Glider dive log

Faroes Jun09 * SG105 * Dive index * Mission links * Dive 283 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 283 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1454 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 INT_PRESSURE_YINT -1.8522969

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 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 580 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2832 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 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 -1633101.4 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 48

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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2800 PRESSURE_YINT -18.439545 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 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 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.439545 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 550

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 -1633101.4

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2800 KALMAN_USE 2 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 1454 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 32 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 283 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 231526,6125.818,-907.222,27,7.4,46,-9.3 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 3 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,-0.238

_SM_DEPTHo 0.80 KALMAN_X -160384.0,991.3,628.8,104309.0,-21.7

_SM_ANGLEo -49.9 KALMAN_Y 127308.9,-3266.1,-2239.5,-49887.2,54062.8

GPS2 232107,6125.786,-907.337,32,1.1,32,-9.3 MHEAD_RNG_PITCHd_Wd 87.5,38218,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026788 ALTIM_BOTTOM_PING 425.9,58.6

SM_CCo 14936,0.00,0.000,0,0,1461,336.31 _24V_AH 23.3,59.363

SM_GC 0.94,11.57,0.00,0.00,0.026,0.000,0.000,384,2247,1461,-11.00,-0.08,336.31 _10V_AH 10.1,35.889

IRIDIUM_FIX 6103.81,-910.74,091198,191936 DATA_FILE_SIZE 34862,713

TT8_MAMPS 0.026845 CAP_FILE_SIZE 113610,0

HUMID 1905 CFSIZE 260165632,237572096

INTERNAL_PRESSURE 8.16762 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 15.20 GPS 160809,033136,6125.647,-903.876,35,1.6,35,-9.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 128 76.94 SBE_CT 588 24 329.11

Roll_motor 144 58 195.89 SBE_O2 508 19 225.21

VBD_pump_during_apogee 416 1075 10424.88 WL_BB2F 552 105 1351.38

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 22 103 53.61 nil 0 0 0.00

Iridium_during_connect 27 160 103.92 nil 0 0 0.00

Iridium_during_xfer 153 223 799.77

Transponder_ping 3 420 34.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.54

TT8 1342 19 268.54

LPSleep 11002 2 243.37

TT8_Active 484 19 96.91

TT8_Sampling 1747 39 702.34

TT8_CF8 701 45 324.41

TT8_Kalman 0 81 0.00

Analog_circuits 1418 12 171.94

GPS_charging 0 0 0.00

Compass 1855 8 149.91

RAFOS 0 0 0.00

Transponder 26 30 7.96

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 -0.96 -146.6 0.0 0.0 0 86 0.00 0.00 -68.95 0.000 6 0.000 0.000 388 2242 3432

89 -0.96 -146.6 2.4 -4.1 3 110 11.57 2.53 0.00 0.000 4 0.129 0.038 2585 832 3433

188 -0.96 -146.6 18.5 -7.4 7 193 0.00 2.50 0.00 0.000 6 0.000 0.034 2585 2245 3433

509 -0.96 -146.6 49.5 -10.8 23 513 0.00 2.55 0.00 0.000 4 0.000 0.054 2585 3655 3433

603 -0.96 -146.6 58.2 -8.3 27 607 0.00 2.42 0.00 0.000 6 0.000 0.029 2585 2228 3433

919 -0.96 -146.6 82.1 -9.1 42 924 0.00 2.60 0.00 0.000 4 0.000 0.052 2585 3650 3434

1146 -0.96 -146.6 101.3 -5.0 52 1150 0.00 2.38 0.00 0.000 6 0.000 0.029 2585 2253 3434

1474 -0.96 -146.6 106.1 -2.1 68 1479 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3653 3435

1541 -0.96 -146.6 108.7 -4.4 71 1545 0.00 2.40 0.00 0.000 6 0.000 0.029 2585 2246 3435

1862 -0.96 -146.6 121.8 -4.0 87 1867 0.00 2.58 0.00 0.000 4 0.000 0.052 2585 3652 3435

1953 -0.96 -146.6 126.2 -4.9 91 1957 0.00 2.40 0.00 0.000 6 0.000 0.030 2585 2246 3435

2281 -0.96 -146.6 142.8 -5.4 107 2285 0.00 2.55 0.00 0.000 4 0.000 0.052 2585 3655 3435

2388 -0.96 -146.6 149.4 -7.0 112 2392 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2251 3435

2714 -0.96 -146.6 168.9 -6.1 128 2715 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2251 3434

3024 -0.96 -146.6 189.0 -6.8 143 3028 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3652 3434

3087 -0.96 -146.6 193.4 -6.8 146 3092 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3434

3414 -0.96 -146.6 215.5 -6.9 162 3418 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3653 3434

3469 -0.96 -146.6 219.2 -6.4 164 3476 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2237 3433

3785 -0.96 -146.6 239.4 -6.5 180 3789 0.00 2.58 0.00 0.000 4 0.000 0.054 2585 3655 3434

3856 -0.96 -146.6 244.7 -7.1 183 3861 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2251 3433

4172 -0.96 -146.6 268.6 -7.8 198 4174 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2251 3434

4481 -0.96 -146.6 292.9 -8.1 213 4486 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3653 3433

4526 -0.96 -146.6 296.9 -8.4 215 4530 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2251 3433

4848 -0.96 -146.6 319.3 -6.5 231 4849 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2250 3432

5156 -0.96 -146.6 338.8 -6.1 246 5161 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3655 3433

5234 -0.96 -146.6 344.1 -6.8 249 5240 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3432

5550 -0.96 -146.6 363.6 -6.3 265 5555 0.00 2.53 0.00 0.000 4 0.000 0.052 2585 3655 3432

5595 -0.96 -146.6 366.6 -7.0 267 5600 0.00 2.42 0.00 0.000 6 0.000 0.031 2585 2253 3432

5921 -0.96 -146.6 386.5 -5.9 283 5925 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3652 3432

5994 -0.96 -146.6 391.4 -6.6 286 5998 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2250 3432

6310 -0.96 -146.6 411.8 -6.6 301 6311 0.00 0.00 0.00 0.000 6 0.000 0.000 2584 2250 3432

6620 -0.96 -146.6 433.5 -7.5 316 6622 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2249 3431

6929 -0.96 -146.6 456.2 -7.4 331 6933 0.00 2.53 0.00 0.000 4 0.000 0.053 2585 3653 3431

6984 -0.96 -146.6 460.2 -6.5 333 6990 0.00 2.40 0.00 0.000 6 0.000 0.031 2585 2249 3431

7196 end dive: BOTTOM_OBSTACLE_DETECTED

state 7197 begin apogee

7205 -0.36 0.0 474.9 6.7 344 7336 0.62 0.00 124.20 1.075 6 0.062 0.000 2721 1463 2832

7337 end apogee: CONTROL_FINISHED_OK

state 7337 begin climb

7340 0.96 146.6 479.0 0.0 351 7475 1.30 2.25 124.97 1.036 4 0.053 0.058 3008 274 2233

7527 0.97 154.5 473.2 5.8 359 7542 0.00 2.08 8.02 0.839 6 0.000 0.033 3008 1468 2201

7866 1.00 178.3 456.2 5.3 376 7892 0.00 2.50 21.42 0.987 4 0.000 0.044 3008 2846 2104

7965 1.01 182.6 450.5 5.9 380 7975 0.00 2.45 5.12 0.727 6 0.000 0.038 3008 1454 2087

8303 1.01 182.6 431.2 6.0 397 8307 0.00 2.47 0.00 0.000 4 0.000 0.043 3008 2848 2084

8347 1.01 182.6 428.4 6.1 399 8351 0.00 2.45 0.00 0.000 6 0.000 0.038 3008 1455 2084

8668 1.01 182.6 409.1 6.2 415 8669 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1455 2083

8978 1.01 182.6 389.7 6.4 430 8982 0.00 2.47 0.00 0.000 4 0.000 0.042 3008 2848 2083

9050 1.01 182.6 385.1 6.3 433 9055 0.00 2.47 0.00 0.000 6 0.000 0.038 3008 1459 2083

9371 1.01 185.1 365.9 5.9 449 9372 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1459 2082

9681 1.04 204.8 348.3 5.5 464 9706 0.00 2.50 20.05 0.965 4 0.000 0.042 3008 2846 1996

9790 1.04 204.8 341.6 6.3 469 9794 0.00 2.45 0.00 0.000 6 0.000 0.038 3008 1452 1994

10112 1.06 220.7 324.3 5.6 485 10136 0.00 2.58 14.90 0.928 4 0.000 0.043 3008 2848 1931

10198 1.06 220.7 318.6 6.5 488 10204 0.00 2.47 0.00 0.000 6 0.000 0.038 3008 1447 1930

10514 1.06 220.7 297.2 6.8 504 10515 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 1447 1929

10824 1.06 220.7 276.7 6.8 519 10828 0.00 2.50 0.00 0.000 4 0.000 0.042 3008 2856 1929

10908 1.06 223.1 271.5 5.9 523 10913 0.10 2.45 0.00 0.000 6 0.045 0.038 3064 1454 1928

11235 1.06 223.1 247.0 7.5 539 11237 0.17 0.00 0.00 0.000 6 0.069 0.000 3027 1454 1928

11544 1.06 223.1 228.4 6.0 554 11549 0.00 2.47 0.00 0.000 4 0.000 0.042 3027 2855 1928

11589 1.06 223.1 225.6 6.6 556 11594 0.00 2.47 0.00 0.000 6 0.000 0.038 3027 1460 1928

11915 1.06 223.1 205.1 6.5 572 11916 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 1460 1928

12225 1.06 223.1 183.5 7.2 587 12229 0.00 2.42 0.00 0.000 4 0.000 0.041 3027 2846 1928

12292 1.06 223.1 178.4 7.5 590 12296 0.00 2.45 0.00 0.000 6 0.000 0.038 3027 1445 1928

12613 1.06 223.1 154.2 7.7 606 12618 0.00 2.50 0.00 0.000 4 0.000 0.041 3027 2840 1928

12658 1.06 223.1 150.3 8.5 608 12663 0.00 2.45 0.00 0.000 6 0.000 0.038 3027 1456 1928

12990 1.06 223.1 123.8 7.3 624 12994 0.00 2.45 0.00 0.000 4 0.000 0.041 3027 2848 1928

13030 1.06 223.1 120.9 7.2 626 13035 0.00 2.45 0.00 0.000 6 0.000 0.038 3027 1462 1927

13363 1.13 278.3 103.8 4.5 642 13419 0.00 2.25 50.25 0.840 4 0.000 0.058 3027 263 1696

13496 1.13 278.3 97.1 6.2 648 13500 0.00 2.03 0.00 0.000 6 0.000 0.031 3027 1458 1692

13831 1.19 332.8 81.3 4.5 664 13885 0.15 2.55 47.12 0.814 4 0.036 0.042 3087 2849 1474

13926 1.19 332.8 74.2 8.2 668 13931 0.12 2.47 0.00 0.000 6 0.077 0.037 3060 1448 1470

14247 1.19 332.8 52.4 7.2 684 14252 0.00 2.50 0.00 0.000 4 0.000 0.041 3060 2852 1467

14297 1.19 332.8 47.8 8.9 686 14301 0.00 2.45 0.00 0.000 6 0.000 0.037 3060 1453 1466

14619 1.19 332.8 20.6 10.0 702 14623 0.00 2.12 0.00 0.000 4 0.000 0.054 3060 266 1465

14669 1.19 332.8 16.5 8.1 704 14673 0.00 2.00 0.00 0.000 6 0.000 0.031 3060 1461 1465

14829 end climb: SURFACE_DEPTH_REACHED

state 14829 begin surface coast

14852 end surface coast: CONTROL_FINISHED_OK

state 14852 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	283	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1454	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	INT_PRESSURE_YINT	-1.8522969
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	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	580	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2832	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	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	-1633101.4	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	48
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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2800	PRESSURE_YINT	-18.439545	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	231526,6125.818,-907.222,27,7.4,46,-9.3	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	3	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,-0.238
_SM_DEPTHo	0.80	KALMAN_X	-160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo	-49.9	KALMAN_Y	127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2	232107,6125.786,-907.337,32,1.1,32,-9.3	MHEAD_RNG_PITCHd_Wd	87.5,38218,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.1,1.026788	ALTIM_BOTTOM_PING	425.9,58.6
SM_CCo	14936,0.00,0.000,0,0,1461,336.31	_24V_AH	23.3,59.363
SM_GC	0.94,11.57,0.00,0.00,0.026,0.000,0.000,384,2247,1461,-11.00,-0.08,336.31	_10V_AH	10.1,35.889
IRIDIUM_FIX	6103.81,-910.74,091198,191936	DATA_FILE_SIZE	34862,713
TT8_MAMPS	0.026845	CAP_FILE_SIZE	113610,0
HUMID	1905	CFSIZE	260165632,237572096
INTERNAL_PRESSURE	8.16762	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	15.20	GPS	160809,033136,6125.647,-903.876,35,1.6,35,-9.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	128	76.94	SBE_CT	588	24	329.11
Roll_motor	144	58	195.89	SBE_O2	508	19	225.21
VBD_pump_during_apogee	416	1075	10424.88	WL_BB2F	552	105	1351.38
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	22	103	53.61	nil	0	0	0.00
Iridium_during_connect	27	160	103.92	nil	0	0	0.00
Iridium_during_xfer	153	223	799.77
Transponder_ping	3	420	34.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.54
TT8	1342	19	268.54
LPSleep	11002	2	243.37
TT8_Active	484	19	96.91
TT8_Sampling	1747	39	702.34
TT8_CF8	701	45	324.41
TT8_Kalman	0	81	0.00
Analog_circuits	1418	12	171.94
GPS_charging	0	0	0.00
Compass	1855	8	149.91
RAFOS	0	0	0.00
Transponder	26	30	7.96

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	-0.96	-146.6	0.0	0.0	0	86	0.00	0.00	-68.95	0.000	6	0.000	0.000	388	2242	3432
89	-0.96	-146.6	2.4	-4.1	3	110	11.57	2.53	0.00	0.000	4	0.129	0.038	2585	832	3433
188	-0.96	-146.6	18.5	-7.4	7	193	0.00	2.50	0.00	0.000	6	0.000	0.034	2585	2245	3433
509	-0.96	-146.6	49.5	-10.8	23	513	0.00	2.55	0.00	0.000	4	0.000	0.054	2585	3655	3433
603	-0.96	-146.6	58.2	-8.3	27	607	0.00	2.42	0.00	0.000	6	0.000	0.029	2585	2228	3433
919	-0.96	-146.6	82.1	-9.1	42	924	0.00	2.60	0.00	0.000	4	0.000	0.052	2585	3650	3434
1146	-0.96	-146.6	101.3	-5.0	52	1150	0.00	2.38	0.00	0.000	6	0.000	0.029	2585	2253	3434
1474	-0.96	-146.6	106.1	-2.1	68	1479	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3653	3435
1541	-0.96	-146.6	108.7	-4.4	71	1545	0.00	2.40	0.00	0.000	6	0.000	0.029	2585	2246	3435
1862	-0.96	-146.6	121.8	-4.0	87	1867	0.00	2.58	0.00	0.000	4	0.000	0.052	2585	3652	3435
1953	-0.96	-146.6	126.2	-4.9	91	1957	0.00	2.40	0.00	0.000	6	0.000	0.030	2585	2246	3435
2281	-0.96	-146.6	142.8	-5.4	107	2285	0.00	2.55	0.00	0.000	4	0.000	0.052	2585	3655	3435
2388	-0.96	-146.6	149.4	-7.0	112	2392	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2251	3435
2714	-0.96	-146.6	168.9	-6.1	128	2715	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2251	3434
3024	-0.96	-146.6	189.0	-6.8	143	3028	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3652	3434
3087	-0.96	-146.6	193.4	-6.8	146	3092	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3434
3414	-0.96	-146.6	215.5	-6.9	162	3418	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3653	3434
3469	-0.96	-146.6	219.2	-6.4	164	3476	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2237	3433
3785	-0.96	-146.6	239.4	-6.5	180	3789	0.00	2.58	0.00	0.000	4	0.000	0.054	2585	3655	3434
3856	-0.96	-146.6	244.7	-7.1	183	3861	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2251	3433
4172	-0.96	-146.6	268.6	-7.8	198	4174	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2251	3434
4481	-0.96	-146.6	292.9	-8.1	213	4486	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3653	3433
4526	-0.96	-146.6	296.9	-8.4	215	4530	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2251	3433
4848	-0.96	-146.6	319.3	-6.5	231	4849	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2250	3432
5156	-0.96	-146.6	338.8	-6.1	246	5161	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3655	3433
5234	-0.96	-146.6	344.1	-6.8	249	5240	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3432
5550	-0.96	-146.6	363.6	-6.3	265	5555	0.00	2.53	0.00	0.000	4	0.000	0.052	2585	3655	3432
5595	-0.96	-146.6	366.6	-7.0	267	5600	0.00	2.42	0.00	0.000	6	0.000	0.031	2585	2253	3432
5921	-0.96	-146.6	386.5	-5.9	283	5925	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3652	3432
5994	-0.96	-146.6	391.4	-6.6	286	5998	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2250	3432
6310	-0.96	-146.6	411.8	-6.6	301	6311	0.00	0.00	0.00	0.000	6	0.000	0.000	2584	2250	3432
6620	-0.96	-146.6	433.5	-7.5	316	6622	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2249	3431
6929	-0.96	-146.6	456.2	-7.4	331	6933	0.00	2.53	0.00	0.000	4	0.000	0.053	2585	3653	3431
6984	-0.96	-146.6	460.2	-6.5	333	6990	0.00	2.40	0.00	0.000	6	0.000	0.031	2585	2249	3431
7196	end dive: BOTTOM_OBSTACLE_DETECTED
state	7197	begin apogee
7205	-0.36	0.0	474.9	6.7	344	7336	0.62	0.00	124.20	1.075	6	0.062	0.000	2721	1463	2832
7337	end apogee: CONTROL_FINISHED_OK
state	7337	begin climb
7340	0.96	146.6	479.0	0.0	351	7475	1.30	2.25	124.97	1.036	4	0.053	0.058	3008	274	2233
7527	0.97	154.5	473.2	5.8	359	7542	0.00	2.08	8.02	0.839	6	0.000	0.033	3008	1468	2201
7866	1.00	178.3	456.2	5.3	376	7892	0.00	2.50	21.42	0.987	4	0.000	0.044	3008	2846	2104
7965	1.01	182.6	450.5	5.9	380	7975	0.00	2.45	5.12	0.727	6	0.000	0.038	3008	1454	2087
8303	1.01	182.6	431.2	6.0	397	8307	0.00	2.47	0.00	0.000	4	0.000	0.043	3008	2848	2084
8347	1.01	182.6	428.4	6.1	399	8351	0.00	2.45	0.00	0.000	6	0.000	0.038	3008	1455	2084
8668	1.01	182.6	409.1	6.2	415	8669	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1455	2083
8978	1.01	182.6	389.7	6.4	430	8982	0.00	2.47	0.00	0.000	4	0.000	0.042	3008	2848	2083
9050	1.01	182.6	385.1	6.3	433	9055	0.00	2.47	0.00	0.000	6	0.000	0.038	3008	1459	2083
9371	1.01	185.1	365.9	5.9	449	9372	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1459	2082
9681	1.04	204.8	348.3	5.5	464	9706	0.00	2.50	20.05	0.965	4	0.000	0.042	3008	2846	1996
9790	1.04	204.8	341.6	6.3	469	9794	0.00	2.45	0.00	0.000	6	0.000	0.038	3008	1452	1994
10112	1.06	220.7	324.3	5.6	485	10136	0.00	2.58	14.90	0.928	4	0.000	0.043	3008	2848	1931
10198	1.06	220.7	318.6	6.5	488	10204	0.00	2.47	0.00	0.000	6	0.000	0.038	3008	1447	1930
10514	1.06	220.7	297.2	6.8	504	10515	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	1447	1929
10824	1.06	220.7	276.7	6.8	519	10828	0.00	2.50	0.00	0.000	4	0.000	0.042	3008	2856	1929
10908	1.06	223.1	271.5	5.9	523	10913	0.10	2.45	0.00	0.000	6	0.045	0.038	3064	1454	1928
11235	1.06	223.1	247.0	7.5	539	11237	0.17	0.00	0.00	0.000	6	0.069	0.000	3027	1454	1928
11544	1.06	223.1	228.4	6.0	554	11549	0.00	2.47	0.00	0.000	4	0.000	0.042	3027	2855	1928
11589	1.06	223.1	225.6	6.6	556	11594	0.00	2.47	0.00	0.000	6	0.000	0.038	3027	1460	1928
11915	1.06	223.1	205.1	6.5	572	11916	0.00	0.00	0.00	0.000	6	0.000	0.000	3027	1460	1928
12225	1.06	223.1	183.5	7.2	587	12229	0.00	2.42	0.00	0.000	4	0.000	0.041	3027	2846	1928
12292	1.06	223.1	178.4	7.5	590	12296	0.00	2.45	0.00	0.000	6	0.000	0.038	3027	1445	1928
12613	1.06	223.1	154.2	7.7	606	12618	0.00	2.50	0.00	0.000	4	0.000	0.041	3027	2840	1928
12658	1.06	223.1	150.3	8.5	608	12663	0.00	2.45	0.00	0.000	6	0.000	0.038	3027	1456	1928
12990	1.06	223.1	123.8	7.3	624	12994	0.00	2.45	0.00	0.000	4	0.000	0.041	3027	2848	1928
13030	1.06	223.1	120.9	7.2	626	13035	0.00	2.45	0.00	0.000	6	0.000	0.038	3027	1462	1927
13363	1.13	278.3	103.8	4.5	642	13419	0.00	2.25	50.25	0.840	4	0.000	0.058	3027	263	1696
13496	1.13	278.3	97.1	6.2	648	13500	0.00	2.03	0.00	0.000	6	0.000	0.031	3027	1458	1692
13831	1.19	332.8	81.3	4.5	664	13885	0.15	2.55	47.12	0.814	4	0.036	0.042	3087	2849	1474
13926	1.19	332.8	74.2	8.2	668	13931	0.12	2.47	0.00	0.000	6	0.077	0.037	3060	1448	1470
14247	1.19	332.8	52.4	7.2	684	14252	0.00	2.50	0.00	0.000	4	0.000	0.041	3060	2852	1467
14297	1.19	332.8	47.8	8.9	686	14301	0.00	2.45	0.00	0.000	6	0.000	0.037	3060	1453	1466
14619	1.19	332.8	20.6	10.0	702	14623	0.00	2.12	0.00	0.000	4	0.000	0.054	3060	266	1465
14669	1.19	332.8	16.5	8.1	704	14673	0.00	2.00	0.00	0.000	6	0.000	0.031	3060	1461	1465
14829	end climb: SURFACE_DEPTH_REACHED
state	14829	begin surface coast
14852	end surface coast: CONTROL_FINISHED_OK
state	14852	begin surface