6 532.4 -9.7 232 4819 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2754 3498

5127 -1.42 -146.6 562.2 -9.6 247 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2754 3497

5437 -1.42 -146.6 591.1 -9.2 262 5438 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2754 3496

5746 -1.42 -146.6 619.4 -9.4 277 5750 0.00 2.70 0.00 0.000 4 0.000 0.077 2125 1340 3495

5779 -1.42 -146.6 622.7 -9.9 278 5785 0.00 2.72 0.00 0.000 6 0.000 0.081 2124 2752 3495

6010 end dive: BOTTOM_OBSTACLE_DETECTED

state 6010 begin apogee

6019 -0.42 0.0 645.6 9.5 290 6153 1.12 0.00 127.68 1.202 6 0.102 0.000 2344 2003 2902

6153 end apogee: CONTROL_FINISHED_OK

state 6153 begin climb

6157 1.42 146.6 651.9 0.0 297 6294 1.92 2.80 126.50 1.155 4 0.064 0.075 2748 3417 2304

6553 1.55 248.5 646.2 4.3 315 6650 0.12 2.62 88.15 1.151 6 0.049 0.051 2783 1984 1888

6966 1.55 248.5 611.8 8.5 335 6967 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1984 1887

7276 1.55 248.5 585.5 8.4 350 7277 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1984 1886

7585 1.55 248.5 558.0 9.2 365 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1984 1886

7895 1.55 248.5 528.7 9.7 380 7896 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1984 1886

8203 1.55 248.5 499.1 9.4 395 8205 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 1984 1886

8513 1.55 248.5 470.5 9.3 410 8517 0.00 2.75 0.00 0.000 4 0.000 0.076 2783 3423 1885

8557 1.55 248.5 466.3 9.6 412 8562 0.00 2.62 0.00 0.000 6 0.000 0.054 2783 1997 1886

8879 1.55 248.5 439.1 8.1 428 8883 0.00 2.65 0.00 0.000 4 0.000 0.075 2783 588 1886

8919 1.55 248.5 435.7 9.0 430 8923 0.00 2.58 0.00 0.000 6 0.000 0.048 2783 2013 1886

9246 1.55 248.5 409.3 8.1 446 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2013 1885

9555 1.55 248.5 383.1 8.7 461 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2013 1885

9864 1.56 261.2 358.0 7.5 476 9882 0.00 0.00 11.93 0.993 6 0.000 0.000 2783 2013 1837

10193 1.60 293.1 335.0 6.8 492 10228 0.00 2.80 28.08 1.016 4 0.000 0.074 2783 594 1707

10268 1.62 304.4 329.2 7.6 495 10285 0.00 2.58 11.35 0.936 6 0.000 0.049 2783 1996 1661

10606 1.62 304.4 303.1 8.7 512 10611 0.00 2.72 0.00 0.000 4 0.000 0.081 2783 3417 1661

10640 1.62 304.4 299.6 10.3 513 10646 0.00 2.62 0.00 0.000 6 0.000 0.058 2783 2000 1661

10956 1.62 304.4 265.3 10.8 529 10961 0.00 2.65 0.00 0.000 4 0.000 0.074 2783 590 1661

11023 1.62 304.4 257.8 10.7 532 11027 0.00 2.58 0.00 0.000 6 0.000 0.049 2783 2007 1661

11344 1.62 304.4 226.0 9.6 548 11345 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2007 1661

11653 1.62 304.4 194.5 10.4 563 11654 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2007 1661

11962 1.62 304.4 165.4 8.3 578 11963 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2007 1661

12272 1.62 304.4 138.5 8.6 593 12274 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2007 1661

12583 1.62 304.4 110.5 9.4 608 12587 0.00 2.67 0.00 0.000 4 0.000 0.071 2783 586 1662

12706 1.62 304.4 98.1 9.7 613 12712 0.00 2.55 0.00 0.000 6 0.000 0.047 2783 2004 1662

13024 1.62 304.4 68.8 9.5 629 13025 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2005 1663

13331 1.62 304.4 39.1 9.4 644 13332 0.00 0.00 0.00 0.000 6 0.000 0.000 2783 2005 1663

13640 1.62 304.4 8.2 10.3 659 13645 0.00 2.62 0.00 0.000 4 0.000 0.065 2783 588 1664

13693 end climb: SURFACE_DEPTH_REACHED

state 13693 begin surface coast

13701 end surface coast: CONTROL_FINISHED_OK

state 13701 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	417	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	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	7	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	-151898.55	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	100006,6325.213,-813.052,50,1.3,50,-9.5	TGT_NAME	P4
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.192,0.149
_SM_DEPTHo	0.59	KALMAN_X	-20981.3,-340.6,-811.0,132253.7,1518.5
_SM_ANGLEo	-59.8	KALMAN_Y	-33362.1,1321.5,530.1,108203.5,-14308.8
GPS2	100831,6325.122,-813.261,10,1.6,15,-9.5	MHEAD_RNG_PITCHd_Wd	317.2,38384,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	990

FINISH	1.4,1.027495	ALTIM_BOTTOM_PING	625.5,29.8
SM_CCo	13790,0.00,0.000,0,0,1664,303.68	_24V_AH	22.8,66.637
SM_GC	0.40,12.27,0.00,0.00,0.038,0.000,0.000,53,2752,1664,-10.93,0.06,303.68	_10V_AH	10.0,37.519
IRIDIUM_FIX	6258.74,-811.88,120898,101049	DATA_FILE_SIZE	34905,662
TT8_MAMPS	0.029146	CAP_FILE_SIZE	88739,0
HUMID	1839	CFSIZE	260165632,233418752
INTERNAL_PRESSURE	8.44759	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.60	GPS	180509,140030,6324.867,-819.736,41,1.3,41,-9.5
XPDR_PINGS	57

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	165	103.59	SBE_CT	498	24	272.52
Roll_motor	65	83	124.95	SBE_O2	461	19	200.13
VBD_pump_during_apogee	393	1201	10787.90	WL_BB2F	401	105	961.93
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	57	103	135.49	nil	0	0	0.00
Iridium_during_connect	56	160	204.56	nil	0	0	0.00
Iridium_during_xfer	202	223	1027.49
Transponder_ping	19	420	189.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1176	19	232.91
LPSleep	10703	2	234.40
TT8_Active	451	19	89.44
TT8_Sampling	1391	39	553.84
TT8_CF8	569	45	261.06
TT8_Kalman	33	81	27.28
Analog_circuits	1152	12	138.32
GPS_charging	0	0	0.00
Compass	1359	8	108.79
RAFOS	0	0	0.00
Transponder	43	30	13.12

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	76	0.00	0.00	-54.92	0.000	6	0.000	0.000	50	2753	3501
80	-1.42	-146.6	7.2	-16.1	3	101	11.98	2.05	0.00	0.000	4	0.166	0.084	2124	3794	3501
327	-1.42	-146.6	49.4	-13.3	14	331	0.00	1.88	0.00	0.000	6	0.000	0.043	2125	2740	3501
661	-1.42	-146.6	91.5	-12.6	30	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2740	3501
970	-1.42	-146.6	130.1	-11.4	45	971	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2740	3502
1278	-1.42	-146.6	168.0	-11.5	60	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2740	3502
1588	-1.42	-146.6	203.4	-11.7	75	1589	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2740	3502
1897	-1.42	-146.6	236.6	-11.3	90	1898	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2740	3502
2206	-1.42	-146.6	278.0	-13.7	105	2211	0.00	2.65	0.00	0.000	4	0.000	0.077	2125	1333	3502
2270	-1.42	-146.6	285.4	-11.2	108	2274	0.00	2.75	0.00	0.000	6	0.000	0.080	2124	2761	3502
2596	-1.42	-146.6	317.3	-9.7	124	2597	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2761	3502
2906	-1.42	-146.6	350.5	-11.5	139	2907	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2761	3502
3215	-1.42	-146.6	387.5	-12.1	154	3216	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2761	3502
3524	-1.42	-146.6	422.0	-10.6	169	3525	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2761	3501
3834	-1.42	-146.6	449.3	-7.9	184	3838	0.00	2.72	0.00	0.000	4	0.000	0.077	2124	1332	3500
3879	-1.42	-146.6	452.7	-7.2	186	3883	0.00	2.75	0.00	0.000	6	0.000	0.081	2124	2754	3500
4200	-1.42	-146.6	477.0	-7.6	202	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2754	3499
4509	-1.42	-146.6	502.7	-8.7	217	4510	0.00	0.00	0.00	0.000	6	0.000	0.000	2124	2754	3498
4818	-1.42	-146.6	532.4	-9.7	232	4819	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2754	3498
5127	-1.42	-146.6	562.2	-9.6	247	5129	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2754	3497
5437	-1.42	-146.6	591.1	-9.2	262	5438	0.00	0.00	0.00	0.000	6	0.000	0.000	2125	2754	3496
5746	-1.42	-146.6	619.4	-9.4	277	5750	0.00	2.70	0.00	0.000	4	0.000	0.077	2125	1340	3495
5779	-1.42	-146.6	622.7	-9.9	278	5785	0.00	2.72	0.00	0.000	6	0.000	0.081	2124	2752	3495
6010	end dive: BOTTOM_OBSTACLE_DETECTED
state	6010	begin apogee
6019	-0.42	0.0	645.6	9.5	290	6153	1.12	0.00	127.68	1.202	6	0.102	0.000	2344	2003	2902
6153	end apogee: CONTROL_FINISHED_OK
state	6153	begin climb
6157	1.42	146.6	651.9	0.0	297	6294	1.92	2.80	126.50	1.155	4	0.064	0.075	2748	3417	2304
6553	1.55	248.5	646.2	4.3	315	6650	0.12	2.62	88.15	1.151	6	0.049	0.051	2783	1984	1888
6966	1.55	248.5	611.8	8.5	335	6967	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1984	1887
7276	1.55	248.5	585.5	8.4	350	7277	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1984	1886
7585	1.55	248.5	558.0	9.2	365	7586	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1984	1886
7895	1.55	248.5	528.7	9.7	380	7896	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1984	1886
8203	1.55	248.5	499.1	9.4	395	8205	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	1984	1886
8513	1.55	248.5	470.5	9.3	410	8517	0.00	2.75	0.00	0.000	4	0.000	0.076	2783	3423	1885
8557	1.55	248.5	466.3	9.6	412	8562	0.00	2.62	0.00	0.000	6	0.000	0.054	2783	1997	1886
8879	1.55	248.5	439.1	8.1	428	8883	0.00	2.65	0.00	0.000	4	0.000	0.075	2783	588	1886
8919	1.55	248.5	435.7	9.0	430	8923	0.00	2.58	0.00	0.000	6	0.000	0.048	2783	2013	1886
9246	1.55	248.5	409.3	8.1	446	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2013	1885
9555	1.55	248.5	383.1	8.7	461	9556	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2013	1885
9864	1.56	261.2	358.0	7.5	476	9882	0.00	0.00	11.93	0.993	6	0.000	0.000	2783	2013	1837
10193	1.60	293.1	335.0	6.8	492	10228	0.00	2.80	28.08	1.016	4	0.000	0.074	2783	594	1707
10268	1.62	304.4	329.2	7.6	495	10285	0.00	2.58	11.35	0.936	6	0.000	0.049	2783	1996	1661
10606	1.62	304.4	303.1	8.7	512	10611	0.00	2.72	0.00	0.000	4	0.000	0.081	2783	3417	1661
10640	1.62	304.4	299.6	10.3	513	10646	0.00	2.62	0.00	0.000	6	0.000	0.058	2783	2000	1661
10956	1.62	304.4	265.3	10.8	529	10961	0.00	2.65	0.00	0.000	4	0.000	0.074	2783	590	1661
11023	1.62	304.4	257.8	10.7	532	11027	0.00	2.58	0.00	0.000	6	0.000	0.049	2783	2007	1661
11344	1.62	304.4	226.0	9.6	548	11345	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2007	1661
11653	1.62	304.4	194.5	10.4	563	11654	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2007	1661
11962	1.62	304.4	165.4	8.3	578	11963	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2007	1661
12272	1.62	304.4	138.5	8.6	593	12274	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2007	1661
12583	1.62	304.4	110.5	9.4	608	12587	0.00	2.67	0.00	0.000	4	0.000	0.071	2783	586	1662
12706	1.62	304.4	98.1	9.7	613	12712	0.00	2.55	0.00	0.000	6	0.000	0.047	2783	2004	1662
13024	1.62	304.4	68.8	9.5	629	13025	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2005	1663
13331	1.62	304.4	39.1	9.4	644	13332	0.00	0.00	0.00	0.000	6	0.000	0.000	2783	2005	1663
13640	1.62	304.4	8.2	10.3	659	13645	0.00	2.62	0.00	0.000	4	0.000	0.065	2783	588	1664
13693	end climb: SURFACE_DEPTH_REACHED
state	13693	begin surface coast
13701	end surface coast: CONTROL_FINISHED_OK
state	13701	begin surface