Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 100 * 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 100 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 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 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 -2095010.8 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 -2095010.8

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 22 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 100 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 184737,6201.171,-907.772,38,1.3,38,-9.5 TGT_NAME B1

_CALLS 4 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.059,-0.213

_SM_DEPTHo 1.14 KALMAN_X -165068.3,-330.6,280.1,-43728.7,-19930.0

_SM_ANGLEo -56.9 KALMAN_Y -29402.2,-2589.7,-2522.1,170985.9,57910.1

GPS2 185940,6201.292,-908.047,16,1.9,16,-9.5 MHEAD_RNG_PITCHd_Wd 182.1,27622,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.024807 ALTIM_BOTTOM_PING 400.5,94.7

SM_CCo 13279,126.97,0.624,0,0,508,557.32 _24V_AH 23.7,19.665

SM_GC 1.19,0.00,0.00,126.97,0.000,0.000,0.624,71,2303,508,-10.25,0.08,557.32 _10V_AH 10.1,10.019

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31661,640

TT8_MAMPS 0.023777 CAP_FILE_SIZE 108559,0

HUMID 1849 CFSIZE 260165632,251899904

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 27 GPS 280608,224508,6201.828,-910.452,28,1.8,28,-9.5

ALTIM_TOP_PING 19.7,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 163 98.25 SBE_CT 473 24 269.42

Roll_motor 145 92 317.22 SBE_O2 433 19 195.40

VBD_pump_during_apogee 389 978 9023.44 WL_BB2F 479 105 1193.53

VBD_pump_during_surface 126 624 1878.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 103 103 252.23 nil 0 0 0.00

Iridium_during_connect 127 160 483.43 nil 0 0 0.00

Iridium_during_xfer 189 223 999.50

Transponder_ping 10 420 99.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.52

TT8 1206 19 241.37

LPSleep 10100 2 223.41

TT8_Active 699 19 139.81

TT8_Sampling 1457 39 585.76

TT8_CF8 673 45 311.41

TT8_Kalman 33 81 27.56

Analog_circuits 1456 12 176.57

GPS_charging 0 0 0.00

Compass 1426 8 115.26

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 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -120.88 0.000 2 0.000 0.000 71 2315 2936

150 -0.85 -146.6 3.3 -2.7 6 180 11.27 2.72 -11.27 0.000 4 0.163 0.074 2109 881 3381

345 -0.72 -146.6 27.2 -10.6 14 352 0.17 2.62 0.00 0.000 6 0.093 0.058 2143 2294 3381

661 -0.64 -146.6 55.0 -8.5 30 666 0.00 2.65 0.00 0.000 4 0.000 0.064 2143 880 3381

717 -0.64 -146.6 59.8 -8.1 32 723 0.00 2.60 0.00 0.000 6 0.000 0.058 2143 2301 3381

1035 -0.56 -146.6 83.6 -7.0 48 1040 0.15 2.67 0.00 0.000 4 0.093 0.064 2176 877 3381

1080 -0.64 -146.6 86.6 -5.7 50 1085 0.00 2.65 0.00 0.000 6 0.000 0.057 2176 2303 3381

1401 -0.64 -146.6 103.9 -5.5 66 1406 0.00 2.67 0.00 0.000 4 0.000 0.064 2176 879 3382

1436 -0.71 -146.6 106.0 -5.7 67 1443 0.15 2.62 0.00 0.000 6 0.041 0.057 2126 2300 3381

1753 -0.59 -146.6 128.1 -6.8 83 1755 0.22 0.00 0.00 0.000 6 0.081 0.000 2172 2299 3382

2061 -0.59 -146.6 146.1 -6.0 98 2065 0.00 2.67 0.00 0.000 4 0.000 0.066 2172 877 3381

2111 -0.66 -146.6 149.4 -6.7 100 2115 0.00 2.62 0.00 0.000 6 0.000 0.056 2172 2300 3382

2426 -0.66 -146.6 172.6 -8.3 115 2428 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2300 3382

2737 -0.66 -146.6 201.5 -9.2 130 2741 0.00 2.67 0.00 0.000 4 0.000 0.067 2172 874 3382

2799 -0.73 -146.6 207.4 -9.7 133 2804 0.15 2.65 0.00 0.000 6 0.041 0.057 2123 2298 3382

3126 -0.63 -146.6 243.6 -10.9 149 3128 0.20 0.00 0.00 0.000 6 0.081 0.000 2165 2298 3381

3435 -0.63 -146.6 267.2 -7.2 164 3440 0.00 2.67 0.00 0.000 4 0.000 0.067 2165 881 3382

3475 -0.67 -146.6 270.2 -7.6 166 3480 0.00 2.65 0.00 0.000 6 0.000 0.059 2165 2305 3382

3802 -0.67 -146.6 298.7 -9.1 182 3806 0.00 2.67 0.00 0.000 4 0.000 0.068 2165 881 3382

3864 -0.72 -146.6 304.4 -9.0 185 3868 0.00 2.65 0.00 0.000 6 0.000 0.059 2165 2305 3382

4191 -0.72 -146.6 336.8 -9.7 201 4192 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2305 3382

4500 -0.72 -146.6 360.2 -6.3 216 4505 0.00 2.72 0.00 0.000 4 0.000 0.085 2165 3713 3381

4534 -0.72 -146.6 362.3 -6.1 217 4540 0.00 2.62 0.00 0.000 6 0.000 0.060 2166 2297 3381

4850 -0.72 -146.6 376.3 -3.7 233 4854 0.00 2.65 0.00 0.000 4 0.000 0.070 2165 885 3381

4939 -0.79 -146.6 379.6 -3.4 237 4945 0.17 2.65 0.00 0.000 6 0.042 0.061 2112 2301 3381

5261 -0.67 -146.6 395.2 -5.4 253 5263 0.20 0.00 0.00 0.000 6 0.083 0.000 2152 2301 3381

5570 -0.67 -146.6 409.3 -4.8 268 5575 0.00 2.70 0.00 0.000 4 0.000 0.071 2153 880 3380

5626 -0.67 -146.6 412.4 -5.5 270 5633 0.00 2.67 0.00 0.000 6 0.000 0.063 2152 2308 3380

5942 -0.67 -146.6 432.5 -6.2 286 5947 0.00 2.72 0.00 0.000 4 0.000 0.071 2152 877 3379

5982 -0.67 -146.6 434.9 -6.8 288 5987 0.00 2.67 0.00 0.000 6 0.000 0.064 2153 2305 3380

6309 -0.63 -146.6 457.2 -7.7 304 6314 0.00 2.72 0.00 0.000 4 0.000 0.073 2152 880 3379

6394 -0.69 -146.6 464.0 -7.2 308 6398 0.00 2.67 0.00 0.000 6 0.000 0.064 2152 2303 3379

6697 end dive: BOTTOM_OBSTACLE_DETECTED

state 6697 begin apogee

6704 -0.31 0.0 487.0 8.0 323 6839 0.38 0.00 128.27 0.979 6 0.087 0.000 2229 2197 2782

6840 end apogee: CONTROL_FINISHED_OK

state 6840 begin climb

6843 0.85 146.6 492.3 0.0 330 6981 1.23 2.80 128.05 0.963 4 0.081 0.074 2483 782 2183

7009 0.89 186.4 487.6 4.9 338 7050 0.00 2.70 35.40 0.927 6 0.000 0.061 2483 2199 2021

7375 0.99 232.9 467.6 4.7 356 7424 0.15 2.85 41.47 0.933 4 0.052 0.088 2530 3616 1831

7469 0.89 232.9 460.7 8.1 360 7475 0.17 2.70 0.00 0.000 6 0.091 0.067 2495 2203 1831

7785 0.93 262.6 443.3 5.2 375 7819 0.00 2.80 26.90 0.923 4 0.000 0.076 2495 783 1709

7832 1.03 295.2 440.7 5.1 377 7869 0.12 2.70 28.92 0.918 6 0.054 0.062 2530 2198 1577

8181 1.03 295.2 419.5 6.1 394 8185 0.00 2.75 0.00 0.000 4 0.000 0.076 2530 782 1576

8243 1.03 295.2 415.3 7.0 397 8247 0.00 2.70 0.00 0.000 6 0.000 0.063 2530 2207 1575

8569 1.03 295.2 395.1 6.2 413 8574 0.00 2.78 0.00 0.000 4 0.000 0.092 2530 3617 1574

8613 1.03 295.2 392.0 7.5 415 8617 0.00 2.72 0.00 0.000 6 0.000 0.070 2530 2194 1574

8934 1.03 295.2 367.3 9.6 431 8939 0.00 2.72 0.00 0.000 4 0.000 0.077 2530 775 1573

8974 1.03 295.2 363.1 9.8 433 8978 0.00 2.67 0.00 0.000 6 0.000 0.060 2530 2200 1573

9300 1.03 295.2 331.3 9.4 449 9304 0.00 2.75 0.00 0.000 4 0.000 0.087 2530 3614 1573

9327 1.03 295.2 328.6 10.0 450 9331 0.00 2.70 0.00 0.000 6 0.000 0.068 2530 2197 1573

9643 1.03 295.2 300.8 8.6 465 9644 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2197 1573

9952 1.03 295.2 273.8 9.3 480 9956 0.00 2.70 0.00 0.000 4 0.000 0.073 2530 777 1573

10007 1.03 295.2 268.3 10.0 482 10013 0.00 2.65 0.00 0.000 6 0.000 0.056 2530 2206 1573

10322 1.03 295.2 240.7 7.2 498 10323 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2206 1573

10631 1.03 295.2 220.8 6.7 513 10636 0.00 2.70 0.00 0.000 4 0.000 0.082 2530 3618 1573

10653 1.03 295.2 219.2 7.0 514 10658 0.00 2.65 0.00 0.000 6 0.000 0.064 2530 2198 1573

10974 1.03 295.2 192.3 9.0 530 10979 0.00 2.72 0.00 0.000 4 0.000 0.080 2530 3617 1573

11002 1.03 295.2 189.5 9.8 531 11006 0.00 2.65 0.00 0.000 6 0.000 0.061 2530 2192 1573

11318 1.03 295.2 162.2 8.6 546 11319 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2192 1573

11627 1.03 295.2 136.3 8.3 561 11628 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2192 1574

11938 1.03 295.2 110.6 8.6 576 11942 0.00 2.72 0.00 0.000 4 0.000 0.079 2530 3615 1574

11965 1.03 295.2 107.9 9.3 577 11969 0.00 2.62 0.00 0.000 6 0.000 0.060 2530 2200 1575

12281 1.03 295.2 82.2 8.2 592 12285 0.00 2.72 0.00 0.000 4 0.000 0.078 2528 3623 1575

12321 1.03 295.2 78.8 8.8 594 12325 0.00 2.62 0.00 0.000 6 0.000 0.060 2530 2200 1576

12647 1.03 295.2 50.2 9.2 610 12652 0.00 2.65 0.00 0.000 4 0.000 0.067 2530 779 1576

12710 1.03 295.2 44.3 9.1 613 12715 0.00 2.62 0.00 0.000 6 0.000 0.054 2530 2203 1575

13037 1.03 295.2 18.0 7.9 629 13041 0.00 2.67 0.00 0.000 4 0.000 0.079 2530 3613 1576

13081 1.03 295.2 13.9 9.5 631 13085 0.00 2.62 0.00 0.000 6 0.000 0.061 2530 2194 1577

13235 end climb: SURFACE_DEPTH_REACHED

state 13235 begin surface coast

13256 end surface coast: CONTROL_FINISHED_OK

state 13256 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	100	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	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	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	-2095010.8	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	184737,6201.171,-907.772,38,1.3,38,-9.5	TGT_NAME	B1
_CALLS	4	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.059,-0.213
_SM_DEPTHo	1.14	KALMAN_X	-165068.3,-330.6,280.1,-43728.7,-19930.0
_SM_ANGLEo	-56.9	KALMAN_Y	-29402.2,-2589.7,-2522.1,170985.9,57910.1
GPS2	185940,6201.292,-908.047,16,1.9,16,-9.5	MHEAD_RNG_PITCHd_Wd	182.1,27622,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.024807	ALTIM_BOTTOM_PING	400.5,94.7
SM_CCo	13279,126.97,0.624,0,0,508,557.32	_24V_AH	23.7,19.665
SM_GC	1.19,0.00,0.00,126.97,0.000,0.000,0.624,71,2303,508,-10.25,0.08,557.32	_10V_AH	10.1,10.019
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31661,640
TT8_MAMPS	0.023777	CAP_FILE_SIZE	108559,0
HUMID	1849	CFSIZE	260165632,251899904
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	27	GPS	280608,224508,6201.828,-910.452,28,1.8,28,-9.5
ALTIM_TOP_PING	19.7,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	163	98.25	SBE_CT	473	24	269.42
Roll_motor	145	92	317.22	SBE_O2	433	19	195.40
VBD_pump_during_apogee	389	978	9023.44	WL_BB2F	479	105	1193.53
VBD_pump_during_surface	126	624	1878.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	103	103	252.23	nil	0	0	0.00
Iridium_during_connect	127	160	483.43	nil	0	0	0.00
Iridium_during_xfer	189	223	999.50
Transponder_ping	10	420	99.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.52
TT8	1206	19	241.37
LPSleep	10100	2	223.41
TT8_Active	699	19	139.81
TT8_Sampling	1457	39	585.76
TT8_CF8	673	45	311.41
TT8_Kalman	33	81	27.56
Analog_circuits	1456	12	176.57
GPS_charging	0	0	0.00
Compass	1426	8	115.26
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	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-120.88	0.000	2	0.000	0.000	71	2315	2936
150	-0.85	-146.6	3.3	-2.7	6	180	11.27	2.72	-11.27	0.000	4	0.163	0.074	2109	881	3381
345	-0.72	-146.6	27.2	-10.6	14	352	0.17	2.62	0.00	0.000	6	0.093	0.058	2143	2294	3381
661	-0.64	-146.6	55.0	-8.5	30	666	0.00	2.65	0.00	0.000	4	0.000	0.064	2143	880	3381
717	-0.64	-146.6	59.8	-8.1	32	723	0.00	2.60	0.00	0.000	6	0.000	0.058	2143	2301	3381
1035	-0.56	-146.6	83.6	-7.0	48	1040	0.15	2.67	0.00	0.000	4	0.093	0.064	2176	877	3381
1080	-0.64	-146.6	86.6	-5.7	50	1085	0.00	2.65	0.00	0.000	6	0.000	0.057	2176	2303	3381
1401	-0.64	-146.6	103.9	-5.5	66	1406	0.00	2.67	0.00	0.000	4	0.000	0.064	2176	879	3382
1436	-0.71	-146.6	106.0	-5.7	67	1443	0.15	2.62	0.00	0.000	6	0.041	0.057	2126	2300	3381
1753	-0.59	-146.6	128.1	-6.8	83	1755	0.22	0.00	0.00	0.000	6	0.081	0.000	2172	2299	3382
2061	-0.59	-146.6	146.1	-6.0	98	2065	0.00	2.67	0.00	0.000	4	0.000	0.066	2172	877	3381
2111	-0.66	-146.6	149.4	-6.7	100	2115	0.00	2.62	0.00	0.000	6	0.000	0.056	2172	2300	3382
2426	-0.66	-146.6	172.6	-8.3	115	2428	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2300	3382
2737	-0.66	-146.6	201.5	-9.2	130	2741	0.00	2.67	0.00	0.000	4	0.000	0.067	2172	874	3382
2799	-0.73	-146.6	207.4	-9.7	133	2804	0.15	2.65	0.00	0.000	6	0.041	0.057	2123	2298	3382
3126	-0.63	-146.6	243.6	-10.9	149	3128	0.20	0.00	0.00	0.000	6	0.081	0.000	2165	2298	3381
3435	-0.63	-146.6	267.2	-7.2	164	3440	0.00	2.67	0.00	0.000	4	0.000	0.067	2165	881	3382
3475	-0.67	-146.6	270.2	-7.6	166	3480	0.00	2.65	0.00	0.000	6	0.000	0.059	2165	2305	3382
3802	-0.67	-146.6	298.7	-9.1	182	3806	0.00	2.67	0.00	0.000	4	0.000	0.068	2165	881	3382
3864	-0.72	-146.6	304.4	-9.0	185	3868	0.00	2.65	0.00	0.000	6	0.000	0.059	2165	2305	3382
4191	-0.72	-146.6	336.8	-9.7	201	4192	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2305	3382
4500	-0.72	-146.6	360.2	-6.3	216	4505	0.00	2.72	0.00	0.000	4	0.000	0.085	2165	3713	3381
4534	-0.72	-146.6	362.3	-6.1	217	4540	0.00	2.62	0.00	0.000	6	0.000	0.060	2166	2297	3381
4850	-0.72	-146.6	376.3	-3.7	233	4854	0.00	2.65	0.00	0.000	4	0.000	0.070	2165	885	3381
4939	-0.79	-146.6	379.6	-3.4	237	4945	0.17	2.65	0.00	0.000	6	0.042	0.061	2112	2301	3381
5261	-0.67	-146.6	395.2	-5.4	253	5263	0.20	0.00	0.00	0.000	6	0.083	0.000	2152	2301	3381
5570	-0.67	-146.6	409.3	-4.8	268	5575	0.00	2.70	0.00	0.000	4	0.000	0.071	2153	880	3380
5626	-0.67	-146.6	412.4	-5.5	270	5633	0.00	2.67	0.00	0.000	6	0.000	0.063	2152	2308	3380
5942	-0.67	-146.6	432.5	-6.2	286	5947	0.00	2.72	0.00	0.000	4	0.000	0.071	2152	877	3379
5982	-0.67	-146.6	434.9	-6.8	288	5987	0.00	2.67	0.00	0.000	6	0.000	0.064	2153	2305	3380
6309	-0.63	-146.6	457.2	-7.7	304	6314	0.00	2.72	0.00	0.000	4	0.000	0.073	2152	880	3379
6394	-0.69	-146.6	464.0	-7.2	308	6398	0.00	2.67	0.00	0.000	6	0.000	0.064	2152	2303	3379
6697	end dive: BOTTOM_OBSTACLE_DETECTED
state	6697	begin apogee
6704	-0.31	0.0	487.0	8.0	323	6839	0.38	0.00	128.27	0.979	6	0.087	0.000	2229	2197	2782
6840	end apogee: CONTROL_FINISHED_OK
state	6840	begin climb
6843	0.85	146.6	492.3	0.0	330	6981	1.23	2.80	128.05	0.963	4	0.081	0.074	2483	782	2183
7009	0.89	186.4	487.6	4.9	338	7050	0.00	2.70	35.40	0.927	6	0.000	0.061	2483	2199	2021
7375	0.99	232.9	467.6	4.7	356	7424	0.15	2.85	41.47	0.933	4	0.052	0.088	2530	3616	1831
7469	0.89	232.9	460.7	8.1	360	7475	0.17	2.70	0.00	0.000	6	0.091	0.067	2495	2203	1831
7785	0.93	262.6	443.3	5.2	375	7819	0.00	2.80	26.90	0.923	4	0.000	0.076	2495	783	1709
7832	1.03	295.2	440.7	5.1	377	7869	0.12	2.70	28.92	0.918	6	0.054	0.062	2530	2198	1577
8181	1.03	295.2	419.5	6.1	394	8185	0.00	2.75	0.00	0.000	4	0.000	0.076	2530	782	1576
8243	1.03	295.2	415.3	7.0	397	8247	0.00	2.70	0.00	0.000	6	0.000	0.063	2530	2207	1575
8569	1.03	295.2	395.1	6.2	413	8574	0.00	2.78	0.00	0.000	4	0.000	0.092	2530	3617	1574
8613	1.03	295.2	392.0	7.5	415	8617	0.00	2.72	0.00	0.000	6	0.000	0.070	2530	2194	1574
8934	1.03	295.2	367.3	9.6	431	8939	0.00	2.72	0.00	0.000	4	0.000	0.077	2530	775	1573
8974	1.03	295.2	363.1	9.8	433	8978	0.00	2.67	0.00	0.000	6	0.000	0.060	2530	2200	1573
9300	1.03	295.2	331.3	9.4	449	9304	0.00	2.75	0.00	0.000	4	0.000	0.087	2530	3614	1573
9327	1.03	295.2	328.6	10.0	450	9331	0.00	2.70	0.00	0.000	6	0.000	0.068	2530	2197	1573
9643	1.03	295.2	300.8	8.6	465	9644	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2197	1573
9952	1.03	295.2	273.8	9.3	480	9956	0.00	2.70	0.00	0.000	4	0.000	0.073	2530	777	1573
10007	1.03	295.2	268.3	10.0	482	10013	0.00	2.65	0.00	0.000	6	0.000	0.056	2530	2206	1573
10322	1.03	295.2	240.7	7.2	498	10323	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2206	1573
10631	1.03	295.2	220.8	6.7	513	10636	0.00	2.70	0.00	0.000	4	0.000	0.082	2530	3618	1573
10653	1.03	295.2	219.2	7.0	514	10658	0.00	2.65	0.00	0.000	6	0.000	0.064	2530	2198	1573
10974	1.03	295.2	192.3	9.0	530	10979	0.00	2.72	0.00	0.000	4	0.000	0.080	2530	3617	1573
11002	1.03	295.2	189.5	9.8	531	11006	0.00	2.65	0.00	0.000	6	0.000	0.061	2530	2192	1573
11318	1.03	295.2	162.2	8.6	546	11319	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2192	1573
11627	1.03	295.2	136.3	8.3	561	11628	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2192	1574
11938	1.03	295.2	110.6	8.6	576	11942	0.00	2.72	0.00	0.000	4	0.000	0.079	2530	3615	1574
11965	1.03	295.2	107.9	9.3	577	11969	0.00	2.62	0.00	0.000	6	0.000	0.060	2530	2200	1575
12281	1.03	295.2	82.2	8.2	592	12285	0.00	2.72	0.00	0.000	4	0.000	0.078	2528	3623	1575
12321	1.03	295.2	78.8	8.8	594	12325	0.00	2.62	0.00	0.000	6	0.000	0.060	2530	2200	1576
12647	1.03	295.2	50.2	9.2	610	12652	0.00	2.65	0.00	0.000	4	0.000	0.067	2530	779	1576
12710	1.03	295.2	44.3	9.1	613	12715	0.00	2.62	0.00	0.000	6	0.000	0.054	2530	2203	1575
13037	1.03	295.2	18.0	7.9	629	13041	0.00	2.67	0.00	0.000	4	0.000	0.079	2530	3613	1576
13081	1.03	295.2	13.9	9.5	631	13085	0.00	2.62	0.00	0.000	6	0.000	0.061	2530	2194	1577
13235	end climb: SURFACE_DEPTH_REACHED
state	13235	begin surface coast
13256	end surface coast: CONTROL_FINISHED_OK
state	13256	begin surface