Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 97 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 97 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -2094921.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

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 15

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 -2094921.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 97 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-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 070737,6154.858,-900.071,30,1.4,30,-9.4 TGT_NAME B1

_CALLS 2 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.008,-0.221

_SM_DEPTHo 1.19 KALMAN_X -152529.5,628.9,-850.7,-48942.0,-1584.9

_SM_ANGLEo -58.8 KALMAN_Y -48858.6,-1225.0,-900.7,175680.6,36357.0

GPS2 071809,6154.965,-900.099,13,1.8,13,-9.4 MHEAD_RNG_PITCHd_Wd 201.7,16045,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.001871 ALTIM_BOTTOM_PING 475.8,69.2

SM_CCo 13612,99.18,0.624,0,0,508,557.32 _24V_AH 23.6,19.242

SM_GC 1.31,0.00,0.00,99.18,0.000,0.000,0.624,65,2307,508,-10.28,0.20,557.32 _10V_AH 10.1,9.810

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34844,657

TT8_MAMPS 0.020709 CAP_FILE_SIZE 114289,0

HUMID 1852 CFSIZE 260165632,252051456

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 25 GPS 280608,110907,6155.433,-902.867,43,2.0,54,-9.4

ALTIM_TOP_PING 19.1,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 97.29 SBE_CT 483 24 273.99

Roll_motor 144 86 295.97 SBE_O2 445 19 199.70

VBD_pump_during_apogee 442 1003 10469.10 WL_BB2F 446 105 1106.48

VBD_pump_during_surface 99 624 1461.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.28 nil 0 0 0.00

Iridium_during_connect 52 160 198.90 nil 0 0 0.00

Iridium_during_xfer 364 223 1916.39

Transponder_ping 10 420 101.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.93

TT8 1226 19 245.18

LPSleep 10238 2 226.46

TT8_Active 689 19 137.95

TT8_Sampling 1496 39 601.56

TT8_CF8 698 45 322.93

TT8_Kalman 33 81 27.56

Analog_circuits 1492 12 180.90

GPS_charging 0 0 0.00

Compass 1460 8 118.03

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 148 0.00 0.00 -120.60 0.000 2 0.000 0.000 67 2309 2922

152 -0.85 -146.6 3.2 -2.5 6 182 11.38 2.70 -12.00 0.000 4 0.165 0.074 2109 888 3381

402 -0.72 -146.6 32.5 -10.9 17 407 0.17 2.62 0.00 0.000 6 0.091 0.057 2143 2298 3381

724 -0.64 -146.6 62.3 -9.5 33 728 0.00 2.65 0.00 0.000 4 0.000 0.062 2143 880 3381

764 -0.60 -146.6 66.0 -10.2 35 769 0.12 2.62 0.00 0.000 6 0.093 0.054 2167 2302 3381

1091 -0.60 -146.6 94.9 -8.8 51 1095 0.00 2.65 0.00 0.000 4 0.000 0.063 2167 880 3381

1153 -0.60 -146.6 100.4 -8.3 54 1158 0.00 2.62 0.00 0.000 6 0.000 0.054 2167 2303 3381

1480 -0.60 -146.6 125.9 -7.9 70 1484 0.00 2.67 0.00 0.000 4 0.000 0.065 2168 877 3382

1513 -0.64 -146.6 128.6 -8.6 71 1519 0.00 2.62 0.00 0.000 6 0.000 0.055 2167 2303 3381

1828 -0.64 -146.6 155.5 -9.0 87 1833 0.00 2.67 0.00 0.000 4 0.000 0.065 2167 875 3382

1856 -0.64 -146.6 158.2 -9.1 88 1860 0.00 2.62 0.00 0.000 6 0.000 0.054 2167 2299 3382

2171 -0.64 -146.6 186.3 -8.8 103 2173 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2300 3382

2481 -0.64 -146.6 212.4 -7.9 118 2485 0.00 2.67 0.00 0.000 4 0.000 0.067 2167 875 3382

2525 -0.69 -146.6 215.9 -7.7 120 2529 0.00 2.62 0.00 0.000 6 0.000 0.054 2167 2299 3382

2847 -0.69 -146.6 236.8 -5.8 136 2851 0.00 2.67 0.00 0.000 4 0.000 0.067 2168 878 3382

2880 -0.74 -146.6 238.8 -6.0 137 2886 0.12 2.62 0.00 0.000 6 0.045 0.054 2125 2299 3382

3196 -0.63 -146.6 261.3 -7.0 153 3201 0.15 2.67 0.00 0.000 4 0.085 0.067 2159 880 3382

3240 -0.63 -146.6 263.9 -5.0 155 3245 0.00 2.62 0.00 0.000 6 0.000 0.054 2161 2303 3382

3562 -0.63 -146.6 280.3 -5.2 171 3567 0.00 2.67 0.00 0.000 4 0.000 0.067 2160 880 3382

3612 -0.63 -146.6 282.8 -5.3 173 3617 0.00 2.62 0.00 0.000 6 0.000 0.055 2159 2304 3382

3928 -0.63 -146.6 299.7 -5.9 188 3929 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2304 3382

4237 -0.63 -146.6 319.7 -7.1 203 4241 0.00 2.67 0.00 0.000 4 0.000 0.068 2160 880 3382

4300 -0.67 -146.6 324.3 -7.5 206 4304 0.00 2.62 0.00 0.000 6 0.000 0.056 2160 2299 3381

4627 -0.67 -146.6 350.7 -8.7 222 4631 0.00 2.67 0.00 0.000 4 0.000 0.068 2159 878 3381

4648 -0.67 -146.6 352.7 -8.7 223 4652 0.00 2.60 0.00 0.000 6 0.000 0.056 2160 2300 3381

4969 -0.67 -146.6 381.8 -9.3 239 4970 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2301 3381

5278 -0.67 -146.6 413.1 -10.3 254 5279 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2301 3381

5587 -0.67 -146.6 444.5 -9.2 269 5588 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2302 3381

5897 -0.67 -146.6 468.6 -6.4 284 5901 0.00 2.70 0.00 0.000 4 0.000 0.070 2160 877 3381

5937 -0.73 -146.6 470.1 -4.5 286 5941 0.00 2.65 0.00 0.000 6 0.000 0.058 2160 2303 3380

6263 -0.73 -146.6 488.4 -6.4 302 6264 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2303 3380

6573 -0.73 -146.6 505.7 -4.6 317 6577 0.00 2.70 0.00 0.000 4 0.000 0.072 2160 881 3380

6613 -0.81 -146.6 507.6 -4.4 319 6618 0.17 2.65 0.00 0.000 6 0.044 0.061 2109 2299 3379

6916 end dive: BOTTOM_OBSTACLE_DETECTED

state 6916 begin apogee

6924 -0.31 0.0 536.5 8.9 334 7059 0.60 0.00 129.82 1.003 6 0.090 0.000 2230 2189 2781

7060 end apogee: CONTROL_FINISHED_OK

state 7060 begin climb

7063 0.85 146.6 543.2 0.0 341 7199 1.17 2.88 127.45 0.991 4 0.077 0.083 2480 3607 2183

7230 0.88 181.0 540.2 5.1 349 7272 0.00 2.67 31.15 0.950 6 0.000 0.061 2480 2204 2043

7581 0.92 216.5 521.9 5.0 366 7622 0.00 2.88 32.00 0.952 4 0.000 0.077 2480 772 1897

7674 1.04 269.2 516.7 4.6 370 7731 0.20 2.67 46.90 0.963 6 0.054 0.058 2532 2198 1683

8041 1.04 269.2 483.9 9.4 388 8042 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2198 1682

8349 1.04 269.2 455.4 8.8 403 8354 0.00 2.80 0.00 0.000 4 0.000 0.087 2532 3621 1681

8376 1.04 269.2 452.6 9.3 404 8381 0.00 2.70 0.00 0.000 6 0.000 0.066 2532 2193 1681

8692 1.04 269.2 423.1 9.9 419 8696 0.00 2.70 0.00 0.000 4 0.000 0.076 2532 785 1680

8724 1.04 269.2 419.5 10.2 420 8731 0.00 2.65 0.00 0.000 6 0.000 0.059 2532 2200 1680

9041 1.04 269.2 393.7 6.7 436 9045 0.00 2.75 0.00 0.000 4 0.000 0.087 2532 3613 1679

9135 0.99 269.2 387.3 6.8 440 9140 0.00 2.67 0.00 0.000 6 0.000 0.067 2532 2203 1679

9451 1.06 333.8 372.9 4.2 455 9514 0.00 2.83 54.97 0.907 4 0.000 0.084 2532 3614 1420

9542 1.08 348.0 368.2 5.6 459 9561 0.00 2.70 13.85 0.834 6 0.000 0.065 2532 2197 1362

9890 1.08 348.0 347.7 6.4 476 9894 0.00 2.70 0.00 0.000 4 0.000 0.072 2532 782 1361

9923 1.08 353.3 345.5 5.9 477 9934 0.00 2.65 6.03 0.699 6 0.000 0.056 2532 2204 1340

10255 1.08 353.3 321.9 7.7 494 10256 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2204 1340

10565 1.12 353.3 297.4 7.9 509 10566 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2204 1340

10874 1.12 353.3 272.7 8.1 524 10878 0.00 2.70 0.00 0.000 4 0.000 0.069 2532 782 1339

10936 1.12 353.3 267.4 8.8 527 10940 0.00 2.62 0.00 0.000 6 0.000 0.054 2532 2202 1340

11262 1.12 353.3 236.8 9.8 543 11267 0.00 2.72 0.00 0.000 4 0.000 0.080 2532 3619 1341

11284 1.17 353.3 234.5 10.1 544 11289 0.12 2.65 0.00 0.000 6 0.051 0.061 2569 2196 1341

11605 1.13 353.3 196.0 12.1 560 11610 0.12 2.65 0.00 0.000 4 0.086 0.067 2544 783 1341

11668 1.13 353.3 189.4 9.9 563 11672 0.00 2.62 0.00 0.000 6 0.000 0.054 2544 2204 1341

11994 1.13 353.3 155.3 10.5 579 11995 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2204 1341

12304 1.13 353.3 123.1 10.5 594 12308 0.00 2.67 0.00 0.000 4 0.000 0.066 2544 782 1341

12344 1.13 353.3 119.0 9.9 596 12348 0.00 2.60 0.00 0.000 6 0.000 0.053 2544 2203 1342

12670 1.13 353.3 85.4 9.9 612 12675 0.00 2.67 0.00 0.000 4 0.000 0.067 2545 780 1342

12703 1.13 353.3 82.0 9.3 613 12710 0.00 2.60 0.00 0.000 6 0.000 0.052 2544 2202 1342

13021 1.13 353.3 52.2 9.2 629 13025 0.00 2.70 0.00 0.000 4 0.000 0.077 2544 3619 1342

13054 1.13 353.3 48.7 9.3 630 13060 0.00 2.62 0.00 0.000 6 0.000 0.061 2544 2198 1343

13372 1.13 353.3 19.1 9.2 646 13376 0.00 2.65 0.00 0.000 4 0.000 0.067 2544 780 1343

13395 1.13 353.3 16.8 9.3 647 13399 0.00 2.60 0.00 0.000 6 0.000 0.053 2544 2200 1343

13569 end climb: SURFACE_DEPTH_REACHED

state 13569 begin surface coast

13591 end surface coast: CONTROL_FINISHED_OK

state 13591 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	97	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-2094921.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	070737,6154.858,-900.071,30,1.4,30,-9.4	TGT_NAME	B1
_CALLS	2	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.008,-0.221
_SM_DEPTHo	1.19	KALMAN_X	-152529.5,628.9,-850.7,-48942.0,-1584.9
_SM_ANGLEo	-58.8	KALMAN_Y	-48858.6,-1225.0,-900.7,175680.6,36357.0
GPS2	071809,6154.965,-900.099,13,1.8,13,-9.4	MHEAD_RNG_PITCHd_Wd	201.7,16045,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.001871	ALTIM_BOTTOM_PING	475.8,69.2
SM_CCo	13612,99.18,0.624,0,0,508,557.32	_24V_AH	23.6,19.242
SM_GC	1.31,0.00,0.00,99.18,0.000,0.000,0.624,65,2307,508,-10.28,0.20,557.32	_10V_AH	10.1,9.810
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34844,657
TT8_MAMPS	0.020709	CAP_FILE_SIZE	114289,0
HUMID	1852	CFSIZE	260165632,252051456
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	25	GPS	280608,110907,6155.433,-902.867,43,2.0,54,-9.4
ALTIM_TOP_PING	19.1,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	97.29	SBE_CT	483	24	273.99
Roll_motor	144	86	295.97	SBE_O2	445	19	199.70
VBD_pump_during_apogee	442	1003	10469.10	WL_BB2F	446	105	1106.48
VBD_pump_during_surface	99	624	1461.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.28	nil	0	0	0.00
Iridium_during_connect	52	160	198.90	nil	0	0	0.00
Iridium_during_xfer	364	223	1916.39
Transponder_ping	10	420	101.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.93
TT8	1226	19	245.18
LPSleep	10238	2	226.46
TT8_Active	689	19	137.95
TT8_Sampling	1496	39	601.56
TT8_CF8	698	45	322.93
TT8_Kalman	33	81	27.56
Analog_circuits	1492	12	180.90
GPS_charging	0	0	0.00
Compass	1460	8	118.03
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	148	0.00	0.00	-120.60	0.000	2	0.000	0.000	67	2309	2922
152	-0.85	-146.6	3.2	-2.5	6	182	11.38	2.70	-12.00	0.000	4	0.165	0.074	2109	888	3381
402	-0.72	-146.6	32.5	-10.9	17	407	0.17	2.62	0.00	0.000	6	0.091	0.057	2143	2298	3381
724	-0.64	-146.6	62.3	-9.5	33	728	0.00	2.65	0.00	0.000	4	0.000	0.062	2143	880	3381
764	-0.60	-146.6	66.0	-10.2	35	769	0.12	2.62	0.00	0.000	6	0.093	0.054	2167	2302	3381
1091	-0.60	-146.6	94.9	-8.8	51	1095	0.00	2.65	0.00	0.000	4	0.000	0.063	2167	880	3381
1153	-0.60	-146.6	100.4	-8.3	54	1158	0.00	2.62	0.00	0.000	6	0.000	0.054	2167	2303	3381
1480	-0.60	-146.6	125.9	-7.9	70	1484	0.00	2.67	0.00	0.000	4	0.000	0.065	2168	877	3382
1513	-0.64	-146.6	128.6	-8.6	71	1519	0.00	2.62	0.00	0.000	6	0.000	0.055	2167	2303	3381
1828	-0.64	-146.6	155.5	-9.0	87	1833	0.00	2.67	0.00	0.000	4	0.000	0.065	2167	875	3382
1856	-0.64	-146.6	158.2	-9.1	88	1860	0.00	2.62	0.00	0.000	6	0.000	0.054	2167	2299	3382
2171	-0.64	-146.6	186.3	-8.8	103	2173	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2300	3382
2481	-0.64	-146.6	212.4	-7.9	118	2485	0.00	2.67	0.00	0.000	4	0.000	0.067	2167	875	3382
2525	-0.69	-146.6	215.9	-7.7	120	2529	0.00	2.62	0.00	0.000	6	0.000	0.054	2167	2299	3382
2847	-0.69	-146.6	236.8	-5.8	136	2851	0.00	2.67	0.00	0.000	4	0.000	0.067	2168	878	3382
2880	-0.74	-146.6	238.8	-6.0	137	2886	0.12	2.62	0.00	0.000	6	0.045	0.054	2125	2299	3382
3196	-0.63	-146.6	261.3	-7.0	153	3201	0.15	2.67	0.00	0.000	4	0.085	0.067	2159	880	3382
3240	-0.63	-146.6	263.9	-5.0	155	3245	0.00	2.62	0.00	0.000	6	0.000	0.054	2161	2303	3382
3562	-0.63	-146.6	280.3	-5.2	171	3567	0.00	2.67	0.00	0.000	4	0.000	0.067	2160	880	3382
3612	-0.63	-146.6	282.8	-5.3	173	3617	0.00	2.62	0.00	0.000	6	0.000	0.055	2159	2304	3382
3928	-0.63	-146.6	299.7	-5.9	188	3929	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2304	3382
4237	-0.63	-146.6	319.7	-7.1	203	4241	0.00	2.67	0.00	0.000	4	0.000	0.068	2160	880	3382
4300	-0.67	-146.6	324.3	-7.5	206	4304	0.00	2.62	0.00	0.000	6	0.000	0.056	2160	2299	3381
4627	-0.67	-146.6	350.7	-8.7	222	4631	0.00	2.67	0.00	0.000	4	0.000	0.068	2159	878	3381
4648	-0.67	-146.6	352.7	-8.7	223	4652	0.00	2.60	0.00	0.000	6	0.000	0.056	2160	2300	3381
4969	-0.67	-146.6	381.8	-9.3	239	4970	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2301	3381
5278	-0.67	-146.6	413.1	-10.3	254	5279	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2301	3381
5587	-0.67	-146.6	444.5	-9.2	269	5588	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2302	3381
5897	-0.67	-146.6	468.6	-6.4	284	5901	0.00	2.70	0.00	0.000	4	0.000	0.070	2160	877	3381
5937	-0.73	-146.6	470.1	-4.5	286	5941	0.00	2.65	0.00	0.000	6	0.000	0.058	2160	2303	3380
6263	-0.73	-146.6	488.4	-6.4	302	6264	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2303	3380
6573	-0.73	-146.6	505.7	-4.6	317	6577	0.00	2.70	0.00	0.000	4	0.000	0.072	2160	881	3380
6613	-0.81	-146.6	507.6	-4.4	319	6618	0.17	2.65	0.00	0.000	6	0.044	0.061	2109	2299	3379
6916	end dive: BOTTOM_OBSTACLE_DETECTED
state	6916	begin apogee
6924	-0.31	0.0	536.5	8.9	334	7059	0.60	0.00	129.82	1.003	6	0.090	0.000	2230	2189	2781
7060	end apogee: CONTROL_FINISHED_OK
state	7060	begin climb
7063	0.85	146.6	543.2	0.0	341	7199	1.17	2.88	127.45	0.991	4	0.077	0.083	2480	3607	2183
7230	0.88	181.0	540.2	5.1	349	7272	0.00	2.67	31.15	0.950	6	0.000	0.061	2480	2204	2043
7581	0.92	216.5	521.9	5.0	366	7622	0.00	2.88	32.00	0.952	4	0.000	0.077	2480	772	1897
7674	1.04	269.2	516.7	4.6	370	7731	0.20	2.67	46.90	0.963	6	0.054	0.058	2532	2198	1683
8041	1.04	269.2	483.9	9.4	388	8042	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2198	1682
8349	1.04	269.2	455.4	8.8	403	8354	0.00	2.80	0.00	0.000	4	0.000	0.087	2532	3621	1681
8376	1.04	269.2	452.6	9.3	404	8381	0.00	2.70	0.00	0.000	6	0.000	0.066	2532	2193	1681
8692	1.04	269.2	423.1	9.9	419	8696	0.00	2.70	0.00	0.000	4	0.000	0.076	2532	785	1680
8724	1.04	269.2	419.5	10.2	420	8731	0.00	2.65	0.00	0.000	6	0.000	0.059	2532	2200	1680
9041	1.04	269.2	393.7	6.7	436	9045	0.00	2.75	0.00	0.000	4	0.000	0.087	2532	3613	1679
9135	0.99	269.2	387.3	6.8	440	9140	0.00	2.67	0.00	0.000	6	0.000	0.067	2532	2203	1679
9451	1.06	333.8	372.9	4.2	455	9514	0.00	2.83	54.97	0.907	4	0.000	0.084	2532	3614	1420
9542	1.08	348.0	368.2	5.6	459	9561	0.00	2.70	13.85	0.834	6	0.000	0.065	2532	2197	1362
9890	1.08	348.0	347.7	6.4	476	9894	0.00	2.70	0.00	0.000	4	0.000	0.072	2532	782	1361
9923	1.08	353.3	345.5	5.9	477	9934	0.00	2.65	6.03	0.699	6	0.000	0.056	2532	2204	1340
10255	1.08	353.3	321.9	7.7	494	10256	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2204	1340
10565	1.12	353.3	297.4	7.9	509	10566	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2204	1340
10874	1.12	353.3	272.7	8.1	524	10878	0.00	2.70	0.00	0.000	4	0.000	0.069	2532	782	1339
10936	1.12	353.3	267.4	8.8	527	10940	0.00	2.62	0.00	0.000	6	0.000	0.054	2532	2202	1340
11262	1.12	353.3	236.8	9.8	543	11267	0.00	2.72	0.00	0.000	4	0.000	0.080	2532	3619	1341
11284	1.17	353.3	234.5	10.1	544	11289	0.12	2.65	0.00	0.000	6	0.051	0.061	2569	2196	1341
11605	1.13	353.3	196.0	12.1	560	11610	0.12	2.65	0.00	0.000	4	0.086	0.067	2544	783	1341
11668	1.13	353.3	189.4	9.9	563	11672	0.00	2.62	0.00	0.000	6	0.000	0.054	2544	2204	1341
11994	1.13	353.3	155.3	10.5	579	11995	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2204	1341
12304	1.13	353.3	123.1	10.5	594	12308	0.00	2.67	0.00	0.000	4	0.000	0.066	2544	782	1341
12344	1.13	353.3	119.0	9.9	596	12348	0.00	2.60	0.00	0.000	6	0.000	0.053	2544	2203	1342
12670	1.13	353.3	85.4	9.9	612	12675	0.00	2.67	0.00	0.000	4	0.000	0.067	2545	780	1342
12703	1.13	353.3	82.0	9.3	613	12710	0.00	2.60	0.00	0.000	6	0.000	0.052	2544	2202	1342
13021	1.13	353.3	52.2	9.2	629	13025	0.00	2.70	0.00	0.000	4	0.000	0.077	2544	3619	1342
13054	1.13	353.3	48.7	9.3	630	13060	0.00	2.62	0.00	0.000	6	0.000	0.061	2544	2198	1343
13372	1.13	353.3	19.1	9.2	646	13376	0.00	2.65	0.00	0.000	4	0.000	0.067	2544	780	1343
13395	1.13	353.3	16.8	9.3	647	13399	0.00	2.60	0.00	0.000	6	0.000	0.053	2544	2200	1343
13569	end climb: SURFACE_DEPTH_REACHED
state	13569	begin surface coast
13591	end surface coast: CONTROL_FINISHED_OK
state	13591	begin surface