Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 520 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 520 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -73663.977 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -73663.977

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 520 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 160332,6149.582,-850.076,40,1.4,40,-9.2 TGT_NAME FB_DS

_CALLS 2 TGT_LATLONG 6127.000,-840.000

_XMS_NAKs 0 TGT_RADIUS 3704.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo 0.11 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -58.4 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 161401,6149.599,-850.065,11,1.5,13,-9.2 MHEAD_RNG_PITCHd_Wd 177.2,42791,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 551

Post-dive calculations and measurements:

FINISH -0.3,1.027371 XPDR_PINGS 2

SM_CCo 12981,25.02,0.777,2,0,1678,300.00 ALTIM_BOTTOM_PING 500.3,56.9

SM_GC 0.47,0.00,0.00,25.02,0.000,0.000,0.777,50,2897,1678,-10.86,-0.08,300.00 _24V_AH 22.8,86.781

IRIDIUM_FIX 6121.73,-817.45,080597,161636 _10V_AH 10.1,40.248

TT8_MAMPS 0.028379 DATA_FILE_SIZE 31751,623

HUMID 2074 CFSIZE 260165632,230473728

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,2,0

TCM_TEMP 17.00 GPS 120208,195237,6149.167,-850.883,26,1.4,26,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 96.12 SBE_CT 460 24 251.80

Roll_motor 130 109 326.84 SBE_O2 426 19 184.59

VBD_pump_during_apogee 357 1191 9708.53 WL_BB2F 421 105 1008.14

VBD_pump_during_surface 25 776 443.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 189.41 nil 0 0 0.00

Iridium_during_connect 73 160 266.30 nil 0 0 0.00

Iridium_during_xfer 272 223 1384.68

Transponder_ping 4 420 45.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.00

TT8 1168 19 233.69

LPSleep 9833 2 217.50

TT8_Active 485 19 97.14

TT8_Sampling 1419 39 570.68

TT8_CF8 754 45 349.10

TT8_Kalman 0 81 0.00

Analog_circuits 1232 12 149.35

GPS_charging 0 0 0.00

Compass 1393 8 112.60

RAFOS 0 0 0.00

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.10 -146.6 0.0 0.0 0 87 0.00 0.00 -60.58 0.000 2 0.000 0.000 50 2899 3415

91 -1.10 -146.6 4.0 -9.4 3 113 12.10 1.75 -1.48 0.000 4 0.160 0.110 2167 3786 3501

367 -1.10 -146.6 34.9 -11.1 15 371 0.00 1.60 0.00 0.000 6 0.000 0.056 2167 2903 3502

694 -1.10 -146.6 62.2 -7.6 31 698 0.00 1.75 0.00 0.000 4 0.000 0.097 2167 3789 3502

734 -1.10 -146.6 65.1 -7.4 32 740 0.00 1.62 0.00 0.000 6 0.000 0.051 2167 2899 3502

1050 -1.10 -146.6 88.9 -7.9 48 1055 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1483 3502

1113 -1.10 -146.6 93.9 -7.5 51 1118 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2900 3502

1441 -1.10 -146.6 118.6 -7.5 67 1446 0.00 2.62 0.00 0.000 4 0.000 0.064 2167 1479 3503

1491 -1.10 -146.6 122.7 -8.4 69 1496 0.00 2.67 0.00 0.000 6 0.000 0.069 2167 2904 3503

1810 -1.10 -146.6 150.7 -9.1 84 1815 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1482 3503

1832 -1.10 -146.6 153.1 -9.3 85 1837 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2903 3503

2154 -1.10 -146.6 179.6 -9.0 101 2155 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3502

2463 -1.10 -146.6 203.8 -7.6 116 2468 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 1482 3502

2526 -1.10 -146.6 208.8 -8.0 119 2530 0.00 2.65 0.00 0.000 6 0.000 0.068 2167 2903 3503

2853 -1.10 -146.6 233.2 -7.6 135 2857 0.00 2.60 0.00 0.000 4 0.000 0.060 2167 1480 3503

2893 -1.10 -146.6 236.2 -7.7 137 2897 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2899 3503

3219 -1.10 -146.6 259.9 -7.2 153 3224 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 1477 3503

3248 -1.10 -146.6 262.0 -7.1 154 3252 0.00 2.65 0.00 0.000 6 0.000 0.067 2167 2900 3503

3564 -1.10 -146.6 284.6 -6.9 169 3568 0.00 2.60 0.00 0.000 4 0.000 0.058 2167 1475 3503

3591 -1.10 -146.6 286.6 -7.4 170 3596 0.00 2.65 0.00 0.000 6 0.000 0.067 2167 2902 3503

3907 -1.10 -146.6 308.7 -6.9 185 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

4217 -1.10 -146.6 330.0 -6.9 200 4221 0.00 2.58 0.00 0.000 4 0.000 0.056 2167 1480 3503

4279 -1.10 -146.6 334.3 -7.5 203 4284 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2900 3503

4607 -1.10 -146.6 356.8 -7.0 219 4611 0.00 2.58 0.00 0.000 4 0.000 0.058 2167 1480 3503

4647 -1.10 -146.6 359.5 -7.0 221 4652 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2901 3503

4974 -1.10 -146.6 382.1 -7.1 237 4977 0.00 1.67 0.00 0.000 4 0.000 0.089 2167 3785 3503

5036 -1.10 -146.6 386.7 -7.6 239 5042 0.00 1.58 0.00 0.000 6 0.000 0.041 2167 2873 3503

5352 -1.10 -146.6 408.9 -7.1 255 5356 0.00 2.47 0.00 0.000 4 0.000 0.059 2167 1488 3503

5401 -1.10 -146.6 412.7 -7.4 257 5406 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2900 3503

5718 -1.10 -146.6 437.0 -7.7 272 5722 0.00 2.58 0.00 0.000 4 0.000 0.058 2167 1486 3503

5758 -1.10 -146.6 440.0 -7.8 274 5762 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2906 3503

6084 -1.10 -146.6 464.7 -7.6 290 6088 0.00 1.70 0.00 0.000 4 0.000 0.090 2167 3782 3503

6130 -1.10 -146.6 468.2 -8.0 292 6133 0.00 1.52 0.00 0.000 6 0.000 0.041 2167 2907 3503

6463 -1.10 -146.6 494.8 -8.1 308 6467 0.00 2.55 0.00 0.000 4 0.000 0.058 2167 1489 3503

6552 -1.10 -146.6 502.2 -8.1 312 6557 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2904 3503

6874 -1.10 -146.6 529.2 -7.7 328 6879 0.00 2.55 0.00 0.000 4 0.000 0.053 2167 1486 3503

6925 -1.10 -146.6 532.5 -6.5 330 6929 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2899 3503

7135 end dive: BOTTOM_OBSTACLE_DETECTED

state 7135 begin apogee

7144 -0.42 0.0 547.6 7.6 340 7277 0.77 0.00 127.82 1.192 6 0.113 0.000 2315 2098 2901

7278 end apogee: CONTROL_FINISHED_OK

state 7278 begin climb

7282 1.10 146.6 552.4 0.0 347 7413 1.58 2.62 123.60 1.182 4 0.061 0.057 2647 692 2303

7428 1.26 272.2 551.1 2.5 354 7540 0.17 2.53 105.82 1.182 6 0.035 0.036 2699 2112 1792

7850 1.26 272.2 513.8 9.3 374 7851 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2113 1789

8159 1.26 272.2 485.9 9.4 389 8163 0.00 2.62 0.00 0.000 4 0.000 0.074 2699 3504 1788

8200 1.26 272.2 482.0 10.3 391 8204 0.00 2.50 0.00 0.000 6 0.000 0.043 2699 2094 1788

8526 1.26 272.2 450.8 9.4 407 8527 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2094 1788

8835 1.26 272.2 421.5 9.8 422 8840 0.00 2.67 0.00 0.000 4 0.000 0.074 2699 3508 1787

8881 1.26 272.2 416.4 12.1 424 8885 0.00 2.53 0.00 0.000 6 0.000 0.045 2700 2098 1787

9202 1.26 272.2 386.6 9.1 440 9206 0.00 2.62 0.00 0.000 4 0.000 0.074 2699 3502 1787

9241 1.26 272.2 383.0 9.3 442 9246 0.00 2.50 0.00 0.000 6 0.000 0.045 2699 2098 1787

9569 1.26 272.2 353.9 9.0 458 9570 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2098 1788

9878 1.26 272.2 327.1 9.2 473 9879 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 1787

10187 1.26 272.2 297.3 10.0 488 10191 0.00 2.65 0.00 0.000 4 0.000 0.075 2699 3501 1787

10220 1.26 272.2 293.7 10.6 489 10226 0.00 2.53 0.00 0.000 6 0.000 0.047 2700 2094 1788

10536 1.26 272.2 262.7 9.6 505 10538 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2093 1788

10846 1.26 272.2 231.1 10.9 520 10850 0.00 2.67 0.00 0.000 4 0.000 0.074 2700 3505 1788

10879 1.26 272.2 227.1 11.9 521 10885 0.00 2.53 0.00 0.000 6 0.000 0.048 2700 2100 1788

11195 1.26 272.2 191.0 11.4 537 11196 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2100 1788

11504 1.26 272.2 154.7 11.6 552 11506 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2100 1788

11815 1.26 272.2 120.0 11.3 567 11819 0.00 2.58 0.00 0.000 4 0.000 0.064 2700 690 1788

11859 1.26 272.2 114.5 11.9 569 11864 0.00 2.50 0.00 0.000 6 0.000 0.046 2699 2091 1788

12181 1.26 272.2 79.8 10.2 585 12186 0.00 2.67 0.00 0.000 4 0.000 0.080 2700 3510 1788

12227 1.26 272.2 74.7 11.3 587 12231 0.00 2.55 0.00 0.000 6 0.000 0.050 2699 2094 1788

12548 1.26 272.2 40.4 10.8 603 12549 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2094 1789

12859 1.26 272.2 9.1 9.9 618 12863 0.00 2.72 0.00 0.000 4 0.000 0.081 2700 3515 1789

12876 1.26 272.2 7.3 10.0 619 12881 0.00 2.50 0.00 0.000 6 0.000 0.044 2700 2093 1788

12933 end climb: SURFACE_DEPTH_REACHED

state 12933 begin surface coast

12955 end surface coast: CONTROL_FINISHED_OK

state 12955 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	520	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-73663.977	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	160332,6149.582,-850.076,40,1.4,40,-9.2	TGT_NAME	FB_DS
_CALLS	2	TGT_LATLONG	6127.000,-840.000
_XMS_NAKs	0	TGT_RADIUS	3704.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	0.11	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-58.4	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	161401,6149.599,-850.065,11,1.5,13,-9.2	MHEAD_RNG_PITCHd_Wd	177.2,42791,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	551

FINISH	-0.3,1.027371	XPDR_PINGS	2
SM_CCo	12981,25.02,0.777,2,0,1678,300.00	ALTIM_BOTTOM_PING	500.3,56.9
SM_GC	0.47,0.00,0.00,25.02,0.000,0.000,0.777,50,2897,1678,-10.86,-0.08,300.00	_24V_AH	22.8,86.781
IRIDIUM_FIX	6121.73,-817.45,080597,161636	_10V_AH	10.1,40.248
TT8_MAMPS	0.028379	DATA_FILE_SIZE	31751,623
HUMID	2074	CFSIZE	260165632,230473728
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
TCM_TEMP	17.00	GPS	120208,195237,6149.167,-850.883,26,1.4,26,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	96.12	SBE_CT	460	24	251.80
Roll_motor	130	109	326.84	SBE_O2	426	19	184.59
VBD_pump_during_apogee	357	1191	9708.53	WL_BB2F	421	105	1008.14
VBD_pump_during_surface	25	776	443.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	189.41	nil	0	0	0.00
Iridium_during_connect	73	160	266.30	nil	0	0	0.00
Iridium_during_xfer	272	223	1384.68
Transponder_ping	4	420	45.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.00
TT8	1168	19	233.69
LPSleep	9833	2	217.50
TT8_Active	485	19	97.14
TT8_Sampling	1419	39	570.68
TT8_CF8	754	45	349.10
TT8_Kalman	0	81	0.00
Analog_circuits	1232	12	149.35
GPS_charging	0	0	0.00
Compass	1393	8	112.60
RAFOS	0	0	0.00

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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.10	-146.6	0.0	0.0	0	87	0.00	0.00	-60.58	0.000	2	0.000	0.000	50	2899	3415
91	-1.10	-146.6	4.0	-9.4	3	113	12.10	1.75	-1.48	0.000	4	0.160	0.110	2167	3786	3501
367	-1.10	-146.6	34.9	-11.1	15	371	0.00	1.60	0.00	0.000	6	0.000	0.056	2167	2903	3502
694	-1.10	-146.6	62.2	-7.6	31	698	0.00	1.75	0.00	0.000	4	0.000	0.097	2167	3789	3502
734	-1.10	-146.6	65.1	-7.4	32	740	0.00	1.62	0.00	0.000	6	0.000	0.051	2167	2899	3502
1050	-1.10	-146.6	88.9	-7.9	48	1055	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1483	3502
1113	-1.10	-146.6	93.9	-7.5	51	1118	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2900	3502
1441	-1.10	-146.6	118.6	-7.5	67	1446	0.00	2.62	0.00	0.000	4	0.000	0.064	2167	1479	3503
1491	-1.10	-146.6	122.7	-8.4	69	1496	0.00	2.67	0.00	0.000	6	0.000	0.069	2167	2904	3503
1810	-1.10	-146.6	150.7	-9.1	84	1815	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1482	3503
1832	-1.10	-146.6	153.1	-9.3	85	1837	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2903	3503
2154	-1.10	-146.6	179.6	-9.0	101	2155	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3502
2463	-1.10	-146.6	203.8	-7.6	116	2468	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	1482	3502
2526	-1.10	-146.6	208.8	-8.0	119	2530	0.00	2.65	0.00	0.000	6	0.000	0.068	2167	2903	3503
2853	-1.10	-146.6	233.2	-7.6	135	2857	0.00	2.60	0.00	0.000	4	0.000	0.060	2167	1480	3503
2893	-1.10	-146.6	236.2	-7.7	137	2897	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2899	3503
3219	-1.10	-146.6	259.9	-7.2	153	3224	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	1477	3503
3248	-1.10	-146.6	262.0	-7.1	154	3252	0.00	2.65	0.00	0.000	6	0.000	0.067	2167	2900	3503
3564	-1.10	-146.6	284.6	-6.9	169	3568	0.00	2.60	0.00	0.000	4	0.000	0.058	2167	1475	3503
3591	-1.10	-146.6	286.6	-7.4	170	3596	0.00	2.65	0.00	0.000	6	0.000	0.067	2167	2902	3503
3907	-1.10	-146.6	308.7	-6.9	185	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
4217	-1.10	-146.6	330.0	-6.9	200	4221	0.00	2.58	0.00	0.000	4	0.000	0.056	2167	1480	3503
4279	-1.10	-146.6	334.3	-7.5	203	4284	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2900	3503
4607	-1.10	-146.6	356.8	-7.0	219	4611	0.00	2.58	0.00	0.000	4	0.000	0.058	2167	1480	3503
4647	-1.10	-146.6	359.5	-7.0	221	4652	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2901	3503
4974	-1.10	-146.6	382.1	-7.1	237	4977	0.00	1.67	0.00	0.000	4	0.000	0.089	2167	3785	3503
5036	-1.10	-146.6	386.7	-7.6	239	5042	0.00	1.58	0.00	0.000	6	0.000	0.041	2167	2873	3503
5352	-1.10	-146.6	408.9	-7.1	255	5356	0.00	2.47	0.00	0.000	4	0.000	0.059	2167	1488	3503
5401	-1.10	-146.6	412.7	-7.4	257	5406	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2900	3503
5718	-1.10	-146.6	437.0	-7.7	272	5722	0.00	2.58	0.00	0.000	4	0.000	0.058	2167	1486	3503
5758	-1.10	-146.6	440.0	-7.8	274	5762	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2906	3503
6084	-1.10	-146.6	464.7	-7.6	290	6088	0.00	1.70	0.00	0.000	4	0.000	0.090	2167	3782	3503
6130	-1.10	-146.6	468.2	-8.0	292	6133	0.00	1.52	0.00	0.000	6	0.000	0.041	2167	2907	3503
6463	-1.10	-146.6	494.8	-8.1	308	6467	0.00	2.55	0.00	0.000	4	0.000	0.058	2167	1489	3503
6552	-1.10	-146.6	502.2	-8.1	312	6557	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2904	3503
6874	-1.10	-146.6	529.2	-7.7	328	6879	0.00	2.55	0.00	0.000	4	0.000	0.053	2167	1486	3503
6925	-1.10	-146.6	532.5	-6.5	330	6929	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2899	3503
7135	end dive: BOTTOM_OBSTACLE_DETECTED
state	7135	begin apogee
7144	-0.42	0.0	547.6	7.6	340	7277	0.77	0.00	127.82	1.192	6	0.113	0.000	2315	2098	2901
7278	end apogee: CONTROL_FINISHED_OK
state	7278	begin climb
7282	1.10	146.6	552.4	0.0	347	7413	1.58	2.62	123.60	1.182	4	0.061	0.057	2647	692	2303
7428	1.26	272.2	551.1	2.5	354	7540	0.17	2.53	105.82	1.182	6	0.035	0.036	2699	2112	1792
7850	1.26	272.2	513.8	9.3	374	7851	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2113	1789
8159	1.26	272.2	485.9	9.4	389	8163	0.00	2.62	0.00	0.000	4	0.000	0.074	2699	3504	1788
8200	1.26	272.2	482.0	10.3	391	8204	0.00	2.50	0.00	0.000	6	0.000	0.043	2699	2094	1788
8526	1.26	272.2	450.8	9.4	407	8527	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2094	1788
8835	1.26	272.2	421.5	9.8	422	8840	0.00	2.67	0.00	0.000	4	0.000	0.074	2699	3508	1787
8881	1.26	272.2	416.4	12.1	424	8885	0.00	2.53	0.00	0.000	6	0.000	0.045	2700	2098	1787
9202	1.26	272.2	386.6	9.1	440	9206	0.00	2.62	0.00	0.000	4	0.000	0.074	2699	3502	1787
9241	1.26	272.2	383.0	9.3	442	9246	0.00	2.50	0.00	0.000	6	0.000	0.045	2699	2098	1787
9569	1.26	272.2	353.9	9.0	458	9570	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2098	1788
9878	1.26	272.2	327.1	9.2	473	9879	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	1787
10187	1.26	272.2	297.3	10.0	488	10191	0.00	2.65	0.00	0.000	4	0.000	0.075	2699	3501	1787
10220	1.26	272.2	293.7	10.6	489	10226	0.00	2.53	0.00	0.000	6	0.000	0.047	2700	2094	1788
10536	1.26	272.2	262.7	9.6	505	10538	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2093	1788
10846	1.26	272.2	231.1	10.9	520	10850	0.00	2.67	0.00	0.000	4	0.000	0.074	2700	3505	1788
10879	1.26	272.2	227.1	11.9	521	10885	0.00	2.53	0.00	0.000	6	0.000	0.048	2700	2100	1788
11195	1.26	272.2	191.0	11.4	537	11196	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2100	1788
11504	1.26	272.2	154.7	11.6	552	11506	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2100	1788
11815	1.26	272.2	120.0	11.3	567	11819	0.00	2.58	0.00	0.000	4	0.000	0.064	2700	690	1788
11859	1.26	272.2	114.5	11.9	569	11864	0.00	2.50	0.00	0.000	6	0.000	0.046	2699	2091	1788
12181	1.26	272.2	79.8	10.2	585	12186	0.00	2.67	0.00	0.000	4	0.000	0.080	2700	3510	1788
12227	1.26	272.2	74.7	11.3	587	12231	0.00	2.55	0.00	0.000	6	0.000	0.050	2699	2094	1788
12548	1.26	272.2	40.4	10.8	603	12549	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2094	1789
12859	1.26	272.2	9.1	9.9	618	12863	0.00	2.72	0.00	0.000	4	0.000	0.081	2700	3515	1789
12876	1.26	272.2	7.3	10.0	619	12881	0.00	2.50	0.00	0.000	6	0.000	0.044	2700	2093	1788
12933	end climb: SURFACE_DEPTH_REACHED
state	12933	begin surface coast
12955	end surface coast: CONTROL_FINISHED_OK
state	12955	begin surface