Glider dive log

Faroes Jun09 * SG016 * Dive index * Mission links * Dive 38 * 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 38 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 440 UPLOAD_DIVES_MAX -1 VBD_MIN 509 DEVICE2 20

T_MISSION 480 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 -2108263.2 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 440

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 -2108263.2

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 480

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 22 VBD_BLEED_AD_RATE 4

C_VBD 2817 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 38 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 211906,6153.997,-923.723,30,1.9,30,-9.6 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.044,-0.236

_SM_DEPTHo 1.48 KALMAN_X -101442.8,2833.6,1967.7,37126.7,-31419.1

_SM_ANGLEo -64.1 KALMAN_Y 168400.7,-2654.1,-935.1,-110027.5,34114.9

GPS2 212408,6154.092,-923.765,12,1.3,12,-9.6 MHEAD_RNG_PITCHd_Wd 140.3,68466,-13.9,-7.500

SPEED_LIMITS 0.130,0.240 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.026781 ALTIM_BOTTOM_PING 475.2,112.1

SM_CCo 12372,0.00,0.000,0,0,1142,410.88 _24V_AH 23.6,12.312

SM_GC 1.53,11.85,0.00,0.00,0.074,0.000,0.000,75,2604,1142,-10.46,0.11,410.88 _10V_AH 10.1,5.085

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 28515,586

TT8_MAMPS 0.023777 CAP_FILE_SIZE 100040,0

HUMID 1700 CFSIZE 260165632,256073728

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 120609,005225,6157.437,-922.789,38,1.8,38,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 190 122.48 SBE_CT 416 24 235.89

Roll_motor 130 85 264.62 SBE_O2 413 19 185.57

VBD_pump_during_apogee 481 953 10832.52 WL_BB2F 384 105 952.29

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 17 103 43.67 nil 0 0 0.00

Iridium_during_connect 27 160 104.86 nil 0 0 0.00

Iridium_during_xfer 149 223 785.95

Transponder_ping 3 420 37.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.29

TT8 1118 19 223.69

LPSleep 9138 2 202.13

TT8_Active 560 19 112.05

TT8_Sampling 1454 39 584.72

TT8_CF8 405 45 187.42

TT8_Kalman 33 81 27.55

Analog_circuits 1341 12 162.53

GPS_charging 0 0 0.00

Compass 1419 8 114.66

RAFOS 0 0 0.00

Transponder 27 30 8.21

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 -1.03 -146.6 0.0 0.0 0 91 0.00 0.00 -74.12 0.000 6 0.000 0.000 73 2607 3417

94 -1.03 -146.6 3.6 -4.8 3 116 12.12 2.58 0.00 0.000 4 0.191 0.041 2131 1184 3418

230 -1.03 -146.6 30.6 -9.2 9 234 0.00 2.50 0.00 0.000 6 0.000 0.038 2131 2597 3418

556 -1.03 -146.6 61.1 -8.8 25 557 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2597 3418

865 -1.03 -146.6 88.6 -8.9 40 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2597 3419

1175 -1.03 -146.6 115.4 -7.3 55 1179 0.00 2.50 0.00 0.000 4 0.000 0.040 2131 1184 3419

1208 -1.03 -146.6 118.1 -7.6 56 1215 0.00 2.50 0.00 0.000 6 0.000 0.037 2131 2609 3419

1526 -1.03 -146.6 146.1 -8.9 72 1530 0.00 2.33 0.00 0.000 4 0.000 0.069 2131 3860 3419

1559 -1.03 -146.6 149.6 -10.1 73 1566 0.00 2.20 0.00 0.000 6 0.000 0.029 2131 2566 3419

1874 -1.03 -146.6 177.7 -9.1 89 1879 0.00 2.40 0.00 0.000 4 0.000 0.043 2131 1208 3419

1925 -1.08 -146.6 182.4 -9.2 91 1929 0.00 2.45 0.00 0.000 6 0.000 0.037 2131 2600 3419

2241 -1.08 -146.6 211.9 -9.4 106 2242 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3419

2550 -1.08 -146.6 237.1 -7.8 121 2554 0.00 2.45 0.00 0.000 4 0.000 0.041 2131 1208 3419

2601 -1.13 -146.6 241.0 -7.7 123 2605 0.00 2.45 0.00 0.000 6 0.000 0.038 2131 2600 3419

2916 -1.13 -146.6 266.4 -8.0 138 2917 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2600 3419

3225 -1.13 -146.6 291.8 -8.5 153 3229 0.00 2.47 0.00 0.000 4 0.000 0.041 2131 1201 3419

3259 -1.18 -146.6 294.7 -9.1 154 3265 0.12 2.47 0.00 0.000 6 0.047 0.038 2092 2608 3419

3576 -1.09 -146.6 326.8 -9.8 170 3577 0.15 0.00 0.00 0.000 6 0.098 0.000 2120 2608 3419

3884 -1.09 -146.6 353.0 -8.0 185 3888 0.00 2.47 0.00 0.000 4 0.000 0.041 2120 1203 3419

3939 -1.09 -146.6 357.5 -7.5 187 3944 0.00 2.45 0.00 0.000 6 0.000 0.038 2120 2598 3419

4255 -1.09 -146.6 380.9 -7.1 202 4260 0.00 2.45 0.00 0.000 4 0.000 0.041 2120 1209 3419

4296 -1.09 -146.6 383.5 -6.5 204 4300 0.00 2.45 0.00 0.000 6 0.000 0.038 2120 2600 3419

4623 -1.09 -146.6 403.0 -6.5 220 4627 0.00 2.47 0.00 0.000 4 0.000 0.041 2120 1202 3419

4656 -1.09 -146.6 405.2 -6.5 221 4662 0.00 2.47 0.00 0.000 6 0.000 0.039 2120 2603 3419

4971 -1.09 -146.6 428.0 -7.6 237 4975 0.00 2.45 0.00 0.000 4 0.000 0.043 2120 1209 3419

5004 -1.09 -146.6 430.1 -5.7 238 5008 0.00 2.45 0.00 0.000 6 0.000 0.039 2120 2601 3419

5320 -1.09 -146.6 453.6 -6.0 253 5321 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2602 3419

5629 -1.09 -146.6 471.9 -9.1 268 5630 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2602 3418

5938 -1.09 -146.6 501.5 -7.7 283 5942 0.00 2.38 0.00 0.000 4 0.000 0.076 2120 3862 3418

5993 -1.09 -146.6 506.6 -8.0 285 5999 0.00 2.15 0.00 0.000 6 0.000 0.033 2120 2603 3418

6309 -1.09 -146.6 535.1 -10.6 301 6313 0.00 2.50 0.00 0.000 4 0.000 0.049 2120 1207 3418

6365 -1.13 -146.6 540.6 -9.0 303 6371 0.00 2.50 0.00 0.000 6 0.000 0.045 2121 2605 3417

6680 -1.13 -146.6 562.2 -11.4 319 6684 0.00 2.40 0.00 0.000 4 0.000 0.086 2120 3858 3416

6786 -1.08 -146.6 575.4 -19.7 323 6792 0.00 2.17 0.00 0.000 6 0.000 0.036 2120 2602 3416

6810 end dive: BOTTOM_OBSTACLE_DETECTED

state 6810 begin apogee

6817 -0.31 0.0 579.0 15.4 325 6947 0.90 0.00 125.82 0.953 6 0.137 0.000 2288 2300 2817

6947 end apogee: CONTROL_FINISHED_OK

state 6948 begin climb

6950 1.03 146.6 581.9 0.0 331 7087 1.40 2.75 127.22 0.936 4 0.088 0.074 2577 3702 2218

7343 1.08 343.1 552.4 0.8 349 7524 0.00 2.53 170.65 0.918 6 0.000 0.044 2576 2302 1417

7846 1.14 343.1 499.1 10.7 374 7851 0.15 2.70 0.00 0.000 4 0.064 0.076 2615 3702 1407

7957 1.14 343.1 479.7 18.7 379 7962 0.00 2.53 0.00 0.000 6 0.000 0.042 2615 2293 1406

8279 1.06 343.1 428.1 16.4 395 8284 0.12 2.67 0.00 0.000 4 0.110 0.069 2593 3702 1404

8319 1.06 343.1 422.4 14.8 397 8323 0.00 2.53 0.00 0.000 6 0.000 0.039 2593 2293 1404

8645 1.06 343.1 385.4 10.2 413 8649 0.00 2.58 0.00 0.000 4 0.000 0.060 2593 894 1403

8729 1.07 346.8 379.4 7.4 417 8734 0.00 2.53 0.00 0.000 6 0.000 0.041 2593 2311 1402

9056 1.10 378.7 358.8 6.4 433 9092 0.00 2.65 30.33 0.798 4 0.000 0.051 2593 887 1272

9120 1.16 378.7 354.3 7.8 435 9125 0.00 2.53 0.00 0.000 6 0.000 0.038 2593 2301 1269

9443 1.26 408.5 331.9 6.5 451 9478 0.20 2.65 27.42 0.769 4 0.047 0.049 2652 894 1151

9523 1.21 408.5 323.9 10.5 454 9530 0.15 2.53 0.00 0.000 6 0.094 0.038 2622 2310 1147

9839 1.21 408.5 294.8 9.7 470 9843 0.00 2.58 0.00 0.000 4 0.000 0.049 2622 884 1145

9880 1.21 408.5 290.8 10.9 472 9884 0.00 2.50 0.00 0.000 6 0.000 0.037 2622 2301 1144

10206 1.21 408.5 254.7 12.2 488 10211 0.00 2.55 0.00 0.000 4 0.000 0.049 2622 891 1144

10246 1.21 408.5 249.8 12.8 490 10251 0.00 2.50 0.00 0.000 6 0.000 0.037 2622 2309 1144

10573 1.21 408.5 207.7 13.0 506 10578 0.00 2.58 0.00 0.000 4 0.000 0.049 2622 887 1144

10623 1.21 408.5 201.1 12.3 508 10628 0.00 2.50 0.00 0.000 6 0.000 0.036 2622 2306 1144

10939 1.21 408.5 162.9 12.0 523 10943 0.00 2.55 0.00 0.000 4 0.000 0.048 2622 891 1144

11011 1.21 408.5 154.2 12.1 526 11015 0.00 2.47 0.00 0.000 6 0.000 0.035 2622 2302 1144

11327 1.21 408.5 117.5 11.9 541 11331 0.00 2.55 0.00 0.000 4 0.000 0.048 2622 887 1144

11376 1.21 408.5 111.4 11.6 543 11381 0.00 2.47 0.00 0.000 6 0.000 0.035 2622 2302 1144

11693 1.21 408.5 74.9 11.8 558 11697 0.00 2.55 0.00 0.000 4 0.000 0.048 2622 883 1143

11787 1.21 408.5 62.7 12.3 562 11791 0.00 2.47 0.00 0.000 6 0.000 0.035 2622 2301 1144

12104 1.21 408.5 23.0 12.6 577 12109 0.00 2.53 0.00 0.000 4 0.000 0.045 2622 889 1144

12190 1.28 408.5 12.7 10.8 581 12194 0.00 2.47 0.00 0.000 6 0.000 0.035 2622 2307 1144

12266 end climb: SURFACE_DEPTH_REACHED

state 12266 begin surface coast

12288 end surface coast: CONTROL_FINISHED_OK

state 12288 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	38	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	440	UPLOAD_DIVES_MAX	-1	VBD_MIN	509	DEVICE2	20
T_MISSION	480	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	-2108263.2	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	211906,6153.997,-923.723,30,1.9,30,-9.6	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.044,-0.236
_SM_DEPTHo	1.48	KALMAN_X	-101442.8,2833.6,1967.7,37126.7,-31419.1
_SM_ANGLEo	-64.1	KALMAN_Y	168400.7,-2654.1,-935.1,-110027.5,34114.9
GPS2	212408,6154.092,-923.765,12,1.3,12,-9.6	MHEAD_RNG_PITCHd_Wd	140.3,68466,-13.9,-7.500
SPEED_LIMITS	0.130,0.240	D_GRID	990

FINISH	1.0,1.026781	ALTIM_BOTTOM_PING	475.2,112.1
SM_CCo	12372,0.00,0.000,0,0,1142,410.88	_24V_AH	23.6,12.312
SM_GC	1.53,11.85,0.00,0.00,0.074,0.000,0.000,75,2604,1142,-10.46,0.11,410.88	_10V_AH	10.1,5.085
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	28515,586
TT8_MAMPS	0.023777	CAP_FILE_SIZE	100040,0
HUMID	1700	CFSIZE	260165632,256073728
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	120609,005225,6157.437,-922.789,38,1.8,38,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	190	122.48	SBE_CT	416	24	235.89
Roll_motor	130	85	264.62	SBE_O2	413	19	185.57
VBD_pump_during_apogee	481	953	10832.52	WL_BB2F	384	105	952.29
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	17	103	43.67	nil	0	0	0.00
Iridium_during_connect	27	160	104.86	nil	0	0	0.00
Iridium_during_xfer	149	223	785.95
Transponder_ping	3	420	37.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.29
TT8	1118	19	223.69
LPSleep	9138	2	202.13
TT8_Active	560	19	112.05
TT8_Sampling	1454	39	584.72
TT8_CF8	405	45	187.42
TT8_Kalman	33	81	27.55
Analog_circuits	1341	12	162.53
GPS_charging	0	0	0.00
Compass	1419	8	114.66
RAFOS	0	0	0.00
Transponder	27	30	8.21

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	-1.03	-146.6	0.0	0.0	0	91	0.00	0.00	-74.12	0.000	6	0.000	0.000	73	2607	3417
94	-1.03	-146.6	3.6	-4.8	3	116	12.12	2.58	0.00	0.000	4	0.191	0.041	2131	1184	3418
230	-1.03	-146.6	30.6	-9.2	9	234	0.00	2.50	0.00	0.000	6	0.000	0.038	2131	2597	3418
556	-1.03	-146.6	61.1	-8.8	25	557	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2597	3418
865	-1.03	-146.6	88.6	-8.9	40	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2597	3419
1175	-1.03	-146.6	115.4	-7.3	55	1179	0.00	2.50	0.00	0.000	4	0.000	0.040	2131	1184	3419
1208	-1.03	-146.6	118.1	-7.6	56	1215	0.00	2.50	0.00	0.000	6	0.000	0.037	2131	2609	3419
1526	-1.03	-146.6	146.1	-8.9	72	1530	0.00	2.33	0.00	0.000	4	0.000	0.069	2131	3860	3419
1559	-1.03	-146.6	149.6	-10.1	73	1566	0.00	2.20	0.00	0.000	6	0.000	0.029	2131	2566	3419
1874	-1.03	-146.6	177.7	-9.1	89	1879	0.00	2.40	0.00	0.000	4	0.000	0.043	2131	1208	3419
1925	-1.08	-146.6	182.4	-9.2	91	1929	0.00	2.45	0.00	0.000	6	0.000	0.037	2131	2600	3419
2241	-1.08	-146.6	211.9	-9.4	106	2242	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3419
2550	-1.08	-146.6	237.1	-7.8	121	2554	0.00	2.45	0.00	0.000	4	0.000	0.041	2131	1208	3419
2601	-1.13	-146.6	241.0	-7.7	123	2605	0.00	2.45	0.00	0.000	6	0.000	0.038	2131	2600	3419
2916	-1.13	-146.6	266.4	-8.0	138	2917	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2600	3419
3225	-1.13	-146.6	291.8	-8.5	153	3229	0.00	2.47	0.00	0.000	4	0.000	0.041	2131	1201	3419
3259	-1.18	-146.6	294.7	-9.1	154	3265	0.12	2.47	0.00	0.000	6	0.047	0.038	2092	2608	3419
3576	-1.09	-146.6	326.8	-9.8	170	3577	0.15	0.00	0.00	0.000	6	0.098	0.000	2120	2608	3419
3884	-1.09	-146.6	353.0	-8.0	185	3888	0.00	2.47	0.00	0.000	4	0.000	0.041	2120	1203	3419
3939	-1.09	-146.6	357.5	-7.5	187	3944	0.00	2.45	0.00	0.000	6	0.000	0.038	2120	2598	3419
4255	-1.09	-146.6	380.9	-7.1	202	4260	0.00	2.45	0.00	0.000	4	0.000	0.041	2120	1209	3419
4296	-1.09	-146.6	383.5	-6.5	204	4300	0.00	2.45	0.00	0.000	6	0.000	0.038	2120	2600	3419
4623	-1.09	-146.6	403.0	-6.5	220	4627	0.00	2.47	0.00	0.000	4	0.000	0.041	2120	1202	3419
4656	-1.09	-146.6	405.2	-6.5	221	4662	0.00	2.47	0.00	0.000	6	0.000	0.039	2120	2603	3419
4971	-1.09	-146.6	428.0	-7.6	237	4975	0.00	2.45	0.00	0.000	4	0.000	0.043	2120	1209	3419
5004	-1.09	-146.6	430.1	-5.7	238	5008	0.00	2.45	0.00	0.000	6	0.000	0.039	2120	2601	3419
5320	-1.09	-146.6	453.6	-6.0	253	5321	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2602	3419
5629	-1.09	-146.6	471.9	-9.1	268	5630	0.00	0.00	0.00	0.000	6	0.000	0.000	2120	2602	3418
5938	-1.09	-146.6	501.5	-7.7	283	5942	0.00	2.38	0.00	0.000	4	0.000	0.076	2120	3862	3418
5993	-1.09	-146.6	506.6	-8.0	285	5999	0.00	2.15	0.00	0.000	6	0.000	0.033	2120	2603	3418
6309	-1.09	-146.6	535.1	-10.6	301	6313	0.00	2.50	0.00	0.000	4	0.000	0.049	2120	1207	3418
6365	-1.13	-146.6	540.6	-9.0	303	6371	0.00	2.50	0.00	0.000	6	0.000	0.045	2121	2605	3417
6680	-1.13	-146.6	562.2	-11.4	319	6684	0.00	2.40	0.00	0.000	4	0.000	0.086	2120	3858	3416
6786	-1.08	-146.6	575.4	-19.7	323	6792	0.00	2.17	0.00	0.000	6	0.000	0.036	2120	2602	3416
6810	end dive: BOTTOM_OBSTACLE_DETECTED
state	6810	begin apogee
6817	-0.31	0.0	579.0	15.4	325	6947	0.90	0.00	125.82	0.953	6	0.137	0.000	2288	2300	2817
6947	end apogee: CONTROL_FINISHED_OK
state	6948	begin climb
6950	1.03	146.6	581.9	0.0	331	7087	1.40	2.75	127.22	0.936	4	0.088	0.074	2577	3702	2218
7343	1.08	343.1	552.4	0.8	349	7524	0.00	2.53	170.65	0.918	6	0.000	0.044	2576	2302	1417
7846	1.14	343.1	499.1	10.7	374	7851	0.15	2.70	0.00	0.000	4	0.064	0.076	2615	3702	1407
7957	1.14	343.1	479.7	18.7	379	7962	0.00	2.53	0.00	0.000	6	0.000	0.042	2615	2293	1406
8279	1.06	343.1	428.1	16.4	395	8284	0.12	2.67	0.00	0.000	4	0.110	0.069	2593	3702	1404
8319	1.06	343.1	422.4	14.8	397	8323	0.00	2.53	0.00	0.000	6	0.000	0.039	2593	2293	1404
8645	1.06	343.1	385.4	10.2	413	8649	0.00	2.58	0.00	0.000	4	0.000	0.060	2593	894	1403
8729	1.07	346.8	379.4	7.4	417	8734	0.00	2.53	0.00	0.000	6	0.000	0.041	2593	2311	1402
9056	1.10	378.7	358.8	6.4	433	9092	0.00	2.65	30.33	0.798	4	0.000	0.051	2593	887	1272
9120	1.16	378.7	354.3	7.8	435	9125	0.00	2.53	0.00	0.000	6	0.000	0.038	2593	2301	1269
9443	1.26	408.5	331.9	6.5	451	9478	0.20	2.65	27.42	0.769	4	0.047	0.049	2652	894	1151
9523	1.21	408.5	323.9	10.5	454	9530	0.15	2.53	0.00	0.000	6	0.094	0.038	2622	2310	1147
9839	1.21	408.5	294.8	9.7	470	9843	0.00	2.58	0.00	0.000	4	0.000	0.049	2622	884	1145
9880	1.21	408.5	290.8	10.9	472	9884	0.00	2.50	0.00	0.000	6	0.000	0.037	2622	2301	1144
10206	1.21	408.5	254.7	12.2	488	10211	0.00	2.55	0.00	0.000	4	0.000	0.049	2622	891	1144
10246	1.21	408.5	249.8	12.8	490	10251	0.00	2.50	0.00	0.000	6	0.000	0.037	2622	2309	1144
10573	1.21	408.5	207.7	13.0	506	10578	0.00	2.58	0.00	0.000	4	0.000	0.049	2622	887	1144
10623	1.21	408.5	201.1	12.3	508	10628	0.00	2.50	0.00	0.000	6	0.000	0.036	2622	2306	1144
10939	1.21	408.5	162.9	12.0	523	10943	0.00	2.55	0.00	0.000	4	0.000	0.048	2622	891	1144
11011	1.21	408.5	154.2	12.1	526	11015	0.00	2.47	0.00	0.000	6	0.000	0.035	2622	2302	1144
11327	1.21	408.5	117.5	11.9	541	11331	0.00	2.55	0.00	0.000	4	0.000	0.048	2622	887	1144
11376	1.21	408.5	111.4	11.6	543	11381	0.00	2.47	0.00	0.000	6	0.000	0.035	2622	2302	1144
11693	1.21	408.5	74.9	11.8	558	11697	0.00	2.55	0.00	0.000	4	0.000	0.048	2622	883	1143
11787	1.21	408.5	62.7	12.3	562	11791	0.00	2.47	0.00	0.000	6	0.000	0.035	2622	2301	1144
12104	1.21	408.5	23.0	12.6	577	12109	0.00	2.53	0.00	0.000	4	0.000	0.045	2622	889	1144
12190	1.28	408.5	12.7	10.8	581	12194	0.00	2.47	0.00	0.000	6	0.000	0.035	2622	2307	1144
12266	end climb: SURFACE_DEPTH_REACHED
state	12266	begin surface coast
12288	end surface coast: CONTROL_FINISHED_OK
state	12288	begin surface