Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 17 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2107906.2 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 330

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -2107906.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 1 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 17 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 230706,6134.644,-832.814,41,1.3,41,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.006,-0.264

_SM_DEPTHo 1.46 KALMAN_X -29800.4,1977.1,850.1,12745.5,-9613.9

_SM_ANGLEo -63.3 KALMAN_Y 51309.2,-2679.5,-1026.2,-28836.4,17164.9

GPS2 231215,6134.655,-832.738,12,1.6,13,-9.0 MHEAD_RNG_PITCHd_Wd 150.6,11004,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.013129 ALTIM_BOTTOM_PING 750.2,87.4

SM_CCo 14344,0.00,0.000,0,0,1736,265.17 _24V_AH 23.5,9.210

SM_GC 1.46,12.38,0.00,0.00,0.095,0.000,0.000,71,2608,1736,-10.46,0.20,265.17 _10V_AH 10.1,3.523

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34926,683

TT8_MAMPS 0.023777 CAP_FILE_SIZE 118430,0

HUMID 1712 CFSIZE 260165632,257331200

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 34 GPS 080609,031336,6135.646,-832.084,37,1.3,48,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 191 127.41 SBE_CT 487 24 274.87

Roll_motor 153 88 321.52 SBE_O2 478 19 213.60

VBD_pump_during_apogee 364 1124 9618.97 WL_BB2F 407 105 1004.59

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 17 103 43.55 nil 0 0 0.00

Iridium_during_connect 28 160 107.55 nil 0 0 0.00

Iridium_during_xfer 155 223 812.70

Transponder_ping 15 420 150.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.74

TT8 1333 19 266.61

LPSleep 10662 2 235.83

TT8_Active 476 19 95.32

TT8_Sampling 1743 39 700.80

TT8_CF8 442 45 204.48

TT8_Kalman 33 81 27.57

Analog_circuits 1368 12 165.85

GPS_charging 0 0 0.00

Compass 1689 8 136.53

RAFOS 0 0 0.00

Transponder 47 30 14.47

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.29 -146.6 0.0 0.0 0 79 0.00 0.00 -61.22 0.000 2 0.000 0.000 73 2608 3098

82 -1.29 -146.6 4.4 -7.1 3 106 11.77 2.60 -5.80 0.000 4 0.192 0.053 2072 1186 3419

201 -1.37 -146.6 25.5 -11.8 8 206 0.00 2.50 0.00 0.000 6 0.000 0.038 2073 2598 3419

523 -1.37 -146.6 63.0 -11.3 24 527 0.00 2.35 0.00 0.000 4 0.000 0.069 2073 3861 3419

623 -1.37 -146.6 75.0 -13.4 28 629 0.00 2.17 0.00 0.000 6 0.000 0.029 2073 2576 3418

941 -1.42 -146.6 111.6 -11.0 44 945 0.00 2.40 0.00 0.000 4 0.000 0.066 2073 3865 3419

1005 -1.42 -146.6 119.5 -12.5 47 1008 0.00 2.15 0.00 0.000 6 0.000 0.029 2073 2599 3419

1337 -1.42 -146.6 157.3 -11.3 63 1341 0.00 2.35 0.00 0.000 4 0.000 0.066 2073 3862 3419

1377 -1.42 -146.6 162.2 -12.1 65 1381 0.00 2.15 0.00 0.000 6 0.000 0.030 2073 2598 3419

1710 -1.46 -146.6 202.9 -12.5 81 1712 0.15 0.00 0.00 0.000 6 0.046 0.000 2029 2596 3420

2019 -1.40 -146.6 245.5 -13.2 96 2024 0.12 2.35 0.00 0.000 4 0.108 0.067 2052 3864 3420

2074 -1.40 -146.6 254.0 -14.4 98 2078 0.00 2.15 0.00 0.000 6 0.000 0.030 2052 2602 3420

2396 -1.40 -146.6 295.0 -12.6 114 2400 0.00 2.47 0.00 0.000 4 0.000 0.045 2051 1199 3420

2429 -1.40 -146.6 299.2 -12.6 115 2433 0.00 2.47 0.00 0.000 6 0.000 0.038 2052 2603 3420

2744 -1.40 -146.6 336.2 -11.6 130 2748 0.00 2.35 0.00 0.000 4 0.000 0.070 2052 3864 3420

2800 -1.40 -146.6 343.4 -12.6 132 2806 0.00 2.15 0.00 0.000 6 0.000 0.030 2052 2601 3420

3116 -1.40 -146.6 384.8 -13.9 148 3117 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2600 3420

3426 -1.40 -146.6 427.1 -13.4 163 3430 0.00 2.35 0.00 0.000 4 0.000 0.070 2052 3860 3420

3453 -1.40 -146.6 431.5 -15.8 164 3457 0.00 2.17 0.00 0.000 6 0.000 0.031 2052 2590 3420

3777 -1.40 -146.6 476.8 -13.9 180 3781 0.00 2.35 0.00 0.000 4 0.000 0.065 2052 3860 3420

3816 -1.40 -146.6 484.0 -15.6 182 3820 0.00 2.15 0.00 0.000 6 0.000 0.032 2052 2605 3420

4149 -1.40 -146.6 530.4 -15.1 198 4153 0.00 2.35 0.00 0.000 4 0.000 0.071 2052 3858 3420

4282 -1.35 -146.6 551.4 -15.4 204 4286 0.00 2.17 0.00 0.000 6 0.000 0.033 2052 2593 3420

4609 -1.35 -146.6 589.9 -12.6 220 4610 0.00 0.00 0.00 0.000 6 0.000 0.000 2052 2590 3420

4918 -1.35 -146.6 630.1 -12.8 235 4923 0.00 2.50 0.00 0.000 4 0.000 0.050 2052 1197 3419

5064 -1.39 -146.6 647.9 -10.5 241 5071 0.00 2.50 0.00 0.000 6 0.000 0.044 2052 2598 3419

5380 -1.39 -146.6 683.4 -9.1 257 5384 0.00 2.50 0.00 0.000 4 0.000 0.051 2051 1200 3418

5528 -1.48 -146.6 694.6 -7.2 263 5534 0.00 2.50 0.00 0.000 6 0.000 0.045 2052 2600 3418

5844 -1.48 -146.6 716.7 -8.4 279 5849 0.00 2.53 0.00 0.000 4 0.000 0.053 2052 1205 3415

5877 -1.48 -146.6 720.8 -11.7 280 5884 0.00 2.53 0.00 0.000 6 0.000 0.050 2052 2605 3416

6196 -1.56 -146.6 755.5 -8.9 296 6201 0.15 2.42 0.00 0.000 4 0.061 0.089 2014 3865 3415

6333 -1.46 -146.6 774.7 -7.2 302 6338 0.12 2.20 0.00 0.000 6 0.123 0.041 2036 2608 3414

6659 -1.41 -146.6 823.8 -14.7 318 6661 0.00 0.00 0.00 0.000 6 0.000 0.000 2036 2606 3412

6719 end dive: BOTTOM_OBSTACLE_DETECTED

state 6719 begin apogee

6726 -0.31 0.0 829.7 9.1 321 6861 1.27 0.00 129.50 1.124 6 0.112 0.000 2289 2291 2817

6862 end apogee: CONTROL_FINISHED_OK

state 6862 begin climb

6865 1.29 146.6 835.6 0.0 328 7005 1.62 2.83 131.73 1.114 4 0.071 0.081 2637 3712 2218

7263 1.20 261.6 811.0 4.8 345 7372 0.00 2.58 102.80 1.098 6 0.000 0.051 2636 2311 1751

7688 1.20 261.6 766.6 13.3 366 7692 0.00 2.70 0.00 0.000 4 0.000 0.076 2637 3712 1739

7874 1.16 261.6 741.5 14.7 374 7879 0.12 2.58 0.00 0.000 6 0.121 0.045 2616 2296 1738

8190 1.16 261.6 709.0 11.7 389 8194 0.00 2.72 0.00 0.000 4 0.000 0.079 2616 3705 1735

8247 1.11 261.6 701.8 15.9 391 8253 0.00 2.55 0.00 0.000 6 0.000 0.044 2616 2297 1735

8562 1.11 261.6 663.6 11.5 407 8563 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2298 1734

8872 1.11 261.6 628.5 11.1 422 8876 0.00 2.65 0.00 0.000 4 0.000 0.067 2616 885 1733

8911 1.11 261.6 624.3 10.4 424 8915 0.00 2.58 0.00 0.000 6 0.000 0.048 2616 2305 1732

9237 1.11 261.6 584.9 12.4 440 9241 0.00 2.62 0.00 0.000 4 0.000 0.060 2616 888 1732

9321 1.11 261.6 575.6 12.2 444 9326 0.00 2.55 0.00 0.000 6 0.000 0.046 2616 2304 1732

9647 1.11 261.6 539.7 10.7 460 9652 0.00 2.67 0.00 0.000 4 0.000 0.074 2616 3709 1732

9755 1.11 261.6 525.9 13.5 465 9759 0.00 2.53 0.00 0.000 6 0.000 0.040 2616 2290 1732

10081 1.11 261.6 487.4 12.3 481 10085 0.00 2.67 0.00 0.000 4 0.000 0.071 2616 3705 1732

10102 1.11 261.6 484.2 13.6 482 10107 0.00 2.50 0.00 0.000 6 0.000 0.040 2616 2299 1732

10424 1.11 261.6 446.0 11.6 498 10428 0.00 2.58 0.00 0.000 4 0.000 0.059 2616 894 1732

10463 1.11 261.6 440.9 13.4 500 10467 0.00 2.50 0.00 0.000 6 0.000 0.040 2615 2305 1731

10789 1.11 261.6 404.1 11.4 516 10794 0.00 2.58 0.00 0.000 4 0.000 0.052 2616 888 1732

10913 1.16 261.6 390.1 10.4 521 10919 0.00 2.50 0.00 0.000 6 0.000 0.038 2616 2304 1732

11229 1.22 261.6 353.1 12.1 537 11233 0.00 2.60 0.00 0.000 4 0.000 0.064 2616 3702 1732

11268 1.22 261.6 348.1 13.1 539 11272 0.00 2.47 0.00 0.000 6 0.000 0.033 2616 2288 1732

11594 1.28 261.6 309.8 11.8 555 11599 0.10 2.50 0.00 0.000 4 0.055 0.050 2647 897 1732

11612 1.28 261.6 307.3 12.9 556 11616 0.00 2.47 0.00 0.000 6 0.000 0.037 2647 2305 1733

11938 1.28 261.6 263.8 12.9 572 11942 0.00 2.58 0.00 0.000 4 0.000 0.062 2647 3703 1733

11965 1.21 261.6 260.1 13.6 573 11970 0.12 2.45 0.00 0.000 6 0.110 0.032 2624 2299 1734

12281 1.26 261.6 223.2 11.6 588 12285 0.00 2.53 0.00 0.000 4 0.000 0.050 2624 888 1734

12314 1.30 261.6 219.3 12.3 589 12318 0.00 2.47 0.00 0.000 6 0.000 0.035 2624 2302 1733

12630 1.36 261.6 181.7 11.8 604 12635 0.15 2.58 0.00 0.000 4 0.048 0.062 2666 3701 1734

12663 1.26 261.6 177.3 13.8 605 12671 0.17 2.45 0.00 0.000 6 0.105 0.031 2634 2295 1735

12979 1.26 265.4 144.6 9.8 621 12984 0.00 2.50 0.00 0.000 4 0.000 0.049 2633 897 1735

13035 1.26 265.4 138.6 10.4 623 13041 0.00 2.45 0.00 0.000 6 0.000 0.035 2633 2301 1735

13351 1.26 265.4 102.8 11.8 639 13352 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2301 1736

13662 1.26 265.4 66.6 11.9 654 13666 0.00 2.53 0.00 0.000 4 0.000 0.047 2634 891 1736

13702 1.26 265.4 61.6 12.4 656 13706 0.00 2.47 0.00 0.000 6 0.000 0.035 2634 2309 1736

14029 1.26 265.4 26.2 10.0 672 14033 0.00 2.53 0.00 0.000 4 0.000 0.046 2634 897 1736

14152 1.30 265.4 12.0 12.1 677 14158 0.00 2.42 0.00 0.000 6 0.000 0.033 2634 2302 1736

14238 end climb: SURFACE_DEPTH_REACHED

state 14238 begin surface coast

14260 end surface coast: CONTROL_FINISHED_OK

state 14260 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	17	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2107906.2	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	230706,6134.644,-832.814,41,1.3,41,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.006,-0.264
_SM_DEPTHo	1.46	KALMAN_X	-29800.4,1977.1,850.1,12745.5,-9613.9
_SM_ANGLEo	-63.3	KALMAN_Y	51309.2,-2679.5,-1026.2,-28836.4,17164.9
GPS2	231215,6134.655,-832.738,12,1.6,13,-9.0	MHEAD_RNG_PITCHd_Wd	150.6,11004,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.013129	ALTIM_BOTTOM_PING	750.2,87.4
SM_CCo	14344,0.00,0.000,0,0,1736,265.17	_24V_AH	23.5,9.210
SM_GC	1.46,12.38,0.00,0.00,0.095,0.000,0.000,71,2608,1736,-10.46,0.20,265.17	_10V_AH	10.1,3.523
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34926,683
TT8_MAMPS	0.023777	CAP_FILE_SIZE	118430,0
HUMID	1712	CFSIZE	260165632,257331200
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	34	GPS	080609,031336,6135.646,-832.084,37,1.3,48,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	191	127.41	SBE_CT	487	24	274.87
Roll_motor	153	88	321.52	SBE_O2	478	19	213.60
VBD_pump_during_apogee	364	1124	9618.97	WL_BB2F	407	105	1004.59
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	17	103	43.55	nil	0	0	0.00
Iridium_during_connect	28	160	107.55	nil	0	0	0.00
Iridium_during_xfer	155	223	812.70
Transponder_ping	15	420	150.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.74
TT8	1333	19	266.61
LPSleep	10662	2	235.83
TT8_Active	476	19	95.32
TT8_Sampling	1743	39	700.80
TT8_CF8	442	45	204.48
TT8_Kalman	33	81	27.57
Analog_circuits	1368	12	165.85
GPS_charging	0	0	0.00
Compass	1689	8	136.53
RAFOS	0	0	0.00
Transponder	47	30	14.47

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.29	-146.6	0.0	0.0	0	79	0.00	0.00	-61.22	0.000	2	0.000	0.000	73	2608	3098
82	-1.29	-146.6	4.4	-7.1	3	106	11.77	2.60	-5.80	0.000	4	0.192	0.053	2072	1186	3419
201	-1.37	-146.6	25.5	-11.8	8	206	0.00	2.50	0.00	0.000	6	0.000	0.038	2073	2598	3419
523	-1.37	-146.6	63.0	-11.3	24	527	0.00	2.35	0.00	0.000	4	0.000	0.069	2073	3861	3419
623	-1.37	-146.6	75.0	-13.4	28	629	0.00	2.17	0.00	0.000	6	0.000	0.029	2073	2576	3418
941	-1.42	-146.6	111.6	-11.0	44	945	0.00	2.40	0.00	0.000	4	0.000	0.066	2073	3865	3419
1005	-1.42	-146.6	119.5	-12.5	47	1008	0.00	2.15	0.00	0.000	6	0.000	0.029	2073	2599	3419
1337	-1.42	-146.6	157.3	-11.3	63	1341	0.00	2.35	0.00	0.000	4	0.000	0.066	2073	3862	3419
1377	-1.42	-146.6	162.2	-12.1	65	1381	0.00	2.15	0.00	0.000	6	0.000	0.030	2073	2598	3419
1710	-1.46	-146.6	202.9	-12.5	81	1712	0.15	0.00	0.00	0.000	6	0.046	0.000	2029	2596	3420
2019	-1.40	-146.6	245.5	-13.2	96	2024	0.12	2.35	0.00	0.000	4	0.108	0.067	2052	3864	3420
2074	-1.40	-146.6	254.0	-14.4	98	2078	0.00	2.15	0.00	0.000	6	0.000	0.030	2052	2602	3420
2396	-1.40	-146.6	295.0	-12.6	114	2400	0.00	2.47	0.00	0.000	4	0.000	0.045	2051	1199	3420
2429	-1.40	-146.6	299.2	-12.6	115	2433	0.00	2.47	0.00	0.000	6	0.000	0.038	2052	2603	3420
2744	-1.40	-146.6	336.2	-11.6	130	2748	0.00	2.35	0.00	0.000	4	0.000	0.070	2052	3864	3420
2800	-1.40	-146.6	343.4	-12.6	132	2806	0.00	2.15	0.00	0.000	6	0.000	0.030	2052	2601	3420
3116	-1.40	-146.6	384.8	-13.9	148	3117	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2600	3420
3426	-1.40	-146.6	427.1	-13.4	163	3430	0.00	2.35	0.00	0.000	4	0.000	0.070	2052	3860	3420
3453	-1.40	-146.6	431.5	-15.8	164	3457	0.00	2.17	0.00	0.000	6	0.000	0.031	2052	2590	3420
3777	-1.40	-146.6	476.8	-13.9	180	3781	0.00	2.35	0.00	0.000	4	0.000	0.065	2052	3860	3420
3816	-1.40	-146.6	484.0	-15.6	182	3820	0.00	2.15	0.00	0.000	6	0.000	0.032	2052	2605	3420
4149	-1.40	-146.6	530.4	-15.1	198	4153	0.00	2.35	0.00	0.000	4	0.000	0.071	2052	3858	3420
4282	-1.35	-146.6	551.4	-15.4	204	4286	0.00	2.17	0.00	0.000	6	0.000	0.033	2052	2593	3420
4609	-1.35	-146.6	589.9	-12.6	220	4610	0.00	0.00	0.00	0.000	6	0.000	0.000	2052	2590	3420
4918	-1.35	-146.6	630.1	-12.8	235	4923	0.00	2.50	0.00	0.000	4	0.000	0.050	2052	1197	3419
5064	-1.39	-146.6	647.9	-10.5	241	5071	0.00	2.50	0.00	0.000	6	0.000	0.044	2052	2598	3419
5380	-1.39	-146.6	683.4	-9.1	257	5384	0.00	2.50	0.00	0.000	4	0.000	0.051	2051	1200	3418
5528	-1.48	-146.6	694.6	-7.2	263	5534	0.00	2.50	0.00	0.000	6	0.000	0.045	2052	2600	3418
5844	-1.48	-146.6	716.7	-8.4	279	5849	0.00	2.53	0.00	0.000	4	0.000	0.053	2052	1205	3415
5877	-1.48	-146.6	720.8	-11.7	280	5884	0.00	2.53	0.00	0.000	6	0.000	0.050	2052	2605	3416
6196	-1.56	-146.6	755.5	-8.9	296	6201	0.15	2.42	0.00	0.000	4	0.061	0.089	2014	3865	3415
6333	-1.46	-146.6	774.7	-7.2	302	6338	0.12	2.20	0.00	0.000	6	0.123	0.041	2036	2608	3414
6659	-1.41	-146.6	823.8	-14.7	318	6661	0.00	0.00	0.00	0.000	6	0.000	0.000	2036	2606	3412
6719	end dive: BOTTOM_OBSTACLE_DETECTED
state	6719	begin apogee
6726	-0.31	0.0	829.7	9.1	321	6861	1.27	0.00	129.50	1.124	6	0.112	0.000	2289	2291	2817
6862	end apogee: CONTROL_FINISHED_OK
state	6862	begin climb
6865	1.29	146.6	835.6	0.0	328	7005	1.62	2.83	131.73	1.114	4	0.071	0.081	2637	3712	2218
7263	1.20	261.6	811.0	4.8	345	7372	0.00	2.58	102.80	1.098	6	0.000	0.051	2636	2311	1751
7688	1.20	261.6	766.6	13.3	366	7692	0.00	2.70	0.00	0.000	4	0.000	0.076	2637	3712	1739
7874	1.16	261.6	741.5	14.7	374	7879	0.12	2.58	0.00	0.000	6	0.121	0.045	2616	2296	1738
8190	1.16	261.6	709.0	11.7	389	8194	0.00	2.72	0.00	0.000	4	0.000	0.079	2616	3705	1735
8247	1.11	261.6	701.8	15.9	391	8253	0.00	2.55	0.00	0.000	6	0.000	0.044	2616	2297	1735
8562	1.11	261.6	663.6	11.5	407	8563	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2298	1734
8872	1.11	261.6	628.5	11.1	422	8876	0.00	2.65	0.00	0.000	4	0.000	0.067	2616	885	1733
8911	1.11	261.6	624.3	10.4	424	8915	0.00	2.58	0.00	0.000	6	0.000	0.048	2616	2305	1732
9237	1.11	261.6	584.9	12.4	440	9241	0.00	2.62	0.00	0.000	4	0.000	0.060	2616	888	1732
9321	1.11	261.6	575.6	12.2	444	9326	0.00	2.55	0.00	0.000	6	0.000	0.046	2616	2304	1732
9647	1.11	261.6	539.7	10.7	460	9652	0.00	2.67	0.00	0.000	4	0.000	0.074	2616	3709	1732
9755	1.11	261.6	525.9	13.5	465	9759	0.00	2.53	0.00	0.000	6	0.000	0.040	2616	2290	1732
10081	1.11	261.6	487.4	12.3	481	10085	0.00	2.67	0.00	0.000	4	0.000	0.071	2616	3705	1732
10102	1.11	261.6	484.2	13.6	482	10107	0.00	2.50	0.00	0.000	6	0.000	0.040	2616	2299	1732
10424	1.11	261.6	446.0	11.6	498	10428	0.00	2.58	0.00	0.000	4	0.000	0.059	2616	894	1732
10463	1.11	261.6	440.9	13.4	500	10467	0.00	2.50	0.00	0.000	6	0.000	0.040	2615	2305	1731
10789	1.11	261.6	404.1	11.4	516	10794	0.00	2.58	0.00	0.000	4	0.000	0.052	2616	888	1732
10913	1.16	261.6	390.1	10.4	521	10919	0.00	2.50	0.00	0.000	6	0.000	0.038	2616	2304	1732
11229	1.22	261.6	353.1	12.1	537	11233	0.00	2.60	0.00	0.000	4	0.000	0.064	2616	3702	1732
11268	1.22	261.6	348.1	13.1	539	11272	0.00	2.47	0.00	0.000	6	0.000	0.033	2616	2288	1732
11594	1.28	261.6	309.8	11.8	555	11599	0.10	2.50	0.00	0.000	4	0.055	0.050	2647	897	1732
11612	1.28	261.6	307.3	12.9	556	11616	0.00	2.47	0.00	0.000	6	0.000	0.037	2647	2305	1733
11938	1.28	261.6	263.8	12.9	572	11942	0.00	2.58	0.00	0.000	4	0.000	0.062	2647	3703	1733
11965	1.21	261.6	260.1	13.6	573	11970	0.12	2.45	0.00	0.000	6	0.110	0.032	2624	2299	1734
12281	1.26	261.6	223.2	11.6	588	12285	0.00	2.53	0.00	0.000	4	0.000	0.050	2624	888	1734
12314	1.30	261.6	219.3	12.3	589	12318	0.00	2.47	0.00	0.000	6	0.000	0.035	2624	2302	1733
12630	1.36	261.6	181.7	11.8	604	12635	0.15	2.58	0.00	0.000	4	0.048	0.062	2666	3701	1734
12663	1.26	261.6	177.3	13.8	605	12671	0.17	2.45	0.00	0.000	6	0.105	0.031	2634	2295	1735
12979	1.26	265.4	144.6	9.8	621	12984	0.00	2.50	0.00	0.000	4	0.000	0.049	2633	897	1735
13035	1.26	265.4	138.6	10.4	623	13041	0.00	2.45	0.00	0.000	6	0.000	0.035	2633	2301	1735
13351	1.26	265.4	102.8	11.8	639	13352	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2301	1736
13662	1.26	265.4	66.6	11.9	654	13666	0.00	2.53	0.00	0.000	4	0.000	0.047	2634	891	1736
13702	1.26	265.4	61.6	12.4	656	13706	0.00	2.47	0.00	0.000	6	0.000	0.035	2634	2309	1736
14029	1.26	265.4	26.2	10.0	672	14033	0.00	2.53	0.00	0.000	4	0.000	0.046	2634	897	1736
14152	1.30	265.4	12.0	12.1	677	14158	0.00	2.42	0.00	0.000	6	0.000	0.033	2634	2302	1736
14238	end climb: SURFACE_DEPTH_REACHED
state	14238	begin surface coast
14260	end surface coast: CONTROL_FINISHED_OK
state	14260	begin surface