Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 191 * 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 191 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -80176.859 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 -80176.859

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 17 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 191 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 001338,6153.666,-902.085,32,1.6,32,-9.4 TGT_NAME B2

_CALLS 2 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 9 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.116,-0.189

_SM_DEPTHo 0.58 KALMAN_X 15787.0,-970.9,-587.1,-12378.5,10879.0

_SM_ANGLEo -57.2 KALMAN_Y 10844.3,-19.0,-503.8,-35814.2,7134.3

GPS2 002251,6153.604,-901.908,12,1.9,12,-9.4 MHEAD_RNG_PITCHd_Wd 221.0,24670,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.014004 ALTIM_BOTTOM_PING 551.3,35.8

SM_CCo 14896,208.85,0.771,0,0,390,547.02 _24V_AH 23.9,37.327

SM_GC 0.35,0.00,0.00,208.85,0.000,0.000,0.771,418,2132,390,-10.50,-0.48,547.02 _10V_AH 10.1,17.814

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34978,714

TT8_MAMPS 0.029146 CAP_FILE_SIZE 123373,0

HUMID 1698 CFSIZE 254472192,239538176

TCM_TEMP 17.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 377 GPS 180708,043637,6150.784,-904.639,26,1.2,26,-9.4

ALTIM_TOP_PING 19.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 146 96.20 SBE_CT 489 24 280.74

Roll_motor 148 82 291.57 SBE_O2 524 19 238.20

VBD_pump_during_apogee 261 1224 7646.98 WL_BB2F 492 105 1235.16

VBD_pump_during_surface 208 770 3847.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.92 nil 0 0 0.00

Iridium_during_connect 55 160 213.52 nil 0 0 0.00

Iridium_during_xfer 236 223 1259.13

Transponder_ping 99 420 993.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.46

TT8 1361 19 272.31

LPSleep 11388 2 251.90

TT8_Active 670 19 134.03

TT8_Sampling 1581 39 635.73

TT8_CF8 662 45 306.56

TT8_Kalman 33 81 27.55

Analog_circuits 1470 12 178.23

GPS_charging 0 0 0.00

Compass 1550 8 125.26

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 -1.30 -117.3 0.0 0.0 0 137 0.00 0.00 -110.88 0.000 6 0.000 0.000 421 2172 3099

141 -1.30 -117.3 2.0 -1.7 5 157 10.48 2.60 0.00 0.000 4 0.146 0.055 2405 738 3098

163 0.21 -117.3 7.5 -14.7 5 172 1.62 2.55 0.00 0.000 6 0.093 0.048 2742 2160 3098

491 -0.59 -117.3 20.4 -4.4 21 496 0.75 2.50 0.00 0.000 4 0.048 0.056 2568 3561 3098

532 -0.71 -117.3 22.8 -6.1 23 537 0.10 2.50 0.00 0.000 6 0.051 0.045 2534 2152 3098

860 -0.71 -117.3 50.3 -8.6 39 864 0.00 2.58 0.00 0.000 4 0.000 0.058 2534 3566 3098

968 -0.75 -117.3 59.7 -8.9 44 972 0.00 2.42 0.00 0.000 6 0.000 0.044 2534 2191 3098

1296 -0.81 -117.3 85.3 -7.3 60 1297 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2173 3099

1606 -0.87 -117.3 104.7 -6.1 75 1610 0.10 2.58 0.00 0.000 4 0.054 0.058 2500 744 3098

1618 -0.87 -117.3 105.5 -6.0 75 1624 0.00 2.60 0.00 0.000 6 0.000 0.050 2500 2199 3098

1935 -0.83 -117.3 128.1 -7.1 91 1939 0.00 2.62 0.00 0.000 4 0.000 0.058 2500 753 3098

1947 -0.78 -117.3 129.0 -7.0 91 1954 0.12 2.58 0.00 0.000 6 0.096 0.050 2525 2194 3098

2264 -0.82 -117.3 149.0 -6.4 107 2268 0.00 2.62 0.00 0.000 4 0.000 0.061 2524 752 3098

2274 -0.82 -117.3 149.9 -6.4 107 2282 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2194 3098

2591 -0.87 -117.3 170.5 -6.6 123 2595 0.00 2.62 0.00 0.000 4 0.000 0.061 2524 743 3097

2601 -0.87 -117.3 171.3 -6.7 123 2607 0.00 2.60 0.00 0.000 6 0.000 0.051 2524 2197 3097

2919 -0.91 -117.3 192.3 -6.8 139 2924 0.12 2.62 0.00 0.000 4 0.050 0.062 2485 753 3097

3011 -0.82 -117.3 200.0 -8.4 143 3016 0.17 2.55 0.00 0.000 6 0.093 0.051 2520 2178 3097

3332 -0.82 -117.3 223.0 -7.0 159 3336 0.00 2.60 0.00 0.000 4 0.000 0.061 2520 752 3097

3383 -0.82 -117.3 226.6 -7.1 161 3387 0.00 2.55 0.00 0.000 6 0.000 0.052 2520 2174 3097

3699 -0.82 -117.3 249.2 -7.4 176 3700 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2174 3097

4009 -0.82 -117.3 271.6 -7.2 191 4010 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2173 3097

4318 -0.82 -117.3 293.7 -7.4 206 4322 0.00 2.62 0.00 0.000 4 0.000 0.064 2521 742 3097

4329 -0.82 -117.3 294.6 -7.4 206 4335 0.00 2.55 0.00 0.000 6 0.000 0.054 2520 2160 3097

4645 -0.82 -117.3 317.3 -7.0 222 4646 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2158 3096

4954 -0.86 -117.3 340.0 -7.5 237 4959 0.00 2.55 0.00 0.000 4 0.000 0.063 2521 752 3096

5010 -0.86 -117.3 344.6 -8.2 239 5016 0.00 2.53 0.00 0.000 6 0.000 0.053 2520 2158 3096

5327 -0.91 -117.3 366.2 -6.6 255 5328 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2157 3096

5635 -0.91 -117.3 386.1 -6.5 270 5640 0.00 2.58 0.00 0.000 4 0.000 0.064 2521 741 3095

5646 -0.91 -117.3 386.9 -6.7 270 5653 0.00 2.55 0.00 0.000 6 0.000 0.054 2521 2161 3095

5964 -0.91 -117.3 406.4 -5.8 286 5968 0.00 2.58 0.00 0.000 4 0.000 0.064 2520 742 3094

6053 -0.91 -117.3 412.2 -7.0 290 6057 0.00 2.50 0.00 0.000 6 0.000 0.054 2521 2136 3094

6375 -0.91 -117.3 432.1 -6.4 306 6376 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2135 3094

6684 -0.96 -117.3 451.5 -5.1 321 6689 0.15 2.58 0.00 0.000 4 0.050 0.064 2477 3563 3094

6740 -0.86 -117.3 455.4 -7.7 323 6747 0.17 2.53 0.00 0.000 6 0.091 0.052 2513 2146 3093

7058 -0.90 -117.3 475.8 -6.1 339 7063 0.00 2.50 0.00 0.000 4 0.000 0.067 2513 747 3093

7103 -0.90 -117.3 478.7 -5.8 341 7107 0.00 2.45 0.00 0.000 6 0.000 0.055 2513 2116 3094

7425 -0.95 -117.3 499.1 -6.8 357 7430 0.00 2.53 0.00 0.000 4 0.000 0.067 2513 746 3094

7470 -0.95 -117.3 502.1 -6.3 359 7474 0.00 2.45 0.00 0.000 6 0.000 0.057 2513 2108 3094

7792 -0.99 -117.3 522.0 -6.2 375 7797 0.12 2.65 0.00 0.000 4 0.054 0.071 2476 3557 3094

7865 -0.91 -117.3 527.5 -8.1 378 7870 0.12 2.60 0.00 0.000 6 0.099 0.058 2500 2122 3093

8181 -0.91 -117.3 548.4 -6.5 393 8182 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2104 3093

8490 -0.91 -117.3 571.8 -8.3 408 8492 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2104 3093

8550 end dive: BOTTOM_OBSTACLE_DETECTED

state 8550 begin apogee

8556 -0.33 0.0 577.5 9.1 411 8657 0.60 0.00 98.03 1.224 6 0.087 0.000 2626 2104 2620

8658 end apogee: CONTROL_FINISHED_OK

state 8658 begin climb

8661 1.30 117.3 582.2 0.0 416 8767 1.65 2.72 97.70 1.202 4 0.073 0.081 2978 691 2141

8817 1.26 117.3 570.8 8.8 423 8822 0.00 2.65 0.00 0.000 6 0.000 0.069 2978 2101 2140

9133 1.26 117.3 543.3 9.0 438 9137 0.00 2.65 0.00 0.000 4 0.000 0.082 2978 3509 2138

9251 1.26 117.3 532.3 9.4 443 9255 0.00 2.60 0.00 0.000 6 0.000 0.067 2978 2117 2138

9566 1.26 117.3 503.2 10.3 458 9571 0.00 2.67 0.00 0.000 4 0.000 0.080 2978 3516 2136

9629 1.26 117.3 496.3 10.9 461 9634 0.00 2.58 0.00 0.000 6 0.000 0.067 2978 2125 2136

9957 1.31 146.1 467.9 6.7 477 9983 0.00 0.00 23.98 1.172 6 0.000 0.000 2978 2120 2024

10286 1.32 154.3 445.9 7.6 493 10300 0.00 2.72 8.38 1.040 4 0.000 0.077 2979 692 1990

10323 1.32 154.3 442.4 8.8 494 10329 0.00 2.65 0.00 0.000 6 0.000 0.065 2978 2120 1989

10640 1.32 154.3 414.9 9.4 510 10644 0.00 2.58 0.00 0.000 4 0.000 0.071 2979 3519 1988

10740 1.32 154.3 404.2 10.5 514 10746 0.00 2.53 0.00 0.000 6 0.000 0.057 2978 2132 1988

11056 1.32 154.3 375.5 8.4 530 11057 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2132 1988

11365 1.34 167.5 352.0 7.4 545 11387 0.00 2.65 11.85 1.009 4 0.000 0.064 2978 3521 1936

11477 1.34 167.5 342.7 8.0 550 11482 0.00 2.47 0.00 0.000 6 0.000 0.052 2978 2148 1936

11806 1.38 191.3 318.7 6.9 566 11830 0.10 0.00 21.45 1.019 6 0.056 0.000 3010 2147 1838

12134 1.38 191.3 288.7 9.5 582 12138 0.00 2.50 0.00 0.000 4 0.000 0.063 3010 3518 1838

12195 1.38 191.3 282.4 10.3 585 12200 0.00 2.45 0.00 0.000 6 0.000 0.051 3010 2153 1838

12524 1.38 191.3 248.5 11.0 601 12525 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2152 1839

12832 1.38 191.3 214.0 11.1 616 12836 0.00 2.47 0.00 0.000 4 0.000 0.062 3010 3514 1840

12871 1.38 191.3 209.3 12.1 618 12876 0.00 2.40 0.00 0.000 6 0.000 0.051 3010 2167 1840

13199 1.38 191.3 171.2 12.3 634 13200 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2167 1840

13508 1.38 191.3 135.6 10.7 649 13512 0.00 2.45 0.00 0.000 4 0.000 0.060 3010 3518 1841

13575 1.38 191.3 128.4 10.2 652 13579 0.00 2.40 0.00 0.000 6 0.000 0.048 3010 2173 1840

13896 1.38 191.3 98.9 8.7 668 13900 0.00 2.65 0.00 0.000 4 0.000 0.064 3011 691 1841

13936 1.38 191.3 95.1 9.6 670 13940 0.00 2.67 0.00 0.000 6 0.000 0.054 3011 2186 1841

14263 1.38 191.3 62.4 11.4 686 14267 0.00 2.38 0.00 0.000 4 0.000 0.061 3010 3515 1842

14313 1.38 191.3 56.4 11.2 688 14317 0.00 2.38 0.00 0.000 6 0.000 0.048 3011 2180 1842

14629 1.38 191.3 24.0 10.2 703 14633 0.00 2.67 0.00 0.000 4 0.000 0.063 3010 681 1842

14701 1.38 191.3 15.6 11.3 706 14706 0.00 2.65 0.00 0.000 6 0.000 0.050 3010 2186 1842

14850 end climb: SURFACE_DEPTH_REACHED

state 14850 begin surface coast

14873 end surface coast: CONTROL_FINISHED_OK

state 14873 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	191	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-80176.859	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	001338,6153.666,-902.085,32,1.6,32,-9.4	TGT_NAME	B2
_CALLS	2	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	9	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.116,-0.189
_SM_DEPTHo	0.58	KALMAN_X	15787.0,-970.9,-587.1,-12378.5,10879.0
_SM_ANGLEo	-57.2	KALMAN_Y	10844.3,-19.0,-503.8,-35814.2,7134.3
GPS2	002251,6153.604,-901.908,12,1.9,12,-9.4	MHEAD_RNG_PITCHd_Wd	221.0,24670,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.014004	ALTIM_BOTTOM_PING	551.3,35.8
SM_CCo	14896,208.85,0.771,0,0,390,547.02	_24V_AH	23.9,37.327
SM_GC	0.35,0.00,0.00,208.85,0.000,0.000,0.771,418,2132,390,-10.50,-0.48,547.02	_10V_AH	10.1,17.814
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34978,714
TT8_MAMPS	0.029146	CAP_FILE_SIZE	123373,0
HUMID	1698	CFSIZE	254472192,239538176
TCM_TEMP	17.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	377	GPS	180708,043637,6150.784,-904.639,26,1.2,26,-9.4
ALTIM_TOP_PING	19.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	146	96.20	SBE_CT	489	24	280.74
Roll_motor	148	82	291.57	SBE_O2	524	19	238.20
VBD_pump_during_apogee	261	1224	7646.98	WL_BB2F	492	105	1235.16
VBD_pump_during_surface	208	770	3847.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.92	nil	0	0	0.00
Iridium_during_connect	55	160	213.52	nil	0	0	0.00
Iridium_during_xfer	236	223	1259.13
Transponder_ping	99	420	993.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.46
TT8	1361	19	272.31
LPSleep	11388	2	251.90
TT8_Active	670	19	134.03
TT8_Sampling	1581	39	635.73
TT8_CF8	662	45	306.56
TT8_Kalman	33	81	27.55
Analog_circuits	1470	12	178.23
GPS_charging	0	0	0.00
Compass	1550	8	125.26
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	-1.30	-117.3	0.0	0.0	0	137	0.00	0.00	-110.88	0.000	6	0.000	0.000	421	2172	3099
141	-1.30	-117.3	2.0	-1.7	5	157	10.48	2.60	0.00	0.000	4	0.146	0.055	2405	738	3098
163	0.21	-117.3	7.5	-14.7	5	172	1.62	2.55	0.00	0.000	6	0.093	0.048	2742	2160	3098
491	-0.59	-117.3	20.4	-4.4	21	496	0.75	2.50	0.00	0.000	4	0.048	0.056	2568	3561	3098
532	-0.71	-117.3	22.8	-6.1	23	537	0.10	2.50	0.00	0.000	6	0.051	0.045	2534	2152	3098
860	-0.71	-117.3	50.3	-8.6	39	864	0.00	2.58	0.00	0.000	4	0.000	0.058	2534	3566	3098
968	-0.75	-117.3	59.7	-8.9	44	972	0.00	2.42	0.00	0.000	6	0.000	0.044	2534	2191	3098
1296	-0.81	-117.3	85.3	-7.3	60	1297	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2173	3099
1606	-0.87	-117.3	104.7	-6.1	75	1610	0.10	2.58	0.00	0.000	4	0.054	0.058	2500	744	3098
1618	-0.87	-117.3	105.5	-6.0	75	1624	0.00	2.60	0.00	0.000	6	0.000	0.050	2500	2199	3098
1935	-0.83	-117.3	128.1	-7.1	91	1939	0.00	2.62	0.00	0.000	4	0.000	0.058	2500	753	3098
1947	-0.78	-117.3	129.0	-7.0	91	1954	0.12	2.58	0.00	0.000	6	0.096	0.050	2525	2194	3098
2264	-0.82	-117.3	149.0	-6.4	107	2268	0.00	2.62	0.00	0.000	4	0.000	0.061	2524	752	3098
2274	-0.82	-117.3	149.9	-6.4	107	2282	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2194	3098
2591	-0.87	-117.3	170.5	-6.6	123	2595	0.00	2.62	0.00	0.000	4	0.000	0.061	2524	743	3097
2601	-0.87	-117.3	171.3	-6.7	123	2607	0.00	2.60	0.00	0.000	6	0.000	0.051	2524	2197	3097
2919	-0.91	-117.3	192.3	-6.8	139	2924	0.12	2.62	0.00	0.000	4	0.050	0.062	2485	753	3097
3011	-0.82	-117.3	200.0	-8.4	143	3016	0.17	2.55	0.00	0.000	6	0.093	0.051	2520	2178	3097
3332	-0.82	-117.3	223.0	-7.0	159	3336	0.00	2.60	0.00	0.000	4	0.000	0.061	2520	752	3097
3383	-0.82	-117.3	226.6	-7.1	161	3387	0.00	2.55	0.00	0.000	6	0.000	0.052	2520	2174	3097
3699	-0.82	-117.3	249.2	-7.4	176	3700	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2174	3097
4009	-0.82	-117.3	271.6	-7.2	191	4010	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2173	3097
4318	-0.82	-117.3	293.7	-7.4	206	4322	0.00	2.62	0.00	0.000	4	0.000	0.064	2521	742	3097
4329	-0.82	-117.3	294.6	-7.4	206	4335	0.00	2.55	0.00	0.000	6	0.000	0.054	2520	2160	3097
4645	-0.82	-117.3	317.3	-7.0	222	4646	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2158	3096
4954	-0.86	-117.3	340.0	-7.5	237	4959	0.00	2.55	0.00	0.000	4	0.000	0.063	2521	752	3096
5010	-0.86	-117.3	344.6	-8.2	239	5016	0.00	2.53	0.00	0.000	6	0.000	0.053	2520	2158	3096
5327	-0.91	-117.3	366.2	-6.6	255	5328	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2157	3096
5635	-0.91	-117.3	386.1	-6.5	270	5640	0.00	2.58	0.00	0.000	4	0.000	0.064	2521	741	3095
5646	-0.91	-117.3	386.9	-6.7	270	5653	0.00	2.55	0.00	0.000	6	0.000	0.054	2521	2161	3095
5964	-0.91	-117.3	406.4	-5.8	286	5968	0.00	2.58	0.00	0.000	4	0.000	0.064	2520	742	3094
6053	-0.91	-117.3	412.2	-7.0	290	6057	0.00	2.50	0.00	0.000	6	0.000	0.054	2521	2136	3094
6375	-0.91	-117.3	432.1	-6.4	306	6376	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2135	3094
6684	-0.96	-117.3	451.5	-5.1	321	6689	0.15	2.58	0.00	0.000	4	0.050	0.064	2477	3563	3094
6740	-0.86	-117.3	455.4	-7.7	323	6747	0.17	2.53	0.00	0.000	6	0.091	0.052	2513	2146	3093
7058	-0.90	-117.3	475.8	-6.1	339	7063	0.00	2.50	0.00	0.000	4	0.000	0.067	2513	747	3093
7103	-0.90	-117.3	478.7	-5.8	341	7107	0.00	2.45	0.00	0.000	6	0.000	0.055	2513	2116	3094
7425	-0.95	-117.3	499.1	-6.8	357	7430	0.00	2.53	0.00	0.000	4	0.000	0.067	2513	746	3094
7470	-0.95	-117.3	502.1	-6.3	359	7474	0.00	2.45	0.00	0.000	6	0.000	0.057	2513	2108	3094
7792	-0.99	-117.3	522.0	-6.2	375	7797	0.12	2.65	0.00	0.000	4	0.054	0.071	2476	3557	3094
7865	-0.91	-117.3	527.5	-8.1	378	7870	0.12	2.60	0.00	0.000	6	0.099	0.058	2500	2122	3093
8181	-0.91	-117.3	548.4	-6.5	393	8182	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2104	3093
8490	-0.91	-117.3	571.8	-8.3	408	8492	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2104	3093
8550	end dive: BOTTOM_OBSTACLE_DETECTED
state	8550	begin apogee
8556	-0.33	0.0	577.5	9.1	411	8657	0.60	0.00	98.03	1.224	6	0.087	0.000	2626	2104	2620
8658	end apogee: CONTROL_FINISHED_OK
state	8658	begin climb
8661	1.30	117.3	582.2	0.0	416	8767	1.65	2.72	97.70	1.202	4	0.073	0.081	2978	691	2141
8817	1.26	117.3	570.8	8.8	423	8822	0.00	2.65	0.00	0.000	6	0.000	0.069	2978	2101	2140
9133	1.26	117.3	543.3	9.0	438	9137	0.00	2.65	0.00	0.000	4	0.000	0.082	2978	3509	2138
9251	1.26	117.3	532.3	9.4	443	9255	0.00	2.60	0.00	0.000	6	0.000	0.067	2978	2117	2138
9566	1.26	117.3	503.2	10.3	458	9571	0.00	2.67	0.00	0.000	4	0.000	0.080	2978	3516	2136
9629	1.26	117.3	496.3	10.9	461	9634	0.00	2.58	0.00	0.000	6	0.000	0.067	2978	2125	2136
9957	1.31	146.1	467.9	6.7	477	9983	0.00	0.00	23.98	1.172	6	0.000	0.000	2978	2120	2024
10286	1.32	154.3	445.9	7.6	493	10300	0.00	2.72	8.38	1.040	4	0.000	0.077	2979	692	1990
10323	1.32	154.3	442.4	8.8	494	10329	0.00	2.65	0.00	0.000	6	0.000	0.065	2978	2120	1989
10640	1.32	154.3	414.9	9.4	510	10644	0.00	2.58	0.00	0.000	4	0.000	0.071	2979	3519	1988
10740	1.32	154.3	404.2	10.5	514	10746	0.00	2.53	0.00	0.000	6	0.000	0.057	2978	2132	1988
11056	1.32	154.3	375.5	8.4	530	11057	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2132	1988
11365	1.34	167.5	352.0	7.4	545	11387	0.00	2.65	11.85	1.009	4	0.000	0.064	2978	3521	1936
11477	1.34	167.5	342.7	8.0	550	11482	0.00	2.47	0.00	0.000	6	0.000	0.052	2978	2148	1936
11806	1.38	191.3	318.7	6.9	566	11830	0.10	0.00	21.45	1.019	6	0.056	0.000	3010	2147	1838
12134	1.38	191.3	288.7	9.5	582	12138	0.00	2.50	0.00	0.000	4	0.000	0.063	3010	3518	1838
12195	1.38	191.3	282.4	10.3	585	12200	0.00	2.45	0.00	0.000	6	0.000	0.051	3010	2153	1838
12524	1.38	191.3	248.5	11.0	601	12525	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2152	1839
12832	1.38	191.3	214.0	11.1	616	12836	0.00	2.47	0.00	0.000	4	0.000	0.062	3010	3514	1840
12871	1.38	191.3	209.3	12.1	618	12876	0.00	2.40	0.00	0.000	6	0.000	0.051	3010	2167	1840
13199	1.38	191.3	171.2	12.3	634	13200	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2167	1840
13508	1.38	191.3	135.6	10.7	649	13512	0.00	2.45	0.00	0.000	4	0.000	0.060	3010	3518	1841
13575	1.38	191.3	128.4	10.2	652	13579	0.00	2.40	0.00	0.000	6	0.000	0.048	3010	2173	1840
13896	1.38	191.3	98.9	8.7	668	13900	0.00	2.65	0.00	0.000	4	0.000	0.064	3011	691	1841
13936	1.38	191.3	95.1	9.6	670	13940	0.00	2.67	0.00	0.000	6	0.000	0.054	3011	2186	1841
14263	1.38	191.3	62.4	11.4	686	14267	0.00	2.38	0.00	0.000	4	0.000	0.061	3010	3515	1842
14313	1.38	191.3	56.4	11.2	688	14317	0.00	2.38	0.00	0.000	6	0.000	0.048	3011	2180	1842
14629	1.38	191.3	24.0	10.2	703	14633	0.00	2.67	0.00	0.000	4	0.000	0.063	3010	681	1842
14701	1.38	191.3	15.6	11.3	706	14706	0.00	2.65	0.00	0.000	6	0.000	0.050	3010	2186	1842
14850	end climb: SURFACE_DEPTH_REACHED
state	14850	begin surface coast
14873	end surface coast: CONTROL_FINISHED_OK
state	14873	begin surface