Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 15 * 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 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 15 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1920 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 0

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 330 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 350 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 990 T_GPS_CHARGE -100518.87 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

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 2 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 990 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 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 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 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 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 330

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 -100518.87

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 350

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 2

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 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1920 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 15 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 0

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 112010,6128.367,-824.721,42,1.3,45,-8.9 TGT_NAME FBC_SIL

_CALLS 3 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 1 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.173,-0.199

_SM_DEPTHo 1.11 KALMAN_X -22005.0,959.6,302.6,34147.1,-6304.0

_SM_ANGLEo -57.4 KALMAN_Y 25971.4,-1109.8,-713.4,-39529.7,10000.2

GPS2 113208,6128.297,-824.615,15,1.5,15,-8.9 MHEAD_RNG_PITCHd_Wd 147.9,3172,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026720 ALTIM_BOTTOM_PING 822.5,21.1

SM_CCo 14139,17.55,0.752,0,0,1607,300.00 _24V_AH 23.7,5.179

SM_GC 0.81,0.00,0.00,17.55,0.000,0.000,0.752,420,2157,1607,-10.70,0.48,300.00 _10V_AH 10.0,2.856

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34798,675

TT8_MAMPS 0.029146 CAP_FILE_SIZE 118748,0

HUMID 1847 CFSIZE 254472192,250830848

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,51,0,0

XPDR_PINGS 69 GPS 310809,153007,6127.715,-824.844,28,1.9,28,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 105.33 SBE_CT 463 24 263.59

Roll_motor 143 98 334.12 SBE_O2 502 19 226.12

VBD_pump_during_apogee 362 1421 12213.69 WL_BB2F 388 105 966.89

VBD_pump_during_surface 17 751 312.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 276.53 nil 0 0 0.00

Iridium_during_connect 97 160 370.30 nil 0 0 0.00

Iridium_during_xfer 262 223 1386.72

Transponder_ping 25 420 248.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.88

TT8 1287 19 255.01

LPSleep 10724 2 234.86

TT8_Active 495 19 98.05

TT8_Sampling 1626 39 647.53

TT8_CF8 748 45 342.84

TT8_Kalman 33 81 27.28

Analog_circuits 1342 12 161.14

GPS_charging 0 0 0.00

Compass 1573 8 125.92

RAFOS 0 0 0.00

Transponder 54 30 16.25

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 -1.44 -146.6 0.0 0.0 0 78 0.00 0.00 -60.65 0.000 2 0.000 0.000 415 2140 2691

81 -1.44 -146.6 2.6 -3.3 3 125 11.10 2.55 -23.42 0.000 4 0.166 0.077 2425 3518 3430

367 -1.39 -146.6 47.1 -16.2 15 373 0.00 2.47 0.00 0.000 6 0.000 0.049 2425 2124 3431

683 -1.34 -146.6 91.9 -13.4 31 688 0.12 2.53 0.00 0.000 4 0.110 0.062 2449 719 3431

734 -1.39 -146.6 98.1 -10.9 33 738 0.00 2.45 0.00 0.000 6 0.000 0.047 2448 2122 3431

1050 -1.39 -146.6 136.2 -12.9 48 1054 0.00 2.55 0.00 0.000 4 0.000 0.064 2449 715 3431

1113 -1.44 -146.6 144.1 -12.0 51 1118 0.00 2.47 0.00 0.000 6 0.000 0.047 2449 2122 3431

1445 -1.44 -146.6 185.1 -12.5 67 1449 0.00 2.55 0.00 0.000 4 0.000 0.064 2449 710 3431

1485 -1.49 -146.6 190.0 -12.6 69 1490 0.15 2.47 0.00 0.000 6 0.050 0.049 2407 2113 3431

1814 -1.40 -146.6 239.3 -15.4 85 1819 0.15 2.55 0.00 0.000 4 0.094 0.064 2435 709 3431

1864 -1.40 -146.6 247.1 -14.7 87 1869 0.00 2.45 0.00 0.000 6 0.000 0.051 2435 2094 3431

2180 -1.40 -146.6 290.1 -14.0 102 2181 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2094 3431

2489 -1.40 -146.6 333.5 -14.1 117 2494 0.00 2.50 0.00 0.000 4 0.000 0.066 2435 719 3432

2552 -1.40 -146.6 342.4 -14.2 120 2556 0.00 2.40 0.00 0.000 6 0.000 0.051 2435 2080 3432

2879 -1.40 -146.6 387.9 -14.2 136 2880 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2080 3432

3188 -1.40 -146.6 430.7 -13.9 151 3192 0.00 2.50 0.00 0.000 4 0.000 0.068 2435 715 3431

3238 -1.40 -146.6 437.9 -14.4 153 3243 0.00 2.42 0.00 0.000 6 0.000 0.053 2435 2081 3431

3554 -1.40 -146.6 479.9 -13.3 168 3556 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2081 3431

3864 -1.40 -146.6 520.5 -13.0 183 3868 0.00 2.47 0.00 0.000 4 0.000 0.067 2435 720 3431

3897 -1.40 -146.6 525.2 -14.1 184 3903 0.00 2.40 0.00 0.000 6 0.000 0.051 2435 2076 3431

4213 -1.40 -146.6 563.7 -12.0 200 4217 0.00 2.47 0.00 0.000 4 0.000 0.067 2435 716 3431

4252 -1.40 -146.6 568.6 -12.4 202 4256 0.00 2.38 0.00 0.000 6 0.000 0.051 2435 2055 3431

4579 -1.40 -146.6 611.9 -13.5 218 4581 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2055 3430

4888 -1.40 -146.6 651.0 -13.7 233 4892 0.00 2.42 0.00 0.000 4 0.000 0.067 2435 719 3430

5147 -1.40 -146.6 687.0 -14.1 244 5151 0.00 2.35 0.00 0.000 6 0.000 0.053 2435 2039 3430

5463 -1.40 -146.6 728.9 -11.9 259 5467 0.00 2.45 0.00 0.000 4 0.000 0.074 2435 713 3430

5721 -1.45 -146.6 759.8 -11.7 270 5727 0.00 2.35 0.00 0.000 6 0.000 0.061 2435 2016 3430

6037 -1.45 -146.6 798.7 -14.6 286 6042 0.00 2.85 0.00 0.000 4 0.000 0.089 2435 3534 3428

6055 -1.45 -146.6 801.9 -15.9 287 6060 0.00 2.80 0.00 0.000 6 0.000 0.075 2435 2024 3428

6296 end dive: BOTTOM_OBSTACLE_DETECTED

state 6296 begin apogee

6304 -0.33 0.0 835.3 13.0 299 6439 1.10 0.00 127.22 1.421 6 0.087 0.000 2668 1909 2831

6440 end apogee: CONTROL_FINISHED_OK

state 6440 begin climb

6443 1.44 146.6 839.3 0.0 306 6580 1.73 2.80 126.85 1.380 4 0.042 0.095 3061 514 2232

6839 1.12 146.6 792.8 14.5 324 6845 0.38 2.60 0.00 0.000 6 0.106 0.068 2991 1914 2231

7167 1.15 164.6 766.3 9.2 340 7190 0.00 2.83 16.50 1.289 4 0.000 0.098 2991 510 2159

7240 1.16 167.2 758.4 9.9 343 7250 0.00 2.62 3.95 0.850 6 0.000 0.071 2991 1921 2149

7568 1.27 240.8 735.5 6.6 359 7639 0.15 2.75 63.85 1.379 4 0.067 0.087 3025 3320 1849

7668 1.31 267.0 727.4 8.8 363 7698 0.00 2.67 24.23 1.317 6 0.000 0.081 3025 1929 1741

8026 1.31 267.0 690.3 10.0 381 8027 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1915 1741

8336 1.31 267.0 658.8 10.1 396 8340 0.00 2.70 0.00 0.000 4 0.000 0.096 3024 510 1739

8353 1.32 267.4 656.9 10.0 397 8357 0.00 2.62 0.00 0.000 6 0.000 0.068 3025 1935 1739

8680 1.32 267.4 626.1 10.2 413 8681 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1943 1739

8988 1.32 267.4 593.6 11.1 428 8993 0.00 2.70 0.00 0.000 4 0.000 0.082 3025 507 1739

9038 1.32 267.4 587.6 12.4 430 9043 0.00 2.62 0.00 0.000 6 0.000 0.059 3025 1959 1738

9354 1.32 267.4 552.8 11.0 445 9359 0.00 2.72 0.00 0.000 4 0.000 0.078 3025 504 1739

9405 1.32 267.4 546.6 12.2 447 9409 0.00 2.55 0.00 0.000 6 0.000 0.055 3025 1931 1739

9720 1.32 267.4 510.7 11.2 462 9725 0.00 2.65 0.00 0.000 4 0.000 0.076 3025 509 1740

9761 1.32 267.4 506.0 12.7 464 9765 0.00 2.53 0.00 0.000 6 0.000 0.054 3025 1922 1740

10087 1.32 267.4 469.8 10.7 480 10091 0.00 2.60 0.00 0.000 4 0.000 0.073 3025 507 1741

10114 1.32 267.4 466.6 11.5 481 10119 0.00 2.50 0.00 0.000 6 0.000 0.054 3025 1916 1740

10431 1.32 267.4 431.9 10.7 496 10435 0.00 2.62 0.00 0.000 4 0.000 0.074 3024 500 1741

10448 1.32 267.4 429.7 11.2 497 10452 0.00 2.50 0.00 0.000 6 0.000 0.054 3025 1908 1741

10774 1.32 267.4 393.3 11.4 513 10779 0.00 2.60 0.00 0.000 4 0.000 0.072 3025 503 1742

10792 1.32 267.4 391.2 11.2 514 10796 0.00 2.47 0.00 0.000 6 0.000 0.053 3025 1901 1742

11118 1.32 267.4 353.9 11.5 530 11120 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1914 1743

11428 1.32 267.4 318.3 11.3 545 11432 0.00 2.58 0.00 0.000 4 0.000 0.072 3025 505 1743

11445 1.32 267.4 316.3 11.3 546 11450 0.00 2.45 0.00 0.000 6 0.000 0.051 3025 1894 1744

11773 1.32 267.4 280.1 11.0 562 11777 0.00 2.55 0.00 0.000 4 0.000 0.073 3025 507 1744

11794 1.32 267.4 277.2 12.2 563 11799 0.00 2.42 0.00 0.000 6 0.000 0.052 3025 1875 1744

12115 1.36 267.4 240.6 11.3 579 12117 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 1876 1745

12425 1.41 267.4 204.9 11.4 594 12430 0.12 2.53 0.00 0.000 4 0.058 0.071 3058 503 1745

12442 1.41 267.4 202.8 11.5 595 12446 0.00 2.40 0.00 0.000 6 0.000 0.051 3059 1868 1745

12769 1.36 267.4 160.9 13.0 611 12774 0.00 2.50 0.00 0.000 4 0.000 0.072 3058 506 1746

12798 1.28 267.4 156.7 14.2 612 12803 0.20 2.38 0.00 0.000 6 0.094 0.050 3020 1858 1746

13114 1.33 267.4 120.2 10.9 627 13119 0.00 2.62 0.00 0.000 4 0.000 0.064 3020 3329 1746

13142 1.42 267.4 116.9 10.7 628 13147 0.15 2.67 0.00 0.000 6 0.054 0.055 3059 1839 1746

13458 1.42 267.4 78.2 11.7 643 13463 0.00 2.70 0.00 0.000 4 0.000 0.061 3059 3333 1746

13491 1.42 267.4 74.3 11.4 644 13498 0.00 2.62 0.00 0.000 6 0.000 0.055 3059 1864 1746

13809 1.42 267.4 36.2 12.5 660 13810 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 1864 1747

14094 end climb: SURFACE_DEPTH_REACHED

state 14095 begin surface coast

14115 end surface coast: CONTROL_FINISHED_OK

state 14115 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	15	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1920	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	0
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	350	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	990	T_GPS_CHARGE	-100518.87	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	112010,6128.367,-824.721,42,1.3,45,-8.9	TGT_NAME	FBC_SIL
_CALLS	3	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	1	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.173,-0.199
_SM_DEPTHo	1.11	KALMAN_X	-22005.0,959.6,302.6,34147.1,-6304.0
_SM_ANGLEo	-57.4	KALMAN_Y	25971.4,-1109.8,-713.4,-39529.7,10000.2
GPS2	113208,6128.297,-824.615,15,1.5,15,-8.9	MHEAD_RNG_PITCHd_Wd	147.9,3172,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.026720	ALTIM_BOTTOM_PING	822.5,21.1
SM_CCo	14139,17.55,0.752,0,0,1607,300.00	_24V_AH	23.7,5.179
SM_GC	0.81,0.00,0.00,17.55,0.000,0.000,0.752,420,2157,1607,-10.70,0.48,300.00	_10V_AH	10.0,2.856
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34798,675
TT8_MAMPS	0.029146	CAP_FILE_SIZE	118748,0
HUMID	1847	CFSIZE	254472192,250830848
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,51,0,0
XPDR_PINGS	69	GPS	310809,153007,6127.715,-824.844,28,1.9,28,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	105.33	SBE_CT	463	24	263.59
Roll_motor	143	98	334.12	SBE_O2	502	19	226.12
VBD_pump_during_apogee	362	1421	12213.69	WL_BB2F	388	105	966.89
VBD_pump_during_surface	17	751	312.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	276.53	nil	0	0	0.00
Iridium_during_connect	97	160	370.30	nil	0	0	0.00
Iridium_during_xfer	262	223	1386.72
Transponder_ping	25	420	248.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.88
TT8	1287	19	255.01
LPSleep	10724	2	234.86
TT8_Active	495	19	98.05
TT8_Sampling	1626	39	647.53
TT8_CF8	748	45	342.84
TT8_Kalman	33	81	27.28
Analog_circuits	1342	12	161.14
GPS_charging	0	0	0.00
Compass	1573	8	125.92
RAFOS	0	0	0.00
Transponder	54	30	16.25

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	-1.44	-146.6	0.0	0.0	0	78	0.00	0.00	-60.65	0.000	2	0.000	0.000	415	2140	2691
81	-1.44	-146.6	2.6	-3.3	3	125	11.10	2.55	-23.42	0.000	4	0.166	0.077	2425	3518	3430
367	-1.39	-146.6	47.1	-16.2	15	373	0.00	2.47	0.00	0.000	6	0.000	0.049	2425	2124	3431
683	-1.34	-146.6	91.9	-13.4	31	688	0.12	2.53	0.00	0.000	4	0.110	0.062	2449	719	3431
734	-1.39	-146.6	98.1	-10.9	33	738	0.00	2.45	0.00	0.000	6	0.000	0.047	2448	2122	3431
1050	-1.39	-146.6	136.2	-12.9	48	1054	0.00	2.55	0.00	0.000	4	0.000	0.064	2449	715	3431
1113	-1.44	-146.6	144.1	-12.0	51	1118	0.00	2.47	0.00	0.000	6	0.000	0.047	2449	2122	3431
1445	-1.44	-146.6	185.1	-12.5	67	1449	0.00	2.55	0.00	0.000	4	0.000	0.064	2449	710	3431
1485	-1.49	-146.6	190.0	-12.6	69	1490	0.15	2.47	0.00	0.000	6	0.050	0.049	2407	2113	3431
1814	-1.40	-146.6	239.3	-15.4	85	1819	0.15	2.55	0.00	0.000	4	0.094	0.064	2435	709	3431
1864	-1.40	-146.6	247.1	-14.7	87	1869	0.00	2.45	0.00	0.000	6	0.000	0.051	2435	2094	3431
2180	-1.40	-146.6	290.1	-14.0	102	2181	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2094	3431
2489	-1.40	-146.6	333.5	-14.1	117	2494	0.00	2.50	0.00	0.000	4	0.000	0.066	2435	719	3432
2552	-1.40	-146.6	342.4	-14.2	120	2556	0.00	2.40	0.00	0.000	6	0.000	0.051	2435	2080	3432
2879	-1.40	-146.6	387.9	-14.2	136	2880	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2080	3432
3188	-1.40	-146.6	430.7	-13.9	151	3192	0.00	2.50	0.00	0.000	4	0.000	0.068	2435	715	3431
3238	-1.40	-146.6	437.9	-14.4	153	3243	0.00	2.42	0.00	0.000	6	0.000	0.053	2435	2081	3431
3554	-1.40	-146.6	479.9	-13.3	168	3556	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2081	3431
3864	-1.40	-146.6	520.5	-13.0	183	3868	0.00	2.47	0.00	0.000	4	0.000	0.067	2435	720	3431
3897	-1.40	-146.6	525.2	-14.1	184	3903	0.00	2.40	0.00	0.000	6	0.000	0.051	2435	2076	3431
4213	-1.40	-146.6	563.7	-12.0	200	4217	0.00	2.47	0.00	0.000	4	0.000	0.067	2435	716	3431
4252	-1.40	-146.6	568.6	-12.4	202	4256	0.00	2.38	0.00	0.000	6	0.000	0.051	2435	2055	3431
4579	-1.40	-146.6	611.9	-13.5	218	4581	0.00	0.00	0.00	0.000	6	0.000	0.000	2435	2055	3430
4888	-1.40	-146.6	651.0	-13.7	233	4892	0.00	2.42	0.00	0.000	4	0.000	0.067	2435	719	3430
5147	-1.40	-146.6	687.0	-14.1	244	5151	0.00	2.35	0.00	0.000	6	0.000	0.053	2435	2039	3430
5463	-1.40	-146.6	728.9	-11.9	259	5467	0.00	2.45	0.00	0.000	4	0.000	0.074	2435	713	3430
5721	-1.45	-146.6	759.8	-11.7	270	5727	0.00	2.35	0.00	0.000	6	0.000	0.061	2435	2016	3430
6037	-1.45	-146.6	798.7	-14.6	286	6042	0.00	2.85	0.00	0.000	4	0.000	0.089	2435	3534	3428
6055	-1.45	-146.6	801.9	-15.9	287	6060	0.00	2.80	0.00	0.000	6	0.000	0.075	2435	2024	3428
6296	end dive: BOTTOM_OBSTACLE_DETECTED
state	6296	begin apogee
6304	-0.33	0.0	835.3	13.0	299	6439	1.10	0.00	127.22	1.421	6	0.087	0.000	2668	1909	2831
6440	end apogee: CONTROL_FINISHED_OK
state	6440	begin climb
6443	1.44	146.6	839.3	0.0	306	6580	1.73	2.80	126.85	1.380	4	0.042	0.095	3061	514	2232
6839	1.12	146.6	792.8	14.5	324	6845	0.38	2.60	0.00	0.000	6	0.106	0.068	2991	1914	2231
7167	1.15	164.6	766.3	9.2	340	7190	0.00	2.83	16.50	1.289	4	0.000	0.098	2991	510	2159
7240	1.16	167.2	758.4	9.9	343	7250	0.00	2.62	3.95	0.850	6	0.000	0.071	2991	1921	2149
7568	1.27	240.8	735.5	6.6	359	7639	0.15	2.75	63.85	1.379	4	0.067	0.087	3025	3320	1849
7668	1.31	267.0	727.4	8.8	363	7698	0.00	2.67	24.23	1.317	6	0.000	0.081	3025	1929	1741
8026	1.31	267.0	690.3	10.0	381	8027	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1915	1741
8336	1.31	267.0	658.8	10.1	396	8340	0.00	2.70	0.00	0.000	4	0.000	0.096	3024	510	1739
8353	1.32	267.4	656.9	10.0	397	8357	0.00	2.62	0.00	0.000	6	0.000	0.068	3025	1935	1739
8680	1.32	267.4	626.1	10.2	413	8681	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1943	1739
8988	1.32	267.4	593.6	11.1	428	8993	0.00	2.70	0.00	0.000	4	0.000	0.082	3025	507	1739
9038	1.32	267.4	587.6	12.4	430	9043	0.00	2.62	0.00	0.000	6	0.000	0.059	3025	1959	1738
9354	1.32	267.4	552.8	11.0	445	9359	0.00	2.72	0.00	0.000	4	0.000	0.078	3025	504	1739
9405	1.32	267.4	546.6	12.2	447	9409	0.00	2.55	0.00	0.000	6	0.000	0.055	3025	1931	1739
9720	1.32	267.4	510.7	11.2	462	9725	0.00	2.65	0.00	0.000	4	0.000	0.076	3025	509	1740
9761	1.32	267.4	506.0	12.7	464	9765	0.00	2.53	0.00	0.000	6	0.000	0.054	3025	1922	1740
10087	1.32	267.4	469.8	10.7	480	10091	0.00	2.60	0.00	0.000	4	0.000	0.073	3025	507	1741
10114	1.32	267.4	466.6	11.5	481	10119	0.00	2.50	0.00	0.000	6	0.000	0.054	3025	1916	1740
10431	1.32	267.4	431.9	10.7	496	10435	0.00	2.62	0.00	0.000	4	0.000	0.074	3024	500	1741
10448	1.32	267.4	429.7	11.2	497	10452	0.00	2.50	0.00	0.000	6	0.000	0.054	3025	1908	1741
10774	1.32	267.4	393.3	11.4	513	10779	0.00	2.60	0.00	0.000	4	0.000	0.072	3025	503	1742
10792	1.32	267.4	391.2	11.2	514	10796	0.00	2.47	0.00	0.000	6	0.000	0.053	3025	1901	1742
11118	1.32	267.4	353.9	11.5	530	11120	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1914	1743
11428	1.32	267.4	318.3	11.3	545	11432	0.00	2.58	0.00	0.000	4	0.000	0.072	3025	505	1743
11445	1.32	267.4	316.3	11.3	546	11450	0.00	2.45	0.00	0.000	6	0.000	0.051	3025	1894	1744
11773	1.32	267.4	280.1	11.0	562	11777	0.00	2.55	0.00	0.000	4	0.000	0.073	3025	507	1744
11794	1.32	267.4	277.2	12.2	563	11799	0.00	2.42	0.00	0.000	6	0.000	0.052	3025	1875	1744
12115	1.36	267.4	240.6	11.3	579	12117	0.00	0.00	0.00	0.000	6	0.000	0.000	3025	1876	1745
12425	1.41	267.4	204.9	11.4	594	12430	0.12	2.53	0.00	0.000	4	0.058	0.071	3058	503	1745
12442	1.41	267.4	202.8	11.5	595	12446	0.00	2.40	0.00	0.000	6	0.000	0.051	3059	1868	1745
12769	1.36	267.4	160.9	13.0	611	12774	0.00	2.50	0.00	0.000	4	0.000	0.072	3058	506	1746
12798	1.28	267.4	156.7	14.2	612	12803	0.20	2.38	0.00	0.000	6	0.094	0.050	3020	1858	1746
13114	1.33	267.4	120.2	10.9	627	13119	0.00	2.62	0.00	0.000	4	0.000	0.064	3020	3329	1746
13142	1.42	267.4	116.9	10.7	628	13147	0.15	2.67	0.00	0.000	6	0.054	0.055	3059	1839	1746
13458	1.42	267.4	78.2	11.7	643	13463	0.00	2.70	0.00	0.000	4	0.000	0.061	3059	3333	1746
13491	1.42	267.4	74.3	11.4	644	13498	0.00	2.62	0.00	0.000	6	0.000	0.055	3059	1864	1746
13809	1.42	267.4	36.2	12.5	660	13810	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	1864	1747
14094	end climb: SURFACE_DEPTH_REACHED
state	14095	begin surface coast
14115	end surface coast: CONTROL_FINISHED_OK
state	14115	begin surface