Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 130 * 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 130 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 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 -102655.1 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 412.5

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 -102655.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 130 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 103155,6327.110,-1322.083,43,1.2,43,-12.4 TGT_NAME JW

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,0.217

_SM_DEPTHo 1.32 KALMAN_X -95716.3,-698.7,754.6,-152728.8,-1042.4

_SM_ANGLEo -59.3 KALMAN_Y -12488.9,-121.2,992.7,216320.8,-1087.8

GPS2 103750,6327.157,-1321.938,12,1.3,12,-12.4 MHEAD_RNG_PITCHd_Wd 40.3,15609,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.002276 ALTIM_BOTTOM_PING 721.4,42.1

SM_CCo 13405,0.00,0.000,0,0,441,586.27 _24V_AH 23.8,24.168

SM_GC 1.13,11.38,0.00,0.00,0.035,0.000,0.000,418,2138,441,-10.60,0.23,586.27 _10V_AH 10.1,10.857

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31711,641

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104430,0

HUMID 1818 CFSIZE 254472192,244551680

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 29 GPS 200909,142325,6329.889,-1317.865,42,1.5,42,-12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 103.23 SBE_CT 436 24 249.37

Roll_motor 114 74 201.90 SBE_O2 474 19 214.49

VBD_pump_during_apogee 649 1317 20383.34 WL_BB2F 347 105 868.30

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 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 29 160 110.56 nil 0 0 0.00

Iridium_during_xfer 160 223 853.57

Transponder_ping 13 420 137.44

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.44

TT8 1175 19 234.98

LPSleep 9910 2 219.22

TT8_Active 674 19 134.86

TT8_Sampling 1507 39 606.04

TT8_CF8 488 45 226.00

TT8_Kalman 33 81 27.57

Analog_circuits 1505 12 182.50

GPS_charging 0 0 0.00

Compass 1467 8 118.61

RAFOS 0 0 0.00

Transponder 44 30 13.49

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.17 0.000 2 0.000 0.000 417 2155 2682

82 -1.22 -146.6 2.6 -3.2 3 129 11.35 2.55 -27.48 0.000 4 0.163 0.074 2469 3528 3429

309 -1.13 -146.6 32.0 -15.0 13 314 0.15 2.50 0.00 0.000 6 0.103 0.044 2500 2113 3430

631 -1.13 -146.6 76.7 -15.6 29 635 0.00 2.47 0.00 0.000 4 0.000 0.056 2500 714 3430

811 -1.13 -146.6 111.8 -21.6 37 815 0.00 2.47 0.00 0.000 6 0.000 0.045 2500 2117 3430

1133 -1.13 -146.6 170.2 -14.9 53 1137 0.00 2.55 0.00 0.000 4 0.000 0.064 2500 3536 3430

1160 -1.13 -146.6 174.3 -13.9 54 1165 0.00 2.53 0.00 0.000 6 0.000 0.048 2500 2113 3431

1482 -1.13 -146.6 203.2 -6.6 70 1486 0.00 2.60 0.00 0.000 4 0.000 0.064 2500 3534 3431

1526 -1.13 -146.6 205.8 -5.2 72 1530 0.00 2.53 0.00 0.000 6 0.000 0.050 2500 2113 3431

1849 -1.13 -146.6 220.3 -4.9 88 1850 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2101 3431

2156 -1.13 -146.6 238.7 -6.9 103 2161 0.00 2.62 0.00 0.000 4 0.000 0.066 2500 3540 3431

2224 -1.13 -146.6 244.2 -8.0 106 2229 0.00 2.53 0.00 0.000 6 0.000 0.051 2500 2118 3431

2546 -1.13 -146.6 272.0 -9.3 122 2550 0.00 2.62 0.00 0.000 4 0.000 0.067 2500 3542 3431

2579 -1.13 -146.6 275.4 -10.6 123 2585 0.00 2.53 0.00 0.000 6 0.000 0.054 2500 2133 3431

2895 -1.13 -146.6 309.8 -11.4 139 2896 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2119 3431

3206 -1.13 -146.6 346.2 -12.2 154 3207 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2119 3431

3513 -1.13 -146.6 384.7 -13.1 169 3514 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2109 3430

3823 -1.13 -146.6 431.4 -16.4 184 3824 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2110 3430

4132 -1.13 -146.6 485.2 -18.2 199 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2110 3430

4441 -1.13 -146.6 536.1 -15.4 214 4442 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2110 3430

4750 -1.13 -146.6 579.5 -14.5 229 4752 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2110 3430

5059 -1.13 -146.6 619.5 -12.0 244 5061 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2109 3429

5369 -1.13 -146.6 648.4 -7.8 259 5373 0.00 2.53 0.00 0.000 4 0.000 0.064 2500 714 3429

5505 -1.17 -146.6 661.1 -9.9 265 5510 0.00 2.53 0.00 0.000 6 0.000 0.051 2500 2141 3429

5830 -1.17 -146.6 696.0 -10.7 281 5834 0.00 2.60 0.00 0.000 4 0.000 0.065 2500 712 3429

5975 -1.17 -146.6 714.6 -13.3 287 5982 0.00 2.50 0.00 0.000 6 0.000 0.051 2500 2121 3429

6289 end dive: BOTTOM_OBSTACLE_DETECTED

state 6289 begin apogee

6296 -0.33 0.0 754.9 14.2 303 6432 0.80 0.00 132.52 1.318 6 0.076 0.000 2674 1835 2831

6433 end apogee: CONTROL_FINISHED_OK

state 6433 begin climb

6436 1.22 146.6 768.2 0.0 310 6582 1.52 2.70 133.27 1.283 4 0.059 0.063 3007 3254 2233

6653 1.33 285.0 775.8 3.0 320 6783 0.12 2.58 122.43 1.272 6 0.054 0.061 3040 1859 1669

7108 1.32 374.1 745.5 4.8 342 7194 0.00 2.70 80.05 1.252 4 0.000 0.072 3041 444 1306

7297 1.21 374.1 717.4 13.4 350 7304 0.17 2.55 0.00 0.000 6 0.092 0.054 3007 1854 1307

7613 1.21 374.1 682.7 9.4 366 7617 0.00 2.65 0.00 0.000 4 0.000 0.072 3008 438 1307

7663 1.21 374.1 678.3 8.2 368 7667 0.00 2.53 0.00 0.000 6 0.000 0.053 3007 1839 1307

7979 1.24 392.5 657.4 7.3 383 8004 0.00 2.70 17.95 1.174 4 0.000 0.070 3007 442 1230

8057 1.24 392.5 650.3 9.3 386 8062 0.00 2.47 0.00 0.000 6 0.000 0.053 3007 1812 1230

8374 1.24 392.5 616.6 11.3 401 8378 0.00 2.60 0.00 0.000 4 0.000 0.062 3007 3255 1230

8407 1.32 392.5 613.0 8.8 402 8414 0.12 2.65 0.00 0.000 6 0.057 0.059 3042 1805 1230

8723 1.25 392.5 574.3 11.1 418 8725 0.12 0.00 0.00 0.000 6 0.094 0.000 3018 1805 1230

9032 1.25 392.5 537.5 12.8 433 9037 0.00 2.65 0.00 0.000 4 0.000 0.061 3018 3263 1230

9073 1.31 392.5 532.4 12.4 435 9077 0.00 2.62 0.00 0.000 6 0.000 0.058 3018 1810 1230

9400 1.31 392.5 488.4 14.5 451 9401 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 1810 1230

9709 1.31 392.5 443.4 14.3 466 9714 0.00 2.65 0.00 0.000 4 0.000 0.061 3018 3261 1230

9750 1.36 392.5 437.6 14.7 468 9755 0.10 2.60 0.00 0.000 6 0.061 0.058 3046 1820 1231

10077 1.30 392.5 389.0 13.8 484 10082 0.00 2.60 0.00 0.000 4 0.000 0.061 3046 3255 1231

10111 1.30 392.5 384.4 13.4 485 10117 0.00 2.55 0.00 0.000 6 0.000 0.055 3046 1840 1230

10427 1.24 392.5 340.0 14.1 501 10429 0.17 0.00 0.00 0.000 6 0.087 0.000 3011 1841 1231

10736 1.24 392.5 308.9 9.2 516 10741 0.00 2.58 0.00 0.000 4 0.000 0.059 3011 3259 1231

10770 1.32 397.3 306.0 7.8 517 10781 0.00 2.55 5.80 0.798 6 0.000 0.054 3011 1844 1211

11103 1.37 432.3 282.7 6.7 534 11136 0.15 0.00 30.55 0.988 6 0.052 0.000 3051 1844 1068

11433 1.32 432.3 244.7 11.8 550 11437 0.00 2.53 0.00 0.000 4 0.000 0.066 3051 440 1068

11460 1.24 432.3 241.5 11.9 551 11465 0.17 2.53 0.00 0.000 6 0.086 0.049 3015 1862 1069

11782 1.49 587.2 226.0 2.4 567 11917 0.20 2.70 127.38 0.950 4 0.049 0.066 3071 436 436

11942 1.39 587.2 209.1 16.6 574 11949 0.12 2.55 0.00 0.000 6 0.092 0.048 3047 1853 436

12258 1.35 587.2 162.2 14.5 590 12263 0.00 2.50 0.00 0.000 4 0.000 0.060 3046 3256 440

12281 1.35 587.2 159.0 13.4 591 12285 0.00 2.55 0.00 0.000 6 0.000 0.054 3047 1843 439

12602 1.35 587.2 114.6 14.3 607 12607 0.00 2.55 0.00 0.000 4 0.000 0.067 3047 433 440

12644 1.32 587.2 107.4 17.6 609 12648 0.00 2.50 0.00 0.000 6 0.000 0.049 3046 1841 440

12977 1.32 587.2 53.8 16.8 625 12981 0.00 2.58 0.00 0.000 4 0.000 0.065 3046 440 441

13027 1.32 587.2 44.7 17.7 627 13031 0.00 2.45 0.00 0.000 6 0.000 0.048 3046 1822 441

13298 end climb: SURFACE_DEPTH_REACHED

state 13299 begin surface coast

13321 end surface coast: CONTROL_FINISHED_OK

state 13321 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	130	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	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	-102655.1	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	103155,6327.110,-1322.083,43,1.2,43,-12.4	TGT_NAME	JW
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,0.217
_SM_DEPTHo	1.32	KALMAN_X	-95716.3,-698.7,754.6,-152728.8,-1042.4
_SM_ANGLEo	-59.3	KALMAN_Y	-12488.9,-121.2,992.7,216320.8,-1087.8
GPS2	103750,6327.157,-1321.938,12,1.3,12,-12.4	MHEAD_RNG_PITCHd_Wd	40.3,15609,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.002276	ALTIM_BOTTOM_PING	721.4,42.1
SM_CCo	13405,0.00,0.000,0,0,441,586.27	_24V_AH	23.8,24.168
SM_GC	1.13,11.38,0.00,0.00,0.035,0.000,0.000,418,2138,441,-10.60,0.23,586.27	_10V_AH	10.1,10.857
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31711,641
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104430,0
HUMID	1818	CFSIZE	254472192,244551680
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	29	GPS	200909,142325,6329.889,-1317.865,42,1.5,42,-12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	103.23	SBE_CT	436	24	249.37
Roll_motor	114	74	201.90	SBE_O2	474	19	214.49
VBD_pump_during_apogee	649	1317	20383.34	WL_BB2F	347	105	868.30
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	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	29	160	110.56	nil	0	0	0.00
Iridium_during_xfer	160	223	853.57
Transponder_ping	13	420	137.44
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.44
TT8	1175	19	234.98
LPSleep	9910	2	219.22
TT8_Active	674	19	134.86
TT8_Sampling	1507	39	606.04
TT8_CF8	488	45	226.00
TT8_Kalman	33	81	27.57
Analog_circuits	1505	12	182.50
GPS_charging	0	0	0.00
Compass	1467	8	118.61
RAFOS	0	0	0.00
Transponder	44	30	13.49

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.17	0.000	2	0.000	0.000	417	2155	2682
82	-1.22	-146.6	2.6	-3.2	3	129	11.35	2.55	-27.48	0.000	4	0.163	0.074	2469	3528	3429
309	-1.13	-146.6	32.0	-15.0	13	314	0.15	2.50	0.00	0.000	6	0.103	0.044	2500	2113	3430
631	-1.13	-146.6	76.7	-15.6	29	635	0.00	2.47	0.00	0.000	4	0.000	0.056	2500	714	3430
811	-1.13	-146.6	111.8	-21.6	37	815	0.00	2.47	0.00	0.000	6	0.000	0.045	2500	2117	3430
1133	-1.13	-146.6	170.2	-14.9	53	1137	0.00	2.55	0.00	0.000	4	0.000	0.064	2500	3536	3430
1160	-1.13	-146.6	174.3	-13.9	54	1165	0.00	2.53	0.00	0.000	6	0.000	0.048	2500	2113	3431
1482	-1.13	-146.6	203.2	-6.6	70	1486	0.00	2.60	0.00	0.000	4	0.000	0.064	2500	3534	3431
1526	-1.13	-146.6	205.8	-5.2	72	1530	0.00	2.53	0.00	0.000	6	0.000	0.050	2500	2113	3431
1849	-1.13	-146.6	220.3	-4.9	88	1850	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2101	3431
2156	-1.13	-146.6	238.7	-6.9	103	2161	0.00	2.62	0.00	0.000	4	0.000	0.066	2500	3540	3431
2224	-1.13	-146.6	244.2	-8.0	106	2229	0.00	2.53	0.00	0.000	6	0.000	0.051	2500	2118	3431
2546	-1.13	-146.6	272.0	-9.3	122	2550	0.00	2.62	0.00	0.000	4	0.000	0.067	2500	3542	3431
2579	-1.13	-146.6	275.4	-10.6	123	2585	0.00	2.53	0.00	0.000	6	0.000	0.054	2500	2133	3431
2895	-1.13	-146.6	309.8	-11.4	139	2896	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2119	3431
3206	-1.13	-146.6	346.2	-12.2	154	3207	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2119	3431
3513	-1.13	-146.6	384.7	-13.1	169	3514	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2109	3430
3823	-1.13	-146.6	431.4	-16.4	184	3824	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2110	3430
4132	-1.13	-146.6	485.2	-18.2	199	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2110	3430
4441	-1.13	-146.6	536.1	-15.4	214	4442	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2110	3430
4750	-1.13	-146.6	579.5	-14.5	229	4752	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2110	3430
5059	-1.13	-146.6	619.5	-12.0	244	5061	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2109	3429
5369	-1.13	-146.6	648.4	-7.8	259	5373	0.00	2.53	0.00	0.000	4	0.000	0.064	2500	714	3429
5505	-1.17	-146.6	661.1	-9.9	265	5510	0.00	2.53	0.00	0.000	6	0.000	0.051	2500	2141	3429
5830	-1.17	-146.6	696.0	-10.7	281	5834	0.00	2.60	0.00	0.000	4	0.000	0.065	2500	712	3429
5975	-1.17	-146.6	714.6	-13.3	287	5982	0.00	2.50	0.00	0.000	6	0.000	0.051	2500	2121	3429
6289	end dive: BOTTOM_OBSTACLE_DETECTED
state	6289	begin apogee
6296	-0.33	0.0	754.9	14.2	303	6432	0.80	0.00	132.52	1.318	6	0.076	0.000	2674	1835	2831
6433	end apogee: CONTROL_FINISHED_OK
state	6433	begin climb
6436	1.22	146.6	768.2	0.0	310	6582	1.52	2.70	133.27	1.283	4	0.059	0.063	3007	3254	2233
6653	1.33	285.0	775.8	3.0	320	6783	0.12	2.58	122.43	1.272	6	0.054	0.061	3040	1859	1669
7108	1.32	374.1	745.5	4.8	342	7194	0.00	2.70	80.05	1.252	4	0.000	0.072	3041	444	1306
7297	1.21	374.1	717.4	13.4	350	7304	0.17	2.55	0.00	0.000	6	0.092	0.054	3007	1854	1307
7613	1.21	374.1	682.7	9.4	366	7617	0.00	2.65	0.00	0.000	4	0.000	0.072	3008	438	1307
7663	1.21	374.1	678.3	8.2	368	7667	0.00	2.53	0.00	0.000	6	0.000	0.053	3007	1839	1307
7979	1.24	392.5	657.4	7.3	383	8004	0.00	2.70	17.95	1.174	4	0.000	0.070	3007	442	1230
8057	1.24	392.5	650.3	9.3	386	8062	0.00	2.47	0.00	0.000	6	0.000	0.053	3007	1812	1230
8374	1.24	392.5	616.6	11.3	401	8378	0.00	2.60	0.00	0.000	4	0.000	0.062	3007	3255	1230
8407	1.32	392.5	613.0	8.8	402	8414	0.12	2.65	0.00	0.000	6	0.057	0.059	3042	1805	1230
8723	1.25	392.5	574.3	11.1	418	8725	0.12	0.00	0.00	0.000	6	0.094	0.000	3018	1805	1230
9032	1.25	392.5	537.5	12.8	433	9037	0.00	2.65	0.00	0.000	4	0.000	0.061	3018	3263	1230
9073	1.31	392.5	532.4	12.4	435	9077	0.00	2.62	0.00	0.000	6	0.000	0.058	3018	1810	1230
9400	1.31	392.5	488.4	14.5	451	9401	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	1810	1230
9709	1.31	392.5	443.4	14.3	466	9714	0.00	2.65	0.00	0.000	4	0.000	0.061	3018	3261	1230
9750	1.36	392.5	437.6	14.7	468	9755	0.10	2.60	0.00	0.000	6	0.061	0.058	3046	1820	1231
10077	1.30	392.5	389.0	13.8	484	10082	0.00	2.60	0.00	0.000	4	0.000	0.061	3046	3255	1231
10111	1.30	392.5	384.4	13.4	485	10117	0.00	2.55	0.00	0.000	6	0.000	0.055	3046	1840	1230
10427	1.24	392.5	340.0	14.1	501	10429	0.17	0.00	0.00	0.000	6	0.087	0.000	3011	1841	1231
10736	1.24	392.5	308.9	9.2	516	10741	0.00	2.58	0.00	0.000	4	0.000	0.059	3011	3259	1231
10770	1.32	397.3	306.0	7.8	517	10781	0.00	2.55	5.80	0.798	6	0.000	0.054	3011	1844	1211
11103	1.37	432.3	282.7	6.7	534	11136	0.15	0.00	30.55	0.988	6	0.052	0.000	3051	1844	1068
11433	1.32	432.3	244.7	11.8	550	11437	0.00	2.53	0.00	0.000	4	0.000	0.066	3051	440	1068
11460	1.24	432.3	241.5	11.9	551	11465	0.17	2.53	0.00	0.000	6	0.086	0.049	3015	1862	1069
11782	1.49	587.2	226.0	2.4	567	11917	0.20	2.70	127.38	0.950	4	0.049	0.066	3071	436	436
11942	1.39	587.2	209.1	16.6	574	11949	0.12	2.55	0.00	0.000	6	0.092	0.048	3047	1853	436
12258	1.35	587.2	162.2	14.5	590	12263	0.00	2.50	0.00	0.000	4	0.000	0.060	3046	3256	440
12281	1.35	587.2	159.0	13.4	591	12285	0.00	2.55	0.00	0.000	6	0.000	0.054	3047	1843	439
12602	1.35	587.2	114.6	14.3	607	12607	0.00	2.55	0.00	0.000	4	0.000	0.067	3047	433	440
12644	1.32	587.2	107.4	17.6	609	12648	0.00	2.50	0.00	0.000	6	0.000	0.049	3046	1841	440
12977	1.32	587.2	53.8	16.8	625	12981	0.00	2.58	0.00	0.000	4	0.000	0.065	3046	440	441
13027	1.32	587.2	44.7	17.7	627	13031	0.00	2.45	0.00	0.000	6	0.000	0.048	3046	1822	441
13298	end climb: SURFACE_DEPTH_REACHED
state	13299	begin surface coast
13321	end surface coast: CONTROL_FINISHED_OK
state	13321	begin surface