Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 18 * 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 18 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -77032.898 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 -77032.898

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 18 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 050407,6140.106,-918.232,27,1.4,27,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.012,0.263

_SM_DEPTHo 0.75 KALMAN_X -29857.4,1448.6,878.7,-27276.2,-17069.3

_SM_ANGLEo -56.1 KALMAN_Y -19100.1,1684.9,388.1,45090.5,-9817.5

GPS2 050933,6140.055,-918.232,18,1.5,18,-9.4 MHEAD_RNG_PITCHd_Wd 11.9,6590,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.008681 ALTIM_TOP_PING 19.9,999.0

SM_CCo 13796,0.00,0.000,0,0,1502,326.25 _24V_AH 23.7,7.016

SM_GC 0.72,11.30,0.00,0.00,0.038,0.000,0.000,421,2153,1502,-10.39,0.11,326.25 _10V_AH 10.0,2.356

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34793,657

TT8_MAMPS 0.029146 CAP_FILE_SIZE 114131,0

HUMID 1678 CFSIZE 254472192,251183104

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

XPDR_PINGS 453 GPS 090608,090137,6140.815,-925.376,42,1.6,42,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 83.30 SBE_CT 450 24 256.17

Roll_motor 151 93 335.15 SBE_O2 485 19 218.69

VBD_pump_during_apogee 409 1497 14541.39 WL_BB2F 346 105 861.30

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 38 103 95.19 nil 0 0 0.00

Iridium_during_connect 28 160 108.72 nil 0 0 0.00

Iridium_during_xfer 148 223 783.21

Transponder_ping 121 420 1206.92

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.45

TT8 1277 19 253.03

LPSleep 10218 2 223.79

TT8_Active 522 19 103.37

TT8_Sampling 1639 39 652.52

TT8_CF8 465 45 213.00

TT8_Kalman 33 81 27.28

Analog_circuits 1376 12 165.22

GPS_charging 0 0 0.00

Compass 1588 8 127.08

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 -1.44 -146.6 0.0 0.0 0 108 0.00 0.00 -80.60 0.000 2 0.000 0.000 420 2152 3385

112 -1.44 -146.6 4.4 -5.7 4 129 10.12 2.58 -0.98 0.000 4 0.137 0.071 2378 740 3431

382 -1.22 -146.6 64.5 -19.3 15 387 0.28 2.55 0.00 0.000 6 0.099 0.052 2432 2158 3432

704 -1.16 -146.6 114.0 -14.9 31 708 0.00 2.60 0.00 0.000 4 0.000 0.062 2433 738 3434

874 -1.11 -146.6 138.9 -14.3 38 881 0.12 2.55 0.00 0.000 6 0.103 0.053 2458 2157 3434

1190 -1.11 -146.6 180.1 -12.6 54 1194 0.00 2.55 0.00 0.000 4 0.000 0.066 2458 3564 3434

1252 -1.11 -146.6 188.5 -13.6 57 1256 0.00 2.53 0.00 0.000 6 0.000 0.050 2457 2148 3434

1578 -1.11 -146.6 229.1 -12.3 73 1582 0.00 2.53 0.00 0.000 4 0.000 0.067 2458 746 3434

1667 -1.15 -146.6 240.3 -12.1 77 1671 0.00 2.55 0.00 0.000 6 0.000 0.055 2458 2155 3434

1988 -1.15 -146.6 278.3 -11.8 93 1992 0.00 2.55 0.00 0.000 4 0.000 0.069 2458 3557 3434

2072 -1.15 -146.6 288.5 -12.3 97 2076 0.00 2.53 0.00 0.000 6 0.000 0.052 2458 2146 3434

2398 -1.15 -146.6 327.7 -11.9 113 2400 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2129 3434

2708 -1.15 -146.6 368.7 -13.5 128 2712 0.00 2.62 0.00 0.000 4 0.000 0.070 2458 3558 3433

2792 -1.15 -146.6 380.3 -13.3 132 2796 0.00 2.53 0.00 0.000 6 0.000 0.052 2458 2145 3434

3119 -1.15 -146.6 425.9 -14.4 148 3123 0.00 2.53 0.00 0.000 4 0.000 0.067 2458 750 3433

3231 -1.20 -146.6 442.4 -14.9 153 3235 0.00 2.53 0.00 0.000 6 0.000 0.056 2458 2149 3433

3551 -1.20 -146.6 488.4 -14.4 169 3556 0.00 2.58 0.00 0.000 4 0.000 0.071 2458 3558 3433

3691 -1.20 -146.6 509.7 -14.6 175 3696 0.00 2.53 0.00 0.000 6 0.000 0.054 2458 2152 3433

4007 -1.20 -146.6 553.7 -14.4 190 4008 0.00 0.00 0.00 0.000 6 0.000 0.000 2458 2135 3433

4317 -1.20 -146.6 600.6 -15.6 205 4321 0.00 2.58 0.00 0.000 4 0.000 0.071 2458 739 3433

4406 -1.20 -146.6 614.6 -15.6 209 4410 0.00 2.58 0.00 0.000 6 0.000 0.059 2458 2152 3433

4727 -1.25 -146.6 670.7 -17.8 225 4732 0.12 2.62 0.00 0.000 4 0.057 0.072 2423 746 3432

4857 -1.25 -146.6 695.4 -18.1 231 4861 0.00 2.55 0.00 0.000 6 0.000 0.059 2423 2150 3433

5184 -1.17 -146.6 744.5 -13.9 247 5189 0.10 2.62 0.00 0.000 4 0.113 0.074 2441 747 3432

5413 -1.17 -146.6 767.2 -2.8 257 5418 0.00 2.58 0.00 0.000 6 0.000 0.061 2441 2155 3432

5729 -1.17 -146.6 763.6 2.3 272 5734 0.00 2.62 0.00 0.000 4 0.000 0.082 2441 3565 3432

5843 -1.17 -146.6 765.0 -4.4 277 5848 0.00 2.60 0.00 0.000 6 0.000 0.067 2441 2154 3433

6164 -1.17 -146.6 804.3 -15.0 293 6165 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2127 3431

6474 -1.13 -146.6 843.5 -8.9 308 6478 0.00 2.72 0.00 0.000 4 0.000 0.093 2442 3560 3429

6651 -1.13 -146.6 867.0 -18.2 316 6655 0.00 2.62 0.00 0.000 6 0.000 0.074 2442 2155 3429

6933 end dive: NO_VERTICAL_VELOCITY

state 6933 begin apogee

6940 -0.33 0.0 877.3 0.0 330 7069 0.85 0.00 125.80 1.498 6 0.081 0.000 2624 2126 2833

7069 end apogee: CONTROL_FINISHED_OK

state 7070 begin climb

7073 1.44 146.6 876.6 0.0 336 7208 1.83 2.85 124.68 1.453 4 0.078 0.091 3009 3555 2234

7217 1.56 275.9 871.4 4.1 343 7333 0.15 2.70 109.43 1.416 6 0.064 0.072 3044 2126 1707

7644 1.45 275.9 817.6 12.4 363 7650 0.15 2.78 0.00 0.000 4 0.109 0.089 3014 3561 1707

7707 1.45 275.9 810.4 12.0 366 7712 0.00 2.65 0.00 0.000 6 0.000 0.077 3014 2162 1707

8033 1.45 275.9 754.0 18.4 382 8038 0.00 2.72 0.00 0.000 4 0.000 0.094 3014 738 1707

8105 1.45 275.9 739.9 18.8 385 8110 0.00 2.70 0.00 0.000 6 0.000 0.078 3014 2152 1706

8421 1.45 275.9 675.0 21.0 400 8425 0.00 2.72 0.00 0.000 4 0.000 0.084 3014 737 1704

8442 1.45 275.9 670.1 20.8 401 8447 0.00 2.67 0.00 0.000 6 0.000 0.074 3014 2153 1704

8763 1.45 275.9 615.2 14.4 417 8767 0.00 2.70 0.00 0.000 4 0.000 0.081 3014 737 1703

8848 1.45 275.9 602.4 16.8 421 8852 0.00 2.62 0.00 0.000 6 0.000 0.067 3014 2152 1703

9174 1.45 275.9 551.6 14.6 437 9179 0.00 2.62 0.00 0.000 4 0.000 0.077 3014 3567 1703

9192 1.45 275.9 548.9 14.6 438 9196 0.00 2.60 0.00 0.000 6 0.000 0.061 3014 2145 1703

9518 1.45 275.9 508.5 11.6 454 9522 0.00 2.65 0.00 0.000 4 0.000 0.074 3014 3561 1703

9528 1.45 275.9 507.3 11.2 454 9534 0.00 2.58 0.00 0.000 6 0.000 0.058 3014 2149 1703

9845 1.45 278.4 474.9 9.9 470 9849 0.00 2.65 0.00 0.000 4 0.000 0.072 3014 3564 1704

9855 1.46 281.6 473.6 9.9 470 9866 0.00 2.58 5.95 0.946 6 0.000 0.057 3014 2149 1684

10188 1.47 286.7 440.8 9.8 487 10201 0.00 2.67 6.22 0.927 4 0.000 0.069 3014 3567 1663

10209 1.48 297.3 438.7 9.5 488 10225 0.00 2.60 10.65 1.030 6 0.000 0.055 3014 2142 1619

10535 1.49 300.1 406.1 9.9 503 10544 0.00 2.65 4.15 0.750 4 0.000 0.069 3014 3563 1608

10551 1.49 300.1 404.3 10.3 503 10557 0.00 2.58 0.00 0.000 6 0.000 0.054 3014 2149 1608

10867 1.49 300.1 370.3 11.2 519 10871 0.00 2.62 0.00 0.000 4 0.000 0.068 3014 3561 1608

10879 1.49 300.1 368.9 11.2 519 10885 0.00 2.55 0.00 0.000 6 0.000 0.054 3014 2149 1608

11195 1.54 300.1 331.2 11.9 535 11199 0.00 2.62 0.00 0.000 4 0.000 0.067 3014 3564 1609

11212 1.54 300.1 329.1 12.0 536 11216 0.00 2.58 0.00 0.000 6 0.000 0.054 3014 2142 1609

11539 1.58 300.1 293.0 10.3 552 11540 0.12 0.00 0.00 0.000 6 0.054 0.000 3048 2141 1609

11848 1.53 300.1 260.8 10.6 567 11852 0.00 2.60 0.00 0.000 4 0.000 0.065 3048 3562 1610

11858 1.47 300.1 259.6 10.1 567 11865 0.15 2.55 0.00 0.000 6 0.094 0.052 3020 2146 1610

12175 1.56 326.5 233.4 8.8 583 12199 0.00 0.00 22.73 0.950 6 0.000 0.000 3019 2146 1501

12506 1.62 326.5 196.4 11.4 599 12511 0.15 2.62 0.00 0.000 4 0.051 0.065 3060 3569 1501

12516 1.62 326.5 194.8 11.6 599 12522 0.00 2.58 0.00 0.000 6 0.000 0.052 3060 2141 1501

12833 1.56 326.5 140.7 17.9 615 12834 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2141 1501

13142 1.50 326.5 82.1 20.0 630 13147 0.15 2.53 0.00 0.000 4 0.094 0.064 3027 746 1502

13153 1.45 326.5 79.5 19.7 630 13159 0.00 2.55 0.00 0.000 6 0.000 0.054 3027 2157 1502

13470 1.51 326.5 27.9 14.6 646 13474 0.00 2.60 0.00 0.000 4 0.000 0.064 3027 744 1502

13543 1.58 326.5 18.0 11.8 649 13547 0.00 2.53 0.00 0.000 6 0.000 0.052 3027 2151 1502

13691 end climb: SURFACE_DEPTH_REACHED

state 13691 begin surface coast

13714 end surface coast: CONTROL_FINISHED_OK

state 13714 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	18	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-77032.898	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	050407,6140.106,-918.232,27,1.4,27,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.012,0.263
_SM_DEPTHo	0.75	KALMAN_X	-29857.4,1448.6,878.7,-27276.2,-17069.3
_SM_ANGLEo	-56.1	KALMAN_Y	-19100.1,1684.9,388.1,45090.5,-9817.5
GPS2	050933,6140.055,-918.232,18,1.5,18,-9.4	MHEAD_RNG_PITCHd_Wd	11.9,6590,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	-0.0,1.008681	ALTIM_TOP_PING	19.9,999.0
SM_CCo	13796,0.00,0.000,0,0,1502,326.25	_24V_AH	23.7,7.016
SM_GC	0.72,11.30,0.00,0.00,0.038,0.000,0.000,421,2153,1502,-10.39,0.11,326.25	_10V_AH	10.0,2.356
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34793,657
TT8_MAMPS	0.029146	CAP_FILE_SIZE	114131,0
HUMID	1678	CFSIZE	254472192,251183104
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
XPDR_PINGS	453	GPS	090608,090137,6140.815,-925.376,42,1.6,42,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	83.30	SBE_CT	450	24	256.17
Roll_motor	151	93	335.15	SBE_O2	485	19	218.69
VBD_pump_during_apogee	409	1497	14541.39	WL_BB2F	346	105	861.30
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	38	103	95.19	nil	0	0	0.00
Iridium_during_connect	28	160	108.72	nil	0	0	0.00
Iridium_during_xfer	148	223	783.21
Transponder_ping	121	420	1206.92
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.45
TT8	1277	19	253.03
LPSleep	10218	2	223.79
TT8_Active	522	19	103.37
TT8_Sampling	1639	39	652.52
TT8_CF8	465	45	213.00
TT8_Kalman	33	81	27.28
Analog_circuits	1376	12	165.22
GPS_charging	0	0	0.00
Compass	1588	8	127.08
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	-1.44	-146.6	0.0	0.0	0	108	0.00	0.00	-80.60	0.000	2	0.000	0.000	420	2152	3385
112	-1.44	-146.6	4.4	-5.7	4	129	10.12	2.58	-0.98	0.000	4	0.137	0.071	2378	740	3431
382	-1.22	-146.6	64.5	-19.3	15	387	0.28	2.55	0.00	0.000	6	0.099	0.052	2432	2158	3432
704	-1.16	-146.6	114.0	-14.9	31	708	0.00	2.60	0.00	0.000	4	0.000	0.062	2433	738	3434
874	-1.11	-146.6	138.9	-14.3	38	881	0.12	2.55	0.00	0.000	6	0.103	0.053	2458	2157	3434
1190	-1.11	-146.6	180.1	-12.6	54	1194	0.00	2.55	0.00	0.000	4	0.000	0.066	2458	3564	3434
1252	-1.11	-146.6	188.5	-13.6	57	1256	0.00	2.53	0.00	0.000	6	0.000	0.050	2457	2148	3434
1578	-1.11	-146.6	229.1	-12.3	73	1582	0.00	2.53	0.00	0.000	4	0.000	0.067	2458	746	3434
1667	-1.15	-146.6	240.3	-12.1	77	1671	0.00	2.55	0.00	0.000	6	0.000	0.055	2458	2155	3434
1988	-1.15	-146.6	278.3	-11.8	93	1992	0.00	2.55	0.00	0.000	4	0.000	0.069	2458	3557	3434
2072	-1.15	-146.6	288.5	-12.3	97	2076	0.00	2.53	0.00	0.000	6	0.000	0.052	2458	2146	3434
2398	-1.15	-146.6	327.7	-11.9	113	2400	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2129	3434
2708	-1.15	-146.6	368.7	-13.5	128	2712	0.00	2.62	0.00	0.000	4	0.000	0.070	2458	3558	3433
2792	-1.15	-146.6	380.3	-13.3	132	2796	0.00	2.53	0.00	0.000	6	0.000	0.052	2458	2145	3434
3119	-1.15	-146.6	425.9	-14.4	148	3123	0.00	2.53	0.00	0.000	4	0.000	0.067	2458	750	3433
3231	-1.20	-146.6	442.4	-14.9	153	3235	0.00	2.53	0.00	0.000	6	0.000	0.056	2458	2149	3433
3551	-1.20	-146.6	488.4	-14.4	169	3556	0.00	2.58	0.00	0.000	4	0.000	0.071	2458	3558	3433
3691	-1.20	-146.6	509.7	-14.6	175	3696	0.00	2.53	0.00	0.000	6	0.000	0.054	2458	2152	3433
4007	-1.20	-146.6	553.7	-14.4	190	4008	0.00	0.00	0.00	0.000	6	0.000	0.000	2458	2135	3433
4317	-1.20	-146.6	600.6	-15.6	205	4321	0.00	2.58	0.00	0.000	4	0.000	0.071	2458	739	3433
4406	-1.20	-146.6	614.6	-15.6	209	4410	0.00	2.58	0.00	0.000	6	0.000	0.059	2458	2152	3433
4727	-1.25	-146.6	670.7	-17.8	225	4732	0.12	2.62	0.00	0.000	4	0.057	0.072	2423	746	3432
4857	-1.25	-146.6	695.4	-18.1	231	4861	0.00	2.55	0.00	0.000	6	0.000	0.059	2423	2150	3433
5184	-1.17	-146.6	744.5	-13.9	247	5189	0.10	2.62	0.00	0.000	4	0.113	0.074	2441	747	3432
5413	-1.17	-146.6	767.2	-2.8	257	5418	0.00	2.58	0.00	0.000	6	0.000	0.061	2441	2155	3432
5729	-1.17	-146.6	763.6	2.3	272	5734	0.00	2.62	0.00	0.000	4	0.000	0.082	2441	3565	3432
5843	-1.17	-146.6	765.0	-4.4	277	5848	0.00	2.60	0.00	0.000	6	0.000	0.067	2441	2154	3433
6164	-1.17	-146.6	804.3	-15.0	293	6165	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2127	3431
6474	-1.13	-146.6	843.5	-8.9	308	6478	0.00	2.72	0.00	0.000	4	0.000	0.093	2442	3560	3429
6651	-1.13	-146.6	867.0	-18.2	316	6655	0.00	2.62	0.00	0.000	6	0.000	0.074	2442	2155	3429
6933	end dive: NO_VERTICAL_VELOCITY
state	6933	begin apogee
6940	-0.33	0.0	877.3	0.0	330	7069	0.85	0.00	125.80	1.498	6	0.081	0.000	2624	2126	2833
7069	end apogee: CONTROL_FINISHED_OK
state	7070	begin climb
7073	1.44	146.6	876.6	0.0	336	7208	1.83	2.85	124.68	1.453	4	0.078	0.091	3009	3555	2234
7217	1.56	275.9	871.4	4.1	343	7333	0.15	2.70	109.43	1.416	6	0.064	0.072	3044	2126	1707
7644	1.45	275.9	817.6	12.4	363	7650	0.15	2.78	0.00	0.000	4	0.109	0.089	3014	3561	1707
7707	1.45	275.9	810.4	12.0	366	7712	0.00	2.65	0.00	0.000	6	0.000	0.077	3014	2162	1707
8033	1.45	275.9	754.0	18.4	382	8038	0.00	2.72	0.00	0.000	4	0.000	0.094	3014	738	1707
8105	1.45	275.9	739.9	18.8	385	8110	0.00	2.70	0.00	0.000	6	0.000	0.078	3014	2152	1706
8421	1.45	275.9	675.0	21.0	400	8425	0.00	2.72	0.00	0.000	4	0.000	0.084	3014	737	1704
8442	1.45	275.9	670.1	20.8	401	8447	0.00	2.67	0.00	0.000	6	0.000	0.074	3014	2153	1704
8763	1.45	275.9	615.2	14.4	417	8767	0.00	2.70	0.00	0.000	4	0.000	0.081	3014	737	1703
8848	1.45	275.9	602.4	16.8	421	8852	0.00	2.62	0.00	0.000	6	0.000	0.067	3014	2152	1703
9174	1.45	275.9	551.6	14.6	437	9179	0.00	2.62	0.00	0.000	4	0.000	0.077	3014	3567	1703
9192	1.45	275.9	548.9	14.6	438	9196	0.00	2.60	0.00	0.000	6	0.000	0.061	3014	2145	1703
9518	1.45	275.9	508.5	11.6	454	9522	0.00	2.65	0.00	0.000	4	0.000	0.074	3014	3561	1703
9528	1.45	275.9	507.3	11.2	454	9534	0.00	2.58	0.00	0.000	6	0.000	0.058	3014	2149	1703
9845	1.45	278.4	474.9	9.9	470	9849	0.00	2.65	0.00	0.000	4	0.000	0.072	3014	3564	1704
9855	1.46	281.6	473.6	9.9	470	9866	0.00	2.58	5.95	0.946	6	0.000	0.057	3014	2149	1684
10188	1.47	286.7	440.8	9.8	487	10201	0.00	2.67	6.22	0.927	4	0.000	0.069	3014	3567	1663
10209	1.48	297.3	438.7	9.5	488	10225	0.00	2.60	10.65	1.030	6	0.000	0.055	3014	2142	1619
10535	1.49	300.1	406.1	9.9	503	10544	0.00	2.65	4.15	0.750	4	0.000	0.069	3014	3563	1608
10551	1.49	300.1	404.3	10.3	503	10557	0.00	2.58	0.00	0.000	6	0.000	0.054	3014	2149	1608
10867	1.49	300.1	370.3	11.2	519	10871	0.00	2.62	0.00	0.000	4	0.000	0.068	3014	3561	1608
10879	1.49	300.1	368.9	11.2	519	10885	0.00	2.55	0.00	0.000	6	0.000	0.054	3014	2149	1608
11195	1.54	300.1	331.2	11.9	535	11199	0.00	2.62	0.00	0.000	4	0.000	0.067	3014	3564	1609
11212	1.54	300.1	329.1	12.0	536	11216	0.00	2.58	0.00	0.000	6	0.000	0.054	3014	2142	1609
11539	1.58	300.1	293.0	10.3	552	11540	0.12	0.00	0.00	0.000	6	0.054	0.000	3048	2141	1609
11848	1.53	300.1	260.8	10.6	567	11852	0.00	2.60	0.00	0.000	4	0.000	0.065	3048	3562	1610
11858	1.47	300.1	259.6	10.1	567	11865	0.15	2.55	0.00	0.000	6	0.094	0.052	3020	2146	1610
12175	1.56	326.5	233.4	8.8	583	12199	0.00	0.00	22.73	0.950	6	0.000	0.000	3019	2146	1501
12506	1.62	326.5	196.4	11.4	599	12511	0.15	2.62	0.00	0.000	4	0.051	0.065	3060	3569	1501
12516	1.62	326.5	194.8	11.6	599	12522	0.00	2.58	0.00	0.000	6	0.000	0.052	3060	2141	1501
12833	1.56	326.5	140.7	17.9	615	12834	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2141	1501
13142	1.50	326.5	82.1	20.0	630	13147	0.15	2.53	0.00	0.000	4	0.094	0.064	3027	746	1502
13153	1.45	326.5	79.5	19.7	630	13159	0.00	2.55	0.00	0.000	6	0.000	0.054	3027	2157	1502
13470	1.51	326.5	27.9	14.6	646	13474	0.00	2.60	0.00	0.000	4	0.000	0.064	3027	744	1502
13543	1.58	326.5	18.0	11.8	649	13547	0.00	2.53	0.00	0.000	6	0.000	0.052	3027	2151	1502
13691	end climb: SURFACE_DEPTH_REACHED
state	13691	begin surface coast
13714	end surface coast: CONTROL_FINISHED_OK
state	13714	begin surface