Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 159 * 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 159 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 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 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 2620 DEVICE6 -1

T_NO_W 600 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 -79589.625 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 120 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 547.01898

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 550

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 -79589.625

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 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 159 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 181838,6213.557,-901.565,34,1.1,34,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,-0.038

_SM_DEPTHo 0.45 KALMAN_X -62271.4,-857.0,-317.1,99459.4,10728.8

_SM_ANGLEo -52.6 KALMAN_Y 150185.3,-2058.1,-1214.6,-101815.5,31798.7

GPS2 182639,6213.613,-901.521,12,2.0,12,-9.5 MHEAD_RNG_PITCHd_Wd 268.6,60971,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.014254 ALTIM_BOTTOM_PING 375.9,62.4

SM_CCo 13443,208.00,0.762,0,0,389,547.02 _24V_AH 24.0,32.793

SM_GC 0.36,0.00,0.00,208.00,0.000,0.000,0.762,417,2121,389,-10.50,-0.65,547.02 _10V_AH 10.1,15.920

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31642,646

TT8_MAMPS 0.029146 CAP_FILE_SIZE 97889,0

HUMID 1657 CFSIZE 254472192,240943104

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 458 GPS 130708,221625,6214.163,-902.459,25,1.3,43,-9.5

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 80.27 SBE_CT 442 24 254.87

Roll_motor 101 68 165.51 SBE_O2 480 19 219.28

VBD_pump_during_apogee 258 1077 6688.23 WL_BB2F 523 105 1319.49

VBD_pump_during_surface 208 761 3802.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 186.70 nil 0 0 0.00

Iridium_during_connect 53 160 206.08 nil 0 0 0.00

Iridium_during_xfer 171 223 915.60

Transponder_ping 117 420 1184.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.30

TT8 1191 19 238.23

LPSleep 10411 2 230.30

TT8_Active 633 19 126.72

TT8_Sampling 1345 39 541.02

TT8_CF8 554 45 256.27

TT8_Kalman 33 81 27.56

Analog_circuits 1296 12 157.11

GPS_charging 0 0 0.00

Compass 1329 8 107.43

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 -1.03 -117.3 0.0 0.0 0 139 0.00 0.00 -112.25 0.000 6 0.000 0.000 425 2152 3099

143 -1.03 -117.3 2.0 -1.5 5 159 10.60 2.55 0.00 0.000 4 0.138 0.054 2470 742 3098

187 -0.70 -117.3 9.4 -10.6 6 192 0.35 2.53 0.00 0.000 6 0.091 0.049 2544 2151 3097

509 -0.61 -117.3 30.4 -7.1 22 514 0.10 2.58 0.00 0.000 4 0.103 0.058 2565 738 3097

549 -0.61 -117.3 33.4 -6.8 24 554 0.00 2.50 0.00 0.000 6 0.000 0.049 2565 2145 3097

877 -0.61 -117.3 50.8 -5.1 40 881 0.00 2.55 0.00 0.000 4 0.000 0.058 2565 741 3097

988 -0.61 -117.3 58.0 -6.9 45 993 0.00 2.47 0.00 0.000 6 0.000 0.050 2565 2128 3096

1310 -0.61 -117.3 79.5 -6.6 61 1314 0.00 2.55 0.00 0.000 4 0.000 0.060 2565 3557 3096

1382 -0.61 -117.3 85.1 -8.0 64 1387 0.00 2.53 0.00 0.000 6 0.000 0.046 2565 2132 3096

1699 -0.61 -117.3 102.6 -5.3 79 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2112 3096

2009 -0.61 -117.3 122.0 -6.5 94 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2112 3097

2317 -0.61 -117.3 142.7 -6.4 109 2321 0.00 2.60 0.00 0.000 4 0.000 0.061 2564 3560 3096

2372 -0.61 -117.3 146.3 -6.7 111 2379 0.00 2.50 0.00 0.000 6 0.000 0.048 2565 2147 3096

2688 -0.61 -117.3 166.1 -6.3 127 2692 0.00 2.50 0.00 0.000 4 0.000 0.063 2565 751 3096

2715 -0.61 -117.3 167.8 -6.5 128 2719 0.00 2.47 0.00 0.000 6 0.000 0.052 2564 2145 3096

3031 -0.61 -117.3 186.4 -6.0 143 3032 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2144 3096

3340 -0.61 -117.3 203.0 -4.9 158 3341 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2144 3095

3650 -0.61 -117.3 216.4 -3.9 173 3651 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2144 3096

3959 -0.61 -117.3 227.3 -3.1 188 3961 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2144 3095

4268 -0.61 -117.3 237.2 -3.5 203 4272 0.00 2.55 0.00 0.000 4 0.000 0.064 2565 752 3095

4308 -0.61 -117.3 238.9 -4.4 205 4312 0.00 2.50 0.00 0.000 6 0.000 0.054 2565 2146 3095

4635 -0.61 -117.3 252.3 -4.2 221 4636 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2145 3095

4944 -0.61 -117.3 264.6 -3.4 236 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2146 3094

5253 -0.61 -117.3 281.3 -6.8 251 5257 0.00 2.55 0.00 0.000 4 0.000 0.064 2565 752 3094

5309 -0.61 -117.3 285.5 -7.6 253 5315 0.00 2.50 0.00 0.000 6 0.000 0.054 2565 2140 3094

5625 -0.61 -117.3 307.8 -7.6 269 5626 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2140 3094

5934 -0.61 -117.3 331.1 -8.0 284 5935 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2141 3093

6244 -0.61 -117.3 357.7 -8.8 299 6245 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2141 3093

6553 -0.61 -117.3 382.2 -7.6 314 6554 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2141 3093

6862 -0.61 -117.3 402.0 -6.1 329 6863 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2142 3093

7172 -0.61 -117.3 418.6 -5.6 344 7177 0.00 2.58 0.00 0.000 4 0.000 0.068 2565 3564 3093

7222 -0.61 -117.3 421.9 -6.1 346 7227 0.00 2.55 0.00 0.000 6 0.000 0.052 2565 2135 3093

7350 end dive: BOTTOM_OBSTACLE_DETECTED

state 7350 begin apogee

7356 -0.33 0.0 429.2 5.4 352 7456 0.30 0.00 96.95 1.078 6 0.079 0.000 2628 2115 2620

7457 end apogee: CONTROL_FINISHED_OK

state 7457 begin climb

7460 1.03 117.3 431.7 0.0 357 7561 1.38 0.00 96.95 1.049 6 0.065 0.000 2924 2115 2141

7866 1.04 125.7 408.8 5.7 377 7877 0.00 0.00 8.52 0.888 6 0.000 0.000 2924 2115 2107

8172 1.04 125.7 390.1 6.3 392 8177 0.00 2.58 0.00 0.000 4 0.000 0.066 2924 3516 2106

8223 1.04 125.7 386.4 7.9 394 8227 0.00 2.58 0.00 0.000 6 0.000 0.055 2924 2098 2106

8538 1.04 125.7 364.0 6.3 409 8543 0.00 2.62 0.00 0.000 4 0.000 0.065 2924 3515 2106

8580 1.08 147.8 362.1 5.2 411 8604 0.00 2.55 19.20 0.991 6 0.000 0.055 2924 2108 2017

8933 1.08 150.1 342.5 5.9 428 8937 0.00 2.60 0.00 0.000 4 0.000 0.064 2924 3514 2016

8972 1.08 150.1 339.9 7.1 430 8976 0.00 2.53 0.00 0.000 6 0.000 0.053 2924 2113 2016

9300 1.08 150.1 311.0 10.1 446 9304 0.00 2.58 0.00 0.000 4 0.000 0.063 2924 3509 2015

9339 1.08 150.1 306.7 10.6 448 9343 0.00 2.50 0.00 0.000 6 0.000 0.051 2924 2118 2015

9665 1.08 150.1 276.2 8.1 464 9670 0.00 2.58 0.00 0.000 4 0.000 0.063 2924 3516 2015

9706 1.08 150.1 273.1 7.3 466 9710 0.00 2.47 0.00 0.000 6 0.000 0.051 2924 2135 2015

10033 1.08 150.1 246.0 7.9 482 10034 0.00 0.00 0.00 0.000 6 0.000 0.000 2924 2135 2015

10342 1.08 150.1 222.1 7.3 497 10347 0.00 2.53 0.00 0.000 4 0.000 0.062 2924 3512 2015

10405 1.08 150.1 217.3 7.4 500 10409 0.00 2.45 0.00 0.000 6 0.000 0.051 2924 2144 2015

10733 1.08 150.1 194.4 7.2 516 10737 0.00 2.50 0.00 0.000 4 0.000 0.061 2924 3509 2015

10765 1.08 150.1 191.9 7.3 517 10771 0.00 2.45 0.00 0.000 6 0.000 0.052 2924 2147 2015

11082 1.08 150.1 167.6 8.2 533 11086 0.00 2.47 0.00 0.000 4 0.000 0.061 2924 3509 2015

11131 1.08 150.1 163.2 9.3 535 11135 0.00 2.40 0.00 0.000 6 0.000 0.050 2924 2170 2015

11449 1.08 150.1 139.2 7.2 550 11450 0.00 0.00 0.00 0.000 6 0.000 0.000 2925 2170 2016

11757 1.13 150.1 118.9 6.7 565 11762 0.00 2.45 0.00 0.000 4 0.000 0.061 2924 3517 2015

11798 1.17 150.1 115.8 7.8 567 11803 0.12 2.40 0.00 0.000 6 0.048 0.048 2965 2167 2015

12126 1.09 150.1 85.7 8.8 583 12128 0.15 0.00 0.00 0.000 6 0.082 0.000 2935 2167 2015

12434 1.09 150.1 62.7 7.2 598 12438 0.00 2.45 0.00 0.000 4 0.000 0.060 2935 3509 2015

12475 1.09 150.1 59.8 7.3 600 12479 0.00 2.35 0.00 0.000 6 0.000 0.047 2935 2181 2015

12808 1.16 193.5 42.7 4.5 616 12848 0.00 0.00 36.97 0.811 6 0.000 0.000 2935 2180 1830

13159 1.23 193.5 22.8 6.5 633 13164 0.15 2.67 0.00 0.000 4 0.044 0.063 2986 691 1829

13182 1.23 193.5 20.9 7.8 634 13186 0.00 2.67 0.00 0.000 6 0.000 0.050 2985 2187 1830

13397 end climb: SURFACE_DEPTH_REACHED

state 13397 begin surface coast

13419 end surface coast: CONTROL_FINISHED_OK

state 13419 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	159	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	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	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	2620	DEVICE6	-1
T_NO_W	600	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	-79589.625	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	120	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	181838,6213.557,-901.565,34,1.1,34,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,-0.038
_SM_DEPTHo	0.45	KALMAN_X	-62271.4,-857.0,-317.1,99459.4,10728.8
_SM_ANGLEo	-52.6	KALMAN_Y	150185.3,-2058.1,-1214.6,-101815.5,31798.7
GPS2	182639,6213.613,-901.521,12,2.0,12,-9.5	MHEAD_RNG_PITCHd_Wd	268.6,60971,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.0,1.014254	ALTIM_BOTTOM_PING	375.9,62.4
SM_CCo	13443,208.00,0.762,0,0,389,547.02	_24V_AH	24.0,32.793
SM_GC	0.36,0.00,0.00,208.00,0.000,0.000,0.762,417,2121,389,-10.50,-0.65,547.02	_10V_AH	10.1,15.920
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31642,646
TT8_MAMPS	0.029146	CAP_FILE_SIZE	97889,0
HUMID	1657	CFSIZE	254472192,240943104
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	458	GPS	130708,221625,6214.163,-902.459,25,1.3,43,-9.5
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	80.27	SBE_CT	442	24	254.87
Roll_motor	101	68	165.51	SBE_O2	480	19	219.28
VBD_pump_during_apogee	258	1077	6688.23	WL_BB2F	523	105	1319.49
VBD_pump_during_surface	208	761	3802.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	186.70	nil	0	0	0.00
Iridium_during_connect	53	160	206.08	nil	0	0	0.00
Iridium_during_xfer	171	223	915.60
Transponder_ping	117	420	1184.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.30
TT8	1191	19	238.23
LPSleep	10411	2	230.30
TT8_Active	633	19	126.72
TT8_Sampling	1345	39	541.02
TT8_CF8	554	45	256.27
TT8_Kalman	33	81	27.56
Analog_circuits	1296	12	157.11
GPS_charging	0	0	0.00
Compass	1329	8	107.43
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	-1.03	-117.3	0.0	0.0	0	139	0.00	0.00	-112.25	0.000	6	0.000	0.000	425	2152	3099
143	-1.03	-117.3	2.0	-1.5	5	159	10.60	2.55	0.00	0.000	4	0.138	0.054	2470	742	3098
187	-0.70	-117.3	9.4	-10.6	6	192	0.35	2.53	0.00	0.000	6	0.091	0.049	2544	2151	3097
509	-0.61	-117.3	30.4	-7.1	22	514	0.10	2.58	0.00	0.000	4	0.103	0.058	2565	738	3097
549	-0.61	-117.3	33.4	-6.8	24	554	0.00	2.50	0.00	0.000	6	0.000	0.049	2565	2145	3097
877	-0.61	-117.3	50.8	-5.1	40	881	0.00	2.55	0.00	0.000	4	0.000	0.058	2565	741	3097
988	-0.61	-117.3	58.0	-6.9	45	993	0.00	2.47	0.00	0.000	6	0.000	0.050	2565	2128	3096
1310	-0.61	-117.3	79.5	-6.6	61	1314	0.00	2.55	0.00	0.000	4	0.000	0.060	2565	3557	3096
1382	-0.61	-117.3	85.1	-8.0	64	1387	0.00	2.53	0.00	0.000	6	0.000	0.046	2565	2132	3096
1699	-0.61	-117.3	102.6	-5.3	79	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2112	3096
2009	-0.61	-117.3	122.0	-6.5	94	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2112	3097
2317	-0.61	-117.3	142.7	-6.4	109	2321	0.00	2.60	0.00	0.000	4	0.000	0.061	2564	3560	3096
2372	-0.61	-117.3	146.3	-6.7	111	2379	0.00	2.50	0.00	0.000	6	0.000	0.048	2565	2147	3096
2688	-0.61	-117.3	166.1	-6.3	127	2692	0.00	2.50	0.00	0.000	4	0.000	0.063	2565	751	3096
2715	-0.61	-117.3	167.8	-6.5	128	2719	0.00	2.47	0.00	0.000	6	0.000	0.052	2564	2145	3096
3031	-0.61	-117.3	186.4	-6.0	143	3032	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2144	3096
3340	-0.61	-117.3	203.0	-4.9	158	3341	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2144	3095
3650	-0.61	-117.3	216.4	-3.9	173	3651	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2144	3096
3959	-0.61	-117.3	227.3	-3.1	188	3961	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2144	3095
4268	-0.61	-117.3	237.2	-3.5	203	4272	0.00	2.55	0.00	0.000	4	0.000	0.064	2565	752	3095
4308	-0.61	-117.3	238.9	-4.4	205	4312	0.00	2.50	0.00	0.000	6	0.000	0.054	2565	2146	3095
4635	-0.61	-117.3	252.3	-4.2	221	4636	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2145	3095
4944	-0.61	-117.3	264.6	-3.4	236	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2146	3094
5253	-0.61	-117.3	281.3	-6.8	251	5257	0.00	2.55	0.00	0.000	4	0.000	0.064	2565	752	3094
5309	-0.61	-117.3	285.5	-7.6	253	5315	0.00	2.50	0.00	0.000	6	0.000	0.054	2565	2140	3094
5625	-0.61	-117.3	307.8	-7.6	269	5626	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2140	3094
5934	-0.61	-117.3	331.1	-8.0	284	5935	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2141	3093
6244	-0.61	-117.3	357.7	-8.8	299	6245	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2141	3093
6553	-0.61	-117.3	382.2	-7.6	314	6554	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2141	3093
6862	-0.61	-117.3	402.0	-6.1	329	6863	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2142	3093
7172	-0.61	-117.3	418.6	-5.6	344	7177	0.00	2.58	0.00	0.000	4	0.000	0.068	2565	3564	3093
7222	-0.61	-117.3	421.9	-6.1	346	7227	0.00	2.55	0.00	0.000	6	0.000	0.052	2565	2135	3093
7350	end dive: BOTTOM_OBSTACLE_DETECTED
state	7350	begin apogee
7356	-0.33	0.0	429.2	5.4	352	7456	0.30	0.00	96.95	1.078	6	0.079	0.000	2628	2115	2620
7457	end apogee: CONTROL_FINISHED_OK
state	7457	begin climb
7460	1.03	117.3	431.7	0.0	357	7561	1.38	0.00	96.95	1.049	6	0.065	0.000	2924	2115	2141
7866	1.04	125.7	408.8	5.7	377	7877	0.00	0.00	8.52	0.888	6	0.000	0.000	2924	2115	2107
8172	1.04	125.7	390.1	6.3	392	8177	0.00	2.58	0.00	0.000	4	0.000	0.066	2924	3516	2106
8223	1.04	125.7	386.4	7.9	394	8227	0.00	2.58	0.00	0.000	6	0.000	0.055	2924	2098	2106
8538	1.04	125.7	364.0	6.3	409	8543	0.00	2.62	0.00	0.000	4	0.000	0.065	2924	3515	2106
8580	1.08	147.8	362.1	5.2	411	8604	0.00	2.55	19.20	0.991	6	0.000	0.055	2924	2108	2017
8933	1.08	150.1	342.5	5.9	428	8937	0.00	2.60	0.00	0.000	4	0.000	0.064	2924	3514	2016
8972	1.08	150.1	339.9	7.1	430	8976	0.00	2.53	0.00	0.000	6	0.000	0.053	2924	2113	2016
9300	1.08	150.1	311.0	10.1	446	9304	0.00	2.58	0.00	0.000	4	0.000	0.063	2924	3509	2015
9339	1.08	150.1	306.7	10.6	448	9343	0.00	2.50	0.00	0.000	6	0.000	0.051	2924	2118	2015
9665	1.08	150.1	276.2	8.1	464	9670	0.00	2.58	0.00	0.000	4	0.000	0.063	2924	3516	2015
9706	1.08	150.1	273.1	7.3	466	9710	0.00	2.47	0.00	0.000	6	0.000	0.051	2924	2135	2015
10033	1.08	150.1	246.0	7.9	482	10034	0.00	0.00	0.00	0.000	6	0.000	0.000	2924	2135	2015
10342	1.08	150.1	222.1	7.3	497	10347	0.00	2.53	0.00	0.000	4	0.000	0.062	2924	3512	2015
10405	1.08	150.1	217.3	7.4	500	10409	0.00	2.45	0.00	0.000	6	0.000	0.051	2924	2144	2015
10733	1.08	150.1	194.4	7.2	516	10737	0.00	2.50	0.00	0.000	4	0.000	0.061	2924	3509	2015
10765	1.08	150.1	191.9	7.3	517	10771	0.00	2.45	0.00	0.000	6	0.000	0.052	2924	2147	2015
11082	1.08	150.1	167.6	8.2	533	11086	0.00	2.47	0.00	0.000	4	0.000	0.061	2924	3509	2015
11131	1.08	150.1	163.2	9.3	535	11135	0.00	2.40	0.00	0.000	6	0.000	0.050	2924	2170	2015
11449	1.08	150.1	139.2	7.2	550	11450	0.00	0.00	0.00	0.000	6	0.000	0.000	2925	2170	2016
11757	1.13	150.1	118.9	6.7	565	11762	0.00	2.45	0.00	0.000	4	0.000	0.061	2924	3517	2015
11798	1.17	150.1	115.8	7.8	567	11803	0.12	2.40	0.00	0.000	6	0.048	0.048	2965	2167	2015
12126	1.09	150.1	85.7	8.8	583	12128	0.15	0.00	0.00	0.000	6	0.082	0.000	2935	2167	2015
12434	1.09	150.1	62.7	7.2	598	12438	0.00	2.45	0.00	0.000	4	0.000	0.060	2935	3509	2015
12475	1.09	150.1	59.8	7.3	600	12479	0.00	2.35	0.00	0.000	6	0.000	0.047	2935	2181	2015
12808	1.16	193.5	42.7	4.5	616	12848	0.00	0.00	36.97	0.811	6	0.000	0.000	2935	2180	1830
13159	1.23	193.5	22.8	6.5	633	13164	0.15	2.67	0.00	0.000	4	0.044	0.063	2986	691	1829
13182	1.23	193.5	20.9	7.8	634	13186	0.00	2.67	0.00	0.000	6	0.000	0.050	2985	2187	1830
13397	end climb: SURFACE_DEPTH_REACHED
state	13397	begin surface coast
13419	end surface coast: CONTROL_FINISHED_OK
state	13419	begin surface