Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 34 * 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 34 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 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -2093185.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

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 -2093185.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 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 14 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 34 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 195107,6036.355,-556.890,30,1.4,30,-7.3 TGT_NAME WTB_2

_CALLS 4 TGT_LATLONG 6015.000,-645.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.026,-0.220

_SM_DEPTHo 1.35 KALMAN_X -5675.6,195.0,-241.4,-30690.4,642.8

_SM_ANGLEo -58.1 KALMAN_Y -25633.9,-503.6,-102.4,5008.9,7045.0

GPS2 200557,6036.184,-557.191,17,1.8,17,-7.3 MHEAD_RNG_PITCHd_Wd 235.5,58903,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027200 ALTIM_BOTTOM_PING 401.2,100.6

SM_CCo 13433,0.00,0.000,0,0,1463,323.31 _24V_AH 23.6,8.304

SM_GC 1.40,10.73,0.00,0.00,0.034,0.000,0.000,65,2302,1463,-10.19,0.06,323.31 _10V_AH 10.1,3.588

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31671,641

TT8_MAMPS 0.02301 CAP_FILE_SIZE 117379,0

HUMID 1865 CFSIZE 260165632,256630784

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 29 GPS 110608,235201,6033.519,-601.261,37,1.7,43,-7.3

ALTIM_TOP_PING 18.2,16.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 100.41 SBE_CT 471 24 267.11

Roll_motor 164 88 346.25 SBE_O2 433 19 194.51

VBD_pump_during_apogee 414 977 9567.40 WL_BB2F 455 105 1128.24

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 87 103 213.72 nil 0 0 0.00

Iridium_during_connect 182 160 690.07 nil 0 0 0.00

Iridium_during_xfer 273 223 1441.91

Transponder_ping 10 420 104.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.75

TT8 1246 19 249.20

LPSleep 10117 2 223.78

TT8_Active 540 19 108.17

TT8_Sampling 1584 39 636.89

TT8_CF8 835 45 386.35

TT8_Kalman 33 81 27.56

Analog_circuits 1375 12 166.70

GPS_charging 0 0 0.00

Compass 1546 8 124.95

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 -0.85 -146.6 0.0 0.0 0 106 0.00 0.00 -80.60 0.000 2 0.000 0.000 71 2301 3048

110 -0.85 -146.6 4.5 -5.0 4 135 11.32 2.70 -7.07 0.000 4 0.165 0.084 2109 3702 3381

383 -0.68 -146.6 41.0 -12.2 16 388 0.20 2.58 0.00 0.000 6 0.093 0.054 2149 2297 3381

705 -0.63 -146.6 69.8 -8.9 32 709 0.00 2.62 0.00 0.000 4 0.000 0.066 2149 881 3380

805 -0.63 -146.6 79.8 -10.1 36 811 0.00 2.60 0.00 0.000 6 0.000 0.057 2148 2298 3381

1122 -0.63 -146.6 108.1 -8.4 52 1126 0.00 2.65 0.00 0.000 4 0.000 0.074 2149 3713 3381

1150 -0.58 -146.6 110.8 -8.7 53 1155 0.12 2.58 0.00 0.000 6 0.093 0.053 2173 2299 3381

1466 -0.58 -146.6 130.7 -6.4 68 1470 0.00 2.62 0.00 0.000 4 0.000 0.066 2173 881 3381

1538 -0.65 -146.6 135.2 -5.4 71 1543 0.00 2.62 0.00 0.000 6 0.000 0.057 2173 2305 3381

1855 -0.65 -146.6 152.1 -4.4 86 1859 0.00 2.62 0.00 0.000 4 0.000 0.065 2173 880 3381

1905 -0.73 -146.6 154.3 -4.8 88 1910 0.15 2.62 0.00 0.000 6 0.042 0.056 2124 2305 3381

2222 -0.63 -146.6 175.3 -7.3 103 2227 0.15 2.65 0.00 0.000 4 0.083 0.077 2157 3712 3381

2262 -0.63 -146.6 178.0 -6.4 105 2266 0.00 2.58 0.00 0.000 6 0.000 0.055 2157 2299 3381

2588 -0.63 -146.6 201.7 -7.9 121 2592 0.00 2.62 0.00 0.000 4 0.000 0.067 2157 881 3381

2632 -0.63 -146.6 205.4 -8.5 123 2636 0.00 2.62 0.00 0.000 6 0.000 0.058 2158 2300 3381

2953 -0.63 -146.6 232.0 -8.3 139 2954 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3381

3262 -0.63 -146.6 256.1 -7.7 154 3263 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3381

3571 -0.63 -146.6 280.3 -7.6 169 3575 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 878 3381

3615 -0.67 -146.6 283.8 -7.4 171 3620 0.00 2.60 0.00 0.000 6 0.000 0.058 2156 2303 3381

3936 -0.67 -146.6 304.1 -5.8 187 3937 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3381

4246 -0.67 -146.6 326.7 -8.4 202 4250 0.00 2.65 0.00 0.000 4 0.000 0.068 2157 881 3381

4290 -0.72 -146.6 330.6 -8.7 204 4295 0.00 2.62 0.00 0.000 6 0.000 0.059 2158 2305 3381

4611 -0.72 -146.6 354.0 -6.3 220 4616 0.00 2.67 0.00 0.000 4 0.000 0.070 2157 876 3381

4675 -0.76 -146.6 357.7 -5.4 223 4680 0.12 2.62 0.00 0.000 6 0.048 0.060 2117 2304 3381

5001 -0.66 -146.6 384.0 -8.8 239 5006 0.15 2.67 0.00 0.000 4 0.087 0.070 2152 877 3381

5034 -0.66 -146.6 386.6 -7.0 240 5041 0.00 2.62 0.00 0.000 6 0.000 0.060 2152 2303 3380

5351 -0.66 -146.6 408.1 -6.8 256 5355 0.00 2.65 0.00 0.000 4 0.000 0.071 2152 882 3380

5390 -0.70 -146.6 411.2 -7.6 258 5395 0.00 2.62 0.00 0.000 6 0.000 0.061 2152 2298 3380

5717 -0.70 -146.6 434.5 -7.6 274 5721 0.00 2.65 0.00 0.000 4 0.000 0.072 2152 883 3380

5750 -0.70 -146.6 437.2 -7.9 275 5756 0.00 2.62 0.00 0.000 6 0.000 0.061 2152 2304 3380

6066 -0.70 -146.6 461.8 -7.6 291 6070 0.00 2.67 0.00 0.000 4 0.000 0.074 2151 879 3380

6116 -0.74 -146.6 465.6 -7.7 293 6120 0.00 2.62 0.00 0.000 6 0.000 0.061 2151 2303 3379

6431 -0.74 -146.6 486.8 -6.5 308 6436 0.00 2.72 0.00 0.000 4 0.000 0.089 2152 3712 3378

6476 -0.74 -146.6 490.1 -7.5 310 6480 0.00 2.62 0.00 0.000 6 0.000 0.064 2152 2298 3378

6505 end dive: BOTTOM_OBSTACLE_DETECTED

state 6505 begin apogee

6511 -0.31 0.0 492.1 6.5 312 6647 0.38 0.00 128.90 0.977 6 0.097 0.000 2227 2298 2781

6648 end apogee: CONTROL_FINISHED_OK

state 6648 begin climb

6651 0.85 146.6 495.5 0.0 319 6788 1.17 2.83 128.50 0.954 4 0.076 0.088 2479 3707 2183

6874 0.85 150.2 491.2 5.9 328 6884 0.00 2.67 4.90 0.664 6 0.000 0.066 2479 2295 2168

7206 0.89 191.5 475.9 4.9 345 7249 0.00 2.85 36.53 0.931 4 0.000 0.088 2479 3700 2000

7272 0.96 204.8 472.6 5.6 348 7292 0.12 2.67 13.18 0.861 6 0.053 0.069 2515 2301 1945

7622 0.91 204.8 448.8 6.9 365 7626 0.00 2.72 0.00 0.000 4 0.000 0.077 2515 877 1944

7706 0.87 204.8 443.0 6.8 369 7712 0.12 2.67 0.00 0.000 6 0.090 0.062 2491 2303 1943

8034 0.96 292.8 429.9 3.6 385 8116 0.00 2.78 76.38 0.944 4 0.000 0.074 2492 883 1586

8171 1.07 292.8 423.6 6.1 391 8176 0.20 2.67 0.00 0.000 6 0.051 0.062 2539 2302 1586

8492 1.07 292.8 394.5 9.3 407 8496 0.00 2.72 0.00 0.000 4 0.000 0.075 2540 878 1585

8541 1.07 292.8 389.8 9.4 409 8546 0.00 2.67 0.00 0.000 6 0.000 0.061 2540 2302 1585

8857 1.07 292.8 361.1 8.9 424 8861 0.00 2.70 0.00 0.000 4 0.000 0.074 2540 882 1584

8935 1.01 292.8 354.1 9.4 427 8941 0.00 2.65 0.00 0.000 6 0.000 0.060 2540 2299 1584

9250 1.01 292.8 325.2 9.6 443 9254 0.00 2.70 0.00 0.000 4 0.000 0.074 2539 881 1584

9305 0.96 292.8 319.6 10.3 445 9312 0.15 2.65 0.00 0.000 6 0.091 0.059 2510 2306 1584

9622 1.01 292.8 293.5 8.3 461 9626 0.00 2.70 0.00 0.000 4 0.000 0.074 2510 881 1584

9666 1.06 292.8 289.6 8.4 463 9670 0.00 2.65 0.00 0.000 6 0.000 0.058 2509 2305 1584

9987 1.11 292.8 264.3 7.6 479 9992 0.15 2.67 0.00 0.000 4 0.051 0.072 2554 881 1584

10043 1.02 292.8 259.3 8.8 481 10049 0.17 2.62 0.00 0.000 6 0.086 0.058 2519 2301 1584

10358 1.02 292.8 236.4 7.7 497 10363 0.00 2.67 0.00 0.000 4 0.000 0.071 2519 881 1584

10398 1.02 292.8 233.2 8.6 499 10403 0.00 2.62 0.00 0.000 6 0.000 0.058 2520 2305 1584

10724 1.02 292.8 206.3 8.0 515 10729 0.00 2.67 0.00 0.000 4 0.000 0.070 2519 881 1584

10764 1.02 292.8 203.0 8.8 517 10769 0.00 2.62 0.00 0.000 6 0.000 0.057 2520 2298 1584

11091 1.02 292.8 178.4 6.9 533 11092 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2298 1584

11400 1.05 323.3 160.3 5.2 548 11433 0.00 2.78 26.50 0.742 4 0.000 0.069 2519 878 1461

11497 1.11 323.3 154.3 6.3 552 11501 0.00 2.65 0.00 0.000 6 0.000 0.056 2519 2308 1461

11813 1.15 323.3 130.0 8.3 567 11818 0.12 2.70 0.00 0.000 4 0.050 0.069 2558 876 1461

11869 1.09 323.3 124.6 9.9 569 11876 0.00 2.62 0.00 0.000 6 0.000 0.055 2558 2308 1462

12186 1.04 323.3 99.9 7.4 585 12191 0.15 2.70 0.00 0.000 4 0.085 0.068 2524 874 1462

12258 1.04 323.3 94.8 6.9 588 12262 0.00 2.62 0.00 0.000 6 0.000 0.054 2524 2301 1462

12574 1.08 323.3 69.8 8.2 603 12579 0.00 2.67 0.00 0.000 4 0.000 0.069 2524 874 1462

12619 1.14 323.3 66.0 8.0 605 12624 0.10 2.62 0.00 0.000 6 0.054 0.055 2558 2305 1462

12941 1.14 323.3 37.7 9.8 621 12945 0.00 2.67 0.00 0.000 4 0.000 0.069 2558 880 1461

13003 1.14 323.3 31.5 9.5 624 13007 0.00 2.60 0.00 0.000 6 0.000 0.055 2558 2302 1463

13327 end climb: SURFACE_DEPTH_REACHED

state 13327 begin surface coast

13352 end surface coast: CONTROL_FINISHED_OK

state 13352 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	34	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	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-2093185.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	195107,6036.355,-556.890,30,1.4,30,-7.3	TGT_NAME	WTB_2
_CALLS	4	TGT_LATLONG	6015.000,-645.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.026,-0.220
_SM_DEPTHo	1.35	KALMAN_X	-5675.6,195.0,-241.4,-30690.4,642.8
_SM_ANGLEo	-58.1	KALMAN_Y	-25633.9,-503.6,-102.4,5008.9,7045.0
GPS2	200557,6036.184,-557.191,17,1.8,17,-7.3	MHEAD_RNG_PITCHd_Wd	235.5,58903,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027200	ALTIM_BOTTOM_PING	401.2,100.6
SM_CCo	13433,0.00,0.000,0,0,1463,323.31	_24V_AH	23.6,8.304
SM_GC	1.40,10.73,0.00,0.00,0.034,0.000,0.000,65,2302,1463,-10.19,0.06,323.31	_10V_AH	10.1,3.588
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31671,641
TT8_MAMPS	0.02301	CAP_FILE_SIZE	117379,0
HUMID	1865	CFSIZE	260165632,256630784
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	29	GPS	110608,235201,6033.519,-601.261,37,1.7,43,-7.3
ALTIM_TOP_PING	18.2,16.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	100.41	SBE_CT	471	24	267.11
Roll_motor	164	88	346.25	SBE_O2	433	19	194.51
VBD_pump_during_apogee	414	977	9567.40	WL_BB2F	455	105	1128.24
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	87	103	213.72	nil	0	0	0.00
Iridium_during_connect	182	160	690.07	nil	0	0	0.00
Iridium_during_xfer	273	223	1441.91
Transponder_ping	10	420	104.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.75
TT8	1246	19	249.20
LPSleep	10117	2	223.78
TT8_Active	540	19	108.17
TT8_Sampling	1584	39	636.89
TT8_CF8	835	45	386.35
TT8_Kalman	33	81	27.56
Analog_circuits	1375	12	166.70
GPS_charging	0	0	0.00
Compass	1546	8	124.95
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	-0.85	-146.6	0.0	0.0	0	106	0.00	0.00	-80.60	0.000	2	0.000	0.000	71	2301	3048
110	-0.85	-146.6	4.5	-5.0	4	135	11.32	2.70	-7.07	0.000	4	0.165	0.084	2109	3702	3381
383	-0.68	-146.6	41.0	-12.2	16	388	0.20	2.58	0.00	0.000	6	0.093	0.054	2149	2297	3381
705	-0.63	-146.6	69.8	-8.9	32	709	0.00	2.62	0.00	0.000	4	0.000	0.066	2149	881	3380
805	-0.63	-146.6	79.8	-10.1	36	811	0.00	2.60	0.00	0.000	6	0.000	0.057	2148	2298	3381
1122	-0.63	-146.6	108.1	-8.4	52	1126	0.00	2.65	0.00	0.000	4	0.000	0.074	2149	3713	3381
1150	-0.58	-146.6	110.8	-8.7	53	1155	0.12	2.58	0.00	0.000	6	0.093	0.053	2173	2299	3381
1466	-0.58	-146.6	130.7	-6.4	68	1470	0.00	2.62	0.00	0.000	4	0.000	0.066	2173	881	3381
1538	-0.65	-146.6	135.2	-5.4	71	1543	0.00	2.62	0.00	0.000	6	0.000	0.057	2173	2305	3381
1855	-0.65	-146.6	152.1	-4.4	86	1859	0.00	2.62	0.00	0.000	4	0.000	0.065	2173	880	3381
1905	-0.73	-146.6	154.3	-4.8	88	1910	0.15	2.62	0.00	0.000	6	0.042	0.056	2124	2305	3381
2222	-0.63	-146.6	175.3	-7.3	103	2227	0.15	2.65	0.00	0.000	4	0.083	0.077	2157	3712	3381
2262	-0.63	-146.6	178.0	-6.4	105	2266	0.00	2.58	0.00	0.000	6	0.000	0.055	2157	2299	3381
2588	-0.63	-146.6	201.7	-7.9	121	2592	0.00	2.62	0.00	0.000	4	0.000	0.067	2157	881	3381
2632	-0.63	-146.6	205.4	-8.5	123	2636	0.00	2.62	0.00	0.000	6	0.000	0.058	2158	2300	3381
2953	-0.63	-146.6	232.0	-8.3	139	2954	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3381
3262	-0.63	-146.6	256.1	-7.7	154	3263	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3381
3571	-0.63	-146.6	280.3	-7.6	169	3575	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	878	3381
3615	-0.67	-146.6	283.8	-7.4	171	3620	0.00	2.60	0.00	0.000	6	0.000	0.058	2156	2303	3381
3936	-0.67	-146.6	304.1	-5.8	187	3937	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3381
4246	-0.67	-146.6	326.7	-8.4	202	4250	0.00	2.65	0.00	0.000	4	0.000	0.068	2157	881	3381
4290	-0.72	-146.6	330.6	-8.7	204	4295	0.00	2.62	0.00	0.000	6	0.000	0.059	2158	2305	3381
4611	-0.72	-146.6	354.0	-6.3	220	4616	0.00	2.67	0.00	0.000	4	0.000	0.070	2157	876	3381
4675	-0.76	-146.6	357.7	-5.4	223	4680	0.12	2.62	0.00	0.000	6	0.048	0.060	2117	2304	3381
5001	-0.66	-146.6	384.0	-8.8	239	5006	0.15	2.67	0.00	0.000	4	0.087	0.070	2152	877	3381
5034	-0.66	-146.6	386.6	-7.0	240	5041	0.00	2.62	0.00	0.000	6	0.000	0.060	2152	2303	3380
5351	-0.66	-146.6	408.1	-6.8	256	5355	0.00	2.65	0.00	0.000	4	0.000	0.071	2152	882	3380
5390	-0.70	-146.6	411.2	-7.6	258	5395	0.00	2.62	0.00	0.000	6	0.000	0.061	2152	2298	3380
5717	-0.70	-146.6	434.5	-7.6	274	5721	0.00	2.65	0.00	0.000	4	0.000	0.072	2152	883	3380
5750	-0.70	-146.6	437.2	-7.9	275	5756	0.00	2.62	0.00	0.000	6	0.000	0.061	2152	2304	3380
6066	-0.70	-146.6	461.8	-7.6	291	6070	0.00	2.67	0.00	0.000	4	0.000	0.074	2151	879	3380
6116	-0.74	-146.6	465.6	-7.7	293	6120	0.00	2.62	0.00	0.000	6	0.000	0.061	2151	2303	3379
6431	-0.74	-146.6	486.8	-6.5	308	6436	0.00	2.72	0.00	0.000	4	0.000	0.089	2152	3712	3378
6476	-0.74	-146.6	490.1	-7.5	310	6480	0.00	2.62	0.00	0.000	6	0.000	0.064	2152	2298	3378
6505	end dive: BOTTOM_OBSTACLE_DETECTED
state	6505	begin apogee
6511	-0.31	0.0	492.1	6.5	312	6647	0.38	0.00	128.90	0.977	6	0.097	0.000	2227	2298	2781
6648	end apogee: CONTROL_FINISHED_OK
state	6648	begin climb
6651	0.85	146.6	495.5	0.0	319	6788	1.17	2.83	128.50	0.954	4	0.076	0.088	2479	3707	2183
6874	0.85	150.2	491.2	5.9	328	6884	0.00	2.67	4.90	0.664	6	0.000	0.066	2479	2295	2168
7206	0.89	191.5	475.9	4.9	345	7249	0.00	2.85	36.53	0.931	4	0.000	0.088	2479	3700	2000
7272	0.96	204.8	472.6	5.6	348	7292	0.12	2.67	13.18	0.861	6	0.053	0.069	2515	2301	1945
7622	0.91	204.8	448.8	6.9	365	7626	0.00	2.72	0.00	0.000	4	0.000	0.077	2515	877	1944
7706	0.87	204.8	443.0	6.8	369	7712	0.12	2.67	0.00	0.000	6	0.090	0.062	2491	2303	1943
8034	0.96	292.8	429.9	3.6	385	8116	0.00	2.78	76.38	0.944	4	0.000	0.074	2492	883	1586
8171	1.07	292.8	423.6	6.1	391	8176	0.20	2.67	0.00	0.000	6	0.051	0.062	2539	2302	1586
8492	1.07	292.8	394.5	9.3	407	8496	0.00	2.72	0.00	0.000	4	0.000	0.075	2540	878	1585
8541	1.07	292.8	389.8	9.4	409	8546	0.00	2.67	0.00	0.000	6	0.000	0.061	2540	2302	1585
8857	1.07	292.8	361.1	8.9	424	8861	0.00	2.70	0.00	0.000	4	0.000	0.074	2540	882	1584
8935	1.01	292.8	354.1	9.4	427	8941	0.00	2.65	0.00	0.000	6	0.000	0.060	2540	2299	1584
9250	1.01	292.8	325.2	9.6	443	9254	0.00	2.70	0.00	0.000	4	0.000	0.074	2539	881	1584
9305	0.96	292.8	319.6	10.3	445	9312	0.15	2.65	0.00	0.000	6	0.091	0.059	2510	2306	1584
9622	1.01	292.8	293.5	8.3	461	9626	0.00	2.70	0.00	0.000	4	0.000	0.074	2510	881	1584
9666	1.06	292.8	289.6	8.4	463	9670	0.00	2.65	0.00	0.000	6	0.000	0.058	2509	2305	1584
9987	1.11	292.8	264.3	7.6	479	9992	0.15	2.67	0.00	0.000	4	0.051	0.072	2554	881	1584
10043	1.02	292.8	259.3	8.8	481	10049	0.17	2.62	0.00	0.000	6	0.086	0.058	2519	2301	1584
10358	1.02	292.8	236.4	7.7	497	10363	0.00	2.67	0.00	0.000	4	0.000	0.071	2519	881	1584
10398	1.02	292.8	233.2	8.6	499	10403	0.00	2.62	0.00	0.000	6	0.000	0.058	2520	2305	1584
10724	1.02	292.8	206.3	8.0	515	10729	0.00	2.67	0.00	0.000	4	0.000	0.070	2519	881	1584
10764	1.02	292.8	203.0	8.8	517	10769	0.00	2.62	0.00	0.000	6	0.000	0.057	2520	2298	1584
11091	1.02	292.8	178.4	6.9	533	11092	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2298	1584
11400	1.05	323.3	160.3	5.2	548	11433	0.00	2.78	26.50	0.742	4	0.000	0.069	2519	878	1461
11497	1.11	323.3	154.3	6.3	552	11501	0.00	2.65	0.00	0.000	6	0.000	0.056	2519	2308	1461
11813	1.15	323.3	130.0	8.3	567	11818	0.12	2.70	0.00	0.000	4	0.050	0.069	2558	876	1461
11869	1.09	323.3	124.6	9.9	569	11876	0.00	2.62	0.00	0.000	6	0.000	0.055	2558	2308	1462
12186	1.04	323.3	99.9	7.4	585	12191	0.15	2.70	0.00	0.000	4	0.085	0.068	2524	874	1462
12258	1.04	323.3	94.8	6.9	588	12262	0.00	2.62	0.00	0.000	6	0.000	0.054	2524	2301	1462
12574	1.08	323.3	69.8	8.2	603	12579	0.00	2.67	0.00	0.000	4	0.000	0.069	2524	874	1462
12619	1.14	323.3	66.0	8.0	605	12624	0.10	2.62	0.00	0.000	6	0.054	0.055	2558	2305	1462
12941	1.14	323.3	37.7	9.8	621	12945	0.00	2.67	0.00	0.000	4	0.000	0.069	2558	880	1461
13003	1.14	323.3	31.5	9.5	624	13007	0.00	2.60	0.00	0.000	6	0.000	0.055	2558	2302	1463
13327	end climb: SURFACE_DEPTH_REACHED
state	13327	begin surface coast
13352	end surface coast: CONTROL_FINISHED_OK
state	13352	begin surface