Glider dive log

Faroes Aug08 * SG105 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3840 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 61.599998 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -8.75 C_ROLL_DIVE 2046 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2146 ALTIM_PULSE 3

D_FINISH 0 SM_CC 300 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.8522969

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 37 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 350 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 475 DEVICE4 -1

T_TURN 300 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2831 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -1588391.8 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 401 AH0_24V 91.800003 SEABIRD_T_G 0.0043115509

SPEED_FACTOR 1 PITCH_MAX 3705 AH0_10V 61.200001 SEABIRD_T_H 0.00064421911

RHO 1.023 C_PITCH 2550 PRESSURE_YINT -17.830805 SEABIRD_T_I 2.4441668e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_J 2.6855823e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.00054

FERRY_MAX 11 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1273263

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0013333842

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00018589634

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 401 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001163108 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -17.830805 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -1588391.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 350

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 300

COMPASS_USE 0 ID 105 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 T_WATCHDOG 10

C_PITCH 2550 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2146 KALMAN_USE 1 ROLL_MIN 253 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2046 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2831 MASS 52000 R_PORT_OVSHOOT 37 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.00054 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1273263 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0013333842 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018589634 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043115509 VBD_MIN 475

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064421911 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4441668e-05 VBD_PUMP_AD_RATE_SURFACE 4

DIVE 4 PHONE_DEVICE 48 SEABIRD_T_J 2.6855823e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 123051,6117.325,-757.451,13,1.4,13,-8.6 TGT_NAME FBC_SE0

_CALLS 1 TGT_LATLONG 6100.000,-730.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.214,-0.153

_SM_DEPTHo 1.22 KALMAN_X 910.9,319.1,277.6,1370.7,1082.4

_SM_ANGLEo -58.6 KALMAN_Y -193.6,1058.9,1202.9,-893.3,-3986.7

GPS2 123439,6117.294,-757.318,14,1.4,14,-8.6 MHEAD_RNG_PITCHd_Wd 134.2,40343,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.000296 ALTIM_TOP_PING 18.8,17.4

SM_CCo 15473,50.33,0.812,0,0,1608,300.00 ALTIM_BOTTOM_PING 776.0,87.4

SM_GC 0.96,0.00,0.00,50.33,0.000,0.000,0.812,391,2019,1608,-9.93,-0.76,300.00 _24V_AH 23.3,11.089

IRIDIUM_FIX 6050.49,-800.21,251197,121211 _10V_AH 10.1,4.059

TT8_MAMPS 0.027612 DATA_FILE_SIZE 37966,732

HUMID 2149 CAP_FILE_SIZE 134555,0

INTERNAL_PRESSURE 8.07973 CFSIZE 260165632,257961984

TCM_TEMP 14.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 GPS 310808,165531,6117.109,-757.922,39,1.6,39,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 131 72.62 SBE_CT 639 24 357.49

Roll_motor 148 77 267.99 SBE_O2 523 19 231.67

VBD_pump_during_apogee 344 1471 11798.21 WL_BB2F 407 105 995.86

VBD_pump_during_surface 50 812 952.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.46

TT8 1470 19 294.09

LPSleep 11105 2 245.64

TT8_Active 503 19 100.70

TT8_Sampling 2082 39 837.08

TT8_CF8 434 45 201.04

TT8_Kalman 32 81 26.73

Analog_circuits 1571 12 190.44

GPS_charging 0 0 0.00

Compass 2177 8 175.97

RAFOS 0 0 0.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.47 -146.6 0.0 0.0 0 95 0.00 0.00 -68.25 0.000 6 0.000 0.000 390 2033 3430

98 -1.47 -146.6 5.5 -6.3 4 112 9.65 2.47 0.00 0.000 4 0.132 0.039 2223 3459 3432

450 -1.47 -146.6 61.2 -15.2 19 455 0.00 2.40 0.00 0.000 6 0.000 0.026 2223 2040 3434

782 -1.47 -146.6 106.6 -12.8 35 786 0.00 2.45 0.00 0.000 4 0.000 0.041 2223 3454 3434

1020 -1.47 -146.6 131.1 -9.3 45 1027 0.00 2.35 0.00 0.000 6 0.000 0.027 2223 2046 3435

1337 -1.47 -146.6 157.6 -8.1 61 1341 0.00 2.40 0.00 0.000 4 0.000 0.042 2223 655 3435

1381 -1.47 -146.6 161.6 -8.9 63 1385 0.00 2.35 0.00 0.000 6 0.000 0.028 2223 2052 3435

1702 -1.47 -146.6 191.9 -9.9 79 1707 0.00 2.42 0.00 0.000 4 0.000 0.048 2224 3446 3435

1752 -1.47 -146.6 197.5 -11.2 81 1757 0.00 2.35 0.00 0.000 6 0.000 0.028 2223 2049 3435

2068 -1.47 -146.6 231.8 -11.3 96 2072 0.00 2.42 0.00 0.000 4 0.000 0.045 2224 651 3435

2163 -1.47 -146.6 243.0 -11.4 100 2167 0.00 2.38 0.00 0.000 6 0.000 0.031 2223 2050 3435

2479 -1.47 -146.6 278.2 -11.1 115 2483 0.00 2.45 0.00 0.000 4 0.000 0.046 2223 649 3434

2601 -1.47 -146.6 292.3 -11.1 120 2608 0.00 2.40 0.00 0.000 6 0.000 0.034 2223 2036 3434

2920 -1.47 -146.6 324.7 -10.3 136 2921 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2036 3434

3227 -1.47 -146.6 356.0 -9.9 151 3231 0.00 2.45 0.00 0.000 4 0.000 0.048 2223 646 3434

3356 -1.47 -146.6 369.4 -10.7 157 3360 0.00 2.42 0.00 0.000 6 0.000 0.036 2223 2055 3434

3682 -1.47 -146.6 404.2 -11.6 173 3686 0.00 2.47 0.00 0.000 4 0.000 0.051 2223 653 3433

3793 -1.47 -146.6 418.7 -13.6 178 3797 0.00 2.40 0.00 0.000 6 0.000 0.037 2223 2054 3433

4113 -1.47 -146.6 461.2 -13.0 194 4118 0.00 2.47 0.00 0.000 4 0.000 0.051 2223 653 3433

4326 -1.47 -146.6 485.4 -9.8 203 4332 0.00 2.38 0.00 0.000 6 0.000 0.037 2223 2046 3432

4641 -1.47 -146.6 511.4 -7.9 219 4646 0.00 2.50 0.00 0.000 4 0.000 0.051 2224 651 3432

4984 -1.47 -146.6 545.9 -11.6 234 4988 0.00 2.40 0.00 0.000 6 0.000 0.038 2223 2044 3432

5305 -1.47 -146.6 573.1 -7.6 250 5309 0.00 2.47 0.00 0.000 4 0.000 0.054 2223 655 3432

5624 -1.47 -146.6 604.3 -11.7 264 5629 0.00 2.42 0.00 0.000 6 0.000 0.044 2223 2044 3432

5940 -1.47 -146.6 640.3 -11.7 279 5944 0.00 2.50 0.00 0.000 4 0.000 0.059 2223 654 3430

6129 -1.47 -146.6 664.4 -11.8 287 6135 0.00 2.42 0.00 0.000 6 0.000 0.043 2223 2048 3429

6444 -1.47 -146.6 702.8 -12.5 303 6448 0.00 2.50 0.00 0.000 4 0.000 0.059 2223 657 3427

6563 -1.47 -146.6 715.9 -10.0 308 6567 0.00 2.42 0.00 0.000 6 0.000 0.042 2223 2051 3426

6878 -1.47 -146.6 747.6 -10.6 323 6883 0.00 2.53 0.00 0.000 4 0.000 0.060 2224 652 3424

6996 -1.47 -146.6 760.2 -10.8 328 7000 0.00 2.45 0.00 0.000 6 0.000 0.043 2223 2052 3424

7311 -1.47 -146.6 789.1 -9.5 343 7316 0.00 2.53 0.00 0.000 4 0.000 0.061 2223 656 3421

7435 -1.47 -146.6 801.6 -10.8 348 7442 0.00 2.42 0.00 0.000 6 0.000 0.044 2223 2043 3421

7751 -1.47 -146.6 831.6 -8.3 364 7756 0.00 2.53 0.00 0.000 4 0.000 0.063 2224 653 3420

7881 -1.47 -146.6 844.9 -10.8 370 7885 0.00 2.45 0.00 0.000 6 0.000 0.044 2224 2047 3419

7978 end dive: BOTTOM_OBSTACLE_DETECTED

state 7978 begin apogee

7984 -0.36 0.0 854.9 10.0 375 8121 1.20 0.00 128.32 1.472 6 0.084 0.000 2473 2150 2831

8122 end apogee: CONTROL_FINISHED_OK

state 8122 begin climb

8124 1.47 146.6 858.2 0.0 382 8264 1.80 2.70 128.90 1.393 4 0.053 0.071 2868 3542 2232

8557 1.47 146.6 823.4 11.8 401 8563 0.00 2.47 0.00 0.000 6 0.000 0.041 2868 2141 2228

8872 1.47 146.6 788.6 11.7 417 8877 0.00 2.60 0.00 0.000 4 0.000 0.064 2868 3546 2227

8984 1.47 146.6 775.4 11.8 422 8989 0.00 2.50 0.00 0.000 6 0.000 0.039 2868 2139 2226

9310 1.47 146.6 738.9 14.0 438 9311 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 2139 2225

9620 1.54 205.4 710.3 7.3 453 9683 0.00 2.70 51.95 1.384 4 0.000 0.061 2868 3550 1992

9745 1.54 205.4 698.3 12.2 458 9752 0.00 2.47 0.00 0.000 6 0.000 0.038 2868 2146 1989

10061 1.54 205.4 663.1 12.1 474 10065 0.00 2.58 0.00 0.000 4 0.000 0.060 2868 3547 1988

10123 1.54 205.4 656.9 10.7 477 10127 0.00 2.47 0.00 0.000 6 0.000 0.038 2868 2139 1987

10449 1.56 217.3 626.1 9.5 493 10462 0.00 0.00 11.35 1.256 6 0.000 0.000 2868 2139 1944

10760 1.58 234.3 597.7 9.2 508 10783 0.12 2.65 16.25 1.290 4 0.051 0.060 2903 3549 1875

10844 1.58 234.3 588.2 11.6 511 10850 0.00 2.47 0.00 0.000 6 0.000 0.038 2903 2145 1874

11160 1.59 240.8 554.9 9.7 527 11174 0.00 2.60 7.25 1.137 4 0.000 0.059 2903 3549 1848

11232 1.59 240.8 547.3 10.7 530 11236 0.00 2.45 0.00 0.000 6 0.000 0.037 2903 2147 1848

11553 1.59 240.8 512.2 11.7 546 11558 0.00 2.58 0.00 0.000 4 0.000 0.061 2903 744 1846

11675 1.59 240.8 496.8 11.9 551 11679 0.00 2.45 0.00 0.000 6 0.000 0.038 2903 2146 1846

11993 1.59 240.8 458.5 12.6 566 11998 0.00 2.53 0.00 0.000 4 0.000 0.057 2902 3551 1845

12170 1.59 240.8 433.5 13.7 574 12175 0.00 2.45 0.00 0.000 6 0.000 0.032 2902 2143 1845

12501 1.59 240.8 394.5 11.5 590 12506 0.00 2.53 0.00 0.000 4 0.000 0.050 2903 3559 1845

12568 1.59 240.8 386.3 11.7 593 12572 0.00 2.42 0.00 0.000 6 0.000 0.031 2903 2138 1845

12889 1.59 240.8 350.1 10.7 609 12893 0.00 2.50 0.00 0.000 4 0.000 0.048 2903 3552 1847

12955 1.59 240.8 342.1 12.4 612 12960 0.00 2.40 0.00 0.000 6 0.000 0.030 2903 2141 1848

13276 1.59 240.8 305.3 11.2 628 13281 0.00 2.53 0.00 0.000 4 0.000 0.048 2903 3549 1849

13366 1.59 240.8 294.6 12.0 632 13371 0.00 2.42 0.00 0.000 6 0.000 0.030 2903 2143 1849

13698 1.59 240.8 252.1 14.2 648 13702 0.00 2.50 0.00 0.000 4 0.000 0.047 2903 3555 1851

13797 1.59 240.8 236.5 16.0 652 13804 0.00 2.40 0.00 0.000 6 0.000 0.029 2903 2137 1852

14115 1.59 240.8 186.6 14.9 668 14119 0.00 2.50 0.00 0.000 4 0.000 0.046 2903 3555 1853

14165 1.59 240.8 178.6 13.0 670 14169 0.00 2.40 0.00 0.000 6 0.000 0.028 2903 2139 1853

14481 1.59 240.8 133.0 15.9 685 14482 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 2139 1854

14790 1.59 240.8 85.6 14.7 700 14791 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 2139 1854

15100 1.59 240.8 43.0 13.0 715 15104 0.00 2.42 0.00 0.000 4 0.000 0.046 2903 749 1855

15177 1.59 240.8 32.7 12.6 718 15184 0.00 2.40 0.00 0.000 6 0.000 0.029 2903 2169 1855

15429 end climb: SURFACE_DEPTH_REACHED

state 15429 begin surface coast

15452 end surface coast: CONTROL_FINISHED_OK

state 15452 begin surface

ID	105	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3840	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	61.599998	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-8.75	C_ROLL_DIVE	2046	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2146	ALTIM_PULSE	3
D_FINISH	0	SM_CC	300	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.8522969
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	37	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	350	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	475	DEVICE4	-1
T_TURN	300	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2831	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-1588391.8	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	401	AH0_24V	91.800003	SEABIRD_T_G	0.0043115509
SPEED_FACTOR	1	PITCH_MAX	3705	AH0_10V	61.200001	SEABIRD_T_H	0.00064421911
RHO	1.023	C_PITCH	2550	PRESSURE_YINT	-17.830805	SEABIRD_T_I	2.4441668e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_J	2.6855823e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.00054
FERRY_MAX	11	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1273263
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0013333842
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00018589634
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	123051,6117.325,-757.451,13,1.4,13,-8.6	TGT_NAME	FBC_SE0
_CALLS	1	TGT_LATLONG	6100.000,-730.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.214,-0.153
_SM_DEPTHo	1.22	KALMAN_X	910.9,319.1,277.6,1370.7,1082.4
_SM_ANGLEo	-58.6	KALMAN_Y	-193.6,1058.9,1202.9,-893.3,-3986.7
GPS2	123439,6117.294,-757.318,14,1.4,14,-8.6	MHEAD_RNG_PITCHd_Wd	134.2,40343,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.000296	ALTIM_TOP_PING	18.8,17.4
SM_CCo	15473,50.33,0.812,0,0,1608,300.00	ALTIM_BOTTOM_PING	776.0,87.4
SM_GC	0.96,0.00,0.00,50.33,0.000,0.000,0.812,391,2019,1608,-9.93,-0.76,300.00	_24V_AH	23.3,11.089
IRIDIUM_FIX	6050.49,-800.21,251197,121211	_10V_AH	10.1,4.059
TT8_MAMPS	0.027612	DATA_FILE_SIZE	37966,732
HUMID	2149	CAP_FILE_SIZE	134555,0
INTERNAL_PRESSURE	8.07973	CFSIZE	260165632,257961984
TCM_TEMP	14.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	GPS	310808,165531,6117.109,-757.922,39,1.6,39,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	131	72.62	SBE_CT	639	24	357.49
Roll_motor	148	77	267.99	SBE_O2	523	19	231.67
VBD_pump_during_apogee	344	1471	11798.21	WL_BB2F	407	105	995.86
VBD_pump_during_surface	50	812	952.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.46
TT8	1470	19	294.09
LPSleep	11105	2	245.64
TT8_Active	503	19	100.70
TT8_Sampling	2082	39	837.08
TT8_CF8	434	45	201.04
TT8_Kalman	32	81	26.73
Analog_circuits	1571	12	190.44
GPS_charging	0	0	0.00
Compass	2177	8	175.97
RAFOS	0	0	0.00

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.47	-146.6	0.0	0.0	0	95	0.00	0.00	-68.25	0.000	6	0.000	0.000	390	2033	3430
98	-1.47	-146.6	5.5	-6.3	4	112	9.65	2.47	0.00	0.000	4	0.132	0.039	2223	3459	3432
450	-1.47	-146.6	61.2	-15.2	19	455	0.00	2.40	0.00	0.000	6	0.000	0.026	2223	2040	3434
782	-1.47	-146.6	106.6	-12.8	35	786	0.00	2.45	0.00	0.000	4	0.000	0.041	2223	3454	3434
1020	-1.47	-146.6	131.1	-9.3	45	1027	0.00	2.35	0.00	0.000	6	0.000	0.027	2223	2046	3435
1337	-1.47	-146.6	157.6	-8.1	61	1341	0.00	2.40	0.00	0.000	4	0.000	0.042	2223	655	3435
1381	-1.47	-146.6	161.6	-8.9	63	1385	0.00	2.35	0.00	0.000	6	0.000	0.028	2223	2052	3435
1702	-1.47	-146.6	191.9	-9.9	79	1707	0.00	2.42	0.00	0.000	4	0.000	0.048	2224	3446	3435
1752	-1.47	-146.6	197.5	-11.2	81	1757	0.00	2.35	0.00	0.000	6	0.000	0.028	2223	2049	3435
2068	-1.47	-146.6	231.8	-11.3	96	2072	0.00	2.42	0.00	0.000	4	0.000	0.045	2224	651	3435
2163	-1.47	-146.6	243.0	-11.4	100	2167	0.00	2.38	0.00	0.000	6	0.000	0.031	2223	2050	3435
2479	-1.47	-146.6	278.2	-11.1	115	2483	0.00	2.45	0.00	0.000	4	0.000	0.046	2223	649	3434
2601	-1.47	-146.6	292.3	-11.1	120	2608	0.00	2.40	0.00	0.000	6	0.000	0.034	2223	2036	3434
2920	-1.47	-146.6	324.7	-10.3	136	2921	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2036	3434
3227	-1.47	-146.6	356.0	-9.9	151	3231	0.00	2.45	0.00	0.000	4	0.000	0.048	2223	646	3434
3356	-1.47	-146.6	369.4	-10.7	157	3360	0.00	2.42	0.00	0.000	6	0.000	0.036	2223	2055	3434
3682	-1.47	-146.6	404.2	-11.6	173	3686	0.00	2.47	0.00	0.000	4	0.000	0.051	2223	653	3433
3793	-1.47	-146.6	418.7	-13.6	178	3797	0.00	2.40	0.00	0.000	6	0.000	0.037	2223	2054	3433
4113	-1.47	-146.6	461.2	-13.0	194	4118	0.00	2.47	0.00	0.000	4	0.000	0.051	2223	653	3433
4326	-1.47	-146.6	485.4	-9.8	203	4332	0.00	2.38	0.00	0.000	6	0.000	0.037	2223	2046	3432
4641	-1.47	-146.6	511.4	-7.9	219	4646	0.00	2.50	0.00	0.000	4	0.000	0.051	2224	651	3432
4984	-1.47	-146.6	545.9	-11.6	234	4988	0.00	2.40	0.00	0.000	6	0.000	0.038	2223	2044	3432
5305	-1.47	-146.6	573.1	-7.6	250	5309	0.00	2.47	0.00	0.000	4	0.000	0.054	2223	655	3432
5624	-1.47	-146.6	604.3	-11.7	264	5629	0.00	2.42	0.00	0.000	6	0.000	0.044	2223	2044	3432
5940	-1.47	-146.6	640.3	-11.7	279	5944	0.00	2.50	0.00	0.000	4	0.000	0.059	2223	654	3430
6129	-1.47	-146.6	664.4	-11.8	287	6135	0.00	2.42	0.00	0.000	6	0.000	0.043	2223	2048	3429
6444	-1.47	-146.6	702.8	-12.5	303	6448	0.00	2.50	0.00	0.000	4	0.000	0.059	2223	657	3427
6563	-1.47	-146.6	715.9	-10.0	308	6567	0.00	2.42	0.00	0.000	6	0.000	0.042	2223	2051	3426
6878	-1.47	-146.6	747.6	-10.6	323	6883	0.00	2.53	0.00	0.000	4	0.000	0.060	2224	652	3424
6996	-1.47	-146.6	760.2	-10.8	328	7000	0.00	2.45	0.00	0.000	6	0.000	0.043	2223	2052	3424
7311	-1.47	-146.6	789.1	-9.5	343	7316	0.00	2.53	0.00	0.000	4	0.000	0.061	2223	656	3421
7435	-1.47	-146.6	801.6	-10.8	348	7442	0.00	2.42	0.00	0.000	6	0.000	0.044	2223	2043	3421
7751	-1.47	-146.6	831.6	-8.3	364	7756	0.00	2.53	0.00	0.000	4	0.000	0.063	2224	653	3420
7881	-1.47	-146.6	844.9	-10.8	370	7885	0.00	2.45	0.00	0.000	6	0.000	0.044	2224	2047	3419
7978	end dive: BOTTOM_OBSTACLE_DETECTED
state	7978	begin apogee
7984	-0.36	0.0	854.9	10.0	375	8121	1.20	0.00	128.32	1.472	6	0.084	0.000	2473	2150	2831
8122	end apogee: CONTROL_FINISHED_OK
state	8122	begin climb
8124	1.47	146.6	858.2	0.0	382	8264	1.80	2.70	128.90	1.393	4	0.053	0.071	2868	3542	2232
8557	1.47	146.6	823.4	11.8	401	8563	0.00	2.47	0.00	0.000	6	0.000	0.041	2868	2141	2228
8872	1.47	146.6	788.6	11.7	417	8877	0.00	2.60	0.00	0.000	4	0.000	0.064	2868	3546	2227
8984	1.47	146.6	775.4	11.8	422	8989	0.00	2.50	0.00	0.000	6	0.000	0.039	2868	2139	2226
9310	1.47	146.6	738.9	14.0	438	9311	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	2139	2225
9620	1.54	205.4	710.3	7.3	453	9683	0.00	2.70	51.95	1.384	4	0.000	0.061	2868	3550	1992
9745	1.54	205.4	698.3	12.2	458	9752	0.00	2.47	0.00	0.000	6	0.000	0.038	2868	2146	1989
10061	1.54	205.4	663.1	12.1	474	10065	0.00	2.58	0.00	0.000	4	0.000	0.060	2868	3547	1988
10123	1.54	205.4	656.9	10.7	477	10127	0.00	2.47	0.00	0.000	6	0.000	0.038	2868	2139	1987
10449	1.56	217.3	626.1	9.5	493	10462	0.00	0.00	11.35	1.256	6	0.000	0.000	2868	2139	1944
10760	1.58	234.3	597.7	9.2	508	10783	0.12	2.65	16.25	1.290	4	0.051	0.060	2903	3549	1875
10844	1.58	234.3	588.2	11.6	511	10850	0.00	2.47	0.00	0.000	6	0.000	0.038	2903	2145	1874
11160	1.59	240.8	554.9	9.7	527	11174	0.00	2.60	7.25	1.137	4	0.000	0.059	2903	3549	1848
11232	1.59	240.8	547.3	10.7	530	11236	0.00	2.45	0.00	0.000	6	0.000	0.037	2903	2147	1848
11553	1.59	240.8	512.2	11.7	546	11558	0.00	2.58	0.00	0.000	4	0.000	0.061	2903	744	1846
11675	1.59	240.8	496.8	11.9	551	11679	0.00	2.45	0.00	0.000	6	0.000	0.038	2903	2146	1846
11993	1.59	240.8	458.5	12.6	566	11998	0.00	2.53	0.00	0.000	4	0.000	0.057	2902	3551	1845
12170	1.59	240.8	433.5	13.7	574	12175	0.00	2.45	0.00	0.000	6	0.000	0.032	2902	2143	1845
12501	1.59	240.8	394.5	11.5	590	12506	0.00	2.53	0.00	0.000	4	0.000	0.050	2903	3559	1845
12568	1.59	240.8	386.3	11.7	593	12572	0.00	2.42	0.00	0.000	6	0.000	0.031	2903	2138	1845
12889	1.59	240.8	350.1	10.7	609	12893	0.00	2.50	0.00	0.000	4	0.000	0.048	2903	3552	1847
12955	1.59	240.8	342.1	12.4	612	12960	0.00	2.40	0.00	0.000	6	0.000	0.030	2903	2141	1848
13276	1.59	240.8	305.3	11.2	628	13281	0.00	2.53	0.00	0.000	4	0.000	0.048	2903	3549	1849
13366	1.59	240.8	294.6	12.0	632	13371	0.00	2.42	0.00	0.000	6	0.000	0.030	2903	2143	1849
13698	1.59	240.8	252.1	14.2	648	13702	0.00	2.50	0.00	0.000	4	0.000	0.047	2903	3555	1851
13797	1.59	240.8	236.5	16.0	652	13804	0.00	2.40	0.00	0.000	6	0.000	0.029	2903	2137	1852
14115	1.59	240.8	186.6	14.9	668	14119	0.00	2.50	0.00	0.000	4	0.000	0.046	2903	3555	1853
14165	1.59	240.8	178.6	13.0	670	14169	0.00	2.40	0.00	0.000	6	0.000	0.028	2903	2139	1853
14481	1.59	240.8	133.0	15.9	685	14482	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	2139	1854
14790	1.59	240.8	85.6	14.7	700	14791	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	2139	1854
15100	1.59	240.8	43.0	13.0	715	15104	0.00	2.42	0.00	0.000	4	0.000	0.046	2903	749	1855
15177	1.59	240.8	32.7	12.6	718	15184	0.00	2.40	0.00	0.000	6	0.000	0.029	2903	2169	1855
15429	end climb: SURFACE_DEPTH_REACHED
state	15429	begin surface coast
15452	end surface coast: CONTROL_FINISHED_OK
state	15452	begin surface