Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 380 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 380 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -107483.23 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -107483.23

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 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 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 380 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 140237,6239.732,-1109.511,34,1.6,34,-10.8 TGT_NAME DE

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.259,-0.051

_SM_DEPTHo 1.41 KALMAN_X -156490.4,647.2,531.3,245857.0,-10610.8

_SM_ANGLEo -58.0 KALMAN_Y 44867.9,691.7,475.7,-135923.8,-1444.0

GPS2 140808,6239.759,-1109.584,12,1.6,12,-10.8 MHEAD_RNG_PITCHd_Wd 111.9,9632,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.003182 ALTIM_BOTTOM_PING 570.6,65.5

SM_CCo 11294,26.58,0.775,0,0,1608,300.00 _24V_AH 23.7,61.657

SM_GC 1.39,0.00,0.00,26.58,0.000,0.000,0.775,423,2159,1608,-10.68,0.88,300.00 _10V_AH 10.1,27.962

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34765,676

TT8_MAMPS 0.029146 CAP_FILE_SIZE 99199,0

HUMID 1827 CFSIZE 254472192,231276544

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 51 GPS 271009,171900,6240.196,-1106.864,39,1.4,39,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 100.01 SBE_CT 461 24 262.65

Roll_motor 126 76 229.41 SBE_O2 494 19 222.59

VBD_pump_during_apogee 362 1231 10584.88 WL_BB2F 400 105 997.45

VBD_pump_during_surface 26 774 487.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 28 160 106.59 nil 0 0 0.00

Iridium_during_xfer 139 223 735.14

Transponder_ping 17 420 176.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.34

TT8 1206 19 241.26

LPSleep 8068 2 178.46

TT8_Active 510 19 102.11

TT8_Sampling 1382 39 555.93

TT8_CF8 487 45 225.41

TT8_Kalman 33 81 27.56

Analog_circuits 1246 12 151.05

GPS_charging 0 0 0.00

Compass 1349 8 109.06

RAFOS 0 0 0.00

Transponder 35 30 10.62

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 -1.44 -146.6 0.0 0.0 0 62 0.00 0.00 -41.65 0.000 2 0.000 0.000 419 2164 2350

66 -1.44 -146.6 2.0 -2.9 2 138 11.12 2.65 -53.10 0.000 4 0.161 0.067 2423 708 3430

210 -1.36 -146.6 16.7 -18.5 8 215 0.12 2.53 0.00 0.000 6 0.110 0.048 2446 2134 3430

526 -1.31 -146.6 63.7 -15.1 23 527 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2134 3430

836 -1.26 -146.6 104.7 -13.7 38 841 0.12 2.58 0.00 0.000 4 0.107 0.058 2470 707 3430

892 -1.29 -146.6 111.6 -11.3 40 899 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2123 3430

1209 -1.29 -146.6 148.8 -11.6 56 1213 0.00 2.58 0.00 0.000 4 0.000 0.061 2471 702 3430

1243 -1.29 -146.6 153.2 -12.4 58 1247 0.00 2.50 0.00 0.000 6 0.000 0.048 2471 2113 3430

1562 -1.29 -146.6 189.0 -11.0 78 1563 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2113 3431

1874 -1.29 -146.6 223.4 -11.2 98 1878 0.00 2.55 0.00 0.000 4 0.000 0.061 2471 705 3431

1909 -1.29 -146.6 227.4 -11.4 100 1913 0.00 2.47 0.00 0.000 6 0.000 0.048 2471 2101 3431

2228 -1.29 -146.6 265.6 -12.4 120 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2101 3431

2541 -1.29 -146.6 304.5 -12.5 140 2545 0.00 2.55 0.00 0.000 4 0.000 0.065 2471 703 3431

2580 -1.33 -146.6 309.8 -13.3 142 2586 0.00 2.47 0.00 0.000 6 0.000 0.051 2471 2097 3430

2899 -1.33 -146.6 350.3 -12.1 163 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2097 3431

3212 -1.33 -146.6 387.6 -11.5 183 3216 0.00 2.53 0.00 0.000 4 0.000 0.064 2471 706 3430

3258 -1.37 -146.6 393.0 -11.7 186 3263 0.12 2.45 0.00 0.000 6 0.058 0.051 2438 2086 3431

3586 -1.32 -146.6 436.1 -13.3 207 3587 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2087 3430

3895 -1.26 -146.6 480.5 -15.3 227 3900 0.15 2.53 0.00 0.000 4 0.099 0.065 2467 698 3430

3917 -1.26 -146.6 483.8 -13.8 228 3923 0.00 2.45 0.00 0.000 6 0.000 0.051 2467 2078 3430

4237 -1.26 -146.6 527.5 -12.4 249 4241 0.00 2.67 0.00 0.000 4 0.000 0.074 2467 3533 3430

4292 -1.26 -146.6 534.3 -11.5 252 4298 0.00 2.65 0.00 0.000 6 0.000 0.064 2467 2085 3430

4612 -1.26 -146.6 568.0 -10.2 273 4616 0.00 2.47 0.00 0.000 4 0.000 0.068 2467 706 3430

4651 -1.32 -146.6 572.4 -11.2 275 4657 0.00 2.42 0.00 0.000 6 0.000 0.053 2467 2070 3430

4970 -1.32 -146.6 608.8 -12.1 296 4974 0.00 2.67 0.00 0.000 4 0.000 0.077 2468 3530 3430

5067 -1.32 -146.6 619.9 -11.3 302 5071 0.00 2.67 0.00 0.000 6 0.000 0.067 2468 2068 3429

5123 end dive: BOTTOM_OBSTACLE_DETECTED

state 5123 begin apogee

5130 -0.33 0.0 626.6 11.6 306 5266 0.95 0.00 132.00 1.231 6 0.080 0.000 2670 1836 2831

5267 end apogee: CONTROL_FINISHED_OK

state 5267 begin climb

5270 1.44 146.6 632.2 0.0 315 5411 1.77 2.62 131.20 1.192 4 0.059 0.076 3058 445 2233

5421 1.40 188.6 626.2 8.1 324 5467 0.00 2.58 38.62 1.144 6 0.000 0.054 3058 1858 2061

5793 1.35 188.6 585.3 10.9 348 5797 0.00 2.58 0.00 0.000 4 0.000 0.073 3058 3251 2061

5839 1.30 188.6 580.4 10.5 351 5844 0.17 2.58 0.00 0.000 6 0.100 0.070 3026 1861 2061

6167 1.31 195.4 550.1 9.7 372 6184 0.00 2.67 7.25 0.966 4 0.000 0.072 3026 3246 2034

6220 1.35 195.4 544.4 10.6 375 6224 0.00 2.58 0.00 0.000 6 0.000 0.069 3026 1867 2033

6544 1.35 195.4 510.7 10.8 396 6549 0.00 2.58 0.00 0.000 4 0.000 0.071 3026 3247 2033

6566 1.35 195.4 508.2 10.8 397 6572 0.00 2.58 0.00 0.000 6 0.000 0.065 3026 1855 2033

6886 1.37 212.0 478.3 9.2 418 6907 0.00 2.65 15.88 1.088 4 0.000 0.068 3026 3245 1966

6955 1.42 214.9 471.9 9.9 422 6966 0.12 2.55 4.28 0.770 6 0.065 0.063 3057 1866 1954

7282 1.39 214.9 436.0 11.5 443 7286 0.00 2.55 0.00 0.000 4 0.000 0.068 3057 3247 1954

7321 1.39 214.9 430.9 11.7 445 7327 0.00 2.50 0.00 0.000 6 0.000 0.061 3057 1880 1953

7641 1.39 214.9 396.2 10.6 466 7645 0.00 2.53 0.00 0.000 4 0.000 0.066 3057 3245 1953

7663 1.39 214.9 393.6 11.0 467 7669 0.00 2.47 0.00 0.000 6 0.000 0.059 3056 1885 1953

7982 1.39 214.9 359.4 11.3 488 7986 0.00 2.50 0.00 0.000 4 0.000 0.065 3057 3245 1953

8015 1.39 214.9 355.4 11.6 490 8019 0.00 2.42 0.00 0.000 6 0.000 0.057 3057 1905 1953

8335 1.39 214.9 319.2 11.3 510 8339 0.00 2.47 0.00 0.000 4 0.000 0.065 3057 3249 1954

8356 1.39 214.9 316.4 12.0 511 8362 0.00 2.42 0.00 0.000 6 0.000 0.055 3057 1904 1954

8676 1.39 214.9 280.5 11.1 532 8680 0.00 2.47 0.00 0.000 4 0.000 0.064 3057 3248 1954

8692 1.39 214.9 278.4 11.9 533 8696 0.00 2.40 0.00 0.000 6 0.000 0.054 3057 1914 1954

9011 1.39 214.9 243.7 10.5 553 9016 0.00 2.45 0.00 0.000 4 0.000 0.064 3056 3249 1954

9042 1.39 214.9 240.4 11.7 555 9046 0.00 2.38 0.00 0.000 6 0.000 0.052 3057 1922 1954

9368 1.39 214.9 207.1 10.1 576 9372 0.00 2.45 0.00 0.000 4 0.000 0.062 3057 3259 1954

9389 1.39 214.9 204.5 10.9 577 9395 0.00 2.38 0.00 0.000 6 0.000 0.051 3057 1932 1955

9708 1.39 214.9 170.9 11.1 598 9713 0.00 2.40 0.00 0.000 4 0.000 0.061 3057 3246 1954

9738 1.39 214.9 167.8 11.8 600 9742 0.00 2.35 0.00 0.000 6 0.000 0.050 3057 1929 1955

10071 1.40 220.6 132.2 9.7 619 10080 0.00 0.00 6.60 0.740 6 0.000 0.000 3057 1929 1931

10383 1.40 220.6 99.6 10.9 634 10387 0.00 2.42 0.00 0.000 4 0.000 0.061 3057 3256 1931

10433 1.40 220.6 93.2 12.4 636 10437 0.00 2.33 0.00 0.000 6 0.000 0.048 3057 1948 1931

10751 1.40 220.6 59.5 11.7 651 10752 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 1948 1932

11059 1.43 241.7 27.9 9.0 666 11084 0.00 2.42 18.70 0.789 4 0.000 0.058 3057 3244 1845

11104 1.45 249.8 23.8 9.6 668 11119 0.00 2.30 8.27 0.711 6 0.000 0.047 3057 1960 1812

11248 end climb: SURFACE_DEPTH_REACHED

state 11248 begin surface coast

11270 end surface coast: CONTROL_FINISHED_OK

state 11270 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	380	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-107483.23	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	140237,6239.732,-1109.511,34,1.6,34,-10.8	TGT_NAME	DE
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.259,-0.051
_SM_DEPTHo	1.41	KALMAN_X	-156490.4,647.2,531.3,245857.0,-10610.8
_SM_ANGLEo	-58.0	KALMAN_Y	44867.9,691.7,475.7,-135923.8,-1444.0
GPS2	140808,6239.759,-1109.584,12,1.6,12,-10.8	MHEAD_RNG_PITCHd_Wd	111.9,9632,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.003182	ALTIM_BOTTOM_PING	570.6,65.5
SM_CCo	11294,26.58,0.775,0,0,1608,300.00	_24V_AH	23.7,61.657
SM_GC	1.39,0.00,0.00,26.58,0.000,0.000,0.775,423,2159,1608,-10.68,0.88,300.00	_10V_AH	10.1,27.962
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34765,676
TT8_MAMPS	0.029146	CAP_FILE_SIZE	99199,0
HUMID	1827	CFSIZE	254472192,231276544
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	51	GPS	271009,171900,6240.196,-1106.864,39,1.4,39,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	100.01	SBE_CT	461	24	262.65
Roll_motor	126	76	229.41	SBE_O2	494	19	222.59
VBD_pump_during_apogee	362	1231	10584.88	WL_BB2F	400	105	997.45
VBD_pump_during_surface	26	774	487.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	28	160	106.59	nil	0	0	0.00
Iridium_during_xfer	139	223	735.14
Transponder_ping	17	420	176.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.34
TT8	1206	19	241.26
LPSleep	8068	2	178.46
TT8_Active	510	19	102.11
TT8_Sampling	1382	39	555.93
TT8_CF8	487	45	225.41
TT8_Kalman	33	81	27.56
Analog_circuits	1246	12	151.05
GPS_charging	0	0	0.00
Compass	1349	8	109.06
RAFOS	0	0	0.00
Transponder	35	30	10.62

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	-1.44	-146.6	0.0	0.0	0	62	0.00	0.00	-41.65	0.000	2	0.000	0.000	419	2164	2350
66	-1.44	-146.6	2.0	-2.9	2	138	11.12	2.65	-53.10	0.000	4	0.161	0.067	2423	708	3430
210	-1.36	-146.6	16.7	-18.5	8	215	0.12	2.53	0.00	0.000	6	0.110	0.048	2446	2134	3430
526	-1.31	-146.6	63.7	-15.1	23	527	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2134	3430
836	-1.26	-146.6	104.7	-13.7	38	841	0.12	2.58	0.00	0.000	4	0.107	0.058	2470	707	3430
892	-1.29	-146.6	111.6	-11.3	40	899	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2123	3430
1209	-1.29	-146.6	148.8	-11.6	56	1213	0.00	2.58	0.00	0.000	4	0.000	0.061	2471	702	3430
1243	-1.29	-146.6	153.2	-12.4	58	1247	0.00	2.50	0.00	0.000	6	0.000	0.048	2471	2113	3430
1562	-1.29	-146.6	189.0	-11.0	78	1563	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2113	3431
1874	-1.29	-146.6	223.4	-11.2	98	1878	0.00	2.55	0.00	0.000	4	0.000	0.061	2471	705	3431
1909	-1.29	-146.6	227.4	-11.4	100	1913	0.00	2.47	0.00	0.000	6	0.000	0.048	2471	2101	3431
2228	-1.29	-146.6	265.6	-12.4	120	2229	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2101	3431
2541	-1.29	-146.6	304.5	-12.5	140	2545	0.00	2.55	0.00	0.000	4	0.000	0.065	2471	703	3431
2580	-1.33	-146.6	309.8	-13.3	142	2586	0.00	2.47	0.00	0.000	6	0.000	0.051	2471	2097	3430
2899	-1.33	-146.6	350.3	-12.1	163	2900	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2097	3431
3212	-1.33	-146.6	387.6	-11.5	183	3216	0.00	2.53	0.00	0.000	4	0.000	0.064	2471	706	3430
3258	-1.37	-146.6	393.0	-11.7	186	3263	0.12	2.45	0.00	0.000	6	0.058	0.051	2438	2086	3431
3586	-1.32	-146.6	436.1	-13.3	207	3587	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2087	3430
3895	-1.26	-146.6	480.5	-15.3	227	3900	0.15	2.53	0.00	0.000	4	0.099	0.065	2467	698	3430
3917	-1.26	-146.6	483.8	-13.8	228	3923	0.00	2.45	0.00	0.000	6	0.000	0.051	2467	2078	3430
4237	-1.26	-146.6	527.5	-12.4	249	4241	0.00	2.67	0.00	0.000	4	0.000	0.074	2467	3533	3430
4292	-1.26	-146.6	534.3	-11.5	252	4298	0.00	2.65	0.00	0.000	6	0.000	0.064	2467	2085	3430
4612	-1.26	-146.6	568.0	-10.2	273	4616	0.00	2.47	0.00	0.000	4	0.000	0.068	2467	706	3430
4651	-1.32	-146.6	572.4	-11.2	275	4657	0.00	2.42	0.00	0.000	6	0.000	0.053	2467	2070	3430
4970	-1.32	-146.6	608.8	-12.1	296	4974	0.00	2.67	0.00	0.000	4	0.000	0.077	2468	3530	3430
5067	-1.32	-146.6	619.9	-11.3	302	5071	0.00	2.67	0.00	0.000	6	0.000	0.067	2468	2068	3429
5123	end dive: BOTTOM_OBSTACLE_DETECTED
state	5123	begin apogee
5130	-0.33	0.0	626.6	11.6	306	5266	0.95	0.00	132.00	1.231	6	0.080	0.000	2670	1836	2831
5267	end apogee: CONTROL_FINISHED_OK
state	5267	begin climb
5270	1.44	146.6	632.2	0.0	315	5411	1.77	2.62	131.20	1.192	4	0.059	0.076	3058	445	2233
5421	1.40	188.6	626.2	8.1	324	5467	0.00	2.58	38.62	1.144	6	0.000	0.054	3058	1858	2061
5793	1.35	188.6	585.3	10.9	348	5797	0.00	2.58	0.00	0.000	4	0.000	0.073	3058	3251	2061
5839	1.30	188.6	580.4	10.5	351	5844	0.17	2.58	0.00	0.000	6	0.100	0.070	3026	1861	2061
6167	1.31	195.4	550.1	9.7	372	6184	0.00	2.67	7.25	0.966	4	0.000	0.072	3026	3246	2034
6220	1.35	195.4	544.4	10.6	375	6224	0.00	2.58	0.00	0.000	6	0.000	0.069	3026	1867	2033
6544	1.35	195.4	510.7	10.8	396	6549	0.00	2.58	0.00	0.000	4	0.000	0.071	3026	3247	2033
6566	1.35	195.4	508.2	10.8	397	6572	0.00	2.58	0.00	0.000	6	0.000	0.065	3026	1855	2033
6886	1.37	212.0	478.3	9.2	418	6907	0.00	2.65	15.88	1.088	4	0.000	0.068	3026	3245	1966
6955	1.42	214.9	471.9	9.9	422	6966	0.12	2.55	4.28	0.770	6	0.065	0.063	3057	1866	1954
7282	1.39	214.9	436.0	11.5	443	7286	0.00	2.55	0.00	0.000	4	0.000	0.068	3057	3247	1954
7321	1.39	214.9	430.9	11.7	445	7327	0.00	2.50	0.00	0.000	6	0.000	0.061	3057	1880	1953
7641	1.39	214.9	396.2	10.6	466	7645	0.00	2.53	0.00	0.000	4	0.000	0.066	3057	3245	1953
7663	1.39	214.9	393.6	11.0	467	7669	0.00	2.47	0.00	0.000	6	0.000	0.059	3056	1885	1953
7982	1.39	214.9	359.4	11.3	488	7986	0.00	2.50	0.00	0.000	4	0.000	0.065	3057	3245	1953
8015	1.39	214.9	355.4	11.6	490	8019	0.00	2.42	0.00	0.000	6	0.000	0.057	3057	1905	1953
8335	1.39	214.9	319.2	11.3	510	8339	0.00	2.47	0.00	0.000	4	0.000	0.065	3057	3249	1954
8356	1.39	214.9	316.4	12.0	511	8362	0.00	2.42	0.00	0.000	6	0.000	0.055	3057	1904	1954
8676	1.39	214.9	280.5	11.1	532	8680	0.00	2.47	0.00	0.000	4	0.000	0.064	3057	3248	1954
8692	1.39	214.9	278.4	11.9	533	8696	0.00	2.40	0.00	0.000	6	0.000	0.054	3057	1914	1954
9011	1.39	214.9	243.7	10.5	553	9016	0.00	2.45	0.00	0.000	4	0.000	0.064	3056	3249	1954
9042	1.39	214.9	240.4	11.7	555	9046	0.00	2.38	0.00	0.000	6	0.000	0.052	3057	1922	1954
9368	1.39	214.9	207.1	10.1	576	9372	0.00	2.45	0.00	0.000	4	0.000	0.062	3057	3259	1954
9389	1.39	214.9	204.5	10.9	577	9395	0.00	2.38	0.00	0.000	6	0.000	0.051	3057	1932	1955
9708	1.39	214.9	170.9	11.1	598	9713	0.00	2.40	0.00	0.000	4	0.000	0.061	3057	3246	1954
9738	1.39	214.9	167.8	11.8	600	9742	0.00	2.35	0.00	0.000	6	0.000	0.050	3057	1929	1955
10071	1.40	220.6	132.2	9.7	619	10080	0.00	0.00	6.60	0.740	6	0.000	0.000	3057	1929	1931
10383	1.40	220.6	99.6	10.9	634	10387	0.00	2.42	0.00	0.000	4	0.000	0.061	3057	3256	1931
10433	1.40	220.6	93.2	12.4	636	10437	0.00	2.33	0.00	0.000	6	0.000	0.048	3057	1948	1931
10751	1.40	220.6	59.5	11.7	651	10752	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	1948	1932
11059	1.43	241.7	27.9	9.0	666	11084	0.00	2.42	18.70	0.789	4	0.000	0.058	3057	3244	1845
11104	1.45	249.8	23.8	9.6	668	11119	0.00	2.30	8.27	0.711	6	0.000	0.047	3057	1960	1812
11248	end climb: SURFACE_DEPTH_REACHED
state	11248	begin surface coast
11270	end surface coast: CONTROL_FINISHED_OK
state	11270	begin surface