Glider dive log

Faroes Aug08 * SG105 * Dive index * Mission links * Dive 8 * 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 8 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 31 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 -1588452.1 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 -1588452.1

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 36 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 8 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 062038,6116.854,-752.054,39,1.2,39,-8.5 TGT_NAME FBC_SE0

_CALLS 1 TGT_LATLONG 6100.000,-730.000

_XMS_NAKs 6 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.090,-0.248

_SM_DEPTHo 1.03 KALMAN_X -7136.6,409.5,-1081.0,15356.1,936.4

_SM_ANGLEo -57.8 KALMAN_Y 15541.0,-33.3,658.1,-15686.2,6255.1

GPS2 062615,6116.942,-752.058,12,1.7,12,-8.5 MHEAD_RNG_PITCHd_Wd 208.5,37104,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.015904 ALTIM_TOP_PING 18.1,17.8

SM_CCo 15436,53.95,0.838,0,0,1608,300.00 ALTIM_BOTTOM_PING 776.5,69.1

SM_GC 0.82,0.00,0.00,53.95,0.000,0.000,0.838,391,1931,1608,-9.93,-0.42,300.00 _24V_AH 23.2,11.765

IRIDIUM_FIX 6050.49,-800.21,261197,020215 _10V_AH 10.1,4.379

TT8_MAMPS 0.027612 DATA_FILE_SIZE 38074,731

HUMID 2082 CAP_FILE_SIZE 124102,0

INTERNAL_PRESSURE 8.07973 CFSIZE 260165632,257748992

TCM_TEMP 14.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,9,0

XPDR_PINGS 0 GPS 010908,104658,6117.580,-754.772,39,2.1,58,-8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 131 72.34 SBE_CT 646 24 359.74

Roll_motor 150 73 256.54 SBE_O2 517 19 228.24

VBD_pump_during_apogee 434 1425 14378.13 WL_BB2F 426 105 1039.70

VBD_pump_during_surface 53 837 1048.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 73.75 nil 0 0 0.00

Iridium_during_connect 26 160 97.36 nil 0 0 0.00

Iridium_during_xfer 152 223 788.12

Transponder_ping 7 420 70.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.19

TT8 1443 19 288.69

LPSleep 11126 2 246.12

TT8_Active 610 19 122.12

TT8_Sampling 1938 39 779.17

TT8_CF8 713 45 329.93

TT8_Kalman 33 81 27.57

Analog_circuits 1631 12 197.70

GPS_charging 0 0 0.00

Compass 2041 8 164.97

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.47 -146.6 0.0 0.0 0 86 0.00 0.00 -61.60 0.000 2 0.000 0.000 392 1943 3174

90 -1.47 -146.6 3.5 -6.1 3 112 9.73 2.45 -5.40 0.000 4 0.131 0.049 2224 3351 3431

353 -1.47 -146.6 42.6 -12.7 14 359 0.00 2.38 0.00 0.000 6 0.000 0.026 2224 1938 3433

669 -1.47 -146.6 80.8 -11.8 30 670 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1938 3434

980 -1.47 -146.6 119.0 -12.2 45 984 0.00 2.42 0.00 0.000 4 0.000 0.043 2224 551 3435

1137 -1.47 -146.6 138.3 -11.9 52 1141 0.00 2.38 0.00 0.000 6 0.000 0.027 2224 1952 3435

1458 -1.47 -146.6 173.8 -10.7 68 1462 0.00 2.45 0.00 0.000 4 0.000 0.044 2224 558 3436

1681 -1.47 -146.6 200.3 -12.4 78 1685 0.00 2.35 0.00 0.000 6 0.000 0.029 2224 1944 3436

2007 -1.47 -146.6 239.9 -12.4 94 2012 0.00 2.47 0.00 0.000 4 0.000 0.046 2224 563 3436

2235 -1.47 -146.6 269.4 -12.9 104 2240 0.00 2.38 0.00 0.000 6 0.000 0.031 2224 1938 3436

2561 -1.47 -146.6 312.4 -13.4 120 2565 0.00 2.45 0.00 0.000 4 0.000 0.048 2224 560 3436

2724 -1.47 -146.6 334.9 -14.0 127 2729 0.00 2.38 0.00 0.000 6 0.000 0.033 2224 1948 3436

3043 -1.47 -146.6 376.1 -12.8 142 3047 0.00 2.47 0.00 0.000 4 0.000 0.050 2224 556 3436

3187 -1.47 -146.6 394.8 -12.2 148 3193 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 1950 3436

3505 -1.47 -146.6 429.7 -10.4 164 3509 0.00 2.47 0.00 0.000 4 0.000 0.051 2224 560 3436

3560 -1.47 -146.6 435.8 -10.9 166 3566 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 1955 3436

3876 -1.47 -146.6 465.9 -9.8 182 3881 0.00 2.50 0.00 0.000 4 0.000 0.051 2224 554 3435

4010 -1.47 -146.6 480.6 -10.6 188 4015 0.00 2.40 0.00 0.000 6 0.000 0.035 2224 1951 3435

4334 -1.47 -146.6 515.3 -10.5 204 4338 0.00 2.47 0.00 0.000 4 0.000 0.052 2224 3348 3435

4383 -1.47 -146.6 520.9 -10.9 206 4387 0.00 2.40 0.00 0.000 6 0.000 0.033 2224 1950 3435

4702 -1.47 -146.6 548.3 -7.3 221 4706 0.00 2.50 0.00 0.000 4 0.000 0.053 2224 544 3435

4768 -1.47 -146.6 554.3 -9.3 224 4773 0.00 2.42 0.00 0.000 6 0.000 0.035 2224 1954 3435

5090 -1.47 -146.6 582.1 -8.5 240 5094 0.00 2.50 0.00 0.000 4 0.000 0.056 2224 3354 3435

5139 -1.47 -146.6 586.7 -8.8 242 5144 0.00 2.42 0.00 0.000 6 0.000 0.036 2224 1948 3435

5455 -1.47 -146.6 613.8 -8.7 257 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1949 3435

5764 -1.47 -146.6 637.3 -7.1 272 5768 0.00 2.53 0.00 0.000 4 0.000 0.060 2224 546 3434

5865 -1.47 -146.6 644.9 -7.8 276 5872 0.00 2.42 0.00 0.000 6 0.000 0.040 2224 1943 3434

6181 -1.47 -146.6 668.6 -7.4 292 6185 0.00 2.55 0.00 0.000 4 0.000 0.061 2224 542 3432

6298 -1.47 -146.6 678.8 -8.9 297 6302 0.00 2.45 0.00 0.000 6 0.000 0.041 2224 1945 3431

6613 -1.47 -146.6 706.4 -9.1 312 6618 0.00 2.55 0.00 0.000 4 0.000 0.061 2224 543 3428

6699 -1.47 -146.6 714.4 -9.8 316 6703 0.00 2.45 0.00 0.000 6 0.000 0.041 2225 1944 3428

7025 -1.47 -146.6 743.0 -8.8 332 7029 0.00 2.55 0.00 0.000 4 0.000 0.062 2224 544 3427

7141 -1.47 -146.6 754.7 -9.6 337 7146 0.00 2.45 0.00 0.000 6 0.000 0.041 2224 1945 3426

7458 -1.47 -146.6 786.4 -9.8 352 7462 0.00 2.55 0.00 0.000 4 0.000 0.064 2224 548 3424

7598 -1.47 -146.6 802.0 -11.8 358 7602 0.00 2.45 0.00 0.000 6 0.000 0.042 2224 1947 3423

7913 -1.47 -146.6 834.9 -9.4 373 7918 0.00 2.58 0.00 0.000 4 0.000 0.066 2224 544 3422

7924 end dive: BOTTOM_OBSTACLE_DETECTED

state 7924 begin apogee

7934 -0.36 0.0 835.7 9.1 373 8113 1.15 0.00 159.98 1.338 6 0.082 0.000 2465 2198 2831

8113 end apogee: CONTROL_FINISHED_OK

state 8113 begin climb

8116 1.47 146.6 841.4 0.0 382 8255 1.88 2.75 130.02 1.426 4 0.054 0.074 2869 3605 2233

8318 1.47 146.6 832.2 11.2 391 8322 0.00 2.50 0.00 0.000 6 0.000 0.041 2869 2205 2230

8634 1.53 192.3 806.9 7.9 406 8678 0.00 0.00 41.85 1.411 6 0.000 0.000 2869 2204 2046

8986 1.55 210.8 776.7 9.2 423 9053 0.00 2.67 46.50 0.889 4 0.000 0.066 2869 3609 1971

9134 1.55 210.8 758.5 12.9 430 9139 0.00 2.50 0.00 0.000 6 0.000 0.039 2869 2198 1971

9461 1.55 210.8 721.5 11.0 446 9465 0.00 2.62 0.00 0.000 4 0.000 0.065 2869 3606 1970

9487 1.55 210.8 718.4 11.2 447 9492 0.00 2.47 0.00 0.000 6 0.000 0.039 2869 2199 1970

9803 1.55 210.8 684.2 10.8 462 9807 0.00 2.62 0.00 0.000 4 0.000 0.064 2869 3608 1969

9847 1.55 210.8 679.1 12.1 464 9851 0.00 2.47 0.00 0.000 6 0.000 0.038 2869 2198 1968

10169 1.55 210.8 642.9 11.8 480 10173 0.00 2.62 0.00 0.000 4 0.000 0.064 2869 3609 1968

10191 1.55 210.8 640.1 12.2 481 10195 0.00 2.47 0.00 0.000 6 0.000 0.038 2869 2198 1968

10511 1.55 210.8 599.1 12.7 497 10516 0.00 2.62 0.00 0.000 4 0.000 0.064 2869 3613 1968

10589 1.55 210.8 588.2 14.1 500 10596 0.00 2.47 0.00 0.000 6 0.000 0.038 2869 2200 1968

10905 1.55 210.8 547.6 12.3 516 10910 0.00 2.60 0.00 0.000 4 0.000 0.061 2869 3599 1967

11108 1.55 210.8 522.3 13.2 525 11112 0.00 2.45 0.00 0.000 6 0.000 0.038 2869 2200 1966

11438 1.58 234.6 489.6 8.9 541 11519 0.10 2.67 56.30 0.917 4 0.051 0.056 2907 3612 1872

11636 1.58 234.6 466.6 12.0 550 11641 0.00 2.47 0.00 0.000 6 0.000 0.033 2907 2198 1864

11960 1.58 234.6 429.0 11.4 566 11965 0.00 2.55 0.00 0.000 4 0.000 0.052 2907 3615 1863

12038 1.58 234.6 418.6 12.7 569 12046 0.00 2.47 0.00 0.000 6 0.000 0.031 2907 2197 1863

12354 1.58 234.6 380.0 12.4 585 12358 0.00 2.55 0.00 0.000 4 0.000 0.050 2907 3611 1864

12392 1.58 234.6 374.9 12.5 587 12397 0.00 2.42 0.00 0.000 6 0.000 0.029 2907 2198 1864

12720 1.58 234.6 332.6 13.2 603 12724 0.00 2.55 0.00 0.000 4 0.000 0.048 2907 3618 1866

12859 1.58 234.6 313.2 13.1 609 12863 0.00 2.42 0.00 0.000 6 0.000 0.029 2907 2195 1866

13174 1.58 234.6 270.8 14.2 624 13175 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2194 1868

13484 1.58 234.6 226.7 14.1 639 13485 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2195 1870

13793 1.58 234.6 184.0 13.3 654 13794 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2195 1870

14104 1.58 234.6 145.7 11.4 669 14108 0.00 2.53 0.00 0.000 4 0.000 0.046 2907 3619 1871

14175 1.58 234.6 137.3 11.2 672 14180 0.00 2.40 0.00 0.000 6 0.000 0.028 2907 2200 1871

14492 1.58 234.6 100.7 12.0 687 14493 0.00 0.00 0.00 0.000 6 0.000 0.000 2907 2200 1872

14802 1.58 234.6 65.2 11.2 702 14806 0.00 2.50 0.00 0.000 4 0.000 0.044 2907 3616 1873

15066 1.58 234.6 35.6 11.1 714 15070 0.00 2.40 0.00 0.000 6 0.000 0.028 2907 2197 1874

15390 end climb: SURFACE_DEPTH_REACHED

state 15390 begin surface coast

15415 end surface coast: CONTROL_FINISHED_OK

state 15415 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	8	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	31	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	-1588452.1	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	062038,6116.854,-752.054,39,1.2,39,-8.5	TGT_NAME	FBC_SE0
_CALLS	1	TGT_LATLONG	6100.000,-730.000
_XMS_NAKs	6	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.090,-0.248
_SM_DEPTHo	1.03	KALMAN_X	-7136.6,409.5,-1081.0,15356.1,936.4
_SM_ANGLEo	-57.8	KALMAN_Y	15541.0,-33.3,658.1,-15686.2,6255.1
GPS2	062615,6116.942,-752.058,12,1.7,12,-8.5	MHEAD_RNG_PITCHd_Wd	208.5,37104,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.015904	ALTIM_TOP_PING	18.1,17.8
SM_CCo	15436,53.95,0.838,0,0,1608,300.00	ALTIM_BOTTOM_PING	776.5,69.1
SM_GC	0.82,0.00,0.00,53.95,0.000,0.000,0.838,391,1931,1608,-9.93,-0.42,300.00	_24V_AH	23.2,11.765
IRIDIUM_FIX	6050.49,-800.21,261197,020215	_10V_AH	10.1,4.379
TT8_MAMPS	0.027612	DATA_FILE_SIZE	38074,731
HUMID	2082	CAP_FILE_SIZE	124102,0
INTERNAL_PRESSURE	8.07973	CFSIZE	260165632,257748992
TCM_TEMP	14.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,9,0
XPDR_PINGS	0	GPS	010908,104658,6117.580,-754.772,39,2.1,58,-8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	131	72.34	SBE_CT	646	24	359.74
Roll_motor	150	73	256.54	SBE_O2	517	19	228.24
VBD_pump_during_apogee	434	1425	14378.13	WL_BB2F	426	105	1039.70
VBD_pump_during_surface	53	837	1048.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	73.75	nil	0	0	0.00
Iridium_during_connect	26	160	97.36	nil	0	0	0.00
Iridium_during_xfer	152	223	788.12
Transponder_ping	7	420	70.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.19
TT8	1443	19	288.69
LPSleep	11126	2	246.12
TT8_Active	610	19	122.12
TT8_Sampling	1938	39	779.17
TT8_CF8	713	45	329.93
TT8_Kalman	33	81	27.57
Analog_circuits	1631	12	197.70
GPS_charging	0	0	0.00
Compass	2041	8	164.97
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.47	-146.6	0.0	0.0	0	86	0.00	0.00	-61.60	0.000	2	0.000	0.000	392	1943	3174
90	-1.47	-146.6	3.5	-6.1	3	112	9.73	2.45	-5.40	0.000	4	0.131	0.049	2224	3351	3431
353	-1.47	-146.6	42.6	-12.7	14	359	0.00	2.38	0.00	0.000	6	0.000	0.026	2224	1938	3433
669	-1.47	-146.6	80.8	-11.8	30	670	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1938	3434
980	-1.47	-146.6	119.0	-12.2	45	984	0.00	2.42	0.00	0.000	4	0.000	0.043	2224	551	3435
1137	-1.47	-146.6	138.3	-11.9	52	1141	0.00	2.38	0.00	0.000	6	0.000	0.027	2224	1952	3435
1458	-1.47	-146.6	173.8	-10.7	68	1462	0.00	2.45	0.00	0.000	4	0.000	0.044	2224	558	3436
1681	-1.47	-146.6	200.3	-12.4	78	1685	0.00	2.35	0.00	0.000	6	0.000	0.029	2224	1944	3436
2007	-1.47	-146.6	239.9	-12.4	94	2012	0.00	2.47	0.00	0.000	4	0.000	0.046	2224	563	3436
2235	-1.47	-146.6	269.4	-12.9	104	2240	0.00	2.38	0.00	0.000	6	0.000	0.031	2224	1938	3436
2561	-1.47	-146.6	312.4	-13.4	120	2565	0.00	2.45	0.00	0.000	4	0.000	0.048	2224	560	3436
2724	-1.47	-146.6	334.9	-14.0	127	2729	0.00	2.38	0.00	0.000	6	0.000	0.033	2224	1948	3436
3043	-1.47	-146.6	376.1	-12.8	142	3047	0.00	2.47	0.00	0.000	4	0.000	0.050	2224	556	3436
3187	-1.47	-146.6	394.8	-12.2	148	3193	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	1950	3436
3505	-1.47	-146.6	429.7	-10.4	164	3509	0.00	2.47	0.00	0.000	4	0.000	0.051	2224	560	3436
3560	-1.47	-146.6	435.8	-10.9	166	3566	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	1955	3436
3876	-1.47	-146.6	465.9	-9.8	182	3881	0.00	2.50	0.00	0.000	4	0.000	0.051	2224	554	3435
4010	-1.47	-146.6	480.6	-10.6	188	4015	0.00	2.40	0.00	0.000	6	0.000	0.035	2224	1951	3435
4334	-1.47	-146.6	515.3	-10.5	204	4338	0.00	2.47	0.00	0.000	4	0.000	0.052	2224	3348	3435
4383	-1.47	-146.6	520.9	-10.9	206	4387	0.00	2.40	0.00	0.000	6	0.000	0.033	2224	1950	3435
4702	-1.47	-146.6	548.3	-7.3	221	4706	0.00	2.50	0.00	0.000	4	0.000	0.053	2224	544	3435
4768	-1.47	-146.6	554.3	-9.3	224	4773	0.00	2.42	0.00	0.000	6	0.000	0.035	2224	1954	3435
5090	-1.47	-146.6	582.1	-8.5	240	5094	0.00	2.50	0.00	0.000	4	0.000	0.056	2224	3354	3435
5139	-1.47	-146.6	586.7	-8.8	242	5144	0.00	2.42	0.00	0.000	6	0.000	0.036	2224	1948	3435
5455	-1.47	-146.6	613.8	-8.7	257	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1949	3435
5764	-1.47	-146.6	637.3	-7.1	272	5768	0.00	2.53	0.00	0.000	4	0.000	0.060	2224	546	3434
5865	-1.47	-146.6	644.9	-7.8	276	5872	0.00	2.42	0.00	0.000	6	0.000	0.040	2224	1943	3434
6181	-1.47	-146.6	668.6	-7.4	292	6185	0.00	2.55	0.00	0.000	4	0.000	0.061	2224	542	3432
6298	-1.47	-146.6	678.8	-8.9	297	6302	0.00	2.45	0.00	0.000	6	0.000	0.041	2224	1945	3431
6613	-1.47	-146.6	706.4	-9.1	312	6618	0.00	2.55	0.00	0.000	4	0.000	0.061	2224	543	3428
6699	-1.47	-146.6	714.4	-9.8	316	6703	0.00	2.45	0.00	0.000	6	0.000	0.041	2225	1944	3428
7025	-1.47	-146.6	743.0	-8.8	332	7029	0.00	2.55	0.00	0.000	4	0.000	0.062	2224	544	3427
7141	-1.47	-146.6	754.7	-9.6	337	7146	0.00	2.45	0.00	0.000	6	0.000	0.041	2224	1945	3426
7458	-1.47	-146.6	786.4	-9.8	352	7462	0.00	2.55	0.00	0.000	4	0.000	0.064	2224	548	3424
7598	-1.47	-146.6	802.0	-11.8	358	7602	0.00	2.45	0.00	0.000	6	0.000	0.042	2224	1947	3423
7913	-1.47	-146.6	834.9	-9.4	373	7918	0.00	2.58	0.00	0.000	4	0.000	0.066	2224	544	3422
7924	end dive: BOTTOM_OBSTACLE_DETECTED
state	7924	begin apogee
7934	-0.36	0.0	835.7	9.1	373	8113	1.15	0.00	159.98	1.338	6	0.082	0.000	2465	2198	2831
8113	end apogee: CONTROL_FINISHED_OK
state	8113	begin climb
8116	1.47	146.6	841.4	0.0	382	8255	1.88	2.75	130.02	1.426	4	0.054	0.074	2869	3605	2233
8318	1.47	146.6	832.2	11.2	391	8322	0.00	2.50	0.00	0.000	6	0.000	0.041	2869	2205	2230
8634	1.53	192.3	806.9	7.9	406	8678	0.00	0.00	41.85	1.411	6	0.000	0.000	2869	2204	2046
8986	1.55	210.8	776.7	9.2	423	9053	0.00	2.67	46.50	0.889	4	0.000	0.066	2869	3609	1971
9134	1.55	210.8	758.5	12.9	430	9139	0.00	2.50	0.00	0.000	6	0.000	0.039	2869	2198	1971
9461	1.55	210.8	721.5	11.0	446	9465	0.00	2.62	0.00	0.000	4	0.000	0.065	2869	3606	1970
9487	1.55	210.8	718.4	11.2	447	9492	0.00	2.47	0.00	0.000	6	0.000	0.039	2869	2199	1970
9803	1.55	210.8	684.2	10.8	462	9807	0.00	2.62	0.00	0.000	4	0.000	0.064	2869	3608	1969
9847	1.55	210.8	679.1	12.1	464	9851	0.00	2.47	0.00	0.000	6	0.000	0.038	2869	2198	1968
10169	1.55	210.8	642.9	11.8	480	10173	0.00	2.62	0.00	0.000	4	0.000	0.064	2869	3609	1968
10191	1.55	210.8	640.1	12.2	481	10195	0.00	2.47	0.00	0.000	6	0.000	0.038	2869	2198	1968
10511	1.55	210.8	599.1	12.7	497	10516	0.00	2.62	0.00	0.000	4	0.000	0.064	2869	3613	1968
10589	1.55	210.8	588.2	14.1	500	10596	0.00	2.47	0.00	0.000	6	0.000	0.038	2869	2200	1968
10905	1.55	210.8	547.6	12.3	516	10910	0.00	2.60	0.00	0.000	4	0.000	0.061	2869	3599	1967
11108	1.55	210.8	522.3	13.2	525	11112	0.00	2.45	0.00	0.000	6	0.000	0.038	2869	2200	1966
11438	1.58	234.6	489.6	8.9	541	11519	0.10	2.67	56.30	0.917	4	0.051	0.056	2907	3612	1872
11636	1.58	234.6	466.6	12.0	550	11641	0.00	2.47	0.00	0.000	6	0.000	0.033	2907	2198	1864
11960	1.58	234.6	429.0	11.4	566	11965	0.00	2.55	0.00	0.000	4	0.000	0.052	2907	3615	1863
12038	1.58	234.6	418.6	12.7	569	12046	0.00	2.47	0.00	0.000	6	0.000	0.031	2907	2197	1863
12354	1.58	234.6	380.0	12.4	585	12358	0.00	2.55	0.00	0.000	4	0.000	0.050	2907	3611	1864
12392	1.58	234.6	374.9	12.5	587	12397	0.00	2.42	0.00	0.000	6	0.000	0.029	2907	2198	1864
12720	1.58	234.6	332.6	13.2	603	12724	0.00	2.55	0.00	0.000	4	0.000	0.048	2907	3618	1866
12859	1.58	234.6	313.2	13.1	609	12863	0.00	2.42	0.00	0.000	6	0.000	0.029	2907	2195	1866
13174	1.58	234.6	270.8	14.2	624	13175	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2194	1868
13484	1.58	234.6	226.7	14.1	639	13485	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2195	1870
13793	1.58	234.6	184.0	13.3	654	13794	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2195	1870
14104	1.58	234.6	145.7	11.4	669	14108	0.00	2.53	0.00	0.000	4	0.000	0.046	2907	3619	1871
14175	1.58	234.6	137.3	11.2	672	14180	0.00	2.40	0.00	0.000	6	0.000	0.028	2907	2200	1871
14492	1.58	234.6	100.7	12.0	687	14493	0.00	0.00	0.00	0.000	6	0.000	0.000	2907	2200	1872
14802	1.58	234.6	65.2	11.2	702	14806	0.00	2.50	0.00	0.000	4	0.000	0.044	2907	3616	1873
15066	1.58	234.6	35.6	11.1	714	15070	0.00	2.40	0.00	0.000	6	0.000	0.028	2907	2197	1874
15390	end climb: SURFACE_DEPTH_REACHED
state	15390	begin surface coast
15415	end surface coast: CONTROL_FINISHED_OK
state	15415	begin surface