Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 112 * 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 112 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2095283.9 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 -2095283.9

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 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 112 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 135058,6213.745,-904.705,33,2.2,52,-9.5 TGT_NAME B1

_CALLS 5 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.022,-0.220

_SM_DEPTHo 0.99 KALMAN_X -167751.9,1034.2,441.4,-39592.5,-8961.9

_SM_ANGLEo -53.6 KALMAN_Y -6018.2,-2914.3,-1423.0,170290.8,44205.2

GPS2 140705,6213.953,-904.745,14,2.2,33,-9.5 MHEAD_RNG_PITCHd_Wd 188.8,50847,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.003565 ALTIM_BOTTOM_PING 451.3,20.0

SM_CCo 13128,134.80,0.624,0,0,509,557.32 _24V_AH 23.7,21.422

SM_GC 1.11,0.00,0.00,134.80,0.000,0.000,0.624,65,2313,509,-10.28,0.37,557.32 _10V_AH 10.2,10.795

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31677,631

TT8_MAMPS 0.023777 CAP_FILE_SIZE 106817,0

HUMID 1859 CFSIZE 260165632,251310080

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 7 GPS 300608,175025,6215.355,-905.208,30,1.2,47,-9.5

ALTIM_TOP_PING 19.0,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 166 97.14 SBE_CT 464 24 263.99

Roll_motor 133 80 255.19 SBE_O2 428 19 192.90

VBD_pump_during_apogee 369 941 8240.89 WL_BB2F 454 105 1132.02

VBD_pump_during_surface 134 624 1994.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 105 103 257.96 nil 0 0 0.00

Iridium_during_connect 147 160 558.24 nil 0 0 0.00

Iridium_during_xfer 327 223 1732.33

Transponder_ping 6 420 59.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.49

TT8 1166 19 235.68

LPSleep 10169 2 227.16

TT8_Active 689 19 139.22

TT8_Sampling 1377 39 559.17

TT8_CF8 832 45 389.11

TT8_Kalman 33 81 27.83

Analog_circuits 1401 12 171.55

GPS_charging 0 0 0.00

Compass 1326 8 108.26

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 0 166 0.00 0.00 -138.25 0.000 6 0.000 0.000 62 2307 3380

169 -0.85 -146.6 7.2 -6.7 7 190 11.40 2.67 0.00 0.000 4 0.166 0.071 2110 3713 3381

264 -0.66 -146.6 31.1 -13.1 11 269 0.22 2.62 0.00 0.000 6 0.090 0.056 2154 2297 3381

586 -0.61 -146.6 63.4 -9.9 27 590 0.00 2.65 0.00 0.000 4 0.000 0.067 2153 881 3381

671 -0.61 -146.6 71.2 -8.6 31 675 0.00 2.62 0.00 0.000 6 0.000 0.057 2154 2297 3381

998 -0.56 -146.6 105.1 -9.7 47 1003 0.12 2.67 0.00 0.000 4 0.096 0.064 2178 873 3381

1025 -0.56 -146.6 107.6 -8.9 48 1030 0.00 2.65 0.00 0.000 6 0.000 0.055 2178 2305 3381

1343 -0.56 -146.6 130.3 -6.7 63 1347 0.00 2.67 0.00 0.000 4 0.000 0.065 2178 878 3381

1370 -0.62 -146.6 132.3 -6.8 64 1375 0.00 2.62 0.00 0.000 6 0.000 0.057 2178 2301 3381

1688 -0.62 -146.6 150.7 -5.7 79 1689 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2301 3381

1995 -0.62 -146.6 168.0 -5.7 94 2000 0.00 2.67 0.00 0.000 4 0.000 0.064 2178 874 3381

2046 -0.69 -146.6 171.2 -6.2 96 2051 0.15 2.62 0.00 0.000 6 0.042 0.057 2129 2300 3381

2362 -0.58 -146.6 198.2 -8.9 111 2364 0.20 0.00 0.00 0.000 6 0.081 0.000 2169 2300 3381

2671 -0.58 -146.6 219.3 -6.9 126 2675 0.00 2.67 0.00 0.000 4 0.000 0.066 2169 874 3381

2738 -0.63 -146.6 224.3 -7.0 129 2742 0.00 2.65 0.00 0.000 6 0.000 0.058 2170 2305 3381

3059 -0.63 -146.6 246.1 -6.5 145 3063 0.00 2.67 0.00 0.000 4 0.000 0.067 2169 880 3381

3092 -0.68 -146.6 248.2 -6.7 146 3098 0.00 2.62 0.00 0.000 6 0.000 0.058 2169 2298 3381

3408 -0.68 -146.6 266.8 -5.3 162 3412 0.00 2.67 0.00 0.000 4 0.000 0.067 2169 876 3381

3429 -0.68 -146.6 268.0 -5.3 163 3434 0.00 2.62 0.00 0.000 6 0.000 0.058 2169 2300 3381

3751 -0.68 -146.6 284.7 -5.2 179 3755 0.00 2.67 0.00 0.000 4 0.000 0.067 2169 878 3381

3784 -0.73 -146.6 286.6 -5.4 180 3791 0.15 2.62 0.00 0.000 6 0.043 0.058 2121 2302 3381

4101 -0.61 -146.6 311.5 -8.3 196 4106 0.17 2.67 0.00 0.000 4 0.084 0.068 2160 881 3380

4134 -0.61 -146.6 313.9 -6.7 197 4140 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2299 3380

4450 -0.61 -146.6 334.4 -6.7 213 4451 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2299 3380

4759 -0.61 -146.6 354.6 -6.5 228 4763 0.00 2.65 0.00 0.000 4 0.000 0.068 2160 881 3380

4814 -0.61 -146.6 358.4 -6.6 230 4820 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2302 3380

5130 -0.61 -146.6 379.0 -6.3 246 5134 0.00 2.67 0.00 0.000 4 0.000 0.068 2160 874 3380

5169 -0.61 -146.6 381.5 -6.0 248 5174 0.00 2.65 0.00 0.000 6 0.000 0.058 2160 2307 3380

5495 -0.61 -146.6 402.2 -6.3 264 5500 0.00 2.67 0.00 0.000 4 0.000 0.068 2160 881 3379

5545 -0.61 -146.6 405.4 -6.6 266 5550 0.00 2.62 0.00 0.000 6 0.000 0.058 2160 2301 3380

5866 -0.61 -146.6 425.4 -6.6 281 5870 0.00 2.67 0.00 0.000 4 0.000 0.068 2160 881 3380

5928 -0.67 -146.6 430.1 -7.3 284 5932 0.00 2.60 0.00 0.000 6 0.000 0.058 2160 2300 3379

6254 -0.67 -146.6 454.7 -7.8 300 6255 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2300 3380

6334 end dive: BOTTOM_OBSTACLE_DETECTED

state 6334 begin apogee

6341 -0.31 0.0 461.4 8.2 304 6476 0.35 0.00 127.72 0.942 6 0.090 0.000 2231 2192 2781

6477 end apogee: CONTROL_FINISHED_OK

state 6477 begin climb

6480 0.85 146.6 467.8 0.0 311 6615 1.20 0.00 127.03 0.925 6 0.082 0.000 2480 2192 2182

6926 0.95 239.2 452.5 3.5 333 7013 0.12 2.83 80.00 0.913 4 0.051 0.081 2520 3615 1805

7030 0.95 239.2 446.2 7.7 338 7034 0.00 2.70 0.00 0.000 6 0.000 0.063 2520 2200 1805

7350 0.95 239.2 415.8 11.6 354 7355 0.00 2.70 0.00 0.000 4 0.000 0.073 2520 782 1804

7400 0.95 239.2 410.2 10.5 356 7404 0.00 2.65 0.00 0.000 6 0.000 0.058 2520 2203 1803

7716 0.95 239.2 383.6 7.6 371 7717 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2203 1803

8025 0.95 239.2 361.5 7.1 386 8029 0.00 2.72 0.00 0.000 4 0.000 0.081 2520 3620 1803

8057 0.95 239.2 359.0 7.6 387 8063 0.00 2.67 0.00 0.000 6 0.000 0.064 2520 2200 1804

8373 0.95 239.2 336.7 7.2 403 8374 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2200 1802

8682 0.95 239.2 314.1 7.2 418 8686 0.00 2.72 0.00 0.000 4 0.000 0.080 2520 3619 1802

8703 0.95 239.2 312.3 8.1 419 8708 0.00 2.65 0.00 0.000 6 0.000 0.061 2520 2190 1802

9024 0.95 239.2 290.5 6.6 435 9026 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2190 1802

9334 0.95 239.2 268.7 7.2 450 9338 0.00 2.72 0.00 0.000 4 0.000 0.078 2520 3616 1802

9361 0.95 239.2 266.4 7.7 451 9365 0.00 2.62 0.00 0.000 6 0.000 0.061 2520 2200 1802

9677 0.95 239.2 243.5 6.7 466 9678 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2200 1802

9987 0.95 239.2 221.2 7.1 481 9991 0.00 2.70 0.00 0.000 4 0.000 0.077 2520 3615 1802

10026 0.95 239.2 218.3 8.1 483 10030 0.00 2.62 0.00 0.000 6 0.000 0.060 2520 2200 1802

10352 0.95 239.2 196.9 6.1 499 10353 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2200 1802

10662 0.95 239.2 178.1 6.2 514 10666 0.00 2.70 0.00 0.000 4 0.000 0.078 2520 3616 1802

10689 0.95 239.2 176.2 6.7 515 10693 0.00 2.60 0.00 0.000 6 0.000 0.058 2520 2201 1802

11004 0.98 273.5 158.7 5.1 530 11039 0.00 2.78 28.73 0.732 4 0.000 0.077 2520 3611 1666

11069 0.98 273.5 155.2 6.1 533 11073 0.00 2.65 0.00 0.000 6 0.000 0.059 2520 2193 1666

11396 0.99 278.0 136.7 5.9 549 11407 0.00 2.75 5.70 0.574 4 0.000 0.077 2520 3622 1646

11418 0.99 278.0 135.2 6.5 550 11422 0.00 2.65 0.00 0.000 6 0.000 0.059 2520 2198 1646

11739 0.99 278.0 112.9 7.7 566 11744 0.00 2.72 0.00 0.000 4 0.000 0.077 2520 3621 1646

11767 1.03 278.0 110.3 9.2 567 11772 0.00 2.62 0.00 0.000 6 0.000 0.060 2520 2203 1646

12083 1.03 278.0 82.8 8.9 582 12084 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2203 1646

12393 1.03 278.0 54.9 9.3 597 12397 0.00 2.67 0.00 0.000 4 0.000 0.069 2520 776 1647

12420 1.08 278.0 52.1 9.7 598 12425 0.00 2.62 0.00 0.000 6 0.000 0.054 2520 2204 1646

12737 1.08 278.0 25.1 8.0 613 12739 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2204 1646

13045 1.08 278.0 3.8 6.5 628 13047 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2204 1647

13084 end climb: SURFACE_DEPTH_REACHED

state 13084 begin surface coast

13106 end surface coast: CONTROL_FINISHED_OK

state 13106 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	112	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2095283.9	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	135058,6213.745,-904.705,33,2.2,52,-9.5	TGT_NAME	B1
_CALLS	5	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.022,-0.220
_SM_DEPTHo	0.99	KALMAN_X	-167751.9,1034.2,441.4,-39592.5,-8961.9
_SM_ANGLEo	-53.6	KALMAN_Y	-6018.2,-2914.3,-1423.0,170290.8,44205.2
GPS2	140705,6213.953,-904.745,14,2.2,33,-9.5	MHEAD_RNG_PITCHd_Wd	188.8,50847,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.003565	ALTIM_BOTTOM_PING	451.3,20.0
SM_CCo	13128,134.80,0.624,0,0,509,557.32	_24V_AH	23.7,21.422
SM_GC	1.11,0.00,0.00,134.80,0.000,0.000,0.624,65,2313,509,-10.28,0.37,557.32	_10V_AH	10.2,10.795
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31677,631
TT8_MAMPS	0.023777	CAP_FILE_SIZE	106817,0
HUMID	1859	CFSIZE	260165632,251310080
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	7	GPS	300608,175025,6215.355,-905.208,30,1.2,47,-9.5
ALTIM_TOP_PING	19.0,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	166	97.14	SBE_CT	464	24	263.99
Roll_motor	133	80	255.19	SBE_O2	428	19	192.90
VBD_pump_during_apogee	369	941	8240.89	WL_BB2F	454	105	1132.02
VBD_pump_during_surface	134	624	1994.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	105	103	257.96	nil	0	0	0.00
Iridium_during_connect	147	160	558.24	nil	0	0	0.00
Iridium_during_xfer	327	223	1732.33
Transponder_ping	6	420	59.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.49
TT8	1166	19	235.68
LPSleep	10169	2	227.16
TT8_Active	689	19	139.22
TT8_Sampling	1377	39	559.17
TT8_CF8	832	45	389.11
TT8_Kalman	33	81	27.83
Analog_circuits	1401	12	171.55
GPS_charging	0	0	0.00
Compass	1326	8	108.26
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	166	0.00	0.00	-138.25	0.000	6	0.000	0.000	62	2307	3380
169	-0.85	-146.6	7.2	-6.7	7	190	11.40	2.67	0.00	0.000	4	0.166	0.071	2110	3713	3381
264	-0.66	-146.6	31.1	-13.1	11	269	0.22	2.62	0.00	0.000	6	0.090	0.056	2154	2297	3381
586	-0.61	-146.6	63.4	-9.9	27	590	0.00	2.65	0.00	0.000	4	0.000	0.067	2153	881	3381
671	-0.61	-146.6	71.2	-8.6	31	675	0.00	2.62	0.00	0.000	6	0.000	0.057	2154	2297	3381
998	-0.56	-146.6	105.1	-9.7	47	1003	0.12	2.67	0.00	0.000	4	0.096	0.064	2178	873	3381
1025	-0.56	-146.6	107.6	-8.9	48	1030	0.00	2.65	0.00	0.000	6	0.000	0.055	2178	2305	3381
1343	-0.56	-146.6	130.3	-6.7	63	1347	0.00	2.67	0.00	0.000	4	0.000	0.065	2178	878	3381
1370	-0.62	-146.6	132.3	-6.8	64	1375	0.00	2.62	0.00	0.000	6	0.000	0.057	2178	2301	3381
1688	-0.62	-146.6	150.7	-5.7	79	1689	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2301	3381
1995	-0.62	-146.6	168.0	-5.7	94	2000	0.00	2.67	0.00	0.000	4	0.000	0.064	2178	874	3381
2046	-0.69	-146.6	171.2	-6.2	96	2051	0.15	2.62	0.00	0.000	6	0.042	0.057	2129	2300	3381
2362	-0.58	-146.6	198.2	-8.9	111	2364	0.20	0.00	0.00	0.000	6	0.081	0.000	2169	2300	3381
2671	-0.58	-146.6	219.3	-6.9	126	2675	0.00	2.67	0.00	0.000	4	0.000	0.066	2169	874	3381
2738	-0.63	-146.6	224.3	-7.0	129	2742	0.00	2.65	0.00	0.000	6	0.000	0.058	2170	2305	3381
3059	-0.63	-146.6	246.1	-6.5	145	3063	0.00	2.67	0.00	0.000	4	0.000	0.067	2169	880	3381
3092	-0.68	-146.6	248.2	-6.7	146	3098	0.00	2.62	0.00	0.000	6	0.000	0.058	2169	2298	3381
3408	-0.68	-146.6	266.8	-5.3	162	3412	0.00	2.67	0.00	0.000	4	0.000	0.067	2169	876	3381
3429	-0.68	-146.6	268.0	-5.3	163	3434	0.00	2.62	0.00	0.000	6	0.000	0.058	2169	2300	3381
3751	-0.68	-146.6	284.7	-5.2	179	3755	0.00	2.67	0.00	0.000	4	0.000	0.067	2169	878	3381
3784	-0.73	-146.6	286.6	-5.4	180	3791	0.15	2.62	0.00	0.000	6	0.043	0.058	2121	2302	3381
4101	-0.61	-146.6	311.5	-8.3	196	4106	0.17	2.67	0.00	0.000	4	0.084	0.068	2160	881	3380
4134	-0.61	-146.6	313.9	-6.7	197	4140	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2299	3380
4450	-0.61	-146.6	334.4	-6.7	213	4451	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2299	3380
4759	-0.61	-146.6	354.6	-6.5	228	4763	0.00	2.65	0.00	0.000	4	0.000	0.068	2160	881	3380
4814	-0.61	-146.6	358.4	-6.6	230	4820	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2302	3380
5130	-0.61	-146.6	379.0	-6.3	246	5134	0.00	2.67	0.00	0.000	4	0.000	0.068	2160	874	3380
5169	-0.61	-146.6	381.5	-6.0	248	5174	0.00	2.65	0.00	0.000	6	0.000	0.058	2160	2307	3380
5495	-0.61	-146.6	402.2	-6.3	264	5500	0.00	2.67	0.00	0.000	4	0.000	0.068	2160	881	3379
5545	-0.61	-146.6	405.4	-6.6	266	5550	0.00	2.62	0.00	0.000	6	0.000	0.058	2160	2301	3380
5866	-0.61	-146.6	425.4	-6.6	281	5870	0.00	2.67	0.00	0.000	4	0.000	0.068	2160	881	3380
5928	-0.67	-146.6	430.1	-7.3	284	5932	0.00	2.60	0.00	0.000	6	0.000	0.058	2160	2300	3379
6254	-0.67	-146.6	454.7	-7.8	300	6255	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2300	3380
6334	end dive: BOTTOM_OBSTACLE_DETECTED
state	6334	begin apogee
6341	-0.31	0.0	461.4	8.2	304	6476	0.35	0.00	127.72	0.942	6	0.090	0.000	2231	2192	2781
6477	end apogee: CONTROL_FINISHED_OK
state	6477	begin climb
6480	0.85	146.6	467.8	0.0	311	6615	1.20	0.00	127.03	0.925	6	0.082	0.000	2480	2192	2182
6926	0.95	239.2	452.5	3.5	333	7013	0.12	2.83	80.00	0.913	4	0.051	0.081	2520	3615	1805
7030	0.95	239.2	446.2	7.7	338	7034	0.00	2.70	0.00	0.000	6	0.000	0.063	2520	2200	1805
7350	0.95	239.2	415.8	11.6	354	7355	0.00	2.70	0.00	0.000	4	0.000	0.073	2520	782	1804
7400	0.95	239.2	410.2	10.5	356	7404	0.00	2.65	0.00	0.000	6	0.000	0.058	2520	2203	1803
7716	0.95	239.2	383.6	7.6	371	7717	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2203	1803
8025	0.95	239.2	361.5	7.1	386	8029	0.00	2.72	0.00	0.000	4	0.000	0.081	2520	3620	1803
8057	0.95	239.2	359.0	7.6	387	8063	0.00	2.67	0.00	0.000	6	0.000	0.064	2520	2200	1804
8373	0.95	239.2	336.7	7.2	403	8374	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2200	1802
8682	0.95	239.2	314.1	7.2	418	8686	0.00	2.72	0.00	0.000	4	0.000	0.080	2520	3619	1802
8703	0.95	239.2	312.3	8.1	419	8708	0.00	2.65	0.00	0.000	6	0.000	0.061	2520	2190	1802
9024	0.95	239.2	290.5	6.6	435	9026	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2190	1802
9334	0.95	239.2	268.7	7.2	450	9338	0.00	2.72	0.00	0.000	4	0.000	0.078	2520	3616	1802
9361	0.95	239.2	266.4	7.7	451	9365	0.00	2.62	0.00	0.000	6	0.000	0.061	2520	2200	1802
9677	0.95	239.2	243.5	6.7	466	9678	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2200	1802
9987	0.95	239.2	221.2	7.1	481	9991	0.00	2.70	0.00	0.000	4	0.000	0.077	2520	3615	1802
10026	0.95	239.2	218.3	8.1	483	10030	0.00	2.62	0.00	0.000	6	0.000	0.060	2520	2200	1802
10352	0.95	239.2	196.9	6.1	499	10353	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2200	1802
10662	0.95	239.2	178.1	6.2	514	10666	0.00	2.70	0.00	0.000	4	0.000	0.078	2520	3616	1802
10689	0.95	239.2	176.2	6.7	515	10693	0.00	2.60	0.00	0.000	6	0.000	0.058	2520	2201	1802
11004	0.98	273.5	158.7	5.1	530	11039	0.00	2.78	28.73	0.732	4	0.000	0.077	2520	3611	1666
11069	0.98	273.5	155.2	6.1	533	11073	0.00	2.65	0.00	0.000	6	0.000	0.059	2520	2193	1666
11396	0.99	278.0	136.7	5.9	549	11407	0.00	2.75	5.70	0.574	4	0.000	0.077	2520	3622	1646
11418	0.99	278.0	135.2	6.5	550	11422	0.00	2.65	0.00	0.000	6	0.000	0.059	2520	2198	1646
11739	0.99	278.0	112.9	7.7	566	11744	0.00	2.72	0.00	0.000	4	0.000	0.077	2520	3621	1646
11767	1.03	278.0	110.3	9.2	567	11772	0.00	2.62	0.00	0.000	6	0.000	0.060	2520	2203	1646
12083	1.03	278.0	82.8	8.9	582	12084	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2203	1646
12393	1.03	278.0	54.9	9.3	597	12397	0.00	2.67	0.00	0.000	4	0.000	0.069	2520	776	1647
12420	1.08	278.0	52.1	9.7	598	12425	0.00	2.62	0.00	0.000	6	0.000	0.054	2520	2204	1646
12737	1.08	278.0	25.1	8.0	613	12739	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2204	1646
13045	1.08	278.0	3.8	6.5	628	13047	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2204	1647
13084	end climb: SURFACE_DEPTH_REACHED
state	13084	begin surface coast
13106	end surface coast: CONTROL_FINISHED_OK
state	13106	begin surface