Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 8 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2175 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 120 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -76428.586 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -76428.586

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2175 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 8 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 154538,6135.659,-824.737,36,1.2,36,-8.9 TGT_NAME FBC_SIL

_CALLS 1 TGT_LATLONG 6130.000,-825.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.055,-0.254

_SM_DEPTHo 0.31 KALMAN_X -3074.4,248.8,234.2,7222.0,-969.2

_SM_ANGLEo -64.2 KALMAN_Y 27819.0,-770.9,-680.1,-21747.7,12382.1

GPS2 155033,6135.627,-824.794,15,1.2,15,-8.9 MHEAD_RNG_PITCHd_Wd 176.6,10423,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.027288 XPDR_PINGS 0

SM_CCo 12587,51.35,0.867,5,0,1655,300.00 ALTIM_BOTTOM_PING 625.7,95.9

SM_GC 0.44,0.00,0.00,51.35,0.000,0.000,0.867,29,1895,1655,-11.34,-0.14,300.00 _24V_AH 23.3,13.420

IRIDIUM_FIX 6112.75,-823.80,141107,161609 _10V_AH 10.1,5.583

TT8_MAMPS 0.026845 DATA_FILE_SIZE 31782,605

HUMID 2076 CFSIZE 260165632,257454080

INTERNAL_PRESSURE 9.2191 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,12,5,0

TCM_TEMP 18.80 GPS 141107,192501,6135.467,-822.539,116,1.5,116,-8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 147 92.82 SBE_CT 443 24 248.20

Roll_motor 148 79 273.16 SBE_O2 407 19 180.36

VBD_pump_during_apogee 315 1361 9995.35 WL_BB2F 367 105 898.32

VBD_pump_during_surface 51 867 1037.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.78 nil 0 0 0.00

Iridium_during_connect 51 160 191.69 nil 0 0 0.00

Iridium_during_xfer 124 223 645.11

Transponder_ping 5 420 51.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.60

TT8 1201 19 240.28

LPSleep 9308 2 205.89

TT8_Active 535 19 107.04

TT8_Sampling 1627 39 654.39

TT8_CF8 298 45 138.04

TT8_Kalman 33 81 27.56

Analog_circuits 1366 12 165.59

GPS_charging 0 0 0.00

Compass 1584 8 128.03

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.46 -146.6 0.0 0.0 0 96 0.00 0.00 -77.28 0.000 2 0.000 0.000 35 1893 3316

98 -1.46 -146.6 3.8 -5.1 4 121 11.50 2.65 -3.50 0.000 4 0.147 0.079 2171 485 3478

226 -1.46 -146.6 28.8 -13.9 9 233 0.00 2.50 0.00 0.000 6 0.000 0.039 2172 1912 3478

543 -1.46 -146.6 70.6 -13.2 25 547 0.00 2.47 0.00 0.000 4 0.000 0.047 2171 3294 3479

563 -1.46 -146.6 73.8 -14.1 26 568 0.00 2.53 0.00 0.000 6 0.000 0.043 2171 1902 3479

890 -1.46 -146.6 117.5 -13.1 42 894 0.00 2.60 0.00 0.000 4 0.000 0.067 2171 496 3479

921 -1.46 -146.6 121.7 -12.3 43 928 0.00 2.47 0.00 0.000 6 0.000 0.040 2172 1896 3479

1236 -1.46 -146.6 158.7 -12.7 59 1241 0.00 2.50 0.00 0.000 4 0.000 0.047 2172 3295 3479

1279 -1.46 -146.6 164.2 -12.7 61 1285 0.00 2.53 0.00 0.000 6 0.000 0.044 2172 1903 3479

1606 -1.46 -146.6 205.6 -12.8 77 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 1903 3479

1916 -1.46 -146.6 247.6 -13.3 92 1920 0.00 2.50 0.00 0.000 4 0.000 0.047 2171 3295 3479

1947 -1.46 -146.6 252.0 -13.2 93 1955 0.00 2.53 0.00 0.000 6 0.000 0.044 2172 1904 3479

2263 -1.46 -146.6 292.2 -12.5 109 2267 0.00 2.50 0.00 0.000 4 0.000 0.047 2171 3296 3479

2295 -1.46 -146.6 296.1 -11.6 110 2300 0.00 2.53 0.00 0.000 6 0.000 0.045 2171 1905 3479

2616 -1.46 -146.6 336.7 -13.1 126 2618 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 1905 3479

2927 -1.46 -146.6 377.2 -12.3 141 2931 0.00 2.60 0.00 0.000 4 0.000 0.067 2172 492 3479

2975 -1.46 -146.6 383.4 -12.4 143 2980 0.00 2.50 0.00 0.000 6 0.000 0.042 2172 1897 3479

3296 -1.46 -146.6 422.4 -12.0 159 3300 0.00 2.60 0.00 0.000 4 0.000 0.068 2172 495 3480

3379 -1.46 -146.6 433.0 -13.4 163 3383 0.00 2.45 0.00 0.000 6 0.000 0.044 2172 1900 3480

3710 -1.46 -146.6 467.7 -10.3 179 3714 0.00 2.53 0.00 0.000 4 0.000 0.053 2172 3302 3480

3731 -1.46 -146.6 469.8 -10.3 180 3736 0.00 2.58 0.00 0.000 6 0.000 0.051 2172 1903 3480

4058 -1.46 -146.6 507.0 -12.5 196 4062 0.00 2.53 0.00 0.000 4 0.000 0.053 2172 3296 3480

4097 -1.46 -146.6 512.5 -13.4 198 4102 0.00 2.55 0.00 0.000 6 0.000 0.053 2172 1901 3480

4423 -1.46 -146.6 535.5 -6.0 214 4427 0.00 2.65 0.00 0.000 4 0.000 0.074 2171 486 3480

4539 -1.46 -146.6 543.9 -7.2 219 4543 0.00 2.53 0.00 0.000 6 0.000 0.049 2171 1910 3480

4860 -1.46 -146.6 563.3 -7.2 235 4864 0.00 2.53 0.00 0.000 4 0.000 0.055 2172 3303 3479

4943 -1.46 -146.6 570.2 -7.5 239 4948 0.00 2.58 0.00 0.000 6 0.000 0.055 2172 1896 3479

5269 -1.46 -146.6 599.2 -7.4 255 5273 0.00 2.60 0.00 0.000 4 0.000 0.061 2171 3305 3478

5340 -1.46 -146.6 605.0 -9.0 258 5344 0.00 2.58 0.00 0.000 6 0.000 0.057 2171 1901 3478

5660 -1.46 -146.6 635.2 -11.4 274 5662 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 1901 3477

5970 -1.46 -146.6 663.2 -9.7 289 5974 0.00 2.58 0.00 0.000 4 0.000 0.059 2171 3302 3477

6054 -1.46 -146.6 670.5 -8.1 293 6058 0.00 2.58 0.00 0.000 6 0.000 0.058 2172 1903 3477

6379 -1.46 -146.6 704.4 -10.8 309 6383 0.00 2.60 0.00 0.000 4 0.000 0.062 2171 3309 3476

6443 end dive: BOTTOM_OBSTACLE_DETECTED

state 6443 begin apogee

6449 -0.36 0.0 711.7 11.0 312 6574 1.10 0.00 121.88 1.361 6 0.070 0.000 2413 2168 2878

6575 end apogee: CONTROL_FINISHED_OK

state 6575 begin climb

6576 1.46 146.6 711.8 0.0 318 6707 1.83 2.78 120.75 1.300 4 0.061 0.073 2811 763 2279

6763 1.56 227.2 707.7 6.2 327 6838 0.12 2.58 66.60 1.301 6 0.067 0.053 2841 2175 1951

7154 1.57 232.9 670.0 9.7 346 7164 0.00 2.65 5.88 1.256 4 0.000 0.063 2841 3580 1927

7417 1.57 232.9 632.7 14.1 358 7421 0.00 2.62 0.00 0.000 6 0.000 0.056 2841 2173 1927

7742 1.57 232.9 594.0 14.6 374 7747 0.00 2.60 0.00 0.000 4 0.000 0.061 2841 3581 1925

7999 1.57 232.9 556.4 12.9 385 8007 0.00 2.62 0.00 0.000 6 0.000 0.054 2841 2179 1925

8315 1.57 232.9 517.7 12.2 401 8319 0.00 2.60 0.00 0.000 4 0.000 0.057 2841 3588 1924

8570 1.57 232.9 483.1 13.4 412 8578 0.00 2.60 0.00 0.000 6 0.000 0.051 2841 2181 1924

8886 1.57 232.9 447.7 10.6 428 8890 0.00 2.55 0.00 0.000 4 0.000 0.056 2841 3587 1924

8987 1.57 232.9 436.1 11.2 432 8991 0.00 2.58 0.00 0.000 6 0.000 0.049 2841 2171 1924

9301 1.57 232.9 399.3 12.2 447 9305 0.00 2.55 0.00 0.000 4 0.000 0.053 2841 3586 1924

9317 1.57 232.9 397.5 10.9 448 9321 0.00 2.55 0.00 0.000 6 0.000 0.046 2841 2171 1924

9648 1.57 232.9 358.1 13.0 464 9653 0.00 2.55 0.00 0.000 4 0.000 0.051 2841 3588 1924

9703 1.57 232.9 350.4 13.3 466 9710 0.00 2.55 0.00 0.000 6 0.000 0.044 2841 2182 1924

10018 1.57 232.9 307.1 13.3 482 10022 0.00 2.53 0.00 0.000 4 0.000 0.051 2841 3591 1925

10090 1.57 232.9 297.6 13.9 485 10095 0.00 2.58 0.00 0.000 6 0.000 0.044 2841 2173 1925

10417 1.57 232.9 256.0 12.7 501 10421 0.00 2.55 0.00 0.000 4 0.000 0.050 2841 3591 1925

10459 1.57 232.9 250.3 13.6 503 10464 0.00 2.55 0.00 0.000 6 0.000 0.042 2841 2179 1925

10786 1.57 232.9 210.1 11.6 519 10790 0.00 2.53 0.00 0.000 4 0.000 0.050 2841 3588 1926

10992 1.57 232.9 184.9 12.2 528 10997 0.00 2.53 0.00 0.000 6 0.000 0.040 2841 2177 1926

11313 1.57 232.9 148.2 11.6 544 11317 0.00 2.55 0.00 0.000 4 0.000 0.048 2841 3591 1927

11397 1.57 232.9 138.4 12.3 548 11402 0.00 2.53 0.00 0.000 6 0.000 0.041 2841 2172 1927

11723 1.57 232.9 100.8 12.1 564 11727 0.00 2.55 0.00 0.000 4 0.000 0.047 2841 3592 1927

11821 1.57 232.9 88.4 12.4 568 11829 0.00 2.55 0.00 0.000 6 0.000 0.040 2841 2174 1928

12137 1.57 232.9 52.6 10.8 584 12142 0.00 2.55 0.00 0.000 4 0.000 0.048 2841 3592 1928

12221 1.57 232.9 42.0 12.3 588 12225 0.00 2.53 0.00 0.000 6 0.000 0.040 2841 2172 1929

12546 1.57 232.9 3.8 11.8 604 12550 0.00 2.53 0.00 0.000 4 0.000 0.046 2841 3588 1929

12561 end climb: SURFACE_DEPTH_REACHED

state 12561 begin surface coast

12566 end surface coast: CONTROL_FINISHED_OK

state 12566 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	8	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2175	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	120	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-76428.586	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	154538,6135.659,-824.737,36,1.2,36,-8.9	TGT_NAME	FBC_SIL
_CALLS	1	TGT_LATLONG	6130.000,-825.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.055,-0.254
_SM_DEPTHo	0.31	KALMAN_X	-3074.4,248.8,234.2,7222.0,-969.2
_SM_ANGLEo	-64.2	KALMAN_Y	27819.0,-770.9,-680.1,-21747.7,12382.1
GPS2	155033,6135.627,-824.794,15,1.2,15,-8.9	MHEAD_RNG_PITCHd_Wd	176.6,10423,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	990

FINISH	1.2,1.027288	XPDR_PINGS	0
SM_CCo	12587,51.35,0.867,5,0,1655,300.00	ALTIM_BOTTOM_PING	625.7,95.9
SM_GC	0.44,0.00,0.00,51.35,0.000,0.000,0.867,29,1895,1655,-11.34,-0.14,300.00	_24V_AH	23.3,13.420
IRIDIUM_FIX	6112.75,-823.80,141107,161609	_10V_AH	10.1,5.583
TT8_MAMPS	0.026845	DATA_FILE_SIZE	31782,605
HUMID	2076	CFSIZE	260165632,257454080
INTERNAL_PRESSURE	9.2191	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,12,5,0
TCM_TEMP	18.80	GPS	141107,192501,6135.467,-822.539,116,1.5,116,-8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	147	92.82	SBE_CT	443	24	248.20
Roll_motor	148	79	273.16	SBE_O2	407	19	180.36
VBD_pump_during_apogee	315	1361	9995.35	WL_BB2F	367	105	898.32
VBD_pump_during_surface	51	867	1037.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.78	nil	0	0	0.00
Iridium_during_connect	51	160	191.69	nil	0	0	0.00
Iridium_during_xfer	124	223	645.11
Transponder_ping	5	420	51.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.60
TT8	1201	19	240.28
LPSleep	9308	2	205.89
TT8_Active	535	19	107.04
TT8_Sampling	1627	39	654.39
TT8_CF8	298	45	138.04
TT8_Kalman	33	81	27.56
Analog_circuits	1366	12	165.59
GPS_charging	0	0	0.00
Compass	1584	8	128.03
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.46	-146.6	0.0	0.0	0	96	0.00	0.00	-77.28	0.000	2	0.000	0.000	35	1893	3316
98	-1.46	-146.6	3.8	-5.1	4	121	11.50	2.65	-3.50	0.000	4	0.147	0.079	2171	485	3478
226	-1.46	-146.6	28.8	-13.9	9	233	0.00	2.50	0.00	0.000	6	0.000	0.039	2172	1912	3478
543	-1.46	-146.6	70.6	-13.2	25	547	0.00	2.47	0.00	0.000	4	0.000	0.047	2171	3294	3479
563	-1.46	-146.6	73.8	-14.1	26	568	0.00	2.53	0.00	0.000	6	0.000	0.043	2171	1902	3479
890	-1.46	-146.6	117.5	-13.1	42	894	0.00	2.60	0.00	0.000	4	0.000	0.067	2171	496	3479
921	-1.46	-146.6	121.7	-12.3	43	928	0.00	2.47	0.00	0.000	6	0.000	0.040	2172	1896	3479
1236	-1.46	-146.6	158.7	-12.7	59	1241	0.00	2.50	0.00	0.000	4	0.000	0.047	2172	3295	3479
1279	-1.46	-146.6	164.2	-12.7	61	1285	0.00	2.53	0.00	0.000	6	0.000	0.044	2172	1903	3479
1606	-1.46	-146.6	205.6	-12.8	77	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	1903	3479
1916	-1.46	-146.6	247.6	-13.3	92	1920	0.00	2.50	0.00	0.000	4	0.000	0.047	2171	3295	3479
1947	-1.46	-146.6	252.0	-13.2	93	1955	0.00	2.53	0.00	0.000	6	0.000	0.044	2172	1904	3479
2263	-1.46	-146.6	292.2	-12.5	109	2267	0.00	2.50	0.00	0.000	4	0.000	0.047	2171	3296	3479
2295	-1.46	-146.6	296.1	-11.6	110	2300	0.00	2.53	0.00	0.000	6	0.000	0.045	2171	1905	3479
2616	-1.46	-146.6	336.7	-13.1	126	2618	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	1905	3479
2927	-1.46	-146.6	377.2	-12.3	141	2931	0.00	2.60	0.00	0.000	4	0.000	0.067	2172	492	3479
2975	-1.46	-146.6	383.4	-12.4	143	2980	0.00	2.50	0.00	0.000	6	0.000	0.042	2172	1897	3479
3296	-1.46	-146.6	422.4	-12.0	159	3300	0.00	2.60	0.00	0.000	4	0.000	0.068	2172	495	3480
3379	-1.46	-146.6	433.0	-13.4	163	3383	0.00	2.45	0.00	0.000	6	0.000	0.044	2172	1900	3480
3710	-1.46	-146.6	467.7	-10.3	179	3714	0.00	2.53	0.00	0.000	4	0.000	0.053	2172	3302	3480
3731	-1.46	-146.6	469.8	-10.3	180	3736	0.00	2.58	0.00	0.000	6	0.000	0.051	2172	1903	3480
4058	-1.46	-146.6	507.0	-12.5	196	4062	0.00	2.53	0.00	0.000	4	0.000	0.053	2172	3296	3480
4097	-1.46	-146.6	512.5	-13.4	198	4102	0.00	2.55	0.00	0.000	6	0.000	0.053	2172	1901	3480
4423	-1.46	-146.6	535.5	-6.0	214	4427	0.00	2.65	0.00	0.000	4	0.000	0.074	2171	486	3480
4539	-1.46	-146.6	543.9	-7.2	219	4543	0.00	2.53	0.00	0.000	6	0.000	0.049	2171	1910	3480
4860	-1.46	-146.6	563.3	-7.2	235	4864	0.00	2.53	0.00	0.000	4	0.000	0.055	2172	3303	3479
4943	-1.46	-146.6	570.2	-7.5	239	4948	0.00	2.58	0.00	0.000	6	0.000	0.055	2172	1896	3479
5269	-1.46	-146.6	599.2	-7.4	255	5273	0.00	2.60	0.00	0.000	4	0.000	0.061	2171	3305	3478
5340	-1.46	-146.6	605.0	-9.0	258	5344	0.00	2.58	0.00	0.000	6	0.000	0.057	2171	1901	3478
5660	-1.46	-146.6	635.2	-11.4	274	5662	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	1901	3477
5970	-1.46	-146.6	663.2	-9.7	289	5974	0.00	2.58	0.00	0.000	4	0.000	0.059	2171	3302	3477
6054	-1.46	-146.6	670.5	-8.1	293	6058	0.00	2.58	0.00	0.000	6	0.000	0.058	2172	1903	3477
6379	-1.46	-146.6	704.4	-10.8	309	6383	0.00	2.60	0.00	0.000	4	0.000	0.062	2171	3309	3476
6443	end dive: BOTTOM_OBSTACLE_DETECTED
state	6443	begin apogee
6449	-0.36	0.0	711.7	11.0	312	6574	1.10	0.00	121.88	1.361	6	0.070	0.000	2413	2168	2878
6575	end apogee: CONTROL_FINISHED_OK
state	6575	begin climb
6576	1.46	146.6	711.8	0.0	318	6707	1.83	2.78	120.75	1.300	4	0.061	0.073	2811	763	2279
6763	1.56	227.2	707.7	6.2	327	6838	0.12	2.58	66.60	1.301	6	0.067	0.053	2841	2175	1951
7154	1.57	232.9	670.0	9.7	346	7164	0.00	2.65	5.88	1.256	4	0.000	0.063	2841	3580	1927
7417	1.57	232.9	632.7	14.1	358	7421	0.00	2.62	0.00	0.000	6	0.000	0.056	2841	2173	1927
7742	1.57	232.9	594.0	14.6	374	7747	0.00	2.60	0.00	0.000	4	0.000	0.061	2841	3581	1925
7999	1.57	232.9	556.4	12.9	385	8007	0.00	2.62	0.00	0.000	6	0.000	0.054	2841	2179	1925
8315	1.57	232.9	517.7	12.2	401	8319	0.00	2.60	0.00	0.000	4	0.000	0.057	2841	3588	1924
8570	1.57	232.9	483.1	13.4	412	8578	0.00	2.60	0.00	0.000	6	0.000	0.051	2841	2181	1924
8886	1.57	232.9	447.7	10.6	428	8890	0.00	2.55	0.00	0.000	4	0.000	0.056	2841	3587	1924
8987	1.57	232.9	436.1	11.2	432	8991	0.00	2.58	0.00	0.000	6	0.000	0.049	2841	2171	1924
9301	1.57	232.9	399.3	12.2	447	9305	0.00	2.55	0.00	0.000	4	0.000	0.053	2841	3586	1924
9317	1.57	232.9	397.5	10.9	448	9321	0.00	2.55	0.00	0.000	6	0.000	0.046	2841	2171	1924
9648	1.57	232.9	358.1	13.0	464	9653	0.00	2.55	0.00	0.000	4	0.000	0.051	2841	3588	1924
9703	1.57	232.9	350.4	13.3	466	9710	0.00	2.55	0.00	0.000	6	0.000	0.044	2841	2182	1924
10018	1.57	232.9	307.1	13.3	482	10022	0.00	2.53	0.00	0.000	4	0.000	0.051	2841	3591	1925
10090	1.57	232.9	297.6	13.9	485	10095	0.00	2.58	0.00	0.000	6	0.000	0.044	2841	2173	1925
10417	1.57	232.9	256.0	12.7	501	10421	0.00	2.55	0.00	0.000	4	0.000	0.050	2841	3591	1925
10459	1.57	232.9	250.3	13.6	503	10464	0.00	2.55	0.00	0.000	6	0.000	0.042	2841	2179	1925
10786	1.57	232.9	210.1	11.6	519	10790	0.00	2.53	0.00	0.000	4	0.000	0.050	2841	3588	1926
10992	1.57	232.9	184.9	12.2	528	10997	0.00	2.53	0.00	0.000	6	0.000	0.040	2841	2177	1926
11313	1.57	232.9	148.2	11.6	544	11317	0.00	2.55	0.00	0.000	4	0.000	0.048	2841	3591	1927
11397	1.57	232.9	138.4	12.3	548	11402	0.00	2.53	0.00	0.000	6	0.000	0.041	2841	2172	1927
11723	1.57	232.9	100.8	12.1	564	11727	0.00	2.55	0.00	0.000	4	0.000	0.047	2841	3592	1927
11821	1.57	232.9	88.4	12.4	568	11829	0.00	2.55	0.00	0.000	6	0.000	0.040	2841	2174	1928
12137	1.57	232.9	52.6	10.8	584	12142	0.00	2.55	0.00	0.000	4	0.000	0.048	2841	3592	1928
12221	1.57	232.9	42.0	12.3	588	12225	0.00	2.53	0.00	0.000	6	0.000	0.040	2841	2172	1929
12546	1.57	232.9	3.8	11.8	604	12550	0.00	2.53	0.00	0.000	4	0.000	0.046	2841	3588	1929
12561	end climb: SURFACE_DEPTH_REACHED
state	12561	begin surface coast
12566	end surface coast: CONTROL_FINISHED_OK
state	12566	begin surface