Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 72 * 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 72 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 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 40 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 240 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 -77995.664 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 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 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 -77995.664

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 240

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 40 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 72 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 095303,6208.796,-903.846,64,2.0,64,-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 -0.081,-0.184

_SM_DEPTHo 0.80 KALMAN_X -74348.7,-3026.4,-2128.9,37630.7,40688.5

_SM_ANGLEo -60.9 KALMAN_Y 18505.0,-3703.2,-2442.7,69080.9,56340.1

GPS2 095750,6208.826,-903.738,15,1.1,15,-9.5 MHEAD_RNG_PITCHd_Wd 213.1,51926,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.027118 ALTIM_BOTTOM_PING 375.0,17.7

SM_CCo 13570,80.00,0.772,1,0,1396,300.00 _24V_AH 24.0,16.613

SM_GC 0.73,0.00,0.00,80.00,0.000,0.000,0.772,426,2175,1396,-10.46,0.71,300.00 _10V_AH 10.1,7.181

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31675,652

TT8_MAMPS 0.029146 CAP_FILE_SIZE 110126,0

HUMID 1663 CFSIZE 254472192,247508992

TCM_TEMP 19.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,1,0

XPDR_PINGS 496 GPS 210608,134751,6207.601,-858.972,54,1.0,54,-9.4

ALTIM_TOP_PING 19.2,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 81.43 SBE_CT 446 24 257.14

Roll_motor 148 71 253.84 SBE_O2 480 19 219.19

VBD_pump_during_apogee 233 1059 5934.00 WL_BB2F 561 105 1415.58

VBD_pump_during_surface 80 772 1482.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.35 nil 0 0 0.00

Iridium_during_connect 29 160 113.25 nil 0 0 0.00

Iridium_during_xfer 109 223 588.21

Transponder_ping 127 420 1280.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.71

TT8 1264 19 252.96

LPSleep 10278 2 227.34

TT8_Active 464 19 92.84

TT8_Sampling 1511 39 607.43

TT8_CF8 431 45 199.83

TT8_Kalman 33 81 27.57

Analog_circuits 1225 12 148.51

GPS_charging 0 0 0.00

Compass 1483 8 119.87

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

24 -1.03 -117.3 0.0 0.0 0 97 0.00 0.00 -71.35 0.000 6 0.000 0.000 419 2173 3099

100 -1.03 -117.3 2.2 -3.2 3 117 10.57 2.47 0.00 0.000 4 0.138 0.059 2467 3543 3100

370 -0.71 -117.3 38.8 -13.7 14 375 0.35 2.47 0.00 0.000 6 0.087 0.047 2542 2147 3101

692 -0.63 -117.3 67.3 -8.2 30 696 0.00 2.55 0.00 0.000 4 0.000 0.061 2542 3544 3101

703 -0.56 -117.3 68.3 -8.5 30 710 0.17 2.53 0.00 0.000 6 0.089 0.049 2579 2120 3102

1020 -0.61 -117.3 90.5 -6.0 46 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2579 2119 3102

1331 -0.65 -117.3 101.3 -1.7 61 1335 0.00 2.45 0.00 0.000 4 0.000 0.063 2579 750 3102

1341 -0.65 -117.3 101.6 -1.4 61 1348 0.00 2.42 0.00 0.000 6 0.000 0.050 2579 2110 3102

1660 -0.69 -117.3 104.5 -0.9 77 1662 0.15 0.00 0.00 0.000 6 0.049 0.000 2536 2110 3102

1968 -0.61 -117.3 111.7 -2.4 92 1973 0.15 2.60 0.00 0.000 4 0.090 0.061 2571 3564 3103

1987 -0.56 -117.3 112.2 -2.3 93 1991 0.00 2.58 0.00 0.000 6 0.000 0.049 2571 2116 3102

2316 -0.56 -117.3 119.0 -2.8 109 2317 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2116 3103

2624 -0.56 -117.3 131.1 -4.2 124 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2116 3103

2933 -0.56 -117.3 147.1 -5.7 139 2934 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2116 3103

3241 -0.56 -117.3 165.6 -6.1 154 3242 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2115 3102

3551 -0.56 -117.3 184.2 -5.8 169 3552 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2115 3102

3860 -0.56 -117.3 201.2 -5.1 184 3864 0.00 2.62 0.00 0.000 4 0.000 0.063 2571 3556 3102

3893 -0.56 -117.3 203.0 -5.3 185 3900 0.00 2.58 0.00 0.000 6 0.000 0.052 2571 2113 3102

4210 -0.56 -117.3 219.6 -5.0 201 4214 0.00 2.60 0.00 0.000 4 0.000 0.064 2571 3554 3102

4254 -0.56 -117.3 222.0 -5.6 203 4258 0.00 2.55 0.00 0.000 6 0.000 0.052 2571 2121 3102

4575 -0.56 -117.3 237.5 -4.5 219 4579 0.00 2.62 0.00 0.000 4 0.000 0.065 2571 3562 3101

4587 -0.56 -117.3 238.0 -4.6 219 4593 0.00 2.60 0.00 0.000 6 0.000 0.054 2571 2114 3101

4903 -0.56 -117.3 252.3 -4.5 235 4908 0.00 2.62 0.00 0.000 4 0.000 0.064 2571 3557 3101

4915 -0.56 -117.3 252.7 -4.4 235 4921 0.00 2.58 0.00 0.000 6 0.000 0.055 2571 2120 3101

5231 -0.56 -117.3 267.3 -4.5 251 5235 0.00 2.62 0.00 0.000 4 0.000 0.065 2571 3563 3101

5242 -0.56 -117.3 267.8 -4.3 251 5248 0.00 2.60 0.00 0.000 6 0.000 0.055 2571 2117 3101

5558 -0.56 -117.3 280.8 -4.2 267 5562 0.00 2.62 0.00 0.000 4 0.000 0.065 2571 3558 3101

5569 -0.56 -117.3 281.2 -4.3 267 5575 0.00 2.55 0.00 0.000 6 0.000 0.054 2571 2135 3101

5885 -0.61 -117.3 296.0 -4.4 283 5887 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2135 3101

6194 -0.61 -117.3 310.7 -4.7 298 6198 0.00 2.60 0.00 0.000 4 0.000 0.065 2571 3561 3100

6227 -0.61 -117.3 312.3 -5.0 299 6233 0.00 2.55 0.00 0.000 6 0.000 0.054 2571 2138 3100

6543 -0.61 -117.3 326.7 -5.2 315 6548 0.00 2.60 0.00 0.000 4 0.000 0.066 2571 3560 3100

6588 -0.61 -117.3 329.6 -6.7 317 6592 0.00 2.55 0.00 0.000 6 0.000 0.054 2571 2140 3100

6909 -0.61 -117.3 347.0 -5.3 333 6913 0.00 2.60 0.00 0.000 4 0.000 0.066 2571 3564 3100

6959 -0.61 -117.3 349.8 -5.9 335 6964 0.00 2.53 0.00 0.000 6 0.000 0.054 2570 2154 3100

7281 -0.61 -117.3 366.4 -5.2 351 7285 0.00 2.58 0.00 0.000 4 0.000 0.066 2571 3562 3100

7433 -0.61 -117.3 374.5 -5.3 358 7438 0.00 2.45 0.00 0.000 6 0.000 0.054 2571 2170 3100

7633 end dive: BOTTOM_OBSTACLE_DETECTED

state 7633 begin apogee

7641 -0.33 0.0 383.0 4.4 368 7741 0.28 0.00 97.22 1.059 6 0.085 0.000 2626 2073 2620

7741 end apogee: CONTROL_FINISHED_OK

state 7741 begin climb

7745 1.03 117.3 385.1 0.0 373 7848 1.40 2.58 95.72 1.029 4 0.080 0.071 2922 717 2140

7884 1.03 117.3 378.2 6.8 379 7889 0.00 2.53 0.00 0.000 6 0.000 0.054 2922 2097 2140

8200 1.04 122.4 359.5 5.8 394 8211 0.00 2.60 5.70 0.784 4 0.000 0.066 2922 3510 2120

8285 1.04 122.4 353.9 7.3 398 8290 0.00 2.55 0.00 0.000 6 0.000 0.057 2922 2114 2120

8612 1.08 146.1 335.5 5.2 414 8637 0.00 2.62 20.55 0.976 4 0.000 0.065 2922 3512 2023

8695 1.08 146.1 330.5 6.5 418 8699 0.00 2.58 0.00 0.000 6 0.000 0.057 2922 2101 2023

9021 1.08 146.1 309.2 7.0 434 9026 0.00 2.62 0.00 0.000 4 0.000 0.067 2922 3515 2022

9072 1.08 146.1 305.5 7.1 436 9076 0.00 2.53 0.00 0.000 6 0.000 0.056 2922 2123 2022

9388 1.08 146.1 284.4 6.5 451 9392 0.00 2.58 0.00 0.000 4 0.000 0.066 2922 3513 2022

9437 1.08 146.1 280.8 7.5 453 9441 0.00 2.47 0.00 0.000 6 0.000 0.055 2922 2143 2022

9753 1.08 146.5 261.6 6.0 468 9758 0.00 2.62 0.00 0.000 4 0.000 0.070 2922 685 2022

9799 1.08 146.5 258.4 7.4 470 9803 0.00 2.62 0.00 0.000 6 0.000 0.054 2922 2148 2021

10120 1.08 146.5 236.5 6.8 486 10124 0.00 2.45 0.00 0.000 4 0.000 0.064 2922 3508 2022

10187 1.08 146.5 231.5 8.2 489 10191 0.00 2.45 0.00 0.000 6 0.000 0.053 2923 2148 2022

10507 1.08 146.5 210.1 6.6 505 10509 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2148 2021

10817 1.08 146.5 190.9 6.2 520 10821 0.00 2.47 0.00 0.000 4 0.000 0.064 2922 3508 2021

10879 1.08 146.5 186.5 7.7 523 10883 0.00 2.42 0.00 0.000 6 0.000 0.052 2922 2155 2022

11206 1.08 146.5 164.0 7.1 539 11210 0.00 2.65 0.00 0.000 4 0.000 0.068 2923 684 2021

11249 1.08 146.5 160.5 7.4 541 11254 0.00 2.62 0.00 0.000 6 0.000 0.053 2923 2166 2022

11571 1.08 146.5 137.4 7.0 557 11575 0.00 2.42 0.00 0.000 4 0.000 0.063 2923 3516 2022

11634 1.08 146.5 132.6 7.6 560 11638 0.00 2.42 0.00 0.000 6 0.000 0.053 2922 2164 2021

11961 1.08 146.5 110.5 6.6 576 11966 0.00 2.67 0.00 0.000 4 0.000 0.068 2923 680 2022

12005 1.08 146.5 107.3 7.1 578 12010 0.00 2.65 0.00 0.000 6 0.000 0.051 2922 2171 2022

12327 1.08 146.5 86.7 6.5 594 12331 0.00 2.40 0.00 0.000 4 0.000 0.062 2923 3512 2022

12376 1.08 146.5 83.0 7.0 596 12380 0.00 2.40 0.00 0.000 6 0.000 0.051 2923 2168 2022

12699 1.10 162.6 63.8 5.4 612 12720 0.00 2.70 14.23 0.798 4 0.000 0.066 2923 690 1957

12768 1.15 163.3 59.8 6.0 615 12773 0.12 2.67 0.00 0.000 6 0.048 0.052 2965 2174 1957

13097 1.09 163.3 34.3 8.8 631 13102 0.15 2.40 0.00 0.000 4 0.079 0.061 2930 3511 1957

13161 1.14 163.3 28.8 8.4 634 13166 0.00 2.42 0.00 0.000 6 0.000 0.051 2930 2154 1957

13491 1.21 163.3 4.6 6.6 650 13496 0.15 2.65 0.00 0.000 4 0.044 0.067 2980 684 1957

13521 end climb: SURFACE_DEPTH_REACHED

state 13521 begin surface coast

13544 end surface coast: CONTROL_FINISHED_OK

state 13545 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	72	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	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	40	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	240	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	-77995.664	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	095303,6208.796,-903.846,64,2.0,64,-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	-0.081,-0.184
_SM_DEPTHo	0.80	KALMAN_X	-74348.7,-3026.4,-2128.9,37630.7,40688.5
_SM_ANGLEo	-60.9	KALMAN_Y	18505.0,-3703.2,-2442.7,69080.9,56340.1
GPS2	095750,6208.826,-903.738,15,1.1,15,-9.5	MHEAD_RNG_PITCHd_Wd	213.1,51926,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.0,1.027118	ALTIM_BOTTOM_PING	375.0,17.7
SM_CCo	13570,80.00,0.772,1,0,1396,300.00	_24V_AH	24.0,16.613
SM_GC	0.73,0.00,0.00,80.00,0.000,0.000,0.772,426,2175,1396,-10.46,0.71,300.00	_10V_AH	10.1,7.181
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31675,652
TT8_MAMPS	0.029146	CAP_FILE_SIZE	110126,0
HUMID	1663	CFSIZE	254472192,247508992
TCM_TEMP	19.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,1,0
XPDR_PINGS	496	GPS	210608,134751,6207.601,-858.972,54,1.0,54,-9.4
ALTIM_TOP_PING	19.2,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	81.43	SBE_CT	446	24	257.14
Roll_motor	148	71	253.84	SBE_O2	480	19	219.19
VBD_pump_during_apogee	233	1059	5934.00	WL_BB2F	561	105	1415.58
VBD_pump_during_surface	80	772	1482.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.35	nil	0	0	0.00
Iridium_during_connect	29	160	113.25	nil	0	0	0.00
Iridium_during_xfer	109	223	588.21
Transponder_ping	127	420	1280.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.71
TT8	1264	19	252.96
LPSleep	10278	2	227.34
TT8_Active	464	19	92.84
TT8_Sampling	1511	39	607.43
TT8_CF8	431	45	199.83
TT8_Kalman	33	81	27.57
Analog_circuits	1225	12	148.51
GPS_charging	0	0	0.00
Compass	1483	8	119.87
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
24	-1.03	-117.3	0.0	0.0	0	97	0.00	0.00	-71.35	0.000	6	0.000	0.000	419	2173	3099
100	-1.03	-117.3	2.2	-3.2	3	117	10.57	2.47	0.00	0.000	4	0.138	0.059	2467	3543	3100
370	-0.71	-117.3	38.8	-13.7	14	375	0.35	2.47	0.00	0.000	6	0.087	0.047	2542	2147	3101
692	-0.63	-117.3	67.3	-8.2	30	696	0.00	2.55	0.00	0.000	4	0.000	0.061	2542	3544	3101
703	-0.56	-117.3	68.3	-8.5	30	710	0.17	2.53	0.00	0.000	6	0.089	0.049	2579	2120	3102
1020	-0.61	-117.3	90.5	-6.0	46	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2579	2119	3102
1331	-0.65	-117.3	101.3	-1.7	61	1335	0.00	2.45	0.00	0.000	4	0.000	0.063	2579	750	3102
1341	-0.65	-117.3	101.6	-1.4	61	1348	0.00	2.42	0.00	0.000	6	0.000	0.050	2579	2110	3102
1660	-0.69	-117.3	104.5	-0.9	77	1662	0.15	0.00	0.00	0.000	6	0.049	0.000	2536	2110	3102
1968	-0.61	-117.3	111.7	-2.4	92	1973	0.15	2.60	0.00	0.000	4	0.090	0.061	2571	3564	3103
1987	-0.56	-117.3	112.2	-2.3	93	1991	0.00	2.58	0.00	0.000	6	0.000	0.049	2571	2116	3102
2316	-0.56	-117.3	119.0	-2.8	109	2317	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2116	3103
2624	-0.56	-117.3	131.1	-4.2	124	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2116	3103
2933	-0.56	-117.3	147.1	-5.7	139	2934	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2116	3103
3241	-0.56	-117.3	165.6	-6.1	154	3242	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2115	3102
3551	-0.56	-117.3	184.2	-5.8	169	3552	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2115	3102
3860	-0.56	-117.3	201.2	-5.1	184	3864	0.00	2.62	0.00	0.000	4	0.000	0.063	2571	3556	3102
3893	-0.56	-117.3	203.0	-5.3	185	3900	0.00	2.58	0.00	0.000	6	0.000	0.052	2571	2113	3102
4210	-0.56	-117.3	219.6	-5.0	201	4214	0.00	2.60	0.00	0.000	4	0.000	0.064	2571	3554	3102
4254	-0.56	-117.3	222.0	-5.6	203	4258	0.00	2.55	0.00	0.000	6	0.000	0.052	2571	2121	3102
4575	-0.56	-117.3	237.5	-4.5	219	4579	0.00	2.62	0.00	0.000	4	0.000	0.065	2571	3562	3101
4587	-0.56	-117.3	238.0	-4.6	219	4593	0.00	2.60	0.00	0.000	6	0.000	0.054	2571	2114	3101
4903	-0.56	-117.3	252.3	-4.5	235	4908	0.00	2.62	0.00	0.000	4	0.000	0.064	2571	3557	3101
4915	-0.56	-117.3	252.7	-4.4	235	4921	0.00	2.58	0.00	0.000	6	0.000	0.055	2571	2120	3101
5231	-0.56	-117.3	267.3	-4.5	251	5235	0.00	2.62	0.00	0.000	4	0.000	0.065	2571	3563	3101
5242	-0.56	-117.3	267.8	-4.3	251	5248	0.00	2.60	0.00	0.000	6	0.000	0.055	2571	2117	3101
5558	-0.56	-117.3	280.8	-4.2	267	5562	0.00	2.62	0.00	0.000	4	0.000	0.065	2571	3558	3101
5569	-0.56	-117.3	281.2	-4.3	267	5575	0.00	2.55	0.00	0.000	6	0.000	0.054	2571	2135	3101
5885	-0.61	-117.3	296.0	-4.4	283	5887	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2135	3101
6194	-0.61	-117.3	310.7	-4.7	298	6198	0.00	2.60	0.00	0.000	4	0.000	0.065	2571	3561	3100
6227	-0.61	-117.3	312.3	-5.0	299	6233	0.00	2.55	0.00	0.000	6	0.000	0.054	2571	2138	3100
6543	-0.61	-117.3	326.7	-5.2	315	6548	0.00	2.60	0.00	0.000	4	0.000	0.066	2571	3560	3100
6588	-0.61	-117.3	329.6	-6.7	317	6592	0.00	2.55	0.00	0.000	6	0.000	0.054	2571	2140	3100
6909	-0.61	-117.3	347.0	-5.3	333	6913	0.00	2.60	0.00	0.000	4	0.000	0.066	2571	3564	3100
6959	-0.61	-117.3	349.8	-5.9	335	6964	0.00	2.53	0.00	0.000	6	0.000	0.054	2570	2154	3100
7281	-0.61	-117.3	366.4	-5.2	351	7285	0.00	2.58	0.00	0.000	4	0.000	0.066	2571	3562	3100
7433	-0.61	-117.3	374.5	-5.3	358	7438	0.00	2.45	0.00	0.000	6	0.000	0.054	2571	2170	3100
7633	end dive: BOTTOM_OBSTACLE_DETECTED
state	7633	begin apogee
7641	-0.33	0.0	383.0	4.4	368	7741	0.28	0.00	97.22	1.059	6	0.085	0.000	2626	2073	2620
7741	end apogee: CONTROL_FINISHED_OK
state	7741	begin climb
7745	1.03	117.3	385.1	0.0	373	7848	1.40	2.58	95.72	1.029	4	0.080	0.071	2922	717	2140
7884	1.03	117.3	378.2	6.8	379	7889	0.00	2.53	0.00	0.000	6	0.000	0.054	2922	2097	2140
8200	1.04	122.4	359.5	5.8	394	8211	0.00	2.60	5.70	0.784	4	0.000	0.066	2922	3510	2120
8285	1.04	122.4	353.9	7.3	398	8290	0.00	2.55	0.00	0.000	6	0.000	0.057	2922	2114	2120
8612	1.08	146.1	335.5	5.2	414	8637	0.00	2.62	20.55	0.976	4	0.000	0.065	2922	3512	2023
8695	1.08	146.1	330.5	6.5	418	8699	0.00	2.58	0.00	0.000	6	0.000	0.057	2922	2101	2023
9021	1.08	146.1	309.2	7.0	434	9026	0.00	2.62	0.00	0.000	4	0.000	0.067	2922	3515	2022
9072	1.08	146.1	305.5	7.1	436	9076	0.00	2.53	0.00	0.000	6	0.000	0.056	2922	2123	2022
9388	1.08	146.1	284.4	6.5	451	9392	0.00	2.58	0.00	0.000	4	0.000	0.066	2922	3513	2022
9437	1.08	146.1	280.8	7.5	453	9441	0.00	2.47	0.00	0.000	6	0.000	0.055	2922	2143	2022
9753	1.08	146.5	261.6	6.0	468	9758	0.00	2.62	0.00	0.000	4	0.000	0.070	2922	685	2022
9799	1.08	146.5	258.4	7.4	470	9803	0.00	2.62	0.00	0.000	6	0.000	0.054	2922	2148	2021
10120	1.08	146.5	236.5	6.8	486	10124	0.00	2.45	0.00	0.000	4	0.000	0.064	2922	3508	2022
10187	1.08	146.5	231.5	8.2	489	10191	0.00	2.45	0.00	0.000	6	0.000	0.053	2923	2148	2022
10507	1.08	146.5	210.1	6.6	505	10509	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2148	2021
10817	1.08	146.5	190.9	6.2	520	10821	0.00	2.47	0.00	0.000	4	0.000	0.064	2922	3508	2021
10879	1.08	146.5	186.5	7.7	523	10883	0.00	2.42	0.00	0.000	6	0.000	0.052	2922	2155	2022
11206	1.08	146.5	164.0	7.1	539	11210	0.00	2.65	0.00	0.000	4	0.000	0.068	2923	684	2021
11249	1.08	146.5	160.5	7.4	541	11254	0.00	2.62	0.00	0.000	6	0.000	0.053	2923	2166	2022
11571	1.08	146.5	137.4	7.0	557	11575	0.00	2.42	0.00	0.000	4	0.000	0.063	2923	3516	2022
11634	1.08	146.5	132.6	7.6	560	11638	0.00	2.42	0.00	0.000	6	0.000	0.053	2922	2164	2021
11961	1.08	146.5	110.5	6.6	576	11966	0.00	2.67	0.00	0.000	4	0.000	0.068	2923	680	2022
12005	1.08	146.5	107.3	7.1	578	12010	0.00	2.65	0.00	0.000	6	0.000	0.051	2922	2171	2022
12327	1.08	146.5	86.7	6.5	594	12331	0.00	2.40	0.00	0.000	4	0.000	0.062	2923	3512	2022
12376	1.08	146.5	83.0	7.0	596	12380	0.00	2.40	0.00	0.000	6	0.000	0.051	2923	2168	2022
12699	1.10	162.6	63.8	5.4	612	12720	0.00	2.70	14.23	0.798	4	0.000	0.066	2923	690	1957
12768	1.15	163.3	59.8	6.0	615	12773	0.12	2.67	0.00	0.000	6	0.048	0.052	2965	2174	1957
13097	1.09	163.3	34.3	8.8	631	13102	0.15	2.40	0.00	0.000	4	0.079	0.061	2930	3511	1957
13161	1.14	163.3	28.8	8.4	634	13166	0.00	2.42	0.00	0.000	6	0.000	0.051	2930	2154	1957
13491	1.21	163.3	4.6	6.6	650	13496	0.15	2.65	0.00	0.000	4	0.044	0.067	2980	684	1957
13521	end climb: SURFACE_DEPTH_REACHED
state	13521	begin surface coast
13544	end surface coast: CONTROL_FINISHED_OK
state	13545	begin surface