Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 6 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2175 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -76400.445 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 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 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -76400.445

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2175 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 6 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 081545,6135.017,-826.734,31,1.6,37,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.057,-0.253

_SM_DEPTHo 0.11 KALMAN_X -2748.7,5.3,239.5,5416.6,-1769.1

_SM_ANGLEo -63.6 KALMAN_Y 15342.0,955.3,-587.8,-12208.4,8905.7

GPS2 082037,6135.039,-826.750,11,1.5,28,-8.9 MHEAD_RNG_PITCHd_Wd 176.3,9459,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.6,1.027284 XPDR_PINGS 0

SM_CCo 13375,43.00,0.844,3,0,1655,300.00 ALTIM_BOTTOM_PING 679.7,94.8

SM_GC 0.07,0.00,0.00,43.00,0.000,0.000,0.844,35,1890,1655,-11.32,-0.28,300.00 _24V_AH 23.2,13.109

IRIDIUM_FIX 6112.75,-823.14,141107,080824 _10V_AH 10.1,5.453

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31660,641

HUMID 2070 CFSIZE 260165632,257552384

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,3,0

TCM_TEMP 16.90 GPS 141107,120637,6136.065,-826.628,39,1.1,39,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 147 91.48 SBE_CT 470 24 261.86

Roll_motor 149 81 282.84 SBE_O2 431 19 190.27

VBD_pump_during_apogee 320 1402 10429.35 WL_BB2F 382 105 931.40

VBD_pump_during_surface 43 843 841.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.41 nil 0 0 0.00

Iridium_during_connect 37 160 140.51 nil 0 0 0.00

Iridium_during_xfer 122 223 635.98

Transponder_ping 5 420 56.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.18

TT8 1280 19 256.09

LPSleep 9846 2 217.80

TT8_Active 538 19 107.72

TT8_Sampling 1784 39 717.32

TT8_CF8 285 45 132.02

TT8_Kalman 33 81 27.54

Analog_circuits 1429 12 173.29

GPS_charging 0 0 0.00

Compass 1724 8 139.33

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.46 -146.6 0.0 0.0 0 104 0.00 0.00 -85.05 0.000 6 0.000 0.000 34 1894 3476

106 -1.46 -146.6 2.0 -2.9 4 127 11.50 2.58 0.00 0.000 4 0.147 0.044 2177 3310 3478

379 -1.46 -146.6 46.1 -11.2 16 384 0.00 2.55 0.00 0.000 6 0.000 0.041 2177 1898 3478

706 -1.46 -146.6 86.4 -12.1 32 710 0.00 2.53 0.00 0.000 4 0.000 0.046 2177 3304 3478

895 -1.46 -146.6 109.1 -11.1 40 902 0.00 2.53 0.00 0.000 6 0.000 0.042 2177 1907 3479

1212 -1.46 -146.6 147.9 -12.6 56 1216 0.00 2.53 0.00 0.000 4 0.000 0.047 2177 3313 3479

1232 -1.46 -146.6 150.8 -13.2 57 1237 0.00 2.55 0.00 0.000 6 0.000 0.042 2177 1904 3479

1558 -1.46 -146.6 191.7 -12.1 73 1563 0.00 2.53 0.00 0.000 4 0.000 0.047 2177 3312 3479

1579 -1.46 -146.6 194.2 -11.7 74 1584 0.00 2.55 0.00 0.000 6 0.000 0.043 2177 1903 3479

1906 -1.46 -146.6 232.8 -11.9 90 1907 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 1904 3479

2215 -1.46 -146.6 271.3 -12.6 105 2219 0.00 2.53 0.00 0.000 4 0.000 0.048 2177 3305 3479

2248 -1.46 -146.6 275.3 -12.0 106 2254 0.00 2.53 0.00 0.000 6 0.000 0.045 2177 1900 3479

2562 -1.46 -146.6 309.4 -10.3 122 2567 0.00 2.53 0.00 0.000 4 0.000 0.048 2177 3309 3479

2595 -1.46 -146.6 312.7 -9.8 123 2599 0.00 2.55 0.00 0.000 6 0.000 0.044 2177 1904 3479

2915 -1.46 -146.6 346.7 -11.0 139 2920 0.00 2.53 0.00 0.000 4 0.000 0.048 2177 3304 3479

2943 -1.46 -146.6 349.7 -11.2 140 2948 0.00 2.53 0.00 0.000 6 0.000 0.046 2177 1900 3479

3263 -1.46 -146.6 385.0 -10.6 156 3267 0.00 2.60 0.00 0.000 4 0.000 0.067 2178 493 3479

3288 -1.46 -146.6 387.8 -11.0 157 3293 0.00 2.50 0.00 0.000 6 0.000 0.043 2177 1907 3479

3609 -1.46 -146.6 423.5 -12.9 173 3614 0.00 2.65 0.00 0.000 4 0.000 0.070 2177 492 3479

3648 -1.46 -146.6 429.0 -14.5 175 3652 0.00 2.47 0.00 0.000 6 0.000 0.044 2177 1903 3480

3979 -1.46 -146.6 469.8 -11.4 191 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 1906 3479

4289 -1.46 -146.6 497.5 -11.4 206 4293 0.00 2.65 0.00 0.000 4 0.000 0.070 2177 488 3479

4337 -1.46 -146.6 501.9 -7.6 208 4342 0.00 2.50 0.00 0.000 6 0.000 0.045 2178 1899 3479

4658 -1.46 -146.6 530.9 -9.5 224 4662 0.00 2.65 0.00 0.000 4 0.000 0.074 2177 489 3479

4712 -1.46 -146.6 535.5 -7.5 226 4719 0.00 2.50 0.00 0.000 6 0.000 0.045 2177 1898 3480

5028 -1.46 -146.6 570.2 -8.9 242 5032 0.00 2.58 0.00 0.000 4 0.000 0.061 2177 3303 3479

5194 -1.46 -146.6 589.7 -7.9 249 5201 0.00 2.60 0.00 0.000 6 0.000 0.060 2177 1898 3479

5509 -1.46 -146.6 613.1 -6.6 265 5514 0.00 2.67 0.00 0.000 4 0.000 0.081 2177 491 3479

5564 -1.46 -146.6 618.8 -10.0 267 5571 0.00 2.53 0.00 0.000 6 0.000 0.054 2177 1892 3479

5882 -1.46 -146.6 679.7 -23.0 283 5886 0.00 2.60 0.00 0.000 4 0.000 0.061 2177 3305 3477

5975 -1.46 -146.6 689.9 2.5 287 5980 0.00 2.62 0.00 0.000 6 0.000 0.058 2177 1898 3477

6296 -1.46 -146.6 698.2 -12.0 303 6300 0.00 2.60 0.00 0.000 4 0.000 0.065 2177 3305 3476

6395 -1.46 -146.6 704.0 -3.5 307 6402 0.00 2.62 0.00 0.000 6 0.000 0.061 2177 1904 3475

6710 -1.46 -146.6 738.6 -16.4 323 6711 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 1904 3474

6957 end dive: BOTTOM_OBSTACLE_DETECTED

state 6957 begin apogee

6961 -0.36 0.0 765.6 8.4 335 7087 1.15 0.00 122.53 1.403 6 0.092 0.000 2416 2171 2878

7087 end apogee: CONTROL_FINISHED_OK

state 7088 begin climb

7089 1.46 146.6 769.4 0.0 341 7220 1.80 2.75 121.70 1.340 4 0.058 0.072 2810 767 2280

7241 1.50 174.5 767.3 8.7 348 7274 0.00 2.60 24.23 1.331 6 0.000 0.055 2810 2159 2166

7582 1.50 174.5 722.4 13.7 365 7586 0.00 2.65 0.00 0.000 4 0.000 0.075 2810 761 2164

7838 1.50 174.5 674.9 19.7 376 7843 0.00 2.60 0.00 0.000 6 0.000 0.051 2810 2181 2164

8160 1.50 174.5 617.4 16.5 392 8164 0.00 2.67 0.00 0.000 4 0.000 0.074 2810 765 2163

8416 1.50 174.5 586.0 15.6 403 8423 0.00 2.58 0.00 0.000 6 0.000 0.049 2811 2172 2163

8731 1.51 189.2 542.3 9.3 419 8753 0.00 2.67 12.55 1.316 4 0.000 0.064 2810 3571 2106

9004 1.51 189.2 511.9 11.3 431 9009 0.00 2.60 0.00 0.000 6 0.000 0.055 2811 2180 2106

9331 1.57 237.4 484.6 7.7 447 9376 0.12 2.65 39.45 1.256 4 0.067 0.060 2843 3578 1910

9432 1.57 237.4 472.5 11.1 452 9436 0.00 2.62 0.00 0.000 6 0.000 0.054 2843 2170 1910

9758 1.57 237.4 431.6 12.3 468 9762 0.00 2.58 0.00 0.000 4 0.000 0.054 2842 3582 1909

9783 1.57 237.4 427.4 15.6 469 9788 0.00 2.60 0.00 0.000 6 0.000 0.048 2843 2173 1909

10105 1.57 237.4 386.3 13.0 485 10109 0.00 2.55 0.00 0.000 4 0.000 0.052 2843 3585 1910

10143 1.57 237.4 381.6 12.8 487 10147 0.00 2.55 0.00 0.000 6 0.000 0.044 2843 2171 1910

10474 1.57 237.4 339.4 12.8 503 10478 0.00 2.55 0.00 0.000 4 0.000 0.050 2843 3589 1910

10674 1.57 237.4 312.1 12.4 512 10679 0.00 2.58 0.00 0.000 6 0.000 0.042 2842 2170 1911

11001 1.57 237.4 273.0 11.8 528 11005 0.00 2.53 0.00 0.000 4 0.000 0.048 2843 3583 1911

11113 1.57 237.4 258.9 13.0 533 11117 0.00 2.53 0.00 0.000 6 0.000 0.041 2843 2167 1912

11438 1.57 237.4 219.4 11.9 549 11443 0.00 2.53 0.00 0.000 4 0.000 0.048 2843 3583 1912

11571 1.57 237.4 202.7 12.4 555 11576 0.00 2.53 0.00 0.000 6 0.000 0.040 2843 2181 1913

11899 1.57 237.4 165.2 10.8 571 11903 0.00 2.60 0.00 0.000 4 0.000 0.061 2843 762 1913

11919 1.57 237.4 162.9 10.8 572 11924 0.00 2.53 0.00 0.000 6 0.000 0.039 2843 2182 1913

12246 1.57 237.4 128.2 10.6 588 12250 0.00 2.50 0.00 0.000 4 0.000 0.048 2843 3580 1914

12356 1.57 237.4 116.0 10.6 593 12360 0.00 2.53 0.00 0.000 6 0.000 0.039 2843 2175 1915

12684 1.57 237.4 79.0 11.5 609 12688 0.00 2.53 0.00 0.000 4 0.000 0.047 2843 3579 1915

12850 1.57 237.4 58.6 11.0 616 12858 0.00 2.53 0.00 0.000 6 0.000 0.039 2843 2171 1915

13167 1.57 237.4 22.8 12.3 632 13171 0.00 2.53 0.00 0.000 4 0.000 0.047 2843 3579 1916

13282 1.57 237.4 8.2 13.8 637 13287 0.00 2.53 0.00 0.000 6 0.000 0.039 2843 2175 1916

13335 end climb: SURFACE_DEPTH_REACHED

state 13335 begin surface coast

13357 end surface coast: CONTROL_FINISHED_OK

state 13357 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	6	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2175	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-76400.445	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	081545,6135.017,-826.734,31,1.6,37,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.057,-0.253
_SM_DEPTHo	0.11	KALMAN_X	-2748.7,5.3,239.5,5416.6,-1769.1
_SM_ANGLEo	-63.6	KALMAN_Y	15342.0,955.3,-587.8,-12208.4,8905.7
GPS2	082037,6135.039,-826.750,11,1.5,28,-8.9	MHEAD_RNG_PITCHd_Wd	176.3,9459,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	-0.6,1.027284	XPDR_PINGS	0
SM_CCo	13375,43.00,0.844,3,0,1655,300.00	ALTIM_BOTTOM_PING	679.7,94.8
SM_GC	0.07,0.00,0.00,43.00,0.000,0.000,0.844,35,1890,1655,-11.32,-0.28,300.00	_24V_AH	23.2,13.109
IRIDIUM_FIX	6112.75,-823.14,141107,080824	_10V_AH	10.1,5.453
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31660,641
HUMID	2070	CFSIZE	260165632,257552384
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
TCM_TEMP	16.90	GPS	141107,120637,6136.065,-826.628,39,1.1,39,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	147	91.48	SBE_CT	470	24	261.86
Roll_motor	149	81	282.84	SBE_O2	431	19	190.27
VBD_pump_during_apogee	320	1402	10429.35	WL_BB2F	382	105	931.40
VBD_pump_during_surface	43	843	841.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.41	nil	0	0	0.00
Iridium_during_connect	37	160	140.51	nil	0	0	0.00
Iridium_during_xfer	122	223	635.98
Transponder_ping	5	420	56.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.18
TT8	1280	19	256.09
LPSleep	9846	2	217.80
TT8_Active	538	19	107.72
TT8_Sampling	1784	39	717.32
TT8_CF8	285	45	132.02
TT8_Kalman	33	81	27.54
Analog_circuits	1429	12	173.29
GPS_charging	0	0	0.00
Compass	1724	8	139.33
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.46	-146.6	0.0	0.0	0	104	0.00	0.00	-85.05	0.000	6	0.000	0.000	34	1894	3476
106	-1.46	-146.6	2.0	-2.9	4	127	11.50	2.58	0.00	0.000	4	0.147	0.044	2177	3310	3478
379	-1.46	-146.6	46.1	-11.2	16	384	0.00	2.55	0.00	0.000	6	0.000	0.041	2177	1898	3478
706	-1.46	-146.6	86.4	-12.1	32	710	0.00	2.53	0.00	0.000	4	0.000	0.046	2177	3304	3478
895	-1.46	-146.6	109.1	-11.1	40	902	0.00	2.53	0.00	0.000	6	0.000	0.042	2177	1907	3479
1212	-1.46	-146.6	147.9	-12.6	56	1216	0.00	2.53	0.00	0.000	4	0.000	0.047	2177	3313	3479
1232	-1.46	-146.6	150.8	-13.2	57	1237	0.00	2.55	0.00	0.000	6	0.000	0.042	2177	1904	3479
1558	-1.46	-146.6	191.7	-12.1	73	1563	0.00	2.53	0.00	0.000	4	0.000	0.047	2177	3312	3479
1579	-1.46	-146.6	194.2	-11.7	74	1584	0.00	2.55	0.00	0.000	6	0.000	0.043	2177	1903	3479
1906	-1.46	-146.6	232.8	-11.9	90	1907	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	1904	3479
2215	-1.46	-146.6	271.3	-12.6	105	2219	0.00	2.53	0.00	0.000	4	0.000	0.048	2177	3305	3479
2248	-1.46	-146.6	275.3	-12.0	106	2254	0.00	2.53	0.00	0.000	6	0.000	0.045	2177	1900	3479
2562	-1.46	-146.6	309.4	-10.3	122	2567	0.00	2.53	0.00	0.000	4	0.000	0.048	2177	3309	3479
2595	-1.46	-146.6	312.7	-9.8	123	2599	0.00	2.55	0.00	0.000	6	0.000	0.044	2177	1904	3479
2915	-1.46	-146.6	346.7	-11.0	139	2920	0.00	2.53	0.00	0.000	4	0.000	0.048	2177	3304	3479
2943	-1.46	-146.6	349.7	-11.2	140	2948	0.00	2.53	0.00	0.000	6	0.000	0.046	2177	1900	3479
3263	-1.46	-146.6	385.0	-10.6	156	3267	0.00	2.60	0.00	0.000	4	0.000	0.067	2178	493	3479
3288	-1.46	-146.6	387.8	-11.0	157	3293	0.00	2.50	0.00	0.000	6	0.000	0.043	2177	1907	3479
3609	-1.46	-146.6	423.5	-12.9	173	3614	0.00	2.65	0.00	0.000	4	0.000	0.070	2177	492	3479
3648	-1.46	-146.6	429.0	-14.5	175	3652	0.00	2.47	0.00	0.000	6	0.000	0.044	2177	1903	3480
3979	-1.46	-146.6	469.8	-11.4	191	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	1906	3479
4289	-1.46	-146.6	497.5	-11.4	206	4293	0.00	2.65	0.00	0.000	4	0.000	0.070	2177	488	3479
4337	-1.46	-146.6	501.9	-7.6	208	4342	0.00	2.50	0.00	0.000	6	0.000	0.045	2178	1899	3479
4658	-1.46	-146.6	530.9	-9.5	224	4662	0.00	2.65	0.00	0.000	4	0.000	0.074	2177	489	3479
4712	-1.46	-146.6	535.5	-7.5	226	4719	0.00	2.50	0.00	0.000	6	0.000	0.045	2177	1898	3480
5028	-1.46	-146.6	570.2	-8.9	242	5032	0.00	2.58	0.00	0.000	4	0.000	0.061	2177	3303	3479
5194	-1.46	-146.6	589.7	-7.9	249	5201	0.00	2.60	0.00	0.000	6	0.000	0.060	2177	1898	3479
5509	-1.46	-146.6	613.1	-6.6	265	5514	0.00	2.67	0.00	0.000	4	0.000	0.081	2177	491	3479
5564	-1.46	-146.6	618.8	-10.0	267	5571	0.00	2.53	0.00	0.000	6	0.000	0.054	2177	1892	3479
5882	-1.46	-146.6	679.7	-23.0	283	5886	0.00	2.60	0.00	0.000	4	0.000	0.061	2177	3305	3477
5975	-1.46	-146.6	689.9	2.5	287	5980	0.00	2.62	0.00	0.000	6	0.000	0.058	2177	1898	3477
6296	-1.46	-146.6	698.2	-12.0	303	6300	0.00	2.60	0.00	0.000	4	0.000	0.065	2177	3305	3476
6395	-1.46	-146.6	704.0	-3.5	307	6402	0.00	2.62	0.00	0.000	6	0.000	0.061	2177	1904	3475
6710	-1.46	-146.6	738.6	-16.4	323	6711	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	1904	3474
6957	end dive: BOTTOM_OBSTACLE_DETECTED
state	6957	begin apogee
6961	-0.36	0.0	765.6	8.4	335	7087	1.15	0.00	122.53	1.403	6	0.092	0.000	2416	2171	2878
7087	end apogee: CONTROL_FINISHED_OK
state	7088	begin climb
7089	1.46	146.6	769.4	0.0	341	7220	1.80	2.75	121.70	1.340	4	0.058	0.072	2810	767	2280
7241	1.50	174.5	767.3	8.7	348	7274	0.00	2.60	24.23	1.331	6	0.000	0.055	2810	2159	2166
7582	1.50	174.5	722.4	13.7	365	7586	0.00	2.65	0.00	0.000	4	0.000	0.075	2810	761	2164
7838	1.50	174.5	674.9	19.7	376	7843	0.00	2.60	0.00	0.000	6	0.000	0.051	2810	2181	2164
8160	1.50	174.5	617.4	16.5	392	8164	0.00	2.67	0.00	0.000	4	0.000	0.074	2810	765	2163
8416	1.50	174.5	586.0	15.6	403	8423	0.00	2.58	0.00	0.000	6	0.000	0.049	2811	2172	2163
8731	1.51	189.2	542.3	9.3	419	8753	0.00	2.67	12.55	1.316	4	0.000	0.064	2810	3571	2106
9004	1.51	189.2	511.9	11.3	431	9009	0.00	2.60	0.00	0.000	6	0.000	0.055	2811	2180	2106
9331	1.57	237.4	484.6	7.7	447	9376	0.12	2.65	39.45	1.256	4	0.067	0.060	2843	3578	1910
9432	1.57	237.4	472.5	11.1	452	9436	0.00	2.62	0.00	0.000	6	0.000	0.054	2843	2170	1910
9758	1.57	237.4	431.6	12.3	468	9762	0.00	2.58	0.00	0.000	4	0.000	0.054	2842	3582	1909
9783	1.57	237.4	427.4	15.6	469	9788	0.00	2.60	0.00	0.000	6	0.000	0.048	2843	2173	1909
10105	1.57	237.4	386.3	13.0	485	10109	0.00	2.55	0.00	0.000	4	0.000	0.052	2843	3585	1910
10143	1.57	237.4	381.6	12.8	487	10147	0.00	2.55	0.00	0.000	6	0.000	0.044	2843	2171	1910
10474	1.57	237.4	339.4	12.8	503	10478	0.00	2.55	0.00	0.000	4	0.000	0.050	2843	3589	1910
10674	1.57	237.4	312.1	12.4	512	10679	0.00	2.58	0.00	0.000	6	0.000	0.042	2842	2170	1911
11001	1.57	237.4	273.0	11.8	528	11005	0.00	2.53	0.00	0.000	4	0.000	0.048	2843	3583	1911
11113	1.57	237.4	258.9	13.0	533	11117	0.00	2.53	0.00	0.000	6	0.000	0.041	2843	2167	1912
11438	1.57	237.4	219.4	11.9	549	11443	0.00	2.53	0.00	0.000	4	0.000	0.048	2843	3583	1912
11571	1.57	237.4	202.7	12.4	555	11576	0.00	2.53	0.00	0.000	6	0.000	0.040	2843	2181	1913
11899	1.57	237.4	165.2	10.8	571	11903	0.00	2.60	0.00	0.000	4	0.000	0.061	2843	762	1913
11919	1.57	237.4	162.9	10.8	572	11924	0.00	2.53	0.00	0.000	6	0.000	0.039	2843	2182	1913
12246	1.57	237.4	128.2	10.6	588	12250	0.00	2.50	0.00	0.000	4	0.000	0.048	2843	3580	1914
12356	1.57	237.4	116.0	10.6	593	12360	0.00	2.53	0.00	0.000	6	0.000	0.039	2843	2175	1915
12684	1.57	237.4	79.0	11.5	609	12688	0.00	2.53	0.00	0.000	4	0.000	0.047	2843	3579	1915
12850	1.57	237.4	58.6	11.0	616	12858	0.00	2.53	0.00	0.000	6	0.000	0.039	2843	2171	1915
13167	1.57	237.4	22.8	12.3	632	13171	0.00	2.53	0.00	0.000	4	0.000	0.047	2843	3579	1916
13282	1.57	237.4	8.2	13.8	637	13287	0.00	2.53	0.00	0.000	6	0.000	0.039	2843	2175	1916
13335	end climb: SURFACE_DEPTH_REACHED
state	13335	begin surface coast
13357	end surface coast: CONTROL_FINISHED_OK
state	13357	begin surface