Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 290 * 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 290 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 2250 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 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 -1633255.8 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 2 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 550

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 -1633255.8

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

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 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 290 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 001156,6128.626,-847.286,37,3.7,56,-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 -0.025,-0.238

_SM_DEPTHo 0.91 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -59.7 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 001710,6128.591,-847.349,13,4.2,32,-9.1 MHEAD_RNG_PITCHd_Wd 91.6,19921,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.002136 ALTIM_BOTTOM_PING 426.2,61.7

SM_CCo 14272,17.05,0.729,0,0,1609,300.00 _24V_AH 23.3,60.168

SM_GC 0.78,0.00,0.00,17.05,0.000,0.000,0.729,391,2253,1609,-11.08,0.08,300.00 _10V_AH 10.1,36.352

IRIDIUM_FIX 6103.81,-853.67,101198,202010 DATA_FILE_SIZE 34883,683

TT8_MAMPS 0.027612 CAP_FILE_SIZE 112259,0

HUMID 1928 CFSIZE 260165632,237236224

INTERNAL_PRESSURE 8.17739 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 14.90 GPS 170809,041700,6128.723,-843.172,42,1.3,42,-9.1

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 78.28 SBE_CT 566 24 316.66

Roll_motor 155 58 210.96 SBE_O2 507 19 224.76

VBD_pump_during_apogee 368 1074 9231.92 WL_BB2F 497 105 1217.13

VBD_pump_during_surface 17 729 289.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.57 nil 0 0 0.00

Iridium_during_connect 27 160 103.91 nil 0 0 0.00

Iridium_during_xfer 125 223 649.80

Transponder_ping 3 420 31.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.68

TT8 1312 19 262.41

LPSleep 10473 2 231.66

TT8_Active 486 19 97.19

TT8_Sampling 1680 39 675.67

TT8_CF8 654 45 302.66

TT8_Kalman 0 81 0.00

Analog_circuits 1385 12 167.94

GPS_charging 0 0 0.00

Compass 1784 8 144.21

RAFOS 0 0 0.00

Transponder 23 30 7.08

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.96 -146.6 0.0 0.0 0 79 0.00 0.00 -58.22 0.000 6 0.000 0.000 384 2239 3432

82 -0.96 -146.6 5.1 -9.7 3 104 11.73 2.50 0.00 0.000 4 0.133 0.038 2585 840 3433

188 -0.96 -146.6 22.8 -7.1 7 194 0.00 2.45 0.00 0.000 6 0.000 0.033 2585 2246 3433

504 -0.96 -146.6 49.9 -8.7 23 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2245 3434

814 -0.96 -146.6 75.3 -9.5 38 818 0.00 2.47 0.00 0.000 4 0.000 0.041 2585 839 3434

854 -0.96 -146.6 79.2 -9.1 40 858 0.00 2.45 0.00 0.000 6 0.000 0.033 2585 2251 3434

1180 -0.96 -146.6 111.7 -10.3 56 1185 0.00 2.55 0.00 0.000 4 0.000 0.058 2585 3653 3435

1268 -0.96 -146.6 121.4 -10.4 60 1273 0.00 2.42 0.00 0.000 6 0.000 0.030 2585 2233 3435

1593 -0.96 -146.6 152.3 -8.7 76 1597 0.00 2.58 0.00 0.000 4 0.000 0.053 2585 3651 3435

1648 -0.96 -146.6 157.3 -8.5 78 1654 0.00 2.38 0.00 0.000 6 0.000 0.030 2585 2251 3435

1966 -0.96 -146.6 178.0 -6.4 94 1970 0.00 2.53 0.00 0.000 4 0.000 0.051 2585 3651 3435

2021 -0.96 -146.6 182.1 -6.9 96 2027 0.00 2.40 0.00 0.000 6 0.000 0.030 2584 2246 3434

2336 -0.96 -146.6 202.3 -6.4 112 2341 0.00 2.55 0.00 0.000 4 0.000 0.052 2585 3657 3434

2392 -0.96 -146.6 206.4 -7.6 114 2398 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3434

2711 -0.96 -146.6 226.1 -6.2 130 2715 0.00 2.53 0.00 0.000 4 0.000 0.051 2585 3651 3434

2777 -0.96 -146.6 230.8 -6.7 133 2781 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2247 3434

3100 -0.96 -146.6 250.0 -5.8 149 3104 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3656 3434

3163 -0.96 -146.6 254.2 -6.3 152 3168 0.00 2.42 0.00 0.000 6 0.000 0.031 2585 2254 3434

3494 -0.96 -146.6 274.2 -6.3 168 3499 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3651 3433

3579 -0.96 -146.6 280.0 -7.3 172 3583 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2247 3433

3906 -0.96 -146.6 298.9 -5.8 188 3910 0.00 2.55 0.00 0.000 4 0.000 0.053 2585 3653 3433

3972 -0.96 -146.6 302.9 -6.0 191 3976 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3433

4294 -0.96 -146.6 321.2 -6.2 207 4295 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3433

4605 -0.96 -146.6 340.8 -6.3 222 4609 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3651 3432

4691 -0.96 -146.6 346.9 -7.6 226 4695 0.00 2.40 0.00 0.000 6 0.000 0.031 2584 2249 3432

5017 -0.96 -146.6 371.6 -8.4 242 5022 0.00 2.55 0.00 0.000 4 0.000 0.053 2585 3647 3432

5100 -0.96 -146.6 379.0 -8.8 245 5107 0.00 2.38 0.00 0.000 6 0.000 0.031 2584 2247 3432

5416 -0.96 -146.6 403.7 -8.0 261 5421 0.00 2.58 0.00 0.000 4 0.000 0.054 2584 3653 3432

5471 -0.96 -146.6 408.5 -8.7 263 5475 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3432

5787 -0.96 -146.6 432.1 -7.1 278 5791 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3644 3432

5904 -0.96 -146.6 441.4 -7.4 283 5908 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2241 3432

6227 -0.96 -146.6 462.9 -6.7 299 6231 0.00 2.55 0.00 0.000 4 0.000 0.056 2585 3651 3431

6288 -0.96 -146.6 467.4 -7.2 302 6293 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3431

6469 end dive: BOTTOM_OBSTACLE_DETECTED

state 6469 begin apogee

6477 -0.36 0.0 479.1 6.5 311 6605 0.62 0.00 124.55 1.075 6 0.066 0.000 2720 1463 2832

6606 end apogee: CONTROL_FINISHED_OK

state 6606 begin climb

6608 0.96 146.6 483.2 0.0 317 6742 1.30 2.28 124.43 1.043 4 0.051 0.058 3006 270 2234

6759 1.01 183.7 479.2 5.0 324 6797 0.00 2.05 32.90 0.991 6 0.000 0.032 3006 1474 2083

7108 1.01 183.7 459.2 6.2 341 7112 0.00 2.42 0.00 0.000 4 0.000 0.044 3006 2844 2076

7247 1.01 183.7 450.4 6.5 347 7252 0.00 2.45 0.00 0.000 6 0.000 0.038 3006 1454 2075

7563 1.01 183.7 430.5 6.6 362 7567 0.00 2.47 0.00 0.000 4 0.000 0.043 3006 2846 2074

7681 1.01 183.7 423.3 6.0 367 7685 0.00 2.45 0.00 0.000 6 0.000 0.038 3006 1450 2074

7996 1.01 183.7 402.9 6.5 382 8001 0.00 2.47 0.00 0.000 4 0.000 0.042 3006 2856 2074

8153 1.01 183.7 392.6 7.0 389 8158 0.00 2.47 0.00 0.000 6 0.000 0.038 3006 1459 2073

8479 1.01 183.7 371.6 6.4 405 8480 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1460 2073

8789 1.03 201.1 353.2 5.5 420 8811 0.00 2.50 14.75 0.937 4 0.000 0.041 3006 2850 2011

8857 1.04 206.4 349.2 5.9 423 8870 0.00 2.45 6.40 0.789 6 0.000 0.038 3006 1448 1990

9188 1.04 206.4 328.9 6.5 439 9189 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 1449 1988

9497 1.04 206.4 307.2 7.0 454 9501 0.00 2.47 0.00 0.000 4 0.000 0.044 3006 2851 1988

9574 1.04 206.4 301.4 7.8 457 9581 0.00 2.45 0.00 0.000 6 0.000 0.038 3006 1453 1987

9890 1.04 206.4 280.5 6.1 473 9895 0.00 2.47 0.00 0.000 4 0.000 0.042 3006 2850 1987

9940 1.04 206.4 277.3 6.1 475 9944 0.00 2.45 0.00 0.000 6 0.000 0.038 3006 1453 1987

10257 1.04 208.1 258.2 6.0 490 10261 0.00 2.47 0.00 0.000 4 0.000 0.042 3007 2851 1987

10297 1.04 209.9 255.8 6.0 492 10306 0.00 2.45 4.25 0.633 6 0.000 0.038 3006 1450 1976

10628 1.04 209.9 235.5 6.3 508 10632 0.00 2.47 0.00 0.000 4 0.000 0.042 3006 2846 1975

10667 1.04 209.9 233.1 6.4 510 10672 0.00 2.45 0.00 0.000 6 0.000 0.038 3006 1446 1975

10996 1.05 217.1 213.7 5.8 526 11011 0.10 2.53 8.18 0.795 4 0.051 0.041 3050 2846 1945

11062 1.05 217.1 208.7 7.3 529 11068 0.08 2.47 0.00 0.000 6 0.070 0.038 3029 1456 1944

11395 1.05 217.1 187.7 6.3 545 11399 0.00 2.47 0.00 0.000 4 0.000 0.041 3029 2856 1944

11445 1.05 217.1 184.5 6.4 547 11449 0.00 2.47 0.00 0.000 6 0.000 0.038 3029 1460 1944

11765 1.05 217.1 164.2 6.4 563 11766 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 1460 1944

12076 1.05 217.1 143.8 6.6 578 12080 0.00 2.45 0.00 0.000 4 0.000 0.041 3029 2846 1944

12120 1.05 217.1 140.5 7.3 580 12124 0.00 2.45 0.00 0.000 6 0.000 0.038 3029 1445 1943

12442 1.05 217.1 117.8 7.0 596 12446 0.00 2.47 0.00 0.000 4 0.000 0.041 3029 2847 1943

12475 1.05 217.1 115.5 6.6 597 12481 0.00 2.42 0.00 0.000 6 0.000 0.038 3029 1452 1943

12793 1.07 230.4 96.3 5.6 613 12816 0.00 2.53 12.73 0.791 4 0.000 0.041 3029 2845 1891

12833 1.08 239.7 93.8 5.7 614 12849 0.00 2.47 9.62 0.747 6 0.000 0.038 3029 1445 1853

13171 1.08 239.7 73.8 6.3 631 13175 0.00 2.50 0.00 0.000 4 0.000 0.041 3029 2855 1851

13237 1.08 239.7 68.8 7.4 634 13242 0.00 2.47 0.00 0.000 6 0.000 0.037 3029 1444 1851

13559 1.08 239.7 44.8 7.7 650 13563 0.00 2.47 0.00 0.000 4 0.000 0.040 3029 2849 1851

13711 1.08 239.7 32.8 6.3 657 13716 0.00 2.45 0.00 0.000 6 0.000 0.037 3028 1462 1850

14043 1.12 274.7 13.1 5.0 673 14076 0.00 0.00 30.92 0.773 6 0.000 0.000 3029 1462 1712

14204 end climb: SURFACE_DEPTH_REACHED

state 14204 begin surface coast

14248 end surface coast: CONTROL_FINISHED_OK

state 14248 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	290	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	2250	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	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	-1633255.8	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	2	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	001156,6128.626,-847.286,37,3.7,56,-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	-0.025,-0.238
_SM_DEPTHo	0.91	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-59.7	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	001710,6128.591,-847.349,13,4.2,32,-9.1	MHEAD_RNG_PITCHd_Wd	91.6,19921,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.2,1.002136	ALTIM_BOTTOM_PING	426.2,61.7
SM_CCo	14272,17.05,0.729,0,0,1609,300.00	_24V_AH	23.3,60.168
SM_GC	0.78,0.00,0.00,17.05,0.000,0.000,0.729,391,2253,1609,-11.08,0.08,300.00	_10V_AH	10.1,36.352
IRIDIUM_FIX	6103.81,-853.67,101198,202010	DATA_FILE_SIZE	34883,683
TT8_MAMPS	0.027612	CAP_FILE_SIZE	112259,0
HUMID	1928	CFSIZE	260165632,237236224
INTERNAL_PRESSURE	8.17739	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	14.90	GPS	170809,041700,6128.723,-843.172,42,1.3,42,-9.1
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	78.28	SBE_CT	566	24	316.66
Roll_motor	155	58	210.96	SBE_O2	507	19	224.76
VBD_pump_during_apogee	368	1074	9231.92	WL_BB2F	497	105	1217.13
VBD_pump_during_surface	17	729	289.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.57	nil	0	0	0.00
Iridium_during_connect	27	160	103.91	nil	0	0	0.00
Iridium_during_xfer	125	223	649.80
Transponder_ping	3	420	31.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.68
TT8	1312	19	262.41
LPSleep	10473	2	231.66
TT8_Active	486	19	97.19
TT8_Sampling	1680	39	675.67
TT8_CF8	654	45	302.66
TT8_Kalman	0	81	0.00
Analog_circuits	1385	12	167.94
GPS_charging	0	0	0.00
Compass	1784	8	144.21
RAFOS	0	0	0.00
Transponder	23	30	7.08

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.96	-146.6	0.0	0.0	0	79	0.00	0.00	-58.22	0.000	6	0.000	0.000	384	2239	3432
82	-0.96	-146.6	5.1	-9.7	3	104	11.73	2.50	0.00	0.000	4	0.133	0.038	2585	840	3433
188	-0.96	-146.6	22.8	-7.1	7	194	0.00	2.45	0.00	0.000	6	0.000	0.033	2585	2246	3433
504	-0.96	-146.6	49.9	-8.7	23	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2245	3434
814	-0.96	-146.6	75.3	-9.5	38	818	0.00	2.47	0.00	0.000	4	0.000	0.041	2585	839	3434
854	-0.96	-146.6	79.2	-9.1	40	858	0.00	2.45	0.00	0.000	6	0.000	0.033	2585	2251	3434
1180	-0.96	-146.6	111.7	-10.3	56	1185	0.00	2.55	0.00	0.000	4	0.000	0.058	2585	3653	3435
1268	-0.96	-146.6	121.4	-10.4	60	1273	0.00	2.42	0.00	0.000	6	0.000	0.030	2585	2233	3435
1593	-0.96	-146.6	152.3	-8.7	76	1597	0.00	2.58	0.00	0.000	4	0.000	0.053	2585	3651	3435
1648	-0.96	-146.6	157.3	-8.5	78	1654	0.00	2.38	0.00	0.000	6	0.000	0.030	2585	2251	3435
1966	-0.96	-146.6	178.0	-6.4	94	1970	0.00	2.53	0.00	0.000	4	0.000	0.051	2585	3651	3435
2021	-0.96	-146.6	182.1	-6.9	96	2027	0.00	2.40	0.00	0.000	6	0.000	0.030	2584	2246	3434
2336	-0.96	-146.6	202.3	-6.4	112	2341	0.00	2.55	0.00	0.000	4	0.000	0.052	2585	3657	3434
2392	-0.96	-146.6	206.4	-7.6	114	2398	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3434
2711	-0.96	-146.6	226.1	-6.2	130	2715	0.00	2.53	0.00	0.000	4	0.000	0.051	2585	3651	3434
2777	-0.96	-146.6	230.8	-6.7	133	2781	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2247	3434
3100	-0.96	-146.6	250.0	-5.8	149	3104	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3656	3434
3163	-0.96	-146.6	254.2	-6.3	152	3168	0.00	2.42	0.00	0.000	6	0.000	0.031	2585	2254	3434
3494	-0.96	-146.6	274.2	-6.3	168	3499	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3651	3433
3579	-0.96	-146.6	280.0	-7.3	172	3583	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2247	3433
3906	-0.96	-146.6	298.9	-5.8	188	3910	0.00	2.55	0.00	0.000	4	0.000	0.053	2585	3653	3433
3972	-0.96	-146.6	302.9	-6.0	191	3976	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3433
4294	-0.96	-146.6	321.2	-6.2	207	4295	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3433
4605	-0.96	-146.6	340.8	-6.3	222	4609	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3651	3432
4691	-0.96	-146.6	346.9	-7.6	226	4695	0.00	2.40	0.00	0.000	6	0.000	0.031	2584	2249	3432
5017	-0.96	-146.6	371.6	-8.4	242	5022	0.00	2.55	0.00	0.000	4	0.000	0.053	2585	3647	3432
5100	-0.96	-146.6	379.0	-8.8	245	5107	0.00	2.38	0.00	0.000	6	0.000	0.031	2584	2247	3432
5416	-0.96	-146.6	403.7	-8.0	261	5421	0.00	2.58	0.00	0.000	4	0.000	0.054	2584	3653	3432
5471	-0.96	-146.6	408.5	-8.7	263	5475	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3432
5787	-0.96	-146.6	432.1	-7.1	278	5791	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3644	3432
5904	-0.96	-146.6	441.4	-7.4	283	5908	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2241	3432
6227	-0.96	-146.6	462.9	-6.7	299	6231	0.00	2.55	0.00	0.000	4	0.000	0.056	2585	3651	3431
6288	-0.96	-146.6	467.4	-7.2	302	6293	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3431
6469	end dive: BOTTOM_OBSTACLE_DETECTED
state	6469	begin apogee
6477	-0.36	0.0	479.1	6.5	311	6605	0.62	0.00	124.55	1.075	6	0.066	0.000	2720	1463	2832
6606	end apogee: CONTROL_FINISHED_OK
state	6606	begin climb
6608	0.96	146.6	483.2	0.0	317	6742	1.30	2.28	124.43	1.043	4	0.051	0.058	3006	270	2234
6759	1.01	183.7	479.2	5.0	324	6797	0.00	2.05	32.90	0.991	6	0.000	0.032	3006	1474	2083
7108	1.01	183.7	459.2	6.2	341	7112	0.00	2.42	0.00	0.000	4	0.000	0.044	3006	2844	2076
7247	1.01	183.7	450.4	6.5	347	7252	0.00	2.45	0.00	0.000	6	0.000	0.038	3006	1454	2075
7563	1.01	183.7	430.5	6.6	362	7567	0.00	2.47	0.00	0.000	4	0.000	0.043	3006	2846	2074
7681	1.01	183.7	423.3	6.0	367	7685	0.00	2.45	0.00	0.000	6	0.000	0.038	3006	1450	2074
7996	1.01	183.7	402.9	6.5	382	8001	0.00	2.47	0.00	0.000	4	0.000	0.042	3006	2856	2074
8153	1.01	183.7	392.6	7.0	389	8158	0.00	2.47	0.00	0.000	6	0.000	0.038	3006	1459	2073
8479	1.01	183.7	371.6	6.4	405	8480	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1460	2073
8789	1.03	201.1	353.2	5.5	420	8811	0.00	2.50	14.75	0.937	4	0.000	0.041	3006	2850	2011
8857	1.04	206.4	349.2	5.9	423	8870	0.00	2.45	6.40	0.789	6	0.000	0.038	3006	1448	1990
9188	1.04	206.4	328.9	6.5	439	9189	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	1449	1988
9497	1.04	206.4	307.2	7.0	454	9501	0.00	2.47	0.00	0.000	4	0.000	0.044	3006	2851	1988
9574	1.04	206.4	301.4	7.8	457	9581	0.00	2.45	0.00	0.000	6	0.000	0.038	3006	1453	1987
9890	1.04	206.4	280.5	6.1	473	9895	0.00	2.47	0.00	0.000	4	0.000	0.042	3006	2850	1987
9940	1.04	206.4	277.3	6.1	475	9944	0.00	2.45	0.00	0.000	6	0.000	0.038	3006	1453	1987
10257	1.04	208.1	258.2	6.0	490	10261	0.00	2.47	0.00	0.000	4	0.000	0.042	3007	2851	1987
10297	1.04	209.9	255.8	6.0	492	10306	0.00	2.45	4.25	0.633	6	0.000	0.038	3006	1450	1976
10628	1.04	209.9	235.5	6.3	508	10632	0.00	2.47	0.00	0.000	4	0.000	0.042	3006	2846	1975
10667	1.04	209.9	233.1	6.4	510	10672	0.00	2.45	0.00	0.000	6	0.000	0.038	3006	1446	1975
10996	1.05	217.1	213.7	5.8	526	11011	0.10	2.53	8.18	0.795	4	0.051	0.041	3050	2846	1945
11062	1.05	217.1	208.7	7.3	529	11068	0.08	2.47	0.00	0.000	6	0.070	0.038	3029	1456	1944
11395	1.05	217.1	187.7	6.3	545	11399	0.00	2.47	0.00	0.000	4	0.000	0.041	3029	2856	1944
11445	1.05	217.1	184.5	6.4	547	11449	0.00	2.47	0.00	0.000	6	0.000	0.038	3029	1460	1944
11765	1.05	217.1	164.2	6.4	563	11766	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	1460	1944
12076	1.05	217.1	143.8	6.6	578	12080	0.00	2.45	0.00	0.000	4	0.000	0.041	3029	2846	1944
12120	1.05	217.1	140.5	7.3	580	12124	0.00	2.45	0.00	0.000	6	0.000	0.038	3029	1445	1943
12442	1.05	217.1	117.8	7.0	596	12446	0.00	2.47	0.00	0.000	4	0.000	0.041	3029	2847	1943
12475	1.05	217.1	115.5	6.6	597	12481	0.00	2.42	0.00	0.000	6	0.000	0.038	3029	1452	1943
12793	1.07	230.4	96.3	5.6	613	12816	0.00	2.53	12.73	0.791	4	0.000	0.041	3029	2845	1891
12833	1.08	239.7	93.8	5.7	614	12849	0.00	2.47	9.62	0.747	6	0.000	0.038	3029	1445	1853
13171	1.08	239.7	73.8	6.3	631	13175	0.00	2.50	0.00	0.000	4	0.000	0.041	3029	2855	1851
13237	1.08	239.7	68.8	7.4	634	13242	0.00	2.47	0.00	0.000	6	0.000	0.037	3029	1444	1851
13559	1.08	239.7	44.8	7.7	650	13563	0.00	2.47	0.00	0.000	4	0.000	0.040	3029	2849	1851
13711	1.08	239.7	32.8	6.3	657	13716	0.00	2.45	0.00	0.000	6	0.000	0.037	3028	1462	1850
14043	1.12	274.7	13.1	5.0	673	14076	0.00	0.00	30.92	0.773	6	0.000	0.000	3029	1462	1712
14204	end climb: SURFACE_DEPTH_REACHED
state	14204	begin surface coast
14248	end surface coast: CONTROL_FINISHED_OK
state	14248	begin surface