Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 114 * 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 114 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 20 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 -2095315.6 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 -2095315.6

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 20 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 114 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 211937,6216.158,-902.354,42,1.0,53,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.020,-0.220

_SM_DEPTHo 1.06 KALMAN_X -170509.6,-211.6,-119.0,-32865.7,-10809.4

_SM_ANGLEo -53.8 KALMAN_Y -2183.8,-2934.2,-2642.0,171862.4,46014.1

GPS2 212415,6216.201,-902.353,15,1.5,15,-9.5 MHEAD_RNG_PITCHd_Wd 191.0,55024,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.013172 ALTIM_BOTTOM_PING 400.7,51.9

SM_CCo 12799,117.38,0.625,0,0,509,557.32 _24V_AH 23.7,21.687

SM_GC 1.03,0.00,0.00,117.38,0.000,0.000,0.625,70,2306,509,-10.25,0.17,557.32 _10V_AH 10.2,10.924

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31602,615

TT8_MAMPS 0.02301 CAP_FILE_SIZE 101357,0

HUMID 1851 CFSIZE 260165632,251224064

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 2 GPS 010708,010137,6214.918,-902.672,34,1.3,34,-9.5

ALTIM_TOP_PING 19.4,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 95.56 SBE_CT 452 24 257.49

Roll_motor 138 83 274.82 SBE_O2 417 19 188.07

VBD_pump_during_apogee 399 924 8748.06 WL_BB2F 478 105 1191.37

VBD_pump_during_surface 117 625 1738.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.85 nil 0 0 0.00

Iridium_during_connect 25 160 96.94 nil 0 0 0.00

Iridium_during_xfer 124 223 658.04

Transponder_ping 4 420 39.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.09

TT8 1161 19 234.66

LPSleep 9570 2 213.79

TT8_Active 667 19 134.87

TT8_Sampling 1398 39 567.75

TT8_CF8 402 45 188.09

TT8_Kalman 33 81 27.83

Analog_circuits 1409 12 172.51

GPS_charging 0 0 0.00

Compass 1365 8 111.46

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 -120.72 0.000 2 0.000 0.000 70 2302 2914

150 -0.85 -146.6 3.5 -2.9 6 180 11.30 2.72 -11.55 0.000 4 0.165 0.084 2109 3707 3381

265 -0.67 -146.6 19.9 -10.9 11 270 0.22 2.60 0.00 0.000 6 0.089 0.054 2153 2296 3381

588 -0.62 -146.6 44.5 -7.5 27 593 0.00 2.65 0.00 0.000 4 0.000 0.066 2153 878 3381

661 -0.62 -146.6 50.0 -7.4 30 665 0.00 2.62 0.00 0.000 6 0.000 0.054 2153 2298 3382

977 -0.57 -146.6 71.4 -7.0 45 979 0.10 0.00 0.00 0.000 6 0.100 0.000 2172 2298 3381

1287 -0.57 -146.6 89.5 -5.7 60 1291 0.00 2.65 0.00 0.000 4 0.000 0.064 2172 881 3381

1350 -0.63 -146.6 93.3 -5.4 63 1354 0.00 2.62 0.00 0.000 6 0.000 0.054 2172 2306 3381

1677 -0.63 -146.6 111.9 -5.7 79 1681 0.00 2.67 0.00 0.000 4 0.000 0.064 2172 878 3381

1733 -0.67 -146.6 115.3 -6.0 81 1739 0.00 2.62 0.00 0.000 6 0.000 0.055 2172 2305 3381

2049 -0.67 -146.6 132.3 -5.2 97 2054 0.00 2.67 0.00 0.000 4 0.000 0.066 2172 880 3381

2090 -0.73 -146.6 134.4 -5.7 99 2095 0.15 2.62 0.00 0.000 6 0.042 0.056 2122 2305 3381

2417 -0.61 -146.6 157.9 -7.1 115 2422 0.17 2.65 0.00 0.000 4 0.086 0.067 2162 883 3381

2467 -0.61 -146.6 160.9 -5.3 117 2471 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2304 3381

2783 -0.61 -146.6 177.7 -5.3 132 2787 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 876 3381

2827 -0.61 -146.6 180.1 -5.8 134 2831 0.00 2.62 0.00 0.000 6 0.000 0.057 2161 2299 3381

3148 -0.61 -146.6 198.0 -5.7 150 3153 0.00 2.65 0.00 0.000 4 0.000 0.067 2161 883 3382

3194 -0.61 -146.6 200.5 -5.4 152 3198 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2303 3381

3515 -0.61 -146.6 218.4 -5.5 168 3519 0.00 2.67 0.00 0.000 4 0.000 0.067 2162 878 3381

3548 -0.61 -146.6 220.2 -5.3 169 3554 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2300 3381

3864 -0.61 -146.6 236.1 -5.1 185 3868 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 878 3381

3904 -0.61 -146.6 238.4 -6.0 187 3908 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2299 3381

4231 -0.61 -146.6 255.4 -5.0 203 4235 0.00 2.65 0.00 0.000 4 0.000 0.068 2161 883 3381

4270 -0.61 -146.6 257.4 -4.7 205 4275 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2302 3381

4598 -0.61 -146.6 272.7 -4.6 221 4602 0.00 2.65 0.00 0.000 4 0.000 0.069 2161 882 3381

4638 -0.61 -146.6 274.7 -5.4 223 4642 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2300 3381

4964 -0.61 -146.6 289.8 -4.8 239 4969 0.00 2.67 0.00 0.000 4 0.000 0.068 2162 874 3381

4998 -0.61 -146.6 291.6 -5.3 240 5004 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2300 3381

5315 -0.61 -146.6 308.3 -5.2 256 5319 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 876 3381

5364 -0.61 -146.6 310.9 -5.2 258 5369 0.00 2.62 0.00 0.000 6 0.000 0.057 2162 2300 3381

5680 -0.61 -146.6 328.4 -6.2 273 5684 0.00 2.65 0.00 0.000 4 0.000 0.070 2162 880 3380

5758 -0.61 -146.6 334.6 -8.3 276 5764 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2299 3381

6073 -0.61 -146.6 362.0 -9.0 292 6078 0.00 2.65 0.00 0.000 4 0.000 0.068 2162 881 3380

6129 -0.66 -146.6 367.3 -9.6 294 6135 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2301 3380

6445 -0.66 -146.6 393.9 -10.5 310 6449 0.00 2.70 0.00 0.000 4 0.000 0.081 2161 3712 3380

6484 -0.66 -146.6 398.6 -12.2 312 6489 0.00 2.62 0.00 0.000 6 0.000 0.059 2162 2294 3380

6811 -0.66 -146.6 430.4 -6.6 328 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2294 3380

7015 end dive: BOTTOM_OBSTACLE_DETECTED

state 7015 begin apogee

7022 -0.31 0.0 443.2 6.6 338 7152 0.35 0.00 127.55 0.924 6 0.094 0.000 2232 2199 2781

7153 end apogee: CONTROL_FINISHED_OK

state 7153 begin climb

7156 0.85 146.6 449.2 0.0 344 7292 1.15 2.85 126.10 0.912 4 0.074 0.079 2478 3610 2183

7323 0.93 228.2 446.4 3.8 352 7400 0.12 2.65 70.40 0.894 6 0.049 0.060 2518 2202 1850

7709 0.93 228.2 419.0 8.1 370 7713 0.00 2.72 0.00 0.000 4 0.000 0.074 2518 776 1849

7728 0.93 228.2 418.0 7.8 371 7732 0.00 2.67 0.00 0.000 6 0.000 0.056 2518 2204 1848

8054 0.95 244.2 398.0 5.6 387 8076 0.00 2.78 14.93 0.825 4 0.000 0.078 2518 3617 1785

8099 1.01 300.6 396.0 4.5 389 8155 0.00 2.70 49.00 0.877 6 0.000 0.064 2518 2201 1554

8474 1.07 312.7 378.0 5.7 407 8495 0.00 2.80 11.40 0.791 4 0.000 0.079 2518 3617 1504

8519 1.12 312.7 375.4 6.0 409 8524 0.12 2.67 0.00 0.000 6 0.054 0.064 2555 2201 1506

8846 1.06 312.7 350.0 7.9 425 8851 0.12 2.70 0.00 0.000 4 0.084 0.072 2529 785 1505

8896 1.06 312.7 346.0 8.4 427 8900 0.00 2.62 0.00 0.000 6 0.000 0.055 2530 2202 1504

9211 1.06 312.7 323.6 6.9 442 9213 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2201 1504

9521 1.06 312.7 301.2 7.5 457 9522 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2201 1504

9830 1.06 312.7 274.6 9.2 472 9831 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2201 1505

10139 1.06 312.7 244.5 10.3 487 10140 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2200 1504

10448 1.06 312.7 211.2 10.8 502 10450 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2201 1504

10758 1.06 312.7 178.9 10.0 517 10762 0.00 2.67 0.00 0.000 4 0.000 0.066 2529 779 1504

10779 1.06 312.7 176.8 10.0 518 10784 0.00 2.62 0.00 0.000 6 0.000 0.053 2530 2208 1503

11101 1.06 312.7 145.8 9.8 534 11105 0.00 2.67 0.00 0.000 4 0.000 0.074 2530 3620 1504

11141 1.06 312.7 141.9 10.1 536 11145 0.00 2.65 0.00 0.000 6 0.000 0.059 2530 2192 1504

11467 1.06 312.7 111.7 8.5 552 11472 0.00 2.65 0.00 0.000 4 0.000 0.067 2530 775 1504

11495 1.06 312.7 109.4 8.8 553 11499 0.00 2.62 0.00 0.000 6 0.000 0.053 2529 2203 1504

11812 1.06 312.7 83.1 8.2 568 11814 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2203 1504

12120 1.06 312.7 54.7 9.2 583 12125 0.00 2.67 0.00 0.000 4 0.000 0.074 2529 3621 1505

12153 1.06 312.7 51.6 9.5 584 12159 0.00 2.62 0.00 0.000 6 0.000 0.059 2529 2199 1505

12470 1.06 312.7 24.7 8.2 600 12472 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2200 1505

12755 end climb: SURFACE_DEPTH_REACHED

state 12755 begin surface coast

12777 end surface coast: CONTROL_FINISHED_OK

state 12777 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	114	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	20	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	-2095315.6	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	211937,6216.158,-902.354,42,1.0,53,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.020,-0.220
_SM_DEPTHo	1.06	KALMAN_X	-170509.6,-211.6,-119.0,-32865.7,-10809.4
_SM_ANGLEo	-53.8	KALMAN_Y	-2183.8,-2934.2,-2642.0,171862.4,46014.1
GPS2	212415,6216.201,-902.353,15,1.5,15,-9.5	MHEAD_RNG_PITCHd_Wd	191.0,55024,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.013172	ALTIM_BOTTOM_PING	400.7,51.9
SM_CCo	12799,117.38,0.625,0,0,509,557.32	_24V_AH	23.7,21.687
SM_GC	1.03,0.00,0.00,117.38,0.000,0.000,0.625,70,2306,509,-10.25,0.17,557.32	_10V_AH	10.2,10.924
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31602,615
TT8_MAMPS	0.02301	CAP_FILE_SIZE	101357,0
HUMID	1851	CFSIZE	260165632,251224064
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	2	GPS	010708,010137,6214.918,-902.672,34,1.3,34,-9.5
ALTIM_TOP_PING	19.4,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	95.56	SBE_CT	452	24	257.49
Roll_motor	138	83	274.82	SBE_O2	417	19	188.07
VBD_pump_during_apogee	399	924	8748.06	WL_BB2F	478	105	1191.37
VBD_pump_during_surface	117	625	1738.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.85	nil	0	0	0.00
Iridium_during_connect	25	160	96.94	nil	0	0	0.00
Iridium_during_xfer	124	223	658.04
Transponder_ping	4	420	39.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.09
TT8	1161	19	234.66
LPSleep	9570	2	213.79
TT8_Active	667	19	134.87
TT8_Sampling	1398	39	567.75
TT8_CF8	402	45	188.09
TT8_Kalman	33	81	27.83
Analog_circuits	1409	12	172.51
GPS_charging	0	0	0.00
Compass	1365	8	111.46
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	-120.72	0.000	2	0.000	0.000	70	2302	2914
150	-0.85	-146.6	3.5	-2.9	6	180	11.30	2.72	-11.55	0.000	4	0.165	0.084	2109	3707	3381
265	-0.67	-146.6	19.9	-10.9	11	270	0.22	2.60	0.00	0.000	6	0.089	0.054	2153	2296	3381
588	-0.62	-146.6	44.5	-7.5	27	593	0.00	2.65	0.00	0.000	4	0.000	0.066	2153	878	3381
661	-0.62	-146.6	50.0	-7.4	30	665	0.00	2.62	0.00	0.000	6	0.000	0.054	2153	2298	3382
977	-0.57	-146.6	71.4	-7.0	45	979	0.10	0.00	0.00	0.000	6	0.100	0.000	2172	2298	3381
1287	-0.57	-146.6	89.5	-5.7	60	1291	0.00	2.65	0.00	0.000	4	0.000	0.064	2172	881	3381
1350	-0.63	-146.6	93.3	-5.4	63	1354	0.00	2.62	0.00	0.000	6	0.000	0.054	2172	2306	3381
1677	-0.63	-146.6	111.9	-5.7	79	1681	0.00	2.67	0.00	0.000	4	0.000	0.064	2172	878	3381
1733	-0.67	-146.6	115.3	-6.0	81	1739	0.00	2.62	0.00	0.000	6	0.000	0.055	2172	2305	3381
2049	-0.67	-146.6	132.3	-5.2	97	2054	0.00	2.67	0.00	0.000	4	0.000	0.066	2172	880	3381
2090	-0.73	-146.6	134.4	-5.7	99	2095	0.15	2.62	0.00	0.000	6	0.042	0.056	2122	2305	3381
2417	-0.61	-146.6	157.9	-7.1	115	2422	0.17	2.65	0.00	0.000	4	0.086	0.067	2162	883	3381
2467	-0.61	-146.6	160.9	-5.3	117	2471	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2304	3381
2783	-0.61	-146.6	177.7	-5.3	132	2787	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	876	3381
2827	-0.61	-146.6	180.1	-5.8	134	2831	0.00	2.62	0.00	0.000	6	0.000	0.057	2161	2299	3381
3148	-0.61	-146.6	198.0	-5.7	150	3153	0.00	2.65	0.00	0.000	4	0.000	0.067	2161	883	3382
3194	-0.61	-146.6	200.5	-5.4	152	3198	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2303	3381
3515	-0.61	-146.6	218.4	-5.5	168	3519	0.00	2.67	0.00	0.000	4	0.000	0.067	2162	878	3381
3548	-0.61	-146.6	220.2	-5.3	169	3554	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2300	3381
3864	-0.61	-146.6	236.1	-5.1	185	3868	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	878	3381
3904	-0.61	-146.6	238.4	-6.0	187	3908	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2299	3381
4231	-0.61	-146.6	255.4	-5.0	203	4235	0.00	2.65	0.00	0.000	4	0.000	0.068	2161	883	3381
4270	-0.61	-146.6	257.4	-4.7	205	4275	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2302	3381
4598	-0.61	-146.6	272.7	-4.6	221	4602	0.00	2.65	0.00	0.000	4	0.000	0.069	2161	882	3381
4638	-0.61	-146.6	274.7	-5.4	223	4642	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2300	3381
4964	-0.61	-146.6	289.8	-4.8	239	4969	0.00	2.67	0.00	0.000	4	0.000	0.068	2162	874	3381
4998	-0.61	-146.6	291.6	-5.3	240	5004	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2300	3381
5315	-0.61	-146.6	308.3	-5.2	256	5319	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	876	3381
5364	-0.61	-146.6	310.9	-5.2	258	5369	0.00	2.62	0.00	0.000	6	0.000	0.057	2162	2300	3381
5680	-0.61	-146.6	328.4	-6.2	273	5684	0.00	2.65	0.00	0.000	4	0.000	0.070	2162	880	3380
5758	-0.61	-146.6	334.6	-8.3	276	5764	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2299	3381
6073	-0.61	-146.6	362.0	-9.0	292	6078	0.00	2.65	0.00	0.000	4	0.000	0.068	2162	881	3380
6129	-0.66	-146.6	367.3	-9.6	294	6135	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2301	3380
6445	-0.66	-146.6	393.9	-10.5	310	6449	0.00	2.70	0.00	0.000	4	0.000	0.081	2161	3712	3380
6484	-0.66	-146.6	398.6	-12.2	312	6489	0.00	2.62	0.00	0.000	6	0.000	0.059	2162	2294	3380
6811	-0.66	-146.6	430.4	-6.6	328	6812	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2294	3380
7015	end dive: BOTTOM_OBSTACLE_DETECTED
state	7015	begin apogee
7022	-0.31	0.0	443.2	6.6	338	7152	0.35	0.00	127.55	0.924	6	0.094	0.000	2232	2199	2781
7153	end apogee: CONTROL_FINISHED_OK
state	7153	begin climb
7156	0.85	146.6	449.2	0.0	344	7292	1.15	2.85	126.10	0.912	4	0.074	0.079	2478	3610	2183
7323	0.93	228.2	446.4	3.8	352	7400	0.12	2.65	70.40	0.894	6	0.049	0.060	2518	2202	1850
7709	0.93	228.2	419.0	8.1	370	7713	0.00	2.72	0.00	0.000	4	0.000	0.074	2518	776	1849
7728	0.93	228.2	418.0	7.8	371	7732	0.00	2.67	0.00	0.000	6	0.000	0.056	2518	2204	1848
8054	0.95	244.2	398.0	5.6	387	8076	0.00	2.78	14.93	0.825	4	0.000	0.078	2518	3617	1785
8099	1.01	300.6	396.0	4.5	389	8155	0.00	2.70	49.00	0.877	6	0.000	0.064	2518	2201	1554
8474	1.07	312.7	378.0	5.7	407	8495	0.00	2.80	11.40	0.791	4	0.000	0.079	2518	3617	1504
8519	1.12	312.7	375.4	6.0	409	8524	0.12	2.67	0.00	0.000	6	0.054	0.064	2555	2201	1506
8846	1.06	312.7	350.0	7.9	425	8851	0.12	2.70	0.00	0.000	4	0.084	0.072	2529	785	1505
8896	1.06	312.7	346.0	8.4	427	8900	0.00	2.62	0.00	0.000	6	0.000	0.055	2530	2202	1504
9211	1.06	312.7	323.6	6.9	442	9213	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2201	1504
9521	1.06	312.7	301.2	7.5	457	9522	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2201	1504
9830	1.06	312.7	274.6	9.2	472	9831	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2201	1505
10139	1.06	312.7	244.5	10.3	487	10140	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2200	1504
10448	1.06	312.7	211.2	10.8	502	10450	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2201	1504
10758	1.06	312.7	178.9	10.0	517	10762	0.00	2.67	0.00	0.000	4	0.000	0.066	2529	779	1504
10779	1.06	312.7	176.8	10.0	518	10784	0.00	2.62	0.00	0.000	6	0.000	0.053	2530	2208	1503
11101	1.06	312.7	145.8	9.8	534	11105	0.00	2.67	0.00	0.000	4	0.000	0.074	2530	3620	1504
11141	1.06	312.7	141.9	10.1	536	11145	0.00	2.65	0.00	0.000	6	0.000	0.059	2530	2192	1504
11467	1.06	312.7	111.7	8.5	552	11472	0.00	2.65	0.00	0.000	4	0.000	0.067	2530	775	1504
11495	1.06	312.7	109.4	8.8	553	11499	0.00	2.62	0.00	0.000	6	0.000	0.053	2529	2203	1504
11812	1.06	312.7	83.1	8.2	568	11814	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2203	1504
12120	1.06	312.7	54.7	9.2	583	12125	0.00	2.67	0.00	0.000	4	0.000	0.074	2529	3621	1505
12153	1.06	312.7	51.6	9.5	584	12159	0.00	2.62	0.00	0.000	6	0.000	0.059	2529	2199	1505
12470	1.06	312.7	24.7	8.2	600	12472	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2200	1505
12755	end climb: SURFACE_DEPTH_REACHED
state	12755	begin surface coast
12777	end surface coast: CONTROL_FINISHED_OK
state	12777	begin surface