Glider dive log

Faroes Nov08 * SG005 * Dive index * Mission links * Dive 451 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 451 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 125

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2125 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 250 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 550 UPLOAD_DIVES_MAX -1 VBD_MIN 390 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 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -96205.297 VBD_BLEED_AD_RATE 8 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.610077 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 2 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 250

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.610077 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -96205.297

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 580

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 2 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2125 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 2832 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 451 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 173406,6126.388,-758.885,30,0.9,35,-8.7 TGT_NAME FBC_2

_CALLS 1 TGT_LATLONG 6115.000,-752.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,-0.177

_SM_DEPTHo 1.48 KALMAN_X 220775.9,-921.1,-1644.0,-80717.6,25183.1

_SM_ANGLEo -61.5 KALMAN_Y 135954.9,-405.3,-1430.2,-453990.2,21805.5

GPS2 173856,6126.387,-758.848,14,1.7,14,-8.6 MHEAD_RNG_PITCHd_Wd 172.5,21953,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027427 ALTIM_BOTTOM_PING 450.3,91.6

SM_CCo 14849,0.00,0.000,0,0,1739,268.11 _24V_AH 23.6,80.036

SM_GC 1.66,10.98,0.00,0.00,0.038,0.000,0.000,422,1970,1739,-10.60,-0.85,268.11 _10V_AH 10.1,39.556

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34895,712

TT8_MAMPS 0.028379 CAP_FILE_SIZE 109005,0

HUMID 1855 CFSIZE 254472192,223719424

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,0,0

XPDR_PINGS 58 GPS 150209,214801,6125.005,-757.729,40,1.7,40,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 78.85 SBE_CT 518 24 293.71

Roll_motor 143 73 250.14 SBE_O2 479 19 214.85

VBD_pump_during_apogee 374 1179 10427.34 WL_BB2F 513 105 1272.43

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 37 103 91.77 nil 0 0 0.00

Iridium_during_connect 27 160 102.74 nil 0 0 0.00

Iridium_during_xfer 111 223 586.57

Transponder_ping 18 420 180.89

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.20

TT8 1319 19 263.92

LPSleep 11306 2 250.08

TT8_Active 491 19 98.32

TT8_Sampling 1553 39 624.37

TT8_CF8 474 45 219.47

TT8_Kalman 0 81 0.00

Analog_circuits 1295 12 156.99

GPS_charging 0 0 0.00

Compass 1520 8 122.83

RAFOS 0 0 0.00

Transponder 26 30 7.97

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 -0.97 -146.6 0.0 0.0 0 98 0.00 0.00 -80.10 0.000 6 0.000 0.000 421 1998 3431

101 -0.97 -146.6 5.6 -6.0 4 117 10.98 2.58 0.00 0.000 4 0.138 0.061 2523 3408 3431

273 -0.87 -146.6 30.5 -10.1 10 280 0.15 2.53 0.00 0.000 6 0.092 0.049 2555 1994 3432

590 -0.87 -146.6 57.0 -8.6 26 595 0.00 2.53 0.00 0.000 4 0.000 0.064 2555 582 3431

618 -0.87 -146.6 59.3 -7.8 27 623 0.00 2.55 0.00 0.000 6 0.000 0.052 2555 2014 3431

935 -0.87 -146.6 85.1 -8.3 42 937 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2014 3432

1244 -0.87 -146.6 108.4 -7.0 57 1245 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2015 3432

1554 -0.87 -146.6 130.9 -7.3 72 1556 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2015 3431

1862 -0.87 -146.6 152.5 -7.7 87 1866 0.00 2.60 0.00 0.000 4 0.000 0.064 2555 583 3432

1902 -0.87 -146.6 155.8 -8.8 89 1907 0.00 2.53 0.00 0.000 6 0.000 0.052 2555 2006 3432

2229 -0.87 -146.6 183.8 -8.5 105 2233 0.00 2.53 0.00 0.000 4 0.000 0.064 2555 3411 3432

2252 -0.87 -146.6 185.5 -7.5 106 2256 0.00 2.53 0.00 0.000 6 0.000 0.051 2555 1998 3431

2574 -0.87 -146.6 210.1 -7.2 122 2578 0.00 2.53 0.00 0.000 4 0.000 0.066 2555 584 3432

2624 -0.87 -146.6 214.2 -8.5 124 2628 0.00 2.53 0.00 0.000 6 0.000 0.052 2555 2006 3432

2946 -0.87 -146.6 239.6 -7.4 140 2950 0.00 2.58 0.00 0.000 4 0.000 0.065 2555 591 3432

2990 -0.87 -146.6 243.2 -8.0 142 2994 0.00 2.47 0.00 0.000 6 0.000 0.052 2555 1988 3431

3317 -0.87 -146.6 267.6 -7.2 158 3318 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 1988 3431

3627 -0.87 -146.6 290.5 -7.6 173 3631 0.00 2.55 0.00 0.000 4 0.000 0.067 2555 586 3432

3654 -0.87 -146.6 292.8 -8.3 174 3658 0.00 2.50 0.00 0.000 6 0.000 0.053 2555 1993 3431

3970 -0.87 -146.6 321.1 -9.1 189 3974 0.00 2.55 0.00 0.000 4 0.000 0.067 2555 594 3432

4003 -0.87 -146.6 324.0 -9.0 190 4009 0.00 2.45 0.00 0.000 6 0.000 0.054 2555 1980 3432

4320 -0.87 -146.6 348.3 -7.4 206 4324 0.00 2.58 0.00 0.000 4 0.000 0.066 2555 3411 3432

4376 -0.87 -146.6 352.7 -7.7 208 4381 0.00 2.55 0.00 0.000 6 0.000 0.055 2555 1992 3431

4694 -0.87 -146.6 376.3 -9.1 223 4698 0.00 2.58 0.00 0.000 4 0.000 0.064 2555 3406 3432

4784 -0.87 -146.6 384.0 -9.2 227 4789 0.00 2.50 0.00 0.000 6 0.000 0.051 2555 2003 3432

5112 -0.87 -146.6 403.6 -5.3 243 5116 0.00 2.53 0.00 0.000 4 0.000 0.067 2555 597 3431

5156 -0.87 -146.6 405.8 -5.8 245 5161 0.00 2.53 0.00 0.000 6 0.000 0.054 2555 2014 3431

5478 -0.87 -146.6 423.4 -5.7 261 5482 0.00 2.60 0.00 0.000 4 0.000 0.069 2555 591 3431

5522 -0.87 -146.6 426.5 -6.6 263 5526 0.00 2.53 0.00 0.000 6 0.000 0.056 2555 2008 3431

5844 -0.87 -146.6 447.9 -6.8 279 5848 0.00 2.53 0.00 0.000 4 0.000 0.071 2555 3405 3431

5865 -0.87 -146.6 449.6 -7.2 280 5870 0.00 2.53 0.00 0.000 6 0.000 0.059 2555 2005 3430

6187 -0.87 -146.6 470.1 -6.2 296 6192 0.00 2.58 0.00 0.000 4 0.000 0.070 2555 3414 3430

6228 -0.87 -146.6 472.8 -6.6 298 6233 0.00 2.53 0.00 0.000 6 0.000 0.058 2555 2014 3430

6556 -0.87 -146.6 497.3 -7.3 314 6557 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2013 3429

6865 -0.87 -146.6 524.3 -9.4 329 6869 0.00 2.58 0.00 0.000 4 0.000 0.071 2555 3408 3429

6910 -0.92 -146.6 528.5 -9.4 331 6915 0.00 2.50 0.00 0.000 6 0.000 0.059 2555 2026 3429

6960 end dive: BOTTOM_OBSTACLE_DETECTED

state 6960 begin apogee

6967 -0.33 0.0 533.4 9.3 334 7103 0.55 0.00 130.23 1.180 6 0.076 0.000 2674 2128 2832

7104 end apogee: CONTROL_FINISHED_OK

state 7104 begin climb

7107 0.97 146.6 542.4 0.0 341 7242 1.27 0.00 130.12 1.147 6 0.060 0.000 2954 2128 2234

7541 0.81 146.6 531.7 6.2 362 7543 0.17 0.00 0.00 0.000 6 0.084 0.000 2919 2131 2233

7851 0.80 175.0 512.8 5.2 377 7882 0.00 2.67 26.27 1.105 4 0.000 0.074 2919 3534 2117

7973 0.91 246.7 506.4 4.0 382 8043 0.10 2.58 63.58 1.133 6 0.064 0.064 2947 2143 1826

8354 0.91 246.7 478.2 10.2 401 8358 0.00 2.60 0.00 0.000 4 0.000 0.072 2947 3529 1828

8387 0.87 246.7 475.1 8.9 402 8393 0.00 2.53 0.00 0.000 6 0.000 0.061 2947 2153 1828

8703 0.87 246.7 443.2 10.2 418 8704 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 2153 1828

9013 0.87 246.7 415.2 9.1 433 9017 0.00 2.62 0.00 0.000 4 0.000 0.071 2947 715 1828

9040 0.87 246.7 412.6 9.6 434 9045 0.00 2.65 0.00 0.000 6 0.000 0.059 2947 2172 1827

9356 0.90 262.4 386.6 5.6 449 9378 0.00 2.78 15.77 1.045 4 0.000 0.068 2947 712 1761

9419 0.90 262.4 382.3 6.5 451 9425 0.00 2.65 0.00 0.000 6 0.000 0.059 2947 2164 1761

9734 0.90 262.4 358.6 7.9 467 9738 0.00 2.53 0.00 0.000 4 0.000 0.071 2947 3538 1761

9758 0.90 262.4 356.0 12.0 468 9762 0.00 2.50 0.00 0.000 6 0.000 0.058 2947 2164 1761

10079 0.90 262.4 325.8 9.3 484 10083 0.00 2.58 0.00 0.000 4 0.000 0.068 2947 3539 1761

10102 0.90 262.4 323.6 9.3 485 10106 0.00 2.50 0.00 0.000 6 0.000 0.057 2947 2161 1761

10423 0.90 262.4 296.1 8.0 501 10428 0.00 2.62 0.00 0.000 4 0.000 0.068 2947 714 1760

10451 0.90 262.4 293.5 9.5 502 10455 0.00 2.62 0.00 0.000 6 0.000 0.056 2947 2167 1761

10768 0.90 262.4 268.0 8.3 517 10769 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2168 1760

11076 0.90 262.4 244.4 7.4 532 11080 0.00 2.67 0.00 0.000 4 0.000 0.067 2947 707 1761

11138 0.90 262.4 239.6 8.2 535 11142 0.00 2.60 0.00 0.000 6 0.000 0.054 2947 2156 1761

11466 0.90 262.4 216.1 7.2 551 11467 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2156 1761

11774 0.90 262.4 195.6 6.5 566 11778 0.00 2.65 0.00 0.000 4 0.000 0.067 2947 709 1761

11806 0.90 262.4 193.3 6.8 567 11813 0.00 2.58 0.00 0.000 6 0.000 0.054 2947 2147 1761

12124 0.90 264.6 173.9 5.9 583 12133 0.00 2.67 3.72 0.599 4 0.000 0.067 2947 715 1753

12150 0.90 264.6 172.0 7.6 584 12154 0.00 2.55 0.00 0.000 6 0.000 0.053 2947 2141 1753

12471 0.90 264.6 152.2 6.2 600 12472 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2142 1754

12782 0.90 264.6 133.2 6.6 615 12786 0.00 2.60 0.00 0.000 4 0.000 0.067 2947 714 1754

12821 0.90 264.6 130.4 6.9 617 12826 0.00 2.53 0.00 0.000 6 0.000 0.053 2947 2130 1754

13149 0.90 264.6 109.3 6.6 633 13150 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2130 1754

13459 0.90 264.6 89.5 6.5 648 13463 0.00 2.60 0.00 0.000 4 0.000 0.067 2947 709 1754

13480 0.90 264.6 87.9 6.2 649 13484 0.00 2.53 0.00 0.000 6 0.000 0.053 2947 2125 1754

13803 0.91 267.6 68.7 5.9 665 13810 0.00 0.00 4.85 0.643 6 0.000 0.000 2947 2126 1740

14113 0.91 267.6 46.6 7.3 680 14117 0.00 2.55 0.00 0.000 4 0.000 0.064 2947 3538 1740

14135 0.91 267.6 44.7 7.3 681 14139 0.00 2.55 0.00 0.000 6 0.000 0.051 2948 2117 1740

14456 0.91 267.6 23.0 8.3 697 14457 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2117 1740

14721 end climb: SURFACE_DEPTH_REACHED

state 14721 begin surface coast

14765 end surface coast: CONTROL_FINISHED_OK

state 14765 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	451	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	125
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2125	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	250	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	550	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	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	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-96205.297	VBD_BLEED_AD_RATE	8	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.610077	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	2	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	173406,6126.388,-758.885,30,0.9,35,-8.7	TGT_NAME	FBC_2
_CALLS	1	TGT_LATLONG	6115.000,-752.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,-0.177
_SM_DEPTHo	1.48	KALMAN_X	220775.9,-921.1,-1644.0,-80717.6,25183.1
_SM_ANGLEo	-61.5	KALMAN_Y	135954.9,-405.3,-1430.2,-453990.2,21805.5
GPS2	173856,6126.387,-758.848,14,1.7,14,-8.6	MHEAD_RNG_PITCHd_Wd	172.5,21953,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027427	ALTIM_BOTTOM_PING	450.3,91.6
SM_CCo	14849,0.00,0.000,0,0,1739,268.11	_24V_AH	23.6,80.036
SM_GC	1.66,10.98,0.00,0.00,0.038,0.000,0.000,422,1970,1739,-10.60,-0.85,268.11	_10V_AH	10.1,39.556
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34895,712
TT8_MAMPS	0.028379	CAP_FILE_SIZE	109005,0
HUMID	1855	CFSIZE	254472192,223719424
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
XPDR_PINGS	58	GPS	150209,214801,6125.005,-757.729,40,1.7,40,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	78.85	SBE_CT	518	24	293.71
Roll_motor	143	73	250.14	SBE_O2	479	19	214.85
VBD_pump_during_apogee	374	1179	10427.34	WL_BB2F	513	105	1272.43
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	37	103	91.77	nil	0	0	0.00
Iridium_during_connect	27	160	102.74	nil	0	0	0.00
Iridium_during_xfer	111	223	586.57
Transponder_ping	18	420	180.89
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.20
TT8	1319	19	263.92
LPSleep	11306	2	250.08
TT8_Active	491	19	98.32
TT8_Sampling	1553	39	624.37
TT8_CF8	474	45	219.47
TT8_Kalman	0	81	0.00
Analog_circuits	1295	12	156.99
GPS_charging	0	0	0.00
Compass	1520	8	122.83
RAFOS	0	0	0.00
Transponder	26	30	7.97

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	-0.97	-146.6	0.0	0.0	0	98	0.00	0.00	-80.10	0.000	6	0.000	0.000	421	1998	3431
101	-0.97	-146.6	5.6	-6.0	4	117	10.98	2.58	0.00	0.000	4	0.138	0.061	2523	3408	3431
273	-0.87	-146.6	30.5	-10.1	10	280	0.15	2.53	0.00	0.000	6	0.092	0.049	2555	1994	3432
590	-0.87	-146.6	57.0	-8.6	26	595	0.00	2.53	0.00	0.000	4	0.000	0.064	2555	582	3431
618	-0.87	-146.6	59.3	-7.8	27	623	0.00	2.55	0.00	0.000	6	0.000	0.052	2555	2014	3431
935	-0.87	-146.6	85.1	-8.3	42	937	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2014	3432
1244	-0.87	-146.6	108.4	-7.0	57	1245	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2015	3432
1554	-0.87	-146.6	130.9	-7.3	72	1556	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2015	3431
1862	-0.87	-146.6	152.5	-7.7	87	1866	0.00	2.60	0.00	0.000	4	0.000	0.064	2555	583	3432
1902	-0.87	-146.6	155.8	-8.8	89	1907	0.00	2.53	0.00	0.000	6	0.000	0.052	2555	2006	3432
2229	-0.87	-146.6	183.8	-8.5	105	2233	0.00	2.53	0.00	0.000	4	0.000	0.064	2555	3411	3432
2252	-0.87	-146.6	185.5	-7.5	106	2256	0.00	2.53	0.00	0.000	6	0.000	0.051	2555	1998	3431
2574	-0.87	-146.6	210.1	-7.2	122	2578	0.00	2.53	0.00	0.000	4	0.000	0.066	2555	584	3432
2624	-0.87	-146.6	214.2	-8.5	124	2628	0.00	2.53	0.00	0.000	6	0.000	0.052	2555	2006	3432
2946	-0.87	-146.6	239.6	-7.4	140	2950	0.00	2.58	0.00	0.000	4	0.000	0.065	2555	591	3432
2990	-0.87	-146.6	243.2	-8.0	142	2994	0.00	2.47	0.00	0.000	6	0.000	0.052	2555	1988	3431
3317	-0.87	-146.6	267.6	-7.2	158	3318	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	1988	3431
3627	-0.87	-146.6	290.5	-7.6	173	3631	0.00	2.55	0.00	0.000	4	0.000	0.067	2555	586	3432
3654	-0.87	-146.6	292.8	-8.3	174	3658	0.00	2.50	0.00	0.000	6	0.000	0.053	2555	1993	3431
3970	-0.87	-146.6	321.1	-9.1	189	3974	0.00	2.55	0.00	0.000	4	0.000	0.067	2555	594	3432
4003	-0.87	-146.6	324.0	-9.0	190	4009	0.00	2.45	0.00	0.000	6	0.000	0.054	2555	1980	3432
4320	-0.87	-146.6	348.3	-7.4	206	4324	0.00	2.58	0.00	0.000	4	0.000	0.066	2555	3411	3432
4376	-0.87	-146.6	352.7	-7.7	208	4381	0.00	2.55	0.00	0.000	6	0.000	0.055	2555	1992	3431
4694	-0.87	-146.6	376.3	-9.1	223	4698	0.00	2.58	0.00	0.000	4	0.000	0.064	2555	3406	3432
4784	-0.87	-146.6	384.0	-9.2	227	4789	0.00	2.50	0.00	0.000	6	0.000	0.051	2555	2003	3432
5112	-0.87	-146.6	403.6	-5.3	243	5116	0.00	2.53	0.00	0.000	4	0.000	0.067	2555	597	3431
5156	-0.87	-146.6	405.8	-5.8	245	5161	0.00	2.53	0.00	0.000	6	0.000	0.054	2555	2014	3431
5478	-0.87	-146.6	423.4	-5.7	261	5482	0.00	2.60	0.00	0.000	4	0.000	0.069	2555	591	3431
5522	-0.87	-146.6	426.5	-6.6	263	5526	0.00	2.53	0.00	0.000	6	0.000	0.056	2555	2008	3431
5844	-0.87	-146.6	447.9	-6.8	279	5848	0.00	2.53	0.00	0.000	4	0.000	0.071	2555	3405	3431
5865	-0.87	-146.6	449.6	-7.2	280	5870	0.00	2.53	0.00	0.000	6	0.000	0.059	2555	2005	3430
6187	-0.87	-146.6	470.1	-6.2	296	6192	0.00	2.58	0.00	0.000	4	0.000	0.070	2555	3414	3430
6228	-0.87	-146.6	472.8	-6.6	298	6233	0.00	2.53	0.00	0.000	6	0.000	0.058	2555	2014	3430
6556	-0.87	-146.6	497.3	-7.3	314	6557	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2013	3429
6865	-0.87	-146.6	524.3	-9.4	329	6869	0.00	2.58	0.00	0.000	4	0.000	0.071	2555	3408	3429
6910	-0.92	-146.6	528.5	-9.4	331	6915	0.00	2.50	0.00	0.000	6	0.000	0.059	2555	2026	3429
6960	end dive: BOTTOM_OBSTACLE_DETECTED
state	6960	begin apogee
6967	-0.33	0.0	533.4	9.3	334	7103	0.55	0.00	130.23	1.180	6	0.076	0.000	2674	2128	2832
7104	end apogee: CONTROL_FINISHED_OK
state	7104	begin climb
7107	0.97	146.6	542.4	0.0	341	7242	1.27	0.00	130.12	1.147	6	0.060	0.000	2954	2128	2234
7541	0.81	146.6	531.7	6.2	362	7543	0.17	0.00	0.00	0.000	6	0.084	0.000	2919	2131	2233
7851	0.80	175.0	512.8	5.2	377	7882	0.00	2.67	26.27	1.105	4	0.000	0.074	2919	3534	2117
7973	0.91	246.7	506.4	4.0	382	8043	0.10	2.58	63.58	1.133	6	0.064	0.064	2947	2143	1826
8354	0.91	246.7	478.2	10.2	401	8358	0.00	2.60	0.00	0.000	4	0.000	0.072	2947	3529	1828
8387	0.87	246.7	475.1	8.9	402	8393	0.00	2.53	0.00	0.000	6	0.000	0.061	2947	2153	1828
8703	0.87	246.7	443.2	10.2	418	8704	0.00	0.00	0.00	0.000	6	0.000	0.000	2946	2153	1828
9013	0.87	246.7	415.2	9.1	433	9017	0.00	2.62	0.00	0.000	4	0.000	0.071	2947	715	1828
9040	0.87	246.7	412.6	9.6	434	9045	0.00	2.65	0.00	0.000	6	0.000	0.059	2947	2172	1827
9356	0.90	262.4	386.6	5.6	449	9378	0.00	2.78	15.77	1.045	4	0.000	0.068	2947	712	1761
9419	0.90	262.4	382.3	6.5	451	9425	0.00	2.65	0.00	0.000	6	0.000	0.059	2947	2164	1761
9734	0.90	262.4	358.6	7.9	467	9738	0.00	2.53	0.00	0.000	4	0.000	0.071	2947	3538	1761
9758	0.90	262.4	356.0	12.0	468	9762	0.00	2.50	0.00	0.000	6	0.000	0.058	2947	2164	1761
10079	0.90	262.4	325.8	9.3	484	10083	0.00	2.58	0.00	0.000	4	0.000	0.068	2947	3539	1761
10102	0.90	262.4	323.6	9.3	485	10106	0.00	2.50	0.00	0.000	6	0.000	0.057	2947	2161	1761
10423	0.90	262.4	296.1	8.0	501	10428	0.00	2.62	0.00	0.000	4	0.000	0.068	2947	714	1760
10451	0.90	262.4	293.5	9.5	502	10455	0.00	2.62	0.00	0.000	6	0.000	0.056	2947	2167	1761
10768	0.90	262.4	268.0	8.3	517	10769	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2168	1760
11076	0.90	262.4	244.4	7.4	532	11080	0.00	2.67	0.00	0.000	4	0.000	0.067	2947	707	1761
11138	0.90	262.4	239.6	8.2	535	11142	0.00	2.60	0.00	0.000	6	0.000	0.054	2947	2156	1761
11466	0.90	262.4	216.1	7.2	551	11467	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2156	1761
11774	0.90	262.4	195.6	6.5	566	11778	0.00	2.65	0.00	0.000	4	0.000	0.067	2947	709	1761
11806	0.90	262.4	193.3	6.8	567	11813	0.00	2.58	0.00	0.000	6	0.000	0.054	2947	2147	1761
12124	0.90	264.6	173.9	5.9	583	12133	0.00	2.67	3.72	0.599	4	0.000	0.067	2947	715	1753
12150	0.90	264.6	172.0	7.6	584	12154	0.00	2.55	0.00	0.000	6	0.000	0.053	2947	2141	1753
12471	0.90	264.6	152.2	6.2	600	12472	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2142	1754
12782	0.90	264.6	133.2	6.6	615	12786	0.00	2.60	0.00	0.000	4	0.000	0.067	2947	714	1754
12821	0.90	264.6	130.4	6.9	617	12826	0.00	2.53	0.00	0.000	6	0.000	0.053	2947	2130	1754
13149	0.90	264.6	109.3	6.6	633	13150	0.00	0.00	0.00	0.000	6	0.000	0.000	2947	2130	1754
13459	0.90	264.6	89.5	6.5	648	13463	0.00	2.60	0.00	0.000	4	0.000	0.067	2947	709	1754
13480	0.90	264.6	87.9	6.2	649	13484	0.00	2.53	0.00	0.000	6	0.000	0.053	2947	2125	1754
13803	0.91	267.6	68.7	5.9	665	13810	0.00	0.00	4.85	0.643	6	0.000	0.000	2947	2126	1740
14113	0.91	267.6	46.6	7.3	680	14117	0.00	2.55	0.00	0.000	4	0.000	0.064	2947	3538	1740
14135	0.91	267.6	44.7	7.3	681	14139	0.00	2.55	0.00	0.000	6	0.000	0.051	2948	2117	1740
14456	0.91	267.6	23.0	8.3	697	14457	0.00	0.00	0.00	0.000	6	0.000	0.000	2948	2117	1740
14721	end climb: SURFACE_DEPTH_REACHED
state	14721	begin surface coast
14765	end surface coast: CONTROL_FINISHED_OK
state	14765	begin surface