Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 189 * 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 189 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 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 -80152.086 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 -80152.086

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 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 25 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 189 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 160201,6155.430,-903.259,40,1.7,40,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.105,-0.196

_SM_DEPTHo 0.59 KALMAN_X 10970.4,-766.0,-655.6,-8807.8,9270.5

_SM_ANGLEo -56.9 KALMAN_Y 5032.0,-462.0,-458.1,-26359.6,3461.4

GPS2 161050,6155.344,-903.206,10,2.0,15,-9.4 MHEAD_RNG_PITCHd_Wd 217.5,27433,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026976 ALTIM_BOTTOM_PING 550.3,7.4

SM_CCo 13523,214.12,0.766,0,0,390,547.02 _24V_AH 23.9,37.016

SM_GC 0.51,0.00,0.00,214.12,0.000,0.000,0.766,419,2131,390,-10.49,-0.54,547.02 _10V_AH 10.1,17.664

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31657,646

TT8_MAMPS 0.029146 CAP_FILE_SIZE 113932,0

HUMID 1668 CFSIZE 254472192,239669248

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

XPDR_PINGS 450 GPS 170708,200201,6154.715,-903.052,43,1.0,43,-9.4

ALTIM_TOP_PING 19.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 147 91.42 SBE_CT 441 24 253.32

Roll_motor 136 72 235.12 SBE_O2 478 19 217.31

VBD_pump_during_apogee 250 1171 7027.07 WL_BB2F 438 105 1101.15

VBD_pump_during_surface 214 766 3921.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 191.39 nil 0 0 0.00

Iridium_during_connect 65 160 250.10 nil 0 0 0.00

Iridium_during_xfer 207 223 1108.39

Transponder_ping 117 420 1176.96

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.82

TT8 1248 19 249.64

LPSleep 10241 2 226.53

TT8_Active 647 19 129.42

TT8_Sampling 1508 39 606.53

TT8_CF8 625 45 289.35

TT8_Kalman 33 81 27.55

Analog_circuits 1412 12 171.20

GPS_charging 0 0 0.00

Compass 1475 8 119.22

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 140 0.00 0.00 -110.60 0.000 6 0.000 0.000 421 2142 3099

144 -1.30 -117.3 2.8 -2.5 6 160 10.50 2.53 0.00 0.000 4 0.147 0.056 2409 3557 3098

321 -0.96 -117.3 28.9 -13.0 13 327 0.40 2.50 0.00 0.000 6 0.098 0.045 2490 2147 3097

650 -0.89 -117.3 58.0 -8.6 29 654 0.00 2.50 0.00 0.000 4 0.000 0.056 2490 738 3097

713 -0.82 -117.3 63.5 -8.2 32 718 0.15 2.50 0.00 0.000 6 0.094 0.048 2522 2150 3098

1040 -0.82 -117.3 87.6 -8.0 48 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2149 3098

1349 -0.82 -117.3 113.5 -8.6 63 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2149 3098

1658 -0.82 -117.3 142.9 -10.1 78 1662 0.00 2.55 0.00 0.000 4 0.000 0.061 2521 748 3098

1669 -0.82 -117.3 144.2 -10.2 78 1676 0.00 2.50 0.00 0.000 6 0.000 0.051 2521 2142 3098

1986 -0.82 -117.3 179.0 -11.2 94 1987 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2141 3097

2294 -0.82 -117.3 212.0 -10.7 109 2295 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2141 3097

2604 -0.82 -117.3 246.5 -11.9 124 2608 0.00 2.55 0.00 0.000 4 0.000 0.062 2521 737 3097

2638 -0.82 -117.3 250.3 -11.6 125 2644 0.00 2.53 0.00 0.000 6 0.000 0.052 2521 2151 3096

2954 -0.82 -117.3 280.3 -7.7 141 2959 0.00 2.58 0.00 0.000 4 0.000 0.062 2521 741 3096

2990 -0.82 -117.3 282.8 -6.5 142 2996 0.00 2.53 0.00 0.000 6 0.000 0.053 2521 2147 3096

3306 -0.82 -117.3 297.4 -4.1 158 3310 0.00 2.55 0.00 0.000 4 0.000 0.063 2521 747 3096

3334 -0.82 -117.3 298.7 -4.6 159 3338 0.00 2.50 0.00 0.000 6 0.000 0.052 2521 2143 3095

3651 -0.82 -117.3 310.9 -4.0 174 3655 0.00 2.55 0.00 0.000 4 0.000 0.063 2521 747 3096

3661 -0.82 -117.3 311.3 -4.0 174 3667 0.00 2.50 0.00 0.000 6 0.000 0.053 2521 2140 3095

3978 -0.86 -117.3 327.1 -5.4 190 3982 0.00 2.53 0.00 0.000 4 0.000 0.063 2521 744 3095

3989 -0.86 -117.3 327.8 -5.4 190 3995 0.00 2.53 0.00 0.000 6 0.000 0.054 2521 2148 3095

4305 -0.86 -117.3 347.7 -6.8 206 4306 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2147 3095

4615 -0.90 -117.3 372.3 -8.6 221 4616 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2147 3095

4925 -0.94 -117.3 400.6 -9.2 236 4930 0.12 2.58 0.00 0.000 4 0.050 0.064 2484 745 3094

4993 -0.85 -117.3 407.7 -9.8 239 4998 0.15 2.50 0.00 0.000 6 0.098 0.054 2514 2136 3094

5314 -0.85 -117.3 435.2 -8.0 255 5319 0.00 2.53 0.00 0.000 4 0.000 0.064 2515 747 3094

5336 -0.85 -117.3 437.3 -8.5 256 5341 0.00 2.50 0.00 0.000 6 0.000 0.054 2514 2137 3094

5658 -0.85 -117.3 462.7 -7.1 272 5662 0.00 2.53 0.00 0.000 4 0.000 0.064 2515 746 3093

5721 -0.85 -117.3 466.9 -6.9 275 5725 0.00 2.47 0.00 0.000 6 0.000 0.054 2515 2127 3093

6048 -0.85 -117.3 479.8 -3.4 291 6052 0.00 2.53 0.00 0.000 4 0.000 0.066 2515 747 3093

6098 -0.85 -117.3 482.4 -5.5 293 6102 0.00 2.45 0.00 0.000 6 0.000 0.054 2515 2111 3093

6414 -0.85 -117.3 508.7 -8.4 308 6419 0.00 2.50 0.00 0.000 4 0.000 0.065 2515 740 3093

6515 -0.85 -117.3 516.2 -7.1 312 6521 0.00 2.45 0.00 0.000 6 0.000 0.054 2515 2106 3093

6832 -0.91 -117.3 529.0 -4.0 328 6837 0.00 2.62 0.00 0.000 4 0.000 0.067 2515 3564 3093

6873 -0.91 -117.3 531.5 -6.0 330 6877 0.00 2.55 0.00 0.000 6 0.000 0.053 2514 2133 3093

7200 -0.97 -117.3 543.8 -4.5 346 7205 0.12 2.62 0.00 0.000 4 0.054 0.067 2477 3556 3093

7326 end dive: BOTTOM_OBSTACLE_DETECTED

state 7326 begin apogee

7336 -0.33 0.0 550.3 4.8 351 7436 0.68 0.00 97.60 1.172 6 0.086 0.000 2622 2079 2620

7437 end apogee: CONTROL_FINISHED_OK

state 7437 begin climb

7440 1.30 117.3 551.1 0.0 356 7546 1.67 0.00 97.28 1.143 6 0.077 0.000 2983 2079 2141

7860 1.35 145.8 522.1 6.7 377 7890 0.00 2.70 24.50 1.096 4 0.000 0.072 2983 3504 2025

8055 1.36 155.3 507.3 7.6 386 8069 0.00 2.58 9.45 0.997 6 0.000 0.059 2983 2101 1986

8381 1.36 155.3 478.7 9.3 401 8382 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2102 1984

8690 1.36 155.3 447.2 11.0 416 8694 0.00 2.60 0.00 0.000 4 0.000 0.067 2983 3505 1983

8763 1.36 155.3 439.2 11.3 419 8767 0.00 2.53 0.00 0.000 6 0.000 0.054 2984 2111 1983

9078 1.36 155.3 403.7 10.7 434 9079 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2112 1982

9387 1.36 155.3 374.9 8.5 449 9392 0.00 2.55 0.00 0.000 4 0.000 0.062 2983 3507 1982

9444 1.36 155.3 369.9 8.9 451 9450 0.00 2.50 0.00 0.000 6 0.000 0.051 2983 2117 1982

9760 1.41 181.9 346.9 6.8 467 9789 0.10 2.65 22.05 1.013 4 0.054 0.061 3016 3508 1878

9848 1.36 181.9 339.3 9.1 471 9852 0.00 2.47 0.00 0.000 6 0.000 0.051 3016 2141 1878

10175 1.31 181.9 310.8 9.0 487 10177 0.17 0.00 0.00 0.000 6 0.087 0.000 2981 2140 1877

10484 1.36 181.9 286.5 8.6 502 10488 0.00 2.50 0.00 0.000 4 0.000 0.061 2981 3511 1878

10581 1.42 181.9 278.0 8.9 506 10586 0.12 2.42 0.00 0.000 6 0.051 0.051 3018 2156 1878

10897 1.37 181.9 243.6 11.4 521 10902 0.00 2.62 0.00 0.000 4 0.000 0.063 3018 689 1878

10938 1.32 181.9 238.8 12.7 523 10943 0.17 2.65 0.00 0.000 6 0.086 0.054 2984 2171 1877

11266 1.37 181.9 210.6 8.5 539 11270 0.00 2.40 0.00 0.000 4 0.000 0.061 2983 3510 1877

11345 1.42 181.9 203.3 9.1 542 11352 0.12 2.40 0.00 0.000 6 0.050 0.051 3020 2171 1878

11662 1.38 181.9 171.4 10.2 558 11666 0.00 2.67 0.00 0.000 4 0.000 0.064 3020 680 1878

11718 1.32 181.9 165.3 10.3 560 11725 0.17 2.67 0.00 0.000 6 0.085 0.053 2985 2175 1878

12036 1.38 183.8 140.1 7.9 576 12040 0.00 2.38 0.00 0.000 4 0.000 0.061 2986 3508 1879

12092 1.43 183.8 135.0 8.6 578 12100 0.12 2.38 0.00 0.000 6 0.050 0.049 3022 2175 1879

12409 1.38 183.8 101.1 11.3 594 12414 0.12 2.42 0.00 0.000 4 0.090 0.059 2999 3516 1879

12454 1.38 183.8 96.0 10.8 596 12458 0.00 2.38 0.00 0.000 6 0.000 0.049 2999 2187 1879

12775 1.38 183.8 65.9 8.3 612 12780 0.00 2.67 0.00 0.000 4 0.000 0.062 2999 685 1879

12842 1.38 183.8 59.6 9.5 615 12847 0.00 2.67 0.00 0.000 6 0.000 0.051 2999 2190 1879

13166 1.38 183.8 30.3 9.0 631 13170 0.00 2.35 0.00 0.000 4 0.000 0.059 2999 3513 1879

13309 1.42 183.8 16.8 9.5 637 13313 0.00 2.30 0.00 0.000 6 0.000 0.046 2999 2215 1879

13478 end climb: SURFACE_DEPTH_REACHED

state 13478 begin surface coast

13500 end surface coast: CONTROL_FINISHED_OK

state 13500 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	189	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	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	-80152.086	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	160201,6155.430,-903.259,40,1.7,40,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.105,-0.196
_SM_DEPTHo	0.59	KALMAN_X	10970.4,-766.0,-655.6,-8807.8,9270.5
_SM_ANGLEo	-56.9	KALMAN_Y	5032.0,-462.0,-458.1,-26359.6,3461.4
GPS2	161050,6155.344,-903.206,10,2.0,15,-9.4	MHEAD_RNG_PITCHd_Wd	217.5,27433,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026976	ALTIM_BOTTOM_PING	550.3,7.4
SM_CCo	13523,214.12,0.766,0,0,390,547.02	_24V_AH	23.9,37.016
SM_GC	0.51,0.00,0.00,214.12,0.000,0.000,0.766,419,2131,390,-10.49,-0.54,547.02	_10V_AH	10.1,17.664
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31657,646
TT8_MAMPS	0.029146	CAP_FILE_SIZE	113932,0
HUMID	1668	CFSIZE	254472192,239669248
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
XPDR_PINGS	450	GPS	170708,200201,6154.715,-903.052,43,1.0,43,-9.4
ALTIM_TOP_PING	19.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	147	91.42	SBE_CT	441	24	253.32
Roll_motor	136	72	235.12	SBE_O2	478	19	217.31
VBD_pump_during_apogee	250	1171	7027.07	WL_BB2F	438	105	1101.15
VBD_pump_during_surface	214	766	3921.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	191.39	nil	0	0	0.00
Iridium_during_connect	65	160	250.10	nil	0	0	0.00
Iridium_during_xfer	207	223	1108.39
Transponder_ping	117	420	1176.96
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.82
TT8	1248	19	249.64
LPSleep	10241	2	226.53
TT8_Active	647	19	129.42
TT8_Sampling	1508	39	606.53
TT8_CF8	625	45	289.35
TT8_Kalman	33	81	27.55
Analog_circuits	1412	12	171.20
GPS_charging	0	0	0.00
Compass	1475	8	119.22
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	140	0.00	0.00	-110.60	0.000	6	0.000	0.000	421	2142	3099
144	-1.30	-117.3	2.8	-2.5	6	160	10.50	2.53	0.00	0.000	4	0.147	0.056	2409	3557	3098
321	-0.96	-117.3	28.9	-13.0	13	327	0.40	2.50	0.00	0.000	6	0.098	0.045	2490	2147	3097
650	-0.89	-117.3	58.0	-8.6	29	654	0.00	2.50	0.00	0.000	4	0.000	0.056	2490	738	3097
713	-0.82	-117.3	63.5	-8.2	32	718	0.15	2.50	0.00	0.000	6	0.094	0.048	2522	2150	3098
1040	-0.82	-117.3	87.6	-8.0	48	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2149	3098
1349	-0.82	-117.3	113.5	-8.6	63	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2149	3098
1658	-0.82	-117.3	142.9	-10.1	78	1662	0.00	2.55	0.00	0.000	4	0.000	0.061	2521	748	3098
1669	-0.82	-117.3	144.2	-10.2	78	1676	0.00	2.50	0.00	0.000	6	0.000	0.051	2521	2142	3098
1986	-0.82	-117.3	179.0	-11.2	94	1987	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2141	3097
2294	-0.82	-117.3	212.0	-10.7	109	2295	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2141	3097
2604	-0.82	-117.3	246.5	-11.9	124	2608	0.00	2.55	0.00	0.000	4	0.000	0.062	2521	737	3097
2638	-0.82	-117.3	250.3	-11.6	125	2644	0.00	2.53	0.00	0.000	6	0.000	0.052	2521	2151	3096
2954	-0.82	-117.3	280.3	-7.7	141	2959	0.00	2.58	0.00	0.000	4	0.000	0.062	2521	741	3096
2990	-0.82	-117.3	282.8	-6.5	142	2996	0.00	2.53	0.00	0.000	6	0.000	0.053	2521	2147	3096
3306	-0.82	-117.3	297.4	-4.1	158	3310	0.00	2.55	0.00	0.000	4	0.000	0.063	2521	747	3096
3334	-0.82	-117.3	298.7	-4.6	159	3338	0.00	2.50	0.00	0.000	6	0.000	0.052	2521	2143	3095
3651	-0.82	-117.3	310.9	-4.0	174	3655	0.00	2.55	0.00	0.000	4	0.000	0.063	2521	747	3096
3661	-0.82	-117.3	311.3	-4.0	174	3667	0.00	2.50	0.00	0.000	6	0.000	0.053	2521	2140	3095
3978	-0.86	-117.3	327.1	-5.4	190	3982	0.00	2.53	0.00	0.000	4	0.000	0.063	2521	744	3095
3989	-0.86	-117.3	327.8	-5.4	190	3995	0.00	2.53	0.00	0.000	6	0.000	0.054	2521	2148	3095
4305	-0.86	-117.3	347.7	-6.8	206	4306	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2147	3095
4615	-0.90	-117.3	372.3	-8.6	221	4616	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2147	3095
4925	-0.94	-117.3	400.6	-9.2	236	4930	0.12	2.58	0.00	0.000	4	0.050	0.064	2484	745	3094
4993	-0.85	-117.3	407.7	-9.8	239	4998	0.15	2.50	0.00	0.000	6	0.098	0.054	2514	2136	3094
5314	-0.85	-117.3	435.2	-8.0	255	5319	0.00	2.53	0.00	0.000	4	0.000	0.064	2515	747	3094
5336	-0.85	-117.3	437.3	-8.5	256	5341	0.00	2.50	0.00	0.000	6	0.000	0.054	2514	2137	3094
5658	-0.85	-117.3	462.7	-7.1	272	5662	0.00	2.53	0.00	0.000	4	0.000	0.064	2515	746	3093
5721	-0.85	-117.3	466.9	-6.9	275	5725	0.00	2.47	0.00	0.000	6	0.000	0.054	2515	2127	3093
6048	-0.85	-117.3	479.8	-3.4	291	6052	0.00	2.53	0.00	0.000	4	0.000	0.066	2515	747	3093
6098	-0.85	-117.3	482.4	-5.5	293	6102	0.00	2.45	0.00	0.000	6	0.000	0.054	2515	2111	3093
6414	-0.85	-117.3	508.7	-8.4	308	6419	0.00	2.50	0.00	0.000	4	0.000	0.065	2515	740	3093
6515	-0.85	-117.3	516.2	-7.1	312	6521	0.00	2.45	0.00	0.000	6	0.000	0.054	2515	2106	3093
6832	-0.91	-117.3	529.0	-4.0	328	6837	0.00	2.62	0.00	0.000	4	0.000	0.067	2515	3564	3093
6873	-0.91	-117.3	531.5	-6.0	330	6877	0.00	2.55	0.00	0.000	6	0.000	0.053	2514	2133	3093
7200	-0.97	-117.3	543.8	-4.5	346	7205	0.12	2.62	0.00	0.000	4	0.054	0.067	2477	3556	3093
7326	end dive: BOTTOM_OBSTACLE_DETECTED
state	7326	begin apogee
7336	-0.33	0.0	550.3	4.8	351	7436	0.68	0.00	97.60	1.172	6	0.086	0.000	2622	2079	2620
7437	end apogee: CONTROL_FINISHED_OK
state	7437	begin climb
7440	1.30	117.3	551.1	0.0	356	7546	1.67	0.00	97.28	1.143	6	0.077	0.000	2983	2079	2141
7860	1.35	145.8	522.1	6.7	377	7890	0.00	2.70	24.50	1.096	4	0.000	0.072	2983	3504	2025
8055	1.36	155.3	507.3	7.6	386	8069	0.00	2.58	9.45	0.997	6	0.000	0.059	2983	2101	1986
8381	1.36	155.3	478.7	9.3	401	8382	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2102	1984
8690	1.36	155.3	447.2	11.0	416	8694	0.00	2.60	0.00	0.000	4	0.000	0.067	2983	3505	1983
8763	1.36	155.3	439.2	11.3	419	8767	0.00	2.53	0.00	0.000	6	0.000	0.054	2984	2111	1983
9078	1.36	155.3	403.7	10.7	434	9079	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2112	1982
9387	1.36	155.3	374.9	8.5	449	9392	0.00	2.55	0.00	0.000	4	0.000	0.062	2983	3507	1982
9444	1.36	155.3	369.9	8.9	451	9450	0.00	2.50	0.00	0.000	6	0.000	0.051	2983	2117	1982
9760	1.41	181.9	346.9	6.8	467	9789	0.10	2.65	22.05	1.013	4	0.054	0.061	3016	3508	1878
9848	1.36	181.9	339.3	9.1	471	9852	0.00	2.47	0.00	0.000	6	0.000	0.051	3016	2141	1878
10175	1.31	181.9	310.8	9.0	487	10177	0.17	0.00	0.00	0.000	6	0.087	0.000	2981	2140	1877
10484	1.36	181.9	286.5	8.6	502	10488	0.00	2.50	0.00	0.000	4	0.000	0.061	2981	3511	1878
10581	1.42	181.9	278.0	8.9	506	10586	0.12	2.42	0.00	0.000	6	0.051	0.051	3018	2156	1878
10897	1.37	181.9	243.6	11.4	521	10902	0.00	2.62	0.00	0.000	4	0.000	0.063	3018	689	1878
10938	1.32	181.9	238.8	12.7	523	10943	0.17	2.65	0.00	0.000	6	0.086	0.054	2984	2171	1877
11266	1.37	181.9	210.6	8.5	539	11270	0.00	2.40	0.00	0.000	4	0.000	0.061	2983	3510	1877
11345	1.42	181.9	203.3	9.1	542	11352	0.12	2.40	0.00	0.000	6	0.050	0.051	3020	2171	1878
11662	1.38	181.9	171.4	10.2	558	11666	0.00	2.67	0.00	0.000	4	0.000	0.064	3020	680	1878
11718	1.32	181.9	165.3	10.3	560	11725	0.17	2.67	0.00	0.000	6	0.085	0.053	2985	2175	1878
12036	1.38	183.8	140.1	7.9	576	12040	0.00	2.38	0.00	0.000	4	0.000	0.061	2986	3508	1879
12092	1.43	183.8	135.0	8.6	578	12100	0.12	2.38	0.00	0.000	6	0.050	0.049	3022	2175	1879
12409	1.38	183.8	101.1	11.3	594	12414	0.12	2.42	0.00	0.000	4	0.090	0.059	2999	3516	1879
12454	1.38	183.8	96.0	10.8	596	12458	0.00	2.38	0.00	0.000	6	0.000	0.049	2999	2187	1879
12775	1.38	183.8	65.9	8.3	612	12780	0.00	2.67	0.00	0.000	4	0.000	0.062	2999	685	1879
12842	1.38	183.8	59.6	9.5	615	12847	0.00	2.67	0.00	0.000	6	0.000	0.051	2999	2190	1879
13166	1.38	183.8	30.3	9.0	631	13170	0.00	2.35	0.00	0.000	4	0.000	0.059	2999	3513	1879
13309	1.42	183.8	16.8	9.5	637	13313	0.00	2.30	0.00	0.000	6	0.000	0.046	2999	2215	1879
13478	end climb: SURFACE_DEPTH_REACHED
state	13478	begin surface coast
13500	end surface coast: CONTROL_FINISHED_OK
state	13500	begin surface