Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 420 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 420 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2125 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 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 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 -95606.656 VBD_BLEED_AD_RATE 8 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 5

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 -95606.656

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2125 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 420 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 123337,6145.604,-946.529,37,1.4,37,-9.7 TGT_NAME FBC_6

_CALLS 1 TGT_LATLONG 6145.000,-945.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.52 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -63.7 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 123944,6145.578,-946.580,15,1.3,15,-9.7 MHEAD_RNG_PITCHd_Wd 137.4,1750,-27.3,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.023695 ALTIM_BOTTOM_PING 900.4,82.5

SM_CCo 14725,55.42,0.811,0,0,1812,250.21 _24V_AH 23.5,74.590

SM_GC 1.36,0.00,0.00,55.42,0.000,0.000,0.811,426,1975,1812,-10.67,-0.68,250.21 _10V_AH 10.1,37.108

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34824,697

TT8_MAMPS 0.029146 CAP_FILE_SIZE 125357,0

HUMID 1829 CFSIZE 254472192,225562624

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,0,0

XPDR_PINGS 64 GPS 090209,164737,6144.754,-947.205,30,1.0,30,-9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 137 89.61 SBE_CT 507 24 286.21

Roll_motor 151 79 284.79 SBE_O2 475 19 212.31

VBD_pump_during_apogee 180 1492 6318.88 WL_BB2F 374 105 923.15

VBD_pump_during_surface 55 810 1055.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.46 nil 0 0 0.00

Iridium_during_connect 32 160 121.65 nil 0 0 0.00

Iridium_during_xfer 154 223 812.20

Transponder_ping 24 420 239.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1404 19 280.83

LPSleep 10941 2 242.02

TT8_Active 369 19 73.97

TT8_Sampling 1887 39 758.92

TT8_CF8 543 45 251.24

TT8_Kalman 0 81 0.00

Analog_circuits 1300 12 157.61

GPS_charging 0 0 0.00

Compass 1828 8 147.77

RAFOS 0 0 0.00

Transponder 54 30 16.64

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 -1.87 -28.8 0.0 0.0 0 77 0.00 0.00 -58.58 0.000 6 0.000 0.000 420 1963 2951

81 -1.89 -45.4 3.1 -3.7 3 103 10.05 2.55 -2.30 0.000 4 0.137 0.071 2328 598 3019

308 -1.77 -45.4 39.7 -13.8 13 313 0.17 2.50 0.00 0.000 6 0.110 0.049 2360 2005 3019

636 -1.77 -45.4 85.3 -13.3 29 640 0.00 2.55 0.00 0.000 4 0.000 0.061 2360 597 3019

753 -1.71 -45.4 102.8 -18.2 34 757 0.00 2.45 0.00 0.000 6 0.000 0.049 2360 1975 3019

1076 -1.71 -45.4 152.2 -13.8 50 1080 0.00 2.50 0.00 0.000 4 0.000 0.061 2360 593 3018

1127 -1.71 -45.4 160.2 -15.4 52 1132 0.00 2.42 0.00 0.000 6 0.000 0.049 2360 1967 3019

1451 -1.71 -45.4 200.1 -11.4 68 1455 0.00 2.50 0.00 0.000 4 0.000 0.063 2360 599 3019

1517 -1.71 -45.4 208.0 -11.7 71 1522 0.00 2.40 0.00 0.000 6 0.000 0.050 2360 1959 3019

1840 -1.71 -45.4 245.5 -11.9 87 1844 0.00 2.50 0.00 0.000 4 0.000 0.062 2360 588 3018

1918 -1.71 -45.4 255.9 -12.4 90 1924 0.00 2.38 0.00 0.000 6 0.000 0.050 2360 1924 3019

2237 -1.71 -45.4 300.3 -14.9 106 2241 0.00 2.42 0.00 0.000 4 0.000 0.062 2359 595 3018

2310 -1.66 -45.4 312.4 -15.8 109 2315 0.12 2.38 0.00 0.000 6 0.110 0.049 2381 1930 3019

2627 -1.73 -45.4 359.8 -13.3 124 2631 0.00 2.45 0.00 0.000 4 0.000 0.063 2381 588 3019

2718 -1.78 -45.4 372.9 -13.3 128 2722 0.12 2.33 0.00 0.000 6 0.060 0.050 2350 1897 3019

3038 -1.78 -45.4 414.9 -12.8 144 3042 0.00 2.38 0.00 0.000 4 0.000 0.064 2350 597 3019

3080 -1.71 -45.4 420.4 -13.2 146 3085 0.10 2.28 0.00 0.000 6 0.114 0.049 2367 1877 3019

3407 -1.71 -45.4 459.4 -12.2 162 3411 0.00 2.72 0.00 0.000 4 0.000 0.062 2367 3401 3018

3434 -1.71 -45.4 463.3 -14.3 163 3438 0.00 2.72 0.00 0.000 6 0.000 0.056 2367 1880 3018

3750 -1.71 -45.4 507.7 -13.5 178 3751 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 1880 3019

4059 -1.71 -45.4 548.9 -13.9 193 4063 0.00 2.75 0.00 0.000 4 0.000 0.061 2367 3401 3019

4080 -1.71 -45.4 552.0 -13.4 194 4085 0.00 2.72 0.00 0.000 6 0.000 0.054 2367 1879 3018

4403 -1.71 -45.4 593.3 -12.6 210 4404 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 1880 3018

4711 -1.71 -45.4 631.9 -12.3 225 4712 0.00 0.00 0.00 0.000 6 0.000 0.000 2367 1879 3018

5020 -1.71 -45.4 671.1 -14.0 240 5025 0.00 2.78 0.00 0.000 4 0.000 0.061 2367 3411 3019

5160 -1.71 -45.4 691.4 -14.0 246 5164 0.00 2.72 0.00 0.000 6 0.000 0.054 2367 1885 3019

5476 -1.71 -45.4 727.4 -10.5 261 5480 0.00 2.30 0.00 0.000 4 0.000 0.065 2367 593 3019

5622 -1.71 -45.4 744.2 -11.8 267 5628 0.00 2.28 0.00 0.000 6 0.000 0.051 2367 1884 3019

5938 -1.76 -45.4 786.4 -15.4 283 5943 0.00 2.72 0.00 0.000 4 0.000 0.064 2367 3411 3019

5972 -1.76 -45.4 791.8 -15.3 284 5978 0.00 2.72 0.00 0.000 6 0.000 0.056 2368 1890 3019

6290 -1.80 -45.4 826.4 -10.3 300 6294 0.00 2.30 0.00 0.000 4 0.000 0.065 2367 597 3019

6549 -1.80 -45.4 852.9 -9.0 311 6555 0.00 2.22 0.00 0.000 6 0.000 0.051 2367 1857 3018

6866 -1.93 -87.4 868.7 -0.2 327 6870 0.20 2.33 0.00 0.000 4 0.053 0.067 2314 587 3018

7073 -1.78 -101.7 884.0 -4.0 336 7078 0.22 2.22 0.00 0.000 6 0.104 0.054 2356 1844 3018

7396 -1.81 -125.1 910.6 -2.8 352 7400 0.00 2.25 0.00 0.000 4 0.000 0.061 2357 594 3019

7438 -1.75 -146.6 910.6 -1.6 354 7442 0.00 2.30 0.00 0.000 6 0.000 0.058 2357 1869 3018

7765 -1.75 -146.6 950.6 -14.6 370 7769 0.00 2.78 0.00 0.000 4 0.000 0.076 2356 3399 3018

7986 end dive: BOTTOM_OBSTACLE_DETECTED

state 7986 begin apogee

7996 -0.33 0.0 973.1 8.5 380 8043 1.52 0.00 43.42 1.489 6 0.107 0.000 2667 2131 2832

8044 end apogee: CONTROL_FINISHED_OK

state 8044 begin climb

8047 2.05 146.6 975.7 0.0 382 8193 2.38 2.78 136.73 1.493 4 0.055 0.079 3196 710 2234

8388 1.84 146.6 920.7 21.9 397 8393 0.28 2.62 0.00 0.000 6 0.113 0.067 3149 2124 2232

8703 1.84 146.6 866.2 19.2 412 8705 0.00 0.00 0.00 0.000 6 0.000 0.000 3149 2141 2231

9014 1.84 146.6 815.2 18.7 427 9018 0.00 2.67 0.00 0.000 4 0.000 0.080 3149 711 2229

9076 1.77 146.6 803.6 18.7 430 9081 0.00 2.60 0.00 0.000 6 0.000 0.067 3149 2123 2229

9403 1.77 146.6 751.5 15.8 446 9408 0.00 2.60 0.00 0.000 4 0.000 0.074 3149 3533 2227

9599 1.73 146.6 719.3 16.3 454 9606 0.15 2.53 0.00 0.000 6 0.117 0.060 3122 2149 2227

9916 1.81 146.6 673.1 15.0 470 9920 0.00 2.58 0.00 0.000 4 0.000 0.068 3122 3539 2227

9988 1.81 146.6 661.7 14.6 473 9993 0.00 2.47 0.00 0.000 6 0.000 0.056 3122 2168 2227

10304 1.88 146.6 616.8 14.5 488 10309 0.15 2.53 0.00 0.000 4 0.061 0.064 3157 3533 2227

10372 1.84 146.6 605.6 15.8 491 10377 0.00 2.40 0.00 0.000 6 0.000 0.054 3157 2200 2227

10694 1.84 146.6 564.5 11.9 507 10698 0.00 2.45 0.00 0.000 4 0.000 0.063 3157 3538 2228

10712 1.79 146.6 562.3 12.1 508 10717 0.12 2.38 0.00 0.000 6 0.120 0.054 3136 2211 2228

11039 1.79 146.6 507.1 16.8 524 11043 0.00 2.42 0.00 0.000 4 0.000 0.062 3136 3534 2229

11123 1.79 146.6 492.5 17.3 527 11129 0.00 2.35 0.00 0.000 6 0.000 0.051 3136 2212 2229

11440 1.84 146.6 451.1 10.9 543 11444 0.00 2.40 0.00 0.000 4 0.000 0.061 3136 3534 2229

11553 1.84 146.6 437.7 13.4 548 11558 0.00 2.30 0.00 0.000 6 0.000 0.051 3136 2240 2230

11881 1.84 146.6 393.5 13.5 564 11885 0.00 2.38 0.00 0.000 4 0.000 0.061 3136 3535 2230

11999 1.84 146.6 374.7 16.8 569 12003 0.00 2.28 0.00 0.000 6 0.000 0.050 3136 2254 2230

12316 1.89 146.6 325.1 15.2 584 12320 0.00 2.35 0.00 0.000 4 0.000 0.061 3136 3536 2231

12343 1.89 146.6 321.2 14.0 585 12347 0.00 2.25 0.00 0.000 6 0.000 0.049 3136 2266 2231

12660 1.95 146.6 276.4 14.0 600 12665 0.15 2.33 0.00 0.000 4 0.058 0.060 3174 3535 2231

12797 1.89 146.6 253.2 16.7 606 12801 0.00 2.20 0.00 0.000 6 0.000 0.049 3174 2288 2231

13119 1.81 146.6 204.9 14.6 622 13124 0.17 2.30 0.00 0.000 4 0.109 0.060 3140 3543 2231

13191 1.81 146.6 195.9 11.5 625 13195 0.00 2.22 0.00 0.000 6 0.000 0.048 3140 2282 2231

13508 1.81 146.6 167.4 7.1 640 13512 0.00 2.30 0.00 0.000 4 0.000 0.061 3140 3539 2232

13575 1.81 146.6 160.3 9.5 643 13579 0.00 2.15 0.00 0.000 6 0.000 0.048 3140 2319 2232

13909 1.86 146.6 124.6 11.2 659 13910 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2299 2232

14219 1.90 146.6 76.0 16.9 674 14223 0.00 2.22 0.00 0.000 4 0.000 0.061 3140 3535 2232

14381 1.90 146.6 47.7 16.6 681 14385 0.00 2.12 0.00 0.000 6 0.000 0.048 3140 2329 2232

14679 end climb: SURFACE_DEPTH_REACHED

state 14679 begin surface coast

14701 end surface coast: CONTROL_FINISHED_OK

state 14701 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	420	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2125	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	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	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	-95606.656	VBD_BLEED_AD_RATE	8	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	123337,6145.604,-946.529,37,1.4,37,-9.7	TGT_NAME	FBC_6
_CALLS	1	TGT_LATLONG	6145.000,-945.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.52	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-63.7	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	123944,6145.578,-946.580,15,1.3,15,-9.7	MHEAD_RNG_PITCHd_Wd	137.4,1750,-27.3,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.023695	ALTIM_BOTTOM_PING	900.4,82.5
SM_CCo	14725,55.42,0.811,0,0,1812,250.21	_24V_AH	23.5,74.590
SM_GC	1.36,0.00,0.00,55.42,0.000,0.000,0.811,426,1975,1812,-10.67,-0.68,250.21	_10V_AH	10.1,37.108
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34824,697
TT8_MAMPS	0.029146	CAP_FILE_SIZE	125357,0
HUMID	1829	CFSIZE	254472192,225562624
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
XPDR_PINGS	64	GPS	090209,164737,6144.754,-947.205,30,1.0,30,-9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	137	89.61	SBE_CT	507	24	286.21
Roll_motor	151	79	284.79	SBE_O2	475	19	212.31
VBD_pump_during_apogee	180	1492	6318.88	WL_BB2F	374	105	923.15
VBD_pump_during_surface	55	810	1055.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.46	nil	0	0	0.00
Iridium_during_connect	32	160	121.65	nil	0	0	0.00
Iridium_during_xfer	154	223	812.20
Transponder_ping	24	420	239.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1404	19	280.83
LPSleep	10941	2	242.02
TT8_Active	369	19	73.97
TT8_Sampling	1887	39	758.92
TT8_CF8	543	45	251.24
TT8_Kalman	0	81	0.00
Analog_circuits	1300	12	157.61
GPS_charging	0	0	0.00
Compass	1828	8	147.77
RAFOS	0	0	0.00
Transponder	54	30	16.64

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	-1.87	-28.8	0.0	0.0	0	77	0.00	0.00	-58.58	0.000	6	0.000	0.000	420	1963	2951
81	-1.89	-45.4	3.1	-3.7	3	103	10.05	2.55	-2.30	0.000	4	0.137	0.071	2328	598	3019
308	-1.77	-45.4	39.7	-13.8	13	313	0.17	2.50	0.00	0.000	6	0.110	0.049	2360	2005	3019
636	-1.77	-45.4	85.3	-13.3	29	640	0.00	2.55	0.00	0.000	4	0.000	0.061	2360	597	3019
753	-1.71	-45.4	102.8	-18.2	34	757	0.00	2.45	0.00	0.000	6	0.000	0.049	2360	1975	3019
1076	-1.71	-45.4	152.2	-13.8	50	1080	0.00	2.50	0.00	0.000	4	0.000	0.061	2360	593	3018
1127	-1.71	-45.4	160.2	-15.4	52	1132	0.00	2.42	0.00	0.000	6	0.000	0.049	2360	1967	3019
1451	-1.71	-45.4	200.1	-11.4	68	1455	0.00	2.50	0.00	0.000	4	0.000	0.063	2360	599	3019
1517	-1.71	-45.4	208.0	-11.7	71	1522	0.00	2.40	0.00	0.000	6	0.000	0.050	2360	1959	3019
1840	-1.71	-45.4	245.5	-11.9	87	1844	0.00	2.50	0.00	0.000	4	0.000	0.062	2360	588	3018
1918	-1.71	-45.4	255.9	-12.4	90	1924	0.00	2.38	0.00	0.000	6	0.000	0.050	2360	1924	3019
2237	-1.71	-45.4	300.3	-14.9	106	2241	0.00	2.42	0.00	0.000	4	0.000	0.062	2359	595	3018
2310	-1.66	-45.4	312.4	-15.8	109	2315	0.12	2.38	0.00	0.000	6	0.110	0.049	2381	1930	3019
2627	-1.73	-45.4	359.8	-13.3	124	2631	0.00	2.45	0.00	0.000	4	0.000	0.063	2381	588	3019
2718	-1.78	-45.4	372.9	-13.3	128	2722	0.12	2.33	0.00	0.000	6	0.060	0.050	2350	1897	3019
3038	-1.78	-45.4	414.9	-12.8	144	3042	0.00	2.38	0.00	0.000	4	0.000	0.064	2350	597	3019
3080	-1.71	-45.4	420.4	-13.2	146	3085	0.10	2.28	0.00	0.000	6	0.114	0.049	2367	1877	3019
3407	-1.71	-45.4	459.4	-12.2	162	3411	0.00	2.72	0.00	0.000	4	0.000	0.062	2367	3401	3018
3434	-1.71	-45.4	463.3	-14.3	163	3438	0.00	2.72	0.00	0.000	6	0.000	0.056	2367	1880	3018
3750	-1.71	-45.4	507.7	-13.5	178	3751	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	1880	3019
4059	-1.71	-45.4	548.9	-13.9	193	4063	0.00	2.75	0.00	0.000	4	0.000	0.061	2367	3401	3019
4080	-1.71	-45.4	552.0	-13.4	194	4085	0.00	2.72	0.00	0.000	6	0.000	0.054	2367	1879	3018
4403	-1.71	-45.4	593.3	-12.6	210	4404	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	1880	3018
4711	-1.71	-45.4	631.9	-12.3	225	4712	0.00	0.00	0.00	0.000	6	0.000	0.000	2367	1879	3018
5020	-1.71	-45.4	671.1	-14.0	240	5025	0.00	2.78	0.00	0.000	4	0.000	0.061	2367	3411	3019
5160	-1.71	-45.4	691.4	-14.0	246	5164	0.00	2.72	0.00	0.000	6	0.000	0.054	2367	1885	3019
5476	-1.71	-45.4	727.4	-10.5	261	5480	0.00	2.30	0.00	0.000	4	0.000	0.065	2367	593	3019
5622	-1.71	-45.4	744.2	-11.8	267	5628	0.00	2.28	0.00	0.000	6	0.000	0.051	2367	1884	3019
5938	-1.76	-45.4	786.4	-15.4	283	5943	0.00	2.72	0.00	0.000	4	0.000	0.064	2367	3411	3019
5972	-1.76	-45.4	791.8	-15.3	284	5978	0.00	2.72	0.00	0.000	6	0.000	0.056	2368	1890	3019
6290	-1.80	-45.4	826.4	-10.3	300	6294	0.00	2.30	0.00	0.000	4	0.000	0.065	2367	597	3019
6549	-1.80	-45.4	852.9	-9.0	311	6555	0.00	2.22	0.00	0.000	6	0.000	0.051	2367	1857	3018
6866	-1.93	-87.4	868.7	-0.2	327	6870	0.20	2.33	0.00	0.000	4	0.053	0.067	2314	587	3018
7073	-1.78	-101.7	884.0	-4.0	336	7078	0.22	2.22	0.00	0.000	6	0.104	0.054	2356	1844	3018
7396	-1.81	-125.1	910.6	-2.8	352	7400	0.00	2.25	0.00	0.000	4	0.000	0.061	2357	594	3019
7438	-1.75	-146.6	910.6	-1.6	354	7442	0.00	2.30	0.00	0.000	6	0.000	0.058	2357	1869	3018
7765	-1.75	-146.6	950.6	-14.6	370	7769	0.00	2.78	0.00	0.000	4	0.000	0.076	2356	3399	3018
7986	end dive: BOTTOM_OBSTACLE_DETECTED
state	7986	begin apogee
7996	-0.33	0.0	973.1	8.5	380	8043	1.52	0.00	43.42	1.489	6	0.107	0.000	2667	2131	2832
8044	end apogee: CONTROL_FINISHED_OK
state	8044	begin climb
8047	2.05	146.6	975.7	0.0	382	8193	2.38	2.78	136.73	1.493	4	0.055	0.079	3196	710	2234
8388	1.84	146.6	920.7	21.9	397	8393	0.28	2.62	0.00	0.000	6	0.113	0.067	3149	2124	2232
8703	1.84	146.6	866.2	19.2	412	8705	0.00	0.00	0.00	0.000	6	0.000	0.000	3149	2141	2231
9014	1.84	146.6	815.2	18.7	427	9018	0.00	2.67	0.00	0.000	4	0.000	0.080	3149	711	2229
9076	1.77	146.6	803.6	18.7	430	9081	0.00	2.60	0.00	0.000	6	0.000	0.067	3149	2123	2229
9403	1.77	146.6	751.5	15.8	446	9408	0.00	2.60	0.00	0.000	4	0.000	0.074	3149	3533	2227
9599	1.73	146.6	719.3	16.3	454	9606	0.15	2.53	0.00	0.000	6	0.117	0.060	3122	2149	2227
9916	1.81	146.6	673.1	15.0	470	9920	0.00	2.58	0.00	0.000	4	0.000	0.068	3122	3539	2227
9988	1.81	146.6	661.7	14.6	473	9993	0.00	2.47	0.00	0.000	6	0.000	0.056	3122	2168	2227
10304	1.88	146.6	616.8	14.5	488	10309	0.15	2.53	0.00	0.000	4	0.061	0.064	3157	3533	2227
10372	1.84	146.6	605.6	15.8	491	10377	0.00	2.40	0.00	0.000	6	0.000	0.054	3157	2200	2227
10694	1.84	146.6	564.5	11.9	507	10698	0.00	2.45	0.00	0.000	4	0.000	0.063	3157	3538	2228
10712	1.79	146.6	562.3	12.1	508	10717	0.12	2.38	0.00	0.000	6	0.120	0.054	3136	2211	2228
11039	1.79	146.6	507.1	16.8	524	11043	0.00	2.42	0.00	0.000	4	0.000	0.062	3136	3534	2229
11123	1.79	146.6	492.5	17.3	527	11129	0.00	2.35	0.00	0.000	6	0.000	0.051	3136	2212	2229
11440	1.84	146.6	451.1	10.9	543	11444	0.00	2.40	0.00	0.000	4	0.000	0.061	3136	3534	2229
11553	1.84	146.6	437.7	13.4	548	11558	0.00	2.30	0.00	0.000	6	0.000	0.051	3136	2240	2230
11881	1.84	146.6	393.5	13.5	564	11885	0.00	2.38	0.00	0.000	4	0.000	0.061	3136	3535	2230
11999	1.84	146.6	374.7	16.8	569	12003	0.00	2.28	0.00	0.000	6	0.000	0.050	3136	2254	2230
12316	1.89	146.6	325.1	15.2	584	12320	0.00	2.35	0.00	0.000	4	0.000	0.061	3136	3536	2231
12343	1.89	146.6	321.2	14.0	585	12347	0.00	2.25	0.00	0.000	6	0.000	0.049	3136	2266	2231
12660	1.95	146.6	276.4	14.0	600	12665	0.15	2.33	0.00	0.000	4	0.058	0.060	3174	3535	2231
12797	1.89	146.6	253.2	16.7	606	12801	0.00	2.20	0.00	0.000	6	0.000	0.049	3174	2288	2231
13119	1.81	146.6	204.9	14.6	622	13124	0.17	2.30	0.00	0.000	4	0.109	0.060	3140	3543	2231
13191	1.81	146.6	195.9	11.5	625	13195	0.00	2.22	0.00	0.000	6	0.000	0.048	3140	2282	2231
13508	1.81	146.6	167.4	7.1	640	13512	0.00	2.30	0.00	0.000	4	0.000	0.061	3140	3539	2232
13575	1.81	146.6	160.3	9.5	643	13579	0.00	2.15	0.00	0.000	6	0.000	0.048	3140	2319	2232
13909	1.86	146.6	124.6	11.2	659	13910	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2299	2232
14219	1.90	146.6	76.0	16.9	674	14223	0.00	2.22	0.00	0.000	4	0.000	0.061	3140	3535	2232
14381	1.90	146.6	47.7	16.6	681	14385	0.00	2.12	0.00	0.000	6	0.000	0.048	3140	2329	2232
14679	end climb: SURFACE_DEPTH_REACHED
state	14679	begin surface coast
14701	end surface coast: CONTROL_FINISHED_OK
state	14701	begin surface