Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 16 * 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 16 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 15 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -100536.09 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 -100536.09

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 15 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 16 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 153007,6127.715,-824.844,28,1.9,28,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 4 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,-0.147

_SM_DEPTHo 1.20 KALMAN_X -25573.7,1301.1,150.5,37304.8,-7705.0

_SM_ANGLEo -61.9 KALMAN_Y 28388.8,-1519.8,-558.1,-42751.1,9281.0

GPS2 153544,6127.719,-824.863,16,1.0,16,-8.9 MHEAD_RNG_PITCHd_Wd 132.7,4226,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.026836 ALTIM_BOTTOM_PING 771.0,77.8

SM_CCo 14614,15.15,0.742,0,0,1608,300.00 _24V_AH 23.7,5.342

SM_GC 1.58,0.00,0.00,15.15,0.000,0.000,0.742,417,2141,1608,-10.71,0.31,300.00 _10V_AH 10.1,2.924

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34852,703

TT8_MAMPS 0.029146 CAP_FILE_SIZE 109419,0

HUMID 1825 CFSIZE 254472192,250781696

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,41,0,0

XPDR_PINGS 73 GPS 310809,194137,6127.395,-823.771,29,1.6,29,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 165 104.54 SBE_CT 482 24 274.43

Roll_motor 114 96 261.97 SBE_O2 525 19 236.68

VBD_pump_during_apogee 371 1436 12658.75 WL_BB2F 405 105 1010.13

VBD_pump_during_surface 15 742 266.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 28 160 106.78 nil 0 0 0.00

Iridium_during_xfer 154 223 815.85

Transponder_ping 25 420 251.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.38

TT8 1301 19 260.27

LPSleep 11144 2 246.49

TT8_Active 487 19 97.58

TT8_Sampling 1559 39 627.01

TT8_CF8 479 45 221.96

TT8_Kalman 33 81 27.55

Analog_circuits 1286 12 155.93

GPS_charging 0 0 0.00

Compass 1518 8 122.66

RAFOS 0 0 0.00

Transponder 47 30 14.36

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 79 0.00 0.00 -61.58 0.000 2 0.000 0.000 420 2148 2916

82 -1.44 -146.6 3.0 -3.7 3 114 11.05 2.50 -14.52 0.000 4 0.166 0.081 2422 3526 3430

260 -1.35 -146.6 33.8 -18.2 11 266 0.15 2.50 0.00 0.000 6 0.104 0.049 2451 2116 3431

582 -1.35 -146.6 80.2 -14.2 27 587 0.00 2.60 0.00 0.000 4 0.000 0.066 2451 3536 3431

616 -1.35 -146.6 85.3 -14.7 28 622 0.00 2.45 0.00 0.000 6 0.000 0.049 2452 2154 3431

932 -1.35 -146.6 126.7 -12.9 44 933 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2141 3432

1241 -1.35 -146.6 167.1 -12.9 59 1242 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2141 3432

1550 -1.35 -146.6 207.7 -12.8 74 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2142 3432

1860 -1.35 -146.6 246.2 -12.4 89 1861 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2141 3432

2168 -1.35 -146.6 286.0 -12.8 104 2170 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2140 3432

2478 -1.35 -146.6 324.6 -12.6 119 2479 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2140 3432

2787 -1.35 -146.6 365.4 -13.2 134 2791 0.00 2.55 0.00 0.000 4 0.000 0.073 2452 3530 3432

2832 -1.35 -146.6 371.4 -14.1 136 2836 0.00 2.47 0.00 0.000 6 0.000 0.056 2452 2151 3432

3153 -1.39 -146.6 413.1 -13.0 152 3154 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2139 3432

3462 -1.39 -146.6 454.3 -12.9 167 3463 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2139 3432

3771 -1.39 -146.6 493.0 -12.4 182 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2139 3432

4080 -1.39 -146.6 532.0 -12.4 197 4085 0.00 2.55 0.00 0.000 4 0.000 0.068 2451 723 3431

4114 -1.46 -146.6 536.3 -12.6 198 4121 0.12 2.53 0.00 0.000 6 0.055 0.051 2417 2155 3432

4431 -1.42 -146.6 579.7 -13.5 214 4432 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2155 3431

4740 -1.38 -146.6 622.9 -14.7 229 4745 0.12 2.62 0.00 0.000 4 0.099 0.065 2441 721 3432

4826 -1.45 -146.6 634.9 -13.2 233 4830 0.00 2.55 0.00 0.000 6 0.000 0.052 2441 2164 3432

5152 -1.45 -146.6 675.6 -11.5 249 5156 0.00 2.53 0.00 0.000 4 0.000 0.076 2441 3538 3431

5410 -1.45 -146.6 707.5 -11.2 260 5416 0.00 2.40 0.00 0.000 6 0.000 0.058 2441 2198 3431

5727 -1.49 -146.6 742.9 -12.6 276 5731 0.00 2.55 0.00 0.000 4 0.000 0.082 2442 3541 3431

5850 -1.49 -146.6 761.2 -16.1 281 5856 0.00 2.47 0.00 0.000 6 0.000 0.069 2442 2195 3431

6166 -1.55 -146.6 795.2 -11.1 297 6171 0.15 2.75 0.00 0.000 4 0.059 0.085 2403 722 3429

6200 -1.48 -146.6 801.0 -18.7 298 6206 0.00 2.67 0.00 0.000 6 0.000 0.066 2402 2190 3430

6492 end dive: BOTTOM_OBSTACLE_DETECTED

state 6492 begin apogee

6500 -0.33 0.0 840.6 18.2 313 6635 1.27 0.00 127.88 1.437 6 0.096 0.000 2668 1910 2831

6635 end apogee: CONTROL_FINISHED_OK

state 6636 begin climb

6639 1.44 146.6 846.4 0.0 320 6776 1.80 2.80 127.43 1.394 4 0.064 0.091 3058 509 2233

6802 1.26 146.6 844.4 10.9 327 6809 0.20 2.62 0.00 0.000 6 0.110 0.066 3023 1937 2233

7118 1.28 203.4 811.9 7.4 343 7174 0.00 2.70 50.15 1.366 4 0.000 0.087 3022 3310 2001

7393 1.28 203.4 785.7 10.8 354 7399 0.00 2.65 0.00 0.000 6 0.000 0.084 3022 1929 2000

7709 1.24 203.4 745.9 14.1 370 7710 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 1929 1999

8018 1.19 203.4 702.1 12.9 385 8023 0.00 2.65 0.00 0.000 4 0.000 0.087 3022 3309 1998

8059 1.23 224.3 698.7 9.0 387 8083 0.00 2.65 18.27 1.319 6 0.000 0.090 3022 1940 1916

8415 1.21 249.5 670.0 8.9 404 8444 0.00 2.83 23.25 1.337 4 0.000 0.097 3022 516 1813

8474 1.15 253.2 663.2 9.8 406 8485 0.15 2.62 4.95 0.989 6 0.110 0.069 2996 1919 1798

8816 1.26 269.5 635.9 9.3 423 8838 0.12 2.80 15.60 1.276 4 0.070 0.087 3024 503 1731

8862 1.26 269.5 630.2 12.5 425 8866 0.00 2.62 0.00 0.000 6 0.000 0.066 3024 1924 1731

9189 1.26 269.5 591.7 11.8 441 9193 0.00 2.67 0.00 0.000 4 0.000 0.082 3024 509 1731

9229 1.26 269.5 586.9 13.0 443 9233 0.00 2.55 0.00 0.000 6 0.000 0.060 3024 1915 1731

9555 1.26 269.5 551.9 11.0 459 9559 0.00 2.65 0.00 0.000 4 0.000 0.077 3024 501 1732

9582 1.26 269.5 548.5 11.7 460 9587 0.00 2.50 0.00 0.000 6 0.000 0.056 3024 1896 1732

9898 1.26 269.5 513.5 11.1 475 9902 0.00 2.60 0.00 0.000 4 0.000 0.076 3024 501 1732

9919 1.26 269.5 510.7 12.3 476 9924 0.00 2.45 0.00 0.000 6 0.000 0.053 3024 1876 1733

10241 1.26 269.5 476.3 10.6 492 10242 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 1890 1733

10550 1.26 269.5 443.8 10.5 507 10554 0.00 2.53 0.00 0.000 4 0.000 0.074 3024 500 1734

10578 1.26 269.5 440.5 11.8 508 10582 0.00 2.45 0.00 0.000 6 0.000 0.053 3024 1882 1734

10899 1.26 269.5 406.3 10.9 524 10903 0.00 2.55 0.00 0.000 4 0.000 0.074 3024 500 1735

10916 1.26 269.5 404.3 11.1 525 10920 0.00 2.42 0.00 0.000 6 0.000 0.051 3024 1870 1735

11243 1.31 269.5 368.5 10.7 541 11244 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 1881 1736

11552 1.35 269.5 336.3 10.6 556 11557 0.00 2.50 0.00 0.000 4 0.000 0.073 3024 508 1736

11574 1.35 269.5 333.6 11.7 557 11579 0.00 2.38 0.00 0.000 6 0.000 0.051 3024 1856 1737

11897 1.39 271.2 301.0 9.9 573 11903 0.10 0.00 4.28 0.700 6 0.061 0.000 3052 1868 1725

12205 1.39 271.2 264.5 11.8 588 12206 0.00 0.00 0.00 0.000 6 0.000 0.000 3052 1868 1725

12514 1.39 271.2 228.7 11.6 603 12515 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1868 1726

12824 1.39 271.2 194.6 10.7 618 12827 0.00 2.47 0.00 0.000 4 0.000 0.072 3052 503 1726

12857 1.33 271.2 190.7 12.2 619 12862 0.00 2.38 0.00 0.000 6 0.000 0.050 3052 1854 1726

13173 1.33 271.2 155.5 10.9 634 13174 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1868 1726

13483 1.33 271.2 122.8 10.5 649 13487 0.00 2.62 0.00 0.000 4 0.000 0.064 3052 3325 1727

13523 1.33 271.2 118.4 11.6 651 13527 0.00 2.67 0.00 0.000 6 0.000 0.056 3053 1834 1727

13850 1.33 271.2 80.9 11.6 667 13851 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 1834 1727

14159 1.33 271.2 47.7 10.4 682 14163 0.00 2.70 0.00 0.000 4 0.000 0.060 3053 3330 1728

14270 1.33 271.2 35.4 10.9 687 14275 0.00 2.62 0.00 0.000 6 0.000 0.054 3053 1860 1728

14570 end climb: SURFACE_DEPTH_REACHED

state 14570 begin surface coast

14591 end surface coast: CONTROL_FINISHED_OK

state 14591 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	16	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	15	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-100536.09	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	153007,6127.715,-824.844,28,1.9,28,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	4	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,-0.147
_SM_DEPTHo	1.20	KALMAN_X	-25573.7,1301.1,150.5,37304.8,-7705.0
_SM_ANGLEo	-61.9	KALMAN_Y	28388.8,-1519.8,-558.1,-42751.1,9281.0
GPS2	153544,6127.719,-824.863,16,1.0,16,-8.9	MHEAD_RNG_PITCHd_Wd	132.7,4226,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.4,1.026836	ALTIM_BOTTOM_PING	771.0,77.8
SM_CCo	14614,15.15,0.742,0,0,1608,300.00	_24V_AH	23.7,5.342
SM_GC	1.58,0.00,0.00,15.15,0.000,0.000,0.742,417,2141,1608,-10.71,0.31,300.00	_10V_AH	10.1,2.924
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34852,703
TT8_MAMPS	0.029146	CAP_FILE_SIZE	109419,0
HUMID	1825	CFSIZE	254472192,250781696
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
XPDR_PINGS	73	GPS	310809,194137,6127.395,-823.771,29,1.6,29,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	165	104.54	SBE_CT	482	24	274.43
Roll_motor	114	96	261.97	SBE_O2	525	19	236.68
VBD_pump_during_apogee	371	1436	12658.75	WL_BB2F	405	105	1010.13
VBD_pump_during_surface	15	742	266.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	28	160	106.78	nil	0	0	0.00
Iridium_during_xfer	154	223	815.85
Transponder_ping	25	420	251.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.38
TT8	1301	19	260.27
LPSleep	11144	2	246.49
TT8_Active	487	19	97.58
TT8_Sampling	1559	39	627.01
TT8_CF8	479	45	221.96
TT8_Kalman	33	81	27.55
Analog_circuits	1286	12	155.93
GPS_charging	0	0	0.00
Compass	1518	8	122.66
RAFOS	0	0	0.00
Transponder	47	30	14.36

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	79	0.00	0.00	-61.58	0.000	2	0.000	0.000	420	2148	2916
82	-1.44	-146.6	3.0	-3.7	3	114	11.05	2.50	-14.52	0.000	4	0.166	0.081	2422	3526	3430
260	-1.35	-146.6	33.8	-18.2	11	266	0.15	2.50	0.00	0.000	6	0.104	0.049	2451	2116	3431
582	-1.35	-146.6	80.2	-14.2	27	587	0.00	2.60	0.00	0.000	4	0.000	0.066	2451	3536	3431
616	-1.35	-146.6	85.3	-14.7	28	622	0.00	2.45	0.00	0.000	6	0.000	0.049	2452	2154	3431
932	-1.35	-146.6	126.7	-12.9	44	933	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2141	3432
1241	-1.35	-146.6	167.1	-12.9	59	1242	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2141	3432
1550	-1.35	-146.6	207.7	-12.8	74	1551	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2142	3432
1860	-1.35	-146.6	246.2	-12.4	89	1861	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2141	3432
2168	-1.35	-146.6	286.0	-12.8	104	2170	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2140	3432
2478	-1.35	-146.6	324.6	-12.6	119	2479	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2140	3432
2787	-1.35	-146.6	365.4	-13.2	134	2791	0.00	2.55	0.00	0.000	4	0.000	0.073	2452	3530	3432
2832	-1.35	-146.6	371.4	-14.1	136	2836	0.00	2.47	0.00	0.000	6	0.000	0.056	2452	2151	3432
3153	-1.39	-146.6	413.1	-13.0	152	3154	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2139	3432
3462	-1.39	-146.6	454.3	-12.9	167	3463	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2139	3432
3771	-1.39	-146.6	493.0	-12.4	182	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2139	3432
4080	-1.39	-146.6	532.0	-12.4	197	4085	0.00	2.55	0.00	0.000	4	0.000	0.068	2451	723	3431
4114	-1.46	-146.6	536.3	-12.6	198	4121	0.12	2.53	0.00	0.000	6	0.055	0.051	2417	2155	3432
4431	-1.42	-146.6	579.7	-13.5	214	4432	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2155	3431
4740	-1.38	-146.6	622.9	-14.7	229	4745	0.12	2.62	0.00	0.000	4	0.099	0.065	2441	721	3432
4826	-1.45	-146.6	634.9	-13.2	233	4830	0.00	2.55	0.00	0.000	6	0.000	0.052	2441	2164	3432
5152	-1.45	-146.6	675.6	-11.5	249	5156	0.00	2.53	0.00	0.000	4	0.000	0.076	2441	3538	3431
5410	-1.45	-146.6	707.5	-11.2	260	5416	0.00	2.40	0.00	0.000	6	0.000	0.058	2441	2198	3431
5727	-1.49	-146.6	742.9	-12.6	276	5731	0.00	2.55	0.00	0.000	4	0.000	0.082	2442	3541	3431
5850	-1.49	-146.6	761.2	-16.1	281	5856	0.00	2.47	0.00	0.000	6	0.000	0.069	2442	2195	3431
6166	-1.55	-146.6	795.2	-11.1	297	6171	0.15	2.75	0.00	0.000	4	0.059	0.085	2403	722	3429
6200	-1.48	-146.6	801.0	-18.7	298	6206	0.00	2.67	0.00	0.000	6	0.000	0.066	2402	2190	3430
6492	end dive: BOTTOM_OBSTACLE_DETECTED
state	6492	begin apogee
6500	-0.33	0.0	840.6	18.2	313	6635	1.27	0.00	127.88	1.437	6	0.096	0.000	2668	1910	2831
6635	end apogee: CONTROL_FINISHED_OK
state	6636	begin climb
6639	1.44	146.6	846.4	0.0	320	6776	1.80	2.80	127.43	1.394	4	0.064	0.091	3058	509	2233
6802	1.26	146.6	844.4	10.9	327	6809	0.20	2.62	0.00	0.000	6	0.110	0.066	3023	1937	2233
7118	1.28	203.4	811.9	7.4	343	7174	0.00	2.70	50.15	1.366	4	0.000	0.087	3022	3310	2001
7393	1.28	203.4	785.7	10.8	354	7399	0.00	2.65	0.00	0.000	6	0.000	0.084	3022	1929	2000
7709	1.24	203.4	745.9	14.1	370	7710	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	1929	1999
8018	1.19	203.4	702.1	12.9	385	8023	0.00	2.65	0.00	0.000	4	0.000	0.087	3022	3309	1998
8059	1.23	224.3	698.7	9.0	387	8083	0.00	2.65	18.27	1.319	6	0.000	0.090	3022	1940	1916
8415	1.21	249.5	670.0	8.9	404	8444	0.00	2.83	23.25	1.337	4	0.000	0.097	3022	516	1813
8474	1.15	253.2	663.2	9.8	406	8485	0.15	2.62	4.95	0.989	6	0.110	0.069	2996	1919	1798
8816	1.26	269.5	635.9	9.3	423	8838	0.12	2.80	15.60	1.276	4	0.070	0.087	3024	503	1731
8862	1.26	269.5	630.2	12.5	425	8866	0.00	2.62	0.00	0.000	6	0.000	0.066	3024	1924	1731
9189	1.26	269.5	591.7	11.8	441	9193	0.00	2.67	0.00	0.000	4	0.000	0.082	3024	509	1731
9229	1.26	269.5	586.9	13.0	443	9233	0.00	2.55	0.00	0.000	6	0.000	0.060	3024	1915	1731
9555	1.26	269.5	551.9	11.0	459	9559	0.00	2.65	0.00	0.000	4	0.000	0.077	3024	501	1732
9582	1.26	269.5	548.5	11.7	460	9587	0.00	2.50	0.00	0.000	6	0.000	0.056	3024	1896	1732
9898	1.26	269.5	513.5	11.1	475	9902	0.00	2.60	0.00	0.000	4	0.000	0.076	3024	501	1732
9919	1.26	269.5	510.7	12.3	476	9924	0.00	2.45	0.00	0.000	6	0.000	0.053	3024	1876	1733
10241	1.26	269.5	476.3	10.6	492	10242	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	1890	1733
10550	1.26	269.5	443.8	10.5	507	10554	0.00	2.53	0.00	0.000	4	0.000	0.074	3024	500	1734
10578	1.26	269.5	440.5	11.8	508	10582	0.00	2.45	0.00	0.000	6	0.000	0.053	3024	1882	1734
10899	1.26	269.5	406.3	10.9	524	10903	0.00	2.55	0.00	0.000	4	0.000	0.074	3024	500	1735
10916	1.26	269.5	404.3	11.1	525	10920	0.00	2.42	0.00	0.000	6	0.000	0.051	3024	1870	1735
11243	1.31	269.5	368.5	10.7	541	11244	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	1881	1736
11552	1.35	269.5	336.3	10.6	556	11557	0.00	2.50	0.00	0.000	4	0.000	0.073	3024	508	1736
11574	1.35	269.5	333.6	11.7	557	11579	0.00	2.38	0.00	0.000	6	0.000	0.051	3024	1856	1737
11897	1.39	271.2	301.0	9.9	573	11903	0.10	0.00	4.28	0.700	6	0.061	0.000	3052	1868	1725
12205	1.39	271.2	264.5	11.8	588	12206	0.00	0.00	0.00	0.000	6	0.000	0.000	3052	1868	1725
12514	1.39	271.2	228.7	11.6	603	12515	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1868	1726
12824	1.39	271.2	194.6	10.7	618	12827	0.00	2.47	0.00	0.000	4	0.000	0.072	3052	503	1726
12857	1.33	271.2	190.7	12.2	619	12862	0.00	2.38	0.00	0.000	6	0.000	0.050	3052	1854	1726
13173	1.33	271.2	155.5	10.9	634	13174	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1868	1726
13483	1.33	271.2	122.8	10.5	649	13487	0.00	2.62	0.00	0.000	4	0.000	0.064	3052	3325	1727
13523	1.33	271.2	118.4	11.6	651	13527	0.00	2.67	0.00	0.000	6	0.000	0.056	3053	1834	1727
13850	1.33	271.2	80.9	11.6	667	13851	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	1834	1727
14159	1.33	271.2	47.7	10.4	682	14163	0.00	2.70	0.00	0.000	4	0.000	0.060	3053	3330	1728
14270	1.33	271.2	35.4	10.9	687	14275	0.00	2.62	0.00	0.000	6	0.000	0.054	3053	1860	1728
14570	end climb: SURFACE_DEPTH_REACHED
state	14570	begin surface coast
14591	end surface coast: CONTROL_FINISHED_OK
state	14591	begin surface