Glider dive log

Faroes Aug08 * SG105 * Dive index * Mission links * Dive 5 * 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 5 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 58 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 35 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 -1588409.2 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 -1588409.2

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 58 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 5 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 165531,6117.109,-757.922,39,1.6,39,-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 0.146,-0.220

_SM_DEPTHo 1.06 KALMAN_X -2931.3,888.3,-1369.1,5591.5,-1790.9

_SM_ANGLEo -58.8 KALMAN_Y 4436.5,297.5,-96.8,-3905.8,2967.5

GPS2 170138,6117.077,-758.110,11,1.6,16,-8.6 MHEAD_RNG_PITCHd_Wd 155.1,40462,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.023906 ALTIM_TOP_PING 19.1,18.3

SM_CCo 14849,56.12,0.827,0,0,1608,300.00 ALTIM_BOTTOM_PING 776.4,95.7

SM_GC 0.86,0.00,0.00,56.12,0.000,0.000,0.827,392,2037,1608,-9.93,-0.25,300.00 _24V_AH 23.2,11.253

IRIDIUM_FIX 6054.92,-751.96,251197,121218 _10V_AH 10.1,4.137

TT8_MAMPS 0.026078 DATA_FILE_SIZE 34735,704

HUMID 2100 CAP_FILE_SIZE 120920,0

INTERNAL_PRESSURE 8.07973 CFSIZE 260165632,257929216

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 1 GPS 310808,211207,6115.789,-757.400,32,1.3,32,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 131 72.46 SBE_CT 620 24 345.53

Roll_motor 148 65 226.72 SBE_O2 501 19 221.13

VBD_pump_during_apogee 339 1482 11687.10 WL_BB2F 390 105 950.48

VBD_pump_during_surface 56 826 1076.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 72.91 nil 0 0 0.00

Iridium_during_connect 24 160 92.43 nil 0 0 0.00

Iridium_during_xfer 173 223 897.55

Transponder_ping 7 420 70.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.52

TT8 1411 19 282.34

LPSleep 10727 2 237.29

TT8_Active 530 19 106.03

TT8_Sampling 1900 39 763.83

TT8_CF8 704 45 325.88

TT8_Kalman 33 81 27.55

Analog_circuits 1502 12 182.09

GPS_charging 0 0 0.00

Compass 1993 8 161.11

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 86 0.00 0.00 -61.50 0.000 2 0.000 0.000 391 2020 3168

90 -1.47 -146.6 3.7 -6.4 3 112 9.73 2.50 -5.45 0.000 4 0.132 0.051 2224 3451 3432

352 -1.47 -146.6 43.2 -13.9 14 359 0.00 2.35 0.00 0.000 6 0.000 0.026 2224 2053 3433

668 -1.47 -146.6 88.8 -14.8 30 672 0.00 2.42 0.00 0.000 4 0.000 0.041 2224 653 3435

886 -1.47 -146.6 122.8 -15.2 40 890 0.00 2.35 0.00 0.000 6 0.000 0.027 2224 2047 3436

1215 -1.47 -146.6 168.4 -12.8 56 1219 0.00 2.42 0.00 0.000 4 0.000 0.042 2224 659 3436

1426 -1.47 -146.6 196.4 -11.1 65 1434 0.00 2.38 0.00 0.000 6 0.000 0.028 2224 2042 3436

1742 -1.47 -146.6 230.9 -10.4 81 1746 0.00 2.42 0.00 0.000 4 0.000 0.044 2224 659 3436

1894 -1.47 -146.6 248.3 -10.9 88 1899 0.00 2.35 0.00 0.000 6 0.000 0.030 2224 2041 3436

2221 -1.47 -146.6 282.8 -11.4 104 2225 0.00 2.42 0.00 0.000 4 0.000 0.045 2224 661 3436

2315 -1.47 -146.6 294.5 -13.0 108 2319 0.00 2.38 0.00 0.000 6 0.000 0.031 2224 2053 3436

2630 -1.47 -146.6 333.4 -12.9 123 2635 0.00 2.50 0.00 0.000 4 0.000 0.054 2224 656 3436

2703 -1.47 -146.6 342.9 -13.1 126 2707 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 2052 3436

3019 -1.47 -146.6 382.6 -12.5 141 3023 0.00 2.50 0.00 0.000 4 0.000 0.057 2224 3440 3436

3057 -1.47 -146.6 387.6 -12.9 142 3063 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 2056 3436

3373 -1.47 -146.6 425.3 -11.8 158 3377 0.00 2.47 0.00 0.000 4 0.000 0.052 2224 650 3436

3534 -1.47 -146.6 445.0 -12.7 165 3539 0.00 2.42 0.00 0.000 6 0.000 0.036 2223 2040 3436

3858 -1.47 -146.6 479.8 -9.9 181 3862 0.00 2.47 0.00 0.000 4 0.000 0.051 2224 646 3436

3920 -1.47 -146.6 486.3 -10.1 184 3924 0.00 2.42 0.00 0.000 6 0.000 0.036 2224 2059 3436

4246 -1.47 -146.6 508.6 -5.3 200 4251 0.00 2.47 0.00 0.000 4 0.000 0.056 2224 3450 3436

4280 -1.47 -146.6 511.3 -7.9 201 4286 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 2047 3436

4596 -1.47 -146.6 544.9 -10.7 217 4600 0.00 2.47 0.00 0.000 4 0.000 0.054 2224 643 3436

4937 -1.47 -146.6 592.3 -15.2 232 4941 0.00 2.42 0.00 0.000 6 0.000 0.038 2224 2042 3436

5252 -1.47 -146.6 630.3 -11.2 247 5257 0.00 2.53 0.00 0.000 4 0.000 0.058 2224 641 3435

5331 -1.47 -146.6 638.8 -9.6 250 5337 0.00 2.42 0.00 0.000 6 0.000 0.041 2224 2048 3435

5646 -1.47 -146.6 671.7 -10.1 266 5651 0.00 2.55 0.00 0.000 4 0.000 0.061 2224 655 3435

5775 -1.47 -146.6 684.8 -8.9 271 5781 0.00 2.42 0.00 0.000 6 0.000 0.044 2224 2046 3434

6090 -1.47 -146.6 710.7 -6.5 287 6095 0.00 2.53 0.00 0.000 4 0.000 0.061 2224 648 3432

6180 -1.47 -146.6 718.5 -8.8 291 6184 0.00 2.45 0.00 0.000 6 0.000 0.044 2224 2047 3432

6501 -1.47 -146.6 750.8 -11.1 307 6505 0.00 2.55 0.00 0.000 4 0.000 0.063 2224 645 3430

6601 -1.47 -146.6 762.8 -11.6 311 6607 0.00 2.45 0.00 0.000 6 0.000 0.044 2224 2048 3429

6916 -1.47 -146.6 802.2 -11.2 327 6921 0.00 2.58 0.00 0.000 4 0.000 0.064 2224 650 3427

7055 -1.47 -146.6 816.8 -11.0 333 7060 0.00 2.47 0.00 0.000 6 0.000 0.044 2224 2039 3426

7382 -1.47 -146.6 852.3 -10.8 349 7386 0.00 2.53 0.00 0.000 4 0.000 0.064 2224 649 3424

7464 end dive: BOTTOM_OBSTACLE_DETECTED

state 7464 begin apogee

7473 -0.36 0.0 862.2 11.4 353 7608 1.17 0.00 130.43 1.483 6 0.085 0.000 2469 2149 2831

7609 end apogee: CONTROL_FINISHED_OK

state 7609 begin climb

7611 1.47 146.6 865.9 0.0 360 7746 1.85 0.00 129.50 1.413 6 0.054 0.000 2870 2149 2233

8045 1.48 156.8 832.9 9.5 381 8057 0.00 0.00 10.07 1.243 6 0.000 0.000 2870 2149 2191

8355 1.48 156.8 797.3 12.9 396 8356 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 2149 2188

8663 1.48 156.8 759.3 10.8 411 8664 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 2150 2188

8972 1.50 171.1 729.6 9.3 426 8990 0.00 0.00 13.80 1.335 6 0.000 0.000 2870 2150 2133

9303 1.58 232.5 699.6 7.2 442 9361 0.10 0.00 55.97 1.401 6 0.049 0.000 2906 2150 1883

9672 1.58 232.5 654.8 12.7 460 9676 0.00 2.58 0.00 0.000 4 0.000 0.066 2906 3553 1877

9715 1.58 232.5 648.4 12.4 462 9720 0.00 2.47 0.00 0.000 6 0.000 0.038 2906 2149 1876

10039 1.58 232.5 606.5 13.2 478 10043 0.00 2.58 0.00 0.000 4 0.000 0.061 2906 3553 1875

10178 1.58 232.5 586.0 14.1 484 10182 0.00 2.47 0.00 0.000 6 0.000 0.039 2906 2145 1875

10493 1.58 232.5 552.1 10.1 499 10498 0.00 2.55 0.00 0.000 4 0.000 0.061 2906 745 1875

10538 1.58 232.5 547.3 10.7 501 10542 0.00 2.47 0.00 0.000 6 0.000 0.040 2906 2148 1874

10859 1.58 232.5 508.1 10.1 517 10863 0.00 2.55 0.00 0.000 4 0.000 0.061 2906 3552 1873

10980 1.58 232.5 492.9 14.2 522 10987 0.00 2.45 0.00 0.000 6 0.000 0.035 2906 2142 1872

11298 1.58 232.5 453.5 11.8 538 11302 0.00 2.55 0.00 0.000 4 0.000 0.051 2906 3556 1872

11348 1.58 232.5 447.0 12.7 540 11352 0.00 2.42 0.00 0.000 6 0.000 0.032 2906 2144 1872

11663 1.58 232.5 411.5 11.4 555 11668 0.00 2.53 0.00 0.000 4 0.000 0.050 2906 3555 1873

11764 1.58 232.5 399.0 13.2 559 11770 0.00 2.42 0.00 0.000 6 0.000 0.031 2906 2142 1873

12079 1.58 232.5 362.2 12.0 575 12083 0.00 2.53 0.00 0.000 4 0.000 0.048 2906 3555 1875

12148 1.58 232.5 353.3 13.5 578 12153 0.00 2.40 0.00 0.000 6 0.000 0.031 2906 2144 1875

12469 1.58 232.5 311.6 13.8 594 12473 0.00 2.53 0.00 0.000 4 0.000 0.048 2906 3561 1877

12535 1.58 232.5 301.7 14.4 597 12539 0.00 2.42 0.00 0.000 6 0.000 0.029 2906 2137 1877

12856 1.58 232.5 255.2 14.6 613 12861 0.00 2.55 0.00 0.000 4 0.000 0.048 2906 3556 1878

12934 1.58 232.5 243.3 14.7 616 12938 0.00 2.40 0.00 0.000 6 0.000 0.029 2906 2142 1878

13252 1.58 232.5 201.0 12.6 631 13256 0.00 2.50 0.00 0.000 4 0.000 0.047 2906 3555 1880

13369 1.58 232.5 185.5 13.3 636 13373 0.00 2.40 0.00 0.000 6 0.000 0.028 2906 2137 1880

13687 1.58 232.5 146.4 12.8 651 13691 0.00 2.50 0.00 0.000 4 0.000 0.046 2907 3555 1881

13764 1.58 232.5 135.2 14.9 654 13770 0.00 2.40 0.00 0.000 6 0.000 0.028 2906 2137 1882

14082 1.58 232.5 93.5 13.4 670 14086 0.00 2.50 0.00 0.000 4 0.000 0.044 2907 3555 1882

14355 1.58 232.5 54.9 12.1 682 14360 0.00 2.38 0.00 0.000 6 0.000 0.027 2906 2144 1882

14673 1.58 232.5 19.1 10.9 697 14678 0.00 2.47 0.00 0.000 4 0.000 0.044 2906 3555 1883

14816 end climb: SURFACE_DEPTH_REACHED

state 14816 begin surface coast

14826 end surface coast: CONTROL_FINISHED_OK

state 14826 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	5	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	58	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	35	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	-1588409.2	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	165531,6117.109,-757.922,39,1.6,39,-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	0.146,-0.220
_SM_DEPTHo	1.06	KALMAN_X	-2931.3,888.3,-1369.1,5591.5,-1790.9
_SM_ANGLEo	-58.8	KALMAN_Y	4436.5,297.5,-96.8,-3905.8,2967.5
GPS2	170138,6117.077,-758.110,11,1.6,16,-8.6	MHEAD_RNG_PITCHd_Wd	155.1,40462,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.9,1.023906	ALTIM_TOP_PING	19.1,18.3
SM_CCo	14849,56.12,0.827,0,0,1608,300.00	ALTIM_BOTTOM_PING	776.4,95.7
SM_GC	0.86,0.00,0.00,56.12,0.000,0.000,0.827,392,2037,1608,-9.93,-0.25,300.00	_24V_AH	23.2,11.253
IRIDIUM_FIX	6054.92,-751.96,251197,121218	_10V_AH	10.1,4.137
TT8_MAMPS	0.026078	DATA_FILE_SIZE	34735,704
HUMID	2100	CAP_FILE_SIZE	120920,0
INTERNAL_PRESSURE	8.07973	CFSIZE	260165632,257929216
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	1	GPS	310808,211207,6115.789,-757.400,32,1.3,32,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	131	72.46	SBE_CT	620	24	345.53
Roll_motor	148	65	226.72	SBE_O2	501	19	221.13
VBD_pump_during_apogee	339	1482	11687.10	WL_BB2F	390	105	950.48
VBD_pump_during_surface	56	826	1076.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	72.91	nil	0	0	0.00
Iridium_during_connect	24	160	92.43	nil	0	0	0.00
Iridium_during_xfer	173	223	897.55
Transponder_ping	7	420	70.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.52
TT8	1411	19	282.34
LPSleep	10727	2	237.29
TT8_Active	530	19	106.03
TT8_Sampling	1900	39	763.83
TT8_CF8	704	45	325.88
TT8_Kalman	33	81	27.55
Analog_circuits	1502	12	182.09
GPS_charging	0	0	0.00
Compass	1993	8	161.11
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	86	0.00	0.00	-61.50	0.000	2	0.000	0.000	391	2020	3168
90	-1.47	-146.6	3.7	-6.4	3	112	9.73	2.50	-5.45	0.000	4	0.132	0.051	2224	3451	3432
352	-1.47	-146.6	43.2	-13.9	14	359	0.00	2.35	0.00	0.000	6	0.000	0.026	2224	2053	3433
668	-1.47	-146.6	88.8	-14.8	30	672	0.00	2.42	0.00	0.000	4	0.000	0.041	2224	653	3435
886	-1.47	-146.6	122.8	-15.2	40	890	0.00	2.35	0.00	0.000	6	0.000	0.027	2224	2047	3436
1215	-1.47	-146.6	168.4	-12.8	56	1219	0.00	2.42	0.00	0.000	4	0.000	0.042	2224	659	3436
1426	-1.47	-146.6	196.4	-11.1	65	1434	0.00	2.38	0.00	0.000	6	0.000	0.028	2224	2042	3436
1742	-1.47	-146.6	230.9	-10.4	81	1746	0.00	2.42	0.00	0.000	4	0.000	0.044	2224	659	3436
1894	-1.47	-146.6	248.3	-10.9	88	1899	0.00	2.35	0.00	0.000	6	0.000	0.030	2224	2041	3436
2221	-1.47	-146.6	282.8	-11.4	104	2225	0.00	2.42	0.00	0.000	4	0.000	0.045	2224	661	3436
2315	-1.47	-146.6	294.5	-13.0	108	2319	0.00	2.38	0.00	0.000	6	0.000	0.031	2224	2053	3436
2630	-1.47	-146.6	333.4	-12.9	123	2635	0.00	2.50	0.00	0.000	4	0.000	0.054	2224	656	3436
2703	-1.47	-146.6	342.9	-13.1	126	2707	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	2052	3436
3019	-1.47	-146.6	382.6	-12.5	141	3023	0.00	2.50	0.00	0.000	4	0.000	0.057	2224	3440	3436
3057	-1.47	-146.6	387.6	-12.9	142	3063	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	2056	3436
3373	-1.47	-146.6	425.3	-11.8	158	3377	0.00	2.47	0.00	0.000	4	0.000	0.052	2224	650	3436
3534	-1.47	-146.6	445.0	-12.7	165	3539	0.00	2.42	0.00	0.000	6	0.000	0.036	2223	2040	3436
3858	-1.47	-146.6	479.8	-9.9	181	3862	0.00	2.47	0.00	0.000	4	0.000	0.051	2224	646	3436
3920	-1.47	-146.6	486.3	-10.1	184	3924	0.00	2.42	0.00	0.000	6	0.000	0.036	2224	2059	3436
4246	-1.47	-146.6	508.6	-5.3	200	4251	0.00	2.47	0.00	0.000	4	0.000	0.056	2224	3450	3436
4280	-1.47	-146.6	511.3	-7.9	201	4286	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	2047	3436
4596	-1.47	-146.6	544.9	-10.7	217	4600	0.00	2.47	0.00	0.000	4	0.000	0.054	2224	643	3436
4937	-1.47	-146.6	592.3	-15.2	232	4941	0.00	2.42	0.00	0.000	6	0.000	0.038	2224	2042	3436
5252	-1.47	-146.6	630.3	-11.2	247	5257	0.00	2.53	0.00	0.000	4	0.000	0.058	2224	641	3435
5331	-1.47	-146.6	638.8	-9.6	250	5337	0.00	2.42	0.00	0.000	6	0.000	0.041	2224	2048	3435
5646	-1.47	-146.6	671.7	-10.1	266	5651	0.00	2.55	0.00	0.000	4	0.000	0.061	2224	655	3435
5775	-1.47	-146.6	684.8	-8.9	271	5781	0.00	2.42	0.00	0.000	6	0.000	0.044	2224	2046	3434
6090	-1.47	-146.6	710.7	-6.5	287	6095	0.00	2.53	0.00	0.000	4	0.000	0.061	2224	648	3432
6180	-1.47	-146.6	718.5	-8.8	291	6184	0.00	2.45	0.00	0.000	6	0.000	0.044	2224	2047	3432
6501	-1.47	-146.6	750.8	-11.1	307	6505	0.00	2.55	0.00	0.000	4	0.000	0.063	2224	645	3430
6601	-1.47	-146.6	762.8	-11.6	311	6607	0.00	2.45	0.00	0.000	6	0.000	0.044	2224	2048	3429
6916	-1.47	-146.6	802.2	-11.2	327	6921	0.00	2.58	0.00	0.000	4	0.000	0.064	2224	650	3427
7055	-1.47	-146.6	816.8	-11.0	333	7060	0.00	2.47	0.00	0.000	6	0.000	0.044	2224	2039	3426
7382	-1.47	-146.6	852.3	-10.8	349	7386	0.00	2.53	0.00	0.000	4	0.000	0.064	2224	649	3424
7464	end dive: BOTTOM_OBSTACLE_DETECTED
state	7464	begin apogee
7473	-0.36	0.0	862.2	11.4	353	7608	1.17	0.00	130.43	1.483	6	0.085	0.000	2469	2149	2831
7609	end apogee: CONTROL_FINISHED_OK
state	7609	begin climb
7611	1.47	146.6	865.9	0.0	360	7746	1.85	0.00	129.50	1.413	6	0.054	0.000	2870	2149	2233
8045	1.48	156.8	832.9	9.5	381	8057	0.00	0.00	10.07	1.243	6	0.000	0.000	2870	2149	2191
8355	1.48	156.8	797.3	12.9	396	8356	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	2149	2188
8663	1.48	156.8	759.3	10.8	411	8664	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	2150	2188
8972	1.50	171.1	729.6	9.3	426	8990	0.00	0.00	13.80	1.335	6	0.000	0.000	2870	2150	2133
9303	1.58	232.5	699.6	7.2	442	9361	0.10	0.00	55.97	1.401	6	0.049	0.000	2906	2150	1883
9672	1.58	232.5	654.8	12.7	460	9676	0.00	2.58	0.00	0.000	4	0.000	0.066	2906	3553	1877
9715	1.58	232.5	648.4	12.4	462	9720	0.00	2.47	0.00	0.000	6	0.000	0.038	2906	2149	1876
10039	1.58	232.5	606.5	13.2	478	10043	0.00	2.58	0.00	0.000	4	0.000	0.061	2906	3553	1875
10178	1.58	232.5	586.0	14.1	484	10182	0.00	2.47	0.00	0.000	6	0.000	0.039	2906	2145	1875
10493	1.58	232.5	552.1	10.1	499	10498	0.00	2.55	0.00	0.000	4	0.000	0.061	2906	745	1875
10538	1.58	232.5	547.3	10.7	501	10542	0.00	2.47	0.00	0.000	6	0.000	0.040	2906	2148	1874
10859	1.58	232.5	508.1	10.1	517	10863	0.00	2.55	0.00	0.000	4	0.000	0.061	2906	3552	1873
10980	1.58	232.5	492.9	14.2	522	10987	0.00	2.45	0.00	0.000	6	0.000	0.035	2906	2142	1872
11298	1.58	232.5	453.5	11.8	538	11302	0.00	2.55	0.00	0.000	4	0.000	0.051	2906	3556	1872
11348	1.58	232.5	447.0	12.7	540	11352	0.00	2.42	0.00	0.000	6	0.000	0.032	2906	2144	1872
11663	1.58	232.5	411.5	11.4	555	11668	0.00	2.53	0.00	0.000	4	0.000	0.050	2906	3555	1873
11764	1.58	232.5	399.0	13.2	559	11770	0.00	2.42	0.00	0.000	6	0.000	0.031	2906	2142	1873
12079	1.58	232.5	362.2	12.0	575	12083	0.00	2.53	0.00	0.000	4	0.000	0.048	2906	3555	1875
12148	1.58	232.5	353.3	13.5	578	12153	0.00	2.40	0.00	0.000	6	0.000	0.031	2906	2144	1875
12469	1.58	232.5	311.6	13.8	594	12473	0.00	2.53	0.00	0.000	4	0.000	0.048	2906	3561	1877
12535	1.58	232.5	301.7	14.4	597	12539	0.00	2.42	0.00	0.000	6	0.000	0.029	2906	2137	1877
12856	1.58	232.5	255.2	14.6	613	12861	0.00	2.55	0.00	0.000	4	0.000	0.048	2906	3556	1878
12934	1.58	232.5	243.3	14.7	616	12938	0.00	2.40	0.00	0.000	6	0.000	0.029	2906	2142	1878
13252	1.58	232.5	201.0	12.6	631	13256	0.00	2.50	0.00	0.000	4	0.000	0.047	2906	3555	1880
13369	1.58	232.5	185.5	13.3	636	13373	0.00	2.40	0.00	0.000	6	0.000	0.028	2906	2137	1880
13687	1.58	232.5	146.4	12.8	651	13691	0.00	2.50	0.00	0.000	4	0.000	0.046	2907	3555	1881
13764	1.58	232.5	135.2	14.9	654	13770	0.00	2.40	0.00	0.000	6	0.000	0.028	2906	2137	1882
14082	1.58	232.5	93.5	13.4	670	14086	0.00	2.50	0.00	0.000	4	0.000	0.044	2907	3555	1882
14355	1.58	232.5	54.9	12.1	682	14360	0.00	2.38	0.00	0.000	6	0.000	0.027	2906	2144	1882
14673	1.58	232.5	19.1	10.9	697	14678	0.00	2.47	0.00	0.000	4	0.000	0.044	2906	3555	1883
14816	end climb: SURFACE_DEPTH_REACHED
state	14816	begin surface coast
14826	end surface coast: CONTROL_FINISHED_OK
state	14826	begin surface