Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 23 * 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 23 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -77126.961 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 412.5

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 -77126.961

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 34 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 23 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 031755,6139.742,-928.362,63,1.6,63,-9.5 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.108

_SM_DEPTHo 0.81 KALMAN_X -48890.7,2340.7,1588.8,-18906.4,-13282.8

_SM_ANGLEo -56.2 KALMAN_Y -36728.4,428.3,991.9,62548.6,-11551.8

GPS2 032657,6139.620,-928.414,11,1.9,11,-9.5 MHEAD_RNG_PITCHd_Wd 73.4,15510,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027106 ALTIM_BOTTOM_PING 852.8,81.3

SM_CCo 14878,0.00,0.000,0,0,741,512.92 _24V_AH 23.7,8.187

SM_GC 0.76,11.27,0.00,0.00,0.038,0.000,0.000,421,2173,741,-10.39,0.20,512.92 _10V_AH 10.0,2.740

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38113,710

TT8_MAMPS 0.029146 CAP_FILE_SIZE 126392,0

HUMID 1663 CFSIZE 254472192,250867712

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 527 GPS 100608,073701,6137.436,-924.299,40,0.9,40,-9.5

ALTIM_TOP_PING 18.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.65 SBE_CT 485 24 276.41

Roll_motor 177 92 391.08 SBE_O2 524 19 236.14

VBD_pump_during_apogee 571 1495 20272.97 WL_BB2F 380 105 946.20

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 57 160 218.24 nil 0 0 0.00

Iridium_during_xfer 224 223 1188.88

Transponder_ping 139 420 1388.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.99

TT8 1357 19 268.83

LPSleep 10984 2 240.56

TT8_Active 653 19 129.38

TT8_Sampling 1772 39 705.61

TT8_CF8 647 45 296.50

TT8_Kalman 33 81 27.28

Analog_circuits 1618 12 194.20

GPS_charging 0 0 0.00

Compass 1725 8 138.03

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.22 -146.6 0.0 0.0 0 106 0.00 0.00 -81.12 0.000 2 0.000 0.000 421 2159 3284

110 -1.22 -146.6 3.9 -5.0 4 132 10.38 2.58 -3.33 0.000 4 0.137 0.073 2427 759 3432

383 -1.03 -146.6 54.3 -17.4 16 388 0.22 2.50 0.00 0.000 6 0.095 0.051 2473 2152 3432

712 -0.93 -146.6 103.6 -15.8 32 713 0.10 0.00 0.00 0.000 6 0.100 0.000 2493 2151 3433

1019 -0.93 -146.6 154.6 -16.5 47 1023 0.00 2.55 0.00 0.000 4 0.000 0.065 2493 3563 3433

1068 -0.93 -146.6 163.3 -17.8 49 1073 0.00 2.50 0.00 0.000 6 0.000 0.050 2493 2161 3433

1384 -0.93 -146.6 213.9 -15.1 64 1388 0.00 2.55 0.00 0.000 4 0.000 0.064 2493 743 3433

1424 -0.93 -146.6 219.9 -15.5 66 1428 0.00 2.53 0.00 0.000 6 0.000 0.054 2493 2149 3433

1750 -0.93 -146.6 266.4 -13.6 82 1754 0.00 2.55 0.00 0.000 4 0.000 0.067 2493 3555 3433

1782 -0.93 -146.6 271.4 -14.7 83 1788 0.00 2.53 0.00 0.000 6 0.000 0.051 2493 2146 3433

2098 -0.93 -146.6 314.1 -13.5 99 2099 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2128 3433

2407 -0.93 -146.6 362.7 -16.4 114 2412 0.00 2.62 0.00 0.000 4 0.000 0.068 2493 3563 3433

2448 -0.93 -146.6 369.5 -16.7 116 2452 0.00 2.55 0.00 0.000 6 0.000 0.053 2493 2146 3433

2774 -0.93 -146.6 421.8 -15.9 132 2776 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2127 3433

3084 -0.93 -146.6 472.4 -15.6 147 3088 0.00 2.62 0.00 0.000 4 0.000 0.070 2493 3564 3432

3123 -0.93 -146.6 478.5 -15.9 149 3127 0.00 2.55 0.00 0.000 6 0.000 0.054 2493 2143 3432

3449 -0.93 -146.6 521.9 -11.9 165 3450 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2124 3432

3758 -0.93 -146.6 556.7 -11.4 180 3763 0.00 2.62 0.00 0.000 4 0.000 0.067 2493 3562 3432

3814 -0.93 -146.6 563.1 -11.7 182 3820 0.00 2.53 0.00 0.000 6 0.000 0.052 2493 2150 3432

4130 -0.93 -146.6 603.4 -13.6 198 4131 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2133 3432

4439 -0.93 -146.6 646.4 -13.3 213 4443 0.00 2.62 0.00 0.000 4 0.000 0.070 2493 3565 3432

4472 -0.93 -146.6 650.7 -12.8 214 4479 0.00 2.55 0.00 0.000 6 0.000 0.054 2493 2147 3431

4788 -0.93 -146.6 691.3 -13.3 230 4792 0.00 2.53 0.00 0.000 4 0.000 0.070 2493 746 3431

4899 -0.93 -146.6 705.2 -11.9 235 4904 0.00 2.55 0.00 0.000 6 0.000 0.058 2493 2150 3431

5221 -0.93 -146.6 747.8 -13.1 251 5225 0.00 2.62 0.00 0.000 4 0.000 0.071 2493 738 3431

5405 -0.93 -146.6 774.0 -14.1 259 5410 0.00 2.58 0.00 0.000 6 0.000 0.058 2493 2160 3431

5721 -0.93 -146.6 813.1 -10.8 274 5725 0.00 2.62 0.00 0.000 4 0.000 0.074 2493 746 3431

5911 -0.99 -146.6 833.2 -10.5 282 5917 0.00 2.58 0.00 0.000 6 0.000 0.062 2493 2150 3431

6227 -0.99 -146.6 866.3 -12.8 298 6231 0.00 2.62 0.00 0.000 4 0.000 0.084 2493 3560 3431

6334 -0.99 -146.6 878.1 -12.6 303 6338 0.00 2.60 0.00 0.000 6 0.000 0.067 2493 2150 3431

6660 -0.99 -146.6 915.2 -11.8 319 6664 0.00 2.65 0.00 0.000 4 0.000 0.091 2493 743 3430

6710 -1.04 -146.6 920.8 -12.2 321 6715 0.00 2.65 0.00 0.000 6 0.000 0.077 2493 2149 3430

6755 end dive: BOTTOM_OBSTACLE_DETECTED

state 6755 begin apogee

6762 -0.33 0.0 925.9 10.9 323 6892 0.62 0.00 127.47 1.496 6 0.083 0.000 2626 2151 2832

6893 end apogee: CONTROL_FINISHED_OK

state 6893 begin climb

6896 1.22 146.6 930.2 0.0 329 7032 1.60 2.78 126.12 1.466 4 0.081 0.090 2964 3551 2234

7225 1.08 146.6 898.3 15.0 344 7231 0.15 2.67 0.00 0.000 6 0.101 0.075 2936 2145 2232

7547 0.98 146.6 878.0 8.7 360 7552 0.12 2.75 0.00 0.000 4 0.104 0.091 2911 3559 2231

7648 1.13 194.0 867.6 6.3 364 7695 0.15 2.67 40.42 1.440 6 0.058 0.075 2949 2128 2041

8008 1.08 194.0 834.3 12.7 382 8012 0.00 2.78 0.00 0.000 4 0.000 0.093 2949 3564 2040

8048 1.01 194.0 828.3 14.1 384 8053 0.15 2.65 0.00 0.000 6 0.102 0.074 2920 2164 2039

8375 1.15 243.4 803.0 6.2 400 8426 0.12 2.83 42.58 1.457 4 0.063 0.093 2951 739 1839

8461 1.19 299.2 797.9 6.0 404 8516 0.00 2.70 48.35 1.438 6 0.000 0.078 2951 2151 1611

8836 1.40 426.2 783.1 3.4 422 8952 0.20 2.83 108.62 1.418 4 0.057 0.083 3004 740 1094

8977 1.26 426.2 771.7 11.8 428 8983 0.15 2.70 0.00 0.000 6 0.095 0.072 2977 2155 1094

9292 1.26 426.2 747.2 8.1 444 9297 0.00 2.70 0.00 0.000 4 0.000 0.081 2977 738 1095

9360 1.36 463.2 742.8 6.7 447 9399 0.00 2.65 33.58 1.338 6 0.000 0.067 2977 2156 942

9729 1.44 514.5 720.4 6.1 465 9780 0.15 2.75 44.78 1.327 4 0.054 0.074 3020 735 734

9838 1.44 514.5 707.5 10.7 470 9842 0.00 2.62 0.00 0.000 6 0.000 0.061 3020 2151 735

10159 1.40 514.5 667.4 12.8 486 10164 0.00 2.65 0.00 0.000 4 0.000 0.073 3020 734 736

10193 1.40 514.5 662.2 14.3 487 10199 0.00 2.62 0.00 0.000 6 0.000 0.060 3020 2160 736

10508 1.40 514.5 615.7 15.1 503 10513 0.00 2.65 0.00 0.000 4 0.000 0.072 3020 737 737

10536 1.40 514.5 609.9 21.3 504 10540 0.00 2.60 0.00 0.000 6 0.000 0.058 3020 2154 737

10851 1.40 514.5 558.0 16.9 519 10856 0.00 2.62 0.00 0.000 4 0.000 0.070 3020 737 738

10879 1.40 514.5 553.0 18.1 520 10883 0.00 2.60 0.00 0.000 6 0.000 0.058 3020 2161 738

11194 1.40 514.5 505.2 15.5 535 11199 0.00 2.62 0.00 0.000 4 0.000 0.071 3020 737 739

11234 1.40 514.5 498.5 16.8 537 11238 0.00 2.58 0.00 0.000 6 0.000 0.057 3020 2154 738

11560 1.40 514.5 446.9 16.3 553 11565 0.00 2.62 0.00 0.000 4 0.000 0.069 3020 737 739

11623 1.40 514.5 436.7 15.9 556 11628 0.00 2.58 0.00 0.000 6 0.000 0.056 3020 2161 739

11950 1.40 514.5 388.1 13.8 572 11954 0.00 2.65 0.00 0.000 4 0.000 0.068 3020 735 739

11977 1.40 514.5 383.7 15.9 573 11981 0.00 2.58 0.00 0.000 6 0.000 0.056 3020 2150 739

12292 1.40 514.5 341.5 12.7 588 12297 0.00 2.62 0.00 0.000 4 0.000 0.068 3020 737 740

12326 1.40 514.5 337.1 12.7 589 12332 0.00 2.55 0.00 0.000 6 0.000 0.055 3020 2149 740

12641 1.40 514.5 293.4 14.9 605 12645 0.00 2.62 0.00 0.000 4 0.000 0.068 3020 733 740

12668 1.40 514.5 289.0 16.7 606 12672 0.00 2.58 0.00 0.000 6 0.000 0.055 3020 2155 740

12984 1.40 514.5 239.6 15.1 621 12988 0.00 2.62 0.00 0.000 4 0.000 0.068 3020 737 740

13017 1.40 514.5 234.6 14.0 622 13023 0.00 2.58 0.00 0.000 6 0.000 0.055 3020 2159 740

13332 1.40 514.5 189.8 13.9 638 13337 0.00 2.62 0.00 0.000 4 0.000 0.068 3020 737 740

13377 1.40 514.5 184.5 11.4 640 13381 0.00 2.55 0.00 0.000 6 0.000 0.054 3020 2147 741

13698 1.40 514.5 150.5 10.1 656 13702 0.00 2.60 0.00 0.000 4 0.000 0.068 3020 736 741

13720 1.40 514.5 148.0 10.1 657 13724 0.00 2.55 0.00 0.000 6 0.000 0.054 3020 2150 741

14041 1.40 514.5 107.0 15.3 673 14046 0.00 2.62 0.00 0.000 4 0.000 0.068 3020 734 741

14059 1.40 514.5 104.3 14.4 674 14064 0.00 2.55 0.00 0.000 6 0.000 0.054 3020 2151 741

14387 1.40 514.5 57.9 14.8 690 14391 0.00 2.60 0.00 0.000 4 0.000 0.067 3020 737 741

14426 1.40 514.5 52.6 12.9 692 14431 0.00 2.55 0.00 0.000 6 0.000 0.053 3020 2151 741

14754 1.40 514.5 6.3 14.1 708 14758 0.00 2.60 0.00 0.000 4 0.000 0.064 3020 736 741

14785 end climb: SURFACE_DEPTH_REACHED

state 14785 begin surface coast

14793 end surface coast: CONTROL_FINISHED_OK

state 14793 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	23	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-77126.961	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	031755,6139.742,-928.362,63,1.6,63,-9.5	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.108
_SM_DEPTHo	0.81	KALMAN_X	-48890.7,2340.7,1588.8,-18906.4,-13282.8
_SM_ANGLEo	-56.2	KALMAN_Y	-36728.4,428.3,991.9,62548.6,-11551.8
GPS2	032657,6139.620,-928.414,11,1.9,11,-9.5	MHEAD_RNG_PITCHd_Wd	73.4,15510,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027106	ALTIM_BOTTOM_PING	852.8,81.3
SM_CCo	14878,0.00,0.000,0,0,741,512.92	_24V_AH	23.7,8.187
SM_GC	0.76,11.27,0.00,0.00,0.038,0.000,0.000,421,2173,741,-10.39,0.20,512.92	_10V_AH	10.0,2.740
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38113,710
TT8_MAMPS	0.029146	CAP_FILE_SIZE	126392,0
HUMID	1663	CFSIZE	254472192,250867712
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	527	GPS	100608,073701,6137.436,-924.299,40,0.9,40,-9.5
ALTIM_TOP_PING	18.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.65	SBE_CT	485	24	276.41
Roll_motor	177	92	391.08	SBE_O2	524	19	236.14
VBD_pump_during_apogee	571	1495	20272.97	WL_BB2F	380	105	946.20
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	57	160	218.24	nil	0	0	0.00
Iridium_during_xfer	224	223	1188.88
Transponder_ping	139	420	1388.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.99
TT8	1357	19	268.83
LPSleep	10984	2	240.56
TT8_Active	653	19	129.38
TT8_Sampling	1772	39	705.61
TT8_CF8	647	45	296.50
TT8_Kalman	33	81	27.28
Analog_circuits	1618	12	194.20
GPS_charging	0	0	0.00
Compass	1725	8	138.03
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.22	-146.6	0.0	0.0	0	106	0.00	0.00	-81.12	0.000	2	0.000	0.000	421	2159	3284
110	-1.22	-146.6	3.9	-5.0	4	132	10.38	2.58	-3.33	0.000	4	0.137	0.073	2427	759	3432
383	-1.03	-146.6	54.3	-17.4	16	388	0.22	2.50	0.00	0.000	6	0.095	0.051	2473	2152	3432
712	-0.93	-146.6	103.6	-15.8	32	713	0.10	0.00	0.00	0.000	6	0.100	0.000	2493	2151	3433
1019	-0.93	-146.6	154.6	-16.5	47	1023	0.00	2.55	0.00	0.000	4	0.000	0.065	2493	3563	3433
1068	-0.93	-146.6	163.3	-17.8	49	1073	0.00	2.50	0.00	0.000	6	0.000	0.050	2493	2161	3433
1384	-0.93	-146.6	213.9	-15.1	64	1388	0.00	2.55	0.00	0.000	4	0.000	0.064	2493	743	3433
1424	-0.93	-146.6	219.9	-15.5	66	1428	0.00	2.53	0.00	0.000	6	0.000	0.054	2493	2149	3433
1750	-0.93	-146.6	266.4	-13.6	82	1754	0.00	2.55	0.00	0.000	4	0.000	0.067	2493	3555	3433
1782	-0.93	-146.6	271.4	-14.7	83	1788	0.00	2.53	0.00	0.000	6	0.000	0.051	2493	2146	3433
2098	-0.93	-146.6	314.1	-13.5	99	2099	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2128	3433
2407	-0.93	-146.6	362.7	-16.4	114	2412	0.00	2.62	0.00	0.000	4	0.000	0.068	2493	3563	3433
2448	-0.93	-146.6	369.5	-16.7	116	2452	0.00	2.55	0.00	0.000	6	0.000	0.053	2493	2146	3433
2774	-0.93	-146.6	421.8	-15.9	132	2776	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2127	3433
3084	-0.93	-146.6	472.4	-15.6	147	3088	0.00	2.62	0.00	0.000	4	0.000	0.070	2493	3564	3432
3123	-0.93	-146.6	478.5	-15.9	149	3127	0.00	2.55	0.00	0.000	6	0.000	0.054	2493	2143	3432
3449	-0.93	-146.6	521.9	-11.9	165	3450	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2124	3432
3758	-0.93	-146.6	556.7	-11.4	180	3763	0.00	2.62	0.00	0.000	4	0.000	0.067	2493	3562	3432
3814	-0.93	-146.6	563.1	-11.7	182	3820	0.00	2.53	0.00	0.000	6	0.000	0.052	2493	2150	3432
4130	-0.93	-146.6	603.4	-13.6	198	4131	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2133	3432
4439	-0.93	-146.6	646.4	-13.3	213	4443	0.00	2.62	0.00	0.000	4	0.000	0.070	2493	3565	3432
4472	-0.93	-146.6	650.7	-12.8	214	4479	0.00	2.55	0.00	0.000	6	0.000	0.054	2493	2147	3431
4788	-0.93	-146.6	691.3	-13.3	230	4792	0.00	2.53	0.00	0.000	4	0.000	0.070	2493	746	3431
4899	-0.93	-146.6	705.2	-11.9	235	4904	0.00	2.55	0.00	0.000	6	0.000	0.058	2493	2150	3431
5221	-0.93	-146.6	747.8	-13.1	251	5225	0.00	2.62	0.00	0.000	4	0.000	0.071	2493	738	3431
5405	-0.93	-146.6	774.0	-14.1	259	5410	0.00	2.58	0.00	0.000	6	0.000	0.058	2493	2160	3431
5721	-0.93	-146.6	813.1	-10.8	274	5725	0.00	2.62	0.00	0.000	4	0.000	0.074	2493	746	3431
5911	-0.99	-146.6	833.2	-10.5	282	5917	0.00	2.58	0.00	0.000	6	0.000	0.062	2493	2150	3431
6227	-0.99	-146.6	866.3	-12.8	298	6231	0.00	2.62	0.00	0.000	4	0.000	0.084	2493	3560	3431
6334	-0.99	-146.6	878.1	-12.6	303	6338	0.00	2.60	0.00	0.000	6	0.000	0.067	2493	2150	3431
6660	-0.99	-146.6	915.2	-11.8	319	6664	0.00	2.65	0.00	0.000	4	0.000	0.091	2493	743	3430
6710	-1.04	-146.6	920.8	-12.2	321	6715	0.00	2.65	0.00	0.000	6	0.000	0.077	2493	2149	3430
6755	end dive: BOTTOM_OBSTACLE_DETECTED
state	6755	begin apogee
6762	-0.33	0.0	925.9	10.9	323	6892	0.62	0.00	127.47	1.496	6	0.083	0.000	2626	2151	2832
6893	end apogee: CONTROL_FINISHED_OK
state	6893	begin climb
6896	1.22	146.6	930.2	0.0	329	7032	1.60	2.78	126.12	1.466	4	0.081	0.090	2964	3551	2234
7225	1.08	146.6	898.3	15.0	344	7231	0.15	2.67	0.00	0.000	6	0.101	0.075	2936	2145	2232
7547	0.98	146.6	878.0	8.7	360	7552	0.12	2.75	0.00	0.000	4	0.104	0.091	2911	3559	2231
7648	1.13	194.0	867.6	6.3	364	7695	0.15	2.67	40.42	1.440	6	0.058	0.075	2949	2128	2041
8008	1.08	194.0	834.3	12.7	382	8012	0.00	2.78	0.00	0.000	4	0.000	0.093	2949	3564	2040
8048	1.01	194.0	828.3	14.1	384	8053	0.15	2.65	0.00	0.000	6	0.102	0.074	2920	2164	2039
8375	1.15	243.4	803.0	6.2	400	8426	0.12	2.83	42.58	1.457	4	0.063	0.093	2951	739	1839
8461	1.19	299.2	797.9	6.0	404	8516	0.00	2.70	48.35	1.438	6	0.000	0.078	2951	2151	1611
8836	1.40	426.2	783.1	3.4	422	8952	0.20	2.83	108.62	1.418	4	0.057	0.083	3004	740	1094
8977	1.26	426.2	771.7	11.8	428	8983	0.15	2.70	0.00	0.000	6	0.095	0.072	2977	2155	1094
9292	1.26	426.2	747.2	8.1	444	9297	0.00	2.70	0.00	0.000	4	0.000	0.081	2977	738	1095
9360	1.36	463.2	742.8	6.7	447	9399	0.00	2.65	33.58	1.338	6	0.000	0.067	2977	2156	942
9729	1.44	514.5	720.4	6.1	465	9780	0.15	2.75	44.78	1.327	4	0.054	0.074	3020	735	734
9838	1.44	514.5	707.5	10.7	470	9842	0.00	2.62	0.00	0.000	6	0.000	0.061	3020	2151	735
10159	1.40	514.5	667.4	12.8	486	10164	0.00	2.65	0.00	0.000	4	0.000	0.073	3020	734	736
10193	1.40	514.5	662.2	14.3	487	10199	0.00	2.62	0.00	0.000	6	0.000	0.060	3020	2160	736
10508	1.40	514.5	615.7	15.1	503	10513	0.00	2.65	0.00	0.000	4	0.000	0.072	3020	737	737
10536	1.40	514.5	609.9	21.3	504	10540	0.00	2.60	0.00	0.000	6	0.000	0.058	3020	2154	737
10851	1.40	514.5	558.0	16.9	519	10856	0.00	2.62	0.00	0.000	4	0.000	0.070	3020	737	738
10879	1.40	514.5	553.0	18.1	520	10883	0.00	2.60	0.00	0.000	6	0.000	0.058	3020	2161	738
11194	1.40	514.5	505.2	15.5	535	11199	0.00	2.62	0.00	0.000	4	0.000	0.071	3020	737	739
11234	1.40	514.5	498.5	16.8	537	11238	0.00	2.58	0.00	0.000	6	0.000	0.057	3020	2154	738
11560	1.40	514.5	446.9	16.3	553	11565	0.00	2.62	0.00	0.000	4	0.000	0.069	3020	737	739
11623	1.40	514.5	436.7	15.9	556	11628	0.00	2.58	0.00	0.000	6	0.000	0.056	3020	2161	739
11950	1.40	514.5	388.1	13.8	572	11954	0.00	2.65	0.00	0.000	4	0.000	0.068	3020	735	739
11977	1.40	514.5	383.7	15.9	573	11981	0.00	2.58	0.00	0.000	6	0.000	0.056	3020	2150	739
12292	1.40	514.5	341.5	12.7	588	12297	0.00	2.62	0.00	0.000	4	0.000	0.068	3020	737	740
12326	1.40	514.5	337.1	12.7	589	12332	0.00	2.55	0.00	0.000	6	0.000	0.055	3020	2149	740
12641	1.40	514.5	293.4	14.9	605	12645	0.00	2.62	0.00	0.000	4	0.000	0.068	3020	733	740
12668	1.40	514.5	289.0	16.7	606	12672	0.00	2.58	0.00	0.000	6	0.000	0.055	3020	2155	740
12984	1.40	514.5	239.6	15.1	621	12988	0.00	2.62	0.00	0.000	4	0.000	0.068	3020	737	740
13017	1.40	514.5	234.6	14.0	622	13023	0.00	2.58	0.00	0.000	6	0.000	0.055	3020	2159	740
13332	1.40	514.5	189.8	13.9	638	13337	0.00	2.62	0.00	0.000	4	0.000	0.068	3020	737	740
13377	1.40	514.5	184.5	11.4	640	13381	0.00	2.55	0.00	0.000	6	0.000	0.054	3020	2147	741
13698	1.40	514.5	150.5	10.1	656	13702	0.00	2.60	0.00	0.000	4	0.000	0.068	3020	736	741
13720	1.40	514.5	148.0	10.1	657	13724	0.00	2.55	0.00	0.000	6	0.000	0.054	3020	2150	741
14041	1.40	514.5	107.0	15.3	673	14046	0.00	2.62	0.00	0.000	4	0.000	0.068	3020	734	741
14059	1.40	514.5	104.3	14.4	674	14064	0.00	2.55	0.00	0.000	6	0.000	0.054	3020	2151	741
14387	1.40	514.5	57.9	14.8	690	14391	0.00	2.60	0.00	0.000	4	0.000	0.067	3020	737	741
14426	1.40	514.5	52.6	12.9	692	14431	0.00	2.55	0.00	0.000	6	0.000	0.053	3020	2151	741
14754	1.40	514.5	6.3	14.1	708	14758	0.00	2.60	0.00	0.000	4	0.000	0.064	3020	736	741
14785	end climb: SURFACE_DEPTH_REACHED
state	14785	begin surface coast
14793	end surface coast: CONTROL_FINISHED_OK
state	14793	begin surface