Glider dive log

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 21 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -2107988.8 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 -2107988.8

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 22 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 24 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 21 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 140636,6136.699,-838.336,33,2.0,33,-9.1 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.123,-0.233

_SM_DEPTHo 1.37 KALMAN_X -31835.9,-838.5,828.4,12666.0,-4360.1

_SM_ANGLEo -58.2 KALMAN_Y 71909.8,-2541.2,-1454.1,-45459.1,18318.5

GPS2 141119,6136.646,-838.348,11,1.8,16,-9.1 MHEAD_RNG_PITCHd_Wd 145.3,17049,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026796 ALTIM_BOTTOM_PING 800.1,69.4

SM_CCo 14490,0.00,0.000,0,0,1710,271.79 _24V_AH 23.5,9.811

SM_GC 1.66,12.02,0.00,0.00,0.076,0.000,0.000,75,2596,1710,-10.46,-0.08,271.79 _10V_AH 10.1,3.783

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34852,693

TT8_MAMPS 0.023777 CAP_FILE_SIZE 114210,0

HUMID 1701 CFSIZE 260165632,257118208

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 2 GPS 080609,181500,6136.669,-837.501,38,1.1,44,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 184 124.37 SBE_CT 500 24 282.11

Roll_motor 135 79 253.53 SBE_O2 486 19 217.17

VBD_pump_during_apogee 375 1136 10025.13 WL_BB2F 382 105 944.84

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 18 103 43.67 nil 0 0 0.00

Iridium_during_connect 29 160 109.35 nil 0 0 0.00

Iridium_during_xfer 128 223 671.23

Transponder_ping 7 420 76.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.20

TT8 1318 19 263.77

LPSleep 10918 2 241.51

TT8_Active 514 19 102.86

TT8_Sampling 1620 39 651.60

TT8_CF8 402 45 186.40

TT8_Kalman 33 81 27.55

Analog_circuits 1347 12 163.26

GPS_charging 0 0 0.00

Compass 1572 8 127.09

RAFOS 0 0 0.00

Transponder 50 30 15.44

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

15 -1.29 -146.6 0.0 0.0 0 104 0.00 0.00 -86.50 0.000 2 0.000 0.000 71 2601 3092

108 -1.29 -146.6 4.2 -3.2 5 131 11.60 2.58 -6.05 0.000 4 0.184 0.052 2073 1185 3417

307 -1.35 -146.6 36.1 -14.9 13 313 0.00 2.50 0.00 0.000 6 0.000 0.037 2073 2605 3418

623 -1.35 -146.6 79.7 -13.4 29 624 0.00 0.00 0.00 0.000 6 0.000 0.000 2073 2605 3418

932 -1.35 -146.6 114.1 -10.6 44 936 0.00 2.53 0.00 0.000 4 0.000 0.041 2072 1184 3418

959 -1.41 -146.6 117.0 -10.3 45 964 0.00 2.50 0.00 0.000 6 0.000 0.038 2073 2598 3418

1275 -1.45 -146.6 163.4 -15.1 60 1280 0.15 2.35 0.00 0.000 4 0.046 0.068 2026 3863 3418

1338 -1.35 -146.6 174.0 -17.2 63 1342 0.20 2.20 0.00 0.000 6 0.102 0.030 2064 2577 3418

1664 -1.35 -146.6 211.5 -10.7 79 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2575 3418

1973 -1.35 -146.6 247.4 -11.5 94 1977 0.00 2.40 0.00 0.000 4 0.000 0.067 2064 3862 3418

2017 -1.35 -146.6 252.7 -11.8 96 2021 0.00 2.15 0.00 0.000 6 0.000 0.030 2064 2594 3418

2343 -1.35 -146.6 287.2 -11.1 112 2347 0.00 2.38 0.00 0.000 4 0.000 0.067 2064 3864 3418

2370 -1.35 -146.6 290.5 -11.9 113 2374 0.00 2.17 0.00 0.000 6 0.000 0.030 2064 2594 3418

2691 -1.35 -146.6 324.5 -11.0 129 2692 0.00 0.00 0.00 0.000 6 0.000 0.000 2063 2591 3419

3001 -1.35 -146.6 358.6 -8.5 144 3005 0.00 2.47 0.00 0.000 4 0.000 0.045 2064 1200 3419

3079 -1.41 -146.6 366.6 -10.6 147 3085 0.00 2.47 0.00 0.000 6 0.000 0.038 2064 2603 3419

3395 -1.41 -146.6 399.9 -9.6 163 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2603 3419

3704 -1.41 -146.6 431.0 -11.7 178 3705 0.00 0.00 0.00 0.000 6 0.000 0.000 2064 2603 3419

4013 -1.41 -146.6 473.3 -14.3 193 4017 0.00 2.35 0.00 0.000 4 0.000 0.071 2064 3858 3419

4090 -1.41 -146.6 485.1 -14.9 196 4097 0.00 2.15 0.00 0.000 6 0.000 0.031 2064 2603 3419

4406 -1.41 -146.6 530.9 -12.7 212 4410 0.00 2.35 0.00 0.000 4 0.000 0.071 2064 3860 3419

4472 -1.41 -146.6 539.0 -11.8 215 4476 0.00 2.17 0.00 0.000 6 0.000 0.032 2064 2593 3419

4799 -1.41 -146.6 580.2 -14.0 231 4804 0.00 2.47 0.00 0.000 4 0.000 0.047 2064 1202 3418

4900 -1.50 -146.6 594.6 -13.7 235 4907 0.15 2.47 0.00 0.000 6 0.048 0.041 2022 2606 3418

5217 -1.42 -146.6 643.6 -14.9 251 5222 0.15 2.50 0.00 0.000 4 0.106 0.045 2049 1204 3418

5261 -1.47 -146.6 650.0 -13.1 253 5266 0.00 2.47 0.00 0.000 6 0.000 0.041 2049 2601 3418

5587 -1.47 -146.6 691.1 -12.0 269 5591 0.00 2.38 0.00 0.000 4 0.000 0.077 2049 3858 3418

5751 -1.47 -146.6 711.7 -11.6 276 5755 0.00 2.17 0.00 0.000 6 0.000 0.035 2049 2604 3417

6072 -1.47 -146.6 744.4 -9.9 292 6076 0.00 2.55 0.00 0.000 4 0.000 0.056 2049 1197 3416

6122 -1.53 -146.6 749.1 -8.6 294 6127 0.12 2.53 0.00 0.000 6 0.054 0.047 2014 2603 3416

6440 -1.44 -146.6 789.7 -13.4 309 6442 0.15 0.00 0.00 0.000 6 0.116 0.000 2042 2604 3415

6747 -1.44 -146.6 828.9 -12.4 324 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2603 3414

7012 end dive: BOTTOM_OBSTACLE_DETECTED

state 7013 begin apogee

7019 -0.31 0.0 860.5 10.6 337 7155 1.30 0.00 130.12 1.137 6 0.133 0.000 2288 2293 2817

7156 end apogee: CONTROL_FINISHED_OK

state 7156 begin climb

7159 1.29 146.6 863.7 0.0 344 7305 1.70 2.72 132.18 1.127 4 0.092 0.063 2637 897 2216

7562 1.15 146.6 843.8 10.2 362 7567 0.15 2.58 0.00 0.000 6 0.113 0.050 2610 2307 2208

7883 1.09 179.5 813.7 8.5 378 7914 0.00 0.00 29.00 1.068 6 0.000 0.000 2610 2307 2085

8213 1.07 210.4 784.8 8.6 394 8248 0.00 2.80 28.52 1.055 4 0.000 0.080 2610 3704 1958

8288 0.98 210.4 777.8 10.4 397 8293 0.20 2.53 0.00 0.000 6 0.120 0.044 2576 2311 1957

8604 1.10 255.0 751.7 8.0 412 8653 0.12 2.78 41.60 1.052 4 0.061 0.078 2608 3705 1777

8681 1.10 255.0 743.9 11.7 415 8688 0.00 2.55 0.00 0.000 6 0.000 0.044 2609 2302 1775

8997 1.16 269.6 712.9 9.3 431 9016 0.00 0.00 13.88 0.956 6 0.000 0.000 2608 2300 1716

9326 1.22 269.6 678.5 11.6 447 9330 0.00 2.70 0.00 0.000 4 0.000 0.076 2608 3711 1713

9392 1.22 269.6 669.4 13.9 450 9397 0.00 2.55 0.00 0.000 6 0.000 0.042 2608 2296 1712

9714 1.27 269.6 631.1 11.3 466 9719 0.12 2.60 0.00 0.000 4 0.059 0.063 2641 891 1711

9754 1.27 269.6 626.0 14.3 468 9758 0.00 2.53 0.00 0.000 6 0.000 0.044 2641 2302 1709

10080 1.21 269.6 586.8 11.4 484 10085 0.00 2.65 0.00 0.000 4 0.000 0.070 2641 3711 1710

10188 1.15 269.6 571.1 15.8 489 10193 0.15 2.50 0.00 0.000 6 0.114 0.037 2614 2297 1710

10515 1.20 269.6 533.2 11.0 505 10519 0.00 2.58 0.00 0.000 4 0.000 0.057 2614 888 1709

10559 1.26 269.6 528.0 12.0 507 10563 0.00 2.53 0.00 0.000 6 0.000 0.040 2614 2309 1708

10880 1.32 269.6 494.0 10.5 523 10885 0.15 2.58 0.00 0.000 4 0.051 0.051 2653 891 1708

10907 1.32 269.6 490.4 12.7 524 10911 0.00 2.50 0.00 0.000 6 0.000 0.039 2653 2309 1708

11229 1.27 269.6 451.8 11.5 540 11233 0.00 2.58 0.00 0.000 4 0.000 0.050 2653 887 1709

11268 1.20 269.6 447.4 11.8 542 11273 0.17 2.50 0.00 0.000 6 0.101 0.038 2620 2304 1708

11595 1.20 269.6 409.0 11.7 558 11599 0.00 2.60 0.00 0.000 4 0.000 0.063 2621 3707 1709

11650 1.20 269.6 401.7 13.4 560 11657 0.00 2.47 0.00 0.000 6 0.000 0.032 2620 2291 1710

11966 1.27 269.6 363.3 11.4 576 11971 0.00 2.62 0.00 0.000 4 0.000 0.061 2621 3708 1710

11994 1.27 269.6 359.7 13.0 577 11998 0.00 2.47 0.00 0.000 6 0.000 0.032 2620 2291 1710

12310 1.33 269.6 321.8 12.9 592 12315 0.12 2.50 0.00 0.000 4 0.053 0.050 2656 895 1710

12354 1.33 269.6 314.8 15.9 594 12358 0.00 2.47 0.00 0.000 6 0.000 0.035 2656 2309 1710

12681 1.33 269.6 267.1 15.2 610 12682 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2309 1710

12990 1.33 269.6 212.7 19.4 625 12991 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2310 1710

13299 1.33 269.6 165.1 13.0 640 13303 0.00 2.55 0.00 0.000 4 0.000 0.048 2656 886 1710

13371 1.29 269.6 153.9 15.2 643 13376 0.00 2.47 0.00 0.000 6 0.000 0.035 2656 2304 1710

13687 1.29 269.6 105.3 14.1 658 13689 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2304 1711

13996 1.29 269.6 58.8 15.7 673 14001 0.00 2.53 0.00 0.000 4 0.000 0.046 2656 891 1711

14014 1.29 269.6 55.8 16.6 674 14018 0.00 2.45 0.00 0.000 6 0.000 0.034 2656 2299 1711

14342 1.29 269.6 8.5 16.8 690 14346 0.00 2.53 0.00 0.000 4 0.000 0.045 2656 885 1712

14379 end climb: SURFACE_DEPTH_REACHED

state 14379 begin surface coast

14404 end surface coast: CONTROL_FINISHED_OK

state 14404 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	21	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-2107988.8	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	140636,6136.699,-838.336,33,2.0,33,-9.1	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.123,-0.233
_SM_DEPTHo	1.37	KALMAN_X	-31835.9,-838.5,828.4,12666.0,-4360.1
_SM_ANGLEo	-58.2	KALMAN_Y	71909.8,-2541.2,-1454.1,-45459.1,18318.5
GPS2	141119,6136.646,-838.348,11,1.8,16,-9.1	MHEAD_RNG_PITCHd_Wd	145.3,17049,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.7,1.026796	ALTIM_BOTTOM_PING	800.1,69.4
SM_CCo	14490,0.00,0.000,0,0,1710,271.79	_24V_AH	23.5,9.811
SM_GC	1.66,12.02,0.00,0.00,0.076,0.000,0.000,75,2596,1710,-10.46,-0.08,271.79	_10V_AH	10.1,3.783
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34852,693
TT8_MAMPS	0.023777	CAP_FILE_SIZE	114210,0
HUMID	1701	CFSIZE	260165632,257118208
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	2	GPS	080609,181500,6136.669,-837.501,38,1.1,44,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	184	124.37	SBE_CT	500	24	282.11
Roll_motor	135	79	253.53	SBE_O2	486	19	217.17
VBD_pump_during_apogee	375	1136	10025.13	WL_BB2F	382	105	944.84
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	18	103	43.67	nil	0	0	0.00
Iridium_during_connect	29	160	109.35	nil	0	0	0.00
Iridium_during_xfer	128	223	671.23
Transponder_ping	7	420	76.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.20
TT8	1318	19	263.77
LPSleep	10918	2	241.51
TT8_Active	514	19	102.86
TT8_Sampling	1620	39	651.60
TT8_CF8	402	45	186.40
TT8_Kalman	33	81	27.55
Analog_circuits	1347	12	163.26
GPS_charging	0	0	0.00
Compass	1572	8	127.09
RAFOS	0	0	0.00
Transponder	50	30	15.44

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
15	-1.29	-146.6	0.0	0.0	0	104	0.00	0.00	-86.50	0.000	2	0.000	0.000	71	2601	3092
108	-1.29	-146.6	4.2	-3.2	5	131	11.60	2.58	-6.05	0.000	4	0.184	0.052	2073	1185	3417
307	-1.35	-146.6	36.1	-14.9	13	313	0.00	2.50	0.00	0.000	6	0.000	0.037	2073	2605	3418
623	-1.35	-146.6	79.7	-13.4	29	624	0.00	0.00	0.00	0.000	6	0.000	0.000	2073	2605	3418
932	-1.35	-146.6	114.1	-10.6	44	936	0.00	2.53	0.00	0.000	4	0.000	0.041	2072	1184	3418
959	-1.41	-146.6	117.0	-10.3	45	964	0.00	2.50	0.00	0.000	6	0.000	0.038	2073	2598	3418
1275	-1.45	-146.6	163.4	-15.1	60	1280	0.15	2.35	0.00	0.000	4	0.046	0.068	2026	3863	3418
1338	-1.35	-146.6	174.0	-17.2	63	1342	0.20	2.20	0.00	0.000	6	0.102	0.030	2064	2577	3418
1664	-1.35	-146.6	211.5	-10.7	79	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2575	3418
1973	-1.35	-146.6	247.4	-11.5	94	1977	0.00	2.40	0.00	0.000	4	0.000	0.067	2064	3862	3418
2017	-1.35	-146.6	252.7	-11.8	96	2021	0.00	2.15	0.00	0.000	6	0.000	0.030	2064	2594	3418
2343	-1.35	-146.6	287.2	-11.1	112	2347	0.00	2.38	0.00	0.000	4	0.000	0.067	2064	3864	3418
2370	-1.35	-146.6	290.5	-11.9	113	2374	0.00	2.17	0.00	0.000	6	0.000	0.030	2064	2594	3418
2691	-1.35	-146.6	324.5	-11.0	129	2692	0.00	0.00	0.00	0.000	6	0.000	0.000	2063	2591	3419
3001	-1.35	-146.6	358.6	-8.5	144	3005	0.00	2.47	0.00	0.000	4	0.000	0.045	2064	1200	3419
3079	-1.41	-146.6	366.6	-10.6	147	3085	0.00	2.47	0.00	0.000	6	0.000	0.038	2064	2603	3419
3395	-1.41	-146.6	399.9	-9.6	163	3396	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2603	3419
3704	-1.41	-146.6	431.0	-11.7	178	3705	0.00	0.00	0.00	0.000	6	0.000	0.000	2064	2603	3419
4013	-1.41	-146.6	473.3	-14.3	193	4017	0.00	2.35	0.00	0.000	4	0.000	0.071	2064	3858	3419
4090	-1.41	-146.6	485.1	-14.9	196	4097	0.00	2.15	0.00	0.000	6	0.000	0.031	2064	2603	3419
4406	-1.41	-146.6	530.9	-12.7	212	4410	0.00	2.35	0.00	0.000	4	0.000	0.071	2064	3860	3419
4472	-1.41	-146.6	539.0	-11.8	215	4476	0.00	2.17	0.00	0.000	6	0.000	0.032	2064	2593	3419
4799	-1.41	-146.6	580.2	-14.0	231	4804	0.00	2.47	0.00	0.000	4	0.000	0.047	2064	1202	3418
4900	-1.50	-146.6	594.6	-13.7	235	4907	0.15	2.47	0.00	0.000	6	0.048	0.041	2022	2606	3418
5217	-1.42	-146.6	643.6	-14.9	251	5222	0.15	2.50	0.00	0.000	4	0.106	0.045	2049	1204	3418
5261	-1.47	-146.6	650.0	-13.1	253	5266	0.00	2.47	0.00	0.000	6	0.000	0.041	2049	2601	3418
5587	-1.47	-146.6	691.1	-12.0	269	5591	0.00	2.38	0.00	0.000	4	0.000	0.077	2049	3858	3418
5751	-1.47	-146.6	711.7	-11.6	276	5755	0.00	2.17	0.00	0.000	6	0.000	0.035	2049	2604	3417
6072	-1.47	-146.6	744.4	-9.9	292	6076	0.00	2.55	0.00	0.000	4	0.000	0.056	2049	1197	3416
6122	-1.53	-146.6	749.1	-8.6	294	6127	0.12	2.53	0.00	0.000	6	0.054	0.047	2014	2603	3416
6440	-1.44	-146.6	789.7	-13.4	309	6442	0.15	0.00	0.00	0.000	6	0.116	0.000	2042	2604	3415
6747	-1.44	-146.6	828.9	-12.4	324	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2603	3414
7012	end dive: BOTTOM_OBSTACLE_DETECTED
state	7013	begin apogee
7019	-0.31	0.0	860.5	10.6	337	7155	1.30	0.00	130.12	1.137	6	0.133	0.000	2288	2293	2817
7156	end apogee: CONTROL_FINISHED_OK
state	7156	begin climb
7159	1.29	146.6	863.7	0.0	344	7305	1.70	2.72	132.18	1.127	4	0.092	0.063	2637	897	2216
7562	1.15	146.6	843.8	10.2	362	7567	0.15	2.58	0.00	0.000	6	0.113	0.050	2610	2307	2208
7883	1.09	179.5	813.7	8.5	378	7914	0.00	0.00	29.00	1.068	6	0.000	0.000	2610	2307	2085
8213	1.07	210.4	784.8	8.6	394	8248	0.00	2.80	28.52	1.055	4	0.000	0.080	2610	3704	1958
8288	0.98	210.4	777.8	10.4	397	8293	0.20	2.53	0.00	0.000	6	0.120	0.044	2576	2311	1957
8604	1.10	255.0	751.7	8.0	412	8653	0.12	2.78	41.60	1.052	4	0.061	0.078	2608	3705	1777
8681	1.10	255.0	743.9	11.7	415	8688	0.00	2.55	0.00	0.000	6	0.000	0.044	2609	2302	1775
8997	1.16	269.6	712.9	9.3	431	9016	0.00	0.00	13.88	0.956	6	0.000	0.000	2608	2300	1716
9326	1.22	269.6	678.5	11.6	447	9330	0.00	2.70	0.00	0.000	4	0.000	0.076	2608	3711	1713
9392	1.22	269.6	669.4	13.9	450	9397	0.00	2.55	0.00	0.000	6	0.000	0.042	2608	2296	1712
9714	1.27	269.6	631.1	11.3	466	9719	0.12	2.60	0.00	0.000	4	0.059	0.063	2641	891	1711
9754	1.27	269.6	626.0	14.3	468	9758	0.00	2.53	0.00	0.000	6	0.000	0.044	2641	2302	1709
10080	1.21	269.6	586.8	11.4	484	10085	0.00	2.65	0.00	0.000	4	0.000	0.070	2641	3711	1710
10188	1.15	269.6	571.1	15.8	489	10193	0.15	2.50	0.00	0.000	6	0.114	0.037	2614	2297	1710
10515	1.20	269.6	533.2	11.0	505	10519	0.00	2.58	0.00	0.000	4	0.000	0.057	2614	888	1709
10559	1.26	269.6	528.0	12.0	507	10563	0.00	2.53	0.00	0.000	6	0.000	0.040	2614	2309	1708
10880	1.32	269.6	494.0	10.5	523	10885	0.15	2.58	0.00	0.000	4	0.051	0.051	2653	891	1708
10907	1.32	269.6	490.4	12.7	524	10911	0.00	2.50	0.00	0.000	6	0.000	0.039	2653	2309	1708
11229	1.27	269.6	451.8	11.5	540	11233	0.00	2.58	0.00	0.000	4	0.000	0.050	2653	887	1709
11268	1.20	269.6	447.4	11.8	542	11273	0.17	2.50	0.00	0.000	6	0.101	0.038	2620	2304	1708
11595	1.20	269.6	409.0	11.7	558	11599	0.00	2.60	0.00	0.000	4	0.000	0.063	2621	3707	1709
11650	1.20	269.6	401.7	13.4	560	11657	0.00	2.47	0.00	0.000	6	0.000	0.032	2620	2291	1710
11966	1.27	269.6	363.3	11.4	576	11971	0.00	2.62	0.00	0.000	4	0.000	0.061	2621	3708	1710
11994	1.27	269.6	359.7	13.0	577	11998	0.00	2.47	0.00	0.000	6	0.000	0.032	2620	2291	1710
12310	1.33	269.6	321.8	12.9	592	12315	0.12	2.50	0.00	0.000	4	0.053	0.050	2656	895	1710
12354	1.33	269.6	314.8	15.9	594	12358	0.00	2.47	0.00	0.000	6	0.000	0.035	2656	2309	1710
12681	1.33	269.6	267.1	15.2	610	12682	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2309	1710
12990	1.33	269.6	212.7	19.4	625	12991	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2310	1710
13299	1.33	269.6	165.1	13.0	640	13303	0.00	2.55	0.00	0.000	4	0.000	0.048	2656	886	1710
13371	1.29	269.6	153.9	15.2	643	13376	0.00	2.47	0.00	0.000	6	0.000	0.035	2656	2304	1710
13687	1.29	269.6	105.3	14.1	658	13689	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2304	1711
13996	1.29	269.6	58.8	15.7	673	14001	0.00	2.53	0.00	0.000	4	0.000	0.046	2656	891	1711
14014	1.29	269.6	55.8	16.6	674	14018	0.00	2.45	0.00	0.000	6	0.000	0.034	2656	2299	1711
14342	1.29	269.6	8.5	16.8	690	14346	0.00	2.53	0.00	0.000	4	0.000	0.045	2656	885	1712
14379	end climb: SURFACE_DEPTH_REACHED
state	14379	begin surface coast
14404	end surface coast: CONTROL_FINISHED_OK
state	14404	begin surface