Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 27 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2476 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 INT_PRESSURE_YINT -1.8522969

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 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 440 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 480 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -1628569.2 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 440

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 -1628569.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2476 MASS 52000 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 36 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 27 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 211936,6143.707,-901.199,41,1.4,41,-9.3 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.203,-0.128

_SM_DEPTHo 0.78 KALMAN_X -133974.8,1907.4,1239.0,91333.3,-19650.5

_SM_ANGLEo -57.5 KALMAN_Y 68619.2,225.9,-94.3,-33412.5,7141.0

GPS2 212755,6143.819,-901.291,12,1.4,12,-9.3 MHEAD_RNG_PITCHd_Wd 131.6,41031,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.017013 ALTIM_BOTTOM_PING 650.7,87.4

SM_CCo 15163,0.00,0.000,0,0,1359,361.08 _24V_AH 23.2,22.035

SM_GC 0.64,11.65,0.00,0.00,0.023,0.000,0.000,394,2452,1359,-10.99,-0.68,361.08 _10V_AH 10.0,9.375

IRIDIUM_FIX 6126.23,-655.63,040998,212135 DATA_FILE_SIZE 38023,722

TT8_MAMPS 0.026845 CAP_FILE_SIZE 114988,0

HUMID 1839 CFSIZE 260165632,256282624

INTERNAL_PRESSURE 8.06019 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 17.40 GPS 110609,014237,6145.316,-905.131,30,1.7,30,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 80.63 SBE_CT 645 24 359.52

Roll_motor 135 68 213.92 SBE_O2 494 19 218.02

VBD_pump_during_apogee 449 1293 13482.35 WL_BB2F 440 105 1073.09

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 48 103 116.69 nil 0 0 0.00

Iridium_during_connect 113 160 421.11 nil 0 0 0.00

Iridium_during_xfer 158 223 818.85

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.50

TT8 1368 19 271.04

LPSleep 11264 2 246.70

TT8_Active 497 19 98.43

TT8_Sampling 1739 39 692.31

TT8_CF8 788 45 361.09

TT8_Kalman 33 81 27.28

Analog_circuits 1446 12 173.53

GPS_charging 0 0 0.00

Compass 1851 8 148.11

RAFOS 0 0 0.00

Transponder 40 30 12.28

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 -1.17 -146.6 0.0 0.0 0 78 0.00 0.00 -59.75 0.000 6 0.000 0.000 396 2454 3432

81 -1.17 -146.6 4.6 -8.9 3 101 11.48 2.42 0.00 0.000 4 0.136 0.032 2537 1054 3432

341 -1.17 -146.6 38.1 -8.2 14 348 0.00 2.45 0.00 0.000 6 0.000 0.032 2537 2470 3433

657 -1.17 -146.6 66.1 -9.7 30 662 0.00 2.45 0.00 0.000 4 0.000 0.035 2537 1059 3433

724 -1.17 -146.6 72.4 -8.7 33 728 0.00 2.45 0.00 0.000 6 0.000 0.031 2537 2474 3433

1046 -1.17 -146.6 97.5 -8.0 49 1050 0.00 2.45 0.00 0.000 4 0.000 0.057 2537 3829 3433

1124 -1.17 -146.6 104.9 -9.9 52 1131 0.00 2.33 0.00 0.000 6 0.000 0.025 2537 2459 3433

1439 -1.17 -146.6 134.8 -10.2 68 1441 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2457 3433

1751 -1.17 -146.6 166.8 -10.1 83 1752 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2458 3433

2058 -1.17 -146.6 197.6 -10.3 98 2062 0.00 2.38 0.00 0.000 4 0.000 0.038 2537 1085 3433

2097 -1.17 -146.6 201.8 -11.0 100 2102 0.00 2.40 0.00 0.000 6 0.000 0.032 2537 2477 3434

2424 -1.17 -146.6 235.4 -10.3 116 2428 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1085 3433

2480 -1.17 -146.6 241.4 -10.6 118 2487 0.00 2.45 0.00 0.000 6 0.000 0.035 2536 2476 3433

2795 -1.17 -146.6 273.2 -10.2 134 2799 0.00 2.42 0.00 0.000 4 0.000 0.038 2537 1081 3433

2851 -1.17 -146.6 279.1 -10.7 136 2857 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2474 3433

3166 -1.17 -146.6 309.2 -9.3 152 3171 0.00 2.45 0.00 0.000 4 0.000 0.039 2537 1090 3433

3223 -1.17 -146.6 314.9 -10.1 154 3227 0.00 2.42 0.00 0.000 6 0.000 0.037 2536 2480 3433

3538 -1.17 -146.6 344.3 -9.1 169 3542 0.00 2.42 0.00 0.000 4 0.000 0.040 2537 1088 3433

3577 -1.17 -146.6 348.2 -9.6 171 3582 0.00 2.42 0.00 0.000 6 0.000 0.038 2536 2474 3433

3904 -1.17 -146.6 378.0 -9.2 187 3905 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2474 3433

4213 -1.17 -146.6 408.3 -10.4 202 4217 0.00 2.42 0.00 0.000 4 0.000 0.041 2537 1089 3433

4246 -1.17 -146.6 412.1 -10.9 203 4252 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2477 3433

4563 -1.17 -146.6 446.7 -11.0 219 4567 0.00 2.47 0.00 0.000 4 0.000 0.063 2537 3834 3433

4603 -1.17 -146.6 451.3 -11.3 221 4607 0.00 2.28 0.00 0.000 6 0.000 0.028 2537 2483 3433

4929 -1.17 -146.6 480.5 -8.4 237 4933 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1073 3433

5036 -1.17 -146.6 489.7 -9.0 242 5041 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2478 3433

5363 -1.17 -146.6 515.7 -7.9 258 5367 0.00 2.45 0.00 0.000 4 0.000 0.061 2536 3833 3432

5495 -1.17 -146.6 527.2 -8.1 264 5499 0.00 2.30 0.00 0.000 6 0.000 0.029 2537 2478 3432

5823 -1.17 -146.6 554.3 -8.3 280 5827 0.00 2.45 0.00 0.000 4 0.000 0.043 2537 1077 3432

5867 -1.17 -146.6 558.4 -9.3 282 5871 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2483 3432

6188 -1.17 -146.6 585.4 -8.6 298 6192 0.00 2.45 0.00 0.000 4 0.000 0.063 2537 3831 3431

6353 -1.17 -146.6 598.2 -7.0 305 6357 0.00 2.30 0.00 0.000 6 0.000 0.031 2537 2480 3430

6669 -1.17 -146.6 626.9 -7.2 320 6673 0.00 2.50 0.00 0.000 4 0.000 0.065 2537 3831 3430

6718 -1.17 -146.6 632.3 -7.2 322 6722 0.00 2.33 0.00 0.000 6 0.000 0.033 2537 2479 3429

7036 -1.17 -146.6 641.7 -6.4 337 7037 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2476 3428

7343 -1.17 -146.6 667.2 -6.8 352 7348 0.00 2.53 0.00 0.000 4 0.000 0.068 2537 3821 3426

7434 -1.17 -146.6 673.2 -2.3 356 7439 0.00 2.35 0.00 0.000 6 0.000 0.035 2537 2476 3425

7766 -1.17 -146.6 686.2 2.1 372 7770 0.00 2.50 0.00 0.000 4 0.000 0.051 2537 1071 3423

7815 -1.17 -146.6 687.9 -5.9 374 7820 0.00 2.50 0.00 0.000 6 0.000 0.044 2537 2474 3423

8133 -1.17 -146.6 710.6 -9.2 389 8138 0.00 2.53 0.00 0.000 4 0.000 0.051 2537 1067 3422

8223 -1.17 -146.6 717.3 -11.9 393 8227 0.00 2.50 0.00 0.000 6 0.000 0.045 2537 2476 3422

8418 end dive: BOTTOM_OBSTACLE_DETECTED

state 8418 begin apogee

8425 -0.36 0.0 731.2 11.4 403 8561 0.88 0.00 126.90 1.294 6 0.074 0.000 2721 1466 2831

8561 end apogee: CONTROL_FINISHED_OK

state 8561 begin climb

8564 1.17 146.6 737.8 0.0 410 8704 1.50 2.62 130.88 1.236 4 0.044 0.054 3057 2858 2233

8713 1.17 146.6 731.1 12.1 417 8718 0.00 2.55 0.00 0.000 6 0.000 0.046 3057 1453 2231

9040 1.21 178.5 691.7 6.4 433 9075 0.00 2.30 28.12 1.187 4 0.000 0.068 3057 264 2103

9401 1.21 178.5 660.4 10.1 449 9405 0.00 2.08 0.00 0.000 6 0.000 0.036 3057 1472 2095

9730 1.30 245.1 636.2 5.2 465 9798 0.10 2.33 60.47 1.220 4 0.052 0.066 3094 267 1831

9827 1.43 350.5 630.7 3.9 469 9928 0.00 2.08 96.03 1.187 6 0.000 0.035 3094 1462 1402

10251 1.43 350.5 594.1 9.3 490 10252 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1462 1389

10560 1.44 359.7 568.8 7.2 505 10569 0.00 0.00 6.72 0.970 6 0.000 0.000 3094 1462 1366

10872 1.44 359.7 535.0 11.9 520 10876 0.00 2.50 0.00 0.000 4 0.000 0.049 3094 2855 1362

10944 1.44 359.7 524.9 14.4 523 10949 0.00 2.53 0.00 0.000 6 0.000 0.042 3094 1458 1362

11264 1.44 359.7 479.2 13.9 539 11266 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1458 1361

11574 1.44 359.7 438.0 12.8 554 11577 0.00 2.17 0.00 0.000 4 0.000 0.060 3094 262 1360

11619 1.44 359.7 431.8 13.6 556 11624 0.00 2.05 0.00 0.000 6 0.000 0.030 3094 1467 1360

11951 1.44 359.7 386.4 15.3 572 11955 0.00 2.20 0.00 0.000 4 0.000 0.058 3094 261 1360

12001 1.44 359.7 379.3 13.3 574 12005 0.00 2.00 0.00 0.000 6 0.000 0.031 3094 1457 1360

12328 1.44 359.7 336.9 12.5 590 12329 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1458 1360

12637 1.44 359.7 299.5 11.8 605 12641 0.00 2.17 0.00 0.000 4 0.000 0.056 3094 257 1360

12682 1.44 359.7 294.0 12.3 607 12686 0.00 2.03 0.00 0.000 6 0.000 0.030 3094 1461 1360

13015 1.44 359.7 254.1 13.0 623 13016 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1463 1360

13324 1.44 359.7 213.4 12.2 638 13328 0.00 2.17 0.00 0.000 4 0.000 0.054 3094 258 1361

13394 1.44 359.7 205.0 12.6 641 13397 0.00 2.00 0.00 0.000 6 0.000 0.029 3094 1455 1361

13726 1.44 359.7 166.2 11.8 657 13727 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1456 1362

14037 1.44 359.7 127.8 12.8 672 14041 0.00 2.15 0.00 0.000 4 0.000 0.054 3094 261 1362

14087 1.44 359.7 120.4 14.2 674 14090 0.00 2.00 0.00 0.000 6 0.000 0.028 3094 1458 1362

14414 1.44 359.7 78.1 12.3 690 14417 0.00 2.15 0.00 0.000 4 0.000 0.053 3094 262 1362

14460 1.44 359.7 72.0 13.6 692 14465 0.00 2.00 0.00 0.000 6 0.000 0.029 3094 1452 1362

14792 1.44 359.7 31.0 12.1 708 14793 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 1453 1362

15057 end climb: SURFACE_DEPTH_REACHED

state 15057 begin surface coast

15079 end surface coast: CONTROL_FINISHED_OK

state 15079 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	27	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2476	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	INT_PRESSURE_YINT	-1.8522969
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	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	480	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-1628569.2	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	211936,6143.707,-901.199,41,1.4,41,-9.3	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.203,-0.128
_SM_DEPTHo	0.78	KALMAN_X	-133974.8,1907.4,1239.0,91333.3,-19650.5
_SM_ANGLEo	-57.5	KALMAN_Y	68619.2,225.9,-94.3,-33412.5,7141.0
GPS2	212755,6143.819,-901.291,12,1.4,12,-9.3	MHEAD_RNG_PITCHd_Wd	131.6,41031,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	-0.1,1.017013	ALTIM_BOTTOM_PING	650.7,87.4
SM_CCo	15163,0.00,0.000,0,0,1359,361.08	_24V_AH	23.2,22.035
SM_GC	0.64,11.65,0.00,0.00,0.023,0.000,0.000,394,2452,1359,-10.99,-0.68,361.08	_10V_AH	10.0,9.375
IRIDIUM_FIX	6126.23,-655.63,040998,212135	DATA_FILE_SIZE	38023,722
TT8_MAMPS	0.026845	CAP_FILE_SIZE	114988,0
HUMID	1839	CFSIZE	260165632,256282624
INTERNAL_PRESSURE	8.06019	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	17.40	GPS	110609,014237,6145.316,-905.131,30,1.7,30,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	80.63	SBE_CT	645	24	359.52
Roll_motor	135	68	213.92	SBE_O2	494	19	218.02
VBD_pump_during_apogee	449	1293	13482.35	WL_BB2F	440	105	1073.09
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	48	103	116.69	nil	0	0	0.00
Iridium_during_connect	113	160	421.11	nil	0	0	0.00
Iridium_during_xfer	158	223	818.85
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.50
TT8	1368	19	271.04
LPSleep	11264	2	246.70
TT8_Active	497	19	98.43
TT8_Sampling	1739	39	692.31
TT8_CF8	788	45	361.09
TT8_Kalman	33	81	27.28
Analog_circuits	1446	12	173.53
GPS_charging	0	0	0.00
Compass	1851	8	148.11
RAFOS	0	0	0.00
Transponder	40	30	12.28

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	-1.17	-146.6	0.0	0.0	0	78	0.00	0.00	-59.75	0.000	6	0.000	0.000	396	2454	3432
81	-1.17	-146.6	4.6	-8.9	3	101	11.48	2.42	0.00	0.000	4	0.136	0.032	2537	1054	3432
341	-1.17	-146.6	38.1	-8.2	14	348	0.00	2.45	0.00	0.000	6	0.000	0.032	2537	2470	3433
657	-1.17	-146.6	66.1	-9.7	30	662	0.00	2.45	0.00	0.000	4	0.000	0.035	2537	1059	3433
724	-1.17	-146.6	72.4	-8.7	33	728	0.00	2.45	0.00	0.000	6	0.000	0.031	2537	2474	3433
1046	-1.17	-146.6	97.5	-8.0	49	1050	0.00	2.45	0.00	0.000	4	0.000	0.057	2537	3829	3433
1124	-1.17	-146.6	104.9	-9.9	52	1131	0.00	2.33	0.00	0.000	6	0.000	0.025	2537	2459	3433
1439	-1.17	-146.6	134.8	-10.2	68	1441	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2457	3433
1751	-1.17	-146.6	166.8	-10.1	83	1752	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2458	3433
2058	-1.17	-146.6	197.6	-10.3	98	2062	0.00	2.38	0.00	0.000	4	0.000	0.038	2537	1085	3433
2097	-1.17	-146.6	201.8	-11.0	100	2102	0.00	2.40	0.00	0.000	6	0.000	0.032	2537	2477	3434
2424	-1.17	-146.6	235.4	-10.3	116	2428	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1085	3433
2480	-1.17	-146.6	241.4	-10.6	118	2487	0.00	2.45	0.00	0.000	6	0.000	0.035	2536	2476	3433
2795	-1.17	-146.6	273.2	-10.2	134	2799	0.00	2.42	0.00	0.000	4	0.000	0.038	2537	1081	3433
2851	-1.17	-146.6	279.1	-10.7	136	2857	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2474	3433
3166	-1.17	-146.6	309.2	-9.3	152	3171	0.00	2.45	0.00	0.000	4	0.000	0.039	2537	1090	3433
3223	-1.17	-146.6	314.9	-10.1	154	3227	0.00	2.42	0.00	0.000	6	0.000	0.037	2536	2480	3433
3538	-1.17	-146.6	344.3	-9.1	169	3542	0.00	2.42	0.00	0.000	4	0.000	0.040	2537	1088	3433
3577	-1.17	-146.6	348.2	-9.6	171	3582	0.00	2.42	0.00	0.000	6	0.000	0.038	2536	2474	3433
3904	-1.17	-146.6	378.0	-9.2	187	3905	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2474	3433
4213	-1.17	-146.6	408.3	-10.4	202	4217	0.00	2.42	0.00	0.000	4	0.000	0.041	2537	1089	3433
4246	-1.17	-146.6	412.1	-10.9	203	4252	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2477	3433
4563	-1.17	-146.6	446.7	-11.0	219	4567	0.00	2.47	0.00	0.000	4	0.000	0.063	2537	3834	3433
4603	-1.17	-146.6	451.3	-11.3	221	4607	0.00	2.28	0.00	0.000	6	0.000	0.028	2537	2483	3433
4929	-1.17	-146.6	480.5	-8.4	237	4933	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1073	3433
5036	-1.17	-146.6	489.7	-9.0	242	5041	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2478	3433
5363	-1.17	-146.6	515.7	-7.9	258	5367	0.00	2.45	0.00	0.000	4	0.000	0.061	2536	3833	3432
5495	-1.17	-146.6	527.2	-8.1	264	5499	0.00	2.30	0.00	0.000	6	0.000	0.029	2537	2478	3432
5823	-1.17	-146.6	554.3	-8.3	280	5827	0.00	2.45	0.00	0.000	4	0.000	0.043	2537	1077	3432
5867	-1.17	-146.6	558.4	-9.3	282	5871	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2483	3432
6188	-1.17	-146.6	585.4	-8.6	298	6192	0.00	2.45	0.00	0.000	4	0.000	0.063	2537	3831	3431
6353	-1.17	-146.6	598.2	-7.0	305	6357	0.00	2.30	0.00	0.000	6	0.000	0.031	2537	2480	3430
6669	-1.17	-146.6	626.9	-7.2	320	6673	0.00	2.50	0.00	0.000	4	0.000	0.065	2537	3831	3430
6718	-1.17	-146.6	632.3	-7.2	322	6722	0.00	2.33	0.00	0.000	6	0.000	0.033	2537	2479	3429
7036	-1.17	-146.6	641.7	-6.4	337	7037	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2476	3428
7343	-1.17	-146.6	667.2	-6.8	352	7348	0.00	2.53	0.00	0.000	4	0.000	0.068	2537	3821	3426
7434	-1.17	-146.6	673.2	-2.3	356	7439	0.00	2.35	0.00	0.000	6	0.000	0.035	2537	2476	3425
7766	-1.17	-146.6	686.2	2.1	372	7770	0.00	2.50	0.00	0.000	4	0.000	0.051	2537	1071	3423
7815	-1.17	-146.6	687.9	-5.9	374	7820	0.00	2.50	0.00	0.000	6	0.000	0.044	2537	2474	3423
8133	-1.17	-146.6	710.6	-9.2	389	8138	0.00	2.53	0.00	0.000	4	0.000	0.051	2537	1067	3422
8223	-1.17	-146.6	717.3	-11.9	393	8227	0.00	2.50	0.00	0.000	6	0.000	0.045	2537	2476	3422
8418	end dive: BOTTOM_OBSTACLE_DETECTED
state	8418	begin apogee
8425	-0.36	0.0	731.2	11.4	403	8561	0.88	0.00	126.90	1.294	6	0.074	0.000	2721	1466	2831
8561	end apogee: CONTROL_FINISHED_OK
state	8561	begin climb
8564	1.17	146.6	737.8	0.0	410	8704	1.50	2.62	130.88	1.236	4	0.044	0.054	3057	2858	2233
8713	1.17	146.6	731.1	12.1	417	8718	0.00	2.55	0.00	0.000	6	0.000	0.046	3057	1453	2231
9040	1.21	178.5	691.7	6.4	433	9075	0.00	2.30	28.12	1.187	4	0.000	0.068	3057	264	2103
9401	1.21	178.5	660.4	10.1	449	9405	0.00	2.08	0.00	0.000	6	0.000	0.036	3057	1472	2095
9730	1.30	245.1	636.2	5.2	465	9798	0.10	2.33	60.47	1.220	4	0.052	0.066	3094	267	1831
9827	1.43	350.5	630.7	3.9	469	9928	0.00	2.08	96.03	1.187	6	0.000	0.035	3094	1462	1402
10251	1.43	350.5	594.1	9.3	490	10252	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1462	1389
10560	1.44	359.7	568.8	7.2	505	10569	0.00	0.00	6.72	0.970	6	0.000	0.000	3094	1462	1366
10872	1.44	359.7	535.0	11.9	520	10876	0.00	2.50	0.00	0.000	4	0.000	0.049	3094	2855	1362
10944	1.44	359.7	524.9	14.4	523	10949	0.00	2.53	0.00	0.000	6	0.000	0.042	3094	1458	1362
11264	1.44	359.7	479.2	13.9	539	11266	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1458	1361
11574	1.44	359.7	438.0	12.8	554	11577	0.00	2.17	0.00	0.000	4	0.000	0.060	3094	262	1360
11619	1.44	359.7	431.8	13.6	556	11624	0.00	2.05	0.00	0.000	6	0.000	0.030	3094	1467	1360
11951	1.44	359.7	386.4	15.3	572	11955	0.00	2.20	0.00	0.000	4	0.000	0.058	3094	261	1360
12001	1.44	359.7	379.3	13.3	574	12005	0.00	2.00	0.00	0.000	6	0.000	0.031	3094	1457	1360
12328	1.44	359.7	336.9	12.5	590	12329	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1458	1360
12637	1.44	359.7	299.5	11.8	605	12641	0.00	2.17	0.00	0.000	4	0.000	0.056	3094	257	1360
12682	1.44	359.7	294.0	12.3	607	12686	0.00	2.03	0.00	0.000	6	0.000	0.030	3094	1461	1360
13015	1.44	359.7	254.1	13.0	623	13016	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1463	1360
13324	1.44	359.7	213.4	12.2	638	13328	0.00	2.17	0.00	0.000	4	0.000	0.054	3094	258	1361
13394	1.44	359.7	205.0	12.6	641	13397	0.00	2.00	0.00	0.000	6	0.000	0.029	3094	1455	1361
13726	1.44	359.7	166.2	11.8	657	13727	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1456	1362
14037	1.44	359.7	127.8	12.8	672	14041	0.00	2.15	0.00	0.000	4	0.000	0.054	3094	261	1362
14087	1.44	359.7	120.4	14.2	674	14090	0.00	2.00	0.00	0.000	6	0.000	0.028	3094	1458	1362
14414	1.44	359.7	78.1	12.3	690	14417	0.00	2.15	0.00	0.000	4	0.000	0.053	3094	262	1362
14460	1.44	359.7	72.0	13.6	692	14465	0.00	2.00	0.00	0.000	6	0.000	0.029	3094	1452	1362
14792	1.44	359.7	31.0	12.1	708	14793	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	1453	1362
15057	end climb: SURFACE_DEPTH_REACHED
state	15057	begin surface coast
15079	end surface coast: CONTROL_FINISHED_OK
state	15079	begin surface