Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 64 * 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 64 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 300 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 23 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 580 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 120 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 -77856.289 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 300

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 550

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 -77856.289

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 580

CF8_MAXERRORS 3 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 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 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 23 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 64 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 042207,6201.433,-945.330,40,1.2,52,-9.8 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.157,-0.125

_SM_DEPTHo 0.82 KALMAN_X -113313.1,1707.4,241.1,32375.2,-72891.1

_SM_ANGLEo -58.3 KALMAN_Y -10998.4,-2946.6,2261.9,79411.9,44777.1

GPS2 042627,6201.434,-945.516,13,1.0,13,-9.8 MHEAD_RNG_PITCHd_Wd 138.4,48493,-12.6,-6.000

SPEED_LIMITS 0.104,0.201 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.3,1.027130 ALTIM_TOP_PING 19.8,999.0

SM_CCo 13493,9.07,0.703,0,0,1397,300.00 _24V_AH 23.9,15.573

SM_GC 1.00,0.00,0.00,9.07,0.000,0.000,0.703,417,2135,1397,-10.50,-0.40,300.00 _10V_AH 10.1,6.650

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34879,649

TT8_MAMPS 0.029146 CAP_FILE_SIZE 106906,0

HUMID 1672 CFSIZE 254472192,247918592

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

XPDR_PINGS 471 GPS 200608,081338,6200.653,-945.802,35,1.6,35,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 140 83.95 SBE_CT 443 24 254.23

Roll_motor 142 72 248.38 SBE_O2 480 19 218.37

VBD_pump_during_apogee 333 1132 9012.01 WL_BB2F 419 105 1051.71

VBD_pump_during_surface 9 703 152.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.95 nil 0 0 0.00

Iridium_during_connect 32 160 123.32 nil 0 0 0.00

Iridium_during_xfer 93 223 500.39

Transponder_ping 121 420 1222.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.91

TT8 1228 19 245.58

LPSleep 10236 2 226.42

TT8_Active 488 19 97.77

TT8_Sampling 1410 39 567.19

TT8_CF8 412 45 190.64

TT8_Kalman 33 81 27.57

Analog_circuits 1229 12 149.01

GPS_charging 0 0 0.00

Compass 1387 8 112.14

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 -1.03 -117.3 0.0 0.0 0 95 0.00 0.00 -69.03 0.000 6 0.000 0.000 418 2128 3099

98 -1.03 -117.3 2.2 -3.5 3 115 10.65 2.53 0.00 0.000 4 0.140 0.060 2467 743 3101

291 -0.73 -117.3 26.6 -10.9 10 298 0.35 2.53 0.00 0.000 6 0.091 0.050 2541 2161 3102

607 -0.64 -117.3 56.2 -10.5 26 611 0.00 2.50 0.00 0.000 4 0.000 0.061 2541 3555 3102

619 -0.55 -117.3 57.6 -10.9 26 626 0.17 2.47 0.00 0.000 6 0.086 0.048 2578 2152 3102

935 -0.55 -117.3 95.5 -13.1 42 939 0.00 2.58 0.00 0.000 4 0.000 0.061 2578 3561 3102

967 -0.55 -117.3 100.0 -13.0 43 974 0.00 2.47 0.00 0.000 6 0.000 0.045 2578 2152 3102

1285 -0.55 -117.3 142.8 -14.2 59 1289 0.00 2.55 0.00 0.000 4 0.000 0.061 2579 3554 3103

1330 -0.59 -117.3 149.5 -14.4 61 1338 0.00 2.47 0.00 0.000 6 0.000 0.047 2578 2160 3103

1660 -0.64 -117.3 192.0 -13.1 77 1665 0.00 2.55 0.00 0.000 4 0.000 0.061 2578 3556 3103

1755 -0.64 -117.3 204.8 -14.0 81 1759 0.00 2.45 0.00 0.000 6 0.000 0.046 2579 2166 3103

2072 -0.64 -117.3 237.8 -9.3 96 2076 0.00 2.53 0.00 0.000 4 0.000 0.062 2578 3559 3103

2082 -0.64 -117.3 238.9 -8.7 96 2088 0.00 2.50 0.00 0.000 6 0.000 0.050 2578 2156 3103

2399 -0.68 -117.3 254.4 -2.8 112 2404 0.12 2.55 0.00 0.000 4 0.051 0.061 2540 3560 3103

2427 -0.62 -117.3 254.8 -0.9 113 2432 0.12 2.47 0.00 0.000 6 0.095 0.051 2565 2162 3103

2743 -0.62 -117.3 244.5 5.7 128 2744 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2162 3103

3052 -0.62 -117.3 228.4 4.8 143 3057 0.00 2.53 0.00 0.000 4 0.000 0.063 2565 3553 3102

3063 -0.62 -117.3 228.0 3.4 143 3069 0.00 2.50 0.00 0.000 6 0.000 0.052 2565 2155 3102

3380 -0.66 -117.3 212.8 4.2 159 3381 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2155 3103

3689 -0.66 -117.3 219.2 -5.3 174 3693 0.00 2.55 0.00 0.000 4 0.000 0.070 2565 748 3102

3885 -0.66 -117.3 232.2 -8.3 183 3890 0.00 2.50 0.00 0.000 6 0.000 0.053 2565 2146 3102

4213 -0.66 -117.3 270.3 -13.3 199 4217 0.00 2.55 0.00 0.000 4 0.000 0.067 2565 747 3101

4223 -0.66 -117.3 271.8 -13.2 199 4229 0.00 2.50 0.00 0.000 6 0.000 0.053 2565 2141 3101

4538 -0.66 -117.3 314.1 -13.7 215 4543 0.00 2.55 0.00 0.000 4 0.000 0.068 2565 747 3101

4549 -0.66 -117.3 315.7 -13.8 215 4556 0.00 2.50 0.00 0.000 6 0.000 0.054 2565 2137 3101

4865 -0.66 -117.3 352.3 -9.5 231 4867 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2136 3101

5175 -0.66 -117.3 368.7 -3.4 246 5179 0.00 2.55 0.00 0.000 4 0.000 0.067 2565 739 3101

5202 -0.66 -117.3 369.6 -3.2 247 5207 0.00 2.50 0.00 0.000 6 0.000 0.054 2565 2131 3101

5519 -0.66 -117.3 374.3 -0.9 262 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2130 3100

5828 -0.66 -117.3 377.3 -1.3 277 5832 0.00 2.55 0.00 0.000 4 0.000 0.067 2565 742 3100

5838 -0.66 -117.3 377.4 -1.2 277 5844 0.00 2.50 0.00 0.000 6 0.000 0.055 2565 2132 3100

6154 -0.66 -117.3 385.8 -3.9 293 6155 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2131 3100

6463 -0.66 -117.3 408.8 -10.1 308 6467 0.00 2.58 0.00 0.000 4 0.000 0.068 2565 3554 3100

6502 -0.66 -117.3 413.3 -11.9 310 6507 0.00 2.53 0.00 0.000 6 0.000 0.054 2565 2140 3100

6829 -0.66 -117.3 452.7 -12.8 326 6834 0.00 2.60 0.00 0.000 4 0.000 0.067 2565 3556 3100

6896 -0.66 -117.3 460.8 -11.7 329 6901 0.00 2.47 0.00 0.000 6 0.000 0.052 2565 2164 3100

7217 -0.66 -117.3 485.5 -6.2 345 7221 0.00 2.58 0.00 0.000 4 0.000 0.067 2565 3562 3099

7227 -0.66 -117.3 486.1 -6.2 345 7234 0.00 2.47 0.00 0.000 6 0.000 0.053 2565 2158 3099

7544 -0.66 -117.3 496.7 -1.3 361 7548 0.00 2.55 0.00 0.000 4 0.000 0.069 2565 762 3099

7554 -0.66 -117.3 496.8 -1.6 361 7560 0.00 2.55 0.00 0.000 6 0.000 0.057 2565 2179 3099

7867 end dive: NO_VERTICAL_VELOCITY

state 7867 begin apogee

7875 -0.33 0.0 500.1 0.0 377 7975 0.30 0.00 97.50 1.132 6 0.081 0.000 2627 2079 2620

7976 end apogee: CONTROL_FINISHED_OK

state 7976 begin climb

7979 1.03 117.3 494.9 0.0 382 8084 1.40 2.72 96.25 1.098 4 0.073 0.066 2924 3511 2141

8118 1.03 117.3 476.2 12.6 389 8123 0.00 2.58 0.00 0.000 6 0.000 0.057 2924 2113 2141

8440 1.03 117.3 441.2 7.8 405 8444 0.00 2.60 0.00 0.000 4 0.000 0.067 2924 3510 2140

8479 1.03 117.3 438.0 8.3 407 8483 0.00 2.55 0.00 0.000 6 0.000 0.058 2924 2113 2140

8806 1.26 258.1 425.3 1.2 423 8927 0.17 0.00 114.00 1.068 6 0.044 0.000 2979 2108 1567

9240 1.19 258.1 404.1 6.6 444 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2107 1567

9546 1.12 258.1 378.9 8.8 459 9551 0.15 2.60 0.00 0.000 4 0.083 0.064 2945 3513 1567

9591 1.18 258.1 375.3 7.7 461 9595 0.00 2.53 0.00 0.000 6 0.000 0.057 2945 2129 1567

9912 1.18 258.1 353.4 6.9 477 9916 0.00 2.62 0.00 0.000 4 0.000 0.073 2945 687 1567

9962 1.18 258.1 349.7 7.5 479 9966 0.00 2.62 0.00 0.000 6 0.000 0.055 2945 2139 1567

10277 1.18 258.1 324.7 8.3 494 10278 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2139 1566

10586 1.18 258.1 292.3 11.1 509 10588 0.00 0.00 0.00 0.000 6 0.000 0.000 2945 2139 1567

10896 1.18 258.1 257.2 10.4 524 10900 0.00 2.67 0.00 0.000 4 0.000 0.068 2945 688 1567

10929 1.18 258.1 253.8 11.0 525 10935 0.00 2.58 0.00 0.000 6 0.000 0.054 2945 2122 1567

11245 1.18 258.1 220.1 11.1 541 11249 0.00 2.62 0.00 0.000 4 0.000 0.067 2945 688 1567

11295 1.23 258.1 214.0 12.8 543 11300 0.00 2.53 0.00 0.000 6 0.000 0.054 2945 2094 1567

11611 1.23 258.1 178.1 10.5 558 11615 0.00 2.55 0.00 0.000 4 0.000 0.064 2945 3512 1567

11655 1.29 258.1 172.9 12.2 560 11660 0.15 2.55 0.00 0.000 6 0.047 0.053 2990 2093 1566

11978 1.22 258.1 130.2 13.3 576 11980 0.12 0.00 0.00 0.000 6 0.082 0.000 2965 2092 1567

12287 1.22 258.1 95.2 10.7 591 12291 0.00 2.58 0.00 0.000 4 0.000 0.060 2965 3509 1567

12331 1.22 258.1 90.3 10.4 593 12335 0.00 2.50 0.00 0.000 6 0.000 0.051 2965 2115 1567

12653 1.22 258.1 63.1 6.5 609 12657 0.00 2.58 0.00 0.000 4 0.000 0.067 2965 681 1567

12686 1.24 269.9 61.0 5.6 610 12702 0.00 2.55 11.07 0.765 6 0.000 0.051 2965 2123 1519

13019 1.27 286.1 42.9 5.4 627 13041 0.00 2.55 14.25 0.771 4 0.000 0.060 2965 3505 1453

13069 1.32 286.1 39.1 7.9 629 13074 0.10 2.53 0.00 0.000 6 0.054 0.051 2998 2112 1453

13391 1.21 286.1 8.6 11.3 645 13396 0.15 2.58 0.00 0.000 4 0.079 0.066 2963 682 1453

13454 1.21 286.1 3.1 10.8 648 13458 0.00 2.55 0.00 0.000 6 0.000 0.050 2963 2118 1453

13461 end climb: SURFACE_DEPTH_REACHED

state 13461 begin surface coast

13471 end surface coast: CONTROL_FINISHED_OK

state 13471 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	64	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	300	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	23	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	580	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	120	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	-77856.289	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	042207,6201.433,-945.330,40,1.2,52,-9.8	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.157,-0.125
_SM_DEPTHo	0.82	KALMAN_X	-113313.1,1707.4,241.1,32375.2,-72891.1
_SM_ANGLEo	-58.3	KALMAN_Y	-10998.4,-2946.6,2261.9,79411.9,44777.1
GPS2	042627,6201.434,-945.516,13,1.0,13,-9.8	MHEAD_RNG_PITCHd_Wd	138.4,48493,-12.6,-6.000
SPEED_LIMITS	0.104,0.201	D_GRID	990

FINISH	1.3,1.027130	ALTIM_TOP_PING	19.8,999.0
SM_CCo	13493,9.07,0.703,0,0,1397,300.00	_24V_AH	23.9,15.573
SM_GC	1.00,0.00,0.00,9.07,0.000,0.000,0.703,417,2135,1397,-10.50,-0.40,300.00	_10V_AH	10.1,6.650
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34879,649
TT8_MAMPS	0.029146	CAP_FILE_SIZE	106906,0
HUMID	1672	CFSIZE	254472192,247918592
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
XPDR_PINGS	471	GPS	200608,081338,6200.653,-945.802,35,1.6,35,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	140	83.95	SBE_CT	443	24	254.23
Roll_motor	142	72	248.38	SBE_O2	480	19	218.37
VBD_pump_during_apogee	333	1132	9012.01	WL_BB2F	419	105	1051.71
VBD_pump_during_surface	9	703	152.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.95	nil	0	0	0.00
Iridium_during_connect	32	160	123.32	nil	0	0	0.00
Iridium_during_xfer	93	223	500.39
Transponder_ping	121	420	1222.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.91
TT8	1228	19	245.58
LPSleep	10236	2	226.42
TT8_Active	488	19	97.77
TT8_Sampling	1410	39	567.19
TT8_CF8	412	45	190.64
TT8_Kalman	33	81	27.57
Analog_circuits	1229	12	149.01
GPS_charging	0	0	0.00
Compass	1387	8	112.14
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	-1.03	-117.3	0.0	0.0	0	95	0.00	0.00	-69.03	0.000	6	0.000	0.000	418	2128	3099
98	-1.03	-117.3	2.2	-3.5	3	115	10.65	2.53	0.00	0.000	4	0.140	0.060	2467	743	3101
291	-0.73	-117.3	26.6	-10.9	10	298	0.35	2.53	0.00	0.000	6	0.091	0.050	2541	2161	3102
607	-0.64	-117.3	56.2	-10.5	26	611	0.00	2.50	0.00	0.000	4	0.000	0.061	2541	3555	3102
619	-0.55	-117.3	57.6	-10.9	26	626	0.17	2.47	0.00	0.000	6	0.086	0.048	2578	2152	3102
935	-0.55	-117.3	95.5	-13.1	42	939	0.00	2.58	0.00	0.000	4	0.000	0.061	2578	3561	3102
967	-0.55	-117.3	100.0	-13.0	43	974	0.00	2.47	0.00	0.000	6	0.000	0.045	2578	2152	3102
1285	-0.55	-117.3	142.8	-14.2	59	1289	0.00	2.55	0.00	0.000	4	0.000	0.061	2579	3554	3103
1330	-0.59	-117.3	149.5	-14.4	61	1338	0.00	2.47	0.00	0.000	6	0.000	0.047	2578	2160	3103
1660	-0.64	-117.3	192.0	-13.1	77	1665	0.00	2.55	0.00	0.000	4	0.000	0.061	2578	3556	3103
1755	-0.64	-117.3	204.8	-14.0	81	1759	0.00	2.45	0.00	0.000	6	0.000	0.046	2579	2166	3103
2072	-0.64	-117.3	237.8	-9.3	96	2076	0.00	2.53	0.00	0.000	4	0.000	0.062	2578	3559	3103
2082	-0.64	-117.3	238.9	-8.7	96	2088	0.00	2.50	0.00	0.000	6	0.000	0.050	2578	2156	3103
2399	-0.68	-117.3	254.4	-2.8	112	2404	0.12	2.55	0.00	0.000	4	0.051	0.061	2540	3560	3103
2427	-0.62	-117.3	254.8	-0.9	113	2432	0.12	2.47	0.00	0.000	6	0.095	0.051	2565	2162	3103
2743	-0.62	-117.3	244.5	5.7	128	2744	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2162	3103
3052	-0.62	-117.3	228.4	4.8	143	3057	0.00	2.53	0.00	0.000	4	0.000	0.063	2565	3553	3102
3063	-0.62	-117.3	228.0	3.4	143	3069	0.00	2.50	0.00	0.000	6	0.000	0.052	2565	2155	3102
3380	-0.66	-117.3	212.8	4.2	159	3381	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2155	3103
3689	-0.66	-117.3	219.2	-5.3	174	3693	0.00	2.55	0.00	0.000	4	0.000	0.070	2565	748	3102
3885	-0.66	-117.3	232.2	-8.3	183	3890	0.00	2.50	0.00	0.000	6	0.000	0.053	2565	2146	3102
4213	-0.66	-117.3	270.3	-13.3	199	4217	0.00	2.55	0.00	0.000	4	0.000	0.067	2565	747	3101
4223	-0.66	-117.3	271.8	-13.2	199	4229	0.00	2.50	0.00	0.000	6	0.000	0.053	2565	2141	3101
4538	-0.66	-117.3	314.1	-13.7	215	4543	0.00	2.55	0.00	0.000	4	0.000	0.068	2565	747	3101
4549	-0.66	-117.3	315.7	-13.8	215	4556	0.00	2.50	0.00	0.000	6	0.000	0.054	2565	2137	3101
4865	-0.66	-117.3	352.3	-9.5	231	4867	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2136	3101
5175	-0.66	-117.3	368.7	-3.4	246	5179	0.00	2.55	0.00	0.000	4	0.000	0.067	2565	739	3101
5202	-0.66	-117.3	369.6	-3.2	247	5207	0.00	2.50	0.00	0.000	6	0.000	0.054	2565	2131	3101
5519	-0.66	-117.3	374.3	-0.9	262	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2130	3100
5828	-0.66	-117.3	377.3	-1.3	277	5832	0.00	2.55	0.00	0.000	4	0.000	0.067	2565	742	3100
5838	-0.66	-117.3	377.4	-1.2	277	5844	0.00	2.50	0.00	0.000	6	0.000	0.055	2565	2132	3100
6154	-0.66	-117.3	385.8	-3.9	293	6155	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2131	3100
6463	-0.66	-117.3	408.8	-10.1	308	6467	0.00	2.58	0.00	0.000	4	0.000	0.068	2565	3554	3100
6502	-0.66	-117.3	413.3	-11.9	310	6507	0.00	2.53	0.00	0.000	6	0.000	0.054	2565	2140	3100
6829	-0.66	-117.3	452.7	-12.8	326	6834	0.00	2.60	0.00	0.000	4	0.000	0.067	2565	3556	3100
6896	-0.66	-117.3	460.8	-11.7	329	6901	0.00	2.47	0.00	0.000	6	0.000	0.052	2565	2164	3100
7217	-0.66	-117.3	485.5	-6.2	345	7221	0.00	2.58	0.00	0.000	4	0.000	0.067	2565	3562	3099
7227	-0.66	-117.3	486.1	-6.2	345	7234	0.00	2.47	0.00	0.000	6	0.000	0.053	2565	2158	3099
7544	-0.66	-117.3	496.7	-1.3	361	7548	0.00	2.55	0.00	0.000	4	0.000	0.069	2565	762	3099
7554	-0.66	-117.3	496.8	-1.6	361	7560	0.00	2.55	0.00	0.000	6	0.000	0.057	2565	2179	3099
7867	end dive: NO_VERTICAL_VELOCITY
state	7867	begin apogee
7875	-0.33	0.0	500.1	0.0	377	7975	0.30	0.00	97.50	1.132	6	0.081	0.000	2627	2079	2620
7976	end apogee: CONTROL_FINISHED_OK
state	7976	begin climb
7979	1.03	117.3	494.9	0.0	382	8084	1.40	2.72	96.25	1.098	4	0.073	0.066	2924	3511	2141
8118	1.03	117.3	476.2	12.6	389	8123	0.00	2.58	0.00	0.000	6	0.000	0.057	2924	2113	2141
8440	1.03	117.3	441.2	7.8	405	8444	0.00	2.60	0.00	0.000	4	0.000	0.067	2924	3510	2140
8479	1.03	117.3	438.0	8.3	407	8483	0.00	2.55	0.00	0.000	6	0.000	0.058	2924	2113	2140
8806	1.26	258.1	425.3	1.2	423	8927	0.17	0.00	114.00	1.068	6	0.044	0.000	2979	2108	1567
9240	1.19	258.1	404.1	6.6	444	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	2979	2107	1567
9546	1.12	258.1	378.9	8.8	459	9551	0.15	2.60	0.00	0.000	4	0.083	0.064	2945	3513	1567
9591	1.18	258.1	375.3	7.7	461	9595	0.00	2.53	0.00	0.000	6	0.000	0.057	2945	2129	1567
9912	1.18	258.1	353.4	6.9	477	9916	0.00	2.62	0.00	0.000	4	0.000	0.073	2945	687	1567
9962	1.18	258.1	349.7	7.5	479	9966	0.00	2.62	0.00	0.000	6	0.000	0.055	2945	2139	1567
10277	1.18	258.1	324.7	8.3	494	10278	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2139	1566
10586	1.18	258.1	292.3	11.1	509	10588	0.00	0.00	0.00	0.000	6	0.000	0.000	2945	2139	1567
10896	1.18	258.1	257.2	10.4	524	10900	0.00	2.67	0.00	0.000	4	0.000	0.068	2945	688	1567
10929	1.18	258.1	253.8	11.0	525	10935	0.00	2.58	0.00	0.000	6	0.000	0.054	2945	2122	1567
11245	1.18	258.1	220.1	11.1	541	11249	0.00	2.62	0.00	0.000	4	0.000	0.067	2945	688	1567
11295	1.23	258.1	214.0	12.8	543	11300	0.00	2.53	0.00	0.000	6	0.000	0.054	2945	2094	1567
11611	1.23	258.1	178.1	10.5	558	11615	0.00	2.55	0.00	0.000	4	0.000	0.064	2945	3512	1567
11655	1.29	258.1	172.9	12.2	560	11660	0.15	2.55	0.00	0.000	6	0.047	0.053	2990	2093	1566
11978	1.22	258.1	130.2	13.3	576	11980	0.12	0.00	0.00	0.000	6	0.082	0.000	2965	2092	1567
12287	1.22	258.1	95.2	10.7	591	12291	0.00	2.58	0.00	0.000	4	0.000	0.060	2965	3509	1567
12331	1.22	258.1	90.3	10.4	593	12335	0.00	2.50	0.00	0.000	6	0.000	0.051	2965	2115	1567
12653	1.22	258.1	63.1	6.5	609	12657	0.00	2.58	0.00	0.000	4	0.000	0.067	2965	681	1567
12686	1.24	269.9	61.0	5.6	610	12702	0.00	2.55	11.07	0.765	6	0.000	0.051	2965	2123	1519
13019	1.27	286.1	42.9	5.4	627	13041	0.00	2.55	14.25	0.771	4	0.000	0.060	2965	3505	1453
13069	1.32	286.1	39.1	7.9	629	13074	0.10	2.53	0.00	0.000	6	0.054	0.051	2998	2112	1453
13391	1.21	286.1	8.6	11.3	645	13396	0.15	2.58	0.00	0.000	4	0.079	0.066	2963	682	1453
13454	1.21	286.1	3.1	10.8	648	13458	0.00	2.55	0.00	0.000	6	0.000	0.050	2963	2118	1453
13461	end climb: SURFACE_DEPTH_REACHED
state	13461	begin surface coast
13471	end surface coast: CONTROL_FINISHED_OK
state	13471	begin surface