Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 74 * 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 74 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 22 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 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 -78026.094 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 -78026.094

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 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 74 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 170652,6203.591,-859.022,89,1.7,89,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.106,-0.171

_SM_DEPTHo 0.85 KALMAN_X -75527.9,-1253.8,-1230.2,40367.0,28898.2

_SM_ANGLEo -61.1 KALMAN_Y 6118.3,-2191.3,-1197.8,68945.7,21685.9

GPS2 171150,6203.542,-859.012,9,1.5,14,-9.4 MHEAD_RNG_PITCHd_Wd 221.3,43055,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.013144 ALTIM_BOTTOM_PING 375.3,74.3

SM_CCo 14211,67.18,0.785,0,0,1397,300.00 _24V_AH 24.0,16.849

SM_GC 0.90,0.00,0.00,67.18,0.000,0.000,0.785,424,2123,1397,-10.47,-0.76,300.00 _10V_AH 10.1,7.312

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34845,681

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104167,0

HUMID 1666 CFSIZE 254472192,247410688

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 523 GPS 210608,211201,6200.598,-900.634,41,1.0,41,-9.4

ALTIM_TOP_PING 19.1,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 141 82.84 SBE_CT 465 24 268.30

Roll_motor 116 71 199.70 SBE_O2 505 19 230.35

VBD_pump_during_apogee 254 1088 6641.25 WL_BB2F 514 105 1296.49

VBD_pump_during_surface 67 785 1266.23 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 26 160 103.10 nil 0 0 0.00

Iridium_during_xfer 123 223 661.06

Transponder_ping 133 420 1348.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 1262 19 252.44

LPSleep 10963 2 242.50

TT8_Active 452 19 90.46

TT8_Sampling 1466 39 589.59

TT8_CF8 439 45 203.28

TT8_Kalman 33 81 27.57

Analog_circuits 1187 12 143.91

GPS_charging 0 0 0.00

Compass 1444 8 116.71

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 96 0.00 0.00 -69.93 0.000 6 0.000 0.000 421 2164 3099

99 -1.03 -117.3 2.2 -3.2 3 116 10.68 2.53 0.00 0.000 4 0.142 0.058 2469 3562 3101

369 -0.71 -117.3 38.8 -13.2 14 374 0.35 2.53 0.00 0.000 6 0.088 0.048 2544 2142 3101

691 -0.62 -117.3 66.0 -7.2 30 695 0.00 2.58 0.00 0.000 4 0.000 0.060 2544 3557 3103

799 -0.53 -117.3 73.5 -7.3 35 804 0.17 2.50 0.00 0.000 6 0.091 0.046 2580 2150 3103

1126 -0.58 -117.3 96.0 -6.8 51 1128 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2150 3103

1435 -0.62 -117.3 116.1 -6.1 66 1440 0.00 2.55 0.00 0.000 4 0.000 0.061 2580 3557 3103

1447 -0.67 -117.3 116.9 -6.1 66 1454 0.12 2.47 0.00 0.000 6 0.052 0.048 2544 2164 3103

1764 -0.60 -117.3 136.1 -5.5 82 1766 0.12 0.00 0.00 0.000 6 0.094 0.000 2569 2163 3103

2074 -0.60 -117.3 148.9 -4.0 97 2079 0.00 2.55 0.00 0.000 4 0.000 0.063 2569 739 3103

2130 -0.60 -117.3 151.2 -3.9 99 2136 0.00 2.53 0.00 0.000 6 0.000 0.051 2569 2155 3103

2446 -0.60 -117.3 163.3 -4.2 115 2451 0.00 2.58 0.00 0.000 4 0.000 0.063 2569 745 3103

2458 -0.60 -117.3 163.7 -4.2 115 2464 0.00 2.53 0.00 0.000 6 0.000 0.052 2569 2156 3103

2774 -0.60 -117.3 178.2 -4.7 131 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2156 3103

3083 -0.60 -117.3 192.6 -4.7 146 3084 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2156 3103

3393 -0.60 -117.3 205.9 -4.0 161 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2156 3103

3702 -0.60 -117.3 217.1 -3.6 176 3703 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2156 3103

4011 -0.60 -117.3 229.4 -4.4 191 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2156 3103

4321 -0.60 -117.3 244.9 -5.3 206 4325 0.00 2.58 0.00 0.000 4 0.000 0.065 2569 747 3103

4331 -0.60 -117.3 245.6 -5.5 206 4337 0.00 2.53 0.00 0.000 6 0.000 0.053 2569 2160 3103

4647 -0.60 -117.3 261.1 -4.7 222 4648 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2158 3102

4957 -0.60 -117.3 276.5 -4.7 237 4958 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2158 3102

5266 -0.60 -117.3 291.8 -5.2 252 5270 0.00 2.60 0.00 0.000 4 0.000 0.067 2569 741 3102

5276 -0.60 -117.3 292.3 -5.1 252 5282 0.00 2.53 0.00 0.000 6 0.000 0.054 2569 2155 3102

5592 -0.60 -117.3 308.7 -5.0 268 5593 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3101

5904 -0.60 -117.3 326.1 -5.9 283 5905 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3101

6211 -0.60 -117.3 342.9 -5.0 298 6212 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2155 3101

6520 -0.60 -117.3 359.5 -4.8 313 6524 0.00 2.58 0.00 0.000 4 0.000 0.068 2569 749 3101

6532 -0.60 -117.3 360.0 -4.4 313 6538 0.00 2.50 0.00 0.000 6 0.000 0.054 2569 2147 3101

6848 -0.60 -117.3 376.5 -5.9 329 6852 0.00 2.53 0.00 0.000 4 0.000 0.067 2569 3557 3101

6869 -0.60 -117.3 377.9 -6.4 330 6874 0.00 2.50 0.00 0.000 6 0.000 0.054 2569 2160 3101

7191 -0.60 -117.3 398.7 -6.7 346 7192 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2143 3101

7501 -0.60 -117.3 417.7 -5.4 361 7505 0.00 2.55 0.00 0.000 4 0.000 0.068 2569 744 3101

7529 -0.60 -117.3 419.2 -5.1 362 7533 0.00 2.53 0.00 0.000 6 0.000 0.054 2569 2149 3101

7845 -0.65 -117.3 435.7 -5.3 377 7850 0.00 2.60 0.00 0.000 4 0.000 0.070 2569 741 3101

7915 end dive: BOTTOM_OBSTACLE_DETECTED

state 7915 begin apogee

7925 -0.33 0.0 439.8 5.8 380 8025 0.25 0.00 97.60 1.088 6 0.084 0.000 2623 2108 2620

8026 end apogee: CONTROL_FINISHED_OK

state 8026 begin climb

8029 1.03 117.3 442.5 0.0 385 8133 1.38 2.65 95.82 1.060 4 0.071 0.064 2919 3507 2141

8169 1.05 130.5 435.0 5.5 391 8188 0.00 2.58 12.40 0.949 6 0.000 0.055 2919 2100 2087

8511 1.05 130.5 416.0 6.1 408 8515 0.00 2.58 0.00 0.000 4 0.000 0.071 2919 692 2087

8573 1.05 130.5 412.0 6.4 411 8578 0.00 2.58 0.00 0.000 6 0.000 0.055 2919 2112 2086

8900 1.11 164.3 393.9 4.8 427 8934 0.00 2.62 28.50 1.024 4 0.000 0.064 2919 3505 1949

8989 1.12 170.5 388.5 5.8 431 9003 0.10 2.53 6.72 0.850 6 0.054 0.056 2952 2116 1924

9322 1.06 170.5 366.3 7.2 447 9323 0.00 0.00 0.00 0.000 6 0.000 0.000 2952 2117 1924

9629 1.01 170.5 342.9 7.8 462 9634 0.17 2.58 0.00 0.000 4 0.078 0.063 2912 3512 1923

9679 1.09 170.5 339.6 6.5 464 9684 0.10 2.50 0.00 0.000 6 0.054 0.053 2946 2128 1923

9995 1.09 170.5 315.0 8.1 479 9999 0.00 2.55 0.00 0.000 4 0.000 0.064 2947 3512 1923

10035 1.09 170.5 311.6 8.6 481 10039 0.00 2.47 0.00 0.000 6 0.000 0.053 2946 2138 1923

10361 1.09 170.5 284.6 8.3 497 10362 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2137 1922

10671 1.09 170.5 258.7 8.5 512 10675 0.00 2.53 0.00 0.000 4 0.000 0.062 2946 3513 1923

10726 1.09 170.5 253.6 9.5 514 10732 0.00 2.45 0.00 0.000 6 0.000 0.053 2946 2148 1922

11042 1.09 170.5 226.0 8.8 530 11043 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2148 1923

11351 1.09 170.5 200.0 8.5 545 11355 0.00 2.47 0.00 0.000 4 0.000 0.063 2946 3506 1922

11407 1.09 170.5 195.0 9.3 547 11413 0.00 2.42 0.00 0.000 6 0.000 0.052 2946 2153 1922

11723 1.09 170.5 170.4 7.5 563 11724 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2153 1923

12033 1.09 170.5 147.1 7.4 578 12034 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2152 1922

12341 1.09 170.5 124.6 7.1 593 12346 0.00 2.47 0.00 0.000 4 0.000 0.061 2946 3508 1922

12397 1.09 170.5 120.6 6.7 595 12403 0.00 2.40 0.00 0.000 6 0.000 0.051 2946 2164 1922

12713 1.09 170.5 101.6 6.0 611 12718 0.00 2.65 0.00 0.000 4 0.000 0.067 2946 687 1923

12763 1.09 170.5 97.9 7.2 613 12768 0.00 2.67 0.00 0.000 6 0.000 0.053 2946 2185 1923

13080 1.11 185.0 79.4 5.5 628 13101 0.00 2.42 13.20 0.798 4 0.000 0.061 2946 3501 1865

13135 1.11 185.0 75.7 6.9 630 13139 0.00 2.40 0.00 0.000 6 0.000 0.052 2946 2176 1864

13453 1.11 185.0 53.4 7.1 645 13457 0.00 2.42 0.00 0.000 4 0.000 0.060 2946 3511 1864

13497 1.11 185.0 50.0 6.9 647 13501 0.00 2.35 0.00 0.000 6 0.000 0.050 2946 2198 1864

13819 1.11 185.0 27.2 7.1 663 13823 0.00 2.72 0.00 0.000 4 0.000 0.066 2946 683 1864

13874 1.11 185.0 22.7 7.9 665 13880 0.00 2.67 0.00 0.000 6 0.000 0.051 2946 2191 1864

14166 end climb: SURFACE_DEPTH_REACHED

state 14166 begin surface coast

14188 end surface coast: CONTROL_FINISHED_OK

state 14188 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	74	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	22	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	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	-78026.094	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	170652,6203.591,-859.022,89,1.7,89,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.106,-0.171
_SM_DEPTHo	0.85	KALMAN_X	-75527.9,-1253.8,-1230.2,40367.0,28898.2
_SM_ANGLEo	-61.1	KALMAN_Y	6118.3,-2191.3,-1197.8,68945.7,21685.9
GPS2	171150,6203.542,-859.012,9,1.5,14,-9.4	MHEAD_RNG_PITCHd_Wd	221.3,43055,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	0.1,1.013144	ALTIM_BOTTOM_PING	375.3,74.3
SM_CCo	14211,67.18,0.785,0,0,1397,300.00	_24V_AH	24.0,16.849
SM_GC	0.90,0.00,0.00,67.18,0.000,0.000,0.785,424,2123,1397,-10.47,-0.76,300.00	_10V_AH	10.1,7.312
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34845,681
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104167,0
HUMID	1666	CFSIZE	254472192,247410688
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	523	GPS	210608,211201,6200.598,-900.634,41,1.0,41,-9.4
ALTIM_TOP_PING	19.1,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	141	82.84	SBE_CT	465	24	268.30
Roll_motor	116	71	199.70	SBE_O2	505	19	230.35
VBD_pump_during_apogee	254	1088	6641.25	WL_BB2F	514	105	1296.49
VBD_pump_during_surface	67	785	1266.23	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	26	160	103.10	nil	0	0	0.00
Iridium_during_xfer	123	223	661.06
Transponder_ping	133	420	1348.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	1262	19	252.44
LPSleep	10963	2	242.50
TT8_Active	452	19	90.46
TT8_Sampling	1466	39	589.59
TT8_CF8	439	45	203.28
TT8_Kalman	33	81	27.57
Analog_circuits	1187	12	143.91
GPS_charging	0	0	0.00
Compass	1444	8	116.71
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	96	0.00	0.00	-69.93	0.000	6	0.000	0.000	421	2164	3099
99	-1.03	-117.3	2.2	-3.2	3	116	10.68	2.53	0.00	0.000	4	0.142	0.058	2469	3562	3101
369	-0.71	-117.3	38.8	-13.2	14	374	0.35	2.53	0.00	0.000	6	0.088	0.048	2544	2142	3101
691	-0.62	-117.3	66.0	-7.2	30	695	0.00	2.58	0.00	0.000	4	0.000	0.060	2544	3557	3103
799	-0.53	-117.3	73.5	-7.3	35	804	0.17	2.50	0.00	0.000	6	0.091	0.046	2580	2150	3103
1126	-0.58	-117.3	96.0	-6.8	51	1128	0.00	0.00	0.00	0.000	6	0.000	0.000	2580	2150	3103
1435	-0.62	-117.3	116.1	-6.1	66	1440	0.00	2.55	0.00	0.000	4	0.000	0.061	2580	3557	3103
1447	-0.67	-117.3	116.9	-6.1	66	1454	0.12	2.47	0.00	0.000	6	0.052	0.048	2544	2164	3103
1764	-0.60	-117.3	136.1	-5.5	82	1766	0.12	0.00	0.00	0.000	6	0.094	0.000	2569	2163	3103
2074	-0.60	-117.3	148.9	-4.0	97	2079	0.00	2.55	0.00	0.000	4	0.000	0.063	2569	739	3103
2130	-0.60	-117.3	151.2	-3.9	99	2136	0.00	2.53	0.00	0.000	6	0.000	0.051	2569	2155	3103
2446	-0.60	-117.3	163.3	-4.2	115	2451	0.00	2.58	0.00	0.000	4	0.000	0.063	2569	745	3103
2458	-0.60	-117.3	163.7	-4.2	115	2464	0.00	2.53	0.00	0.000	6	0.000	0.052	2569	2156	3103
2774	-0.60	-117.3	178.2	-4.7	131	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2156	3103
3083	-0.60	-117.3	192.6	-4.7	146	3084	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2156	3103
3393	-0.60	-117.3	205.9	-4.0	161	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2156	3103
3702	-0.60	-117.3	217.1	-3.6	176	3703	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2156	3103
4011	-0.60	-117.3	229.4	-4.4	191	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2156	3103
4321	-0.60	-117.3	244.9	-5.3	206	4325	0.00	2.58	0.00	0.000	4	0.000	0.065	2569	747	3103
4331	-0.60	-117.3	245.6	-5.5	206	4337	0.00	2.53	0.00	0.000	6	0.000	0.053	2569	2160	3103
4647	-0.60	-117.3	261.1	-4.7	222	4648	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2158	3102
4957	-0.60	-117.3	276.5	-4.7	237	4958	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2158	3102
5266	-0.60	-117.3	291.8	-5.2	252	5270	0.00	2.60	0.00	0.000	4	0.000	0.067	2569	741	3102
5276	-0.60	-117.3	292.3	-5.1	252	5282	0.00	2.53	0.00	0.000	6	0.000	0.054	2569	2155	3102
5592	-0.60	-117.3	308.7	-5.0	268	5593	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3101
5904	-0.60	-117.3	326.1	-5.9	283	5905	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3101
6211	-0.60	-117.3	342.9	-5.0	298	6212	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2155	3101
6520	-0.60	-117.3	359.5	-4.8	313	6524	0.00	2.58	0.00	0.000	4	0.000	0.068	2569	749	3101
6532	-0.60	-117.3	360.0	-4.4	313	6538	0.00	2.50	0.00	0.000	6	0.000	0.054	2569	2147	3101
6848	-0.60	-117.3	376.5	-5.9	329	6852	0.00	2.53	0.00	0.000	4	0.000	0.067	2569	3557	3101
6869	-0.60	-117.3	377.9	-6.4	330	6874	0.00	2.50	0.00	0.000	6	0.000	0.054	2569	2160	3101
7191	-0.60	-117.3	398.7	-6.7	346	7192	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2143	3101
7501	-0.60	-117.3	417.7	-5.4	361	7505	0.00	2.55	0.00	0.000	4	0.000	0.068	2569	744	3101
7529	-0.60	-117.3	419.2	-5.1	362	7533	0.00	2.53	0.00	0.000	6	0.000	0.054	2569	2149	3101
7845	-0.65	-117.3	435.7	-5.3	377	7850	0.00	2.60	0.00	0.000	4	0.000	0.070	2569	741	3101
7915	end dive: BOTTOM_OBSTACLE_DETECTED
state	7915	begin apogee
7925	-0.33	0.0	439.8	5.8	380	8025	0.25	0.00	97.60	1.088	6	0.084	0.000	2623	2108	2620
8026	end apogee: CONTROL_FINISHED_OK
state	8026	begin climb
8029	1.03	117.3	442.5	0.0	385	8133	1.38	2.65	95.82	1.060	4	0.071	0.064	2919	3507	2141
8169	1.05	130.5	435.0	5.5	391	8188	0.00	2.58	12.40	0.949	6	0.000	0.055	2919	2100	2087
8511	1.05	130.5	416.0	6.1	408	8515	0.00	2.58	0.00	0.000	4	0.000	0.071	2919	692	2087
8573	1.05	130.5	412.0	6.4	411	8578	0.00	2.58	0.00	0.000	6	0.000	0.055	2919	2112	2086
8900	1.11	164.3	393.9	4.8	427	8934	0.00	2.62	28.50	1.024	4	0.000	0.064	2919	3505	1949
8989	1.12	170.5	388.5	5.8	431	9003	0.10	2.53	6.72	0.850	6	0.054	0.056	2952	2116	1924
9322	1.06	170.5	366.3	7.2	447	9323	0.00	0.00	0.00	0.000	6	0.000	0.000	2952	2117	1924
9629	1.01	170.5	342.9	7.8	462	9634	0.17	2.58	0.00	0.000	4	0.078	0.063	2912	3512	1923
9679	1.09	170.5	339.6	6.5	464	9684	0.10	2.50	0.00	0.000	6	0.054	0.053	2946	2128	1923
9995	1.09	170.5	315.0	8.1	479	9999	0.00	2.55	0.00	0.000	4	0.000	0.064	2947	3512	1923
10035	1.09	170.5	311.6	8.6	481	10039	0.00	2.47	0.00	0.000	6	0.000	0.053	2946	2138	1923
10361	1.09	170.5	284.6	8.3	497	10362	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2137	1922
10671	1.09	170.5	258.7	8.5	512	10675	0.00	2.53	0.00	0.000	4	0.000	0.062	2946	3513	1923
10726	1.09	170.5	253.6	9.5	514	10732	0.00	2.45	0.00	0.000	6	0.000	0.053	2946	2148	1922
11042	1.09	170.5	226.0	8.8	530	11043	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2148	1923
11351	1.09	170.5	200.0	8.5	545	11355	0.00	2.47	0.00	0.000	4	0.000	0.063	2946	3506	1922
11407	1.09	170.5	195.0	9.3	547	11413	0.00	2.42	0.00	0.000	6	0.000	0.052	2946	2153	1922
11723	1.09	170.5	170.4	7.5	563	11724	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2153	1923
12033	1.09	170.5	147.1	7.4	578	12034	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2152	1922
12341	1.09	170.5	124.6	7.1	593	12346	0.00	2.47	0.00	0.000	4	0.000	0.061	2946	3508	1922
12397	1.09	170.5	120.6	6.7	595	12403	0.00	2.40	0.00	0.000	6	0.000	0.051	2946	2164	1922
12713	1.09	170.5	101.6	6.0	611	12718	0.00	2.65	0.00	0.000	4	0.000	0.067	2946	687	1923
12763	1.09	170.5	97.9	7.2	613	12768	0.00	2.67	0.00	0.000	6	0.000	0.053	2946	2185	1923
13080	1.11	185.0	79.4	5.5	628	13101	0.00	2.42	13.20	0.798	4	0.000	0.061	2946	3501	1865
13135	1.11	185.0	75.7	6.9	630	13139	0.00	2.40	0.00	0.000	6	0.000	0.052	2946	2176	1864
13453	1.11	185.0	53.4	7.1	645	13457	0.00	2.42	0.00	0.000	4	0.000	0.060	2946	3511	1864
13497	1.11	185.0	50.0	6.9	647	13501	0.00	2.35	0.00	0.000	6	0.000	0.050	2946	2198	1864
13819	1.11	185.0	27.2	7.1	663	13823	0.00	2.72	0.00	0.000	4	0.000	0.066	2946	683	1864
13874	1.11	185.0	22.7	7.9	665	13880	0.00	2.67	0.00	0.000	6	0.000	0.051	2946	2191	1864
14166	end climb: SURFACE_DEPTH_REACHED
state	14166	begin surface coast
14188	end surface coast: CONTROL_FINISHED_OK
state	14188	begin surface