Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 124 * 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 124 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2095550.5 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 -2095550.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 16 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 124 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 091655,6222.814,-851.166,27,1.1,45,-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 -0.125,-0.183

_SM_DEPTHo 0.95 KALMAN_X -160400.0,-896.7,-313.0,-31878.9,13304.1

_SM_ANGLEo -54.5 KALMAN_Y 27274.1,-3056.8,-2456.8,154715.4,59015.0

GPS2 092133,6222.894,-851.023,15,1.8,15,-9.5 MHEAD_RNG_PITCHd_Wd 199.1,68353,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027136 ALTIM_BOTTOM_PING 325.2,98.3

SM_CCo 13177,122.57,0.623,0,0,509,557.32 _24V_AH 23.7,23.068

SM_GC 1.05,0.00,0.00,122.57,0.000,0.000,0.623,70,2311,509,-10.25,0.28,557.32 _10V_AH 10.2,11.576

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31754,636

TT8_MAMPS 0.023777 CAP_FILE_SIZE 102959,0

HUMID 1861 CFSIZE 260165632,250728448

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 1 GPS 020708,130526,6221.505,-848.518,42,1.1,42,-9.4

ALTIM_TOP_PING 18.7,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 163 97.18 SBE_CT 463 24 263.77

Roll_motor 132 79 250.26 SBE_O2 432 19 194.54

VBD_pump_during_apogee 390 905 8390.27 WL_BB2F 511 105 1273.98

VBD_pump_during_surface 122 622 1809.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.24 nil 0 0 0.00

Iridium_during_connect 30 160 113.88 nil 0 0 0.00

Iridium_during_xfer 119 223 631.42

Transponder_ping 2 420 27.37

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.93

TT8 1185 19 239.45

LPSleep 9915 2 221.50

TT8_Active 672 19 135.87

TT8_Sampling 1400 39 568.49

TT8_CF8 409 45 191.34

TT8_Kalman 33 81 27.84

Analog_circuits 1407 12 172.23

GPS_charging 0 0 0.00

Compass 1372 8 111.98

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 -120.82 0.000 2 0.000 0.000 69 2313 2879

150 -0.85 -146.6 3.5 -3.0 6 180 11.25 2.70 -12.90 0.000 4 0.163 0.074 2108 876 3379

278 -0.70 -146.6 19.8 -10.9 11 285 0.20 2.60 0.00 0.000 6 0.098 0.055 2146 2297 3379

596 -0.63 -146.6 47.6 -8.6 27 601 0.00 2.67 0.00 0.000 4 0.000 0.071 2146 3715 3379

629 -0.54 -146.6 51.1 -10.3 28 636 0.17 2.60 0.00 0.000 6 0.121 0.052 2177 2289 3380

945 -0.54 -146.6 74.6 -7.0 44 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2289 3380

1256 -0.54 -146.6 96.5 -7.3 59 1260 0.00 2.62 0.00 0.000 4 0.000 0.064 2177 877 3380

1323 -0.61 -146.6 101.6 -7.7 62 1327 0.00 2.62 0.00 0.000 6 0.000 0.054 2177 2305 3380

1644 -0.61 -146.6 120.6 -5.3 78 1649 0.00 2.65 0.00 0.000 4 0.000 0.074 2177 3711 3380

1677 -0.61 -146.6 122.7 -6.0 79 1684 0.00 2.58 0.00 0.000 6 0.000 0.053 2177 2298 3380

1995 -0.61 -146.6 134.6 -3.0 95 2000 0.00 2.62 0.00 0.000 4 0.000 0.064 2178 883 3380

2052 -0.69 -146.6 136.3 -2.5 97 2059 0.12 2.60 0.00 0.000 6 0.047 0.055 2134 2303 3380

2368 -0.60 -146.6 151.0 -4.6 113 2373 0.15 2.65 0.00 0.000 4 0.085 0.064 2168 886 3381

2409 -0.66 -146.6 152.5 -3.5 115 2413 0.00 2.62 0.00 0.000 6 0.000 0.055 2168 2308 3380

2736 -0.66 -146.6 162.7 -3.2 131 2741 0.00 2.65 0.00 0.000 4 0.000 0.064 2168 886 3380

2764 -0.66 -146.6 163.6 -3.4 132 2768 0.00 2.60 0.00 0.000 6 0.000 0.056 2168 2301 3381

3081 -0.66 -146.6 175.6 -4.3 147 3085 0.00 2.65 0.00 0.000 4 0.000 0.065 2168 885 3380

3108 -0.66 -146.6 177.0 -4.7 148 3113 0.00 2.60 0.00 0.000 6 0.000 0.056 2168 2300 3380

3424 -0.66 -146.6 192.5 -4.9 163 3425 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2300 3380

3734 -0.66 -146.6 207.1 -4.3 178 3738 0.00 2.65 0.00 0.000 4 0.000 0.067 2167 880 3380

3778 -0.72 -146.6 209.3 -4.9 180 3783 0.12 2.60 0.00 0.000 6 0.046 0.056 2126 2302 3380

4100 -0.61 -146.6 231.0 -6.8 196 4102 0.20 0.00 0.00 0.000 6 0.084 0.000 2166 2302 3380

4410 -0.61 -146.6 247.9 -5.8 211 4414 0.00 2.65 0.00 0.000 4 0.000 0.067 2166 880 3380

4454 -0.67 -146.6 250.9 -6.4 213 4458 0.00 2.62 0.00 0.000 6 0.000 0.057 2166 2306 3380

4775 -0.67 -146.6 271.9 -6.7 229 4776 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2306 3380

5084 -0.67 -146.6 291.6 -5.7 244 5088 0.00 2.67 0.00 0.000 4 0.000 0.067 2166 878 3380

5124 -0.72 -146.6 294.0 -6.5 246 5129 0.12 2.62 0.00 0.000 6 0.047 0.058 2126 2299 3380

5451 -0.60 -146.6 319.4 -8.2 262 5453 0.20 0.00 0.00 0.000 6 0.087 0.000 2165 2300 3380

5760 -0.60 -146.6 340.6 -7.0 277 5764 0.00 2.67 0.00 0.000 4 0.000 0.080 2165 3713 3380

5792 -0.60 -146.6 342.9 -6.4 278 5798 0.00 2.60 0.00 0.000 6 0.000 0.059 2165 2301 3380

6108 -0.60 -146.6 363.5 -6.1 294 6112 0.00 2.62 0.00 0.000 4 0.000 0.068 2165 878 3380

6164 -0.67 -146.6 367.0 -5.1 296 6170 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2304 3380

6480 -0.67 -146.6 384.4 -4.6 312 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2304 3380

6789 -0.67 -146.6 404.8 -7.3 327 6793 0.00 2.65 0.00 0.000 4 0.000 0.069 2163 883 3379

6851 -0.72 -146.6 409.4 -7.5 330 6855 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2304 3379

6907 end dive: BOTTOM_OBSTACLE_DETECTED

state 6907 begin apogee

6914 -0.31 0.0 413.8 7.4 333 7043 0.32 0.00 126.45 0.906 6 0.100 0.000 2229 2192 2781

7044 end apogee: CONTROL_FINISHED_OK

state 7044 begin climb

7047 0.85 146.6 419.9 0.0 339 7177 1.17 0.00 125.93 0.893 6 0.080 0.000 2477 2192 2183

7485 0.99 216.3 407.6 4.1 361 7551 0.17 2.80 60.12 0.877 4 0.048 0.077 2530 3613 1899

7664 0.93 216.3 395.1 7.7 369 7669 0.12 2.65 0.00 0.000 6 0.090 0.063 2505 2201 1899

7980 0.96 241.4 377.9 5.3 384 8009 0.00 2.78 22.80 0.837 4 0.000 0.069 2505 779 1795

8038 0.98 254.6 374.8 5.6 386 8057 0.00 2.65 12.77 0.789 6 0.000 0.054 2505 2199 1742

8375 1.00 278.5 355.4 5.3 403 8403 0.00 2.75 21.52 0.828 4 0.000 0.078 2505 3614 1645

8422 1.10 302.0 353.0 5.4 405 8449 0.15 2.67 21.23 0.823 6 0.044 0.063 2546 2199 1549

8767 1.10 302.0 325.8 8.1 422 8768 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2198 1548

9075 1.10 302.0 298.7 9.1 437 9076 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2199 1547

9384 1.10 302.0 274.1 7.8 452 9388 0.00 2.70 0.00 0.000 4 0.000 0.078 2546 3613 1547

9405 1.10 302.0 272.4 7.9 453 9409 0.00 2.62 0.00 0.000 6 0.000 0.061 2546 2198 1547

9725 1.10 302.0 249.0 7.2 469 9727 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2199 1547

10035 1.10 302.0 226.9 7.4 484 10039 0.00 2.62 0.00 0.000 4 0.000 0.069 2546 783 1546

10056 1.10 302.0 225.2 7.6 485 10061 0.00 2.60 0.00 0.000 6 0.000 0.053 2546 2203 1546

10378 1.10 302.0 203.8 6.6 501 10379 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2203 1546

10687 1.10 302.0 181.6 7.6 516 10692 0.00 2.65 0.00 0.000 4 0.000 0.075 2546 3611 1546

10709 1.10 302.0 179.6 8.4 517 10714 0.00 2.62 0.00 0.000 6 0.000 0.060 2546 2192 1546

11031 1.10 302.0 154.7 7.6 533 11035 0.00 2.60 0.00 0.000 4 0.000 0.065 2546 783 1546

11063 1.10 302.0 152.0 7.6 534 11069 0.00 2.58 0.00 0.000 6 0.000 0.052 2546 2201 1546

11381 1.10 302.0 128.0 7.2 550 11385 0.00 2.65 0.00 0.000 4 0.000 0.074 2546 3611 1546

11408 1.10 302.0 125.9 7.8 551 11412 0.00 2.60 0.00 0.000 6 0.000 0.060 2546 2200 1547

11724 1.10 302.0 103.0 7.3 566 11729 0.00 2.62 0.00 0.000 4 0.000 0.066 2546 783 1546

11769 1.10 302.0 99.6 7.3 568 11773 0.00 2.58 0.00 0.000 6 0.000 0.052 2546 2204 1546

12090 1.10 302.0 77.3 6.5 584 12091 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2204 1546

12400 1.10 302.0 58.9 6.1 599 12401 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2204 1545

12710 1.10 302.0 35.4 8.6 614 12714 0.00 2.65 0.00 0.000 4 0.000 0.074 2546 3618 1547

12743 1.10 302.0 32.3 9.0 615 12749 0.00 2.60 0.00 0.000 6 0.000 0.058 2546 2197 1547

13060 1.10 302.0 7.7 7.6 631 13065 0.00 2.67 0.00 0.000 4 0.000 0.072 2546 3616 1547

13083 1.10 302.0 5.6 8.3 632 13087 0.00 2.62 0.00 0.000 6 0.000 0.060 2546 2196 1547

13133 end climb: SURFACE_DEPTH_REACHED

state 13133 begin surface coast

13155 end surface coast: CONTROL_FINISHED_OK

state 13155 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	124	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2095550.5	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	091655,6222.814,-851.166,27,1.1,45,-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	-0.125,-0.183
_SM_DEPTHo	0.95	KALMAN_X	-160400.0,-896.7,-313.0,-31878.9,13304.1
_SM_ANGLEo	-54.5	KALMAN_Y	27274.1,-3056.8,-2456.8,154715.4,59015.0
GPS2	092133,6222.894,-851.023,15,1.8,15,-9.5	MHEAD_RNG_PITCHd_Wd	199.1,68353,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027136	ALTIM_BOTTOM_PING	325.2,98.3
SM_CCo	13177,122.57,0.623,0,0,509,557.32	_24V_AH	23.7,23.068
SM_GC	1.05,0.00,0.00,122.57,0.000,0.000,0.623,70,2311,509,-10.25,0.28,557.32	_10V_AH	10.2,11.576
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31754,636
TT8_MAMPS	0.023777	CAP_FILE_SIZE	102959,0
HUMID	1861	CFSIZE	260165632,250728448
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	1	GPS	020708,130526,6221.505,-848.518,42,1.1,42,-9.4
ALTIM_TOP_PING	18.7,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	163	97.18	SBE_CT	463	24	263.77
Roll_motor	132	79	250.26	SBE_O2	432	19	194.54
VBD_pump_during_apogee	390	905	8390.27	WL_BB2F	511	105	1273.98
VBD_pump_during_surface	122	622	1809.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.24	nil	0	0	0.00
Iridium_during_connect	30	160	113.88	nil	0	0	0.00
Iridium_during_xfer	119	223	631.42
Transponder_ping	2	420	27.37
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.93
TT8	1185	19	239.45
LPSleep	9915	2	221.50
TT8_Active	672	19	135.87
TT8_Sampling	1400	39	568.49
TT8_CF8	409	45	191.34
TT8_Kalman	33	81	27.84
Analog_circuits	1407	12	172.23
GPS_charging	0	0	0.00
Compass	1372	8	111.98
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	-120.82	0.000	2	0.000	0.000	69	2313	2879
150	-0.85	-146.6	3.5	-3.0	6	180	11.25	2.70	-12.90	0.000	4	0.163	0.074	2108	876	3379
278	-0.70	-146.6	19.8	-10.9	11	285	0.20	2.60	0.00	0.000	6	0.098	0.055	2146	2297	3379
596	-0.63	-146.6	47.6	-8.6	27	601	0.00	2.67	0.00	0.000	4	0.000	0.071	2146	3715	3379
629	-0.54	-146.6	51.1	-10.3	28	636	0.17	2.60	0.00	0.000	6	0.121	0.052	2177	2289	3380
945	-0.54	-146.6	74.6	-7.0	44	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2289	3380
1256	-0.54	-146.6	96.5	-7.3	59	1260	0.00	2.62	0.00	0.000	4	0.000	0.064	2177	877	3380
1323	-0.61	-146.6	101.6	-7.7	62	1327	0.00	2.62	0.00	0.000	6	0.000	0.054	2177	2305	3380
1644	-0.61	-146.6	120.6	-5.3	78	1649	0.00	2.65	0.00	0.000	4	0.000	0.074	2177	3711	3380
1677	-0.61	-146.6	122.7	-6.0	79	1684	0.00	2.58	0.00	0.000	6	0.000	0.053	2177	2298	3380
1995	-0.61	-146.6	134.6	-3.0	95	2000	0.00	2.62	0.00	0.000	4	0.000	0.064	2178	883	3380
2052	-0.69	-146.6	136.3	-2.5	97	2059	0.12	2.60	0.00	0.000	6	0.047	0.055	2134	2303	3380
2368	-0.60	-146.6	151.0	-4.6	113	2373	0.15	2.65	0.00	0.000	4	0.085	0.064	2168	886	3381
2409	-0.66	-146.6	152.5	-3.5	115	2413	0.00	2.62	0.00	0.000	6	0.000	0.055	2168	2308	3380
2736	-0.66	-146.6	162.7	-3.2	131	2741	0.00	2.65	0.00	0.000	4	0.000	0.064	2168	886	3380
2764	-0.66	-146.6	163.6	-3.4	132	2768	0.00	2.60	0.00	0.000	6	0.000	0.056	2168	2301	3381
3081	-0.66	-146.6	175.6	-4.3	147	3085	0.00	2.65	0.00	0.000	4	0.000	0.065	2168	885	3380
3108	-0.66	-146.6	177.0	-4.7	148	3113	0.00	2.60	0.00	0.000	6	0.000	0.056	2168	2300	3380
3424	-0.66	-146.6	192.5	-4.9	163	3425	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2300	3380
3734	-0.66	-146.6	207.1	-4.3	178	3738	0.00	2.65	0.00	0.000	4	0.000	0.067	2167	880	3380
3778	-0.72	-146.6	209.3	-4.9	180	3783	0.12	2.60	0.00	0.000	6	0.046	0.056	2126	2302	3380
4100	-0.61	-146.6	231.0	-6.8	196	4102	0.20	0.00	0.00	0.000	6	0.084	0.000	2166	2302	3380
4410	-0.61	-146.6	247.9	-5.8	211	4414	0.00	2.65	0.00	0.000	4	0.000	0.067	2166	880	3380
4454	-0.67	-146.6	250.9	-6.4	213	4458	0.00	2.62	0.00	0.000	6	0.000	0.057	2166	2306	3380
4775	-0.67	-146.6	271.9	-6.7	229	4776	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2306	3380
5084	-0.67	-146.6	291.6	-5.7	244	5088	0.00	2.67	0.00	0.000	4	0.000	0.067	2166	878	3380
5124	-0.72	-146.6	294.0	-6.5	246	5129	0.12	2.62	0.00	0.000	6	0.047	0.058	2126	2299	3380
5451	-0.60	-146.6	319.4	-8.2	262	5453	0.20	0.00	0.00	0.000	6	0.087	0.000	2165	2300	3380
5760	-0.60	-146.6	340.6	-7.0	277	5764	0.00	2.67	0.00	0.000	4	0.000	0.080	2165	3713	3380
5792	-0.60	-146.6	342.9	-6.4	278	5798	0.00	2.60	0.00	0.000	6	0.000	0.059	2165	2301	3380
6108	-0.60	-146.6	363.5	-6.1	294	6112	0.00	2.62	0.00	0.000	4	0.000	0.068	2165	878	3380
6164	-0.67	-146.6	367.0	-5.1	296	6170	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2304	3380
6480	-0.67	-146.6	384.4	-4.6	312	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2304	3380
6789	-0.67	-146.6	404.8	-7.3	327	6793	0.00	2.65	0.00	0.000	4	0.000	0.069	2163	883	3379
6851	-0.72	-146.6	409.4	-7.5	330	6855	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2304	3379
6907	end dive: BOTTOM_OBSTACLE_DETECTED
state	6907	begin apogee
6914	-0.31	0.0	413.8	7.4	333	7043	0.32	0.00	126.45	0.906	6	0.100	0.000	2229	2192	2781
7044	end apogee: CONTROL_FINISHED_OK
state	7044	begin climb
7047	0.85	146.6	419.9	0.0	339	7177	1.17	0.00	125.93	0.893	6	0.080	0.000	2477	2192	2183
7485	0.99	216.3	407.6	4.1	361	7551	0.17	2.80	60.12	0.877	4	0.048	0.077	2530	3613	1899
7664	0.93	216.3	395.1	7.7	369	7669	0.12	2.65	0.00	0.000	6	0.090	0.063	2505	2201	1899
7980	0.96	241.4	377.9	5.3	384	8009	0.00	2.78	22.80	0.837	4	0.000	0.069	2505	779	1795
8038	0.98	254.6	374.8	5.6	386	8057	0.00	2.65	12.77	0.789	6	0.000	0.054	2505	2199	1742
8375	1.00	278.5	355.4	5.3	403	8403	0.00	2.75	21.52	0.828	4	0.000	0.078	2505	3614	1645
8422	1.10	302.0	353.0	5.4	405	8449	0.15	2.67	21.23	0.823	6	0.044	0.063	2546	2199	1549
8767	1.10	302.0	325.8	8.1	422	8768	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2198	1548
9075	1.10	302.0	298.7	9.1	437	9076	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2199	1547
9384	1.10	302.0	274.1	7.8	452	9388	0.00	2.70	0.00	0.000	4	0.000	0.078	2546	3613	1547
9405	1.10	302.0	272.4	7.9	453	9409	0.00	2.62	0.00	0.000	6	0.000	0.061	2546	2198	1547
9725	1.10	302.0	249.0	7.2	469	9727	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2199	1547
10035	1.10	302.0	226.9	7.4	484	10039	0.00	2.62	0.00	0.000	4	0.000	0.069	2546	783	1546
10056	1.10	302.0	225.2	7.6	485	10061	0.00	2.60	0.00	0.000	6	0.000	0.053	2546	2203	1546
10378	1.10	302.0	203.8	6.6	501	10379	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2203	1546
10687	1.10	302.0	181.6	7.6	516	10692	0.00	2.65	0.00	0.000	4	0.000	0.075	2546	3611	1546
10709	1.10	302.0	179.6	8.4	517	10714	0.00	2.62	0.00	0.000	6	0.000	0.060	2546	2192	1546
11031	1.10	302.0	154.7	7.6	533	11035	0.00	2.60	0.00	0.000	4	0.000	0.065	2546	783	1546
11063	1.10	302.0	152.0	7.6	534	11069	0.00	2.58	0.00	0.000	6	0.000	0.052	2546	2201	1546
11381	1.10	302.0	128.0	7.2	550	11385	0.00	2.65	0.00	0.000	4	0.000	0.074	2546	3611	1546
11408	1.10	302.0	125.9	7.8	551	11412	0.00	2.60	0.00	0.000	6	0.000	0.060	2546	2200	1547
11724	1.10	302.0	103.0	7.3	566	11729	0.00	2.62	0.00	0.000	4	0.000	0.066	2546	783	1546
11769	1.10	302.0	99.6	7.3	568	11773	0.00	2.58	0.00	0.000	6	0.000	0.052	2546	2204	1546
12090	1.10	302.0	77.3	6.5	584	12091	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2204	1546
12400	1.10	302.0	58.9	6.1	599	12401	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2204	1545
12710	1.10	302.0	35.4	8.6	614	12714	0.00	2.65	0.00	0.000	4	0.000	0.074	2546	3618	1547
12743	1.10	302.0	32.3	9.0	615	12749	0.00	2.60	0.00	0.000	6	0.000	0.058	2546	2197	1547
13060	1.10	302.0	7.7	7.6	631	13065	0.00	2.67	0.00	0.000	4	0.000	0.072	2546	3616	1547
13083	1.10	302.0	5.6	8.3	632	13087	0.00	2.62	0.00	0.000	6	0.000	0.060	2546	2196	1547
13133	end climb: SURFACE_DEPTH_REACHED
state	13133	begin surface coast
13155	end surface coast: CONTROL_FINISHED_OK
state	13155	begin surface