Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 213 * 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 213 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 26 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 -104337.98 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 -104337.98

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 21 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 213 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 123337,6359.961,-1317.473,52,1.1,52,-12.6 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.189,-0.157

_SM_DEPTHo 1.25 KALMAN_X -33392.4,-2289.0,-1225.2,-207371.2,30655.3

_SM_ANGLEo -55.1 KALMAN_Y -18117.5,1186.1,-634.4,282954.7,9519.0

GPS2 123857,6359.897,-1317.338,10,2.3,29,-12.6 MHEAD_RNG_PITCHd_Wd 242.8,19044,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027116 ALTIM_BOTTOM_PING 596.9,70.7

SM_CCo 11694,0.00,0.000,0,0,1225,393.71 _24V_AH 23.8,36.991

SM_GC 1.42,11.43,0.00,0.00,0.036,0.000,0.000,420,2143,1225,-10.59,0.37,393.71 _10V_AH 10.1,16.752

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34837,698

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102662,0

HUMID 1835 CFSIZE 254472192,239980544

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 29 GPS 031009,155555,6357.362,-1323.689,40,1.9,40,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 171 107.85 SBE_CT 477 24 272.84

Roll_motor 134 82 265.31 SBE_O2 508 19 229.97

VBD_pump_during_apogee 481 1293 14831.89 WL_BB2F 401 105 1002.34

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 92.56 nil 0 0 0.00

Iridium_during_connect 26 160 99.68 nil 0 0 0.00

Iridium_during_xfer 125 223 668.01

Transponder_ping 12 420 124.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.54

TT8 1253 19 250.63

LPSleep 8188 2 181.12

TT8_Active 546 19 109.27

TT8_Sampling 1575 39 633.25

TT8_CF8 449 45 208.16

TT8_Kalman 33 81 27.55

Analog_circuits 1376 12 166.80

GPS_charging 0 0 0.00

Compass 1518 8 122.66

RAFOS 0 0 0.00

Transponder 36 30 11.00

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 13 begin dive

16 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -60.78 0.000 2 0.000 0.000 421 2147 2820

82 -1.22 -146.6 3.2 -4.3 3 118 11.40 2.58 -17.52 0.000 4 0.172 0.075 2470 3533 3430

372 -1.12 -146.6 39.4 -11.9 16 377 0.15 2.53 0.00 0.000 6 0.102 0.048 2501 2112 3431

700 -1.12 -146.6 76.0 -13.0 32 701 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2088 3431

1009 -1.12 -146.6 116.1 -12.3 47 1014 0.00 2.60 0.00 0.000 4 0.000 0.064 2502 3540 3431

1031 -1.12 -146.6 119.3 -12.4 48 1036 0.00 2.53 0.00 0.000 6 0.000 0.050 2501 2123 3431

1354 -1.12 -146.6 160.7 -12.9 65 1358 0.00 2.50 0.00 0.000 4 0.000 0.061 2501 716 3432

1393 -1.12 -146.6 166.0 -12.9 67 1399 0.00 2.47 0.00 0.000 6 0.000 0.048 2501 2115 3432

1714 -1.12 -146.6 206.8 -12.7 88 1718 0.00 2.53 0.00 0.000 4 0.000 0.061 2502 720 3432

1742 -1.12 -146.6 210.4 -12.4 90 1746 0.00 2.45 0.00 0.000 6 0.000 0.050 2501 2109 3432

2073 -1.12 -146.6 251.0 -11.9 111 2075 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2108 3432

2385 -1.12 -146.6 288.0 -11.7 131 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2108 3432

2700 -1.12 -146.6 324.6 -12.3 151 2704 0.00 2.53 0.00 0.000 4 0.000 0.064 2502 717 3432

2728 -1.12 -146.6 328.8 -13.9 153 2732 0.00 2.47 0.00 0.000 6 0.000 0.051 2502 2116 3432

3058 -1.12 -146.6 368.1 -11.0 174 3063 0.00 2.58 0.00 0.000 4 0.000 0.067 2502 3535 3432

3115 -1.12 -146.6 373.8 -9.7 177 3121 0.00 2.60 0.00 0.000 6 0.000 0.056 2501 2092 3432

3434 -1.12 -146.6 403.3 -8.9 198 3439 0.00 2.67 0.00 0.000 4 0.000 0.067 2501 3541 3432

3480 -1.12 -146.6 407.7 -9.6 201 3484 0.00 2.58 0.00 0.000 6 0.000 0.057 2502 2111 3432

3804 -1.12 -146.6 434.9 -8.8 222 3809 0.00 2.62 0.00 0.000 4 0.000 0.069 2501 3531 3432

3895 -1.12 -146.6 445.1 -11.7 227 3901 0.00 2.53 0.00 0.000 6 0.000 0.057 2501 2129 3432

4214 -1.12 -146.6 482.4 -8.6 248 4219 0.00 2.60 0.00 0.000 4 0.000 0.069 2502 3534 3432

4270 -1.12 -146.6 487.8 -9.8 251 4276 0.00 2.53 0.00 0.000 6 0.000 0.060 2501 2140 3432

4589 -1.12 -146.6 522.6 -10.5 272 4593 0.00 2.60 0.00 0.000 4 0.000 0.073 2501 3533 3431

4668 -1.12 -146.6 530.4 -9.8 277 4673 0.00 2.53 0.00 0.000 6 0.000 0.061 2502 2144 3432

4996 -1.12 -146.6 558.5 -6.9 298 5000 0.00 2.60 0.00 0.000 4 0.000 0.075 2502 3531 3431

5035 -1.12 -146.6 563.4 -12.2 300 5042 0.00 2.50 0.00 0.000 6 0.000 0.062 2502 2155 3431

5357 -1.15 -146.6 599.4 -15.1 321 5361 0.00 2.62 0.00 0.000 4 0.000 0.078 2501 722 3429

5480 -1.15 -146.6 614.6 -13.8 328 5486 0.00 2.60 0.00 0.000 6 0.000 0.060 2501 2160 3429

5799 -1.15 -146.6 653.5 -11.9 349 5803 0.00 2.67 0.00 0.000 4 0.000 0.076 2501 722 3427

5880 end dive: BOTTOM_OBSTACLE_DETECTED

state 5880 begin apogee

5889 -0.33 0.0 657.8 9.2 354 6023 0.75 0.00 130.23 1.294 6 0.084 0.000 2665 1871 2831

6024 end apogee: CONTROL_FINISHED_OK

state 6024 begin climb

6027 1.22 146.6 672.1 0.0 363 6169 1.58 2.75 131.80 1.249 4 0.072 0.083 3004 449 2232

6369 1.54 394.6 665.3 -1.0 383 6599 0.35 2.58 219.60 1.226 6 0.055 0.061 3084 1877 1222

6927 1.42 394.6 588.9 19.5 419 6932 0.17 2.70 0.00 0.000 4 0.100 0.081 3047 443 1223

6973 1.36 394.6 581.2 13.0 422 6978 0.00 2.55 0.00 0.000 6 0.000 0.063 3047 1830 1224

7299 1.33 394.6 537.0 14.9 443 7303 0.00 2.60 0.00 0.000 4 0.000 0.070 3047 3258 1223

7382 1.33 394.6 527.8 15.0 448 7387 0.00 2.55 0.00 0.000 6 0.000 0.068 3047 1888 1223

7701 1.33 394.6 484.2 13.2 468 7706 0.00 2.58 0.00 0.000 4 0.000 0.071 3047 3263 1223

7735 1.33 394.6 479.5 13.4 470 7739 0.00 2.58 0.00 0.000 6 0.000 0.067 3047 1876 1222

8054 1.29 394.6 433.7 14.2 490 8058 0.00 2.58 0.00 0.000 4 0.000 0.069 3047 3261 1222

8082 1.29 394.6 429.9 13.4 492 8087 0.00 2.50 0.00 0.000 6 0.000 0.067 3046 1911 1222

8407 1.29 394.6 389.9 10.7 513 8409 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1911 1222

8719 1.29 394.6 356.0 11.0 533 8724 0.00 2.50 0.00 0.000 4 0.000 0.067 3047 3262 1222

8748 1.29 394.6 352.7 11.8 535 8752 0.00 2.45 0.00 0.000 6 0.000 0.059 3047 1917 1222

9074 1.29 394.6 316.6 10.9 556 9075 0.00 0.00 0.00 0.000 6 0.000 0.000 3047 1917 1222

9386 1.29 394.6 278.3 13.2 576 9390 0.00 2.67 0.00 0.000 4 0.000 0.070 3047 438 1223

9415 1.26 394.6 274.2 14.6 578 9420 0.15 2.67 0.00 0.000 6 0.091 0.052 3017 1937 1223

9742 1.31 394.6 233.9 12.5 599 9746 0.00 2.78 0.00 0.000 4 0.000 0.071 3017 434 1223

9781 1.34 394.6 228.5 13.4 601 9787 0.00 2.65 0.00 0.000 6 0.000 0.051 3016 1920 1223

10101 1.39 394.6 190.1 12.2 622 10106 0.15 2.75 0.00 0.000 4 0.054 0.068 3056 432 1224

10140 1.33 394.6 184.1 15.5 624 10147 0.12 2.62 0.00 0.000 6 0.094 0.050 3032 1907 1224

10478 1.33 394.6 140.9 12.7 645 10482 0.00 2.72 0.00 0.000 4 0.000 0.070 3032 432 1224

10505 1.33 394.6 136.7 13.3 646 10509 0.00 2.60 0.00 0.000 6 0.000 0.050 3032 1894 1224

10821 1.33 394.6 94.4 14.7 661 10826 0.00 2.70 0.00 0.000 4 0.000 0.068 3032 429 1224

10849 1.33 394.6 90.3 15.0 662 10854 0.00 2.58 0.00 0.000 6 0.000 0.049 3032 1881 1225

11167 1.33 394.6 51.1 12.2 677 11172 0.00 2.65 0.00 0.000 4 0.000 0.067 3032 437 1225

11208 1.33 394.6 46.1 12.4 679 11212 0.00 2.55 0.00 0.000 6 0.000 0.049 3032 1879 1225

11536 1.41 394.6 8.3 9.8 695 11540 0.00 2.65 0.00 0.000 4 0.000 0.067 3032 437 1226

11563 1.45 394.6 5.0 11.9 696 11568 0.12 2.53 0.00 0.000 6 0.058 0.050 3067 1860 1226

11589 end climb: SURFACE_DEPTH_REACHED

state 11589 begin surface coast

11610 end surface coast: CONTROL_FINISHED_OK

state 11610 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	213	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	26	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	-104337.98	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	123337,6359.961,-1317.473,52,1.1,52,-12.6	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.189,-0.157
_SM_DEPTHo	1.25	KALMAN_X	-33392.4,-2289.0,-1225.2,-207371.2,30655.3
_SM_ANGLEo	-55.1	KALMAN_Y	-18117.5,1186.1,-634.4,282954.7,9519.0
GPS2	123857,6359.897,-1317.338,10,2.3,29,-12.6	MHEAD_RNG_PITCHd_Wd	242.8,19044,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027116	ALTIM_BOTTOM_PING	596.9,70.7
SM_CCo	11694,0.00,0.000,0,0,1225,393.71	_24V_AH	23.8,36.991
SM_GC	1.42,11.43,0.00,0.00,0.036,0.000,0.000,420,2143,1225,-10.59,0.37,393.71	_10V_AH	10.1,16.752
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34837,698
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102662,0
HUMID	1835	CFSIZE	254472192,239980544
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	29	GPS	031009,155555,6357.362,-1323.689,40,1.9,40,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	171	107.85	SBE_CT	477	24	272.84
Roll_motor	134	82	265.31	SBE_O2	508	19	229.97
VBD_pump_during_apogee	481	1293	14831.89	WL_BB2F	401	105	1002.34
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	92.56	nil	0	0	0.00
Iridium_during_connect	26	160	99.68	nil	0	0	0.00
Iridium_during_xfer	125	223	668.01
Transponder_ping	12	420	124.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.54
TT8	1253	19	250.63
LPSleep	8188	2	181.12
TT8_Active	546	19	109.27
TT8_Sampling	1575	39	633.25
TT8_CF8	449	45	208.16
TT8_Kalman	33	81	27.55
Analog_circuits	1376	12	166.80
GPS_charging	0	0	0.00
Compass	1518	8	122.66
RAFOS	0	0	0.00
Transponder	36	30	11.00

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	13	begin dive
16	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-60.78	0.000	2	0.000	0.000	421	2147	2820
82	-1.22	-146.6	3.2	-4.3	3	118	11.40	2.58	-17.52	0.000	4	0.172	0.075	2470	3533	3430
372	-1.12	-146.6	39.4	-11.9	16	377	0.15	2.53	0.00	0.000	6	0.102	0.048	2501	2112	3431
700	-1.12	-146.6	76.0	-13.0	32	701	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2088	3431
1009	-1.12	-146.6	116.1	-12.3	47	1014	0.00	2.60	0.00	0.000	4	0.000	0.064	2502	3540	3431
1031	-1.12	-146.6	119.3	-12.4	48	1036	0.00	2.53	0.00	0.000	6	0.000	0.050	2501	2123	3431
1354	-1.12	-146.6	160.7	-12.9	65	1358	0.00	2.50	0.00	0.000	4	0.000	0.061	2501	716	3432
1393	-1.12	-146.6	166.0	-12.9	67	1399	0.00	2.47	0.00	0.000	6	0.000	0.048	2501	2115	3432
1714	-1.12	-146.6	206.8	-12.7	88	1718	0.00	2.53	0.00	0.000	4	0.000	0.061	2502	720	3432
1742	-1.12	-146.6	210.4	-12.4	90	1746	0.00	2.45	0.00	0.000	6	0.000	0.050	2501	2109	3432
2073	-1.12	-146.6	251.0	-11.9	111	2075	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2108	3432
2385	-1.12	-146.6	288.0	-11.7	131	2386	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2108	3432
2700	-1.12	-146.6	324.6	-12.3	151	2704	0.00	2.53	0.00	0.000	4	0.000	0.064	2502	717	3432
2728	-1.12	-146.6	328.8	-13.9	153	2732	0.00	2.47	0.00	0.000	6	0.000	0.051	2502	2116	3432
3058	-1.12	-146.6	368.1	-11.0	174	3063	0.00	2.58	0.00	0.000	4	0.000	0.067	2502	3535	3432
3115	-1.12	-146.6	373.8	-9.7	177	3121	0.00	2.60	0.00	0.000	6	0.000	0.056	2501	2092	3432
3434	-1.12	-146.6	403.3	-8.9	198	3439	0.00	2.67	0.00	0.000	4	0.000	0.067	2501	3541	3432
3480	-1.12	-146.6	407.7	-9.6	201	3484	0.00	2.58	0.00	0.000	6	0.000	0.057	2502	2111	3432
3804	-1.12	-146.6	434.9	-8.8	222	3809	0.00	2.62	0.00	0.000	4	0.000	0.069	2501	3531	3432
3895	-1.12	-146.6	445.1	-11.7	227	3901	0.00	2.53	0.00	0.000	6	0.000	0.057	2501	2129	3432
4214	-1.12	-146.6	482.4	-8.6	248	4219	0.00	2.60	0.00	0.000	4	0.000	0.069	2502	3534	3432
4270	-1.12	-146.6	487.8	-9.8	251	4276	0.00	2.53	0.00	0.000	6	0.000	0.060	2501	2140	3432
4589	-1.12	-146.6	522.6	-10.5	272	4593	0.00	2.60	0.00	0.000	4	0.000	0.073	2501	3533	3431
4668	-1.12	-146.6	530.4	-9.8	277	4673	0.00	2.53	0.00	0.000	6	0.000	0.061	2502	2144	3432
4996	-1.12	-146.6	558.5	-6.9	298	5000	0.00	2.60	0.00	0.000	4	0.000	0.075	2502	3531	3431
5035	-1.12	-146.6	563.4	-12.2	300	5042	0.00	2.50	0.00	0.000	6	0.000	0.062	2502	2155	3431
5357	-1.15	-146.6	599.4	-15.1	321	5361	0.00	2.62	0.00	0.000	4	0.000	0.078	2501	722	3429
5480	-1.15	-146.6	614.6	-13.8	328	5486	0.00	2.60	0.00	0.000	6	0.000	0.060	2501	2160	3429
5799	-1.15	-146.6	653.5	-11.9	349	5803	0.00	2.67	0.00	0.000	4	0.000	0.076	2501	722	3427
5880	end dive: BOTTOM_OBSTACLE_DETECTED
state	5880	begin apogee
5889	-0.33	0.0	657.8	9.2	354	6023	0.75	0.00	130.23	1.294	6	0.084	0.000	2665	1871	2831
6024	end apogee: CONTROL_FINISHED_OK
state	6024	begin climb
6027	1.22	146.6	672.1	0.0	363	6169	1.58	2.75	131.80	1.249	4	0.072	0.083	3004	449	2232
6369	1.54	394.6	665.3	-1.0	383	6599	0.35	2.58	219.60	1.226	6	0.055	0.061	3084	1877	1222
6927	1.42	394.6	588.9	19.5	419	6932	0.17	2.70	0.00	0.000	4	0.100	0.081	3047	443	1223
6973	1.36	394.6	581.2	13.0	422	6978	0.00	2.55	0.00	0.000	6	0.000	0.063	3047	1830	1224
7299	1.33	394.6	537.0	14.9	443	7303	0.00	2.60	0.00	0.000	4	0.000	0.070	3047	3258	1223
7382	1.33	394.6	527.8	15.0	448	7387	0.00	2.55	0.00	0.000	6	0.000	0.068	3047	1888	1223
7701	1.33	394.6	484.2	13.2	468	7706	0.00	2.58	0.00	0.000	4	0.000	0.071	3047	3263	1223
7735	1.33	394.6	479.5	13.4	470	7739	0.00	2.58	0.00	0.000	6	0.000	0.067	3047	1876	1222
8054	1.29	394.6	433.7	14.2	490	8058	0.00	2.58	0.00	0.000	4	0.000	0.069	3047	3261	1222
8082	1.29	394.6	429.9	13.4	492	8087	0.00	2.50	0.00	0.000	6	0.000	0.067	3046	1911	1222
8407	1.29	394.6	389.9	10.7	513	8409	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1911	1222
8719	1.29	394.6	356.0	11.0	533	8724	0.00	2.50	0.00	0.000	4	0.000	0.067	3047	3262	1222
8748	1.29	394.6	352.7	11.8	535	8752	0.00	2.45	0.00	0.000	6	0.000	0.059	3047	1917	1222
9074	1.29	394.6	316.6	10.9	556	9075	0.00	0.00	0.00	0.000	6	0.000	0.000	3047	1917	1222
9386	1.29	394.6	278.3	13.2	576	9390	0.00	2.67	0.00	0.000	4	0.000	0.070	3047	438	1223
9415	1.26	394.6	274.2	14.6	578	9420	0.15	2.67	0.00	0.000	6	0.091	0.052	3017	1937	1223
9742	1.31	394.6	233.9	12.5	599	9746	0.00	2.78	0.00	0.000	4	0.000	0.071	3017	434	1223
9781	1.34	394.6	228.5	13.4	601	9787	0.00	2.65	0.00	0.000	6	0.000	0.051	3016	1920	1223
10101	1.39	394.6	190.1	12.2	622	10106	0.15	2.75	0.00	0.000	4	0.054	0.068	3056	432	1224
10140	1.33	394.6	184.1	15.5	624	10147	0.12	2.62	0.00	0.000	6	0.094	0.050	3032	1907	1224
10478	1.33	394.6	140.9	12.7	645	10482	0.00	2.72	0.00	0.000	4	0.000	0.070	3032	432	1224
10505	1.33	394.6	136.7	13.3	646	10509	0.00	2.60	0.00	0.000	6	0.000	0.050	3032	1894	1224
10821	1.33	394.6	94.4	14.7	661	10826	0.00	2.70	0.00	0.000	4	0.000	0.068	3032	429	1224
10849	1.33	394.6	90.3	15.0	662	10854	0.00	2.58	0.00	0.000	6	0.000	0.049	3032	1881	1225
11167	1.33	394.6	51.1	12.2	677	11172	0.00	2.65	0.00	0.000	4	0.000	0.067	3032	437	1225
11208	1.33	394.6	46.1	12.4	679	11212	0.00	2.55	0.00	0.000	6	0.000	0.049	3032	1879	1225
11536	1.41	394.6	8.3	9.8	695	11540	0.00	2.65	0.00	0.000	4	0.000	0.067	3032	437	1226
11563	1.45	394.6	5.0	11.9	696	11568	0.12	2.53	0.00	0.000	6	0.058	0.050	3067	1860	1226
11589	end climb: SURFACE_DEPTH_REACHED
state	11589	begin surface coast
11610	end surface coast: CONTROL_FINISHED_OK
state	11610	begin surface