Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 20 * 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 20 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 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 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 -77060.812 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 -77060.812

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 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 20 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 132526,6140.627,-926.306,38,1.9,38,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 7 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.252,0.078

_SM_DEPTHo 0.75 KALMAN_X -40545.4,1222.8,1180.1,-24009.4,-14573.7

_SM_ANGLEo -55.4 KALMAN_Y -23501.4,638.4,862.6,50977.5,-7992.3

GPS2 133445,6140.563,-926.529,14,1.3,14,-9.5 MHEAD_RNG_PITCHd_Wd 82.2,13666,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.007199 ALTIM_TOP_PING 19.8,999.0

SM_CCo 14922,0.00,0.000,0,0,1007,447.67 _24V_AH 23.7,7.466

SM_GC 0.84,11.52,0.00,0.00,0.039,0.000,0.000,424,2160,1007,-10.38,0.28,447.67 _10V_AH 10.0,2.505

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37938,708

TT8_MAMPS 0.029146 CAP_FILE_SIZE 124874,0

HUMID 1680 CFSIZE 254472192,251052032

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

XPDR_PINGS 500 GPS 090608,174538,6139.511,-927.404,37,1.6,44,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 137 98.43 SBE_CT 484 24 275.79

Roll_motor 161 97 373.13 SBE_O2 524 19 236.15

VBD_pump_during_apogee 511 1508 18283.79 WL_BB2F 407 105 1015.14

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 75 103 184.36 nil 0 0 0.00

Iridium_during_connect 59 160 226.81 nil 0 0 0.00

Iridium_during_xfer 241 223 1278.10

Transponder_ping 133 420 1323.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.27

TT8 1348 19 266.95

LPSleep 11177 2 244.78

TT8_Active 602 19 119.29

TT8_Sampling 1695 39 674.69

TT8_CF8 657 45 301.04

TT8_Kalman 33 81 27.28

Analog_circuits 1514 12 181.68

GPS_charging 0 0 0.00

Compass 1647 8 131.80

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 0 109 0.00 0.00 -81.38 0.000 2 0.000 0.000 425 2162 3414

113 -1.44 -146.6 4.6 -6.3 4 130 10.10 2.60 -0.32 0.000 4 0.137 0.071 2377 738 3431

136 0.14 -146.6 14.6 -37.3 4 145 1.67 2.55 0.00 0.000 6 0.089 0.052 2727 2150 3432

464 -0.80 -146.6 39.6 -8.8 20 469 0.90 2.58 0.00 0.000 4 0.055 0.060 2522 739 3433

573 -0.97 -146.6 51.4 -12.0 25 578 0.15 2.55 0.00 0.000 6 0.050 0.054 2477 2153 3433

901 -1.02 -146.6 96.7 -13.7 41 906 0.00 2.55 0.00 0.000 4 0.000 0.066 2478 3561 3433

1019 -1.08 -146.6 115.7 -16.3 46 1024 0.00 2.53 0.00 0.000 6 0.000 0.048 2478 2142 3433

1336 -1.14 -146.6 166.1 -16.2 61 1341 0.12 2.62 0.00 0.000 4 0.056 0.064 2442 3565 3433

1404 -1.14 -146.6 178.0 -18.1 64 1409 0.00 2.53 0.00 0.000 6 0.000 0.049 2442 2147 3433

1726 -1.14 -146.6 230.0 -15.4 80 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2130 3433

2035 -1.14 -146.6 274.9 -13.8 95 2039 0.00 2.60 0.00 0.000 4 0.000 0.067 2442 3557 3433

2073 -1.14 -146.6 280.5 -14.1 96 2079 0.00 2.53 0.00 0.000 6 0.000 0.051 2442 2147 3433

2389 -1.14 -146.6 324.1 -13.6 112 2393 0.00 2.53 0.00 0.000 4 0.000 0.067 2441 747 3433

2438 -1.14 -146.6 331.1 -13.6 114 2442 0.00 2.55 0.00 0.000 6 0.000 0.055 2442 2156 3433

2754 -1.14 -146.6 371.7 -12.9 129 2755 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2155 3433

3063 -1.14 -146.6 410.4 -12.1 144 3067 0.00 2.60 0.00 0.000 4 0.000 0.067 2441 739 3433

3096 -1.14 -146.6 414.5 -11.9 145 3102 0.00 2.55 0.00 0.000 6 0.000 0.057 2442 2150 3433

3412 -1.14 -146.6 449.3 -10.6 161 3413 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2150 3432

3721 -1.14 -146.6 481.5 -10.6 176 3725 0.00 2.58 0.00 0.000 4 0.000 0.068 2442 747 3432

3748 -1.14 -146.6 484.3 -10.2 177 3752 0.00 2.55 0.00 0.000 6 0.000 0.057 2442 2155 3432

4063 -1.14 -146.6 518.5 -11.4 192 4068 0.00 2.58 0.00 0.000 4 0.000 0.071 2441 3565 3432

4091 -1.14 -146.6 522.0 -12.3 193 4095 0.00 2.55 0.00 0.000 6 0.000 0.056 2441 2150 3432

4407 -1.14 -146.6 556.6 -11.3 208 4408 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2133 3432

4716 -1.14 -146.6 594.7 -13.0 223 4720 0.00 2.53 0.00 0.000 4 0.000 0.069 2441 746 3432

4758 -1.14 -146.6 600.1 -13.5 225 4762 0.00 2.55 0.00 0.000 6 0.000 0.058 2441 2156 3432

5085 -1.14 -146.6 640.5 -10.7 241 5089 0.00 2.62 0.00 0.000 4 0.000 0.070 2441 739 3431

5162 -1.14 -146.6 649.1 -11.3 244 5168 0.00 2.55 0.00 0.000 6 0.000 0.058 2441 2149 3431

5478 -1.14 -146.6 685.5 -12.0 260 5482 0.00 2.58 0.00 0.000 4 0.000 0.073 2441 3556 3431

5550 -1.14 -146.6 694.2 -12.1 263 5554 0.00 2.55 0.00 0.000 6 0.000 0.056 2441 2143 3431

5866 -1.14 -146.6 731.9 -13.4 278 5870 0.00 2.58 0.00 0.000 4 0.000 0.077 2441 747 3431

5938 -1.14 -146.6 741.3 -12.6 281 5942 0.00 2.58 0.00 0.000 6 0.000 0.061 2441 2155 3431

6255 -1.14 -146.6 775.9 -11.5 296 6259 0.00 2.62 0.00 0.000 4 0.000 0.077 2441 749 3431

6422 -1.14 -146.6 797.5 -14.5 303 6428 0.00 2.60 0.00 0.000 6 0.000 0.067 2441 2156 3431

6738 -1.14 -146.6 831.4 -10.1 319 6742 0.00 2.65 0.00 0.000 4 0.000 0.087 2441 3564 3430

6850 -1.05 -146.6 844.3 -11.3 324 6855 0.15 2.62 0.00 0.000 6 0.105 0.074 2470 2161 3430

7173 -1.14 -146.6 882.6 -10.8 340 7178 0.00 2.70 0.00 0.000 4 0.000 0.092 2470 3556 3428

7237 -1.37 -146.6 886.3 -2.3 343 7242 0.30 2.62 0.00 0.000 6 0.057 0.071 2400 2142 3428

7567 -1.94 -146.6 904.7 -0.3 359 7572 0.52 2.75 0.00 0.000 4 0.050 0.091 2274 3562 3426

7660 end dive: NO_VERTICAL_VELOCITY

state 7660 begin apogee

7669 -0.33 0.0 904.9 0.0 363 7801 1.65 0.00 126.97 1.509 6 0.090 0.000 2626 2122 2832

7802 end apogee: CONTROL_FINISHED_OK

state 7802 begin climb

7805 1.44 146.6 903.5 0.0 370 7941 1.80 2.85 125.72 1.463 4 0.075 0.097 3009 739 2234

8159 1.33 195.5 869.3 7.8 386 8208 0.00 2.70 42.50 1.412 6 0.000 0.078 3009 2150 2034

8527 1.12 195.5 833.6 17.0 404 8529 0.32 0.00 0.00 0.000 6 0.098 0.000 2947 2151 2033

8835 1.20 195.5 786.8 15.7 419 8839 0.00 2.70 0.00 0.000 4 0.000 0.092 2947 3559 2032

8868 1.28 195.5 781.5 15.2 420 8875 0.15 2.67 0.00 0.000 6 0.061 0.075 2983 2143 2032

9184 1.51 338.4 757.2 3.5 436 9311 0.17 2.75 119.95 1.428 4 0.061 0.090 3029 744 1452

9393 1.58 382.8 741.3 8.0 446 9438 0.00 2.70 38.78 1.358 6 0.000 0.076 3029 2157 1271

9768 1.59 386.9 706.2 9.8 464 9775 0.00 0.00 5.43 1.012 6 0.000 0.000 3029 2156 1254

10075 1.59 386.9 671.2 13.7 479 10079 0.00 2.67 0.00 0.000 4 0.000 0.077 3029 740 1254

10124 1.59 386.9 663.8 14.8 481 10129 0.00 2.62 0.00 0.000 6 0.000 0.066 3029 2152 1254

10440 1.59 386.9 611.3 17.5 496 10445 0.00 2.65 0.00 0.000 4 0.000 0.074 3029 739 1255

10480 1.59 386.9 604.2 17.7 498 10485 0.00 2.60 0.00 0.000 6 0.000 0.062 3029 2151 1255

10807 1.59 386.9 551.1 15.6 514 10808 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2150 1256

11117 1.59 386.9 501.6 15.8 529 11118 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2150 1256

11426 1.59 386.9 453.0 15.7 544 11430 0.00 2.62 0.00 0.000 4 0.000 0.071 3029 739 1257

11458 1.59 386.9 447.6 15.8 545 11465 0.00 2.58 0.00 0.000 6 0.000 0.058 3029 2152 1257

11774 1.59 386.9 400.6 14.4 561 11779 0.00 2.62 0.00 0.000 4 0.000 0.069 3029 734 1258

11801 1.59 386.9 396.3 15.2 562 11806 0.00 2.60 0.00 0.000 6 0.000 0.058 3029 2160 1258

12117 1.59 386.9 351.3 13.9 577 12121 0.00 2.60 0.00 0.000 4 0.000 0.068 3029 739 1258

12150 1.59 386.9 346.3 14.9 578 12156 0.00 2.55 0.00 0.000 6 0.000 0.056 3029 2148 1259

12466 1.64 386.9 301.5 14.5 594 12471 0.12 2.60 0.00 0.000 4 0.053 0.068 3064 739 1259

12493 1.59 386.9 296.7 17.1 595 12498 0.00 2.58 0.00 0.000 6 0.000 0.056 3064 2155 1259

12809 1.53 386.9 241.5 18.1 610 12814 0.15 2.62 0.00 0.000 4 0.095 0.067 3032 734 1260

12854 1.59 386.9 234.1 14.9 612 12859 0.00 2.58 0.00 0.000 6 0.000 0.056 3031 2151 1261

13175 1.64 386.9 193.9 10.6 628 13177 0.12 0.00 0.00 0.000 6 0.053 0.000 3066 2150 1261

13485 1.59 386.9 156.5 11.6 643 13489 0.00 2.62 0.00 0.000 4 0.000 0.067 3066 734 1261

13518 1.53 386.9 152.2 12.3 644 13524 0.17 2.58 0.00 0.000 6 0.094 0.055 3032 2154 1261

13836 1.65 431.9 124.6 8.0 660 13880 0.12 2.70 37.85 0.890 4 0.054 0.066 3066 738 1071

13904 1.67 447.6 118.5 9.3 663 13926 0.00 2.58 14.15 0.838 6 0.000 0.054 3066 2150 1006

14237 1.67 447.6 88.4 10.7 679 14241 0.00 2.62 0.00 0.000 4 0.000 0.067 3066 737 1007

14254 1.67 447.6 86.2 10.7 680 14258 0.00 2.58 0.00 0.000 6 0.000 0.054 3066 2154 1007

14581 1.67 447.6 39.1 16.3 696 14585 0.00 2.62 0.00 0.000 4 0.000 0.065 3066 734 1007

14608 1.67 447.6 34.2 16.6 697 14612 0.00 2.58 0.00 0.000 6 0.000 0.053 3066 2158 1007

14818 end climb: SURFACE_DEPTH_REACHED

state 14818 begin surface coast

14840 end surface coast: CONTROL_FINISHED_OK

state 14840 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	20	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	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	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	-77060.812	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	132526,6140.627,-926.306,38,1.9,38,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	7	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.252,0.078
_SM_DEPTHo	0.75	KALMAN_X	-40545.4,1222.8,1180.1,-24009.4,-14573.7
_SM_ANGLEo	-55.4	KALMAN_Y	-23501.4,638.4,862.6,50977.5,-7992.3
GPS2	133445,6140.563,-926.529,14,1.3,14,-9.5	MHEAD_RNG_PITCHd_Wd	82.2,13666,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.0,1.007199	ALTIM_TOP_PING	19.8,999.0
SM_CCo	14922,0.00,0.000,0,0,1007,447.67	_24V_AH	23.7,7.466
SM_GC	0.84,11.52,0.00,0.00,0.039,0.000,0.000,424,2160,1007,-10.38,0.28,447.67	_10V_AH	10.0,2.505
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37938,708
TT8_MAMPS	0.029146	CAP_FILE_SIZE	124874,0
HUMID	1680	CFSIZE	254472192,251052032
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
XPDR_PINGS	500	GPS	090608,174538,6139.511,-927.404,37,1.6,44,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	137	98.43	SBE_CT	484	24	275.79
Roll_motor	161	97	373.13	SBE_O2	524	19	236.15
VBD_pump_during_apogee	511	1508	18283.79	WL_BB2F	407	105	1015.14
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	75	103	184.36	nil	0	0	0.00
Iridium_during_connect	59	160	226.81	nil	0	0	0.00
Iridium_during_xfer	241	223	1278.10
Transponder_ping	133	420	1323.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.27
TT8	1348	19	266.95
LPSleep	11177	2	244.78
TT8_Active	602	19	119.29
TT8_Sampling	1695	39	674.69
TT8_CF8	657	45	301.04
TT8_Kalman	33	81	27.28
Analog_circuits	1514	12	181.68
GPS_charging	0	0	0.00
Compass	1647	8	131.80
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	109	0.00	0.00	-81.38	0.000	2	0.000	0.000	425	2162	3414
113	-1.44	-146.6	4.6	-6.3	4	130	10.10	2.60	-0.32	0.000	4	0.137	0.071	2377	738	3431
136	0.14	-146.6	14.6	-37.3	4	145	1.67	2.55	0.00	0.000	6	0.089	0.052	2727	2150	3432
464	-0.80	-146.6	39.6	-8.8	20	469	0.90	2.58	0.00	0.000	4	0.055	0.060	2522	739	3433
573	-0.97	-146.6	51.4	-12.0	25	578	0.15	2.55	0.00	0.000	6	0.050	0.054	2477	2153	3433
901	-1.02	-146.6	96.7	-13.7	41	906	0.00	2.55	0.00	0.000	4	0.000	0.066	2478	3561	3433
1019	-1.08	-146.6	115.7	-16.3	46	1024	0.00	2.53	0.00	0.000	6	0.000	0.048	2478	2142	3433
1336	-1.14	-146.6	166.1	-16.2	61	1341	0.12	2.62	0.00	0.000	4	0.056	0.064	2442	3565	3433
1404	-1.14	-146.6	178.0	-18.1	64	1409	0.00	2.53	0.00	0.000	6	0.000	0.049	2442	2147	3433
1726	-1.14	-146.6	230.0	-15.4	80	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2130	3433
2035	-1.14	-146.6	274.9	-13.8	95	2039	0.00	2.60	0.00	0.000	4	0.000	0.067	2442	3557	3433
2073	-1.14	-146.6	280.5	-14.1	96	2079	0.00	2.53	0.00	0.000	6	0.000	0.051	2442	2147	3433
2389	-1.14	-146.6	324.1	-13.6	112	2393	0.00	2.53	0.00	0.000	4	0.000	0.067	2441	747	3433
2438	-1.14	-146.6	331.1	-13.6	114	2442	0.00	2.55	0.00	0.000	6	0.000	0.055	2442	2156	3433
2754	-1.14	-146.6	371.7	-12.9	129	2755	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2155	3433
3063	-1.14	-146.6	410.4	-12.1	144	3067	0.00	2.60	0.00	0.000	4	0.000	0.067	2441	739	3433
3096	-1.14	-146.6	414.5	-11.9	145	3102	0.00	2.55	0.00	0.000	6	0.000	0.057	2442	2150	3433
3412	-1.14	-146.6	449.3	-10.6	161	3413	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2150	3432
3721	-1.14	-146.6	481.5	-10.6	176	3725	0.00	2.58	0.00	0.000	4	0.000	0.068	2442	747	3432
3748	-1.14	-146.6	484.3	-10.2	177	3752	0.00	2.55	0.00	0.000	6	0.000	0.057	2442	2155	3432
4063	-1.14	-146.6	518.5	-11.4	192	4068	0.00	2.58	0.00	0.000	4	0.000	0.071	2441	3565	3432
4091	-1.14	-146.6	522.0	-12.3	193	4095	0.00	2.55	0.00	0.000	6	0.000	0.056	2441	2150	3432
4407	-1.14	-146.6	556.6	-11.3	208	4408	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2133	3432
4716	-1.14	-146.6	594.7	-13.0	223	4720	0.00	2.53	0.00	0.000	4	0.000	0.069	2441	746	3432
4758	-1.14	-146.6	600.1	-13.5	225	4762	0.00	2.55	0.00	0.000	6	0.000	0.058	2441	2156	3432
5085	-1.14	-146.6	640.5	-10.7	241	5089	0.00	2.62	0.00	0.000	4	0.000	0.070	2441	739	3431
5162	-1.14	-146.6	649.1	-11.3	244	5168	0.00	2.55	0.00	0.000	6	0.000	0.058	2441	2149	3431
5478	-1.14	-146.6	685.5	-12.0	260	5482	0.00	2.58	0.00	0.000	4	0.000	0.073	2441	3556	3431
5550	-1.14	-146.6	694.2	-12.1	263	5554	0.00	2.55	0.00	0.000	6	0.000	0.056	2441	2143	3431
5866	-1.14	-146.6	731.9	-13.4	278	5870	0.00	2.58	0.00	0.000	4	0.000	0.077	2441	747	3431
5938	-1.14	-146.6	741.3	-12.6	281	5942	0.00	2.58	0.00	0.000	6	0.000	0.061	2441	2155	3431
6255	-1.14	-146.6	775.9	-11.5	296	6259	0.00	2.62	0.00	0.000	4	0.000	0.077	2441	749	3431
6422	-1.14	-146.6	797.5	-14.5	303	6428	0.00	2.60	0.00	0.000	6	0.000	0.067	2441	2156	3431
6738	-1.14	-146.6	831.4	-10.1	319	6742	0.00	2.65	0.00	0.000	4	0.000	0.087	2441	3564	3430
6850	-1.05	-146.6	844.3	-11.3	324	6855	0.15	2.62	0.00	0.000	6	0.105	0.074	2470	2161	3430
7173	-1.14	-146.6	882.6	-10.8	340	7178	0.00	2.70	0.00	0.000	4	0.000	0.092	2470	3556	3428
7237	-1.37	-146.6	886.3	-2.3	343	7242	0.30	2.62	0.00	0.000	6	0.057	0.071	2400	2142	3428
7567	-1.94	-146.6	904.7	-0.3	359	7572	0.52	2.75	0.00	0.000	4	0.050	0.091	2274	3562	3426
7660	end dive: NO_VERTICAL_VELOCITY
state	7660	begin apogee
7669	-0.33	0.0	904.9	0.0	363	7801	1.65	0.00	126.97	1.509	6	0.090	0.000	2626	2122	2832
7802	end apogee: CONTROL_FINISHED_OK
state	7802	begin climb
7805	1.44	146.6	903.5	0.0	370	7941	1.80	2.85	125.72	1.463	4	0.075	0.097	3009	739	2234
8159	1.33	195.5	869.3	7.8	386	8208	0.00	2.70	42.50	1.412	6	0.000	0.078	3009	2150	2034
8527	1.12	195.5	833.6	17.0	404	8529	0.32	0.00	0.00	0.000	6	0.098	0.000	2947	2151	2033
8835	1.20	195.5	786.8	15.7	419	8839	0.00	2.70	0.00	0.000	4	0.000	0.092	2947	3559	2032
8868	1.28	195.5	781.5	15.2	420	8875	0.15	2.67	0.00	0.000	6	0.061	0.075	2983	2143	2032
9184	1.51	338.4	757.2	3.5	436	9311	0.17	2.75	119.95	1.428	4	0.061	0.090	3029	744	1452
9393	1.58	382.8	741.3	8.0	446	9438	0.00	2.70	38.78	1.358	6	0.000	0.076	3029	2157	1271
9768	1.59	386.9	706.2	9.8	464	9775	0.00	0.00	5.43	1.012	6	0.000	0.000	3029	2156	1254
10075	1.59	386.9	671.2	13.7	479	10079	0.00	2.67	0.00	0.000	4	0.000	0.077	3029	740	1254
10124	1.59	386.9	663.8	14.8	481	10129	0.00	2.62	0.00	0.000	6	0.000	0.066	3029	2152	1254
10440	1.59	386.9	611.3	17.5	496	10445	0.00	2.65	0.00	0.000	4	0.000	0.074	3029	739	1255
10480	1.59	386.9	604.2	17.7	498	10485	0.00	2.60	0.00	0.000	6	0.000	0.062	3029	2151	1255
10807	1.59	386.9	551.1	15.6	514	10808	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2150	1256
11117	1.59	386.9	501.6	15.8	529	11118	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2150	1256
11426	1.59	386.9	453.0	15.7	544	11430	0.00	2.62	0.00	0.000	4	0.000	0.071	3029	739	1257
11458	1.59	386.9	447.6	15.8	545	11465	0.00	2.58	0.00	0.000	6	0.000	0.058	3029	2152	1257
11774	1.59	386.9	400.6	14.4	561	11779	0.00	2.62	0.00	0.000	4	0.000	0.069	3029	734	1258
11801	1.59	386.9	396.3	15.2	562	11806	0.00	2.60	0.00	0.000	6	0.000	0.058	3029	2160	1258
12117	1.59	386.9	351.3	13.9	577	12121	0.00	2.60	0.00	0.000	4	0.000	0.068	3029	739	1258
12150	1.59	386.9	346.3	14.9	578	12156	0.00	2.55	0.00	0.000	6	0.000	0.056	3029	2148	1259
12466	1.64	386.9	301.5	14.5	594	12471	0.12	2.60	0.00	0.000	4	0.053	0.068	3064	739	1259
12493	1.59	386.9	296.7	17.1	595	12498	0.00	2.58	0.00	0.000	6	0.000	0.056	3064	2155	1259
12809	1.53	386.9	241.5	18.1	610	12814	0.15	2.62	0.00	0.000	4	0.095	0.067	3032	734	1260
12854	1.59	386.9	234.1	14.9	612	12859	0.00	2.58	0.00	0.000	6	0.000	0.056	3031	2151	1261
13175	1.64	386.9	193.9	10.6	628	13177	0.12	0.00	0.00	0.000	6	0.053	0.000	3066	2150	1261
13485	1.59	386.9	156.5	11.6	643	13489	0.00	2.62	0.00	0.000	4	0.000	0.067	3066	734	1261
13518	1.53	386.9	152.2	12.3	644	13524	0.17	2.58	0.00	0.000	6	0.094	0.055	3032	2154	1261
13836	1.65	431.9	124.6	8.0	660	13880	0.12	2.70	37.85	0.890	4	0.054	0.066	3066	738	1071
13904	1.67	447.6	118.5	9.3	663	13926	0.00	2.58	14.15	0.838	6	0.000	0.054	3066	2150	1006
14237	1.67	447.6	88.4	10.7	679	14241	0.00	2.62	0.00	0.000	4	0.000	0.067	3066	737	1007
14254	1.67	447.6	86.2	10.7	680	14258	0.00	2.58	0.00	0.000	6	0.000	0.054	3066	2154	1007
14581	1.67	447.6	39.1	16.3	696	14585	0.00	2.62	0.00	0.000	4	0.000	0.065	3066	734	1007
14608	1.67	447.6	34.2	16.6	697	14612	0.00	2.58	0.00	0.000	6	0.000	0.053	3066	2158	1007
14818	end climb: SURFACE_DEPTH_REACHED
state	14818	begin surface coast
14840	end surface coast: CONTROL_FINISHED_OK
state	14840	begin surface