Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 99 * 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 99 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 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 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 17 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 -2094993.2 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 557.32159

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 -2094993.2

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 2200 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 17 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 99 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 150558,6158.315,-906.042,34,2.3,53,-9.4 TGT_NAME B1

_CALLS 1 TGT_LATLONG 6146.500,-904.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,-0.139

_SM_DEPTHo 1.19 KALMAN_X -157516.9,-146.0,-343.8,-49091.1,-9721.1

_SM_ANGLEo -56.8 KALMAN_Y -35761.2,-2427.0,-1133.1,170524.7,51990.6

GPS2 151053,6158.443,-906.083,15,2.3,34,-9.4 MHEAD_RNG_PITCHd_Wd 184.7,22194,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.002717 ALTIM_BOTTOM_PING 451.5,35.9

SM_CCo 12735,140.70,0.622,0,0,509,557.32 _24V_AH 23.7,19.514

SM_GC 1.16,0.00,0.00,140.70,0.000,0.000,0.622,73,2314,509,-10.24,0.40,557.32 _10V_AH 10.1,9.947

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31698,613

TT8_MAMPS 0.023777 CAP_FILE_SIZE 105064,0

HUMID 1847 CFSIZE 260165632,251957248

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 20 GPS 280608,184737,6201.171,-907.772,38,1.3,38,-9.5

ALTIM_TOP_PING 19.7,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 99.17 SBE_CT 452 24 257.21

Roll_motor 150 86 308.47 SBE_O2 415 19 187.15

VBD_pump_during_apogee 362 954 8192.24 WL_BB2F 453 105 1129.19

VBD_pump_during_surface 140 622 2074.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.02 nil 0 0 0.00

Iridium_during_connect 24 160 94.29 nil 0 0 0.00

Iridium_during_xfer 121 223 640.81

Transponder_ping 9 420 89.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.71

TT8 1167 19 233.45

LPSleep 9500 2 210.14

TT8_Active 675 19 135.08

TT8_Sampling 1429 39 574.73

TT8_CF8 402 45 186.13

TT8_Kalman 33 81 27.56

Analog_circuits 1424 12 172.63

GPS_charging 0 0 0.00

Compass 1374 8 111.09

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

23 -0.85 -146.6 0.0 0.0 0 146 0.00 0.00 -121.00 0.000 2 0.000 0.000 66 2303 2957

150 -0.85 -146.6 3.7 -3.1 6 180 11.32 2.67 -10.30 0.000 4 0.165 0.074 2107 881 3380

299 -0.72 -146.6 23.5 -10.9 12 306 0.17 2.62 0.00 0.000 6 0.091 0.058 2141 2300 3380

616 -0.65 -146.6 53.5 -9.6 28 617 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2300 3380

926 -0.56 -146.6 82.4 -9.0 43 931 0.15 2.65 0.00 0.000 4 0.092 0.063 2174 881 3380

991 -0.62 -146.6 87.0 -6.6 46 995 0.00 2.65 0.00 0.000 6 0.000 0.057 2174 2303 3381

1319 -0.62 -146.6 108.2 -6.4 62 1323 0.00 2.72 0.00 0.000 4 0.000 0.079 2173 3720 3381

1351 -0.62 -146.6 110.7 -7.3 63 1358 0.00 2.60 0.00 0.000 6 0.000 0.052 2174 2295 3381

1668 -0.62 -146.6 129.3 -5.9 79 1672 0.00 2.62 0.00 0.000 4 0.000 0.064 2174 884 3381

1724 -0.69 -146.6 132.7 -5.7 81 1731 0.12 2.62 0.00 0.000 6 0.045 0.058 2129 2300 3381

2040 -0.59 -146.6 158.7 -8.5 97 2045 0.17 2.72 0.00 0.000 4 0.082 0.079 2170 3718 3381

2073 -0.59 -146.6 161.3 -7.0 98 2079 0.00 2.60 0.00 0.000 6 0.000 0.054 2170 2300 3381

2388 -0.59 -146.6 180.9 -6.7 114 2393 0.00 2.62 0.00 0.000 4 0.000 0.064 2170 884 3381

2433 -0.64 -146.6 183.8 -6.7 116 2438 0.00 2.62 0.00 0.000 6 0.000 0.058 2170 2300 3381

2755 -0.64 -146.6 206.6 -6.8 132 2759 0.00 2.65 0.00 0.000 4 0.000 0.065 2170 886 3381

2799 -0.71 -146.6 209.9 -7.5 134 2804 0.12 2.62 0.00 0.000 6 0.045 0.057 2127 2302 3381

3120 -0.61 -146.6 238.7 -9.6 150 3125 0.15 2.65 0.00 0.000 4 0.084 0.067 2162 886 3381

3170 -0.65 -146.6 242.8 -7.8 152 3175 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2301 3381

3486 -0.65 -146.6 264.9 -6.2 167 3491 0.00 2.65 0.00 0.000 4 0.000 0.066 2162 886 3381

3531 -0.65 -146.6 267.7 -6.2 169 3535 0.00 2.60 0.00 0.000 6 0.000 0.058 2162 2300 3381

3852 -0.65 -146.6 283.8 -4.5 185 3856 0.00 2.65 0.00 0.000 4 0.000 0.067 2162 886 3381

3914 -0.69 -146.6 286.7 -4.5 188 3919 0.00 2.60 0.00 0.000 6 0.000 0.058 2162 2303 3381

4241 -0.69 -146.6 301.8 -4.7 204 4246 0.00 2.67 0.00 0.000 4 0.000 0.068 2161 884 3381

4275 -0.69 -146.6 303.6 -4.8 205 4281 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2302 3381

4591 -0.69 -146.6 322.6 -6.7 221 4592 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2302 3381

4900 -0.69 -146.6 343.5 -6.8 236 4905 0.00 2.67 0.00 0.000 4 0.000 0.069 2162 884 3381

4985 -0.69 -146.6 349.8 -7.7 240 4990 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2300 3381

5318 -0.69 -146.6 374.7 -7.5 256 5319 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2300 3380

5627 -0.69 -146.6 399.3 -8.5 271 5631 0.00 2.65 0.00 0.000 4 0.000 0.070 2162 886 3380

5654 -0.69 -146.6 402.0 -9.7 272 5659 0.00 2.62 0.00 0.000 6 0.000 0.058 2162 2303 3380

5973 -0.69 -146.6 426.2 -8.3 287 5977 0.00 2.67 0.00 0.000 4 0.000 0.071 2162 883 3380

6023 -0.76 -146.6 430.9 -8.9 289 6028 0.12 2.65 0.00 0.000 6 0.048 0.059 2121 2307 3380

6339 -0.65 -146.6 462.2 -10.3 304 6344 0.17 2.72 0.00 0.000 4 0.081 0.085 2160 3713 3380

6361 -0.65 -146.6 464.4 -9.0 305 6365 0.00 2.60 0.00 0.000 6 0.000 0.058 2161 2300 3380

6514 end dive: BOTTOM_OBSTACLE_DETECTED

state 6514 begin apogee

6521 -0.31 0.0 477.4 9.5 313 6656 0.35 0.00 128.68 0.954 6 0.085 0.000 2232 2191 2781

6657 end apogee: CONTROL_FINISHED_OK

state 6657 begin climb

6660 0.85 146.6 489.0 0.0 320 6797 1.15 2.88 126.57 0.941 4 0.071 0.084 2479 3608 2184

6896 0.87 167.9 477.4 5.4 331 6921 0.00 2.65 19.92 0.874 6 0.000 0.061 2479 2198 2096

7245 0.91 167.9 458.6 6.6 348 7246 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2198 2095

7552 0.94 190.0 445.7 5.4 363 7580 0.12 2.88 20.20 0.888 4 0.055 0.084 2516 3613 2005

7603 0.87 191.4 442.7 6.0 365 7608 0.15 2.67 0.00 0.000 6 0.094 0.062 2486 2201 2006

7919 0.97 235.7 430.1 4.8 380 7966 0.12 2.85 40.10 0.917 4 0.052 0.085 2520 3617 1820

8025 0.90 235.7 423.0 6.6 385 8031 0.12 2.70 0.00 0.000 6 0.097 0.064 2496 2196 1820

8353 0.99 265.0 406.6 5.2 401 8387 0.00 2.83 26.80 0.894 4 0.000 0.074 2496 783 1699

8427 1.07 265.0 400.5 9.5 404 8433 0.17 2.67 0.00 0.000 6 0.057 0.059 2534 2201 1697

8743 1.03 265.0 366.3 12.1 419 8748 0.00 2.75 0.00 0.000 4 0.000 0.087 2534 3620 1697

8821 0.98 265.0 356.8 12.2 422 8828 0.12 2.70 0.00 0.000 6 0.099 0.065 2510 2199 1698

9137 0.98 265.0 322.5 9.9 438 9141 0.00 2.67 0.00 0.000 4 0.000 0.071 2510 781 1697

9176 0.98 265.0 318.9 9.3 440 9181 0.00 2.65 0.00 0.000 6 0.000 0.058 2510 2206 1696

9502 0.98 265.0 289.6 8.7 456 9507 0.00 2.72 0.00 0.000 4 0.000 0.084 2510 3617 1696

9530 0.98 265.0 287.2 8.4 457 9534 0.00 2.67 0.00 0.000 6 0.000 0.064 2510 2197 1696

9845 0.98 265.0 261.9 7.8 472 9846 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2198 1696

10154 0.98 265.0 234.9 8.6 487 10159 0.00 2.75 0.00 0.000 4 0.000 0.082 2510 3622 1696

10176 0.98 265.0 232.8 8.8 488 10181 0.00 2.65 0.00 0.000 6 0.000 0.061 2510 2199 1696

10498 0.98 265.0 202.8 9.9 504 10502 0.00 2.65 0.00 0.000 4 0.000 0.067 2510 782 1696

10519 0.98 265.0 200.5 10.5 505 10523 0.00 2.62 0.00 0.000 6 0.000 0.055 2510 2204 1696

10840 0.98 265.0 166.3 10.1 521 10844 0.00 2.70 0.00 0.000 4 0.000 0.080 2510 3616 1696

10862 0.98 265.0 164.1 10.2 522 10866 0.00 2.65 0.00 0.000 6 0.000 0.062 2510 2194 1697

11183 0.98 265.0 131.2 10.7 538 11187 0.00 2.75 0.00 0.000 4 0.000 0.080 2510 3623 1697

11215 0.98 265.0 127.2 12.5 539 11221 0.00 2.62 0.00 0.000 6 0.000 0.060 2510 2199 1697

11533 0.98 265.0 94.0 10.3 555 11534 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2199 1697

11840 0.98 265.0 64.7 8.8 570 11845 0.00 2.72 0.00 0.000 4 0.000 0.078 2510 3619 1697

11858 0.98 265.0 63.0 8.7 571 11863 0.00 2.62 0.00 0.000 6 0.000 0.058 2510 2199 1697

12187 0.98 265.0 37.3 7.4 587 12188 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2199 1697

12495 0.98 265.0 15.5 6.9 602 12499 0.00 2.72 0.00 0.000 4 0.000 0.078 2510 3620 1698

12516 0.98 265.0 13.9 7.2 603 12520 0.00 2.65 0.00 0.000 6 0.000 0.059 2510 2191 1698

12690 end climb: SURFACE_DEPTH_REACHED

state 12690 begin surface coast

12712 end surface coast: CONTROL_FINISHED_OK

state 12712 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	99	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	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	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	17	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	-2094993.2	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	150558,6158.315,-906.042,34,2.3,53,-9.4	TGT_NAME	B1
_CALLS	1	TGT_LATLONG	6146.500,-904.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,-0.139
_SM_DEPTHo	1.19	KALMAN_X	-157516.9,-146.0,-343.8,-49091.1,-9721.1
_SM_ANGLEo	-56.8	KALMAN_Y	-35761.2,-2427.0,-1133.1,170524.7,51990.6
GPS2	151053,6158.443,-906.083,15,2.3,34,-9.4	MHEAD_RNG_PITCHd_Wd	184.7,22194,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.002717	ALTIM_BOTTOM_PING	451.5,35.9
SM_CCo	12735,140.70,0.622,0,0,509,557.32	_24V_AH	23.7,19.514
SM_GC	1.16,0.00,0.00,140.70,0.000,0.000,0.622,73,2314,509,-10.24,0.40,557.32	_10V_AH	10.1,9.947
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31698,613
TT8_MAMPS	0.023777	CAP_FILE_SIZE	105064,0
HUMID	1847	CFSIZE	260165632,251957248
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	20	GPS	280608,184737,6201.171,-907.772,38,1.3,38,-9.5
ALTIM_TOP_PING	19.7,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	99.17	SBE_CT	452	24	257.21
Roll_motor	150	86	308.47	SBE_O2	415	19	187.15
VBD_pump_during_apogee	362	954	8192.24	WL_BB2F	453	105	1129.19
VBD_pump_during_surface	140	622	2074.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.02	nil	0	0	0.00
Iridium_during_connect	24	160	94.29	nil	0	0	0.00
Iridium_during_xfer	121	223	640.81
Transponder_ping	9	420	89.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.71
TT8	1167	19	233.45
LPSleep	9500	2	210.14
TT8_Active	675	19	135.08
TT8_Sampling	1429	39	574.73
TT8_CF8	402	45	186.13
TT8_Kalman	33	81	27.56
Analog_circuits	1424	12	172.63
GPS_charging	0	0	0.00
Compass	1374	8	111.09
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
23	-0.85	-146.6	0.0	0.0	0	146	0.00	0.00	-121.00	0.000	2	0.000	0.000	66	2303	2957
150	-0.85	-146.6	3.7	-3.1	6	180	11.32	2.67	-10.30	0.000	4	0.165	0.074	2107	881	3380
299	-0.72	-146.6	23.5	-10.9	12	306	0.17	2.62	0.00	0.000	6	0.091	0.058	2141	2300	3380
616	-0.65	-146.6	53.5	-9.6	28	617	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2300	3380
926	-0.56	-146.6	82.4	-9.0	43	931	0.15	2.65	0.00	0.000	4	0.092	0.063	2174	881	3380
991	-0.62	-146.6	87.0	-6.6	46	995	0.00	2.65	0.00	0.000	6	0.000	0.057	2174	2303	3381
1319	-0.62	-146.6	108.2	-6.4	62	1323	0.00	2.72	0.00	0.000	4	0.000	0.079	2173	3720	3381
1351	-0.62	-146.6	110.7	-7.3	63	1358	0.00	2.60	0.00	0.000	6	0.000	0.052	2174	2295	3381
1668	-0.62	-146.6	129.3	-5.9	79	1672	0.00	2.62	0.00	0.000	4	0.000	0.064	2174	884	3381
1724	-0.69	-146.6	132.7	-5.7	81	1731	0.12	2.62	0.00	0.000	6	0.045	0.058	2129	2300	3381
2040	-0.59	-146.6	158.7	-8.5	97	2045	0.17	2.72	0.00	0.000	4	0.082	0.079	2170	3718	3381
2073	-0.59	-146.6	161.3	-7.0	98	2079	0.00	2.60	0.00	0.000	6	0.000	0.054	2170	2300	3381
2388	-0.59	-146.6	180.9	-6.7	114	2393	0.00	2.62	0.00	0.000	4	0.000	0.064	2170	884	3381
2433	-0.64	-146.6	183.8	-6.7	116	2438	0.00	2.62	0.00	0.000	6	0.000	0.058	2170	2300	3381
2755	-0.64	-146.6	206.6	-6.8	132	2759	0.00	2.65	0.00	0.000	4	0.000	0.065	2170	886	3381
2799	-0.71	-146.6	209.9	-7.5	134	2804	0.12	2.62	0.00	0.000	6	0.045	0.057	2127	2302	3381
3120	-0.61	-146.6	238.7	-9.6	150	3125	0.15	2.65	0.00	0.000	4	0.084	0.067	2162	886	3381
3170	-0.65	-146.6	242.8	-7.8	152	3175	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2301	3381
3486	-0.65	-146.6	264.9	-6.2	167	3491	0.00	2.65	0.00	0.000	4	0.000	0.066	2162	886	3381
3531	-0.65	-146.6	267.7	-6.2	169	3535	0.00	2.60	0.00	0.000	6	0.000	0.058	2162	2300	3381
3852	-0.65	-146.6	283.8	-4.5	185	3856	0.00	2.65	0.00	0.000	4	0.000	0.067	2162	886	3381
3914	-0.69	-146.6	286.7	-4.5	188	3919	0.00	2.60	0.00	0.000	6	0.000	0.058	2162	2303	3381
4241	-0.69	-146.6	301.8	-4.7	204	4246	0.00	2.67	0.00	0.000	4	0.000	0.068	2161	884	3381
4275	-0.69	-146.6	303.6	-4.8	205	4281	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2302	3381
4591	-0.69	-146.6	322.6	-6.7	221	4592	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2302	3381
4900	-0.69	-146.6	343.5	-6.8	236	4905	0.00	2.67	0.00	0.000	4	0.000	0.069	2162	884	3381
4985	-0.69	-146.6	349.8	-7.7	240	4990	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2300	3381
5318	-0.69	-146.6	374.7	-7.5	256	5319	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2300	3380
5627	-0.69	-146.6	399.3	-8.5	271	5631	0.00	2.65	0.00	0.000	4	0.000	0.070	2162	886	3380
5654	-0.69	-146.6	402.0	-9.7	272	5659	0.00	2.62	0.00	0.000	6	0.000	0.058	2162	2303	3380
5973	-0.69	-146.6	426.2	-8.3	287	5977	0.00	2.67	0.00	0.000	4	0.000	0.071	2162	883	3380
6023	-0.76	-146.6	430.9	-8.9	289	6028	0.12	2.65	0.00	0.000	6	0.048	0.059	2121	2307	3380
6339	-0.65	-146.6	462.2	-10.3	304	6344	0.17	2.72	0.00	0.000	4	0.081	0.085	2160	3713	3380
6361	-0.65	-146.6	464.4	-9.0	305	6365	0.00	2.60	0.00	0.000	6	0.000	0.058	2161	2300	3380
6514	end dive: BOTTOM_OBSTACLE_DETECTED
state	6514	begin apogee
6521	-0.31	0.0	477.4	9.5	313	6656	0.35	0.00	128.68	0.954	6	0.085	0.000	2232	2191	2781
6657	end apogee: CONTROL_FINISHED_OK
state	6657	begin climb
6660	0.85	146.6	489.0	0.0	320	6797	1.15	2.88	126.57	0.941	4	0.071	0.084	2479	3608	2184
6896	0.87	167.9	477.4	5.4	331	6921	0.00	2.65	19.92	0.874	6	0.000	0.061	2479	2198	2096
7245	0.91	167.9	458.6	6.6	348	7246	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2198	2095
7552	0.94	190.0	445.7	5.4	363	7580	0.12	2.88	20.20	0.888	4	0.055	0.084	2516	3613	2005
7603	0.87	191.4	442.7	6.0	365	7608	0.15	2.67	0.00	0.000	6	0.094	0.062	2486	2201	2006
7919	0.97	235.7	430.1	4.8	380	7966	0.12	2.85	40.10	0.917	4	0.052	0.085	2520	3617	1820
8025	0.90	235.7	423.0	6.6	385	8031	0.12	2.70	0.00	0.000	6	0.097	0.064	2496	2196	1820
8353	0.99	265.0	406.6	5.2	401	8387	0.00	2.83	26.80	0.894	4	0.000	0.074	2496	783	1699
8427	1.07	265.0	400.5	9.5	404	8433	0.17	2.67	0.00	0.000	6	0.057	0.059	2534	2201	1697
8743	1.03	265.0	366.3	12.1	419	8748	0.00	2.75	0.00	0.000	4	0.000	0.087	2534	3620	1697
8821	0.98	265.0	356.8	12.2	422	8828	0.12	2.70	0.00	0.000	6	0.099	0.065	2510	2199	1698
9137	0.98	265.0	322.5	9.9	438	9141	0.00	2.67	0.00	0.000	4	0.000	0.071	2510	781	1697
9176	0.98	265.0	318.9	9.3	440	9181	0.00	2.65	0.00	0.000	6	0.000	0.058	2510	2206	1696
9502	0.98	265.0	289.6	8.7	456	9507	0.00	2.72	0.00	0.000	4	0.000	0.084	2510	3617	1696
9530	0.98	265.0	287.2	8.4	457	9534	0.00	2.67	0.00	0.000	6	0.000	0.064	2510	2197	1696
9845	0.98	265.0	261.9	7.8	472	9846	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2198	1696
10154	0.98	265.0	234.9	8.6	487	10159	0.00	2.75	0.00	0.000	4	0.000	0.082	2510	3622	1696
10176	0.98	265.0	232.8	8.8	488	10181	0.00	2.65	0.00	0.000	6	0.000	0.061	2510	2199	1696
10498	0.98	265.0	202.8	9.9	504	10502	0.00	2.65	0.00	0.000	4	0.000	0.067	2510	782	1696
10519	0.98	265.0	200.5	10.5	505	10523	0.00	2.62	0.00	0.000	6	0.000	0.055	2510	2204	1696
10840	0.98	265.0	166.3	10.1	521	10844	0.00	2.70	0.00	0.000	4	0.000	0.080	2510	3616	1696
10862	0.98	265.0	164.1	10.2	522	10866	0.00	2.65	0.00	0.000	6	0.000	0.062	2510	2194	1697
11183	0.98	265.0	131.2	10.7	538	11187	0.00	2.75	0.00	0.000	4	0.000	0.080	2510	3623	1697
11215	0.98	265.0	127.2	12.5	539	11221	0.00	2.62	0.00	0.000	6	0.000	0.060	2510	2199	1697
11533	0.98	265.0	94.0	10.3	555	11534	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2199	1697
11840	0.98	265.0	64.7	8.8	570	11845	0.00	2.72	0.00	0.000	4	0.000	0.078	2510	3619	1697
11858	0.98	265.0	63.0	8.7	571	11863	0.00	2.62	0.00	0.000	6	0.000	0.058	2510	2199	1697
12187	0.98	265.0	37.3	7.4	587	12188	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2199	1697
12495	0.98	265.0	15.5	6.9	602	12499	0.00	2.72	0.00	0.000	4	0.000	0.078	2510	3620	1698
12516	0.98	265.0	13.9	7.2	603	12520	0.00	2.65	0.00	0.000	6	0.000	0.059	2510	2191	1698
12690	end climb: SURFACE_DEPTH_REACHED
state	12690	begin surface coast
12712	end surface coast: CONTROL_FINISHED_OK
state	12712	begin surface