Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 121 * 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 121 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 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 -2095468.8 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 -2095468.8

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 17 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 121 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 220932,6220.921,-857.107,39,1.7,39,-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 0.011,-0.221

_SM_DEPTHo 1.04 KALMAN_X -173125.4,1303.8,964.3,-28066.9,-11585.3

_SM_ANGLEo -57.1 KALMAN_Y 13107.3,-1892.5,-578.3,162197.1,41116.0

GPS2 221439,6220.935,-857.014,13,1.6,13,-9.5 MHEAD_RNG_PITCHd_Wd 195.0,64067,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026353 ALTIM_BOTTOM_PING 375.6,74.1

SM_CCo 13419,127.78,0.621,0,0,508,557.32 _24V_AH 23.7,22.645

SM_GC 1.03,0.00,0.00,127.78,0.000,0.000,0.621,67,2305,508,-10.27,0.14,557.32 _10V_AH 10.2,11.373

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31668,644

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105815,0

HUMID 1850 CFSIZE 260165632,250880000

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 2 GPS 020708,020237,6219.826,-857.025,39,1.0,39,-9.5

ALTIM_TOP_PING 20.0,20.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 166 98.42 SBE_CT 474 24 269.70

Roll_motor 137 78 255.69 SBE_O2 437 19 196.88

VBD_pump_during_apogee 384 928 8461.03 WL_BB2F 456 105 1136.90

VBD_pump_during_surface 127 620 1879.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.82 nil 0 0 0.00

Iridium_during_connect 31 160 117.65 nil 0 0 0.00

Iridium_during_xfer 131 223 693.66

Transponder_ping 3 420 34.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.08

TT8 1211 19 244.63

LPSleep 10093 2 225.47

TT8_Active 692 19 139.81

TT8_Sampling 1422 39 577.65

TT8_CF8 439 45 205.39

TT8_Kalman 33 81 27.83

Analog_circuits 1444 12 176.80

GPS_charging 0 0 0.00

Compass 1394 8 113.83

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 -138.57 0.000 6 0.000 0.000 71 2313 3381

169 -0.85 -146.6 7.0 -6.4 7 190 11.32 2.72 0.00 0.000 4 0.166 0.070 2108 880 3382

253 -0.73 -146.6 29.2 -11.9 10 260 0.17 2.62 0.00 0.000 6 0.096 0.057 2142 2303 3382

571 -0.62 -146.6 68.4 -14.8 26 576 0.12 2.67 0.00 0.000 4 0.096 0.073 2166 3714 3382

615 -0.62 -146.6 75.7 -14.7 28 619 0.00 2.60 0.00 0.000 6 0.000 0.051 2166 2291 3382

936 -0.62 -146.6 117.3 -11.9 44 940 0.00 2.62 0.00 0.000 4 0.000 0.065 2166 880 3382

1021 -0.62 -146.6 126.5 -10.8 48 1025 0.00 2.62 0.00 0.000 6 0.000 0.056 2166 2305 3382

1347 -0.62 -146.6 153.9 -7.1 64 1351 0.00 2.65 0.00 0.000 4 0.000 0.064 2166 885 3382

1387 -0.62 -146.6 156.5 -6.5 66 1391 0.00 2.62 0.00 0.000 6 0.000 0.056 2166 2303 3382

1713 -0.62 -146.6 172.3 -4.0 82 1718 0.00 2.65 0.00 0.000 4 0.000 0.064 2166 884 3381

1758 -0.66 -146.6 174.1 -3.8 84 1762 0.00 2.62 0.00 0.000 6 0.000 0.056 2166 2304 3382

2079 -0.66 -146.6 182.6 -2.6 100 2083 0.00 2.65 0.00 0.000 4 0.000 0.065 2166 885 3382

2119 -0.70 -146.6 183.7 -2.2 102 2123 0.00 2.62 0.00 0.000 6 0.000 0.057 2166 2302 3381

2446 -0.70 -146.6 191.0 -2.4 118 2450 0.00 2.65 0.00 0.000 4 0.000 0.066 2166 884 3381

2486 -0.75 -146.6 192.0 -2.3 120 2491 0.15 2.60 0.00 0.000 6 0.042 0.058 2118 2300 3381

2815 -0.61 -146.6 207.4 -5.1 136 2817 0.22 0.00 0.00 0.000 6 0.083 0.000 2163 2300 3381

3123 -0.61 -146.6 217.1 -3.2 151 3127 0.00 2.65 0.00 0.000 4 0.000 0.067 2163 879 3381

3189 -0.61 -146.6 219.3 -3.3 154 3194 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2302 3381

3511 -0.61 -146.6 230.3 -3.7 170 3512 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2302 3381

3821 -0.61 -146.6 242.7 -4.1 185 3825 0.00 2.62 0.00 0.000 4 0.000 0.067 2162 883 3381

3893 -0.61 -146.6 246.0 -4.7 188 3897 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2299 3381

4209 -0.61 -146.6 260.0 -4.4 203 4213 0.00 2.65 0.00 0.000 4 0.000 0.067 2163 883 3381

4242 -0.61 -146.6 261.6 -4.4 204 4248 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2305 3381

4558 -0.61 -146.6 274.9 -4.1 220 4566 0.00 2.65 0.00 0.000 4 0.000 0.067 2163 874 3381

4600 -0.61 -146.6 276.8 -3.8 221 4606 0.00 2.62 0.00 0.000 6 0.000 0.057 2163 2301 3381

4916 -0.61 -146.6 291.2 -4.8 237 4917 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2301 3381

5225 -0.61 -146.6 307.3 -5.3 252 5230 0.00 2.65 0.00 0.000 4 0.000 0.068 2163 881 3381

5253 -0.61 -146.6 309.0 -6.0 253 5257 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2306 3380

5569 -0.61 -146.6 327.1 -4.6 268 5570 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2306 3380

5880 -0.61 -146.6 350.0 -7.3 283 5884 0.00 2.65 0.00 0.000 4 0.000 0.067 2163 884 3380

5943 -0.69 -146.6 354.7 -6.6 286 5947 0.00 2.62 0.00 0.000 6 0.000 0.058 2163 2304 3380

6269 -0.69 -146.6 377.2 -7.2 302 6270 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2305 3380

6579 -0.69 -146.6 399.3 -8.5 317 6583 0.00 2.65 0.00 0.000 4 0.000 0.070 2163 885 3380

6645 -0.74 -146.6 404.7 -7.0 320 6650 0.12 2.60 0.00 0.000 6 0.048 0.058 2122 2300 3380

6967 -0.61 -146.6 428.2 -7.4 336 6972 0.17 2.65 0.00 0.000 4 0.086 0.067 2160 884 3380

7012 -0.68 -146.6 430.9 -5.5 338 7017 0.00 2.60 0.00 0.000 6 0.000 0.059 2160 2301 3380

7166 end dive: BOTTOM_OBSTACLE_DETECTED

state 7166 begin apogee

7173 -0.31 0.0 440.8 7.2 346 7303 0.35 0.00 127.05 0.928 6 0.087 0.000 2232 2198 2781

7304 end apogee: CONTROL_FINISHED_OK

state 7304 begin climb

7307 0.85 146.6 446.8 0.0 352 7443 1.17 2.80 125.75 0.907 4 0.075 0.076 2483 3616 2183

7468 0.91 203.0 445.1 4.5 359 7522 0.00 2.65 49.08 0.882 6 0.000 0.059 2482 2205 1954

7848 1.00 225.5 428.3 5.4 378 7875 0.17 2.75 20.77 0.844 4 0.047 0.069 2535 779 1860

7920 0.94 225.5 423.3 7.0 381 7925 0.15 2.62 0.00 0.000 6 0.084 0.054 2504 2199 1860

8236 0.94 225.5 401.6 7.9 396 8237 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2199 1860

8546 0.94 225.5 381.4 8.4 411 8547 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2199 1860

8854 0.94 225.5 356.5 8.6 426 8859 0.00 2.70 0.00 0.000 4 0.000 0.078 2504 3612 1859

8887 0.94 225.5 353.1 10.6 427 8893 0.00 2.62 0.00 0.000 6 0.000 0.061 2505 2197 1859

9203 0.94 225.5 322.5 9.5 443 9204 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2197 1859

9512 0.99 225.5 295.4 8.3 458 9517 0.00 2.70 0.00 0.000 4 0.000 0.077 2505 3622 1858

9579 0.99 225.5 289.2 9.7 461 9583 0.00 2.62 0.00 0.000 6 0.000 0.060 2505 2200 1859

9900 0.99 225.5 261.3 9.1 477 9901 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2201 1858

10209 0.99 225.5 232.3 9.4 492 10213 0.00 2.67 0.00 0.000 4 0.000 0.075 2505 3613 1858

10241 0.99 225.5 229.0 10.1 493 10247 0.00 2.60 0.00 0.000 6 0.000 0.058 2505 2197 1858

10557 0.99 225.5 199.7 9.2 509 10562 0.00 2.67 0.00 0.000 4 0.000 0.074 2505 3613 1858

10585 0.99 225.5 196.8 10.5 510 10589 0.00 2.60 0.00 0.000 6 0.000 0.059 2504 2200 1858

10900 0.99 225.5 167.8 9.3 525 10901 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2200 1857

11210 0.99 225.5 139.3 8.7 540 11215 0.00 2.67 0.00 0.000 4 0.000 0.073 2505 3620 1858

11233 1.03 225.5 137.2 9.3 541 11237 0.00 2.60 0.00 0.000 6 0.000 0.058 2504 2200 1858

11554 1.03 225.5 111.5 7.4 557 11558 0.00 2.67 0.00 0.000 4 0.000 0.072 2505 3621 1858

11587 1.03 225.5 108.7 8.4 558 11593 0.00 2.60 0.00 0.000 6 0.000 0.058 2505 2200 1858

11904 1.07 266.2 90.3 4.9 574 11943 0.12 0.00 34.08 0.692 6 0.048 0.000 2544 2200 1695

12254 1.08 271.8 69.4 5.8 591 12262 0.00 0.00 6.32 0.560 6 0.000 0.000 2544 2200 1672

12563 1.09 281.2 50.5 5.7 606 12578 0.00 2.70 9.27 0.597 4 0.000 0.072 2544 3616 1634

12635 1.09 281.2 46.4 6.1 608 12639 0.00 2.62 0.00 0.000 6 0.000 0.057 2544 2197 1634

12951 1.10 294.9 30.2 5.6 623 12973 0.00 2.70 12.35 0.611 4 0.000 0.066 2544 785 1578

13007 1.10 295.5 27.0 6.0 625 13011 0.00 2.60 0.00 0.000 6 0.000 0.051 2544 2202 1577

13323 1.10 295.5 5.6 7.6 640 13327 0.00 2.65 0.00 0.000 4 0.000 0.071 2544 3613 1578

13340 1.10 295.5 4.2 8.7 641 13345 0.00 2.62 0.00 0.000 6 0.000 0.061 2544 2196 1578

13377 end climb: SURFACE_DEPTH_REACHED

state 13377 begin surface coast

13397 end surface coast: CONTROL_FINISHED_OK

state 13397 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	121	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	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	-2095468.8	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	220932,6220.921,-857.107,39,1.7,39,-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	0.011,-0.221
_SM_DEPTHo	1.04	KALMAN_X	-173125.4,1303.8,964.3,-28066.9,-11585.3
_SM_ANGLEo	-57.1	KALMAN_Y	13107.3,-1892.5,-578.3,162197.1,41116.0
GPS2	221439,6220.935,-857.014,13,1.6,13,-9.5	MHEAD_RNG_PITCHd_Wd	195.0,64067,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.026353	ALTIM_BOTTOM_PING	375.6,74.1
SM_CCo	13419,127.78,0.621,0,0,508,557.32	_24V_AH	23.7,22.645
SM_GC	1.03,0.00,0.00,127.78,0.000,0.000,0.621,67,2305,508,-10.27,0.14,557.32	_10V_AH	10.2,11.373
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31668,644
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105815,0
HUMID	1850	CFSIZE	260165632,250880000
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	2	GPS	020708,020237,6219.826,-857.025,39,1.0,39,-9.5
ALTIM_TOP_PING	20.0,20.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	166	98.42	SBE_CT	474	24	269.70
Roll_motor	137	78	255.69	SBE_O2	437	19	196.88
VBD_pump_during_apogee	384	928	8461.03	WL_BB2F	456	105	1136.90
VBD_pump_during_surface	127	620	1879.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.82	nil	0	0	0.00
Iridium_during_connect	31	160	117.65	nil	0	0	0.00
Iridium_during_xfer	131	223	693.66
Transponder_ping	3	420	34.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.08
TT8	1211	19	244.63
LPSleep	10093	2	225.47
TT8_Active	692	19	139.81
TT8_Sampling	1422	39	577.65
TT8_CF8	439	45	205.39
TT8_Kalman	33	81	27.83
Analog_circuits	1444	12	176.80
GPS_charging	0	0	0.00
Compass	1394	8	113.83
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	-138.57	0.000	6	0.000	0.000	71	2313	3381
169	-0.85	-146.6	7.0	-6.4	7	190	11.32	2.72	0.00	0.000	4	0.166	0.070	2108	880	3382
253	-0.73	-146.6	29.2	-11.9	10	260	0.17	2.62	0.00	0.000	6	0.096	0.057	2142	2303	3382
571	-0.62	-146.6	68.4	-14.8	26	576	0.12	2.67	0.00	0.000	4	0.096	0.073	2166	3714	3382
615	-0.62	-146.6	75.7	-14.7	28	619	0.00	2.60	0.00	0.000	6	0.000	0.051	2166	2291	3382
936	-0.62	-146.6	117.3	-11.9	44	940	0.00	2.62	0.00	0.000	4	0.000	0.065	2166	880	3382
1021	-0.62	-146.6	126.5	-10.8	48	1025	0.00	2.62	0.00	0.000	6	0.000	0.056	2166	2305	3382
1347	-0.62	-146.6	153.9	-7.1	64	1351	0.00	2.65	0.00	0.000	4	0.000	0.064	2166	885	3382
1387	-0.62	-146.6	156.5	-6.5	66	1391	0.00	2.62	0.00	0.000	6	0.000	0.056	2166	2303	3382
1713	-0.62	-146.6	172.3	-4.0	82	1718	0.00	2.65	0.00	0.000	4	0.000	0.064	2166	884	3381
1758	-0.66	-146.6	174.1	-3.8	84	1762	0.00	2.62	0.00	0.000	6	0.000	0.056	2166	2304	3382
2079	-0.66	-146.6	182.6	-2.6	100	2083	0.00	2.65	0.00	0.000	4	0.000	0.065	2166	885	3382
2119	-0.70	-146.6	183.7	-2.2	102	2123	0.00	2.62	0.00	0.000	6	0.000	0.057	2166	2302	3381
2446	-0.70	-146.6	191.0	-2.4	118	2450	0.00	2.65	0.00	0.000	4	0.000	0.066	2166	884	3381
2486	-0.75	-146.6	192.0	-2.3	120	2491	0.15	2.60	0.00	0.000	6	0.042	0.058	2118	2300	3381
2815	-0.61	-146.6	207.4	-5.1	136	2817	0.22	0.00	0.00	0.000	6	0.083	0.000	2163	2300	3381
3123	-0.61	-146.6	217.1	-3.2	151	3127	0.00	2.65	0.00	0.000	4	0.000	0.067	2163	879	3381
3189	-0.61	-146.6	219.3	-3.3	154	3194	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2302	3381
3511	-0.61	-146.6	230.3	-3.7	170	3512	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2302	3381
3821	-0.61	-146.6	242.7	-4.1	185	3825	0.00	2.62	0.00	0.000	4	0.000	0.067	2162	883	3381
3893	-0.61	-146.6	246.0	-4.7	188	3897	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2299	3381
4209	-0.61	-146.6	260.0	-4.4	203	4213	0.00	2.65	0.00	0.000	4	0.000	0.067	2163	883	3381
4242	-0.61	-146.6	261.6	-4.4	204	4248	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2305	3381
4558	-0.61	-146.6	274.9	-4.1	220	4566	0.00	2.65	0.00	0.000	4	0.000	0.067	2163	874	3381
4600	-0.61	-146.6	276.8	-3.8	221	4606	0.00	2.62	0.00	0.000	6	0.000	0.057	2163	2301	3381
4916	-0.61	-146.6	291.2	-4.8	237	4917	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2301	3381
5225	-0.61	-146.6	307.3	-5.3	252	5230	0.00	2.65	0.00	0.000	4	0.000	0.068	2163	881	3381
5253	-0.61	-146.6	309.0	-6.0	253	5257	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2306	3380
5569	-0.61	-146.6	327.1	-4.6	268	5570	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2306	3380
5880	-0.61	-146.6	350.0	-7.3	283	5884	0.00	2.65	0.00	0.000	4	0.000	0.067	2163	884	3380
5943	-0.69	-146.6	354.7	-6.6	286	5947	0.00	2.62	0.00	0.000	6	0.000	0.058	2163	2304	3380
6269	-0.69	-146.6	377.2	-7.2	302	6270	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2305	3380
6579	-0.69	-146.6	399.3	-8.5	317	6583	0.00	2.65	0.00	0.000	4	0.000	0.070	2163	885	3380
6645	-0.74	-146.6	404.7	-7.0	320	6650	0.12	2.60	0.00	0.000	6	0.048	0.058	2122	2300	3380
6967	-0.61	-146.6	428.2	-7.4	336	6972	0.17	2.65	0.00	0.000	4	0.086	0.067	2160	884	3380
7012	-0.68	-146.6	430.9	-5.5	338	7017	0.00	2.60	0.00	0.000	6	0.000	0.059	2160	2301	3380
7166	end dive: BOTTOM_OBSTACLE_DETECTED
state	7166	begin apogee
7173	-0.31	0.0	440.8	7.2	346	7303	0.35	0.00	127.05	0.928	6	0.087	0.000	2232	2198	2781
7304	end apogee: CONTROL_FINISHED_OK
state	7304	begin climb
7307	0.85	146.6	446.8	0.0	352	7443	1.17	2.80	125.75	0.907	4	0.075	0.076	2483	3616	2183
7468	0.91	203.0	445.1	4.5	359	7522	0.00	2.65	49.08	0.882	6	0.000	0.059	2482	2205	1954
7848	1.00	225.5	428.3	5.4	378	7875	0.17	2.75	20.77	0.844	4	0.047	0.069	2535	779	1860
7920	0.94	225.5	423.3	7.0	381	7925	0.15	2.62	0.00	0.000	6	0.084	0.054	2504	2199	1860
8236	0.94	225.5	401.6	7.9	396	8237	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2199	1860
8546	0.94	225.5	381.4	8.4	411	8547	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2199	1860
8854	0.94	225.5	356.5	8.6	426	8859	0.00	2.70	0.00	0.000	4	0.000	0.078	2504	3612	1859
8887	0.94	225.5	353.1	10.6	427	8893	0.00	2.62	0.00	0.000	6	0.000	0.061	2505	2197	1859
9203	0.94	225.5	322.5	9.5	443	9204	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2197	1859
9512	0.99	225.5	295.4	8.3	458	9517	0.00	2.70	0.00	0.000	4	0.000	0.077	2505	3622	1858
9579	0.99	225.5	289.2	9.7	461	9583	0.00	2.62	0.00	0.000	6	0.000	0.060	2505	2200	1859
9900	0.99	225.5	261.3	9.1	477	9901	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2201	1858
10209	0.99	225.5	232.3	9.4	492	10213	0.00	2.67	0.00	0.000	4	0.000	0.075	2505	3613	1858
10241	0.99	225.5	229.0	10.1	493	10247	0.00	2.60	0.00	0.000	6	0.000	0.058	2505	2197	1858
10557	0.99	225.5	199.7	9.2	509	10562	0.00	2.67	0.00	0.000	4	0.000	0.074	2505	3613	1858
10585	0.99	225.5	196.8	10.5	510	10589	0.00	2.60	0.00	0.000	6	0.000	0.059	2504	2200	1858
10900	0.99	225.5	167.8	9.3	525	10901	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2200	1857
11210	0.99	225.5	139.3	8.7	540	11215	0.00	2.67	0.00	0.000	4	0.000	0.073	2505	3620	1858
11233	1.03	225.5	137.2	9.3	541	11237	0.00	2.60	0.00	0.000	6	0.000	0.058	2504	2200	1858
11554	1.03	225.5	111.5	7.4	557	11558	0.00	2.67	0.00	0.000	4	0.000	0.072	2505	3621	1858
11587	1.03	225.5	108.7	8.4	558	11593	0.00	2.60	0.00	0.000	6	0.000	0.058	2505	2200	1858
11904	1.07	266.2	90.3	4.9	574	11943	0.12	0.00	34.08	0.692	6	0.048	0.000	2544	2200	1695
12254	1.08	271.8	69.4	5.8	591	12262	0.00	0.00	6.32	0.560	6	0.000	0.000	2544	2200	1672
12563	1.09	281.2	50.5	5.7	606	12578	0.00	2.70	9.27	0.597	4	0.000	0.072	2544	3616	1634
12635	1.09	281.2	46.4	6.1	608	12639	0.00	2.62	0.00	0.000	6	0.000	0.057	2544	2197	1634
12951	1.10	294.9	30.2	5.6	623	12973	0.00	2.70	12.35	0.611	4	0.000	0.066	2544	785	1578
13007	1.10	295.5	27.0	6.0	625	13011	0.00	2.60	0.00	0.000	6	0.000	0.051	2544	2202	1577
13323	1.10	295.5	5.6	7.6	640	13327	0.00	2.65	0.00	0.000	4	0.000	0.071	2544	3613	1578
13340	1.10	295.5	4.2	8.7	641	13345	0.00	2.62	0.00	0.000	6	0.000	0.061	2544	2196	1578
13377	end climb: SURFACE_DEPTH_REACHED
state	13377	begin surface coast
13397	end surface coast: CONTROL_FINISHED_OK
state	13397	begin surface