Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 13 * 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 13 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -76936.133 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 -76936.133

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 13 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 093408,6137.725,-856.464,30,1.5,30,-9.2 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.008,0.264

_SM_DEPTHo 0.77 KALMAN_X 8063.5,-3993.9,-2086.8,-37469.2,10166.7

_SM_ANGLEo -56.2 KALMAN_Y -6449.7,2660.8,928.0,26552.5,-10140.3

GPS2 093933,6137.710,-856.591,14,1.5,14,-9.2 MHEAD_RNG_PITCHd_Wd 10.8,14048,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.014310 ALTIM_BOTTOM_PING 801.1,76.2

SM_CCo 14315,0.00,0.000,0,0,1518,322.32 _24V_AH 23.6,5.962

SM_GC 0.89,11.48,0.00,0.00,0.041,0.000,0.000,423,2173,1518,-10.39,0.65,322.32 _10V_AH 10.0,2.023

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34767,681

TT8_MAMPS 0.029146 CAP_FILE_SIZE 108340,0

HUMID 1690 CFSIZE 254472192,251449344

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 401 GPS 080608,134007,6138.878,-901.475,30,1.0,30,-9.3

ALTIM_TOP_PING 18.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 86.87 SBE_CT 468 24 265.47

Roll_motor 121 101 290.67 SBE_O2 497 19 222.87

VBD_pump_during_apogee 404 1517 14470.26 WL_BB2F 361 105 895.99

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 91.78 nil 0 0 0.00

Iridium_during_connect 31 160 118.39 nil 0 0 0.00

Iridium_during_xfer 144 223 758.84

Transponder_ping 107 420 1065.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.47

TT8 1294 19 256.41

LPSleep 10755 2 235.54

TT8_Active 518 19 102.68

TT8_Sampling 1614 39 642.65

TT8_CF8 459 45 210.22

TT8_Kalman 33 81 27.28

Analog_circuits 1337 12 160.45

GPS_charging 0 0 0.00

Compass 1573 8 125.89

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 98 0.00 0.00 -71.60 0.000 6 0.000 0.000 418 2124 3430

101 -1.44 -146.6 2.6 -4.2 3 117 10.23 2.53 0.00 0.000 4 0.140 0.055 2376 735 3432

370 -1.24 -146.6 61.6 -18.2 14 375 0.25 2.55 0.00 0.000 6 0.097 0.053 2425 2150 3433

692 -1.14 -146.6 105.8 -13.3 30 694 0.12 0.00 0.00 0.000 6 0.107 0.000 2449 2151 3433

1002 -1.14 -146.6 142.7 -12.6 45 1003 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2149 3434

1309 -1.14 -146.6 180.4 -11.1 60 1314 0.00 2.58 0.00 0.000 4 0.000 0.065 2449 746 3434

1433 -1.14 -146.6 194.7 -11.8 65 1439 0.00 2.55 0.00 0.000 6 0.000 0.055 2449 2156 3435

1749 -1.14 -146.6 232.7 -12.4 81 1750 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2155 3435

2058 -1.14 -146.6 273.2 -13.2 96 2059 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2155 3435

2367 -1.14 -146.6 312.1 -13.0 111 2369 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2155 3435

2676 -1.14 -146.6 356.8 -15.8 126 2678 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2155 3435

2986 -1.14 -146.6 409.3 -16.9 141 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2155 3435

3295 -1.14 -146.6 455.9 -13.8 156 3296 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2155 3435

3604 -1.14 -146.6 492.8 -11.7 171 3608 0.00 2.58 0.00 0.000 4 0.000 0.074 2450 3556 3434

3705 -1.14 -146.6 506.0 -13.4 175 3711 0.00 2.53 0.00 0.000 6 0.000 0.054 2449 2149 3434

4021 -1.14 -146.6 547.7 -13.9 191 4022 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2132 3434

4330 -1.14 -146.6 589.2 -12.4 206 4335 0.00 2.65 0.00 0.000 4 0.000 0.077 2449 3558 3434

4403 -1.14 -146.6 597.9 -11.7 209 4407 0.00 2.55 0.00 0.000 6 0.000 0.055 2450 2145 3434

4719 -1.14 -146.6 619.9 -3.8 224 4723 0.00 2.55 0.00 0.000 4 0.000 0.071 2449 746 3434

4920 -1.14 -146.6 629.0 -5.8 233 4924 0.00 2.58 0.00 0.000 6 0.000 0.061 2449 2152 3434

5241 -1.14 -146.6 656.6 -9.8 249 5245 0.00 2.65 0.00 0.000 4 0.000 0.077 2449 746 3434

5438 -1.20 -146.6 683.5 -14.8 258 5442 0.00 2.60 0.00 0.000 6 0.000 0.067 2449 2154 3434

5765 -1.25 -146.6 728.6 -13.1 274 5769 0.00 2.67 0.00 0.000 4 0.000 0.091 2449 3562 3433

5910 -1.25 -146.6 743.4 -8.8 280 5917 0.00 2.60 0.00 0.000 6 0.000 0.069 2449 2152 3432

6227 -1.30 -146.6 764.1 -6.7 296 6232 0.15 2.67 0.00 0.000 4 0.063 0.090 2409 744 3431

6284 -1.26 -146.6 769.5 -9.9 298 6290 0.00 2.67 0.00 0.000 6 0.000 0.079 2409 2154 3430

6600 -1.22 -146.6 796.1 -11.7 314 6601 0.12 0.00 0.00 0.000 6 0.121 0.000 2431 2159 3429

6908 -1.22 -146.6 841.1 -12.9 329 6913 0.00 2.72 0.00 0.000 4 0.000 0.101 2431 3562 3427

6998 -1.22 -146.6 851.8 -12.6 333 7003 0.00 2.65 0.00 0.000 6 0.000 0.077 2431 2154 3426

7130 end dive: BOTTOM_OBSTACLE_DETECTED

state 7130 begin apogee

7137 -0.33 0.0 868.3 12.2 340 7267 0.95 0.00 126.12 1.517 6 0.105 0.000 2623 2131 2832

7267 end apogee: CONTROL_FINISHED_OK

state 7267 begin climb

7270 1.44 146.6 871.3 0.0 346 7401 1.83 0.00 126.30 1.457 6 0.077 0.000 3008 2130 2234

7704 1.22 146.6 826.5 11.9 367 7709 0.20 2.78 0.00 0.000 4 0.110 0.096 2971 3564 2233

7754 1.22 146.6 818.6 11.6 369 7759 0.00 2.70 0.00 0.000 6 0.000 0.078 2971 2149 2233

8070 1.18 146.6 790.4 11.9 384 8075 0.00 2.80 0.00 0.000 4 0.000 0.098 2971 3562 2232

8115 1.08 146.6 784.7 12.1 386 8121 0.17 2.67 0.00 0.000 6 0.105 0.074 2937 2147 2231

8437 1.32 255.6 771.4 5.0 402 8540 0.20 2.92 91.78 1.444 4 0.061 0.095 2987 3564 1789

8721 1.32 255.6 728.8 19.8 415 8725 0.00 2.67 0.00 0.000 6 0.000 0.075 2986 2152 1789

9048 1.32 255.6 678.3 12.2 431 9052 0.00 2.78 0.00 0.000 4 0.000 0.097 2987 3559 1789

9058 1.32 255.6 677.1 11.4 431 9064 0.00 2.67 0.00 0.000 6 0.000 0.077 2987 2150 1789

9374 1.43 322.2 647.2 7.0 447 9436 0.10 2.83 56.33 1.380 4 0.072 0.094 3013 741 1518

9595 1.43 322.2 623.8 10.3 457 9599 0.00 2.70 0.00 0.000 6 0.000 0.081 3012 2150 1518

9921 1.43 322.2 586.9 12.7 473 9926 0.00 2.72 0.00 0.000 4 0.000 0.084 3013 738 1518

9955 1.38 322.2 582.1 13.8 474 9961 0.00 2.70 0.00 0.000 6 0.000 0.075 3012 2157 1518

10270 1.38 322.2 540.4 13.8 490 10275 0.00 2.67 0.00 0.000 4 0.000 0.080 3012 740 1518

10412 1.38 322.2 517.8 16.0 496 10416 0.00 2.65 0.00 0.000 6 0.000 0.068 3013 2160 1518

10728 1.38 322.2 475.2 13.0 511 10729 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2160 1518

11037 1.38 322.2 437.7 12.1 526 11041 0.00 2.65 0.00 0.000 4 0.000 0.071 3012 739 1519

11047 1.38 322.2 436.3 12.1 526 11053 0.00 2.60 0.00 0.000 6 0.000 0.062 3012 2151 1519

11363 1.38 322.2 401.3 10.7 542 11367 0.00 2.62 0.00 0.000 4 0.000 0.070 3013 739 1520

11375 1.42 322.2 400.1 10.6 542 11381 0.00 2.60 0.00 0.000 6 0.000 0.060 3013 2154 1520

11691 1.46 322.2 366.7 10.9 558 11692 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2154 1521

12000 1.46 322.2 330.9 11.9 573 12004 0.00 2.62 0.00 0.000 4 0.000 0.068 3013 739 1522

12033 1.51 322.2 326.8 12.0 574 12039 0.00 2.58 0.00 0.000 6 0.000 0.059 3013 2149 1522

12349 1.56 322.2 288.3 12.1 590 12354 0.12 2.62 0.00 0.000 4 0.054 0.067 3047 734 1524

12371 1.56 322.2 285.1 13.8 591 12375 0.00 2.60 0.00 0.000 6 0.000 0.058 3047 2155 1524

12692 1.50 322.2 236.9 15.4 607 12696 0.00 2.62 0.00 0.000 4 0.000 0.067 3047 738 1524

12725 1.45 322.2 231.5 16.2 608 12732 0.17 2.58 0.00 0.000 6 0.091 0.058 3014 2151 1525

13041 1.52 322.2 188.3 14.0 624 13042 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2150 1525

13351 1.57 322.2 142.2 15.2 639 13353 0.12 0.00 0.00 0.000 6 0.055 0.000 3047 2150 1526

13660 1.57 322.2 88.0 17.6 654 13669 0.00 2.62 3.62 0.561 4 0.000 0.066 3047 743 1518

13676 1.57 322.2 84.8 17.9 654 13682 0.00 2.58 0.00 0.000 6 0.000 0.056 3047 2156 1518

13992 1.57 322.2 33.1 14.8 670 13996 0.00 2.62 0.00 0.000 4 0.000 0.065 3047 734 1519

14041 1.57 322.2 25.3 15.5 672 14046 0.00 2.58 0.00 0.000 6 0.000 0.055 3047 2154 1519

14210 end climb: SURFACE_DEPTH_REACHED

state 14210 begin surface coast

14232 end surface coast: CONTROL_FINISHED_OK

state 14232 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	13	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-76936.133	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	093408,6137.725,-856.464,30,1.5,30,-9.2	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.008,0.264
_SM_DEPTHo	0.77	KALMAN_X	8063.5,-3993.9,-2086.8,-37469.2,10166.7
_SM_ANGLEo	-56.2	KALMAN_Y	-6449.7,2660.8,928.0,26552.5,-10140.3
GPS2	093933,6137.710,-856.591,14,1.5,14,-9.2	MHEAD_RNG_PITCHd_Wd	10.8,14048,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.1,1.014310	ALTIM_BOTTOM_PING	801.1,76.2
SM_CCo	14315,0.00,0.000,0,0,1518,322.32	_24V_AH	23.6,5.962
SM_GC	0.89,11.48,0.00,0.00,0.041,0.000,0.000,423,2173,1518,-10.39,0.65,322.32	_10V_AH	10.0,2.023
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34767,681
TT8_MAMPS	0.029146	CAP_FILE_SIZE	108340,0
HUMID	1690	CFSIZE	254472192,251449344
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	401	GPS	080608,134007,6138.878,-901.475,30,1.0,30,-9.3
ALTIM_TOP_PING	18.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	86.87	SBE_CT	468	24	265.47
Roll_motor	121	101	290.67	SBE_O2	497	19	222.87
VBD_pump_during_apogee	404	1517	14470.26	WL_BB2F	361	105	895.99
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	91.78	nil	0	0	0.00
Iridium_during_connect	31	160	118.39	nil	0	0	0.00
Iridium_during_xfer	144	223	758.84
Transponder_ping	107	420	1065.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.47
TT8	1294	19	256.41
LPSleep	10755	2	235.54
TT8_Active	518	19	102.68
TT8_Sampling	1614	39	642.65
TT8_CF8	459	45	210.22
TT8_Kalman	33	81	27.28
Analog_circuits	1337	12	160.45
GPS_charging	0	0	0.00
Compass	1573	8	125.89
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	98	0.00	0.00	-71.60	0.000	6	0.000	0.000	418	2124	3430
101	-1.44	-146.6	2.6	-4.2	3	117	10.23	2.53	0.00	0.000	4	0.140	0.055	2376	735	3432
370	-1.24	-146.6	61.6	-18.2	14	375	0.25	2.55	0.00	0.000	6	0.097	0.053	2425	2150	3433
692	-1.14	-146.6	105.8	-13.3	30	694	0.12	0.00	0.00	0.000	6	0.107	0.000	2449	2151	3433
1002	-1.14	-146.6	142.7	-12.6	45	1003	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2149	3434
1309	-1.14	-146.6	180.4	-11.1	60	1314	0.00	2.58	0.00	0.000	4	0.000	0.065	2449	746	3434
1433	-1.14	-146.6	194.7	-11.8	65	1439	0.00	2.55	0.00	0.000	6	0.000	0.055	2449	2156	3435
1749	-1.14	-146.6	232.7	-12.4	81	1750	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2155	3435
2058	-1.14	-146.6	273.2	-13.2	96	2059	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2155	3435
2367	-1.14	-146.6	312.1	-13.0	111	2369	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2155	3435
2676	-1.14	-146.6	356.8	-15.8	126	2678	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2155	3435
2986	-1.14	-146.6	409.3	-16.9	141	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2155	3435
3295	-1.14	-146.6	455.9	-13.8	156	3296	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2155	3435
3604	-1.14	-146.6	492.8	-11.7	171	3608	0.00	2.58	0.00	0.000	4	0.000	0.074	2450	3556	3434
3705	-1.14	-146.6	506.0	-13.4	175	3711	0.00	2.53	0.00	0.000	6	0.000	0.054	2449	2149	3434
4021	-1.14	-146.6	547.7	-13.9	191	4022	0.00	0.00	0.00	0.000	6	0.000	0.000	2450	2132	3434
4330	-1.14	-146.6	589.2	-12.4	206	4335	0.00	2.65	0.00	0.000	4	0.000	0.077	2449	3558	3434
4403	-1.14	-146.6	597.9	-11.7	209	4407	0.00	2.55	0.00	0.000	6	0.000	0.055	2450	2145	3434
4719	-1.14	-146.6	619.9	-3.8	224	4723	0.00	2.55	0.00	0.000	4	0.000	0.071	2449	746	3434
4920	-1.14	-146.6	629.0	-5.8	233	4924	0.00	2.58	0.00	0.000	6	0.000	0.061	2449	2152	3434
5241	-1.14	-146.6	656.6	-9.8	249	5245	0.00	2.65	0.00	0.000	4	0.000	0.077	2449	746	3434
5438	-1.20	-146.6	683.5	-14.8	258	5442	0.00	2.60	0.00	0.000	6	0.000	0.067	2449	2154	3434
5765	-1.25	-146.6	728.6	-13.1	274	5769	0.00	2.67	0.00	0.000	4	0.000	0.091	2449	3562	3433
5910	-1.25	-146.6	743.4	-8.8	280	5917	0.00	2.60	0.00	0.000	6	0.000	0.069	2449	2152	3432
6227	-1.30	-146.6	764.1	-6.7	296	6232	0.15	2.67	0.00	0.000	4	0.063	0.090	2409	744	3431
6284	-1.26	-146.6	769.5	-9.9	298	6290	0.00	2.67	0.00	0.000	6	0.000	0.079	2409	2154	3430
6600	-1.22	-146.6	796.1	-11.7	314	6601	0.12	0.00	0.00	0.000	6	0.121	0.000	2431	2159	3429
6908	-1.22	-146.6	841.1	-12.9	329	6913	0.00	2.72	0.00	0.000	4	0.000	0.101	2431	3562	3427
6998	-1.22	-146.6	851.8	-12.6	333	7003	0.00	2.65	0.00	0.000	6	0.000	0.077	2431	2154	3426
7130	end dive: BOTTOM_OBSTACLE_DETECTED
state	7130	begin apogee
7137	-0.33	0.0	868.3	12.2	340	7267	0.95	0.00	126.12	1.517	6	0.105	0.000	2623	2131	2832
7267	end apogee: CONTROL_FINISHED_OK
state	7267	begin climb
7270	1.44	146.6	871.3	0.0	346	7401	1.83	0.00	126.30	1.457	6	0.077	0.000	3008	2130	2234
7704	1.22	146.6	826.5	11.9	367	7709	0.20	2.78	0.00	0.000	4	0.110	0.096	2971	3564	2233
7754	1.22	146.6	818.6	11.6	369	7759	0.00	2.70	0.00	0.000	6	0.000	0.078	2971	2149	2233
8070	1.18	146.6	790.4	11.9	384	8075	0.00	2.80	0.00	0.000	4	0.000	0.098	2971	3562	2232
8115	1.08	146.6	784.7	12.1	386	8121	0.17	2.67	0.00	0.000	6	0.105	0.074	2937	2147	2231
8437	1.32	255.6	771.4	5.0	402	8540	0.20	2.92	91.78	1.444	4	0.061	0.095	2987	3564	1789
8721	1.32	255.6	728.8	19.8	415	8725	0.00	2.67	0.00	0.000	6	0.000	0.075	2986	2152	1789
9048	1.32	255.6	678.3	12.2	431	9052	0.00	2.78	0.00	0.000	4	0.000	0.097	2987	3559	1789
9058	1.32	255.6	677.1	11.4	431	9064	0.00	2.67	0.00	0.000	6	0.000	0.077	2987	2150	1789
9374	1.43	322.2	647.2	7.0	447	9436	0.10	2.83	56.33	1.380	4	0.072	0.094	3013	741	1518
9595	1.43	322.2	623.8	10.3	457	9599	0.00	2.70	0.00	0.000	6	0.000	0.081	3012	2150	1518
9921	1.43	322.2	586.9	12.7	473	9926	0.00	2.72	0.00	0.000	4	0.000	0.084	3013	738	1518
9955	1.38	322.2	582.1	13.8	474	9961	0.00	2.70	0.00	0.000	6	0.000	0.075	3012	2157	1518
10270	1.38	322.2	540.4	13.8	490	10275	0.00	2.67	0.00	0.000	4	0.000	0.080	3012	740	1518
10412	1.38	322.2	517.8	16.0	496	10416	0.00	2.65	0.00	0.000	6	0.000	0.068	3013	2160	1518
10728	1.38	322.2	475.2	13.0	511	10729	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2160	1518
11037	1.38	322.2	437.7	12.1	526	11041	0.00	2.65	0.00	0.000	4	0.000	0.071	3012	739	1519
11047	1.38	322.2	436.3	12.1	526	11053	0.00	2.60	0.00	0.000	6	0.000	0.062	3012	2151	1519
11363	1.38	322.2	401.3	10.7	542	11367	0.00	2.62	0.00	0.000	4	0.000	0.070	3013	739	1520
11375	1.42	322.2	400.1	10.6	542	11381	0.00	2.60	0.00	0.000	6	0.000	0.060	3013	2154	1520
11691	1.46	322.2	366.7	10.9	558	11692	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2154	1521
12000	1.46	322.2	330.9	11.9	573	12004	0.00	2.62	0.00	0.000	4	0.000	0.068	3013	739	1522
12033	1.51	322.2	326.8	12.0	574	12039	0.00	2.58	0.00	0.000	6	0.000	0.059	3013	2149	1522
12349	1.56	322.2	288.3	12.1	590	12354	0.12	2.62	0.00	0.000	4	0.054	0.067	3047	734	1524
12371	1.56	322.2	285.1	13.8	591	12375	0.00	2.60	0.00	0.000	6	0.000	0.058	3047	2155	1524
12692	1.50	322.2	236.9	15.4	607	12696	0.00	2.62	0.00	0.000	4	0.000	0.067	3047	738	1524
12725	1.45	322.2	231.5	16.2	608	12732	0.17	2.58	0.00	0.000	6	0.091	0.058	3014	2151	1525
13041	1.52	322.2	188.3	14.0	624	13042	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2150	1525
13351	1.57	322.2	142.2	15.2	639	13353	0.12	0.00	0.00	0.000	6	0.055	0.000	3047	2150	1526
13660	1.57	322.2	88.0	17.6	654	13669	0.00	2.62	3.62	0.561	4	0.000	0.066	3047	743	1518
13676	1.57	322.2	84.8	17.9	654	13682	0.00	2.58	0.00	0.000	6	0.000	0.056	3047	2156	1518
13992	1.57	322.2	33.1	14.8	670	13996	0.00	2.62	0.00	0.000	4	0.000	0.065	3047	734	1519
14041	1.57	322.2	25.3	15.5	672	14046	0.00	2.58	0.00	0.000	6	0.000	0.055	3047	2154	1519
14210	end climb: SURFACE_DEPTH_REACHED
state	14210	begin surface coast
14232	end surface coast: CONTROL_FINISHED_OK
state	14232	begin surface