Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 15 * 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 15 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -76963.383 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 -76963.383

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 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 15 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 174401,6139.882,-908.003,41,1.3,41,-9.3 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.011,0.254

_SM_DEPTHo 0.68 KALMAN_X -8248.6,-1082.1,-772.3,-35547.0,-2485.2

_SM_ANGLEo -53.7 KALMAN_Y -6939.9,-1437.1,86.2,35826.5,-2734.0

GPS2 174909,6139.771,-908.009,12,1.4,12,-9.3 MHEAD_RNG_PITCHd_Wd 6.9,3477,-18.9,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.011676 ALTIM_BOTTOM_PING 751.8,80.2

SM_CCo 13567,0.00,0.000,0,0,1543,315.95 _24V_AH 23.7,6.373

SM_GC 0.85,11.43,0.00,0.00,0.039,0.000,0.000,421,2163,1543,-10.40,0.37,315.95 _10V_AH 10.0,2.158

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34797,648

TT8_MAMPS 0.029146 CAP_FILE_SIZE 110743,0

HUMID 1697 CFSIZE 254472192,251338752

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

XPDR_PINGS 435 GPS 080608,213725,6141.047,-915.096,42,1.2,42,-9.4

ALTIM_TOP_PING 17.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 87.32 SBE_CT 444 24 252.80

Roll_motor 141 92 310.46 SBE_O2 478 19 215.31

VBD_pump_during_apogee 399 1448 13711.18 WL_BB2F 355 105 883.47

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 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 26 160 99.73 nil 0 0 0.00

Iridium_during_xfer 134 223 710.33

Transponder_ping 115 420 1152.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.24

TT8 1249 19 247.45

LPSleep 10051 2 220.12

TT8_Active 534 19 105.78

TT8_Sampling 1596 39 635.41

TT8_CF8 443 45 203.30

TT8_Kalman 33 81 27.28

Analog_circuits 1365 12 163.82

GPS_charging 0 0 0.00

Compass 1553 8 124.27

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.47 -135.4 0.0 0.0 0 128 0.00 0.00 -99.43 0.000 6 0.000 0.000 421 2162 3384

132 -1.49 -146.6 3.9 -3.8 5 148 10.12 2.60 -1.02 0.000 4 0.140 0.068 2366 733 3431

402 -1.29 -146.6 63.3 -18.1 16 407 0.28 2.58 0.00 0.000 6 0.100 0.053 2417 2160 3431

724 -1.22 -146.6 111.1 -15.4 32 728 0.00 2.55 0.00 0.000 4 0.000 0.067 2417 3561 3433

779 -1.17 -146.6 120.1 -16.9 34 786 0.12 2.55 0.00 0.000 6 0.106 0.051 2442 2135 3432

1095 -1.17 -146.6 169.0 -15.1 50 1099 0.00 2.50 0.00 0.000 4 0.000 0.064 2442 747 3433

1167 -1.17 -146.6 180.3 -15.4 53 1171 0.00 2.55 0.00 0.000 6 0.000 0.054 2442 2155 3433

1483 -1.17 -146.6 226.7 -14.8 68 1487 0.00 2.55 0.00 0.000 4 0.000 0.068 2441 3558 3433

1573 -1.17 -146.6 240.5 -15.2 72 1577 0.00 2.53 0.00 0.000 6 0.000 0.051 2442 2149 3433

1894 -1.17 -146.6 288.7 -14.5 88 1898 0.00 2.55 0.00 0.000 4 0.000 0.067 2442 744 3433

1956 -1.17 -146.6 297.4 -13.6 91 1961 0.00 2.55 0.00 0.000 6 0.000 0.056 2441 2150 3433

2283 -1.17 -146.6 345.3 -15.3 107 2287 0.00 2.58 0.00 0.000 4 0.000 0.071 2442 3562 3433

2373 -1.17 -146.6 359.5 -15.5 111 2377 0.00 2.55 0.00 0.000 6 0.000 0.052 2442 2142 3433

2693 -1.17 -146.6 408.5 -15.0 127 2697 0.00 2.53 0.00 0.000 4 0.000 0.065 2442 744 3433

2794 -1.17 -146.6 424.1 -15.8 131 2800 0.00 2.55 0.00 0.000 6 0.000 0.057 2442 2150 3433

3109 -1.17 -146.6 467.2 -12.8 147 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2150 3433

3419 -1.17 -146.6 503.1 -11.6 162 3423 0.00 2.58 0.00 0.000 4 0.000 0.074 2442 3558 3433

3513 -1.17 -146.6 513.6 -10.6 166 3518 0.00 2.55 0.00 0.000 6 0.000 0.055 2442 2148 3433

3830 -1.17 -146.6 537.5 -5.7 181 3835 0.00 2.55 0.00 0.000 4 0.000 0.068 2442 744 3433

3916 -1.17 -146.6 541.6 -5.0 185 3920 0.00 2.55 0.00 0.000 6 0.000 0.059 2442 2150 3432

4243 -1.17 -146.6 561.4 -6.4 201 4247 0.00 2.62 0.00 0.000 4 0.000 0.072 2442 743 3433

4397 -1.22 -146.6 573.7 -9.6 208 4402 0.00 2.58 0.00 0.000 6 0.000 0.061 2442 2156 3432

4724 -1.22 -146.6 608.6 -11.3 224 4728 0.00 2.60 0.00 0.000 4 0.000 0.077 2442 3561 3432

4832 -1.27 -146.6 622.8 -13.8 229 4836 0.00 2.55 0.00 0.000 6 0.000 0.059 2442 2149 3432

5159 -1.32 -146.6 673.8 -15.5 245 5164 0.12 2.58 0.00 0.000 4 0.061 0.075 2410 747 3431

5371 -1.32 -146.6 701.9 -9.5 254 5378 0.00 2.60 0.00 0.000 6 0.000 0.067 2409 2151 3431

5687 -1.25 -146.6 748.9 -16.2 270 5689 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2151 3430

5997 -1.20 -146.6 784.8 -9.5 285 6002 0.15 2.67 0.00 0.000 4 0.120 0.091 2436 3558 3428

6181 -1.20 -146.6 806.4 -9.0 293 6186 0.00 2.62 0.00 0.000 6 0.000 0.073 2436 2155 3427

6309 end dive: BOTTOM_OBSTACLE_DETECTED

state 6309 begin apogee

6315 -0.33 0.0 822.8 15.9 299 6445 0.90 0.00 125.68 1.449 6 0.096 0.000 2622 2129 2833

6445 end apogee: CONTROL_FINISHED_OK

state 6445 begin climb

6448 1.49 146.6 828.2 0.0 305 6584 1.88 2.83 125.03 1.402 4 0.074 0.092 3018 3558 2233

6607 1.36 146.6 814.5 10.3 312 6613 0.00 2.67 0.00 0.000 6 0.000 0.071 3018 2149 2233

6923 1.25 146.6 781.1 12.5 328 6928 0.20 2.78 0.00 0.000 4 0.111 0.093 2978 3563 2231

6990 1.19 146.6 770.6 14.1 331 6995 0.00 2.70 0.00 0.000 6 0.000 0.077 2978 2145 2231

7311 1.19 146.6 727.2 14.4 347 7315 0.00 2.70 0.00 0.000 4 0.000 0.092 2978 739 2230

7351 1.14 146.6 723.2 10.2 349 7356 0.15 2.70 0.00 0.000 6 0.110 0.077 2950 2157 2230

7678 1.31 197.6 692.4 7.5 365 7728 0.15 2.78 42.42 1.362 4 0.064 0.090 2991 3559 2026

7764 1.36 227.0 685.9 8.5 369 7795 0.00 2.67 26.08 1.324 6 0.000 0.071 2991 2150 1906

8112 1.48 299.7 662.2 6.4 386 8179 0.15 2.78 61.45 1.348 4 0.063 0.091 3027 735 1610

8237 1.48 299.7 649.2 11.7 392 8241 0.00 2.72 0.00 0.000 6 0.000 0.077 3027 2154 1610

8563 1.48 299.7 613.9 12.8 408 8568 0.00 2.72 0.00 0.000 4 0.000 0.084 3027 737 1610

8574 1.48 299.7 612.4 13.5 408 8580 0.00 2.65 0.00 0.000 6 0.000 0.074 3027 2147 1610

8889 1.50 314.5 579.5 9.3 424 8911 0.00 2.72 14.00 1.215 4 0.000 0.080 3028 740 1549

9018 1.50 314.5 564.9 12.7 429 9024 0.00 2.65 0.00 0.000 6 0.000 0.071 3027 2149 1549

9333 1.50 314.5 532.1 10.4 445 9334 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2149 1549

9643 1.51 317.7 502.6 9.8 460 9652 0.00 2.65 4.65 0.871 4 0.000 0.076 3027 3561 1536

9660 1.51 317.7 500.9 10.2 461 9664 0.00 2.60 0.00 0.000 6 0.000 0.061 3027 2148 1536

9986 1.51 317.7 465.4 10.8 477 9990 0.00 2.65 0.00 0.000 4 0.000 0.074 3027 3561 1537

10003 1.51 317.7 463.3 11.5 478 10007 0.00 2.58 0.00 0.000 6 0.000 0.058 3027 2148 1536

10329 1.51 317.7 421.7 14.3 494 10333 0.00 2.65 0.00 0.000 4 0.000 0.071 3027 3563 1537

10346 1.51 317.7 419.1 14.3 495 10350 0.00 2.58 0.00 0.000 6 0.000 0.057 3027 2146 1537

10673 1.51 317.7 371.9 14.3 511 10674 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2133 1537

10982 1.55 317.7 330.7 12.8 526 10983 0.00 0.00 0.00 0.000 6 0.000 0.000 3028 2132 1539

11291 1.60 317.7 293.5 10.9 541 11296 0.00 2.65 0.00 0.000 4 0.000 0.070 3027 3568 1540

11309 1.60 317.7 291.5 10.8 542 11313 0.00 2.58 0.00 0.000 6 0.000 0.054 3027 2144 1540

11636 1.64 317.7 259.3 10.4 558 11637 0.12 0.00 0.00 0.000 6 0.052 0.000 3064 2125 1541

11945 1.59 317.7 216.2 14.9 573 11946 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2125 1541

12254 1.54 317.7 170.7 14.8 588 12256 0.15 0.00 0.00 0.000 6 0.099 0.000 3036 2125 1542

12563 1.54 317.7 134.0 11.8 603 12568 0.00 2.62 0.00 0.000 4 0.000 0.067 3036 3562 1542

12604 1.60 317.7 128.7 12.7 605 12608 0.00 2.55 0.00 0.000 6 0.000 0.052 3036 2144 1542

12931 1.64 317.7 81.8 15.3 621 12936 0.00 2.62 0.00 0.000 4 0.000 0.067 3036 3565 1543

12942 1.64 317.7 79.8 15.9 621 12949 0.00 2.53 0.00 0.000 6 0.000 0.052 3036 2148 1543

13259 1.69 317.7 31.3 14.6 637 13264 0.15 2.53 0.00 0.000 4 0.052 0.064 3082 745 1544

13315 1.59 317.7 21.6 17.3 639 13322 0.17 2.55 0.00 0.000 6 0.094 0.054 3047 2162 1544

13463 end climb: SURFACE_DEPTH_REACHED

state 13463 begin surface coast

13485 end surface coast: CONTROL_FINISHED_OK

state 13485 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	15	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-76963.383	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	174401,6139.882,-908.003,41,1.3,41,-9.3	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.011,0.254
_SM_DEPTHo	0.68	KALMAN_X	-8248.6,-1082.1,-772.3,-35547.0,-2485.2
_SM_ANGLEo	-53.7	KALMAN_Y	-6939.9,-1437.1,86.2,35826.5,-2734.0
GPS2	174909,6139.771,-908.009,12,1.4,12,-9.3	MHEAD_RNG_PITCHd_Wd	6.9,3477,-18.9,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.0,1.011676	ALTIM_BOTTOM_PING	751.8,80.2
SM_CCo	13567,0.00,0.000,0,0,1543,315.95	_24V_AH	23.7,6.373
SM_GC	0.85,11.43,0.00,0.00,0.039,0.000,0.000,421,2163,1543,-10.40,0.37,315.95	_10V_AH	10.0,2.158
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34797,648
TT8_MAMPS	0.029146	CAP_FILE_SIZE	110743,0
HUMID	1697	CFSIZE	254472192,251338752
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
XPDR_PINGS	435	GPS	080608,213725,6141.047,-915.096,42,1.2,42,-9.4
ALTIM_TOP_PING	17.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	87.32	SBE_CT	444	24	252.80
Roll_motor	141	92	310.46	SBE_O2	478	19	215.31
VBD_pump_during_apogee	399	1448	13711.18	WL_BB2F	355	105	883.47
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	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	26	160	99.73	nil	0	0	0.00
Iridium_during_xfer	134	223	710.33
Transponder_ping	115	420	1152.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.24
TT8	1249	19	247.45
LPSleep	10051	2	220.12
TT8_Active	534	19	105.78
TT8_Sampling	1596	39	635.41
TT8_CF8	443	45	203.30
TT8_Kalman	33	81	27.28
Analog_circuits	1365	12	163.82
GPS_charging	0	0	0.00
Compass	1553	8	124.27
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.47	-135.4	0.0	0.0	0	128	0.00	0.00	-99.43	0.000	6	0.000	0.000	421	2162	3384
132	-1.49	-146.6	3.9	-3.8	5	148	10.12	2.60	-1.02	0.000	4	0.140	0.068	2366	733	3431
402	-1.29	-146.6	63.3	-18.1	16	407	0.28	2.58	0.00	0.000	6	0.100	0.053	2417	2160	3431
724	-1.22	-146.6	111.1	-15.4	32	728	0.00	2.55	0.00	0.000	4	0.000	0.067	2417	3561	3433
779	-1.17	-146.6	120.1	-16.9	34	786	0.12	2.55	0.00	0.000	6	0.106	0.051	2442	2135	3432
1095	-1.17	-146.6	169.0	-15.1	50	1099	0.00	2.50	0.00	0.000	4	0.000	0.064	2442	747	3433
1167	-1.17	-146.6	180.3	-15.4	53	1171	0.00	2.55	0.00	0.000	6	0.000	0.054	2442	2155	3433
1483	-1.17	-146.6	226.7	-14.8	68	1487	0.00	2.55	0.00	0.000	4	0.000	0.068	2441	3558	3433
1573	-1.17	-146.6	240.5	-15.2	72	1577	0.00	2.53	0.00	0.000	6	0.000	0.051	2442	2149	3433
1894	-1.17	-146.6	288.7	-14.5	88	1898	0.00	2.55	0.00	0.000	4	0.000	0.067	2442	744	3433
1956	-1.17	-146.6	297.4	-13.6	91	1961	0.00	2.55	0.00	0.000	6	0.000	0.056	2441	2150	3433
2283	-1.17	-146.6	345.3	-15.3	107	2287	0.00	2.58	0.00	0.000	4	0.000	0.071	2442	3562	3433
2373	-1.17	-146.6	359.5	-15.5	111	2377	0.00	2.55	0.00	0.000	6	0.000	0.052	2442	2142	3433
2693	-1.17	-146.6	408.5	-15.0	127	2697	0.00	2.53	0.00	0.000	4	0.000	0.065	2442	744	3433
2794	-1.17	-146.6	424.1	-15.8	131	2800	0.00	2.55	0.00	0.000	6	0.000	0.057	2442	2150	3433
3109	-1.17	-146.6	467.2	-12.8	147	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2150	3433
3419	-1.17	-146.6	503.1	-11.6	162	3423	0.00	2.58	0.00	0.000	4	0.000	0.074	2442	3558	3433
3513	-1.17	-146.6	513.6	-10.6	166	3518	0.00	2.55	0.00	0.000	6	0.000	0.055	2442	2148	3433
3830	-1.17	-146.6	537.5	-5.7	181	3835	0.00	2.55	0.00	0.000	4	0.000	0.068	2442	744	3433
3916	-1.17	-146.6	541.6	-5.0	185	3920	0.00	2.55	0.00	0.000	6	0.000	0.059	2442	2150	3432
4243	-1.17	-146.6	561.4	-6.4	201	4247	0.00	2.62	0.00	0.000	4	0.000	0.072	2442	743	3433
4397	-1.22	-146.6	573.7	-9.6	208	4402	0.00	2.58	0.00	0.000	6	0.000	0.061	2442	2156	3432
4724	-1.22	-146.6	608.6	-11.3	224	4728	0.00	2.60	0.00	0.000	4	0.000	0.077	2442	3561	3432
4832	-1.27	-146.6	622.8	-13.8	229	4836	0.00	2.55	0.00	0.000	6	0.000	0.059	2442	2149	3432
5159	-1.32	-146.6	673.8	-15.5	245	5164	0.12	2.58	0.00	0.000	4	0.061	0.075	2410	747	3431
5371	-1.32	-146.6	701.9	-9.5	254	5378	0.00	2.60	0.00	0.000	6	0.000	0.067	2409	2151	3431
5687	-1.25	-146.6	748.9	-16.2	270	5689	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2151	3430
5997	-1.20	-146.6	784.8	-9.5	285	6002	0.15	2.67	0.00	0.000	4	0.120	0.091	2436	3558	3428
6181	-1.20	-146.6	806.4	-9.0	293	6186	0.00	2.62	0.00	0.000	6	0.000	0.073	2436	2155	3427
6309	end dive: BOTTOM_OBSTACLE_DETECTED
state	6309	begin apogee
6315	-0.33	0.0	822.8	15.9	299	6445	0.90	0.00	125.68	1.449	6	0.096	0.000	2622	2129	2833
6445	end apogee: CONTROL_FINISHED_OK
state	6445	begin climb
6448	1.49	146.6	828.2	0.0	305	6584	1.88	2.83	125.03	1.402	4	0.074	0.092	3018	3558	2233
6607	1.36	146.6	814.5	10.3	312	6613	0.00	2.67	0.00	0.000	6	0.000	0.071	3018	2149	2233
6923	1.25	146.6	781.1	12.5	328	6928	0.20	2.78	0.00	0.000	4	0.111	0.093	2978	3563	2231
6990	1.19	146.6	770.6	14.1	331	6995	0.00	2.70	0.00	0.000	6	0.000	0.077	2978	2145	2231
7311	1.19	146.6	727.2	14.4	347	7315	0.00	2.70	0.00	0.000	4	0.000	0.092	2978	739	2230
7351	1.14	146.6	723.2	10.2	349	7356	0.15	2.70	0.00	0.000	6	0.110	0.077	2950	2157	2230
7678	1.31	197.6	692.4	7.5	365	7728	0.15	2.78	42.42	1.362	4	0.064	0.090	2991	3559	2026
7764	1.36	227.0	685.9	8.5	369	7795	0.00	2.67	26.08	1.324	6	0.000	0.071	2991	2150	1906
8112	1.48	299.7	662.2	6.4	386	8179	0.15	2.78	61.45	1.348	4	0.063	0.091	3027	735	1610
8237	1.48	299.7	649.2	11.7	392	8241	0.00	2.72	0.00	0.000	6	0.000	0.077	3027	2154	1610
8563	1.48	299.7	613.9	12.8	408	8568	0.00	2.72	0.00	0.000	4	0.000	0.084	3027	737	1610
8574	1.48	299.7	612.4	13.5	408	8580	0.00	2.65	0.00	0.000	6	0.000	0.074	3027	2147	1610
8889	1.50	314.5	579.5	9.3	424	8911	0.00	2.72	14.00	1.215	4	0.000	0.080	3028	740	1549
9018	1.50	314.5	564.9	12.7	429	9024	0.00	2.65	0.00	0.000	6	0.000	0.071	3027	2149	1549
9333	1.50	314.5	532.1	10.4	445	9334	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2149	1549
9643	1.51	317.7	502.6	9.8	460	9652	0.00	2.65	4.65	0.871	4	0.000	0.076	3027	3561	1536
9660	1.51	317.7	500.9	10.2	461	9664	0.00	2.60	0.00	0.000	6	0.000	0.061	3027	2148	1536
9986	1.51	317.7	465.4	10.8	477	9990	0.00	2.65	0.00	0.000	4	0.000	0.074	3027	3561	1537
10003	1.51	317.7	463.3	11.5	478	10007	0.00	2.58	0.00	0.000	6	0.000	0.058	3027	2148	1536
10329	1.51	317.7	421.7	14.3	494	10333	0.00	2.65	0.00	0.000	4	0.000	0.071	3027	3563	1537
10346	1.51	317.7	419.1	14.3	495	10350	0.00	2.58	0.00	0.000	6	0.000	0.057	3027	2146	1537
10673	1.51	317.7	371.9	14.3	511	10674	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	2133	1537
10982	1.55	317.7	330.7	12.8	526	10983	0.00	0.00	0.00	0.000	6	0.000	0.000	3028	2132	1539
11291	1.60	317.7	293.5	10.9	541	11296	0.00	2.65	0.00	0.000	4	0.000	0.070	3027	3568	1540
11309	1.60	317.7	291.5	10.8	542	11313	0.00	2.58	0.00	0.000	6	0.000	0.054	3027	2144	1540
11636	1.64	317.7	259.3	10.4	558	11637	0.12	0.00	0.00	0.000	6	0.052	0.000	3064	2125	1541
11945	1.59	317.7	216.2	14.9	573	11946	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2125	1541
12254	1.54	317.7	170.7	14.8	588	12256	0.15	0.00	0.00	0.000	6	0.099	0.000	3036	2125	1542
12563	1.54	317.7	134.0	11.8	603	12568	0.00	2.62	0.00	0.000	4	0.000	0.067	3036	3562	1542
12604	1.60	317.7	128.7	12.7	605	12608	0.00	2.55	0.00	0.000	6	0.000	0.052	3036	2144	1542
12931	1.64	317.7	81.8	15.3	621	12936	0.00	2.62	0.00	0.000	4	0.000	0.067	3036	3565	1543
12942	1.64	317.7	79.8	15.9	621	12949	0.00	2.53	0.00	0.000	6	0.000	0.052	3036	2148	1543
13259	1.69	317.7	31.3	14.6	637	13264	0.15	2.53	0.00	0.000	4	0.052	0.064	3082	745	1544
13315	1.59	317.7	21.6	17.3	639	13322	0.17	2.55	0.00	0.000	6	0.094	0.054	3047	2162	1544
13463	end climb: SURFACE_DEPTH_REACHED
state	13463	begin surface coast
13485	end surface coast: CONTROL_FINISHED_OK
state	13485	begin surface