Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 161 * 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 161 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 -79616.055 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 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 -79616.055

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 161 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 024137,6213.729,-901.844,31,1.0,31,-9.5 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.056,-0.193

_SM_DEPTHo 0.48 KALMAN_X -56375.7,-579.0,-1069.2,93854.4,15841.5

_SM_ANGLEo -48.6 KALMAN_Y 149883.6,-1729.4,-272.5,-102488.2,21348.1

GPS2 024657,6213.764,-901.734,12,1.1,12,-9.5 MHEAD_RNG_PITCHd_Wd 205.8,61223,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.013651 ALTIM_BOTTOM_PING 350.0,76.7

SM_CCo 14414,194.50,0.765,0,0,390,547.02 _24V_AH 24.0,33.089

SM_GC 0.42,0.00,0.00,194.50,0.000,0.000,0.765,423,2179,390,-10.47,0.68,547.02 _10V_AH 10.1,16.068

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34806,692

TT8_MAMPS 0.029146 CAP_FILE_SIZE 110922,0

HUMID 1662 CFSIZE 254472192,240820224

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 509 GPS 140708,065238,6215.010,-859.002,41,1.0,41,-9.5

ALTIM_TOP_PING 19.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 138 79.03 SBE_CT 472 24 272.35

Roll_motor 142 69 235.79 SBE_O2 511 19 233.47

VBD_pump_during_apogee 275 1074 7097.94 WL_BB2F 542 105 1367.42

VBD_pump_during_surface 194 764 3569.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.34 nil 0 0 0.00

Iridium_during_connect 27 160 105.02 nil 0 0 0.00

Iridium_during_xfer 137 223 735.37

Transponder_ping 130 420 1310.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.46

TT8 1291 19 258.27

LPSleep 10969 2 242.62

TT8_Active 652 19 130.42

TT8_Sampling 1537 39 618.04

TT8_CF8 482 45 223.08

TT8_Kalman 33 81 27.57

Analog_circuits 1442 12 174.80

GPS_charging 0 0 0.00

Compass 1513 8 122.31

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 -1.03 -117.3 0.0 0.0 0 145 0.00 0.00 -112.53 0.000 6 0.000 0.000 417 2151 3099

149 -1.03 -117.3 3.2 -3.1 6 165 10.65 2.53 0.00 0.000 4 0.138 0.056 2469 3558 3098

273 -0.71 -117.3 21.1 -11.4 10 280 0.35 2.50 0.00 0.000 6 0.094 0.045 2543 2144 3097

591 -0.61 -117.3 48.3 -8.1 26 596 0.12 2.60 0.00 0.000 4 0.099 0.059 2568 3564 3097

725 -0.61 -117.3 58.7 -6.4 32 729 0.00 2.50 0.00 0.000 6 0.000 0.044 2568 2147 3097

1047 -0.61 -117.3 72.1 -2.2 48 1051 0.00 2.55 0.00 0.000 4 0.000 0.059 2568 3558 3098

1170 -0.61 -117.3 74.4 -2.1 53 1176 0.00 2.47 0.00 0.000 6 0.000 0.045 2568 2159 3098

1487 -0.61 -117.3 82.2 -3.8 69 1491 0.00 2.53 0.00 0.000 4 0.000 0.058 2568 3558 3098

1497 -0.61 -117.3 82.8 -3.8 69 1503 0.00 2.47 0.00 0.000 6 0.000 0.046 2568 2160 3098

1813 -0.61 -117.3 101.7 -6.9 85 1818 0.00 2.53 0.00 0.000 4 0.000 0.059 2568 3558 3098

1836 -0.61 -117.3 103.4 -7.3 86 1840 0.00 2.45 0.00 0.000 6 0.000 0.046 2568 2171 3098

2158 -0.61 -117.3 125.2 -6.6 102 2162 0.00 2.53 0.00 0.000 4 0.000 0.061 2568 3561 3098

2168 -0.61 -117.3 125.9 -6.4 102 2174 0.00 2.47 0.00 0.000 6 0.000 0.048 2568 2165 3098

2486 -0.61 -117.3 139.0 -3.7 118 2487 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2164 3098

2793 -0.61 -117.3 150.8 -3.3 133 2794 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2164 3098

3102 -0.61 -117.3 161.3 -3.4 148 3103 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2164 3098

3412 -0.61 -117.3 173.6 -4.5 163 3416 0.00 2.53 0.00 0.000 4 0.000 0.063 2568 751 3098

3429 -0.61 -117.3 174.3 -4.4 164 3434 0.00 2.53 0.00 0.000 6 0.000 0.052 2568 2163 3097

3757 -0.61 -117.3 190.1 -5.0 180 3761 0.00 2.58 0.00 0.000 4 0.000 0.063 2568 746 3097

3775 -0.61 -117.3 191.1 -4.9 181 3779 0.00 2.53 0.00 0.000 6 0.000 0.053 2568 2158 3097

4101 -0.61 -117.3 209.1 -5.6 197 4106 0.00 2.58 0.00 0.000 4 0.000 0.062 2568 745 3097

4129 -0.61 -117.3 210.8 -6.0 198 4134 0.00 2.53 0.00 0.000 6 0.000 0.053 2568 2151 3097

4446 -0.61 -117.3 228.9 -5.7 213 4450 0.00 2.58 0.00 0.000 4 0.000 0.064 2568 746 3097

4479 -0.61 -117.3 230.9 -5.7 214 4485 0.00 2.50 0.00 0.000 6 0.000 0.053 2568 2138 3097

4795 -0.61 -117.3 246.7 -4.4 230 4799 0.00 2.53 0.00 0.000 4 0.000 0.063 2568 748 3096

4829 -0.61 -117.3 248.6 -5.1 231 4835 0.00 2.50 0.00 0.000 6 0.000 0.053 2568 2143 3097

5145 -0.61 -117.3 263.3 -4.6 247 5149 0.00 2.55 0.00 0.000 4 0.000 0.064 2567 748 3096

5157 -0.61 -117.3 263.8 -4.5 247 5163 0.00 2.50 0.00 0.000 6 0.000 0.054 2568 2138 3096

5474 -0.61 -117.3 279.3 -4.9 263 5475 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2138 3096

5782 -0.61 -117.3 294.0 -4.6 278 5787 0.00 2.55 0.00 0.000 4 0.000 0.064 2568 747 3096

5816 -0.61 -117.3 295.8 -4.8 279 5822 0.00 2.50 0.00 0.000 6 0.000 0.054 2568 2137 3096

6132 -0.61 -117.3 309.9 -4.8 295 6137 0.00 2.55 0.00 0.000 4 0.000 0.064 2568 741 3096

6144 -0.61 -117.3 310.5 -4.8 295 6150 0.00 2.50 0.00 0.000 6 0.000 0.054 2568 2132 3096

6460 -0.61 -117.3 323.2 -3.9 311 6464 0.00 2.53 0.00 0.000 4 0.000 0.064 2568 749 3095

6471 -0.61 -117.3 323.6 -3.5 311 6477 0.00 2.47 0.00 0.000 6 0.000 0.054 2568 2124 3095

6787 -0.61 -117.3 336.0 -3.8 327 6788 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2123 3095

7096 -0.61 -117.3 345.7 -2.8 342 7097 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2124 3095

7406 -0.61 -117.3 354.8 -3.4 357 7410 0.00 2.60 0.00 0.000 4 0.000 0.067 2568 3563 3095

7439 -0.61 -117.3 356.0 -3.8 358 7445 0.00 2.58 0.00 0.000 6 0.000 0.052 2568 2122 3095

7756 -0.61 -117.3 368.3 -4.4 374 7757 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2121 3095

8065 -0.61 -117.3 382.5 -4.2 389 8069 0.00 2.47 0.00 0.000 4 0.000 0.068 2568 747 3095

8098 -0.61 -117.3 384.3 -5.3 390 8104 0.00 2.47 0.00 0.000 6 0.000 0.055 2568 2123 3095

8415 -0.61 -117.3 399.3 -4.3 406 8419 0.00 2.60 0.00 0.000 4 0.000 0.069 2568 3564 3094

8504 -0.61 -117.3 404.3 -6.6 410 8509 0.00 2.53 0.00 0.000 6 0.000 0.052 2568 2150 3094

8740 end dive: BOTTOM_OBSTACLE_DETECTED

state 8740 begin apogee

8746 -0.33 0.0 417.7 7.0 422 8846 0.28 0.00 96.70 1.075 6 0.081 0.000 2624 2129 2620

8846 end apogee: CONTROL_FINISHED_OK

state 8847 begin climb

8850 1.03 117.3 420.7 0.0 427 8954 1.38 2.72 95.82 1.052 4 0.069 0.067 2922 684 2140

9001 0.98 117.3 412.9 9.1 434 9005 0.00 2.58 0.00 0.000 6 0.000 0.056 2922 2103 2140

9328 1.08 182.6 400.3 3.8 450 9390 0.00 2.65 53.72 1.039 4 0.000 0.066 2922 3502 1874

9493 1.13 182.6 391.7 6.1 457 9498 0.10 2.53 0.00 0.000 6 0.056 0.054 2956 2117 1874

9810 1.11 202.5 374.0 5.3 472 9834 0.00 2.67 17.40 0.989 4 0.000 0.067 2956 693 1795

9899 1.11 202.5 368.1 6.7 476 9904 0.00 2.60 0.00 0.000 6 0.000 0.056 2956 2119 1794

10226 1.11 202.5 346.2 7.0 492 10230 0.00 2.55 0.00 0.000 4 0.000 0.066 2956 3516 1793

10321 1.11 202.5 338.3 9.0 496 10325 0.00 2.50 0.00 0.000 6 0.000 0.055 2956 2139 1793

10637 1.11 202.5 312.7 8.2 511 10641 0.00 2.62 0.00 0.000 4 0.000 0.067 2956 681 1792

10676 1.11 202.5 309.2 9.2 513 10681 0.00 2.62 0.00 0.000 6 0.000 0.054 2956 2144 1793

11003 1.11 202.5 279.9 9.1 529 11007 0.00 2.47 0.00 0.000 4 0.000 0.064 2956 3514 1792

11052 1.11 202.5 275.1 9.4 531 11057 0.00 2.47 0.00 0.000 6 0.000 0.054 2956 2136 1792

11370 1.11 202.5 247.3 8.7 546 11371 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2135 1792

11678 1.11 202.5 221.7 8.7 561 11679 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2134 1792

11987 1.11 202.5 196.8 7.7 576 11988 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2135 1792

12296 1.11 202.5 171.7 8.5 591 12301 0.00 2.53 0.00 0.000 4 0.000 0.061 2956 3515 1792

12352 1.11 202.5 166.3 9.5 593 12358 0.00 2.47 0.00 0.000 6 0.000 0.053 2956 2142 1792

12669 1.11 202.5 138.7 8.9 609 12673 0.00 2.62 0.00 0.000 4 0.000 0.066 2956 680 1793

12709 1.11 202.5 134.9 10.1 611 12713 0.00 2.65 0.00 0.000 6 0.000 0.052 2956 2168 1793

13036 1.11 202.5 101.0 10.6 627 13040 0.00 2.40 0.00 0.000 4 0.000 0.061 2956 3510 1792

13080 1.11 202.5 96.2 10.5 629 13084 0.00 2.42 0.00 0.000 6 0.000 0.051 2956 2145 1792

13402 1.11 202.5 67.3 8.5 645 13403 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2145 1793

13711 1.13 215.2 48.0 5.6 660 13732 0.00 2.70 11.57 0.769 4 0.000 0.061 2956 683 1742

13788 1.13 215.2 42.5 6.7 663 13792 0.00 2.65 0.00 0.000 6 0.000 0.050 2955 2166 1742

14105 1.13 215.2 21.5 6.6 678 14106 0.00 0.00 0.00 0.000 6 0.000 0.000 2956 2166 1741

14369 end climb: SURFACE_DEPTH_REACHED

state 14369 begin surface coast

14391 end surface coast: CONTROL_FINISHED_OK

state 14391 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	161	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	-79616.055	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	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	024137,6213.729,-901.844,31,1.0,31,-9.5	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.056,-0.193
_SM_DEPTHo	0.48	KALMAN_X	-56375.7,-579.0,-1069.2,93854.4,15841.5
_SM_ANGLEo	-48.6	KALMAN_Y	149883.6,-1729.4,-272.5,-102488.2,21348.1
GPS2	024657,6213.764,-901.734,12,1.1,12,-9.5	MHEAD_RNG_PITCHd_Wd	205.8,61223,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	-0.1,1.013651	ALTIM_BOTTOM_PING	350.0,76.7
SM_CCo	14414,194.50,0.765,0,0,390,547.02	_24V_AH	24.0,33.089
SM_GC	0.42,0.00,0.00,194.50,0.000,0.000,0.765,423,2179,390,-10.47,0.68,547.02	_10V_AH	10.1,16.068
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34806,692
TT8_MAMPS	0.029146	CAP_FILE_SIZE	110922,0
HUMID	1662	CFSIZE	254472192,240820224
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	509	GPS	140708,065238,6215.010,-859.002,41,1.0,41,-9.5
ALTIM_TOP_PING	19.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	138	79.03	SBE_CT	472	24	272.35
Roll_motor	142	69	235.79	SBE_O2	511	19	233.47
VBD_pump_during_apogee	275	1074	7097.94	WL_BB2F	542	105	1367.42
VBD_pump_during_surface	194	764	3569.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.34	nil	0	0	0.00
Iridium_during_connect	27	160	105.02	nil	0	0	0.00
Iridium_during_xfer	137	223	735.37
Transponder_ping	130	420	1310.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.46
TT8	1291	19	258.27
LPSleep	10969	2	242.62
TT8_Active	652	19	130.42
TT8_Sampling	1537	39	618.04
TT8_CF8	482	45	223.08
TT8_Kalman	33	81	27.57
Analog_circuits	1442	12	174.80
GPS_charging	0	0	0.00
Compass	1513	8	122.31
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	-1.03	-117.3	0.0	0.0	0	145	0.00	0.00	-112.53	0.000	6	0.000	0.000	417	2151	3099
149	-1.03	-117.3	3.2	-3.1	6	165	10.65	2.53	0.00	0.000	4	0.138	0.056	2469	3558	3098
273	-0.71	-117.3	21.1	-11.4	10	280	0.35	2.50	0.00	0.000	6	0.094	0.045	2543	2144	3097
591	-0.61	-117.3	48.3	-8.1	26	596	0.12	2.60	0.00	0.000	4	0.099	0.059	2568	3564	3097
725	-0.61	-117.3	58.7	-6.4	32	729	0.00	2.50	0.00	0.000	6	0.000	0.044	2568	2147	3097
1047	-0.61	-117.3	72.1	-2.2	48	1051	0.00	2.55	0.00	0.000	4	0.000	0.059	2568	3558	3098
1170	-0.61	-117.3	74.4	-2.1	53	1176	0.00	2.47	0.00	0.000	6	0.000	0.045	2568	2159	3098
1487	-0.61	-117.3	82.2	-3.8	69	1491	0.00	2.53	0.00	0.000	4	0.000	0.058	2568	3558	3098
1497	-0.61	-117.3	82.8	-3.8	69	1503	0.00	2.47	0.00	0.000	6	0.000	0.046	2568	2160	3098
1813	-0.61	-117.3	101.7	-6.9	85	1818	0.00	2.53	0.00	0.000	4	0.000	0.059	2568	3558	3098
1836	-0.61	-117.3	103.4	-7.3	86	1840	0.00	2.45	0.00	0.000	6	0.000	0.046	2568	2171	3098
2158	-0.61	-117.3	125.2	-6.6	102	2162	0.00	2.53	0.00	0.000	4	0.000	0.061	2568	3561	3098
2168	-0.61	-117.3	125.9	-6.4	102	2174	0.00	2.47	0.00	0.000	6	0.000	0.048	2568	2165	3098
2486	-0.61	-117.3	139.0	-3.7	118	2487	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2164	3098
2793	-0.61	-117.3	150.8	-3.3	133	2794	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2164	3098
3102	-0.61	-117.3	161.3	-3.4	148	3103	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2164	3098
3412	-0.61	-117.3	173.6	-4.5	163	3416	0.00	2.53	0.00	0.000	4	0.000	0.063	2568	751	3098
3429	-0.61	-117.3	174.3	-4.4	164	3434	0.00	2.53	0.00	0.000	6	0.000	0.052	2568	2163	3097
3757	-0.61	-117.3	190.1	-5.0	180	3761	0.00	2.58	0.00	0.000	4	0.000	0.063	2568	746	3097
3775	-0.61	-117.3	191.1	-4.9	181	3779	0.00	2.53	0.00	0.000	6	0.000	0.053	2568	2158	3097
4101	-0.61	-117.3	209.1	-5.6	197	4106	0.00	2.58	0.00	0.000	4	0.000	0.062	2568	745	3097
4129	-0.61	-117.3	210.8	-6.0	198	4134	0.00	2.53	0.00	0.000	6	0.000	0.053	2568	2151	3097
4446	-0.61	-117.3	228.9	-5.7	213	4450	0.00	2.58	0.00	0.000	4	0.000	0.064	2568	746	3097
4479	-0.61	-117.3	230.9	-5.7	214	4485	0.00	2.50	0.00	0.000	6	0.000	0.053	2568	2138	3097
4795	-0.61	-117.3	246.7	-4.4	230	4799	0.00	2.53	0.00	0.000	4	0.000	0.063	2568	748	3096
4829	-0.61	-117.3	248.6	-5.1	231	4835	0.00	2.50	0.00	0.000	6	0.000	0.053	2568	2143	3097
5145	-0.61	-117.3	263.3	-4.6	247	5149	0.00	2.55	0.00	0.000	4	0.000	0.064	2567	748	3096
5157	-0.61	-117.3	263.8	-4.5	247	5163	0.00	2.50	0.00	0.000	6	0.000	0.054	2568	2138	3096
5474	-0.61	-117.3	279.3	-4.9	263	5475	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2138	3096
5782	-0.61	-117.3	294.0	-4.6	278	5787	0.00	2.55	0.00	0.000	4	0.000	0.064	2568	747	3096
5816	-0.61	-117.3	295.8	-4.8	279	5822	0.00	2.50	0.00	0.000	6	0.000	0.054	2568	2137	3096
6132	-0.61	-117.3	309.9	-4.8	295	6137	0.00	2.55	0.00	0.000	4	0.000	0.064	2568	741	3096
6144	-0.61	-117.3	310.5	-4.8	295	6150	0.00	2.50	0.00	0.000	6	0.000	0.054	2568	2132	3096
6460	-0.61	-117.3	323.2	-3.9	311	6464	0.00	2.53	0.00	0.000	4	0.000	0.064	2568	749	3095
6471	-0.61	-117.3	323.6	-3.5	311	6477	0.00	2.47	0.00	0.000	6	0.000	0.054	2568	2124	3095
6787	-0.61	-117.3	336.0	-3.8	327	6788	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2123	3095
7096	-0.61	-117.3	345.7	-2.8	342	7097	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2124	3095
7406	-0.61	-117.3	354.8	-3.4	357	7410	0.00	2.60	0.00	0.000	4	0.000	0.067	2568	3563	3095
7439	-0.61	-117.3	356.0	-3.8	358	7445	0.00	2.58	0.00	0.000	6	0.000	0.052	2568	2122	3095
7756	-0.61	-117.3	368.3	-4.4	374	7757	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2121	3095
8065	-0.61	-117.3	382.5	-4.2	389	8069	0.00	2.47	0.00	0.000	4	0.000	0.068	2568	747	3095
8098	-0.61	-117.3	384.3	-5.3	390	8104	0.00	2.47	0.00	0.000	6	0.000	0.055	2568	2123	3095
8415	-0.61	-117.3	399.3	-4.3	406	8419	0.00	2.60	0.00	0.000	4	0.000	0.069	2568	3564	3094
8504	-0.61	-117.3	404.3	-6.6	410	8509	0.00	2.53	0.00	0.000	6	0.000	0.052	2568	2150	3094
8740	end dive: BOTTOM_OBSTACLE_DETECTED
state	8740	begin apogee
8746	-0.33	0.0	417.7	7.0	422	8846	0.28	0.00	96.70	1.075	6	0.081	0.000	2624	2129	2620
8846	end apogee: CONTROL_FINISHED_OK
state	8847	begin climb
8850	1.03	117.3	420.7	0.0	427	8954	1.38	2.72	95.82	1.052	4	0.069	0.067	2922	684	2140
9001	0.98	117.3	412.9	9.1	434	9005	0.00	2.58	0.00	0.000	6	0.000	0.056	2922	2103	2140
9328	1.08	182.6	400.3	3.8	450	9390	0.00	2.65	53.72	1.039	4	0.000	0.066	2922	3502	1874
9493	1.13	182.6	391.7	6.1	457	9498	0.10	2.53	0.00	0.000	6	0.056	0.054	2956	2117	1874
9810	1.11	202.5	374.0	5.3	472	9834	0.00	2.67	17.40	0.989	4	0.000	0.067	2956	693	1795
9899	1.11	202.5	368.1	6.7	476	9904	0.00	2.60	0.00	0.000	6	0.000	0.056	2956	2119	1794
10226	1.11	202.5	346.2	7.0	492	10230	0.00	2.55	0.00	0.000	4	0.000	0.066	2956	3516	1793
10321	1.11	202.5	338.3	9.0	496	10325	0.00	2.50	0.00	0.000	6	0.000	0.055	2956	2139	1793
10637	1.11	202.5	312.7	8.2	511	10641	0.00	2.62	0.00	0.000	4	0.000	0.067	2956	681	1792
10676	1.11	202.5	309.2	9.2	513	10681	0.00	2.62	0.00	0.000	6	0.000	0.054	2956	2144	1793
11003	1.11	202.5	279.9	9.1	529	11007	0.00	2.47	0.00	0.000	4	0.000	0.064	2956	3514	1792
11052	1.11	202.5	275.1	9.4	531	11057	0.00	2.47	0.00	0.000	6	0.000	0.054	2956	2136	1792
11370	1.11	202.5	247.3	8.7	546	11371	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2135	1792
11678	1.11	202.5	221.7	8.7	561	11679	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2134	1792
11987	1.11	202.5	196.8	7.7	576	11988	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2135	1792
12296	1.11	202.5	171.7	8.5	591	12301	0.00	2.53	0.00	0.000	4	0.000	0.061	2956	3515	1792
12352	1.11	202.5	166.3	9.5	593	12358	0.00	2.47	0.00	0.000	6	0.000	0.053	2956	2142	1792
12669	1.11	202.5	138.7	8.9	609	12673	0.00	2.62	0.00	0.000	4	0.000	0.066	2956	680	1793
12709	1.11	202.5	134.9	10.1	611	12713	0.00	2.65	0.00	0.000	6	0.000	0.052	2956	2168	1793
13036	1.11	202.5	101.0	10.6	627	13040	0.00	2.40	0.00	0.000	4	0.000	0.061	2956	3510	1792
13080	1.11	202.5	96.2	10.5	629	13084	0.00	2.42	0.00	0.000	6	0.000	0.051	2956	2145	1792
13402	1.11	202.5	67.3	8.5	645	13403	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2145	1793
13711	1.13	215.2	48.0	5.6	660	13732	0.00	2.70	11.57	0.769	4	0.000	0.061	2956	683	1742
13788	1.13	215.2	42.5	6.7	663	13792	0.00	2.65	0.00	0.000	6	0.000	0.050	2955	2166	1742
14105	1.13	215.2	21.5	6.6	678	14106	0.00	0.00	0.00	0.000	6	0.000	0.000	2956	2166	1741
14369	end climb: SURFACE_DEPTH_REACHED
state	14369	begin surface coast
14391	end surface coast: CONTROL_FINISHED_OK
state	14391	begin surface