Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 45 ROLL_MIN 196 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 18 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3869 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2600 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 20

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 330 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 360 CALL_TRIES 5 VBD_MAX 3836 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2817 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 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.00109 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2107940.5 VBD_BLEED_AD_RATE 4 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 100 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 78 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3321 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2360 PRESSURE_YINT -20.343216 SEABIRD_T_G 0.0043199998

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_H 0.000619

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.055e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.86e-06

FERRY_MAX 22 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8699999

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.000612

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.000141

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3321 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 78 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.343216 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 15

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 -2107940.5

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 360

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 16 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3869 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2360 KALMAN_USE 1 ROLL_MIN 196 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2600 MASS 52000 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -9.8699999 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1 VBD_MAX 3836

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.000612 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.000141 VBD_MIN 509

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043199998 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000619 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.055e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 1.86e-06 XPDR_DEVICE 21

DIVE 18 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 031336,6135.646,-832.084,37,1.3,48,-9.0 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.066,-0.255

_SM_DEPTHo 1.58 KALMAN_X -28698.2,2189.1,883.3,11869.9,-7477.5

_SM_ANGLEo -64.1 KALMAN_Y 55180.9,-292.0,-1229.5,-33050.8,15147.7

GPS2 031846,6135.653,-832.198,13,2.4,32,-9.0 MHEAD_RNG_PITCHd_Wd 157.7,12251,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014885 ALTIM_BOTTOM_PING 750.3,85.3

SM_CCo 13769,0.00,0.000,0,0,1542,312.76 _24V_AH 23.5,9.342

SM_GC 1.56,12.18,0.00,0.00,0.081,0.000,0.000,74,2613,1542,-10.46,0.37,312.76 _10V_AH 10.1,3.591

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34883,652

TT8_MAMPS 0.023777 CAP_FILE_SIZE 112485,0

HUMID 1720 CFSIZE 260165632,257277952

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 16 GPS 080609,071007,6136.895,-833.486,26,1.5,26,-9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 187 126.41 SBE_CT 469 24 264.73

Roll_motor 135 88 282.94 SBE_O2 456 19 204.04

VBD_pump_during_apogee 404 1128 10719.63 WL_BB2F 391 105 966.26

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.62 nil 0 0 0.00

Iridium_during_connect 27 160 104.11 nil 0 0 0.00

Iridium_during_xfer 134 223 706.60

Transponder_ping 10 420 106.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.93

TT8 1266 19 253.31

LPSleep 10235 2 226.40

TT8_Active 488 19 97.61

TT8_Sampling 1684 39 677.01

TT8_CF8 404 45 186.98

TT8_Kalman 33 81 27.55

Analog_circuits 1343 12 162.79

GPS_charging 0 0 0.00

Compass 1613 8 130.38

RAFOS 0 0 0.00

Transponder 47 30 14.47

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -1.29 -146.6 0.0 0.0 0 78 0.00 0.00 -56.90 0.000 6 0.000 0.000 70 2608 3416

81 -1.29 -146.6 6.8 -12.7 3 102 11.70 2.55 0.00 0.000 4 0.188 0.040 2075 1190 3417

216 -1.35 -146.6 35.0 -11.8 9 221 0.00 2.50 0.00 0.000 6 0.000 0.038 2075 2606 3418

543 -1.35 -146.6 75.8 -12.2 25 545 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2606 3418

853 -1.40 -146.6 113.8 -12.1 40 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2075 2606 3418

1163 -1.44 -146.6 147.4 -10.5 55 1164 0.15 0.00 0.00 0.000 6 0.044 0.000 2030 2606 3419

1471 -1.38 -146.6 188.2 -14.1 70 1476 0.15 2.35 0.00 0.000 4 0.110 0.069 2057 3867 3419

1526 -1.38 -146.6 196.1 -13.1 72 1533 0.00 2.20 0.00 0.000 6 0.000 0.029 2057 2575 3419

1842 -1.38 -146.6 235.7 -13.3 88 1843 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 2574 3419

2151 -1.38 -146.6 279.5 -14.6 103 2155 0.00 2.40 0.00 0.000 4 0.000 0.067 2057 3861 3419

2241 -1.38 -146.6 293.3 -14.4 107 2244 0.00 2.15 0.00 0.000 6 0.000 0.030 2057 2602 3419

2568 -1.38 -146.6 340.5 -14.3 123 2572 0.00 2.35 0.00 0.000 4 0.000 0.068 2057 3860 3419

2617 -1.38 -146.6 348.2 -15.2 125 2621 0.00 2.15 0.00 0.000 6 0.000 0.031 2057 2602 3419

2939 -1.38 -146.6 396.0 -15.0 141 2943 0.00 2.35 0.00 0.000 4 0.000 0.069 2057 3863 3419

2989 -1.38 -146.6 403.3 -14.2 143 2993 0.00 2.17 0.00 0.000 6 0.000 0.030 2057 2592 3419

3310 -1.38 -146.6 446.6 -13.3 159 3314 0.00 2.47 0.00 0.000 4 0.000 0.047 2057 1200 3419

3411 -1.42 -146.6 459.1 -12.5 163 3418 0.00 2.47 0.00 0.000 6 0.000 0.038 2057 2608 3419

3727 -1.42 -146.6 503.9 -13.1 179 3731 0.00 2.35 0.00 0.000 4 0.000 0.072 2057 3864 3419

3911 -1.42 -146.6 531.6 -14.6 187 3915 0.00 2.17 0.00 0.000 6 0.000 0.032 2057 2599 3419

4232 -1.42 -146.6 574.6 -13.7 203 4233 0.00 0.00 0.00 0.000 6 0.000 0.000 2057 2596 3419

4541 -1.42 -146.6 613.5 -11.1 218 4546 0.00 2.50 0.00 0.000 4 0.000 0.051 2057 1204 3418

4609 -1.48 -146.6 620.9 -9.9 221 4613 0.00 2.50 0.00 0.000 6 0.000 0.045 2057 2603 3418

4930 -1.48 -146.6 654.6 -11.0 237 4934 0.00 2.53 0.00 0.000 4 0.000 0.052 2057 1205 3417

5019 -1.56 -146.6 663.8 -10.8 241 5024 0.17 2.53 0.00 0.000 6 0.050 0.048 2010 2608 3417

5343 -1.42 -146.6 703.8 -9.6 257 5348 0.20 2.40 0.00 0.000 4 0.117 0.085 2050 3858 3415

5428 -1.38 -146.6 713.7 -14.7 261 5432 0.00 2.20 0.00 0.000 6 0.000 0.039 2050 2599 3414

5754 -1.38 -146.6 757.1 -15.5 277 5756 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2596 3413

6064 -1.38 -146.6 796.1 -14.5 292 6068 0.00 2.45 0.00 0.000 4 0.000 0.089 2050 3863 3411

6136 -1.32 -146.6 807.3 -16.3 295 6141 0.10 2.22 0.00 0.000 6 0.127 0.046 2066 2610 3410

6305 end dive: BOTTOM_OBSTACLE_DETECTED

state 6305 begin apogee

6312 -0.31 0.0 826.5 11.4 303 6448 1.15 0.00 128.70 1.128 6 0.131 0.000 2286 2295 2816

6449 end apogee: CONTROL_FINISHED_OK

state 6449 begin climb

6452 1.29 146.6 828.2 0.0 310 6591 1.67 2.70 131.45 1.117 4 0.077 0.067 2639 892 2217

6837 1.10 146.6 807.5 10.8 326 6844 0.20 2.58 0.00 0.000 6 0.117 0.051 2603 2305 2208

7153 1.00 146.6 764.5 12.3 342 7158 0.15 2.62 0.00 0.000 4 0.121 0.061 2577 890 2205

7180 1.00 146.6 761.4 11.1 343 7185 0.00 2.55 0.00 0.000 6 0.000 0.049 2577 2300 2204

7496 1.11 252.1 743.9 5.2 358 7601 0.12 2.85 93.72 1.070 4 0.066 0.081 2607 3708 1788

7674 1.06 252.1 727.0 15.1 366 7678 0.00 2.58 0.00 0.000 6 0.000 0.046 2607 2301 1784

7995 1.13 262.8 694.4 9.5 382 8010 0.00 2.72 9.45 0.890 4 0.000 0.077 2607 3704 1745

8056 1.13 262.8 687.0 12.8 384 8061 0.00 2.55 0.00 0.000 6 0.000 0.044 2607 2299 1743

8383 1.13 262.8 647.7 11.1 400 8388 0.00 2.65 0.00 0.000 4 0.000 0.068 2607 888 1740

8445 1.13 262.8 640.4 12.0 403 8450 0.00 2.58 0.00 0.000 6 0.000 0.048 2607 2305 1738

8773 1.18 262.8 600.2 12.5 419 8777 0.00 2.62 0.00 0.000 4 0.000 0.061 2607 891 1738

8890 1.24 262.8 585.6 11.2 424 8895 0.10 2.55 0.00 0.000 6 0.064 0.046 2633 2304 1737

9205 1.24 262.8 544.2 13.9 439 9210 0.00 2.67 0.00 0.000 4 0.000 0.074 2633 3708 1737

9418 1.15 262.8 516.4 12.1 448 9425 0.12 2.53 0.00 0.000 6 0.117 0.040 2612 2295 1736

9734 1.15 262.8 478.0 12.5 464 9738 0.00 2.58 0.00 0.000 4 0.000 0.059 2611 895 1736

9774 1.09 262.8 473.9 11.7 466 9779 0.00 2.50 0.00 0.000 6 0.000 0.041 2612 2302 1735

10101 1.09 262.9 437.6 10.0 482 10106 0.00 2.55 0.00 0.000 4 0.000 0.051 2612 894 1735

10209 1.15 262.9 426.0 11.3 487 10213 0.00 2.50 0.00 0.000 6 0.000 0.040 2612 2304 1734

10536 1.21 262.9 391.2 12.2 503 10540 0.00 2.60 0.00 0.000 4 0.000 0.067 2612 3702 1735

10630 1.21 262.9 378.7 13.5 507 10634 0.00 2.47 0.00 0.000 6 0.000 0.035 2612 2293 1736

10946 1.28 262.9 341.6 11.9 522 10951 0.12 2.62 0.00 0.000 4 0.052 0.063 2647 3704 1736

10974 1.23 262.9 337.5 15.0 523 10978 0.00 2.47 0.00 0.000 6 0.000 0.034 2647 2293 1736

11289 1.23 262.9 288.9 15.2 538 11293 0.00 2.53 0.00 0.000 4 0.000 0.051 2647 891 1736

11328 1.23 262.9 283.9 11.8 540 11333 0.00 2.50 0.00 0.000 6 0.000 0.037 2647 2309 1737

11655 1.23 262.9 239.6 13.6 556 11657 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2309 1737

11965 1.23 262.9 194.8 14.1 571 11969 0.00 2.55 0.00 0.000 4 0.000 0.048 2647 891 1737

12014 1.23 262.9 187.6 14.1 573 12018 0.00 2.47 0.00 0.000 6 0.000 0.035 2647 2305 1738

12330 1.23 262.9 148.5 11.7 588 12334 0.00 2.58 0.00 0.000 4 0.000 0.062 2648 3704 1738

12363 1.17 262.9 144.4 12.3 589 12368 0.17 2.45 0.00 0.000 6 0.102 0.032 2614 2293 1738

12680 1.31 310.1 117.4 7.9 604 12727 0.15 2.67 40.97 0.627 4 0.047 0.060 2658 3701 1551

12749 1.31 310.1 110.0 11.4 607 12753 0.00 2.47 0.00 0.000 6 0.000 0.031 2658 2300 1549

13065 1.31 310.1 74.4 11.3 622 13070 0.00 2.53 0.00 0.000 4 0.000 0.049 2658 895 1547

13143 1.31 310.1 65.0 11.6 625 13150 0.00 2.45 0.00 0.000 6 0.000 0.035 2658 2302 1545

13460 1.31 310.1 29.6 11.8 641 13461 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2302 1545

13663 end climb: SURFACE_DEPTH_REACHED

state 13663 begin surface coast

13685 end surface coast: CONTROL_FINISHED_OK

state 13685 begin surface

ID	16	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	45	ROLL_MIN	196	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	18	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3869	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2600	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	20
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	330	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	360	CALL_TRIES	5	VBD_MAX	3836	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2817	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	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.00109	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2107940.5	VBD_BLEED_AD_RATE	4	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	100	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	78	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3321	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2360	PRESSURE_YINT	-20.343216	SEABIRD_T_G	0.0043199998
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_H	0.000619
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.055e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.86e-06
FERRY_MAX	22	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8699999
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.000612
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.000141
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	031336,6135.646,-832.084,37,1.3,48,-9.0	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.066,-0.255
_SM_DEPTHo	1.58	KALMAN_X	-28698.2,2189.1,883.3,11869.9,-7477.5
_SM_ANGLEo	-64.1	KALMAN_Y	55180.9,-292.0,-1229.5,-33050.8,15147.7
GPS2	031846,6135.653,-832.198,13,2.4,32,-9.0	MHEAD_RNG_PITCHd_Wd	157.7,12251,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.6,1.014885	ALTIM_BOTTOM_PING	750.3,85.3
SM_CCo	13769,0.00,0.000,0,0,1542,312.76	_24V_AH	23.5,9.342
SM_GC	1.56,12.18,0.00,0.00,0.081,0.000,0.000,74,2613,1542,-10.46,0.37,312.76	_10V_AH	10.1,3.591
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34883,652
TT8_MAMPS	0.023777	CAP_FILE_SIZE	112485,0
HUMID	1720	CFSIZE	260165632,257277952
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	16	GPS	080609,071007,6136.895,-833.486,26,1.5,26,-9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	187	126.41	SBE_CT	469	24	264.73
Roll_motor	135	88	282.94	SBE_O2	456	19	204.04
VBD_pump_during_apogee	404	1128	10719.63	WL_BB2F	391	105	966.26
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.62	nil	0	0	0.00
Iridium_during_connect	27	160	104.11	nil	0	0	0.00
Iridium_during_xfer	134	223	706.60
Transponder_ping	10	420	106.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.93
TT8	1266	19	253.31
LPSleep	10235	2	226.40
TT8_Active	488	19	97.61
TT8_Sampling	1684	39	677.01
TT8_CF8	404	45	186.98
TT8_Kalman	33	81	27.55
Analog_circuits	1343	12	162.79
GPS_charging	0	0	0.00
Compass	1613	8	130.38
RAFOS	0	0	0.00
Transponder	47	30	14.47

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-1.29	-146.6	0.0	0.0	0	78	0.00	0.00	-56.90	0.000	6	0.000	0.000	70	2608	3416
81	-1.29	-146.6	6.8	-12.7	3	102	11.70	2.55	0.00	0.000	4	0.188	0.040	2075	1190	3417
216	-1.35	-146.6	35.0	-11.8	9	221	0.00	2.50	0.00	0.000	6	0.000	0.038	2075	2606	3418
543	-1.35	-146.6	75.8	-12.2	25	545	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2606	3418
853	-1.40	-146.6	113.8	-12.1	40	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2075	2606	3418
1163	-1.44	-146.6	147.4	-10.5	55	1164	0.15	0.00	0.00	0.000	6	0.044	0.000	2030	2606	3419
1471	-1.38	-146.6	188.2	-14.1	70	1476	0.15	2.35	0.00	0.000	4	0.110	0.069	2057	3867	3419
1526	-1.38	-146.6	196.1	-13.1	72	1533	0.00	2.20	0.00	0.000	6	0.000	0.029	2057	2575	3419
1842	-1.38	-146.6	235.7	-13.3	88	1843	0.00	0.00	0.00	0.000	6	0.000	0.000	2057	2574	3419
2151	-1.38	-146.6	279.5	-14.6	103	2155	0.00	2.40	0.00	0.000	4	0.000	0.067	2057	3861	3419
2241	-1.38	-146.6	293.3	-14.4	107	2244	0.00	2.15	0.00	0.000	6	0.000	0.030	2057	2602	3419
2568	-1.38	-146.6	340.5	-14.3	123	2572	0.00	2.35	0.00	0.000	4	0.000	0.068	2057	3860	3419
2617	-1.38	-146.6	348.2	-15.2	125	2621	0.00	2.15	0.00	0.000	6	0.000	0.031	2057	2602	3419
2939	-1.38	-146.6	396.0	-15.0	141	2943	0.00	2.35	0.00	0.000	4	0.000	0.069	2057	3863	3419
2989	-1.38	-146.6	403.3	-14.2	143	2993	0.00	2.17	0.00	0.000	6	0.000	0.030	2057	2592	3419
3310	-1.38	-146.6	446.6	-13.3	159	3314	0.00	2.47	0.00	0.000	4	0.000	0.047	2057	1200	3419
3411	-1.42	-146.6	459.1	-12.5	163	3418	0.00	2.47	0.00	0.000	6	0.000	0.038	2057	2608	3419
3727	-1.42	-146.6	503.9	-13.1	179	3731	0.00	2.35	0.00	0.000	4	0.000	0.072	2057	3864	3419
3911	-1.42	-146.6	531.6	-14.6	187	3915	0.00	2.17	0.00	0.000	6	0.000	0.032	2057	2599	3419
4232	-1.42	-146.6	574.6	-13.7	203	4233	0.00	0.00	0.00	0.000	6	0.000	0.000	2057	2596	3419
4541	-1.42	-146.6	613.5	-11.1	218	4546	0.00	2.50	0.00	0.000	4	0.000	0.051	2057	1204	3418
4609	-1.48	-146.6	620.9	-9.9	221	4613	0.00	2.50	0.00	0.000	6	0.000	0.045	2057	2603	3418
4930	-1.48	-146.6	654.6	-11.0	237	4934	0.00	2.53	0.00	0.000	4	0.000	0.052	2057	1205	3417
5019	-1.56	-146.6	663.8	-10.8	241	5024	0.17	2.53	0.00	0.000	6	0.050	0.048	2010	2608	3417
5343	-1.42	-146.6	703.8	-9.6	257	5348	0.20	2.40	0.00	0.000	4	0.117	0.085	2050	3858	3415
5428	-1.38	-146.6	713.7	-14.7	261	5432	0.00	2.20	0.00	0.000	6	0.000	0.039	2050	2599	3414
5754	-1.38	-146.6	757.1	-15.5	277	5756	0.00	0.00	0.00	0.000	6	0.000	0.000	2050	2596	3413
6064	-1.38	-146.6	796.1	-14.5	292	6068	0.00	2.45	0.00	0.000	4	0.000	0.089	2050	3863	3411
6136	-1.32	-146.6	807.3	-16.3	295	6141	0.10	2.22	0.00	0.000	6	0.127	0.046	2066	2610	3410
6305	end dive: BOTTOM_OBSTACLE_DETECTED
state	6305	begin apogee
6312	-0.31	0.0	826.5	11.4	303	6448	1.15	0.00	128.70	1.128	6	0.131	0.000	2286	2295	2816
6449	end apogee: CONTROL_FINISHED_OK
state	6449	begin climb
6452	1.29	146.6	828.2	0.0	310	6591	1.67	2.70	131.45	1.117	4	0.077	0.067	2639	892	2217
6837	1.10	146.6	807.5	10.8	326	6844	0.20	2.58	0.00	0.000	6	0.117	0.051	2603	2305	2208
7153	1.00	146.6	764.5	12.3	342	7158	0.15	2.62	0.00	0.000	4	0.121	0.061	2577	890	2205
7180	1.00	146.6	761.4	11.1	343	7185	0.00	2.55	0.00	0.000	6	0.000	0.049	2577	2300	2204
7496	1.11	252.1	743.9	5.2	358	7601	0.12	2.85	93.72	1.070	4	0.066	0.081	2607	3708	1788
7674	1.06	252.1	727.0	15.1	366	7678	0.00	2.58	0.00	0.000	6	0.000	0.046	2607	2301	1784
7995	1.13	262.8	694.4	9.5	382	8010	0.00	2.72	9.45	0.890	4	0.000	0.077	2607	3704	1745
8056	1.13	262.8	687.0	12.8	384	8061	0.00	2.55	0.00	0.000	6	0.000	0.044	2607	2299	1743
8383	1.13	262.8	647.7	11.1	400	8388	0.00	2.65	0.00	0.000	4	0.000	0.068	2607	888	1740
8445	1.13	262.8	640.4	12.0	403	8450	0.00	2.58	0.00	0.000	6	0.000	0.048	2607	2305	1738
8773	1.18	262.8	600.2	12.5	419	8777	0.00	2.62	0.00	0.000	4	0.000	0.061	2607	891	1738
8890	1.24	262.8	585.6	11.2	424	8895	0.10	2.55	0.00	0.000	6	0.064	0.046	2633	2304	1737
9205	1.24	262.8	544.2	13.9	439	9210	0.00	2.67	0.00	0.000	4	0.000	0.074	2633	3708	1737
9418	1.15	262.8	516.4	12.1	448	9425	0.12	2.53	0.00	0.000	6	0.117	0.040	2612	2295	1736
9734	1.15	262.8	478.0	12.5	464	9738	0.00	2.58	0.00	0.000	4	0.000	0.059	2611	895	1736
9774	1.09	262.8	473.9	11.7	466	9779	0.00	2.50	0.00	0.000	6	0.000	0.041	2612	2302	1735
10101	1.09	262.9	437.6	10.0	482	10106	0.00	2.55	0.00	0.000	4	0.000	0.051	2612	894	1735
10209	1.15	262.9	426.0	11.3	487	10213	0.00	2.50	0.00	0.000	6	0.000	0.040	2612	2304	1734
10536	1.21	262.9	391.2	12.2	503	10540	0.00	2.60	0.00	0.000	4	0.000	0.067	2612	3702	1735
10630	1.21	262.9	378.7	13.5	507	10634	0.00	2.47	0.00	0.000	6	0.000	0.035	2612	2293	1736
10946	1.28	262.9	341.6	11.9	522	10951	0.12	2.62	0.00	0.000	4	0.052	0.063	2647	3704	1736
10974	1.23	262.9	337.5	15.0	523	10978	0.00	2.47	0.00	0.000	6	0.000	0.034	2647	2293	1736
11289	1.23	262.9	288.9	15.2	538	11293	0.00	2.53	0.00	0.000	4	0.000	0.051	2647	891	1736
11328	1.23	262.9	283.9	11.8	540	11333	0.00	2.50	0.00	0.000	6	0.000	0.037	2647	2309	1737
11655	1.23	262.9	239.6	13.6	556	11657	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2309	1737
11965	1.23	262.9	194.8	14.1	571	11969	0.00	2.55	0.00	0.000	4	0.000	0.048	2647	891	1737
12014	1.23	262.9	187.6	14.1	573	12018	0.00	2.47	0.00	0.000	6	0.000	0.035	2647	2305	1738
12330	1.23	262.9	148.5	11.7	588	12334	0.00	2.58	0.00	0.000	4	0.000	0.062	2648	3704	1738
12363	1.17	262.9	144.4	12.3	589	12368	0.17	2.45	0.00	0.000	6	0.102	0.032	2614	2293	1738
12680	1.31	310.1	117.4	7.9	604	12727	0.15	2.67	40.97	0.627	4	0.047	0.060	2658	3701	1551
12749	1.31	310.1	110.0	11.4	607	12753	0.00	2.47	0.00	0.000	6	0.000	0.031	2658	2300	1549
13065	1.31	310.1	74.4	11.3	622	13070	0.00	2.53	0.00	0.000	4	0.000	0.049	2658	895	1547
13143	1.31	310.1	65.0	11.6	625	13150	0.00	2.45	0.00	0.000	6	0.000	0.035	2658	2302	1545
13460	1.31	310.1	29.6	11.8	641	13461	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2302	1545
13663	end climb: SURFACE_DEPTH_REACHED
state	13663	begin surface coast
13685	end surface coast: CONTROL_FINISHED_OK
state	13685	begin surface