Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 28 * 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 28 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -1628586.2 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 -1628586.2

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 28 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 014237,6145.316,-905.131,30,1.7,30,-9.4 TGT_NAME FBC_SIL

_CALLS 2 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.225,0.083

_SM_DEPTHo 0.69 KALMAN_X -140627.7,1071.9,795.1,95787.8,-21252.6

_SM_ANGLEo -53.0 KALMAN_Y 74393.6,845.9,-388.9,-36710.1,10005.1

GPS2 015302,6145.348,-905.239,16,1.6,16,-9.4 MHEAD_RNG_PITCHd_Wd 79.2,45523,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027237 ALTIM_BOTTOM_PING 626.2,63.2

SM_CCo 14069,0.00,0.000,0,0,1476,332.38 _24V_AH 23.2,22.196

SM_GC 0.73,11.70,0.00,0.00,0.022,0.000,0.000,394,2462,1476,-10.98,-0.37,332.38 _10V_AH 10.1,9.450

IRIDIUM_FIX 6121.73,-903.08,050998,010117 DATA_FILE_SIZE 34802,669

TT8_MAMPS 0.026845 CAP_FILE_SIZE 108993,0

HUMID 1822 CFSIZE 260165632,256237568

INTERNAL_PRESSURE 8.07973 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 17.60 GPS 110609,054937,6147.981,-909.376,37,1.1,37,-9.4

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.11 SBE_CT 594 24 330.92

Roll_motor 116 69 188.36 SBE_O2 457 19 201.61

VBD_pump_during_apogee 419 1239 12058.72 WL_BB2F 413 105 1007.61

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 61 103 146.55 nil 0 0 0.00

Iridium_during_connect 67 160 251.94 nil 0 0 0.00

Iridium_during_xfer 311 223 1610.08

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.25

TT8 1271 19 254.18

LPSleep 10425 2 230.60

TT8_Active 494 19 98.82

TT8_Sampling 1629 39 654.84

TT8_CF8 874 45 404.60

TT8_Kalman 33 81 27.55

Analog_circuits 1365 12 165.52

GPS_charging 0 0 0.00

Compass 1720 8 139.01

RAFOS 0 0 0.00

Transponder 39 30 11.89

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 86 0.00 0.00 -68.60 0.000 6 0.000 0.000 394 2455 3431

89 -1.17 -146.6 3.0 -5.5 3 110 11.45 2.50 0.00 0.000 4 0.134 0.034 2537 1052 3433

245 -1.17 -146.6 27.4 -9.0 10 250 0.00 2.47 0.00 0.000 6 0.000 0.031 2536 2482 3433

572 -1.17 -146.6 59.8 -10.0 26 573 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2483 3432

882 -1.17 -146.6 88.2 -9.3 41 883 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2483 3433

1192 -1.17 -146.6 122.0 -11.1 56 1196 0.00 2.50 0.00 0.000 4 0.000 0.037 2537 1052 3433

1286 -1.17 -146.6 133.1 -12.5 60 1291 0.00 2.50 0.00 0.000 6 0.000 0.032 2536 2474 3433

1609 -1.17 -146.6 165.2 -8.8 76 1611 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2474 3433

1916 -1.17 -146.6 192.6 -9.9 91 1921 0.00 2.47 0.00 0.000 4 0.000 0.037 2537 1055 3433

2016 -1.17 -146.6 203.2 -9.4 95 2023 0.00 2.47 0.00 0.000 6 0.000 0.035 2537 2474 3433

2333 -1.17 -146.6 234.4 -9.6 111 2338 0.00 2.47 0.00 0.000 4 0.000 0.061 2537 3834 3433

2373 -1.17 -146.6 238.6 -10.1 113 2377 0.00 2.33 0.00 0.000 6 0.000 0.027 2536 2454 3433

2702 -1.17 -146.6 267.3 -8.8 129 2706 0.00 2.38 0.00 0.000 4 0.000 0.039 2537 1080 3433

2742 -1.17 -146.6 271.3 -9.5 131 2746 0.00 2.42 0.00 0.000 6 0.000 0.035 2537 2480 3433

3068 -1.17 -146.6 299.5 -8.3 147 3073 0.00 2.45 0.00 0.000 4 0.000 0.039 2537 1078 3433

3113 -1.17 -146.6 303.4 -8.1 149 3117 0.00 2.45 0.00 0.000 6 0.000 0.036 2536 2484 3433

3440 -1.17 -146.6 331.8 -9.1 165 3445 0.00 2.45 0.00 0.000 4 0.000 0.040 2537 1082 3433

3473 -1.17 -146.6 334.9 -9.4 166 3479 0.00 2.45 0.00 0.000 6 0.000 0.037 2537 2485 3433

3789 -1.17 -146.6 360.5 -7.4 182 3794 0.00 2.47 0.00 0.000 4 0.000 0.041 2536 1091 3433

3845 -1.17 -146.6 364.6 -7.1 184 3849 0.00 2.42 0.00 0.000 6 0.000 0.038 2537 2473 3433

4160 -1.17 -146.6 386.2 -7.3 199 4164 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1076 3433

4233 -1.17 -146.6 391.6 -8.0 202 4237 0.00 2.45 0.00 0.000 6 0.000 0.038 2537 2478 3433

4551 -1.17 -146.6 419.8 -10.7 217 4552 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2478 3433

4858 -1.17 -146.6 452.4 -11.7 232 4862 0.00 2.45 0.00 0.000 4 0.000 0.041 2537 1082 3433

4965 -1.17 -146.6 466.3 -13.4 237 4970 0.00 2.45 0.00 0.000 6 0.000 0.038 2536 2470 3433

5296 -1.17 -146.6 507.7 -13.3 253 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2470 3432

5607 -1.17 -146.6 542.7 -11.3 268 5611 0.00 2.45 0.00 0.000 4 0.000 0.042 2537 1078 3432

5751 -1.17 -146.6 557.2 -8.2 274 5757 0.00 2.45 0.00 0.000 6 0.000 0.040 2537 2477 3431

6070 -1.17 -146.6 570.3 -1.3 290 6074 0.00 2.47 0.00 0.000 4 0.000 0.043 2536 1073 3431

6181 -1.17 -146.6 577.3 -11.3 295 6185 0.00 2.47 0.00 0.000 6 0.000 0.041 2537 2477 3431

6502 -1.17 -146.6 599.9 -7.9 311 6503 0.00 0.00 0.00 0.000 6 0.000 0.000 2537 2477 3430

6813 -1.17 -146.6 634.3 -5.9 326 6817 0.00 2.50 0.00 0.000 4 0.000 0.070 2537 3833 3428

6856 -1.17 -146.6 638.8 -10.8 328 6861 0.00 2.33 0.00 0.000 6 0.000 0.033 2537 2480 3428

7178 -1.17 -146.6 664.8 -7.0 344 7179 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2477 3427

7443 end dive: BOTTOM_OBSTACLE_DETECTED

state 7443 begin apogee

7451 -0.36 0.0 680.0 7.7 357 7586 0.88 0.00 126.85 1.239 6 0.074 0.000 2721 1462 2832

7587 end apogee: CONTROL_FINISHED_OK

state 7587 begin climb

7590 1.17 146.6 682.4 0.0 364 7728 1.55 2.62 129.68 1.183 4 0.064 0.051 3052 2858 2233

8067 1.17 146.6 639.4 13.3 385 8075 0.00 2.53 0.00 0.000 6 0.000 0.044 3052 1458 2222

8383 1.31 254.7 624.5 3.8 401 8488 0.15 2.62 95.12 1.184 4 0.043 0.051 3106 2856 1792

8549 1.31 254.7 612.6 8.8 408 8555 0.00 2.53 0.00 0.000 6 0.000 0.043 3106 1453 1786

8865 1.31 254.7 568.1 15.4 424 8869 0.00 2.55 0.00 0.000 4 0.000 0.049 3106 2866 1781

8908 1.31 254.7 561.5 13.8 426 8913 0.00 2.53 0.00 0.000 6 0.000 0.043 3106 1461 1780

9235 1.31 254.7 525.4 12.1 442 9238 0.00 2.22 0.00 0.000 4 0.000 0.066 3106 258 1778

9409 1.31 254.7 501.0 14.7 449 9415 0.00 2.08 0.00 0.000 6 0.000 0.033 3106 1478 1777

9725 1.31 254.7 458.1 15.0 465 9728 0.00 2.22 0.00 0.000 4 0.000 0.060 3106 264 1776

9922 1.31 254.7 424.9 16.7 473 9929 0.00 2.00 0.00 0.000 6 0.000 0.031 3106 1457 1775

10240 1.31 254.7 378.0 15.0 489 10241 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 1457 1775

10547 1.31 254.7 332.5 13.3 504 10551 0.00 2.17 0.00 0.000 4 0.000 0.055 3106 259 1775

10597 1.31 254.7 325.4 14.3 506 10601 0.00 2.03 0.00 0.000 6 0.000 0.031 3106 1456 1775

10924 1.31 254.7 290.4 9.2 522 10925 0.00 0.00 0.00 0.000 6 0.000 0.000 3107 1458 1775

11233 1.32 260.7 265.9 7.3 537 11234 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 1458 1776

11542 1.32 263.2 243.9 7.4 552 11553 0.00 2.15 5.80 0.737 4 0.000 0.053 3106 263 1758

11604 1.34 280.4 239.2 6.9 555 11627 0.00 2.05 16.88 0.882 6 0.000 0.030 3106 1459 1689

11938 1.40 329.9 220.0 5.8 571 11985 0.00 0.00 45.03 0.894 6 0.000 0.000 3106 1460 1486

12286 1.40 329.9 194.3 8.0 588 12290 0.00 2.17 0.00 0.000 4 0.000 0.054 3106 258 1480

12336 1.40 329.9 189.5 8.8 590 12340 0.00 2.03 0.00 0.000 6 0.000 0.029 3106 1456 1480

12666 1.40 329.9 157.4 10.7 606 12667 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 1457 1479

12973 1.40 329.9 123.4 11.3 621 12976 0.00 2.15 0.00 0.000 4 0.000 0.052 3106 261 1478

13078 1.40 329.9 109.6 13.5 625 13085 0.00 2.03 0.00 0.000 6 0.000 0.028 3106 1456 1478

13395 1.40 329.9 72.2 11.5 641 13399 0.00 2.15 0.00 0.000 4 0.000 0.052 3105 258 1479

13451 1.40 329.9 65.3 12.3 643 13455 0.00 2.03 0.00 0.000 6 0.000 0.029 3106 1464 1478

13772 1.40 329.9 27.2 12.5 659 13776 0.00 2.17 0.00 0.000 4 0.000 0.051 3106 257 1478

13845 1.40 329.9 16.9 14.1 662 13848 0.00 2.00 0.00 0.000 6 0.000 0.029 3106 1455 1479

13964 end climb: SURFACE_DEPTH_REACHED

state 13964 begin surface coast

13985 end surface coast: CONTROL_FINISHED_OK

state 13985 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	28	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-1628586.2	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	014237,6145.316,-905.131,30,1.7,30,-9.4	TGT_NAME	FBC_SIL
_CALLS	2	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.225,0.083
_SM_DEPTHo	0.69	KALMAN_X	-140627.7,1071.9,795.1,95787.8,-21252.6
_SM_ANGLEo	-53.0	KALMAN_Y	74393.6,845.9,-388.9,-36710.1,10005.1
GPS2	015302,6145.348,-905.239,16,1.6,16,-9.4	MHEAD_RNG_PITCHd_Wd	79.2,45523,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	0.2,1.027237	ALTIM_BOTTOM_PING	626.2,63.2
SM_CCo	14069,0.00,0.000,0,0,1476,332.38	_24V_AH	23.2,22.196
SM_GC	0.73,11.70,0.00,0.00,0.022,0.000,0.000,394,2462,1476,-10.98,-0.37,332.38	_10V_AH	10.1,9.450
IRIDIUM_FIX	6121.73,-903.08,050998,010117	DATA_FILE_SIZE	34802,669
TT8_MAMPS	0.026845	CAP_FILE_SIZE	108993,0
HUMID	1822	CFSIZE	260165632,256237568
INTERNAL_PRESSURE	8.07973	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.60	GPS	110609,054937,6147.981,-909.376,37,1.1,37,-9.4
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.11	SBE_CT	594	24	330.92
Roll_motor	116	69	188.36	SBE_O2	457	19	201.61
VBD_pump_during_apogee	419	1239	12058.72	WL_BB2F	413	105	1007.61
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	61	103	146.55	nil	0	0	0.00
Iridium_during_connect	67	160	251.94	nil	0	0	0.00
Iridium_during_xfer	311	223	1610.08
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.25
TT8	1271	19	254.18
LPSleep	10425	2	230.60
TT8_Active	494	19	98.82
TT8_Sampling	1629	39	654.84
TT8_CF8	874	45	404.60
TT8_Kalman	33	81	27.55
Analog_circuits	1365	12	165.52
GPS_charging	0	0	0.00
Compass	1720	8	139.01
RAFOS	0	0	0.00
Transponder	39	30	11.89

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	86	0.00	0.00	-68.60	0.000	6	0.000	0.000	394	2455	3431
89	-1.17	-146.6	3.0	-5.5	3	110	11.45	2.50	0.00	0.000	4	0.134	0.034	2537	1052	3433
245	-1.17	-146.6	27.4	-9.0	10	250	0.00	2.47	0.00	0.000	6	0.000	0.031	2536	2482	3433
572	-1.17	-146.6	59.8	-10.0	26	573	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2483	3432
882	-1.17	-146.6	88.2	-9.3	41	883	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2483	3433
1192	-1.17	-146.6	122.0	-11.1	56	1196	0.00	2.50	0.00	0.000	4	0.000	0.037	2537	1052	3433
1286	-1.17	-146.6	133.1	-12.5	60	1291	0.00	2.50	0.00	0.000	6	0.000	0.032	2536	2474	3433
1609	-1.17	-146.6	165.2	-8.8	76	1611	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2474	3433
1916	-1.17	-146.6	192.6	-9.9	91	1921	0.00	2.47	0.00	0.000	4	0.000	0.037	2537	1055	3433
2016	-1.17	-146.6	203.2	-9.4	95	2023	0.00	2.47	0.00	0.000	6	0.000	0.035	2537	2474	3433
2333	-1.17	-146.6	234.4	-9.6	111	2338	0.00	2.47	0.00	0.000	4	0.000	0.061	2537	3834	3433
2373	-1.17	-146.6	238.6	-10.1	113	2377	0.00	2.33	0.00	0.000	6	0.000	0.027	2536	2454	3433
2702	-1.17	-146.6	267.3	-8.8	129	2706	0.00	2.38	0.00	0.000	4	0.000	0.039	2537	1080	3433
2742	-1.17	-146.6	271.3	-9.5	131	2746	0.00	2.42	0.00	0.000	6	0.000	0.035	2537	2480	3433
3068	-1.17	-146.6	299.5	-8.3	147	3073	0.00	2.45	0.00	0.000	4	0.000	0.039	2537	1078	3433
3113	-1.17	-146.6	303.4	-8.1	149	3117	0.00	2.45	0.00	0.000	6	0.000	0.036	2536	2484	3433
3440	-1.17	-146.6	331.8	-9.1	165	3445	0.00	2.45	0.00	0.000	4	0.000	0.040	2537	1082	3433
3473	-1.17	-146.6	334.9	-9.4	166	3479	0.00	2.45	0.00	0.000	6	0.000	0.037	2537	2485	3433
3789	-1.17	-146.6	360.5	-7.4	182	3794	0.00	2.47	0.00	0.000	4	0.000	0.041	2536	1091	3433
3845	-1.17	-146.6	364.6	-7.1	184	3849	0.00	2.42	0.00	0.000	6	0.000	0.038	2537	2473	3433
4160	-1.17	-146.6	386.2	-7.3	199	4164	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1076	3433
4233	-1.17	-146.6	391.6	-8.0	202	4237	0.00	2.45	0.00	0.000	6	0.000	0.038	2537	2478	3433
4551	-1.17	-146.6	419.8	-10.7	217	4552	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2478	3433
4858	-1.17	-146.6	452.4	-11.7	232	4862	0.00	2.45	0.00	0.000	4	0.000	0.041	2537	1082	3433
4965	-1.17	-146.6	466.3	-13.4	237	4970	0.00	2.45	0.00	0.000	6	0.000	0.038	2536	2470	3433
5296	-1.17	-146.6	507.7	-13.3	253	5298	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2470	3432
5607	-1.17	-146.6	542.7	-11.3	268	5611	0.00	2.45	0.00	0.000	4	0.000	0.042	2537	1078	3432
5751	-1.17	-146.6	557.2	-8.2	274	5757	0.00	2.45	0.00	0.000	6	0.000	0.040	2537	2477	3431
6070	-1.17	-146.6	570.3	-1.3	290	6074	0.00	2.47	0.00	0.000	4	0.000	0.043	2536	1073	3431
6181	-1.17	-146.6	577.3	-11.3	295	6185	0.00	2.47	0.00	0.000	6	0.000	0.041	2537	2477	3431
6502	-1.17	-146.6	599.9	-7.9	311	6503	0.00	0.00	0.00	0.000	6	0.000	0.000	2537	2477	3430
6813	-1.17	-146.6	634.3	-5.9	326	6817	0.00	2.50	0.00	0.000	4	0.000	0.070	2537	3833	3428
6856	-1.17	-146.6	638.8	-10.8	328	6861	0.00	2.33	0.00	0.000	6	0.000	0.033	2537	2480	3428
7178	-1.17	-146.6	664.8	-7.0	344	7179	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2477	3427
7443	end dive: BOTTOM_OBSTACLE_DETECTED
state	7443	begin apogee
7451	-0.36	0.0	680.0	7.7	357	7586	0.88	0.00	126.85	1.239	6	0.074	0.000	2721	1462	2832
7587	end apogee: CONTROL_FINISHED_OK
state	7587	begin climb
7590	1.17	146.6	682.4	0.0	364	7728	1.55	2.62	129.68	1.183	4	0.064	0.051	3052	2858	2233
8067	1.17	146.6	639.4	13.3	385	8075	0.00	2.53	0.00	0.000	6	0.000	0.044	3052	1458	2222
8383	1.31	254.7	624.5	3.8	401	8488	0.15	2.62	95.12	1.184	4	0.043	0.051	3106	2856	1792
8549	1.31	254.7	612.6	8.8	408	8555	0.00	2.53	0.00	0.000	6	0.000	0.043	3106	1453	1786
8865	1.31	254.7	568.1	15.4	424	8869	0.00	2.55	0.00	0.000	4	0.000	0.049	3106	2866	1781
8908	1.31	254.7	561.5	13.8	426	8913	0.00	2.53	0.00	0.000	6	0.000	0.043	3106	1461	1780
9235	1.31	254.7	525.4	12.1	442	9238	0.00	2.22	0.00	0.000	4	0.000	0.066	3106	258	1778
9409	1.31	254.7	501.0	14.7	449	9415	0.00	2.08	0.00	0.000	6	0.000	0.033	3106	1478	1777
9725	1.31	254.7	458.1	15.0	465	9728	0.00	2.22	0.00	0.000	4	0.000	0.060	3106	264	1776
9922	1.31	254.7	424.9	16.7	473	9929	0.00	2.00	0.00	0.000	6	0.000	0.031	3106	1457	1775
10240	1.31	254.7	378.0	15.0	489	10241	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	1457	1775
10547	1.31	254.7	332.5	13.3	504	10551	0.00	2.17	0.00	0.000	4	0.000	0.055	3106	259	1775
10597	1.31	254.7	325.4	14.3	506	10601	0.00	2.03	0.00	0.000	6	0.000	0.031	3106	1456	1775
10924	1.31	254.7	290.4	9.2	522	10925	0.00	0.00	0.00	0.000	6	0.000	0.000	3107	1458	1775
11233	1.32	260.7	265.9	7.3	537	11234	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	1458	1776
11542	1.32	263.2	243.9	7.4	552	11553	0.00	2.15	5.80	0.737	4	0.000	0.053	3106	263	1758
11604	1.34	280.4	239.2	6.9	555	11627	0.00	2.05	16.88	0.882	6	0.000	0.030	3106	1459	1689
11938	1.40	329.9	220.0	5.8	571	11985	0.00	0.00	45.03	0.894	6	0.000	0.000	3106	1460	1486
12286	1.40	329.9	194.3	8.0	588	12290	0.00	2.17	0.00	0.000	4	0.000	0.054	3106	258	1480
12336	1.40	329.9	189.5	8.8	590	12340	0.00	2.03	0.00	0.000	6	0.000	0.029	3106	1456	1480
12666	1.40	329.9	157.4	10.7	606	12667	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	1457	1479
12973	1.40	329.9	123.4	11.3	621	12976	0.00	2.15	0.00	0.000	4	0.000	0.052	3106	261	1478
13078	1.40	329.9	109.6	13.5	625	13085	0.00	2.03	0.00	0.000	6	0.000	0.028	3106	1456	1478
13395	1.40	329.9	72.2	11.5	641	13399	0.00	2.15	0.00	0.000	4	0.000	0.052	3105	258	1479
13451	1.40	329.9	65.3	12.3	643	13455	0.00	2.03	0.00	0.000	6	0.000	0.029	3106	1464	1478
13772	1.40	329.9	27.2	12.5	659	13776	0.00	2.17	0.00	0.000	4	0.000	0.051	3106	257	1478
13845	1.40	329.9	16.9	14.1	662	13848	0.00	2.00	0.00	0.000	6	0.000	0.029	3106	1455	1479
13964	end climb: SURFACE_DEPTH_REACHED
state	13964	begin surface coast
13985	end surface coast: CONTROL_FINISHED_OK
state	13985	begin surface