Glider dive log

Faroes Aug08 * SG105 * Dive index * Mission links * Dive 7 * 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 7 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 1946 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 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 35 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 36 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 -1588439.2 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 -1588439.2

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 2200 KALMAN_USE 1 ROLL_MIN 253 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1946 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2831 MASS 52000 R_PORT_OVSHOOT 35 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 7 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 015137,6115.150,-753.200,40,1.0,40,-8.5 TGT_NAME FBC_SE0

_CALLS 1 TGT_LATLONG 6100.000,-730.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.151,-0.216

_SM_DEPTHo 1.05 KALMAN_X -6391.9,-547.6,851.6,12647.0,-3868.4

_SM_ANGLEo -58.9 KALMAN_Y 9570.3,-900.9,-551.4,-11064.1,5451.1

GPS2 015645,6115.082,-753.155,16,1.5,16,-8.5 MHEAD_RNG_PITCHd_Wd 153.4,34819,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.014698 ALTIM_TOP_PING 19.2,18.1

SM_CCo 15658,43.55,0.843,0,0,1609,300.00 ALTIM_BOTTOM_PING 775.5,91.8

SM_GC 1.21,0.00,0.00,43.55,0.000,0.000,0.843,392,1945,1609,-9.93,-0.03,300.00 _24V_AH 23.2,11.584

IRIDIUM_FIX 6054.92,-800.21,251197,212136 _10V_AH 10.1,4.298

TT8_MAMPS 0.027612 DATA_FILE_SIZE 37930,745

HUMID 2087 CAP_FILE_SIZE 122192,0

INTERNAL_PRESSURE 8.07973 CFSIZE 260165632,257810432

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,2,0

XPDR_PINGS 0 GPS 010908,062038,6116.854,-752.054,39,1.2,39,-8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 131 72.54 SBE_CT 656 24 365.42

Roll_motor 134 70 220.02 SBE_O2 526 19 232.20

VBD_pump_during_apogee 376 1510 13195.57 WL_BB2F 418 105 1019.27

VBD_pump_during_surface 43 842 851.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.31 nil 0 0 0.00

Iridium_during_connect 33 160 124.86 nil 0 0 0.00

Iridium_during_xfer 129 223 670.94

Transponder_ping 7 420 68.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.45

TT8 1472 19 294.47

LPSleep 11364 2 251.37

TT8_Active 500 19 100.14

TT8_Sampling 2006 39 806.66

TT8_CF8 666 45 308.52

TT8_Kalman 33 81 27.54

Analog_circuits 1543 12 187.03

GPS_charging 0 0 0.00

Compass 2100 8 169.72

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.47 -146.6 0.0 0.0 0 84 0.00 0.00 -57.10 0.000 2 0.000 0.000 396 1944 3054

87 -1.47 -146.6 3.2 -4.2 3 112 9.70 2.53 -8.38 0.000 4 0.132 0.054 2226 546 3431

450 -1.47 -146.6 56.9 -13.4 19 455 0.00 2.38 0.00 0.000 6 0.000 0.025 2226 1954 3434

772 -1.47 -146.6 101.6 -13.7 35 776 0.00 2.47 0.00 0.000 4 0.000 0.041 2226 545 3435

1112 -1.47 -146.6 148.0 -13.6 50 1117 0.00 2.40 0.00 0.000 6 0.000 0.026 2225 1943 3436

1434 -1.47 -146.6 185.1 -11.4 66 1438 0.00 2.45 0.00 0.000 4 0.000 0.044 2226 548 3436

1754 -1.47 -146.6 222.2 -10.7 80 1759 0.00 2.38 0.00 0.000 6 0.000 0.029 2226 1944 3436

2070 -1.47 -146.6 253.7 -9.6 95 2071 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1943 3436

2379 -1.47 -146.6 283.7 -9.9 110 2384 0.00 2.47 0.00 0.000 4 0.000 0.048 2226 546 3436

2513 -1.47 -146.6 297.9 -10.9 116 2518 0.00 2.40 0.00 0.000 6 0.000 0.031 2226 1948 3436

2834 -1.47 -146.6 333.8 -11.7 132 2839 0.00 2.50 0.00 0.000 4 0.000 0.050 2226 543 3436

2912 -1.47 -146.6 343.8 -12.5 135 2919 0.00 2.42 0.00 0.000 6 0.000 0.035 2226 1952 3436

3229 -1.47 -146.6 383.4 -12.7 151 3234 0.00 2.50 0.00 0.000 4 0.000 0.052 2226 550 3436

3314 -1.47 -146.6 394.2 -12.9 155 3319 0.00 2.42 0.00 0.000 6 0.000 0.035 2226 1945 3436

3646 -1.47 -146.6 436.1 -12.7 171 3651 0.00 2.50 0.00 0.000 4 0.000 0.051 2226 558 3436

3780 -1.47 -146.6 455.3 -14.6 177 3785 0.00 2.42 0.00 0.000 6 0.000 0.036 2226 1945 3436

4112 -1.47 -146.6 498.7 -12.5 193 4113 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1945 3435

4422 -1.47 -146.6 535.4 -11.4 208 4423 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1945 3435

4731 -1.47 -146.6 571.0 -9.8 223 4732 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1945 3435

5040 -1.47 -146.6 599.4 -8.9 238 5045 0.00 2.53 0.00 0.000 4 0.000 0.055 2225 553 3435

5247 -1.47 -146.6 619.1 -9.5 247 5251 0.00 2.42 0.00 0.000 6 0.000 0.038 2226 1951 3435

5569 -1.47 -146.6 650.3 -10.7 263 5573 0.00 2.53 0.00 0.000 4 0.000 0.058 2225 551 3434

5680 -1.47 -146.6 663.3 -11.2 268 5685 0.00 2.45 0.00 0.000 6 0.000 0.040 2226 1941 3434

6007 -1.47 -146.6 700.7 -11.5 284 6011 0.00 2.53 0.00 0.000 4 0.000 0.061 2226 550 3432

6091 -1.47 -146.6 710.9 -11.8 288 6095 0.00 2.45 0.00 0.000 6 0.000 0.041 2226 1949 3432

6417 -1.47 -146.6 744.3 -9.3 304 6422 0.00 2.55 0.00 0.000 4 0.000 0.062 2226 547 3430

6481 -1.47 -146.6 750.0 -9.2 307 6485 0.00 2.45 0.00 0.000 6 0.000 0.041 2226 1946 3429

6808 -1.47 -146.6 777.2 -8.1 323 6812 0.00 2.53 0.00 0.000 4 0.000 0.062 2226 552 3427

6875 -1.47 -146.6 783.4 -9.0 326 6879 0.00 2.45 0.00 0.000 6 0.000 0.041 2226 1941 3427

7201 -1.47 -146.6 813.6 -9.6 342 7205 0.00 2.53 0.00 0.000 4 0.000 0.064 2226 553 3426

7313 -1.47 -146.6 825.1 -11.0 347 7317 0.00 2.45 0.00 0.000 6 0.000 0.043 2226 1952 3425

7634 -1.47 -146.6 856.4 -8.7 363 7638 0.00 2.53 0.00 0.000 4 0.000 0.064 2226 3350 3423

7643 end dive: BOTTOM_OBSTACLE_DETECTED

state 7643 begin apogee

7651 -0.36 0.0 857.7 9.2 363 7786 1.15 0.00 131.05 1.511 6 0.079 0.000 2468 2200 2831

7786 end apogee: CONTROL_FINISHED_OK

state 7787 begin climb

7789 1.47 146.6 861.8 0.0 370 7928 1.83 2.70 130.25 1.439 4 0.042 0.071 2873 3605 2232

8268 1.50 168.6 827.3 9.0 391 8293 0.00 2.47 20.25 1.371 6 0.000 0.039 2873 2203 2143

8615 1.52 184.3 796.3 9.3 408 8637 0.00 2.65 15.45 1.360 4 0.000 0.066 2873 3603 2078

8836 1.52 184.3 771.4 12.3 417 8842 0.00 2.47 0.00 0.000 6 0.000 0.039 2872 2195 2076

9151 1.52 184.3 736.1 11.4 433 9155 0.00 2.60 0.00 0.000 4 0.000 0.064 2872 3603 2075

9190 1.52 184.3 731.5 12.6 435 9194 0.00 2.47 0.00 0.000 6 0.000 0.039 2873 2199 2075

9516 1.52 184.3 695.0 11.2 451 9521 0.00 2.60 0.00 0.000 4 0.000 0.064 2873 3604 2074

9601 1.52 184.3 684.8 12.6 455 9605 0.00 2.47 0.00 0.000 6 0.000 0.039 2873 2197 2074

9930 1.52 184.3 646.9 11.4 471 9934 0.00 2.60 0.00 0.000 4 0.000 0.064 2873 3604 2073

9996 1.52 184.3 638.6 11.5 474 10000 0.00 2.47 0.00 0.000 6 0.000 0.038 2873 2194 2073

10317 1.52 184.3 603.5 10.9 490 10321 0.00 2.60 0.00 0.000 4 0.000 0.063 2873 3606 2072

10411 1.52 184.3 592.2 12.6 494 10415 0.00 2.45 0.00 0.000 6 0.000 0.038 2872 2200 2072

10727 1.52 184.3 556.2 11.5 509 10731 0.00 2.60 0.00 0.000 4 0.000 0.061 2872 3601 2071

10753 1.52 184.3 553.0 12.0 510 10758 0.00 2.45 0.00 0.000 6 0.000 0.036 2873 2198 2071

11075 1.52 184.3 518.6 10.7 526 11076 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2198 2070

11384 1.52 184.3 486.2 10.6 541 11389 0.00 2.55 0.00 0.000 4 0.000 0.057 2873 3609 2070

11485 1.52 184.3 475.1 10.9 545 11492 0.00 2.47 0.00 0.000 6 0.000 0.034 2873 2194 2069

11801 1.54 199.0 444.5 9.3 561 11851 0.00 2.60 33.28 0.881 4 0.000 0.053 2873 3607 2019

12061 1.54 199.0 415.6 12.1 572 12067 0.00 2.42 0.00 0.000 6 0.000 0.031 2873 2195 2019

12376 1.54 199.0 381.1 10.6 588 12378 0.00 0.00 0.00 0.000 6 0.000 0.000 2873 2195 2021

12686 1.56 216.5 351.6 9.2 603 12706 0.00 0.00 17.17 1.100 6 0.000 0.000 2873 2194 1948

13018 1.60 248.5 323.6 8.5 619 13053 0.10 2.58 28.98 1.091 4 0.053 0.048 2912 3610 1817

13108 1.60 248.5 313.3 11.9 623 13113 0.00 2.42 0.00 0.000 6 0.000 0.028 2912 2199 1816

13430 1.60 248.5 277.3 10.4 639 13434 0.00 2.53 0.00 0.000 4 0.000 0.048 2912 3611 1816

13456 1.60 248.5 274.2 11.4 640 13461 0.00 2.42 0.00 0.000 6 0.000 0.028 2912 2192 1816

13772 1.60 248.5 237.5 12.3 655 13773 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2192 1817

14083 1.60 248.5 197.5 12.8 670 14085 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2192 1818

14390 1.60 248.5 155.7 14.3 685 14392 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2192 1818

14700 1.60 248.5 117.9 10.8 700 14704 0.00 2.45 0.00 0.000 4 0.000 0.047 2912 802 1819

14777 1.60 248.5 107.5 14.2 703 14785 0.00 2.42 0.00 0.000 6 0.000 0.030 2912 2206 1819

15093 1.60 248.5 65.3 13.4 719 15094 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 2206 1820

15402 1.60 248.5 29.1 12.2 734 15407 0.00 2.47 0.00 0.000 4 0.000 0.049 2912 3606 1821

15577 1.60 248.5 6.2 12.5 742 15582 0.00 2.38 0.00 0.000 6 0.000 0.028 2912 2195 1821

15613 end climb: SURFACE_DEPTH_REACHED

state 15613 begin surface coast

15636 end surface coast: CONTROL_FINISHED_OK

state 15636 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	7	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	1946	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	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	35	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	36	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	-1588439.2	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	015137,6115.150,-753.200,40,1.0,40,-8.5	TGT_NAME	FBC_SE0
_CALLS	1	TGT_LATLONG	6100.000,-730.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.151,-0.216
_SM_DEPTHo	1.05	KALMAN_X	-6391.9,-547.6,851.6,12647.0,-3868.4
_SM_ANGLEo	-58.9	KALMAN_Y	9570.3,-900.9,-551.4,-11064.1,5451.1
GPS2	015645,6115.082,-753.155,16,1.5,16,-8.5	MHEAD_RNG_PITCHd_Wd	153.4,34819,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.3,1.014698	ALTIM_TOP_PING	19.2,18.1
SM_CCo	15658,43.55,0.843,0,0,1609,300.00	ALTIM_BOTTOM_PING	775.5,91.8
SM_GC	1.21,0.00,0.00,43.55,0.000,0.000,0.843,392,1945,1609,-9.93,-0.03,300.00	_24V_AH	23.2,11.584
IRIDIUM_FIX	6054.92,-800.21,251197,212136	_10V_AH	10.1,4.298
TT8_MAMPS	0.027612	DATA_FILE_SIZE	37930,745
HUMID	2087	CAP_FILE_SIZE	122192,0
INTERNAL_PRESSURE	8.07973	CFSIZE	260165632,257810432
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,2,0
XPDR_PINGS	0	GPS	010908,062038,6116.854,-752.054,39,1.2,39,-8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	131	72.54	SBE_CT	656	24	365.42
Roll_motor	134	70	220.02	SBE_O2	526	19	232.20
VBD_pump_during_apogee	376	1510	13195.57	WL_BB2F	418	105	1019.27
VBD_pump_during_surface	43	842	851.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.31	nil	0	0	0.00
Iridium_during_connect	33	160	124.86	nil	0	0	0.00
Iridium_during_xfer	129	223	670.94
Transponder_ping	7	420	68.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.45
TT8	1472	19	294.47
LPSleep	11364	2	251.37
TT8_Active	500	19	100.14
TT8_Sampling	2006	39	806.66
TT8_CF8	666	45	308.52
TT8_Kalman	33	81	27.54
Analog_circuits	1543	12	187.03
GPS_charging	0	0	0.00
Compass	2100	8	169.72
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.47	-146.6	0.0	0.0	0	84	0.00	0.00	-57.10	0.000	2	0.000	0.000	396	1944	3054
87	-1.47	-146.6	3.2	-4.2	3	112	9.70	2.53	-8.38	0.000	4	0.132	0.054	2226	546	3431
450	-1.47	-146.6	56.9	-13.4	19	455	0.00	2.38	0.00	0.000	6	0.000	0.025	2226	1954	3434
772	-1.47	-146.6	101.6	-13.7	35	776	0.00	2.47	0.00	0.000	4	0.000	0.041	2226	545	3435
1112	-1.47	-146.6	148.0	-13.6	50	1117	0.00	2.40	0.00	0.000	6	0.000	0.026	2225	1943	3436
1434	-1.47	-146.6	185.1	-11.4	66	1438	0.00	2.45	0.00	0.000	4	0.000	0.044	2226	548	3436
1754	-1.47	-146.6	222.2	-10.7	80	1759	0.00	2.38	0.00	0.000	6	0.000	0.029	2226	1944	3436
2070	-1.47	-146.6	253.7	-9.6	95	2071	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1943	3436
2379	-1.47	-146.6	283.7	-9.9	110	2384	0.00	2.47	0.00	0.000	4	0.000	0.048	2226	546	3436
2513	-1.47	-146.6	297.9	-10.9	116	2518	0.00	2.40	0.00	0.000	6	0.000	0.031	2226	1948	3436
2834	-1.47	-146.6	333.8	-11.7	132	2839	0.00	2.50	0.00	0.000	4	0.000	0.050	2226	543	3436
2912	-1.47	-146.6	343.8	-12.5	135	2919	0.00	2.42	0.00	0.000	6	0.000	0.035	2226	1952	3436
3229	-1.47	-146.6	383.4	-12.7	151	3234	0.00	2.50	0.00	0.000	4	0.000	0.052	2226	550	3436
3314	-1.47	-146.6	394.2	-12.9	155	3319	0.00	2.42	0.00	0.000	6	0.000	0.035	2226	1945	3436
3646	-1.47	-146.6	436.1	-12.7	171	3651	0.00	2.50	0.00	0.000	4	0.000	0.051	2226	558	3436
3780	-1.47	-146.6	455.3	-14.6	177	3785	0.00	2.42	0.00	0.000	6	0.000	0.036	2226	1945	3436
4112	-1.47	-146.6	498.7	-12.5	193	4113	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1945	3435
4422	-1.47	-146.6	535.4	-11.4	208	4423	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1945	3435
4731	-1.47	-146.6	571.0	-9.8	223	4732	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1945	3435
5040	-1.47	-146.6	599.4	-8.9	238	5045	0.00	2.53	0.00	0.000	4	0.000	0.055	2225	553	3435
5247	-1.47	-146.6	619.1	-9.5	247	5251	0.00	2.42	0.00	0.000	6	0.000	0.038	2226	1951	3435
5569	-1.47	-146.6	650.3	-10.7	263	5573	0.00	2.53	0.00	0.000	4	0.000	0.058	2225	551	3434
5680	-1.47	-146.6	663.3	-11.2	268	5685	0.00	2.45	0.00	0.000	6	0.000	0.040	2226	1941	3434
6007	-1.47	-146.6	700.7	-11.5	284	6011	0.00	2.53	0.00	0.000	4	0.000	0.061	2226	550	3432
6091	-1.47	-146.6	710.9	-11.8	288	6095	0.00	2.45	0.00	0.000	6	0.000	0.041	2226	1949	3432
6417	-1.47	-146.6	744.3	-9.3	304	6422	0.00	2.55	0.00	0.000	4	0.000	0.062	2226	547	3430
6481	-1.47	-146.6	750.0	-9.2	307	6485	0.00	2.45	0.00	0.000	6	0.000	0.041	2226	1946	3429
6808	-1.47	-146.6	777.2	-8.1	323	6812	0.00	2.53	0.00	0.000	4	0.000	0.062	2226	552	3427
6875	-1.47	-146.6	783.4	-9.0	326	6879	0.00	2.45	0.00	0.000	6	0.000	0.041	2226	1941	3427
7201	-1.47	-146.6	813.6	-9.6	342	7205	0.00	2.53	0.00	0.000	4	0.000	0.064	2226	553	3426
7313	-1.47	-146.6	825.1	-11.0	347	7317	0.00	2.45	0.00	0.000	6	0.000	0.043	2226	1952	3425
7634	-1.47	-146.6	856.4	-8.7	363	7638	0.00	2.53	0.00	0.000	4	0.000	0.064	2226	3350	3423
7643	end dive: BOTTOM_OBSTACLE_DETECTED
state	7643	begin apogee
7651	-0.36	0.0	857.7	9.2	363	7786	1.15	0.00	131.05	1.511	6	0.079	0.000	2468	2200	2831
7786	end apogee: CONTROL_FINISHED_OK
state	7787	begin climb
7789	1.47	146.6	861.8	0.0	370	7928	1.83	2.70	130.25	1.439	4	0.042	0.071	2873	3605	2232
8268	1.50	168.6	827.3	9.0	391	8293	0.00	2.47	20.25	1.371	6	0.000	0.039	2873	2203	2143
8615	1.52	184.3	796.3	9.3	408	8637	0.00	2.65	15.45	1.360	4	0.000	0.066	2873	3603	2078
8836	1.52	184.3	771.4	12.3	417	8842	0.00	2.47	0.00	0.000	6	0.000	0.039	2872	2195	2076
9151	1.52	184.3	736.1	11.4	433	9155	0.00	2.60	0.00	0.000	4	0.000	0.064	2872	3603	2075
9190	1.52	184.3	731.5	12.6	435	9194	0.00	2.47	0.00	0.000	6	0.000	0.039	2873	2199	2075
9516	1.52	184.3	695.0	11.2	451	9521	0.00	2.60	0.00	0.000	4	0.000	0.064	2873	3604	2074
9601	1.52	184.3	684.8	12.6	455	9605	0.00	2.47	0.00	0.000	6	0.000	0.039	2873	2197	2074
9930	1.52	184.3	646.9	11.4	471	9934	0.00	2.60	0.00	0.000	4	0.000	0.064	2873	3604	2073
9996	1.52	184.3	638.6	11.5	474	10000	0.00	2.47	0.00	0.000	6	0.000	0.038	2873	2194	2073
10317	1.52	184.3	603.5	10.9	490	10321	0.00	2.60	0.00	0.000	4	0.000	0.063	2873	3606	2072
10411	1.52	184.3	592.2	12.6	494	10415	0.00	2.45	0.00	0.000	6	0.000	0.038	2872	2200	2072
10727	1.52	184.3	556.2	11.5	509	10731	0.00	2.60	0.00	0.000	4	0.000	0.061	2872	3601	2071
10753	1.52	184.3	553.0	12.0	510	10758	0.00	2.45	0.00	0.000	6	0.000	0.036	2873	2198	2071
11075	1.52	184.3	518.6	10.7	526	11076	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2198	2070
11384	1.52	184.3	486.2	10.6	541	11389	0.00	2.55	0.00	0.000	4	0.000	0.057	2873	3609	2070
11485	1.52	184.3	475.1	10.9	545	11492	0.00	2.47	0.00	0.000	6	0.000	0.034	2873	2194	2069
11801	1.54	199.0	444.5	9.3	561	11851	0.00	2.60	33.28	0.881	4	0.000	0.053	2873	3607	2019
12061	1.54	199.0	415.6	12.1	572	12067	0.00	2.42	0.00	0.000	6	0.000	0.031	2873	2195	2019
12376	1.54	199.0	381.1	10.6	588	12378	0.00	0.00	0.00	0.000	6	0.000	0.000	2873	2195	2021
12686	1.56	216.5	351.6	9.2	603	12706	0.00	0.00	17.17	1.100	6	0.000	0.000	2873	2194	1948
13018	1.60	248.5	323.6	8.5	619	13053	0.10	2.58	28.98	1.091	4	0.053	0.048	2912	3610	1817
13108	1.60	248.5	313.3	11.9	623	13113	0.00	2.42	0.00	0.000	6	0.000	0.028	2912	2199	1816
13430	1.60	248.5	277.3	10.4	639	13434	0.00	2.53	0.00	0.000	4	0.000	0.048	2912	3611	1816
13456	1.60	248.5	274.2	11.4	640	13461	0.00	2.42	0.00	0.000	6	0.000	0.028	2912	2192	1816
13772	1.60	248.5	237.5	12.3	655	13773	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2192	1817
14083	1.60	248.5	197.5	12.8	670	14085	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2192	1818
14390	1.60	248.5	155.7	14.3	685	14392	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2192	1818
14700	1.60	248.5	117.9	10.8	700	14704	0.00	2.45	0.00	0.000	4	0.000	0.047	2912	802	1819
14777	1.60	248.5	107.5	14.2	703	14785	0.00	2.42	0.00	0.000	6	0.000	0.030	2912	2206	1819
15093	1.60	248.5	65.3	13.4	719	15094	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	2206	1820
15402	1.60	248.5	29.1	12.2	734	15407	0.00	2.47	0.00	0.000	4	0.000	0.049	2912	3606	1821
15577	1.60	248.5	6.2	12.5	742	15582	0.00	2.38	0.00	0.000	6	0.000	0.028	2912	2195	1821
15613	end climb: SURFACE_DEPTH_REACHED
state	15613	begin surface coast
15636	end surface coast: CONTROL_FINISHED_OK
state	15636	begin surface