Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 379 * 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 379 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 28 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 -107470.05 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 -107470.05

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 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 379 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 103754,6239.293,-1111.085,38,1.6,38,-10.8 TGT_NAME DE

_CALLS 2 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.263,-0.022

_SM_DEPTHo 1.48 KALMAN_X -152790.9,499.1,246.3,241218.6,-8879.3

_SM_ANGLEo -57.6 KALMAN_Y 43042.9,1157.9,146.1,-135041.9,-2761.3

GPS2 104638,6239.323,-1111.249,13,1.6,13,-10.8 MHEAD_RNG_PITCHd_Wd 105.6,10504,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.022501 ALTIM_BOTTOM_PING 570.6,75.9

SM_CCo 11636,0.00,0.000,0,0,1517,322.32 _24V_AH 23.7,61.520

SM_GC 1.45,11.68,0.00,0.00,0.037,0.000,0.000,420,2171,1517,-10.59,1.19,322.32 _10V_AH 10.1,27.899

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34747,691

TT8_MAMPS 0.028379 CAP_FILE_SIZE 102475,0

HUMID 1820 CFSIZE 254472192,231325696

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 41 GPS 271009,140237,6239.732,-1109.511,34,1.6,34,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 166 105.03 SBE_CT 472 24 268.71

Roll_motor 126 80 241.35 SBE_O2 508 19 228.76

VBD_pump_during_apogee 421 1245 12452.66 WL_BB2F 407 105 1014.50

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 75 103 184.35 nil 0 0 0.00

Iridium_during_connect 55 160 211.02 nil 0 0 0.00

Iridium_during_xfer 202 223 1068.15

Transponder_ping 15 420 151.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.65

TT8 1233 19 246.60

LPSleep 8391 2 185.60

TT8_Active 506 19 101.36

TT8_Sampling 1415 39 569.00

TT8_CF8 613 45 283.97

TT8_Kalman 33 81 27.56

Analog_circuits 1264 12 153.29

GPS_charging 0 0 0.00

Compass 1380 8 111.56

RAFOS 0 0 0.00

Transponder 36 30 10.91

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

19 -1.44 -146.6 0.0 0.0 0 62 0.00 0.00 -41.40 0.000 2 0.000 0.000 422 2153 2440

66 -1.44 -146.6 2.2 -1.8 2 130 11.23 2.58 -45.62 0.000 4 0.166 0.065 2422 714 3429

165 -1.37 -146.6 9.3 -15.2 6 170 0.12 2.53 0.00 0.000 6 0.104 0.049 2447 2133 3429

484 -1.29 -146.6 57.0 -14.1 21 488 0.00 2.58 0.00 0.000 4 0.000 0.059 2447 710 3429

539 -1.29 -146.6 67.6 -17.4 23 546 0.00 2.53 0.00 0.000 6 0.000 0.050 2447 2130 3429

856 -1.24 -146.6 112.7 -12.2 39 858 0.15 0.00 0.00 0.000 6 0.103 0.000 2476 2131 3429

1166 -1.24 -146.6 148.0 -12.3 54 1170 0.00 2.58 0.00 0.000 4 0.000 0.062 2476 706 3430

1222 -1.28 -146.6 155.2 -12.7 57 1228 0.00 2.50 0.00 0.000 6 0.000 0.049 2476 2116 3430

1544 -1.28 -146.6 195.2 -12.6 78 1548 0.00 2.55 0.00 0.000 4 0.000 0.061 2476 708 3430

1583 -1.33 -146.6 200.6 -12.4 80 1589 0.00 2.47 0.00 0.000 6 0.000 0.050 2476 2103 3430

1902 -1.33 -146.6 237.9 -11.5 101 1903 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2104 3430

2218 -1.33 -146.6 273.8 -11.5 121 2222 0.00 2.55 0.00 0.000 4 0.000 0.065 2476 705 3430

2257 -1.39 -146.6 278.8 -11.7 123 2263 0.15 2.47 0.00 0.000 6 0.058 0.051 2437 2098 3430

2579 -1.33 -146.6 322.7 -14.3 144 2580 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2099 3430

2889 -1.27 -146.6 367.7 -14.2 164 2891 0.15 0.00 0.00 0.000 6 0.100 0.000 2466 2099 3430

3202 -1.27 -146.6 408.2 -12.7 184 3203 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2099 3430

3514 -1.27 -146.6 447.1 -12.1 204 3518 0.00 2.53 0.00 0.000 4 0.000 0.065 2466 709 3430

3546 -1.27 -146.6 451.2 -12.3 206 3551 0.00 2.45 0.00 0.000 6 0.000 0.051 2466 2090 3430

3867 -1.27 -146.6 485.5 -9.6 226 3871 0.00 2.65 0.00 0.000 4 0.000 0.072 2466 3540 3429

3912 -1.27 -146.6 490.5 -10.9 229 3917 0.00 2.65 0.00 0.000 6 0.000 0.062 2466 2077 3430

4236 -1.27 -146.6 526.0 -10.7 250 4241 0.00 2.72 0.00 0.000 4 0.000 0.073 2466 3536 3430

4266 -1.27 -146.6 529.1 -10.8 252 4271 0.00 2.62 0.00 0.000 6 0.000 0.064 2466 2086 3430

4590 -1.27 -146.6 566.4 -11.6 273 4594 0.00 2.45 0.00 0.000 4 0.000 0.067 2466 725 3429

4636 -1.32 -146.6 572.2 -12.4 275 4642 0.00 2.45 0.00 0.000 6 0.000 0.053 2467 2094 3430

4956 -1.32 -146.6 607.3 -11.1 296 4961 0.00 2.65 0.00 0.000 4 0.000 0.077 2466 3530 3429

4990 -1.32 -146.6 611.6 -11.7 298 4994 0.00 2.62 0.00 0.000 6 0.000 0.067 2466 2105 3429

5212 end dive: BOTTOM_OBSTACLE_DETECTED

state 5212 begin apogee

5221 -0.33 0.0 636.7 11.2 312 5356 0.95 0.00 131.45 1.246 6 0.082 0.000 2668 1845 2831

5356 end apogee: CONTROL_FINISHED_OK

state 5357 begin climb

5360 1.44 146.6 643.3 0.0 321 5499 1.77 2.65 130.90 1.206 4 0.061 0.076 3061 442 2233

5542 1.31 155.7 633.3 9.6 332 5558 0.17 2.58 9.50 1.021 6 0.100 0.063 3030 1845 2196

5881 1.38 194.4 604.6 8.2 354 5922 0.00 2.67 35.10 1.166 4 0.000 0.081 3030 3261 2038

5986 1.39 205.4 595.2 9.5 360 6003 0.00 2.60 11.60 1.065 6 0.000 0.070 3029 1867 1993

6324 1.41 217.1 563.8 9.5 382 6342 0.10 2.70 11.38 1.071 4 0.069 0.081 3054 3267 1945

6360 1.41 217.1 559.5 11.9 384 6365 0.00 2.62 0.00 0.000 6 0.000 0.071 3054 1863 1945

6686 1.38 217.1 520.8 11.4 405 6691 0.00 2.62 0.00 0.000 4 0.000 0.073 3055 3261 1944

6749 1.38 217.1 513.6 11.5 409 6754 0.00 2.55 0.00 0.000 6 0.000 0.067 3054 1880 1943

7074 1.41 237.1 483.0 9.1 430 7099 0.00 2.65 18.55 1.113 4 0.000 0.070 3054 3257 1863

7145 1.42 243.5 476.1 9.7 434 7157 0.00 2.50 7.10 0.956 6 0.000 0.063 3054 1897 1838

7470 1.42 243.5 441.7 11.0 455 7474 0.00 2.53 0.00 0.000 4 0.000 0.068 3055 3261 1838

7515 1.42 243.5 436.4 11.7 458 7519 0.00 2.47 0.00 0.000 6 0.000 0.061 3054 1905 1838

7845 1.42 243.5 399.9 11.1 479 7849 0.00 2.53 0.00 0.000 4 0.000 0.067 3055 3265 1838

7878 1.42 243.5 396.1 11.7 481 7883 0.00 2.45 0.00 0.000 6 0.000 0.059 3054 1911 1838

8198 1.42 243.5 361.0 11.5 501 8202 0.00 2.50 0.00 0.000 4 0.000 0.066 3055 3262 1838

8231 1.42 243.5 356.9 11.9 503 8235 0.00 2.42 0.00 0.000 6 0.000 0.057 3054 1926 1838

8550 1.42 243.5 320.1 11.5 523 8555 0.00 2.47 0.00 0.000 4 0.000 0.065 3055 3267 1838

8567 1.42 243.5 317.9 11.8 524 8571 0.00 2.42 0.00 0.000 6 0.000 0.055 3055 1923 1839

8886 1.42 243.5 280.4 11.8 544 8890 0.00 2.47 0.00 0.000 4 0.000 0.064 3055 3266 1839

8916 1.42 243.5 276.8 12.8 546 8920 0.00 2.40 0.00 0.000 6 0.000 0.054 3055 1933 1839

9240 1.42 243.5 240.2 10.4 567 9244 0.00 2.45 0.00 0.000 4 0.000 0.064 3055 3265 1839

9268 1.42 243.5 237.0 11.8 569 9273 0.00 2.38 0.00 0.000 6 0.000 0.054 3055 1942 1839

9594 1.42 243.5 203.9 10.6 590 9598 0.00 2.42 0.00 0.000 4 0.000 0.063 3055 3262 1839

9610 1.42 243.5 201.9 10.9 591 9614 0.00 2.35 0.00 0.000 6 0.000 0.052 3055 1952 1839

9929 1.42 243.5 168.5 10.5 611 9931 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1951 1840

10243 1.42 243.5 135.8 10.4 629 10247 0.00 2.40 0.00 0.000 4 0.000 0.062 3055 3263 1840

10270 1.42 243.5 132.4 11.1 630 10275 0.00 2.33 0.00 0.000 6 0.000 0.051 3055 1963 1840

10587 1.44 257.9 102.3 9.3 645 10606 0.00 0.00 14.23 0.822 6 0.000 0.000 3055 1962 1778

10918 1.44 257.9 68.9 11.0 661 10923 0.00 2.40 0.00 0.000 4 0.000 0.061 3055 3270 1778

10943 1.48 259.6 66.3 9.9 662 10947 0.00 2.33 0.00 0.000 6 0.000 0.049 3055 1968 1778

11265 1.58 321.8 39.1 7.2 678 11322 0.15 2.42 52.03 0.822 4 0.058 0.058 3094 3265 1518

11341 1.54 321.8 30.6 14.5 680 11347 0.00 2.30 0.00 0.000 6 0.000 0.049 3094 1987 1518

11532 end climb: SURFACE_DEPTH_REACHED

state 11532 begin surface coast

11552 end surface coast: CONTROL_FINISHED_OK

state 11552 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	379	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	28	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	-107470.05	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	103754,6239.293,-1111.085,38,1.6,38,-10.8	TGT_NAME	DE
_CALLS	2	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.263,-0.022
_SM_DEPTHo	1.48	KALMAN_X	-152790.9,499.1,246.3,241218.6,-8879.3
_SM_ANGLEo	-57.6	KALMAN_Y	43042.9,1157.9,146.1,-135041.9,-2761.3
GPS2	104638,6239.323,-1111.249,13,1.6,13,-10.8	MHEAD_RNG_PITCHd_Wd	105.6,10504,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.7,1.022501	ALTIM_BOTTOM_PING	570.6,75.9
SM_CCo	11636,0.00,0.000,0,0,1517,322.32	_24V_AH	23.7,61.520
SM_GC	1.45,11.68,0.00,0.00,0.037,0.000,0.000,420,2171,1517,-10.59,1.19,322.32	_10V_AH	10.1,27.899
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34747,691
TT8_MAMPS	0.028379	CAP_FILE_SIZE	102475,0
HUMID	1820	CFSIZE	254472192,231325696
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	41	GPS	271009,140237,6239.732,-1109.511,34,1.6,34,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	166	105.03	SBE_CT	472	24	268.71
Roll_motor	126	80	241.35	SBE_O2	508	19	228.76
VBD_pump_during_apogee	421	1245	12452.66	WL_BB2F	407	105	1014.50
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	75	103	184.35	nil	0	0	0.00
Iridium_during_connect	55	160	211.02	nil	0	0	0.00
Iridium_during_xfer	202	223	1068.15
Transponder_ping	15	420	151.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.65
TT8	1233	19	246.60
LPSleep	8391	2	185.60
TT8_Active	506	19	101.36
TT8_Sampling	1415	39	569.00
TT8_CF8	613	45	283.97
TT8_Kalman	33	81	27.56
Analog_circuits	1264	12	153.29
GPS_charging	0	0	0.00
Compass	1380	8	111.56
RAFOS	0	0	0.00
Transponder	36	30	10.91

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
19	-1.44	-146.6	0.0	0.0	0	62	0.00	0.00	-41.40	0.000	2	0.000	0.000	422	2153	2440
66	-1.44	-146.6	2.2	-1.8	2	130	11.23	2.58	-45.62	0.000	4	0.166	0.065	2422	714	3429
165	-1.37	-146.6	9.3	-15.2	6	170	0.12	2.53	0.00	0.000	6	0.104	0.049	2447	2133	3429
484	-1.29	-146.6	57.0	-14.1	21	488	0.00	2.58	0.00	0.000	4	0.000	0.059	2447	710	3429
539	-1.29	-146.6	67.6	-17.4	23	546	0.00	2.53	0.00	0.000	6	0.000	0.050	2447	2130	3429
856	-1.24	-146.6	112.7	-12.2	39	858	0.15	0.00	0.00	0.000	6	0.103	0.000	2476	2131	3429
1166	-1.24	-146.6	148.0	-12.3	54	1170	0.00	2.58	0.00	0.000	4	0.000	0.062	2476	706	3430
1222	-1.28	-146.6	155.2	-12.7	57	1228	0.00	2.50	0.00	0.000	6	0.000	0.049	2476	2116	3430
1544	-1.28	-146.6	195.2	-12.6	78	1548	0.00	2.55	0.00	0.000	4	0.000	0.061	2476	708	3430
1583	-1.33	-146.6	200.6	-12.4	80	1589	0.00	2.47	0.00	0.000	6	0.000	0.050	2476	2103	3430
1902	-1.33	-146.6	237.9	-11.5	101	1903	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2104	3430
2218	-1.33	-146.6	273.8	-11.5	121	2222	0.00	2.55	0.00	0.000	4	0.000	0.065	2476	705	3430
2257	-1.39	-146.6	278.8	-11.7	123	2263	0.15	2.47	0.00	0.000	6	0.058	0.051	2437	2098	3430
2579	-1.33	-146.6	322.7	-14.3	144	2580	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2099	3430
2889	-1.27	-146.6	367.7	-14.2	164	2891	0.15	0.00	0.00	0.000	6	0.100	0.000	2466	2099	3430
3202	-1.27	-146.6	408.2	-12.7	184	3203	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2099	3430
3514	-1.27	-146.6	447.1	-12.1	204	3518	0.00	2.53	0.00	0.000	4	0.000	0.065	2466	709	3430
3546	-1.27	-146.6	451.2	-12.3	206	3551	0.00	2.45	0.00	0.000	6	0.000	0.051	2466	2090	3430
3867	-1.27	-146.6	485.5	-9.6	226	3871	0.00	2.65	0.00	0.000	4	0.000	0.072	2466	3540	3429
3912	-1.27	-146.6	490.5	-10.9	229	3917	0.00	2.65	0.00	0.000	6	0.000	0.062	2466	2077	3430
4236	-1.27	-146.6	526.0	-10.7	250	4241	0.00	2.72	0.00	0.000	4	0.000	0.073	2466	3536	3430
4266	-1.27	-146.6	529.1	-10.8	252	4271	0.00	2.62	0.00	0.000	6	0.000	0.064	2466	2086	3430
4590	-1.27	-146.6	566.4	-11.6	273	4594	0.00	2.45	0.00	0.000	4	0.000	0.067	2466	725	3429
4636	-1.32	-146.6	572.2	-12.4	275	4642	0.00	2.45	0.00	0.000	6	0.000	0.053	2467	2094	3430
4956	-1.32	-146.6	607.3	-11.1	296	4961	0.00	2.65	0.00	0.000	4	0.000	0.077	2466	3530	3429
4990	-1.32	-146.6	611.6	-11.7	298	4994	0.00	2.62	0.00	0.000	6	0.000	0.067	2466	2105	3429
5212	end dive: BOTTOM_OBSTACLE_DETECTED
state	5212	begin apogee
5221	-0.33	0.0	636.7	11.2	312	5356	0.95	0.00	131.45	1.246	6	0.082	0.000	2668	1845	2831
5356	end apogee: CONTROL_FINISHED_OK
state	5357	begin climb
5360	1.44	146.6	643.3	0.0	321	5499	1.77	2.65	130.90	1.206	4	0.061	0.076	3061	442	2233
5542	1.31	155.7	633.3	9.6	332	5558	0.17	2.58	9.50	1.021	6	0.100	0.063	3030	1845	2196
5881	1.38	194.4	604.6	8.2	354	5922	0.00	2.67	35.10	1.166	4	0.000	0.081	3030	3261	2038
5986	1.39	205.4	595.2	9.5	360	6003	0.00	2.60	11.60	1.065	6	0.000	0.070	3029	1867	1993
6324	1.41	217.1	563.8	9.5	382	6342	0.10	2.70	11.38	1.071	4	0.069	0.081	3054	3267	1945
6360	1.41	217.1	559.5	11.9	384	6365	0.00	2.62	0.00	0.000	6	0.000	0.071	3054	1863	1945
6686	1.38	217.1	520.8	11.4	405	6691	0.00	2.62	0.00	0.000	4	0.000	0.073	3055	3261	1944
6749	1.38	217.1	513.6	11.5	409	6754	0.00	2.55	0.00	0.000	6	0.000	0.067	3054	1880	1943
7074	1.41	237.1	483.0	9.1	430	7099	0.00	2.65	18.55	1.113	4	0.000	0.070	3054	3257	1863
7145	1.42	243.5	476.1	9.7	434	7157	0.00	2.50	7.10	0.956	6	0.000	0.063	3054	1897	1838
7470	1.42	243.5	441.7	11.0	455	7474	0.00	2.53	0.00	0.000	4	0.000	0.068	3055	3261	1838
7515	1.42	243.5	436.4	11.7	458	7519	0.00	2.47	0.00	0.000	6	0.000	0.061	3054	1905	1838
7845	1.42	243.5	399.9	11.1	479	7849	0.00	2.53	0.00	0.000	4	0.000	0.067	3055	3265	1838
7878	1.42	243.5	396.1	11.7	481	7883	0.00	2.45	0.00	0.000	6	0.000	0.059	3054	1911	1838
8198	1.42	243.5	361.0	11.5	501	8202	0.00	2.50	0.00	0.000	4	0.000	0.066	3055	3262	1838
8231	1.42	243.5	356.9	11.9	503	8235	0.00	2.42	0.00	0.000	6	0.000	0.057	3054	1926	1838
8550	1.42	243.5	320.1	11.5	523	8555	0.00	2.47	0.00	0.000	4	0.000	0.065	3055	3267	1838
8567	1.42	243.5	317.9	11.8	524	8571	0.00	2.42	0.00	0.000	6	0.000	0.055	3055	1923	1839
8886	1.42	243.5	280.4	11.8	544	8890	0.00	2.47	0.00	0.000	4	0.000	0.064	3055	3266	1839
8916	1.42	243.5	276.8	12.8	546	8920	0.00	2.40	0.00	0.000	6	0.000	0.054	3055	1933	1839
9240	1.42	243.5	240.2	10.4	567	9244	0.00	2.45	0.00	0.000	4	0.000	0.064	3055	3265	1839
9268	1.42	243.5	237.0	11.8	569	9273	0.00	2.38	0.00	0.000	6	0.000	0.054	3055	1942	1839
9594	1.42	243.5	203.9	10.6	590	9598	0.00	2.42	0.00	0.000	4	0.000	0.063	3055	3262	1839
9610	1.42	243.5	201.9	10.9	591	9614	0.00	2.35	0.00	0.000	6	0.000	0.052	3055	1952	1839
9929	1.42	243.5	168.5	10.5	611	9931	0.00	0.00	0.00	0.000	6	0.000	0.000	3055	1951	1840
10243	1.42	243.5	135.8	10.4	629	10247	0.00	2.40	0.00	0.000	4	0.000	0.062	3055	3263	1840
10270	1.42	243.5	132.4	11.1	630	10275	0.00	2.33	0.00	0.000	6	0.000	0.051	3055	1963	1840
10587	1.44	257.9	102.3	9.3	645	10606	0.00	0.00	14.23	0.822	6	0.000	0.000	3055	1962	1778
10918	1.44	257.9	68.9	11.0	661	10923	0.00	2.40	0.00	0.000	4	0.000	0.061	3055	3270	1778
10943	1.48	259.6	66.3	9.9	662	10947	0.00	2.33	0.00	0.000	6	0.000	0.049	3055	1968	1778
11265	1.58	321.8	39.1	7.2	678	11322	0.15	2.42	52.03	0.822	4	0.058	0.058	3094	3265	1518
11341	1.54	321.8	30.6	14.5	680	11347	0.00	2.30	0.00	0.000	6	0.000	0.049	3094	1987	1518
11532	end climb: SURFACE_DEPTH_REACHED
state	11532	begin surface coast
11552	end surface coast: CONTROL_FINISHED_OK
state	11552	begin surface