Glider dive log

Faroes Aug08 * SG105 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 13 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 61.599998 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -8.75 C_ROLL_DIVE 1946 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

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 -1.8522969

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 38 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 350 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 475 DEVICE4 -1

T_TURN 300 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2831 DEVICE6 -1

T_NO_W 300 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -1588527.9 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 401 AH0_24V 91.800003 SEABIRD_T_G 0.0043115509

SPEED_FACTOR 1 PITCH_MAX 3705 AH0_10V 61.200001 SEABIRD_T_H 0.00064421911

RHO 1.023 C_PITCH 2550 PRESSURE_YINT -17.830805 SEABIRD_T_I 2.4441668e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_J 2.6855823e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.00054

FERRY_MAX 11 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1273263

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0013333842

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00018589634

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 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 401 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -17.830805 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

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 -1588527.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 350

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 300

COMPASS_USE 0 ID 105 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 T_WATCHDOG 10

C_PITCH 2550 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 253 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1946 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2831 MASS 52000 R_PORT_OVSHOOT 38 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.00054 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1273263 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0013333842 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018589634 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043115509 VBD_MIN 475

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064421911 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4441668e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 13 PHONE_DEVICE 48 SEABIRD_T_J 2.6855823e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 034007,6119.757,-758.702,41,1.2,41,-8.6 TGT_NAME FBC_SE0

_CALLS 1 TGT_LATLONG 6100.000,-730.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.125,-0.232

_SM_DEPTHo 0.93 KALMAN_X -14148.5,379.4,-20.1,15372.0,-1911.2

_SM_ANGLEo -58.7 KALMAN_Y 46029.3,-1706.5,-1358.2,-37273.2,14528.3

GPS2 034527,6119.716,-758.753,13,1.6,13,-8.6 MHEAD_RNG_PITCHd_Wd 160.3,44719,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.023985 ALTIM_TOP_PING 19.2,18.5

SM_CCo 15121,41.95,0.808,0,0,1608,300.00 ALTIM_BOTTOM_PING 775.3,62.0

SM_GC 1.22,0.00,0.00,41.95,0.000,0.000,0.808,388,1931,1608,-9.95,-0.42,300.00 _24V_AH 23.1,12.736

IRIDIUM_FIX 6054.92,-756.40,261197,232332 _10V_AH 10.0,4.767

TT8_MAMPS 0.027612 DATA_FILE_SIZE 37975,724

HUMID 2099 CAP_FILE_SIZE 119710,0

INTERNAL_PRESSURE 8.06996 CFSIZE 260165632,257478656

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,38,0

XPDR_PINGS 3 GPS 020908,080008,6119.952,-800.106,26,1.1,26,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 132 72.95 SBE_CT 652 24 361.48

Roll_motor 150 65 226.01 SBE_O2 501 19 219.91

VBD_pump_during_apogee 704 1019 16578.14 WL_BB2F 415 105 1007.52

VBD_pump_during_surface 41 808 783.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 74.31 nil 0 0 0.00

Iridium_during_connect 27 160 102.69 nil 0 0 0.00

Iridium_during_xfer 146 223 753.83

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.75

TT8 1372 19 271.70

LPSleep 10616 2 232.50

TT8_Active 945 19 187.15

TT8_Sampling 1857 39 739.25

TT8_CF8 694 45 318.26

TT8_Kalman 33 81 27.29

Analog_circuits 1987 12 238.46

GPS_charging 0 0 0.00

Compass 1965 8 157.24

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

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.47 -146.6 0.0 0.0 0 88 0.00 0.00 -60.90 0.000 2 0.000 0.000 394 1947 3115

92 -1.47 -146.6 3.2 -5.7 3 114 9.75 2.47 -7.07 0.000 4 0.133 0.054 2224 549 3428

131 -1.47 -146.6 10.7 -14.0 4 137 0.00 2.40 0.00 0.000 6 0.000 0.027 2224 1965 3430

447 -1.47 -146.6 50.0 -13.4 20 451 0.00 2.50 0.00 0.000 4 0.000 0.042 2224 548 3431

665 -1.47 -146.6 78.4 -12.1 30 669 0.00 2.38 0.00 0.000 6 0.000 0.028 2224 1952 3432

991 -1.47 -146.6 111.1 -10.0 46 995 0.00 2.47 0.00 0.000 4 0.000 0.042 2224 548 3433

1121 -1.47 -146.6 125.4 -11.1 52 1125 0.00 2.38 0.00 0.000 6 0.000 0.028 2224 1940 3434

1447 -1.47 -146.6 162.2 -11.3 68 1451 0.00 2.45 0.00 0.000 4 0.000 0.044 2224 551 3434

1502 -1.47 -146.6 168.7 -11.7 70 1508 0.00 2.40 0.00 0.000 6 0.000 0.029 2224 1960 3433

1817 -1.47 -146.6 203.5 -11.0 86 1822 0.00 2.53 0.00 0.000 4 0.000 0.045 2224 552 3434

1924 -1.47 -146.6 216.4 -12.2 90 1931 0.00 2.38 0.00 0.000 6 0.000 0.029 2224 1948 3433

2243 -1.47 -146.6 250.3 -10.5 106 2247 0.00 2.47 0.00 0.000 4 0.000 0.047 2224 552 3434

2328 -1.47 -146.6 260.1 -11.3 110 2333 0.00 2.42 0.00 0.000 6 0.000 0.032 2224 1946 3434

2662 -1.47 -146.6 295.1 -10.3 126 2666 0.00 2.47 0.00 0.000 4 0.000 0.048 2224 553 3434

2757 -1.47 -146.6 305.5 -10.8 130 2761 0.00 2.40 0.00 0.000 6 0.000 0.033 2224 1945 3434

3073 -1.47 -146.6 335.5 -9.2 145 3077 0.00 2.47 0.00 0.000 4 0.000 0.049 2224 553 3433

3167 -1.47 -146.6 345.2 -9.5 149 3172 0.00 2.40 0.00 0.000 6 0.000 0.034 2224 1946 3433

3484 -1.47 -146.6 374.8 -9.7 164 3488 0.00 2.50 0.00 0.000 4 0.000 0.050 2224 546 3433

3528 -1.47 -146.6 379.4 -10.4 166 3532 0.00 2.42 0.00 0.000 6 0.000 0.034 2224 1948 3433

3855 -1.47 -146.6 411.7 -9.6 182 3859 0.00 2.50 0.00 0.000 4 0.000 0.050 2224 547 3433

3955 -1.47 -146.6 421.7 -10.0 186 3961 0.00 2.42 0.00 0.000 6 0.000 0.035 2224 1953 3433

4273 -1.47 -146.6 450.9 -9.3 202 4277 0.00 2.50 0.00 0.000 4 0.000 0.051 2224 553 3433

4345 -1.47 -146.6 457.6 -8.9 205 4350 0.00 2.42 0.00 0.000 6 0.000 0.035 2224 1943 3433

4666 -1.47 -146.6 478.9 -5.8 221 4671 0.00 2.50 0.00 0.000 4 0.000 0.051 2224 548 3432

4887 -1.47 -146.6 493.2 -8.0 231 4891 0.00 2.42 0.00 0.000 6 0.000 0.036 2224 1946 3432

5213 -1.47 -146.6 524.3 -10.6 247 5217 0.00 2.50 0.00 0.000 4 0.000 0.052 2224 553 3432

5342 -1.47 -146.6 538.8 -11.2 253 5346 0.00 2.42 0.00 0.000 6 0.000 0.038 2224 1948 3433

5668 -1.47 -146.6 571.4 -10.2 269 5670 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1948 3433

5978 -1.47 -146.6 600.3 -8.8 284 5982 0.00 2.53 0.00 0.000 4 0.000 0.057 2224 3353 3432

6012 -1.47 -146.6 603.4 -8.7 285 6018 0.00 2.42 0.00 0.000 6 0.000 0.037 2224 1956 3432

6329 -1.47 -146.6 628.5 -8.2 301 6333 0.00 2.55 0.00 0.000 4 0.000 0.058 2224 544 3431

6487 -1.47 -146.6 643.5 -9.8 308 6491 0.00 2.45 0.00 0.000 6 0.000 0.039 2224 1948 3431

6808 -1.47 -146.6 675.9 -10.5 324 6813 0.00 2.55 0.00 0.000 4 0.000 0.060 2224 547 3429

6866 -1.47 -146.6 682.3 -11.5 326 6872 0.00 2.45 0.00 0.000 6 0.000 0.040 2224 1948 3429

7182 -1.47 -146.6 715.6 -10.1 342 7186 0.00 2.55 0.00 0.000 4 0.000 0.061 2224 547 3427

7326 -1.47 -146.6 732.1 -11.9 348 7334 0.00 2.47 0.00 0.000 6 0.000 0.041 2224 1943 3426

7642 -1.47 -146.6 772.1 -12.6 364 7647 0.00 2.58 0.00 0.000 4 0.000 0.063 2224 538 3424

7752 -1.47 -146.6 782.2 -10.3 369 7757 0.00 2.47 0.00 0.000 6 0.000 0.041 2224 1946 3423

8082 -1.47 -146.6 808.1 -9.0 385 8086 0.00 2.58 0.00 0.000 4 0.000 0.064 2224 542 3421

8137 -1.47 -146.6 815.1 -12.4 387 8143 0.00 2.45 0.00 0.000 6 0.000 0.040 2224 1948 3421

8246 end dive: BOTTOM_OBSTACLE_DETECTED

state 8246 begin apogee

8253 -0.36 0.0 828.7 13.6 393 8572 1.20 0.00 250.18 1.019 6 0.081 0.000 2472 2209 2831

8573 end apogee: CONTROL_FINISHED_OK

state 8573 begin climb

8576 1.47 146.6 835.2 0.0 409 8854 1.83 2.67 216.70 1.012 4 0.049 0.061 2869 800 2232

9191 1.50 168.4 794.5 9.0 437 9279 0.00 2.50 60.30 0.787 6 0.000 0.045 2868 2194 2144

9588 1.59 239.6 760.2 6.8 457 9810 0.12 0.00 162.32 0.828 6 0.047 0.000 2906 2194 1854

10124 1.59 239.6 698.6 13.4 483 10128 0.00 2.60 0.00 0.000 4 0.000 0.060 2906 792 1845

10164 1.59 239.6 692.4 14.0 485 10169 0.00 2.53 0.00 0.000 6 0.000 0.041 2906 2205 1844

10494 1.59 239.6 644.0 15.6 501 10495 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2205 1843

10802 1.59 239.6 597.2 15.7 516 10806 0.00 2.60 0.00 0.000 4 0.000 0.058 2906 794 1842

10829 1.59 239.6 592.5 16.2 517 10834 0.00 2.53 0.00 0.000 6 0.000 0.041 2906 2193 1842

11150 1.59 239.6 538.0 17.3 533 11154 0.00 2.62 0.00 0.000 4 0.000 0.065 2906 3616 1841

11301 1.59 239.6 514.2 15.4 540 11305 0.00 2.50 0.00 0.000 6 0.000 0.037 2906 2191 1839

11628 1.60 247.1 476.9 9.7 556 11649 0.00 2.62 14.55 0.894 4 0.000 0.057 2905 3610 1821

11699 1.60 247.1 468.8 11.9 559 11704 0.00 2.50 0.00 0.000 6 0.000 0.034 2906 2199 1811

12026 1.60 247.1 430.1 12.3 575 12030 0.00 2.58 0.00 0.000 4 0.000 0.053 2906 3617 1806

12065 1.60 247.1 424.8 13.4 577 12069 0.00 2.45 0.00 0.000 6 0.000 0.031 2906 2195 1806

12391 1.60 247.1 383.1 12.6 593 12395 0.00 2.55 0.00 0.000 4 0.000 0.050 2905 3613 1807

12430 1.60 247.1 377.7 13.5 595 12434 0.00 2.42 0.00 0.000 6 0.000 0.030 2905 2200 1807

12758 1.60 247.1 332.7 14.4 611 12762 0.00 2.53 0.00 0.000 4 0.000 0.048 2906 3613 1809

12807 1.60 247.1 324.4 16.1 613 12811 0.00 2.42 0.00 0.000 6 0.000 0.029 2906 2194 1808

13122 1.60 247.1 275.6 16.0 628 13124 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2194 1810

13432 1.60 247.1 227.3 15.0 643 13437 0.00 2.58 0.00 0.000 4 0.000 0.048 2906 3615 1811

13459 1.60 247.1 223.1 14.8 644 13463 0.00 2.42 0.00 0.000 6 0.000 0.028 2905 2193 1811

13780 1.60 247.1 177.2 14.2 660 13782 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2193 1812

14091 1.60 247.1 133.1 14.3 675 14092 0.00 0.00 0.00 0.000 6 0.000 0.000 2906 2193 1814

14399 1.60 247.1 89.2 14.2 690 14403 0.00 2.53 0.00 0.000 4 0.000 0.046 2906 3615 1814

14438 1.60 247.1 83.6 14.3 692 14443 0.00 2.42 0.00 0.000 6 0.000 0.028 2905 2203 1814

14771 1.60 247.1 39.9 12.3 708 14775 0.00 2.47 0.00 0.000 4 0.000 0.046 2906 801 1815

14826 1.60 247.1 32.5 12.9 710 14833 0.00 2.42 0.00 0.000 6 0.000 0.028 2906 2223 1815

15079 end climb: SURFACE_DEPTH_REACHED

state 15079 begin surface coast

15099 end surface coast: CONTROL_FINISHED_OK

state 15100 begin surface

ID	105	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	13	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	61.599998	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-8.75	C_ROLL_DIVE	1946	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
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	-1.8522969
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	38	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	350	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	475	DEVICE4	-1
T_TURN	300	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2831	DEVICE6	-1
T_NO_W	300	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-1588527.9	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	401	AH0_24V	91.800003	SEABIRD_T_G	0.0043115509
SPEED_FACTOR	1	PITCH_MAX	3705	AH0_10V	61.200001	SEABIRD_T_H	0.00064421911
RHO	1.023	C_PITCH	2550	PRESSURE_YINT	-17.830805	SEABIRD_T_I	2.4441668e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_J	2.6855823e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.00054
FERRY_MAX	11	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1273263
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0013333842
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00018589634
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	034007,6119.757,-758.702,41,1.2,41,-8.6	TGT_NAME	FBC_SE0
_CALLS	1	TGT_LATLONG	6100.000,-730.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.125,-0.232
_SM_DEPTHo	0.93	KALMAN_X	-14148.5,379.4,-20.1,15372.0,-1911.2
_SM_ANGLEo	-58.7	KALMAN_Y	46029.3,-1706.5,-1358.2,-37273.2,14528.3
GPS2	034527,6119.716,-758.753,13,1.6,13,-8.6	MHEAD_RNG_PITCHd_Wd	160.3,44719,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.023985	ALTIM_TOP_PING	19.2,18.5
SM_CCo	15121,41.95,0.808,0,0,1608,300.00	ALTIM_BOTTOM_PING	775.3,62.0
SM_GC	1.22,0.00,0.00,41.95,0.000,0.000,0.808,388,1931,1608,-9.95,-0.42,300.00	_24V_AH	23.1,12.736
IRIDIUM_FIX	6054.92,-756.40,261197,232332	_10V_AH	10.0,4.767
TT8_MAMPS	0.027612	DATA_FILE_SIZE	37975,724
HUMID	2099	CAP_FILE_SIZE	119710,0
INTERNAL_PRESSURE	8.06996	CFSIZE	260165632,257478656
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,38,0
XPDR_PINGS	3	GPS	020908,080008,6119.952,-800.106,26,1.1,26,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	132	72.95	SBE_CT	652	24	361.48
Roll_motor	150	65	226.01	SBE_O2	501	19	219.91
VBD_pump_during_apogee	704	1019	16578.14	WL_BB2F	415	105	1007.52
VBD_pump_during_surface	41	808	783.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	74.31	nil	0	0	0.00
Iridium_during_connect	27	160	102.69	nil	0	0	0.00
Iridium_during_xfer	146	223	753.83
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.75
TT8	1372	19	271.70
LPSleep	10616	2	232.50
TT8_Active	945	19	187.15
TT8_Sampling	1857	39	739.25
TT8_CF8	694	45	318.26
TT8_Kalman	33	81	27.29
Analog_circuits	1987	12	238.46
GPS_charging	0	0	0.00
Compass	1965	8	157.24
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
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.47	-146.6	0.0	0.0	0	88	0.00	0.00	-60.90	0.000	2	0.000	0.000	394	1947	3115
92	-1.47	-146.6	3.2	-5.7	3	114	9.75	2.47	-7.07	0.000	4	0.133	0.054	2224	549	3428
131	-1.47	-146.6	10.7	-14.0	4	137	0.00	2.40	0.00	0.000	6	0.000	0.027	2224	1965	3430
447	-1.47	-146.6	50.0	-13.4	20	451	0.00	2.50	0.00	0.000	4	0.000	0.042	2224	548	3431
665	-1.47	-146.6	78.4	-12.1	30	669	0.00	2.38	0.00	0.000	6	0.000	0.028	2224	1952	3432
991	-1.47	-146.6	111.1	-10.0	46	995	0.00	2.47	0.00	0.000	4	0.000	0.042	2224	548	3433
1121	-1.47	-146.6	125.4	-11.1	52	1125	0.00	2.38	0.00	0.000	6	0.000	0.028	2224	1940	3434
1447	-1.47	-146.6	162.2	-11.3	68	1451	0.00	2.45	0.00	0.000	4	0.000	0.044	2224	551	3434
1502	-1.47	-146.6	168.7	-11.7	70	1508	0.00	2.40	0.00	0.000	6	0.000	0.029	2224	1960	3433
1817	-1.47	-146.6	203.5	-11.0	86	1822	0.00	2.53	0.00	0.000	4	0.000	0.045	2224	552	3434
1924	-1.47	-146.6	216.4	-12.2	90	1931	0.00	2.38	0.00	0.000	6	0.000	0.029	2224	1948	3433
2243	-1.47	-146.6	250.3	-10.5	106	2247	0.00	2.47	0.00	0.000	4	0.000	0.047	2224	552	3434
2328	-1.47	-146.6	260.1	-11.3	110	2333	0.00	2.42	0.00	0.000	6	0.000	0.032	2224	1946	3434
2662	-1.47	-146.6	295.1	-10.3	126	2666	0.00	2.47	0.00	0.000	4	0.000	0.048	2224	553	3434
2757	-1.47	-146.6	305.5	-10.8	130	2761	0.00	2.40	0.00	0.000	6	0.000	0.033	2224	1945	3434
3073	-1.47	-146.6	335.5	-9.2	145	3077	0.00	2.47	0.00	0.000	4	0.000	0.049	2224	553	3433
3167	-1.47	-146.6	345.2	-9.5	149	3172	0.00	2.40	0.00	0.000	6	0.000	0.034	2224	1946	3433
3484	-1.47	-146.6	374.8	-9.7	164	3488	0.00	2.50	0.00	0.000	4	0.000	0.050	2224	546	3433
3528	-1.47	-146.6	379.4	-10.4	166	3532	0.00	2.42	0.00	0.000	6	0.000	0.034	2224	1948	3433
3855	-1.47	-146.6	411.7	-9.6	182	3859	0.00	2.50	0.00	0.000	4	0.000	0.050	2224	547	3433
3955	-1.47	-146.6	421.7	-10.0	186	3961	0.00	2.42	0.00	0.000	6	0.000	0.035	2224	1953	3433
4273	-1.47	-146.6	450.9	-9.3	202	4277	0.00	2.50	0.00	0.000	4	0.000	0.051	2224	553	3433
4345	-1.47	-146.6	457.6	-8.9	205	4350	0.00	2.42	0.00	0.000	6	0.000	0.035	2224	1943	3433
4666	-1.47	-146.6	478.9	-5.8	221	4671	0.00	2.50	0.00	0.000	4	0.000	0.051	2224	548	3432
4887	-1.47	-146.6	493.2	-8.0	231	4891	0.00	2.42	0.00	0.000	6	0.000	0.036	2224	1946	3432
5213	-1.47	-146.6	524.3	-10.6	247	5217	0.00	2.50	0.00	0.000	4	0.000	0.052	2224	553	3432
5342	-1.47	-146.6	538.8	-11.2	253	5346	0.00	2.42	0.00	0.000	6	0.000	0.038	2224	1948	3433
5668	-1.47	-146.6	571.4	-10.2	269	5670	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1948	3433
5978	-1.47	-146.6	600.3	-8.8	284	5982	0.00	2.53	0.00	0.000	4	0.000	0.057	2224	3353	3432
6012	-1.47	-146.6	603.4	-8.7	285	6018	0.00	2.42	0.00	0.000	6	0.000	0.037	2224	1956	3432
6329	-1.47	-146.6	628.5	-8.2	301	6333	0.00	2.55	0.00	0.000	4	0.000	0.058	2224	544	3431
6487	-1.47	-146.6	643.5	-9.8	308	6491	0.00	2.45	0.00	0.000	6	0.000	0.039	2224	1948	3431
6808	-1.47	-146.6	675.9	-10.5	324	6813	0.00	2.55	0.00	0.000	4	0.000	0.060	2224	547	3429
6866	-1.47	-146.6	682.3	-11.5	326	6872	0.00	2.45	0.00	0.000	6	0.000	0.040	2224	1948	3429
7182	-1.47	-146.6	715.6	-10.1	342	7186	0.00	2.55	0.00	0.000	4	0.000	0.061	2224	547	3427
7326	-1.47	-146.6	732.1	-11.9	348	7334	0.00	2.47	0.00	0.000	6	0.000	0.041	2224	1943	3426
7642	-1.47	-146.6	772.1	-12.6	364	7647	0.00	2.58	0.00	0.000	4	0.000	0.063	2224	538	3424
7752	-1.47	-146.6	782.2	-10.3	369	7757	0.00	2.47	0.00	0.000	6	0.000	0.041	2224	1946	3423
8082	-1.47	-146.6	808.1	-9.0	385	8086	0.00	2.58	0.00	0.000	4	0.000	0.064	2224	542	3421
8137	-1.47	-146.6	815.1	-12.4	387	8143	0.00	2.45	0.00	0.000	6	0.000	0.040	2224	1948	3421
8246	end dive: BOTTOM_OBSTACLE_DETECTED
state	8246	begin apogee
8253	-0.36	0.0	828.7	13.6	393	8572	1.20	0.00	250.18	1.019	6	0.081	0.000	2472	2209	2831
8573	end apogee: CONTROL_FINISHED_OK
state	8573	begin climb
8576	1.47	146.6	835.2	0.0	409	8854	1.83	2.67	216.70	1.012	4	0.049	0.061	2869	800	2232
9191	1.50	168.4	794.5	9.0	437	9279	0.00	2.50	60.30	0.787	6	0.000	0.045	2868	2194	2144
9588	1.59	239.6	760.2	6.8	457	9810	0.12	0.00	162.32	0.828	6	0.047	0.000	2906	2194	1854
10124	1.59	239.6	698.6	13.4	483	10128	0.00	2.60	0.00	0.000	4	0.000	0.060	2906	792	1845
10164	1.59	239.6	692.4	14.0	485	10169	0.00	2.53	0.00	0.000	6	0.000	0.041	2906	2205	1844
10494	1.59	239.6	644.0	15.6	501	10495	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2205	1843
10802	1.59	239.6	597.2	15.7	516	10806	0.00	2.60	0.00	0.000	4	0.000	0.058	2906	794	1842
10829	1.59	239.6	592.5	16.2	517	10834	0.00	2.53	0.00	0.000	6	0.000	0.041	2906	2193	1842
11150	1.59	239.6	538.0	17.3	533	11154	0.00	2.62	0.00	0.000	4	0.000	0.065	2906	3616	1841
11301	1.59	239.6	514.2	15.4	540	11305	0.00	2.50	0.00	0.000	6	0.000	0.037	2906	2191	1839
11628	1.60	247.1	476.9	9.7	556	11649	0.00	2.62	14.55	0.894	4	0.000	0.057	2905	3610	1821
11699	1.60	247.1	468.8	11.9	559	11704	0.00	2.50	0.00	0.000	6	0.000	0.034	2906	2199	1811
12026	1.60	247.1	430.1	12.3	575	12030	0.00	2.58	0.00	0.000	4	0.000	0.053	2906	3617	1806
12065	1.60	247.1	424.8	13.4	577	12069	0.00	2.45	0.00	0.000	6	0.000	0.031	2906	2195	1806
12391	1.60	247.1	383.1	12.6	593	12395	0.00	2.55	0.00	0.000	4	0.000	0.050	2905	3613	1807
12430	1.60	247.1	377.7	13.5	595	12434	0.00	2.42	0.00	0.000	6	0.000	0.030	2905	2200	1807
12758	1.60	247.1	332.7	14.4	611	12762	0.00	2.53	0.00	0.000	4	0.000	0.048	2906	3613	1809
12807	1.60	247.1	324.4	16.1	613	12811	0.00	2.42	0.00	0.000	6	0.000	0.029	2906	2194	1808
13122	1.60	247.1	275.6	16.0	628	13124	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2194	1810
13432	1.60	247.1	227.3	15.0	643	13437	0.00	2.58	0.00	0.000	4	0.000	0.048	2906	3615	1811
13459	1.60	247.1	223.1	14.8	644	13463	0.00	2.42	0.00	0.000	6	0.000	0.028	2905	2193	1811
13780	1.60	247.1	177.2	14.2	660	13782	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2193	1812
14091	1.60	247.1	133.1	14.3	675	14092	0.00	0.00	0.00	0.000	6	0.000	0.000	2906	2193	1814
14399	1.60	247.1	89.2	14.2	690	14403	0.00	2.53	0.00	0.000	4	0.000	0.046	2906	3615	1814
14438	1.60	247.1	83.6	14.3	692	14443	0.00	2.42	0.00	0.000	6	0.000	0.028	2905	2203	1814
14771	1.60	247.1	39.9	12.3	708	14775	0.00	2.47	0.00	0.000	4	0.000	0.046	2906	801	1815
14826	1.60	247.1	32.5	12.9	710	14833	0.00	2.42	0.00	0.000	6	0.000	0.028	2906	2223	1815
15079	end climb: SURFACE_DEPTH_REACHED
state	15079	begin surface coast
15099	end surface coast: CONTROL_FINISHED_OK
state	15100	begin surface