Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 120 * 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 120 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 29 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 -2095454.2 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 -2095454.2

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 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 120 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 181358,6219.284,-901.117,35,2.4,54,-9.5 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.034,-0.219

_SM_DEPTHo 0.96 KALMAN_X -176647.8,-603.8,1144.8,-26389.7,-18908.6

_SM_ANGLEo -51.2 KALMAN_Y 8626.1,-3513.0,-88.2,164971.1,44081.9

GPS2 181839,6219.390,-901.033,15,1.5,15,-9.5 MHEAD_RNG_PITCHd_Wd 191.9,60968,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027008 ALTIM_BOTTOM_PING 425.5,38.4

SM_CCo 13700,22.05,0.598,0,0,508,557.32 _24V_AH 23.7,22.517

SM_GC 1.14,0.00,0.00,22.05,0.000,0.000,0.598,72,2311,508,-10.24,0.31,557.32 _10V_AH 10.2,11.306

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34844,660

TT8_MAMPS 0.023777 CAP_FILE_SIZE 109728,0

HUMID 1866 CFSIZE 260165632,250925056

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 4 GPS 010708,220932,6220.921,-857.107,39,1.7,39,-9.5

ALTIM_TOP_PING 19.4,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 166 103.94 SBE_CT 487 24 277.46

Roll_motor 143 82 282.21 SBE_O2 446 19 201.10

VBD_pump_during_apogee 567 938 12621.97 WL_BB2F 503 105 1252.87

VBD_pump_during_surface 22 598 312.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.02 nil 0 0 0.00

Iridium_during_connect 37 160 140.40 nil 0 0 0.00

Iridium_during_xfer 117 223 619.03

Transponder_ping 4 420 44.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.83

TT8 1227 19 247.89

LPSleep 10139 2 226.49

TT8_Active 731 19 147.72

TT8_Sampling 1498 39 608.32

TT8_CF8 413 45 193.37

TT8_Kalman 33 81 27.84

Analog_circuits 1546 12 189.28

GPS_charging 0 0 0.00

Compass 1463 8 119.43

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 -138.75 0.000 6 0.000 0.000 62 2322 3381

169 -0.85 -146.6 6.6 -6.0 7 186 11.50 0.00 0.00 0.000 6 0.166 0.000 2106 2322 3382

497 -0.65 -146.6 55.3 -11.2 23 502 0.22 2.62 0.00 0.000 4 0.095 0.074 2154 3704 3382

553 -0.58 -146.6 60.6 -8.9 25 560 0.00 2.58 0.00 0.000 6 0.000 0.052 2154 2291 3382

870 -0.52 -146.6 83.2 -6.5 41 875 0.15 2.62 0.00 0.000 4 0.095 0.064 2187 884 3382

903 -0.61 -146.6 85.0 -4.5 42 910 0.00 2.60 0.00 0.000 6 0.000 0.056 2187 2295 3382

1222 -0.66 -146.6 99.5 -4.8 58 1227 0.15 2.67 0.00 0.000 4 0.043 0.073 2135 3712 3382

1272 -0.54 -146.6 103.0 -6.6 60 1277 0.22 2.60 0.00 0.000 6 0.081 0.054 2180 2297 3382

1590 -0.54 -146.6 116.7 -4.5 75 1591 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2297 3382

1897 -0.54 -146.6 132.2 -4.9 90 1902 0.00 2.62 0.00 0.000 4 0.000 0.064 2180 883 3382

1931 -0.61 -146.6 133.8 -5.3 91 1938 0.00 2.62 0.00 0.000 6 0.000 0.057 2180 2307 3382

2249 -0.61 -146.6 147.8 -4.2 107 2254 0.00 2.67 0.00 0.000 4 0.000 0.064 2180 877 3381

2283 -0.69 -146.6 149.3 -4.3 108 2290 0.15 2.62 0.00 0.000 6 0.043 0.056 2132 2303 3382

2600 -0.58 -146.6 167.3 -5.2 124 2605 0.17 2.67 0.00 0.000 4 0.084 0.065 2170 878 3382

2656 -0.64 -146.6 169.6 -3.8 126 2662 0.00 2.62 0.00 0.000 6 0.000 0.056 2170 2299 3382

2972 -0.64 -146.6 180.7 -3.3 142 2973 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2300 3382

3281 -0.64 -146.6 191.3 -3.6 157 3286 0.00 2.65 0.00 0.000 4 0.000 0.065 2170 883 3381

3332 -0.69 -146.6 193.2 -3.6 159 3336 0.00 2.62 0.00 0.000 6 0.000 0.057 2170 2304 3382

3648 -0.69 -146.6 206.3 -4.7 174 3652 0.00 2.67 0.00 0.000 4 0.000 0.066 2170 876 3381

3689 -0.75 -146.6 208.1 -4.9 176 3694 0.15 2.62 0.00 0.000 6 0.044 0.058 2123 2303 3382

4016 -0.63 -146.6 231.6 -7.4 192 4021 0.15 2.67 0.00 0.000 4 0.084 0.067 2157 885 3382

4056 -0.63 -146.6 234.2 -5.7 194 4061 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2303 3381

4383 -0.63 -146.6 256.8 -7.5 210 4387 0.00 2.67 0.00 0.000 4 0.000 0.067 2157 882 3381

4415 -0.63 -146.6 259.5 -7.8 211 4421 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2299 3381

4731 -0.63 -146.6 287.5 -9.5 227 4732 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2299 3380

5040 -0.63 -146.6 318.6 -10.3 242 5045 0.00 2.65 0.00 0.000 4 0.000 0.068 2157 884 3381

5118 -0.63 -146.6 326.9 -10.3 245 5125 0.00 2.62 0.00 0.000 6 0.000 0.060 2157 2298 3381

5434 -0.63 -146.6 359.0 -10.1 261 5439 0.00 2.67 0.00 0.000 4 0.000 0.068 2157 878 3381

5501 -0.63 -146.6 366.0 -10.3 264 5506 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2306 3381

5822 -0.63 -146.6 395.6 -7.9 280 5826 0.00 2.67 0.00 0.000 4 0.000 0.081 2157 3713 3381

5843 -0.63 -146.6 397.1 -7.0 281 5847 0.00 2.60 0.00 0.000 6 0.000 0.058 2156 2300 3381

6164 -0.63 -146.6 411.7 -4.8 297 6168 0.00 2.65 0.00 0.000 4 0.000 0.071 2157 878 3381

6181 -0.57 -146.6 413.4 -7.7 298 6186 0.00 2.65 0.00 0.000 6 0.000 0.060 2157 2304 3381

6509 -0.57 -146.6 431.4 -1.2 314 6513 0.00 2.70 0.00 0.000 4 0.000 0.083 2157 3712 3380

6549 -0.52 -146.6 434.5 -9.3 316 6554 0.15 2.62 0.00 0.000 6 0.091 0.058 2187 2293 3380

6873 end dive: BOTTOM_OBSTACLE_DETECTED

state 6873 begin apogee

6880 -0.31 0.0 454.1 6.9 332 7015 0.22 0.00 127.45 0.938 6 0.087 0.000 2233 2203 2781

7015 end apogee: CONTROL_FINISHED_OK

state 7015 begin climb

7018 0.85 146.6 459.0 0.0 339 7154 1.15 2.85 126.07 0.923 4 0.077 0.080 2479 3614 2183

7244 0.85 146.6 450.5 7.3 349 7250 0.00 2.65 0.00 0.000 6 0.000 0.058 2479 2200 2183

7560 0.91 209.9 436.5 4.3 365 7620 0.00 0.00 54.78 0.904 6 0.000 0.000 2479 2200 1924

7930 0.99 209.9 416.5 6.9 383 7936 0.17 2.75 0.00 0.000 4 0.046 0.081 2534 3618 1924

7958 0.92 209.9 414.2 8.7 384 7963 0.17 2.67 0.00 0.000 6 0.087 0.061 2499 2192 1924

8274 0.92 209.9 388.7 6.6 399 8278 0.00 2.75 0.00 0.000 4 0.000 0.081 2499 3613 1924

8385 0.92 209.9 381.0 8.0 404 8390 0.00 2.65 0.00 0.000 6 0.000 0.061 2499 2199 1923

8706 0.92 209.9 354.2 9.1 420 8711 0.00 2.67 0.00 0.000 4 0.000 0.071 2499 782 1923

8761 0.92 209.9 349.0 9.7 422 8767 0.00 2.62 0.00 0.000 6 0.000 0.055 2500 2200 1922

9077 0.92 209.9 318.5 9.6 438 9078 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2200 1922

9386 0.92 209.9 291.7 7.9 453 9387 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2200 1922

9695 0.96 244.3 272.6 5.1 468 9731 0.00 2.72 29.85 0.811 4 0.000 0.067 2499 779 1783

9748 1.07 292.7 270.1 4.7 469 9796 0.15 2.65 41.33 0.809 6 0.047 0.054 2544 2201 1586

10108 1.07 292.7 247.4 6.2 487 10109 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2202 1586

10414 1.08 299.3 229.3 5.8 502 10428 0.00 2.75 7.43 0.667 4 0.000 0.075 2544 3607 1559

10441 1.08 299.3 227.5 6.3 503 10445 0.00 2.65 0.00 0.000 6 0.000 0.059 2544 2198 1559

10761 1.08 299.3 207.3 6.5 519 10762 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2199 1559

11071 1.08 299.3 188.3 6.0 534 11075 0.00 2.70 0.00 0.000 4 0.000 0.075 2544 3613 1559

11092 1.09 311.8 187.0 5.7 535 11110 0.00 2.62 11.70 0.697 6 0.000 0.058 2544 2193 1508

11419 1.12 341.9 169.0 5.2 551 11446 0.00 0.00 25.83 0.729 6 0.000 0.000 2544 2193 1387

11748 1.19 401.3 153.5 4.4 567 11802 0.00 2.70 49.03 0.736 4 0.000 0.066 2544 785 1145

11827 1.31 456.3 150.1 4.5 570 11879 0.20 2.62 46.03 0.723 6 0.047 0.053 2600 2201 921

12201 1.25 456.3 124.3 6.4 589 12206 0.15 2.67 0.00 0.000 4 0.081 0.066 2566 785 920

12246 1.35 514.4 122.0 4.4 591 12304 0.12 2.60 48.28 0.704 6 0.046 0.053 2606 2203 683

12614 1.30 514.4 96.3 7.6 609 12619 0.12 2.70 0.00 0.000 4 0.084 0.067 2581 779 683

12669 1.30 514.4 92.5 6.6 611 12675 0.00 2.62 0.00 0.000 6 0.000 0.053 2581 2203 683

12985 1.30 514.4 69.7 8.4 627 12989 0.00 2.67 0.00 0.000 4 0.000 0.067 2581 785 683

13034 1.30 514.4 64.9 9.6 629 13039 0.00 2.60 0.00 0.000 6 0.000 0.052 2581 2206 683

13350 1.30 514.4 33.6 9.9 644 13355 0.00 2.67 0.00 0.000 4 0.000 0.066 2581 783 683

13414 1.34 514.4 27.4 10.2 647 13418 0.00 2.60 0.00 0.000 6 0.000 0.052 2581 2201 683

13655 end climb: SURFACE_DEPTH_REACHED

state 13655 begin surface coast

13677 end surface coast: CONTROL_FINISHED_OK

state 13677 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	120	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	29	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	-2095454.2	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	181358,6219.284,-901.117,35,2.4,54,-9.5	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.034,-0.219
_SM_DEPTHo	0.96	KALMAN_X	-176647.8,-603.8,1144.8,-26389.7,-18908.6
_SM_ANGLEo	-51.2	KALMAN_Y	8626.1,-3513.0,-88.2,164971.1,44081.9
GPS2	181839,6219.390,-901.033,15,1.5,15,-9.5	MHEAD_RNG_PITCHd_Wd	191.9,60968,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027008	ALTIM_BOTTOM_PING	425.5,38.4
SM_CCo	13700,22.05,0.598,0,0,508,557.32	_24V_AH	23.7,22.517
SM_GC	1.14,0.00,0.00,22.05,0.000,0.000,0.598,72,2311,508,-10.24,0.31,557.32	_10V_AH	10.2,11.306
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34844,660
TT8_MAMPS	0.023777	CAP_FILE_SIZE	109728,0
HUMID	1866	CFSIZE	260165632,250925056
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	4	GPS	010708,220932,6220.921,-857.107,39,1.7,39,-9.5
ALTIM_TOP_PING	19.4,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	166	103.94	SBE_CT	487	24	277.46
Roll_motor	143	82	282.21	SBE_O2	446	19	201.10
VBD_pump_during_apogee	567	938	12621.97	WL_BB2F	503	105	1252.87
VBD_pump_during_surface	22	598	312.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.02	nil	0	0	0.00
Iridium_during_connect	37	160	140.40	nil	0	0	0.00
Iridium_during_xfer	117	223	619.03
Transponder_ping	4	420	44.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.83
TT8	1227	19	247.89
LPSleep	10139	2	226.49
TT8_Active	731	19	147.72
TT8_Sampling	1498	39	608.32
TT8_CF8	413	45	193.37
TT8_Kalman	33	81	27.84
Analog_circuits	1546	12	189.28
GPS_charging	0	0	0.00
Compass	1463	8	119.43
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	-138.75	0.000	6	0.000	0.000	62	2322	3381
169	-0.85	-146.6	6.6	-6.0	7	186	11.50	0.00	0.00	0.000	6	0.166	0.000	2106	2322	3382
497	-0.65	-146.6	55.3	-11.2	23	502	0.22	2.62	0.00	0.000	4	0.095	0.074	2154	3704	3382
553	-0.58	-146.6	60.6	-8.9	25	560	0.00	2.58	0.00	0.000	6	0.000	0.052	2154	2291	3382
870	-0.52	-146.6	83.2	-6.5	41	875	0.15	2.62	0.00	0.000	4	0.095	0.064	2187	884	3382
903	-0.61	-146.6	85.0	-4.5	42	910	0.00	2.60	0.00	0.000	6	0.000	0.056	2187	2295	3382
1222	-0.66	-146.6	99.5	-4.8	58	1227	0.15	2.67	0.00	0.000	4	0.043	0.073	2135	3712	3382
1272	-0.54	-146.6	103.0	-6.6	60	1277	0.22	2.60	0.00	0.000	6	0.081	0.054	2180	2297	3382
1590	-0.54	-146.6	116.7	-4.5	75	1591	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2297	3382
1897	-0.54	-146.6	132.2	-4.9	90	1902	0.00	2.62	0.00	0.000	4	0.000	0.064	2180	883	3382
1931	-0.61	-146.6	133.8	-5.3	91	1938	0.00	2.62	0.00	0.000	6	0.000	0.057	2180	2307	3382
2249	-0.61	-146.6	147.8	-4.2	107	2254	0.00	2.67	0.00	0.000	4	0.000	0.064	2180	877	3381
2283	-0.69	-146.6	149.3	-4.3	108	2290	0.15	2.62	0.00	0.000	6	0.043	0.056	2132	2303	3382
2600	-0.58	-146.6	167.3	-5.2	124	2605	0.17	2.67	0.00	0.000	4	0.084	0.065	2170	878	3382
2656	-0.64	-146.6	169.6	-3.8	126	2662	0.00	2.62	0.00	0.000	6	0.000	0.056	2170	2299	3382
2972	-0.64	-146.6	180.7	-3.3	142	2973	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2300	3382
3281	-0.64	-146.6	191.3	-3.6	157	3286	0.00	2.65	0.00	0.000	4	0.000	0.065	2170	883	3381
3332	-0.69	-146.6	193.2	-3.6	159	3336	0.00	2.62	0.00	0.000	6	0.000	0.057	2170	2304	3382
3648	-0.69	-146.6	206.3	-4.7	174	3652	0.00	2.67	0.00	0.000	4	0.000	0.066	2170	876	3381
3689	-0.75	-146.6	208.1	-4.9	176	3694	0.15	2.62	0.00	0.000	6	0.044	0.058	2123	2303	3382
4016	-0.63	-146.6	231.6	-7.4	192	4021	0.15	2.67	0.00	0.000	4	0.084	0.067	2157	885	3382
4056	-0.63	-146.6	234.2	-5.7	194	4061	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2303	3381
4383	-0.63	-146.6	256.8	-7.5	210	4387	0.00	2.67	0.00	0.000	4	0.000	0.067	2157	882	3381
4415	-0.63	-146.6	259.5	-7.8	211	4421	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2299	3381
4731	-0.63	-146.6	287.5	-9.5	227	4732	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2299	3380
5040	-0.63	-146.6	318.6	-10.3	242	5045	0.00	2.65	0.00	0.000	4	0.000	0.068	2157	884	3381
5118	-0.63	-146.6	326.9	-10.3	245	5125	0.00	2.62	0.00	0.000	6	0.000	0.060	2157	2298	3381
5434	-0.63	-146.6	359.0	-10.1	261	5439	0.00	2.67	0.00	0.000	4	0.000	0.068	2157	878	3381
5501	-0.63	-146.6	366.0	-10.3	264	5506	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2306	3381
5822	-0.63	-146.6	395.6	-7.9	280	5826	0.00	2.67	0.00	0.000	4	0.000	0.081	2157	3713	3381
5843	-0.63	-146.6	397.1	-7.0	281	5847	0.00	2.60	0.00	0.000	6	0.000	0.058	2156	2300	3381
6164	-0.63	-146.6	411.7	-4.8	297	6168	0.00	2.65	0.00	0.000	4	0.000	0.071	2157	878	3381
6181	-0.57	-146.6	413.4	-7.7	298	6186	0.00	2.65	0.00	0.000	6	0.000	0.060	2157	2304	3381
6509	-0.57	-146.6	431.4	-1.2	314	6513	0.00	2.70	0.00	0.000	4	0.000	0.083	2157	3712	3380
6549	-0.52	-146.6	434.5	-9.3	316	6554	0.15	2.62	0.00	0.000	6	0.091	0.058	2187	2293	3380
6873	end dive: BOTTOM_OBSTACLE_DETECTED
state	6873	begin apogee
6880	-0.31	0.0	454.1	6.9	332	7015	0.22	0.00	127.45	0.938	6	0.087	0.000	2233	2203	2781
7015	end apogee: CONTROL_FINISHED_OK
state	7015	begin climb
7018	0.85	146.6	459.0	0.0	339	7154	1.15	2.85	126.07	0.923	4	0.077	0.080	2479	3614	2183
7244	0.85	146.6	450.5	7.3	349	7250	0.00	2.65	0.00	0.000	6	0.000	0.058	2479	2200	2183
7560	0.91	209.9	436.5	4.3	365	7620	0.00	0.00	54.78	0.904	6	0.000	0.000	2479	2200	1924
7930	0.99	209.9	416.5	6.9	383	7936	0.17	2.75	0.00	0.000	4	0.046	0.081	2534	3618	1924
7958	0.92	209.9	414.2	8.7	384	7963	0.17	2.67	0.00	0.000	6	0.087	0.061	2499	2192	1924
8274	0.92	209.9	388.7	6.6	399	8278	0.00	2.75	0.00	0.000	4	0.000	0.081	2499	3613	1924
8385	0.92	209.9	381.0	8.0	404	8390	0.00	2.65	0.00	0.000	6	0.000	0.061	2499	2199	1923
8706	0.92	209.9	354.2	9.1	420	8711	0.00	2.67	0.00	0.000	4	0.000	0.071	2499	782	1923
8761	0.92	209.9	349.0	9.7	422	8767	0.00	2.62	0.00	0.000	6	0.000	0.055	2500	2200	1922
9077	0.92	209.9	318.5	9.6	438	9078	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2200	1922
9386	0.92	209.9	291.7	7.9	453	9387	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2200	1922
9695	0.96	244.3	272.6	5.1	468	9731	0.00	2.72	29.85	0.811	4	0.000	0.067	2499	779	1783
9748	1.07	292.7	270.1	4.7	469	9796	0.15	2.65	41.33	0.809	6	0.047	0.054	2544	2201	1586
10108	1.07	292.7	247.4	6.2	487	10109	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2202	1586
10414	1.08	299.3	229.3	5.8	502	10428	0.00	2.75	7.43	0.667	4	0.000	0.075	2544	3607	1559
10441	1.08	299.3	227.5	6.3	503	10445	0.00	2.65	0.00	0.000	6	0.000	0.059	2544	2198	1559
10761	1.08	299.3	207.3	6.5	519	10762	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2199	1559
11071	1.08	299.3	188.3	6.0	534	11075	0.00	2.70	0.00	0.000	4	0.000	0.075	2544	3613	1559
11092	1.09	311.8	187.0	5.7	535	11110	0.00	2.62	11.70	0.697	6	0.000	0.058	2544	2193	1508
11419	1.12	341.9	169.0	5.2	551	11446	0.00	0.00	25.83	0.729	6	0.000	0.000	2544	2193	1387
11748	1.19	401.3	153.5	4.4	567	11802	0.00	2.70	49.03	0.736	4	0.000	0.066	2544	785	1145
11827	1.31	456.3	150.1	4.5	570	11879	0.20	2.62	46.03	0.723	6	0.047	0.053	2600	2201	921
12201	1.25	456.3	124.3	6.4	589	12206	0.15	2.67	0.00	0.000	4	0.081	0.066	2566	785	920
12246	1.35	514.4	122.0	4.4	591	12304	0.12	2.60	48.28	0.704	6	0.046	0.053	2606	2203	683
12614	1.30	514.4	96.3	7.6	609	12619	0.12	2.70	0.00	0.000	4	0.084	0.067	2581	779	683
12669	1.30	514.4	92.5	6.6	611	12675	0.00	2.62	0.00	0.000	6	0.000	0.053	2581	2203	683
12985	1.30	514.4	69.7	8.4	627	12989	0.00	2.67	0.00	0.000	4	0.000	0.067	2581	785	683
13034	1.30	514.4	64.9	9.6	629	13039	0.00	2.60	0.00	0.000	6	0.000	0.052	2581	2206	683
13350	1.30	514.4	33.6	9.9	644	13355	0.00	2.67	0.00	0.000	4	0.000	0.066	2581	783	683
13414	1.34	514.4	27.4	10.2	647	13418	0.00	2.60	0.00	0.000	6	0.000	0.052	2581	2201	683
13655	end climb: SURFACE_DEPTH_REACHED
state	13655	begin surface coast
13677	end surface coast: CONTROL_FINISHED_OK
state	13677	begin surface