Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 162 * 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 162 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -79630.383 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 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 -79630.383

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 162 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 065238,6215.010,-859.002,41,1.0,41,-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 -0.057,-0.193

_SM_DEPTHo 0.51 KALMAN_X -53404.7,-1639.7,-184.9,93487.6,17784.6

_SM_ANGLEo -49.8 KALMAN_Y 158045.7,-1487.3,-1590.6,-107224.1,33256.1

GPS2 065757,6215.047,-858.948,13,1.9,13,-9.5 MHEAD_RNG_PITCHd_Wd 205.9,63938,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027044 ALTIM_BOTTOM_PING 400.5,19.9

SM_CCo 13735,223.20,0.759,0,0,390,547.02 _24V_AH 24.0,33.230

SM_GC 0.33,0.00,0.00,223.20,0.000,0.000,0.759,425,2150,390,-10.47,0.00,547.02 _10V_AH 10.1,16.138

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34863,661

TT8_MAMPS 0.029146 CAP_FILE_SIZE 102377,0

HUMID 1666 CFSIZE 254472192,240783360

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 466 GPS 140708,105238,6214.884,-856.966,31,1.5,31,-9.5

ALTIM_TOP_PING 20.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 81.30 SBE_CT 451 24 260.32

Roll_motor 111 69 186.48 SBE_O2 488 19 222.77

VBD_pump_during_apogee 242 1068 6220.19 WL_BB2F 558 105 1406.51

VBD_pump_during_surface 223 758 4063.47 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.48 nil 0 0 0.00

Iridium_during_connect 24 160 93.77 nil 0 0 0.00

Iridium_during_xfer 135 223 722.88

Transponder_ping 119 420 1207.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 1222 19 244.57

LPSleep 10551 2 233.39

TT8_Active 646 19 129.21

TT8_Sampling 1402 39 563.58

TT8_CF8 459 45 212.49

TT8_Kalman 33 81 27.57

Analog_circuits 1344 12 162.93

GPS_charging 0 0 0.00

Compass 1382 8 111.73

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 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 0.000 424 2177 3098

149 -1.03 -117.3 3.0 -2.9 6 165 10.60 2.50 0.00 0.000 4 0.139 0.054 2465 3567 3098

289 -0.68 -117.3 21.7 -10.3 11 294 0.40 2.50 0.00 0.000 6 0.087 0.044 2551 2144 3097

606 -0.62 -117.3 43.8 -7.2 26 610 0.00 2.58 0.00 0.000 4 0.000 0.058 2550 3565 3097

616 -0.54 -117.3 44.8 -7.3 26 623 0.15 2.50 0.00 0.000 6 0.087 0.044 2582 2147 3097

933 -0.54 -117.3 61.9 -4.7 42 937 0.00 2.50 0.00 0.000 4 0.000 0.058 2582 743 3097

1028 -0.54 -117.3 66.8 -5.4 46 1032 0.00 2.47 0.00 0.000 6 0.000 0.050 2582 2127 3097

1345 -0.59 -117.3 83.0 -5.0 61 1350 0.00 2.55 0.00 0.000 4 0.000 0.060 2582 3558 3097

1357 -0.59 -117.3 83.6 -4.8 61 1363 0.00 2.53 0.00 0.000 6 0.000 0.047 2582 2132 3097

1674 -0.63 -117.3 96.7 -4.0 77 1678 0.00 2.60 0.00 0.000 4 0.000 0.059 2582 3561 3097

1696 -0.63 -117.3 97.7 -4.2 78 1700 0.00 2.53 0.00 0.000 6 0.000 0.045 2582 2131 3097

2018 -0.68 -117.3 110.0 -4.0 94 2020 0.15 0.00 0.00 0.000 6 0.048 0.000 2538 2132 3097

2327 -0.60 -117.3 128.3 -6.6 109 2329 0.15 0.00 0.00 0.000 6 0.088 0.000 2570 2131 3097

2637 -0.60 -117.3 150.4 -7.7 124 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2131 3097

2945 -0.60 -117.3 176.7 -8.5 139 2946 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2131 3097

3254 -0.60 -117.3 201.6 -7.7 154 3255 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2131 3097

3563 -0.60 -117.3 222.3 -6.3 169 3565 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2131 3096

3873 -0.60 -117.3 241.2 -5.9 184 3877 0.00 2.60 0.00 0.000 4 0.000 0.063 2570 3563 3096

3883 -0.60 -117.3 241.8 -5.8 184 3890 0.00 2.50 0.00 0.000 6 0.000 0.051 2569 2152 3096

4200 -0.60 -117.3 259.6 -5.7 200 4204 0.00 2.58 0.00 0.000 4 0.000 0.064 2570 3563 3096

4211 -0.60 -117.3 260.3 -5.6 200 4217 0.00 2.55 0.00 0.000 6 0.000 0.054 2569 2141 3096

4527 -0.60 -117.3 276.8 -5.1 216 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2140 3096

4837 -0.60 -117.3 291.9 -4.6 231 4838 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2139 3095

5146 -0.60 -117.3 307.3 -5.1 246 5147 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2139 3095

5455 -0.60 -117.3 321.3 -4.5 261 5459 0.00 2.60 0.00 0.000 4 0.000 0.064 2569 3565 3095

5466 -0.60 -117.3 322.0 -4.6 261 5472 0.00 2.55 0.00 0.000 6 0.000 0.054 2570 2142 3095

5782 -0.60 -117.3 334.8 -3.7 277 5786 0.00 2.58 0.00 0.000 4 0.000 0.064 2570 3557 3095

5794 -0.60 -117.3 335.3 -3.6 277 5800 0.00 2.53 0.00 0.000 6 0.000 0.053 2570 2144 3095

6111 -0.60 -117.3 346.1 -3.5 293 6115 0.00 2.58 0.00 0.000 4 0.000 0.065 2570 3556 3094

6121 -0.60 -117.3 346.6 -3.3 293 6127 0.00 2.53 0.00 0.000 6 0.000 0.054 2570 2148 3095

6437 -0.60 -117.3 359.8 -4.6 309 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2147 3095

6748 -0.60 -117.3 375.2 -5.1 324 6752 0.00 2.58 0.00 0.000 4 0.000 0.067 2569 3556 3094

6759 -0.60 -117.3 376.0 -5.4 324 6765 0.00 2.50 0.00 0.000 6 0.000 0.054 2570 2158 3094

7075 -0.60 -117.3 391.8 -4.6 340 7079 0.00 2.58 0.00 0.000 4 0.000 0.065 2570 3562 3094

7093 -0.60 -117.3 392.7 -4.7 341 7097 0.00 2.50 0.00 0.000 6 0.000 0.054 2570 2164 3094

7396 end dive: BOTTOM_OBSTACLE_DETECTED

state 7396 begin apogee

7404 -0.33 0.0 410.7 4.4 356 7503 0.28 0.00 96.57 1.068 6 0.081 0.000 2624 2063 2620

7504 end apogee: CONTROL_FINISHED_OK

state 7504 begin climb

7507 1.03 117.3 412.2 0.0 361 7612 1.42 2.72 95.85 1.042 4 0.074 0.066 2926 3509 2140

7669 1.04 122.1 405.9 5.8 369 7679 0.00 2.55 5.55 0.772 6 0.000 0.054 2926 2113 2122

7991 1.01 130.0 385.9 5.7 384 8001 0.00 0.00 8.10 0.876 6 0.000 0.000 2926 2097 2090

8299 1.01 130.0 365.1 6.6 399 8303 0.00 2.58 0.00 0.000 4 0.000 0.064 2926 3506 2089

8400 1.01 130.0 357.0 8.0 403 8406 0.00 2.53 0.00 0.000 6 0.000 0.054 2926 2112 2089

8716 1.01 130.0 334.8 7.5 419 8718 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2112 2089

9025 1.01 130.0 311.4 7.3 434 9029 0.00 2.58 0.00 0.000 4 0.000 0.064 2926 3508 2088

9109 1.01 130.0 305.1 7.3 438 9114 0.00 2.50 0.00 0.000 6 0.000 0.053 2926 2117 2088

9437 1.01 130.0 282.9 6.9 454 9438 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2117 2088

9745 1.01 130.0 263.2 6.0 469 9750 0.00 2.55 0.00 0.000 4 0.000 0.063 2926 3507 2088

9835 1.01 130.0 256.8 7.1 473 9839 0.00 2.47 0.00 0.000 6 0.000 0.053 2926 2134 2087

10156 1.01 130.0 235.4 6.8 489 10157 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2135 2088

10465 1.01 130.0 213.5 7.4 504 10469 0.00 2.50 0.00 0.000 4 0.000 0.062 2926 3507 2088

10543 1.01 130.0 207.3 7.9 507 10549 0.00 2.45 0.00 0.000 6 0.000 0.051 2926 2143 2087

10859 1.01 130.0 184.2 7.1 523 10860 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2143 2088

11168 1.01 130.0 162.3 7.3 538 11172 0.00 2.50 0.00 0.000 4 0.000 0.061 2926 3510 2087

11230 1.01 130.0 157.3 8.2 540 11236 0.00 2.42 0.00 0.000 6 0.000 0.051 2926 2155 2087

11546 1.01 130.0 134.1 7.4 556 11547 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2155 2087

11855 1.01 130.0 114.1 6.1 571 11859 0.00 2.45 0.00 0.000 4 0.000 0.061 2926 3507 2087

11905 1.01 130.0 110.9 6.4 573 11909 0.00 2.40 0.00 0.000 6 0.000 0.051 2926 2161 2087

12227 1.05 151.9 93.6 5.2 589 12248 0.00 0.00 18.62 0.828 6 0.000 0.000 2926 2161 1999

12560 1.09 151.9 72.7 6.6 605 12564 0.00 2.47 0.00 0.000 4 0.000 0.060 2927 3512 1999

12605 1.13 151.9 69.5 7.2 607 12609 0.00 2.40 0.00 0.000 6 0.000 0.050 2926 2170 1999

12927 1.19 156.1 49.7 5.9 623 12938 0.15 2.67 5.12 0.642 4 0.045 0.063 2978 683 1983

13006 1.09 156.1 42.7 9.2 626 13013 0.20 2.67 0.00 0.000 6 0.076 0.051 2937 2178 1982

13322 1.10 161.3 22.4 5.8 642 13333 0.00 2.40 5.95 0.663 4 0.000 0.059 2937 3511 1961

13378 1.11 168.1 19.2 5.8 644 13390 0.00 2.40 6.80 0.680 6 0.000 0.049 2937 2163 1934

13688 end climb: SURFACE_DEPTH_REACHED

state 13689 begin surface coast

13713 end surface coast: CONTROL_FINISHED_OK

state 13713 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	162	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-79630.383	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	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	065238,6215.010,-859.002,41,1.0,41,-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	-0.057,-0.193
_SM_DEPTHo	0.51	KALMAN_X	-53404.7,-1639.7,-184.9,93487.6,17784.6
_SM_ANGLEo	-49.8	KALMAN_Y	158045.7,-1487.3,-1590.6,-107224.1,33256.1
GPS2	065757,6215.047,-858.948,13,1.9,13,-9.5	MHEAD_RNG_PITCHd_Wd	205.9,63938,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.2,1.027044	ALTIM_BOTTOM_PING	400.5,19.9
SM_CCo	13735,223.20,0.759,0,0,390,547.02	_24V_AH	24.0,33.230
SM_GC	0.33,0.00,0.00,223.20,0.000,0.000,0.759,425,2150,390,-10.47,0.00,547.02	_10V_AH	10.1,16.138
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34863,661
TT8_MAMPS	0.029146	CAP_FILE_SIZE	102377,0
HUMID	1666	CFSIZE	254472192,240783360
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	466	GPS	140708,105238,6214.884,-856.966,31,1.5,31,-9.5
ALTIM_TOP_PING	20.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	81.30	SBE_CT	451	24	260.32
Roll_motor	111	69	186.48	SBE_O2	488	19	222.77
VBD_pump_during_apogee	242	1068	6220.19	WL_BB2F	558	105	1406.51
VBD_pump_during_surface	223	758	4063.47	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.48	nil	0	0	0.00
Iridium_during_connect	24	160	93.77	nil	0	0	0.00
Iridium_during_xfer	135	223	722.88
Transponder_ping	119	420	1207.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	1222	19	244.57
LPSleep	10551	2	233.39
TT8_Active	646	19	129.21
TT8_Sampling	1402	39	563.58
TT8_CF8	459	45	212.49
TT8_Kalman	33	81	27.57
Analog_circuits	1344	12	162.93
GPS_charging	0	0	0.00
Compass	1382	8	111.73
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	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	424	2177	3098
149	-1.03	-117.3	3.0	-2.9	6	165	10.60	2.50	0.00	0.000	4	0.139	0.054	2465	3567	3098
289	-0.68	-117.3	21.7	-10.3	11	294	0.40	2.50	0.00	0.000	6	0.087	0.044	2551	2144	3097
606	-0.62	-117.3	43.8	-7.2	26	610	0.00	2.58	0.00	0.000	4	0.000	0.058	2550	3565	3097
616	-0.54	-117.3	44.8	-7.3	26	623	0.15	2.50	0.00	0.000	6	0.087	0.044	2582	2147	3097
933	-0.54	-117.3	61.9	-4.7	42	937	0.00	2.50	0.00	0.000	4	0.000	0.058	2582	743	3097
1028	-0.54	-117.3	66.8	-5.4	46	1032	0.00	2.47	0.00	0.000	6	0.000	0.050	2582	2127	3097
1345	-0.59	-117.3	83.0	-5.0	61	1350	0.00	2.55	0.00	0.000	4	0.000	0.060	2582	3558	3097
1357	-0.59	-117.3	83.6	-4.8	61	1363	0.00	2.53	0.00	0.000	6	0.000	0.047	2582	2132	3097
1674	-0.63	-117.3	96.7	-4.0	77	1678	0.00	2.60	0.00	0.000	4	0.000	0.059	2582	3561	3097
1696	-0.63	-117.3	97.7	-4.2	78	1700	0.00	2.53	0.00	0.000	6	0.000	0.045	2582	2131	3097
2018	-0.68	-117.3	110.0	-4.0	94	2020	0.15	0.00	0.00	0.000	6	0.048	0.000	2538	2132	3097
2327	-0.60	-117.3	128.3	-6.6	109	2329	0.15	0.00	0.00	0.000	6	0.088	0.000	2570	2131	3097
2637	-0.60	-117.3	150.4	-7.7	124	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2131	3097
2945	-0.60	-117.3	176.7	-8.5	139	2946	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2131	3097
3254	-0.60	-117.3	201.6	-7.7	154	3255	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2131	3097
3563	-0.60	-117.3	222.3	-6.3	169	3565	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2131	3096
3873	-0.60	-117.3	241.2	-5.9	184	3877	0.00	2.60	0.00	0.000	4	0.000	0.063	2570	3563	3096
3883	-0.60	-117.3	241.8	-5.8	184	3890	0.00	2.50	0.00	0.000	6	0.000	0.051	2569	2152	3096
4200	-0.60	-117.3	259.6	-5.7	200	4204	0.00	2.58	0.00	0.000	4	0.000	0.064	2570	3563	3096
4211	-0.60	-117.3	260.3	-5.6	200	4217	0.00	2.55	0.00	0.000	6	0.000	0.054	2569	2141	3096
4527	-0.60	-117.3	276.8	-5.1	216	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2140	3096
4837	-0.60	-117.3	291.9	-4.6	231	4838	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2139	3095
5146	-0.60	-117.3	307.3	-5.1	246	5147	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2139	3095
5455	-0.60	-117.3	321.3	-4.5	261	5459	0.00	2.60	0.00	0.000	4	0.000	0.064	2569	3565	3095
5466	-0.60	-117.3	322.0	-4.6	261	5472	0.00	2.55	0.00	0.000	6	0.000	0.054	2570	2142	3095
5782	-0.60	-117.3	334.8	-3.7	277	5786	0.00	2.58	0.00	0.000	4	0.000	0.064	2570	3557	3095
5794	-0.60	-117.3	335.3	-3.6	277	5800	0.00	2.53	0.00	0.000	6	0.000	0.053	2570	2144	3095
6111	-0.60	-117.3	346.1	-3.5	293	6115	0.00	2.58	0.00	0.000	4	0.000	0.065	2570	3556	3094
6121	-0.60	-117.3	346.6	-3.3	293	6127	0.00	2.53	0.00	0.000	6	0.000	0.054	2570	2148	3095
6437	-0.60	-117.3	359.8	-4.6	309	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2147	3095
6748	-0.60	-117.3	375.2	-5.1	324	6752	0.00	2.58	0.00	0.000	4	0.000	0.067	2569	3556	3094
6759	-0.60	-117.3	376.0	-5.4	324	6765	0.00	2.50	0.00	0.000	6	0.000	0.054	2570	2158	3094
7075	-0.60	-117.3	391.8	-4.6	340	7079	0.00	2.58	0.00	0.000	4	0.000	0.065	2570	3562	3094
7093	-0.60	-117.3	392.7	-4.7	341	7097	0.00	2.50	0.00	0.000	6	0.000	0.054	2570	2164	3094
7396	end dive: BOTTOM_OBSTACLE_DETECTED
state	7396	begin apogee
7404	-0.33	0.0	410.7	4.4	356	7503	0.28	0.00	96.57	1.068	6	0.081	0.000	2624	2063	2620
7504	end apogee: CONTROL_FINISHED_OK
state	7504	begin climb
7507	1.03	117.3	412.2	0.0	361	7612	1.42	2.72	95.85	1.042	4	0.074	0.066	2926	3509	2140
7669	1.04	122.1	405.9	5.8	369	7679	0.00	2.55	5.55	0.772	6	0.000	0.054	2926	2113	2122
7991	1.01	130.0	385.9	5.7	384	8001	0.00	0.00	8.10	0.876	6	0.000	0.000	2926	2097	2090
8299	1.01	130.0	365.1	6.6	399	8303	0.00	2.58	0.00	0.000	4	0.000	0.064	2926	3506	2089
8400	1.01	130.0	357.0	8.0	403	8406	0.00	2.53	0.00	0.000	6	0.000	0.054	2926	2112	2089
8716	1.01	130.0	334.8	7.5	419	8718	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2112	2089
9025	1.01	130.0	311.4	7.3	434	9029	0.00	2.58	0.00	0.000	4	0.000	0.064	2926	3508	2088
9109	1.01	130.0	305.1	7.3	438	9114	0.00	2.50	0.00	0.000	6	0.000	0.053	2926	2117	2088
9437	1.01	130.0	282.9	6.9	454	9438	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2117	2088
9745	1.01	130.0	263.2	6.0	469	9750	0.00	2.55	0.00	0.000	4	0.000	0.063	2926	3507	2088
9835	1.01	130.0	256.8	7.1	473	9839	0.00	2.47	0.00	0.000	6	0.000	0.053	2926	2134	2087
10156	1.01	130.0	235.4	6.8	489	10157	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2135	2088
10465	1.01	130.0	213.5	7.4	504	10469	0.00	2.50	0.00	0.000	4	0.000	0.062	2926	3507	2088
10543	1.01	130.0	207.3	7.9	507	10549	0.00	2.45	0.00	0.000	6	0.000	0.051	2926	2143	2087
10859	1.01	130.0	184.2	7.1	523	10860	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2143	2088
11168	1.01	130.0	162.3	7.3	538	11172	0.00	2.50	0.00	0.000	4	0.000	0.061	2926	3510	2087
11230	1.01	130.0	157.3	8.2	540	11236	0.00	2.42	0.00	0.000	6	0.000	0.051	2926	2155	2087
11546	1.01	130.0	134.1	7.4	556	11547	0.00	0.00	0.00	0.000	6	0.000	0.000	2926	2155	2087
11855	1.01	130.0	114.1	6.1	571	11859	0.00	2.45	0.00	0.000	4	0.000	0.061	2926	3507	2087
11905	1.01	130.0	110.9	6.4	573	11909	0.00	2.40	0.00	0.000	6	0.000	0.051	2926	2161	2087
12227	1.05	151.9	93.6	5.2	589	12248	0.00	0.00	18.62	0.828	6	0.000	0.000	2926	2161	1999
12560	1.09	151.9	72.7	6.6	605	12564	0.00	2.47	0.00	0.000	4	0.000	0.060	2927	3512	1999
12605	1.13	151.9	69.5	7.2	607	12609	0.00	2.40	0.00	0.000	6	0.000	0.050	2926	2170	1999
12927	1.19	156.1	49.7	5.9	623	12938	0.15	2.67	5.12	0.642	4	0.045	0.063	2978	683	1983
13006	1.09	156.1	42.7	9.2	626	13013	0.20	2.67	0.00	0.000	6	0.076	0.051	2937	2178	1982
13322	1.10	161.3	22.4	5.8	642	13333	0.00	2.40	5.95	0.663	4	0.000	0.059	2937	3511	1961
13378	1.11	168.1	19.2	5.8	644	13390	0.00	2.40	6.80	0.680	6	0.000	0.049	2937	2163	1934
13688	end climb: SURFACE_DEPTH_REACHED
state	13689	begin surface coast
13713	end surface coast: CONTROL_FINISHED_OK
state	13713	begin surface