Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 188 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 188 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 25 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -80135.961 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 3 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

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 -80135.961

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 188 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-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 121922,6158.431,-901.608,38,4.0,57,-9.4 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.101,-0.197

_SM_DEPTHo 0.57 KALMAN_X 10989.5,-392.8,-771.2,-7715.6,12335.3

_SM_ANGLEo -54.0 KALMAN_Y 6998.1,-523.1,-601.3,-22540.5,7697.5

GPS2 122420,6158.361,-901.609,16,1.6,16,-9.4 MHEAD_RNG_PITCHd_Wd 216.6,33194,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026923 ALTIM_BOTTOM_PING 425.4,88.9

SM_CCo 12701,228.48,0.765,0,0,389,547.02 _24V_AH 23.9,36.857

SM_GC 0.53,0.00,0.00,228.48,0.000,0.000,0.765,421,2160,389,-10.48,0.31,547.02 _10V_AH 10.1,17.594

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31689,607

TT8_MAMPS 0.029146 CAP_FILE_SIZE 103263,0

HUMID 1673 CFSIZE 254472192,239726592

TCM_TEMP 19.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 476 GPS 170708,160201,6155.430,-903.259,40,1.7,40,-9.4

ALTIM_TOP_PING 19.1,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 147 87.37 SBE_CT 415 24 238.17

Roll_motor 130 75 234.57 SBE_O2 453 19 205.86

VBD_pump_during_apogee 230 1130 6216.70 WL_BB2F 459 105 1152.77

VBD_pump_during_surface 228 765 4179.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.96 nil 0 0 0.00

Iridium_during_connect 26 160 101.31 nil 0 0 0.00

Iridium_during_xfer 120 223 640.84

Transponder_ping 122 420 1229.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.43

TT8 1171 19 234.19

LPSleep 9593 2 212.20

TT8_Active 626 19 125.29

TT8_Sampling 1402 39 563.80

TT8_CF8 440 45 203.70

TT8_Kalman 33 81 27.56

Analog_circuits 1344 12 162.94

GPS_charging 0 0 0.00

Compass 1375 8 111.12

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -110.72 0.000 6 0.000 0.000 423 2175 3099

142 -1.30 -117.3 2.1 -1.6 5 158 10.48 2.47 0.00 0.000 4 0.147 0.055 2406 3563 3099

307 -0.95 -117.3 26.6 -12.8 11 312 0.43 2.53 0.00 0.000 6 0.100 0.045 2492 2141 3098

624 -0.89 -117.3 50.1 -6.0 26 628 0.00 2.50 0.00 0.000 4 0.000 0.058 2493 740 3098

664 -0.81 -117.3 52.2 -5.3 28 669 0.12 2.50 0.00 0.000 6 0.101 0.048 2518 2147 3098

992 -0.81 -117.3 71.0 -8.4 44 996 0.00 2.55 0.00 0.000 4 0.000 0.059 2518 746 3098

1002 -0.81 -117.3 72.2 -9.1 44 1009 0.00 2.50 0.00 0.000 6 0.000 0.049 2518 2149 3098

1319 -0.81 -117.3 101.0 -7.9 60 1320 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2147 3098

1628 -0.81 -117.3 119.2 -5.1 75 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2148 3099

1939 -0.81 -117.3 137.0 -5.8 90 1943 0.00 2.53 0.00 0.000 4 0.000 0.061 2518 3562 3099

1949 -0.81 -117.3 137.8 -5.7 90 1956 0.00 2.55 0.00 0.000 6 0.000 0.048 2518 2134 3098

2266 -0.81 -117.3 157.9 -6.7 106 2271 0.00 2.58 0.00 0.000 4 0.000 0.060 2518 3556 3098

2284 -0.81 -117.3 159.3 -6.8 107 2288 0.00 2.53 0.00 0.000 6 0.000 0.048 2518 2141 3098

2610 -0.81 -117.3 188.3 -10.1 123 2612 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2139 3099

2921 -0.81 -117.3 225.2 -12.9 138 2922 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2140 3098

3229 -0.81 -117.3 266.3 -12.8 153 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2140 3098

3539 -0.81 -117.3 297.2 -8.1 168 3543 0.00 2.50 0.00 0.000 4 0.000 0.064 2518 743 3098

3560 -0.81 -117.3 299.0 -7.5 169 3565 0.00 2.50 0.00 0.000 6 0.000 0.052 2518 2137 3098

3882 -0.81 -117.3 316.8 -4.7 185 3886 0.00 2.53 0.00 0.000 4 0.000 0.063 2518 745 3097

3968 -0.81 -117.3 320.8 -4.0 189 3972 0.00 2.47 0.00 0.000 6 0.000 0.053 2518 2129 3097

4295 -0.81 -117.3 335.3 -4.8 205 4296 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2128 3096

4604 -0.81 -117.3 352.1 -5.6 220 4608 0.00 2.55 0.00 0.000 4 0.000 0.065 2518 737 3096

4622 -0.81 -117.3 353.1 -5.7 221 4627 0.00 2.50 0.00 0.000 6 0.000 0.054 2519 2135 3096

4951 -0.81 -117.3 375.9 -7.4 237 4955 0.00 2.53 0.00 0.000 4 0.000 0.063 2518 744 3096

5001 -0.81 -117.3 379.9 -7.5 239 5005 0.00 2.47 0.00 0.000 6 0.000 0.053 2518 2129 3096

5318 -0.86 -117.3 402.1 -6.3 254 5322 0.00 2.58 0.00 0.000 4 0.000 0.064 2518 3564 3095

5329 -0.86 -117.3 402.8 -5.9 254 5335 0.00 2.55 0.00 0.000 6 0.000 0.051 2518 2135 3095

5646 -0.86 -117.3 418.8 -4.4 270 5650 0.00 2.60 0.00 0.000 4 0.000 0.064 2518 3563 3095

5730 -0.86 -117.3 423.4 -5.9 274 5735 0.00 2.50 0.00 0.000 6 0.000 0.050 2518 2152 3095

6060 -0.90 -117.3 446.7 -9.1 290 6064 0.00 2.58 0.00 0.000 4 0.000 0.064 2518 3561 3095

6071 -0.94 -117.3 447.9 -9.2 290 6078 0.10 2.50 0.00 0.000 6 0.057 0.053 2487 2163 3095

6388 -0.89 -117.3 475.5 -7.9 306 6389 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2146 3095

6697 -0.85 -117.3 500.0 -8.5 321 6702 0.12 2.55 0.00 0.000 4 0.097 0.064 2513 3561 3094

6745 end dive: BOTTOM_OBSTACLE_DETECTED

state 6745 begin apogee

6755 -0.33 0.0 504.6 9.0 323 6856 0.50 0.00 97.75 1.131 6 0.084 0.000 2620 2078 2620

6856 end apogee: CONTROL_FINISHED_OK

state 6856 begin climb

6859 1.30 117.3 509.2 0.0 328 6966 1.67 2.62 96.50 1.104 4 0.072 0.066 2979 691 2141

7023 1.30 117.3 499.8 9.4 335 7030 0.00 2.55 0.00 0.000 6 0.000 0.053 2979 2103 2141

7339 1.30 117.3 473.2 8.5 351 7344 0.00 2.55 0.00 0.000 4 0.000 0.064 2979 3505 2140

7435 1.30 117.3 464.2 9.1 355 7440 0.00 2.55 0.00 0.000 6 0.000 0.053 2979 2097 2140

7751 1.30 117.3 435.6 9.1 370 7755 0.00 2.58 0.00 0.000 4 0.000 0.063 2979 3508 2139

7817 1.30 117.3 429.4 9.7 373 7822 0.00 2.53 0.00 0.000 6 0.000 0.051 2979 2107 2139

8139 1.30 117.3 399.8 8.6 389 8143 0.00 2.55 0.00 0.000 4 0.000 0.061 2979 3507 2139

8205 1.30 117.3 393.5 9.4 392 8210 0.00 2.45 0.00 0.000 6 0.000 0.051 2979 2132 2139

8527 1.31 123.7 366.8 7.7 408 8541 0.00 2.58 6.70 0.853 4 0.000 0.061 2979 3514 2115

8599 1.31 123.7 361.0 8.5 411 8603 0.00 2.47 0.00 0.000 6 0.000 0.051 2979 2139 2115

8919 1.31 123.7 333.8 9.4 427 8920 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2139 2114

9228 1.31 123.7 305.1 9.3 442 9233 0.00 2.47 0.00 0.000 4 0.000 0.061 2979 3508 2114

9314 1.31 123.7 297.2 9.5 446 9318 0.00 2.42 0.00 0.000 6 0.000 0.051 2979 2152 2114

9641 1.31 123.7 270.4 8.7 462 9645 0.00 2.62 0.00 0.000 4 0.000 0.066 2979 690 2114

9691 1.31 123.7 265.7 9.6 464 9695 0.00 2.65 0.00 0.000 6 0.000 0.054 2979 2168 2114

10006 1.31 123.7 236.5 9.8 479 10010 0.00 2.40 0.00 0.000 4 0.000 0.061 2978 3515 2114

10090 1.31 123.7 227.7 10.8 482 10096 0.00 2.42 0.00 0.000 6 0.000 0.051 2979 2167 2114

10406 1.31 123.7 198.7 8.8 498 10408 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2167 2114

10715 1.31 123.7 171.0 9.0 513 10719 0.00 2.42 0.00 0.000 4 0.000 0.060 2979 3514 2114

10804 1.31 123.7 162.7 9.0 517 10808 0.00 2.38 0.00 0.000 6 0.000 0.050 2979 2179 2114

11126 1.31 123.7 133.2 9.6 533 11130 0.00 2.40 0.00 0.000 4 0.000 0.060 2979 3508 2114

11188 1.31 123.7 127.2 9.7 536 11192 0.00 2.33 0.00 0.000 6 0.000 0.050 2979 2196 2114

11515 1.31 123.7 98.3 8.1 552 11516 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2195 2114

11825 1.37 159.0 77.8 6.4 567 11859 0.00 2.47 29.12 0.829 4 0.000 0.059 2979 3509 1971

11913 1.42 159.5 71.7 8.0 571 11918 0.12 2.35 0.00 0.000 6 0.049 0.048 3017 2197 1970

12241 1.38 159.5 40.2 9.9 587 12245 0.00 2.40 0.00 0.000 4 0.000 0.060 3017 3508 1969

12292 1.34 159.5 34.5 10.8 589 12296 0.15 2.33 0.00 0.000 6 0.087 0.048 2988 2209 1970

12609 1.39 159.5 6.7 8.6 604 12613 0.00 2.72 0.00 0.000 4 0.000 0.061 2989 681 1969

12653 1.39 159.5 2.3 9.4 606 12657 0.00 2.47 0.00 0.000 3 0.000 0.048 2988 2075 1970

12658 end climb: SURFACE_DEPTH_REACHED

state 12658 begin surface coast

12678 end surface coast: CONTROL_FINISHED_OK

state 12678 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	188	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	25	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-80135.961	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	3	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	121922,6158.431,-901.608,38,4.0,57,-9.4	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.101,-0.197
_SM_DEPTHo	0.57	KALMAN_X	10989.5,-392.8,-771.2,-7715.6,12335.3
_SM_ANGLEo	-54.0	KALMAN_Y	6998.1,-523.1,-601.3,-22540.5,7697.5
GPS2	122420,6158.361,-901.609,16,1.6,16,-9.4	MHEAD_RNG_PITCHd_Wd	216.6,33194,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026923	ALTIM_BOTTOM_PING	425.4,88.9
SM_CCo	12701,228.48,0.765,0,0,389,547.02	_24V_AH	23.9,36.857
SM_GC	0.53,0.00,0.00,228.48,0.000,0.000,0.765,421,2160,389,-10.48,0.31,547.02	_10V_AH	10.1,17.594
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31689,607
TT8_MAMPS	0.029146	CAP_FILE_SIZE	103263,0
HUMID	1673	CFSIZE	254472192,239726592
TCM_TEMP	19.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	476	GPS	170708,160201,6155.430,-903.259,40,1.7,40,-9.4
ALTIM_TOP_PING	19.1,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	147	87.37	SBE_CT	415	24	238.17
Roll_motor	130	75	234.57	SBE_O2	453	19	205.86
VBD_pump_during_apogee	230	1130	6216.70	WL_BB2F	459	105	1152.77
VBD_pump_during_surface	228	765	4179.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.96	nil	0	0	0.00
Iridium_during_connect	26	160	101.31	nil	0	0	0.00
Iridium_during_xfer	120	223	640.84
Transponder_ping	122	420	1229.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.43
TT8	1171	19	234.19
LPSleep	9593	2	212.20
TT8_Active	626	19	125.29
TT8_Sampling	1402	39	563.80
TT8_CF8	440	45	203.70
TT8_Kalman	33	81	27.56
Analog_circuits	1344	12	162.94
GPS_charging	0	0	0.00
Compass	1375	8	111.12
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-110.72	0.000	6	0.000	0.000	423	2175	3099
142	-1.30	-117.3	2.1	-1.6	5	158	10.48	2.47	0.00	0.000	4	0.147	0.055	2406	3563	3099
307	-0.95	-117.3	26.6	-12.8	11	312	0.43	2.53	0.00	0.000	6	0.100	0.045	2492	2141	3098
624	-0.89	-117.3	50.1	-6.0	26	628	0.00	2.50	0.00	0.000	4	0.000	0.058	2493	740	3098
664	-0.81	-117.3	52.2	-5.3	28	669	0.12	2.50	0.00	0.000	6	0.101	0.048	2518	2147	3098
992	-0.81	-117.3	71.0	-8.4	44	996	0.00	2.55	0.00	0.000	4	0.000	0.059	2518	746	3098
1002	-0.81	-117.3	72.2	-9.1	44	1009	0.00	2.50	0.00	0.000	6	0.000	0.049	2518	2149	3098
1319	-0.81	-117.3	101.0	-7.9	60	1320	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2147	3098
1628	-0.81	-117.3	119.2	-5.1	75	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2148	3099
1939	-0.81	-117.3	137.0	-5.8	90	1943	0.00	2.53	0.00	0.000	4	0.000	0.061	2518	3562	3099
1949	-0.81	-117.3	137.8	-5.7	90	1956	0.00	2.55	0.00	0.000	6	0.000	0.048	2518	2134	3098
2266	-0.81	-117.3	157.9	-6.7	106	2271	0.00	2.58	0.00	0.000	4	0.000	0.060	2518	3556	3098
2284	-0.81	-117.3	159.3	-6.8	107	2288	0.00	2.53	0.00	0.000	6	0.000	0.048	2518	2141	3098
2610	-0.81	-117.3	188.3	-10.1	123	2612	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2139	3099
2921	-0.81	-117.3	225.2	-12.9	138	2922	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2140	3098
3229	-0.81	-117.3	266.3	-12.8	153	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2140	3098
3539	-0.81	-117.3	297.2	-8.1	168	3543	0.00	2.50	0.00	0.000	4	0.000	0.064	2518	743	3098
3560	-0.81	-117.3	299.0	-7.5	169	3565	0.00	2.50	0.00	0.000	6	0.000	0.052	2518	2137	3098
3882	-0.81	-117.3	316.8	-4.7	185	3886	0.00	2.53	0.00	0.000	4	0.000	0.063	2518	745	3097
3968	-0.81	-117.3	320.8	-4.0	189	3972	0.00	2.47	0.00	0.000	6	0.000	0.053	2518	2129	3097
4295	-0.81	-117.3	335.3	-4.8	205	4296	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2128	3096
4604	-0.81	-117.3	352.1	-5.6	220	4608	0.00	2.55	0.00	0.000	4	0.000	0.065	2518	737	3096
4622	-0.81	-117.3	353.1	-5.7	221	4627	0.00	2.50	0.00	0.000	6	0.000	0.054	2519	2135	3096
4951	-0.81	-117.3	375.9	-7.4	237	4955	0.00	2.53	0.00	0.000	4	0.000	0.063	2518	744	3096
5001	-0.81	-117.3	379.9	-7.5	239	5005	0.00	2.47	0.00	0.000	6	0.000	0.053	2518	2129	3096
5318	-0.86	-117.3	402.1	-6.3	254	5322	0.00	2.58	0.00	0.000	4	0.000	0.064	2518	3564	3095
5329	-0.86	-117.3	402.8	-5.9	254	5335	0.00	2.55	0.00	0.000	6	0.000	0.051	2518	2135	3095
5646	-0.86	-117.3	418.8	-4.4	270	5650	0.00	2.60	0.00	0.000	4	0.000	0.064	2518	3563	3095
5730	-0.86	-117.3	423.4	-5.9	274	5735	0.00	2.50	0.00	0.000	6	0.000	0.050	2518	2152	3095
6060	-0.90	-117.3	446.7	-9.1	290	6064	0.00	2.58	0.00	0.000	4	0.000	0.064	2518	3561	3095
6071	-0.94	-117.3	447.9	-9.2	290	6078	0.10	2.50	0.00	0.000	6	0.057	0.053	2487	2163	3095
6388	-0.89	-117.3	475.5	-7.9	306	6389	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2146	3095
6697	-0.85	-117.3	500.0	-8.5	321	6702	0.12	2.55	0.00	0.000	4	0.097	0.064	2513	3561	3094
6745	end dive: BOTTOM_OBSTACLE_DETECTED
state	6745	begin apogee
6755	-0.33	0.0	504.6	9.0	323	6856	0.50	0.00	97.75	1.131	6	0.084	0.000	2620	2078	2620
6856	end apogee: CONTROL_FINISHED_OK
state	6856	begin climb
6859	1.30	117.3	509.2	0.0	328	6966	1.67	2.62	96.50	1.104	4	0.072	0.066	2979	691	2141
7023	1.30	117.3	499.8	9.4	335	7030	0.00	2.55	0.00	0.000	6	0.000	0.053	2979	2103	2141
7339	1.30	117.3	473.2	8.5	351	7344	0.00	2.55	0.00	0.000	4	0.000	0.064	2979	3505	2140
7435	1.30	117.3	464.2	9.1	355	7440	0.00	2.55	0.00	0.000	6	0.000	0.053	2979	2097	2140
7751	1.30	117.3	435.6	9.1	370	7755	0.00	2.58	0.00	0.000	4	0.000	0.063	2979	3508	2139
7817	1.30	117.3	429.4	9.7	373	7822	0.00	2.53	0.00	0.000	6	0.000	0.051	2979	2107	2139
8139	1.30	117.3	399.8	8.6	389	8143	0.00	2.55	0.00	0.000	4	0.000	0.061	2979	3507	2139
8205	1.30	117.3	393.5	9.4	392	8210	0.00	2.45	0.00	0.000	6	0.000	0.051	2979	2132	2139
8527	1.31	123.7	366.8	7.7	408	8541	0.00	2.58	6.70	0.853	4	0.000	0.061	2979	3514	2115
8599	1.31	123.7	361.0	8.5	411	8603	0.00	2.47	0.00	0.000	6	0.000	0.051	2979	2139	2115
8919	1.31	123.7	333.8	9.4	427	8920	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2139	2114
9228	1.31	123.7	305.1	9.3	442	9233	0.00	2.47	0.00	0.000	4	0.000	0.061	2979	3508	2114
9314	1.31	123.7	297.2	9.5	446	9318	0.00	2.42	0.00	0.000	6	0.000	0.051	2979	2152	2114
9641	1.31	123.7	270.4	8.7	462	9645	0.00	2.62	0.00	0.000	4	0.000	0.066	2979	690	2114
9691	1.31	123.7	265.7	9.6	464	9695	0.00	2.65	0.00	0.000	6	0.000	0.054	2979	2168	2114
10006	1.31	123.7	236.5	9.8	479	10010	0.00	2.40	0.00	0.000	4	0.000	0.061	2978	3515	2114
10090	1.31	123.7	227.7	10.8	482	10096	0.00	2.42	0.00	0.000	6	0.000	0.051	2979	2167	2114
10406	1.31	123.7	198.7	8.8	498	10408	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2167	2114
10715	1.31	123.7	171.0	9.0	513	10719	0.00	2.42	0.00	0.000	4	0.000	0.060	2979	3514	2114
10804	1.31	123.7	162.7	9.0	517	10808	0.00	2.38	0.00	0.000	6	0.000	0.050	2979	2179	2114
11126	1.31	123.7	133.2	9.6	533	11130	0.00	2.40	0.00	0.000	4	0.000	0.060	2979	3508	2114
11188	1.31	123.7	127.2	9.7	536	11192	0.00	2.33	0.00	0.000	6	0.000	0.050	2979	2196	2114
11515	1.31	123.7	98.3	8.1	552	11516	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2195	2114
11825	1.37	159.0	77.8	6.4	567	11859	0.00	2.47	29.12	0.829	4	0.000	0.059	2979	3509	1971
11913	1.42	159.5	71.7	8.0	571	11918	0.12	2.35	0.00	0.000	6	0.049	0.048	3017	2197	1970
12241	1.38	159.5	40.2	9.9	587	12245	0.00	2.40	0.00	0.000	4	0.000	0.060	3017	3508	1969
12292	1.34	159.5	34.5	10.8	589	12296	0.15	2.33	0.00	0.000	6	0.087	0.048	2988	2209	1970
12609	1.39	159.5	6.7	8.6	604	12613	0.00	2.72	0.00	0.000	4	0.000	0.061	2989	681	1969
12653	1.39	159.5	2.3	9.4	606	12657	0.00	2.47	0.00	0.000	3	0.000	0.048	2988	2075	1970
12658	end climb: SURFACE_DEPTH_REACHED
state	12658	begin surface coast
12678	end surface coast: CONTROL_FINISHED_OK
state	12678	begin surface