Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 11 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2832 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -76905.055 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -76905.055

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2832 MASS 52000 R_PORT_OVSHOOT 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 11 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 011401,6133.636,-847.660,41,1.0,41,-9.1 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,0.241

_SM_DEPTHo 0.77 KALMAN_X 8744.7,-196.3,200.7,-36246.3,9007.8

_SM_ANGLEo -60.0 KALMAN_Y -4730.2,1452.5,735.7,18696.1,-9316.0

GPS2 012150,6133.626,-847.463,12,1.4,17,-9.1 MHEAD_RNG_PITCHd_Wd 345.5,24780,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.027065 ALTIM_TOP_PING 19.2,18.3

SM_CCo 14050,0.00,0.000,0,0,1259,385.61 _24V_AH 23.7,5.576

SM_GC 0.76,11.35,0.00,0.00,0.036,0.000,0.000,424,2171,1259,-10.38,0.62,385.61 _10V_AH 10.0,1.885

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34855,670

TT8_MAMPS 0.029146 CAP_FILE_SIZE 111025,0

HUMID 1697 CFSIZE 254472192,251555840

TCM_TEMP 17.50 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,12,0,0

XPDR_PINGS 414 GPS 080608,051807,6135.914,-848.480,40,1.0,40,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 139 88.50 SBE_CT 461 24 262.67

Roll_motor 126 96 289.39 SBE_O2 492 19 221.70

VBD_pump_during_apogee 461 1481 16214.27 WL_BB2F 379 105 943.47

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 75 103 184.36 nil 0 0 0.00

Iridium_during_connect 64 160 243.04 nil 0 0 0.00

Iridium_during_xfer 155 223 824.04

Transponder_ping 110 420 1102.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.54

TT8 1270 19 251.53

LPSleep 10559 2 231.26

TT8_Active 554 19 109.85

TT8_Sampling 1596 39 635.45

TT8_CF8 540 45 247.55

TT8_Kalman 33 81 27.28

Analog_circuits 1380 12 165.67

GPS_charging 0 0 0.00

Compass 1552 8 124.18

RAFOS 0 0 0.00

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.44 -146.6 0.0 0.0 0 99 0.00 0.00 -73.03 0.000 6 0.000 0.000 422 2167 3431

102 -1.44 -146.6 2.6 -4.6 3 118 10.18 2.60 0.00 0.000 4 0.140 0.058 2377 735 3433

299 -1.24 -146.6 45.6 -17.0 11 304 0.25 2.55 0.00 0.000 6 0.098 0.053 2426 2153 3434

627 -1.17 -146.6 88.6 -13.9 27 631 0.00 2.55 0.00 0.000 4 0.000 0.067 2426 3560 3434

767 -1.07 -146.6 107.1 -12.9 33 772 0.17 2.53 0.00 0.000 6 0.100 0.049 2462 2140 3434

1083 -1.07 -146.6 139.2 -10.2 48 1087 0.00 2.53 0.00 0.000 4 0.000 0.064 2462 744 3435

1216 -1.13 -146.6 151.7 -9.7 54 1220 0.00 2.53 0.00 0.000 6 0.000 0.055 2462 2150 3435

1542 -1.18 -146.6 187.4 -11.2 70 1543 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 2149 3435

1851 -1.22 -146.6 222.4 -10.9 85 1853 0.12 0.00 0.00 0.000 6 0.055 0.000 2427 2150 3435

2161 -1.17 -146.6 260.6 -12.0 100 2162 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2150 3435

2470 -1.13 -146.6 299.6 -13.5 115 2472 0.12 0.00 0.00 0.000 6 0.104 0.000 2451 2149 3435

2779 -1.13 -146.6 337.0 -12.0 130 2783 0.00 2.60 0.00 0.000 4 0.000 0.074 2451 3567 3435

2880 -1.13 -146.6 350.4 -13.3 134 2886 0.00 2.55 0.00 0.000 6 0.000 0.054 2451 2146 3435

3195 -1.13 -146.6 388.0 -11.9 150 3197 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2130 3435

3505 -1.13 -146.6 423.3 -11.4 165 3506 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2130 3434

3814 -1.13 -146.6 458.6 -11.4 180 3818 0.00 2.62 0.00 0.000 4 0.000 0.073 2451 3558 3434

3886 -1.13 -146.6 467.5 -11.7 183 3890 0.00 2.53 0.00 0.000 6 0.000 0.054 2451 2151 3434

4201 -1.13 -146.6 508.1 -14.0 198 4206 0.00 2.55 0.00 0.000 4 0.000 0.068 2451 747 3433

4291 -1.18 -146.6 521.1 -14.5 202 4296 0.00 2.55 0.00 0.000 6 0.000 0.058 2451 2151 3434

4612 -1.18 -146.6 571.2 -15.2 218 4617 0.00 2.60 0.00 0.000 4 0.000 0.075 2451 3568 3433

4794 -1.18 -146.6 596.1 -13.2 226 4799 0.00 2.55 0.00 0.000 6 0.000 0.056 2451 2152 3433

5115 -1.18 -146.6 628.5 -10.0 242 5119 0.00 2.60 0.00 0.000 4 0.000 0.075 2451 3561 3433

5269 -1.22 -146.6 652.2 -17.4 249 5273 0.00 2.55 0.00 0.000 6 0.000 0.056 2451 2144 3433

5596 -1.27 -146.6 695.6 -11.1 265 5601 0.12 2.58 0.00 0.000 4 0.058 0.076 2416 749 3433

5786 -1.22 -146.6 718.8 -11.2 273 5792 0.00 2.60 0.00 0.000 6 0.000 0.066 2416 2159 3433

6103 -1.17 -146.6 751.9 -11.0 289 6105 0.15 0.00 0.00 0.000 6 0.107 0.000 2445 2158 3432

6411 -1.17 -146.6 785.1 -11.3 304 6412 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2159 3431

6720 -1.21 -146.6 820.6 -11.8 319 6722 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2160 3429

7030 -1.65 -146.6 846.5 -0.8 334 7035 0.45 2.67 0.00 0.000 4 0.054 0.097 2337 3562 3427

7145 end dive: NO_VERTICAL_VELOCITY

state 7145 begin apogee

7155 -0.33 0.0 846.5 0.0 339 7286 1.30 0.00 125.57 1.481 6 0.071 0.000 2621 2125 2832

7287 end apogee: CONTROL_FINISHED_OK

state 7287 begin climb

7290 1.44 146.6 846.3 0.0 346 7426 1.83 2.78 125.12 1.437 4 0.070 0.096 3012 751 2234

7648 1.28 146.6 816.8 10.3 362 7653 0.17 2.70 0.00 0.000 6 0.106 0.081 2980 2152 2233

7964 1.28 173.9 790.2 8.8 377 7990 0.00 0.00 23.98 1.386 6 0.000 0.000 2980 2152 2123

8293 1.33 204.0 760.3 8.6 393 8327 0.00 2.85 26.88 1.386 4 0.000 0.095 2980 3563 2000

8334 1.38 237.4 756.7 8.5 395 8369 0.00 2.70 29.45 1.377 6 0.000 0.075 2980 2146 1864

8687 1.38 237.4 718.1 12.1 412 8691 0.00 2.78 0.00 0.000 4 0.000 0.097 2980 3562 1863

8730 1.38 237.4 712.2 13.2 414 8735 0.00 2.67 0.00 0.000 6 0.000 0.076 2980 2157 1863

9052 1.47 264.6 679.3 8.8 430 9082 0.15 2.85 23.73 1.369 4 0.063 0.094 3020 3559 1753

9111 1.41 264.6 673.3 10.7 432 9117 0.00 2.70 0.00 0.000 6 0.000 0.076 3020 2149 1753

9427 1.33 264.6 633.5 15.7 448 9432 0.15 2.78 0.00 0.000 4 0.107 0.094 2989 3565 1753

9438 1.28 264.6 631.5 16.5 448 9444 0.00 2.70 0.00 0.000 6 0.000 0.076 2989 2142 1753

9754 1.46 377.2 595.7 4.9 464 9856 0.12 2.72 94.68 1.353 4 0.067 0.084 3018 739 1294

9874 1.51 386.0 586.0 9.6 469 9888 0.00 2.72 9.00 1.133 6 0.000 0.074 3018 2161 1258

10211 1.58 386.0 546.1 12.0 486 10216 0.10 2.72 0.00 0.000 4 0.067 0.079 3045 738 1260

10230 1.58 386.0 543.9 11.5 487 10234 0.00 2.65 0.00 0.000 6 0.000 0.067 3045 2156 1260

10556 1.58 386.0 496.4 13.9 503 10560 0.00 2.67 0.00 0.000 4 0.000 0.075 3045 739 1260

10566 1.58 386.0 494.8 14.7 503 10572 0.00 2.62 0.00 0.000 6 0.000 0.064 3045 2155 1260

10882 1.58 386.0 447.6 15.0 519 10886 0.00 2.65 0.00 0.000 4 0.000 0.072 3045 739 1261

10892 1.58 386.0 445.7 16.0 519 10898 0.00 2.60 0.00 0.000 6 0.000 0.061 3045 2150 1261

11208 1.58 386.0 392.9 15.8 535 11212 0.00 2.65 0.00 0.000 4 0.000 0.071 3045 737 1262

11240 1.58 386.0 387.5 16.1 536 11246 0.00 2.60 0.00 0.000 6 0.000 0.060 3045 2150 1262

11556 1.58 386.0 342.6 14.5 552 11560 0.00 2.62 0.00 0.000 4 0.000 0.070 3045 739 1263

11573 1.58 386.0 340.1 14.1 553 11577 0.00 2.58 0.00 0.000 6 0.000 0.059 3045 2150 1263

11899 1.58 386.0 291.8 14.6 569 11900 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2149 1265

12208 1.58 386.0 250.0 14.0 584 12213 0.00 2.62 0.00 0.000 4 0.000 0.068 3045 737 1265

12226 1.58 386.0 247.5 14.7 585 12230 0.00 2.55 0.00 0.000 6 0.000 0.058 3045 2151 1266

12553 1.58 386.0 200.7 13.6 601 12554 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2150 1266

12862 1.58 386.0 152.3 16.2 616 12867 0.00 0.00 3.53 0.568 6 0.000 0.000 3045 2150 1258

13171 1.58 386.0 109.2 12.6 631 13175 0.00 2.60 0.00 0.000 4 0.000 0.066 3045 739 1259

13239 1.62 386.0 100.6 11.8 634 13243 0.00 2.58 0.00 0.000 6 0.000 0.056 3045 2155 1259

13560 1.62 386.0 59.6 14.5 650 13565 0.00 2.62 0.00 0.000 4 0.000 0.065 3046 734 1259

13570 1.62 386.0 57.9 14.9 650 13577 0.00 2.55 0.00 0.000 6 0.000 0.055 3045 2151 1259

13886 1.62 386.0 9.6 15.0 666 13888 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2151 1260

13947 end climb: SURFACE_DEPTH_REACHED

state 13947 begin surface coast

13967 end surface coast: CONTROL_FINISHED_OK

state 13967 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	11	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2832	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-76905.055	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	011401,6133.636,-847.660,41,1.0,41,-9.1	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,0.241
_SM_DEPTHo	0.77	KALMAN_X	8744.7,-196.3,200.7,-36246.3,9007.8
_SM_ANGLEo	-60.0	KALMAN_Y	-4730.2,1452.5,735.7,18696.1,-9316.0
GPS2	012150,6133.626,-847.463,12,1.4,17,-9.1	MHEAD_RNG_PITCHd_Wd	345.5,24780,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	-0.0,1.027065	ALTIM_TOP_PING	19.2,18.3
SM_CCo	14050,0.00,0.000,0,0,1259,385.61	_24V_AH	23.7,5.576
SM_GC	0.76,11.35,0.00,0.00,0.036,0.000,0.000,424,2171,1259,-10.38,0.62,385.61	_10V_AH	10.0,1.885
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34855,670
TT8_MAMPS	0.029146	CAP_FILE_SIZE	111025,0
HUMID	1697	CFSIZE	254472192,251555840
TCM_TEMP	17.50	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,12,0,0
XPDR_PINGS	414	GPS	080608,051807,6135.914,-848.480,40,1.0,40,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	139	88.50	SBE_CT	461	24	262.67
Roll_motor	126	96	289.39	SBE_O2	492	19	221.70
VBD_pump_during_apogee	461	1481	16214.27	WL_BB2F	379	105	943.47
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	184.36	nil	0	0	0.00
Iridium_during_connect	64	160	243.04	nil	0	0	0.00
Iridium_during_xfer	155	223	824.04
Transponder_ping	110	420	1102.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.54
TT8	1270	19	251.53
LPSleep	10559	2	231.26
TT8_Active	554	19	109.85
TT8_Sampling	1596	39	635.45
TT8_CF8	540	45	247.55
TT8_Kalman	33	81	27.28
Analog_circuits	1380	12	165.67
GPS_charging	0	0	0.00
Compass	1552	8	124.18
RAFOS	0	0	0.00

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.44	-146.6	0.0	0.0	0	99	0.00	0.00	-73.03	0.000	6	0.000	0.000	422	2167	3431
102	-1.44	-146.6	2.6	-4.6	3	118	10.18	2.60	0.00	0.000	4	0.140	0.058	2377	735	3433
299	-1.24	-146.6	45.6	-17.0	11	304	0.25	2.55	0.00	0.000	6	0.098	0.053	2426	2153	3434
627	-1.17	-146.6	88.6	-13.9	27	631	0.00	2.55	0.00	0.000	4	0.000	0.067	2426	3560	3434
767	-1.07	-146.6	107.1	-12.9	33	772	0.17	2.53	0.00	0.000	6	0.100	0.049	2462	2140	3434
1083	-1.07	-146.6	139.2	-10.2	48	1087	0.00	2.53	0.00	0.000	4	0.000	0.064	2462	744	3435
1216	-1.13	-146.6	151.7	-9.7	54	1220	0.00	2.53	0.00	0.000	6	0.000	0.055	2462	2150	3435
1542	-1.18	-146.6	187.4	-11.2	70	1543	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	2149	3435
1851	-1.22	-146.6	222.4	-10.9	85	1853	0.12	0.00	0.00	0.000	6	0.055	0.000	2427	2150	3435
2161	-1.17	-146.6	260.6	-12.0	100	2162	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2150	3435
2470	-1.13	-146.6	299.6	-13.5	115	2472	0.12	0.00	0.00	0.000	6	0.104	0.000	2451	2149	3435
2779	-1.13	-146.6	337.0	-12.0	130	2783	0.00	2.60	0.00	0.000	4	0.000	0.074	2451	3567	3435
2880	-1.13	-146.6	350.4	-13.3	134	2886	0.00	2.55	0.00	0.000	6	0.000	0.054	2451	2146	3435
3195	-1.13	-146.6	388.0	-11.9	150	3197	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2130	3435
3505	-1.13	-146.6	423.3	-11.4	165	3506	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2130	3434
3814	-1.13	-146.6	458.6	-11.4	180	3818	0.00	2.62	0.00	0.000	4	0.000	0.073	2451	3558	3434
3886	-1.13	-146.6	467.5	-11.7	183	3890	0.00	2.53	0.00	0.000	6	0.000	0.054	2451	2151	3434
4201	-1.13	-146.6	508.1	-14.0	198	4206	0.00	2.55	0.00	0.000	4	0.000	0.068	2451	747	3433
4291	-1.18	-146.6	521.1	-14.5	202	4296	0.00	2.55	0.00	0.000	6	0.000	0.058	2451	2151	3434
4612	-1.18	-146.6	571.2	-15.2	218	4617	0.00	2.60	0.00	0.000	4	0.000	0.075	2451	3568	3433
4794	-1.18	-146.6	596.1	-13.2	226	4799	0.00	2.55	0.00	0.000	6	0.000	0.056	2451	2152	3433
5115	-1.18	-146.6	628.5	-10.0	242	5119	0.00	2.60	0.00	0.000	4	0.000	0.075	2451	3561	3433
5269	-1.22	-146.6	652.2	-17.4	249	5273	0.00	2.55	0.00	0.000	6	0.000	0.056	2451	2144	3433
5596	-1.27	-146.6	695.6	-11.1	265	5601	0.12	2.58	0.00	0.000	4	0.058	0.076	2416	749	3433
5786	-1.22	-146.6	718.8	-11.2	273	5792	0.00	2.60	0.00	0.000	6	0.000	0.066	2416	2159	3433
6103	-1.17	-146.6	751.9	-11.0	289	6105	0.15	0.00	0.00	0.000	6	0.107	0.000	2445	2158	3432
6411	-1.17	-146.6	785.1	-11.3	304	6412	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2159	3431
6720	-1.21	-146.6	820.6	-11.8	319	6722	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2160	3429
7030	-1.65	-146.6	846.5	-0.8	334	7035	0.45	2.67	0.00	0.000	4	0.054	0.097	2337	3562	3427
7145	end dive: NO_VERTICAL_VELOCITY
state	7145	begin apogee
7155	-0.33	0.0	846.5	0.0	339	7286	1.30	0.00	125.57	1.481	6	0.071	0.000	2621	2125	2832
7287	end apogee: CONTROL_FINISHED_OK
state	7287	begin climb
7290	1.44	146.6	846.3	0.0	346	7426	1.83	2.78	125.12	1.437	4	0.070	0.096	3012	751	2234
7648	1.28	146.6	816.8	10.3	362	7653	0.17	2.70	0.00	0.000	6	0.106	0.081	2980	2152	2233
7964	1.28	173.9	790.2	8.8	377	7990	0.00	0.00	23.98	1.386	6	0.000	0.000	2980	2152	2123
8293	1.33	204.0	760.3	8.6	393	8327	0.00	2.85	26.88	1.386	4	0.000	0.095	2980	3563	2000
8334	1.38	237.4	756.7	8.5	395	8369	0.00	2.70	29.45	1.377	6	0.000	0.075	2980	2146	1864
8687	1.38	237.4	718.1	12.1	412	8691	0.00	2.78	0.00	0.000	4	0.000	0.097	2980	3562	1863
8730	1.38	237.4	712.2	13.2	414	8735	0.00	2.67	0.00	0.000	6	0.000	0.076	2980	2157	1863
9052	1.47	264.6	679.3	8.8	430	9082	0.15	2.85	23.73	1.369	4	0.063	0.094	3020	3559	1753
9111	1.41	264.6	673.3	10.7	432	9117	0.00	2.70	0.00	0.000	6	0.000	0.076	3020	2149	1753
9427	1.33	264.6	633.5	15.7	448	9432	0.15	2.78	0.00	0.000	4	0.107	0.094	2989	3565	1753
9438	1.28	264.6	631.5	16.5	448	9444	0.00	2.70	0.00	0.000	6	0.000	0.076	2989	2142	1753
9754	1.46	377.2	595.7	4.9	464	9856	0.12	2.72	94.68	1.353	4	0.067	0.084	3018	739	1294
9874	1.51	386.0	586.0	9.6	469	9888	0.00	2.72	9.00	1.133	6	0.000	0.074	3018	2161	1258
10211	1.58	386.0	546.1	12.0	486	10216	0.10	2.72	0.00	0.000	4	0.067	0.079	3045	738	1260
10230	1.58	386.0	543.9	11.5	487	10234	0.00	2.65	0.00	0.000	6	0.000	0.067	3045	2156	1260
10556	1.58	386.0	496.4	13.9	503	10560	0.00	2.67	0.00	0.000	4	0.000	0.075	3045	739	1260
10566	1.58	386.0	494.8	14.7	503	10572	0.00	2.62	0.00	0.000	6	0.000	0.064	3045	2155	1260
10882	1.58	386.0	447.6	15.0	519	10886	0.00	2.65	0.00	0.000	4	0.000	0.072	3045	739	1261
10892	1.58	386.0	445.7	16.0	519	10898	0.00	2.60	0.00	0.000	6	0.000	0.061	3045	2150	1261
11208	1.58	386.0	392.9	15.8	535	11212	0.00	2.65	0.00	0.000	4	0.000	0.071	3045	737	1262
11240	1.58	386.0	387.5	16.1	536	11246	0.00	2.60	0.00	0.000	6	0.000	0.060	3045	2150	1262
11556	1.58	386.0	342.6	14.5	552	11560	0.00	2.62	0.00	0.000	4	0.000	0.070	3045	739	1263
11573	1.58	386.0	340.1	14.1	553	11577	0.00	2.58	0.00	0.000	6	0.000	0.059	3045	2150	1263
11899	1.58	386.0	291.8	14.6	569	11900	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2149	1265
12208	1.58	386.0	250.0	14.0	584	12213	0.00	2.62	0.00	0.000	4	0.000	0.068	3045	737	1265
12226	1.58	386.0	247.5	14.7	585	12230	0.00	2.55	0.00	0.000	6	0.000	0.058	3045	2151	1266
12553	1.58	386.0	200.7	13.6	601	12554	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2150	1266
12862	1.58	386.0	152.3	16.2	616	12867	0.00	0.00	3.53	0.568	6	0.000	0.000	3045	2150	1258
13171	1.58	386.0	109.2	12.6	631	13175	0.00	2.60	0.00	0.000	4	0.000	0.066	3045	739	1259
13239	1.62	386.0	100.6	11.8	634	13243	0.00	2.58	0.00	0.000	6	0.000	0.056	3045	2155	1259
13560	1.62	386.0	59.6	14.5	650	13565	0.00	2.62	0.00	0.000	4	0.000	0.065	3046	734	1259
13570	1.62	386.0	57.9	14.9	650	13577	0.00	2.55	0.00	0.000	6	0.000	0.055	3045	2151	1259
13886	1.62	386.0	9.6	15.0	666	13888	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2151	1260
13947	end climb: SURFACE_DEPTH_REACHED
state	13947	begin surface coast
13967	end surface coast: CONTROL_FINISHED_OK
state	13967	begin surface