Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 84 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 84 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2094587.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

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 -2094587.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 84 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 075325,6124.271,-827.359,40,1.5,40,-8.9 TGT_NAME FBC_4

_CALLS 1 TGT_LATLONG 6140.000,-845.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,0.209

_SM_DEPTHo 1.18 KALMAN_X -144301.4,1677.3,-3767.8,-25724.1,-267.3

_SM_ANGLEo -53.2 KALMAN_Y -76065.0,165.9,-1522.5,145178.8,-16567.3

GPS2 075835,6124.242,-827.279,11,9.5,30,-8.9 MHEAD_RNG_PITCHd_Wd 340.8,33081,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027135 ALTIM_BOTTOM_PING 525.9,72.1

SM_CCo 15928,133.12,0.599,0,0,508,557.32 _24V_AH 23.7,16.885

SM_GC 1.05,0.00,0.00,133.12,0.000,0.000,0.599,72,2313,508,-10.25,0.37,557.32 _10V_AH 10.2,8.640

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37993,766

TT8_MAMPS 0.02301 CAP_FILE_SIZE 116954,0

HUMID 1850 CFSIZE 260165632,252923904

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 2 GPS 250608,122857,6124.788,-823.478,50,2.2,69,-8.9

ALTIM_TOP_PING 19.3,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 106.46 SBE_CT 560 24 318.89

Roll_motor 127 88 266.17 SBE_O2 525 19 236.84

VBD_pump_during_apogee 374 987 8766.09 WL_BB2F 499 105 1243.17

VBD_pump_during_surface 133 599 1889.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.71 nil 0 0 0.00

Iridium_during_connect 27 160 103.06 nil 0 0 0.00

Iridium_during_xfer 131 223 693.89

Transponder_ping 5 420 52.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.86

TT8 1410 19 284.92

LPSleep 12175 2 271.97

TT8_Active 684 19 138.21

TT8_Sampling 1670 39 678.14

TT8_CF8 433 45 202.28

TT8_Kalman 33 81 27.83

Analog_circuits 1517 12 185.70

GPS_charging 0 0 0.00

Compass 1619 8 132.15

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

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.85 0.000 2 0.000 0.000 68 2309 2982

150 -0.85 -146.6 3.8 -3.0 6 177 11.43 2.70 -9.52 0.000 4 0.170 0.088 2107 3712 3379

402 -0.66 -146.6 38.2 -12.2 17 407 0.22 2.60 0.00 0.000 6 0.094 0.055 2151 2297 3379

719 -0.60 -146.6 70.0 -10.6 32 720 0.00 0.00 0.00 0.000 6 0.000 0.000 2151 2297 3379

1027 -0.55 -146.6 102.7 -10.3 47 1032 0.15 2.65 0.00 0.000 4 0.098 0.066 2184 875 3379

1100 -0.64 -146.6 108.9 -8.0 50 1105 0.12 2.65 0.00 0.000 6 0.044 0.058 2139 2304 3379

1418 -0.56 -146.6 137.2 -8.6 65 1420 0.20 0.00 0.00 0.000 6 0.084 0.000 2179 2304 3379

1726 -0.61 -146.6 154.9 -5.2 80 1730 0.00 2.65 0.00 0.000 4 0.000 0.064 2179 881 3379

1804 -0.70 -146.6 159.1 -5.7 83 1810 0.15 2.62 0.00 0.000 6 0.042 0.058 2130 2299 3379

2120 -0.59 -146.6 182.1 -7.7 99 2125 0.17 2.65 0.00 0.000 4 0.084 0.067 2168 881 3379

2161 -0.65 -146.6 184.8 -5.4 101 2165 0.00 2.62 0.00 0.000 6 0.000 0.058 2169 2299 3379

2487 -0.65 -146.6 205.9 -6.6 117 2492 0.00 2.65 0.00 0.000 4 0.000 0.067 2168 880 3379

2555 -0.70 -146.6 210.8 -6.8 120 2559 0.00 2.62 0.00 0.000 6 0.000 0.058 2168 2299 3378

2875 -0.70 -146.6 234.3 -7.7 136 2877 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2299 3379

3185 -0.70 -146.6 259.2 -7.9 151 3189 0.00 2.65 0.00 0.000 4 0.000 0.067 2169 881 3379

3247 -0.76 -146.6 264.3 -8.4 154 3252 0.15 2.62 0.00 0.000 6 0.042 0.059 2120 2303 3379

3574 -0.62 -146.6 296.0 -9.2 170 3576 0.22 0.00 0.00 0.000 6 0.085 0.000 2165 2303 3379

3883 -0.62 -146.6 316.2 -6.5 185 3887 0.00 2.65 0.00 0.000 4 0.000 0.068 2165 883 3379

3950 -0.67 -146.6 320.8 -7.3 188 3954 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2300 3379

4270 -0.67 -146.6 343.2 -7.2 204 4275 0.00 2.65 0.00 0.000 4 0.000 0.068 2165 881 3379

4315 -0.72 -146.6 346.6 -7.5 206 4319 0.00 2.62 0.00 0.000 6 0.000 0.058 2165 2301 3379

4636 -0.72 -146.6 370.1 -7.5 222 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2301 3379

4945 -0.72 -146.6 394.6 -8.0 237 4949 0.00 2.65 0.00 0.000 4 0.000 0.067 2165 878 3379

5023 -0.78 -146.6 401.2 -8.1 240 5030 0.17 2.62 0.00 0.000 6 0.041 0.059 2111 2302 3378

5340 -0.61 -146.6 437.9 -12.0 256 5342 0.28 0.00 0.00 0.000 6 0.087 0.000 2166 2302 3378

5648 -0.61 -146.6 464.5 -7.0 271 5652 0.00 2.65 0.00 0.000 4 0.000 0.068 2166 883 3378

5710 -0.68 -146.6 468.8 -7.0 274 5715 0.00 2.60 0.00 0.000 6 0.000 0.058 2166 2303 3378

6037 -0.68 -146.6 487.8 -5.6 290 6041 0.00 2.65 0.00 0.000 4 0.000 0.067 2166 881 3378

6087 -0.73 -146.6 490.8 -5.9 292 6092 0.12 2.62 0.00 0.000 6 0.047 0.058 2123 2307 3378

6403 -0.62 -146.6 515.4 -8.4 307 6409 0.17 2.67 0.00 0.000 4 0.090 0.067 2162 877 3378

6437 -0.67 -146.6 518.1 -6.8 308 6443 0.00 2.62 0.00 0.000 6 0.000 0.056 2162 2304 3378

6753 -0.67 -146.6 535.1 -5.6 324 6757 0.00 2.65 0.00 0.000 4 0.000 0.067 2162 882 3378

6803 -0.74 -146.6 538.3 -6.2 326 6808 0.12 2.60 0.00 0.000 6 0.046 0.057 2121 2300 3378

7119 -0.61 -146.6 564.8 -8.5 341 7121 0.22 0.00 0.00 0.000 6 0.084 0.000 2165 2300 3378

7428 -0.61 -146.6 582.2 -6.4 356 7432 0.00 2.65 0.00 0.000 4 0.000 0.067 2165 880 3377

7501 -0.70 -146.6 586.8 -6.3 359 7505 0.00 2.62 0.00 0.000 6 0.000 0.057 2165 2305 3378

7525 end dive: BOTTOM_OBSTACLE_DETECTED

state 7525 begin apogee

7532 -0.31 0.0 588.1 5.1 360 7668 0.32 0.00 129.23 0.987 6 0.098 0.000 2231 2190 2781

7669 end apogee: CONTROL_FINISHED_OK

state 7669 begin climb

7672 0.85 146.6 594.0 0.0 367 7810 1.20 2.70 127.95 0.969 4 0.080 0.064 2481 787 2183

7878 0.91 209.5 590.4 4.3 377 7940 0.00 2.62 55.38 0.950 6 0.000 0.052 2481 2199 1926

8252 0.99 209.5 569.4 7.1 395 8257 0.15 2.70 0.00 0.000 4 0.062 0.077 2520 3613 1925

8292 0.93 209.5 565.7 9.3 397 8296 0.00 2.62 0.00 0.000 6 0.000 0.058 2520 2206 1925

8618 0.88 209.5 541.6 7.4 413 8623 0.15 2.70 0.00 0.000 4 0.087 0.070 2490 780 1925

8669 0.95 215.9 538.3 5.8 415 8681 0.00 2.62 7.10 0.762 6 0.000 0.052 2489 2204 1900

8990 1.02 278.8 522.8 4.3 431 9050 0.15 0.00 55.05 0.936 6 0.046 0.000 2530 2204 1644

9359 1.02 278.8 495.1 7.4 449 9363 0.00 2.70 0.00 0.000 4 0.000 0.078 2530 3614 1643

9399 1.02 278.8 491.9 8.9 451 9403 0.00 2.65 0.00 0.000 6 0.000 0.061 2530 2202 1643

9725 1.02 278.8 468.2 7.1 467 9726 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2202 1643

10034 1.02 278.8 445.1 7.7 482 10036 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2201 1643

10344 1.02 278.8 420.7 7.8 497 10345 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2201 1643

10653 1.02 278.8 397.1 7.3 512 10657 0.00 2.70 0.00 0.000 4 0.000 0.078 2530 3616 1643

10698 1.02 278.8 393.5 8.0 514 10703 0.00 2.62 0.00 0.000 6 0.000 0.061 2530 2199 1643

11020 1.02 278.8 370.7 7.1 530 11021 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

11329 1.02 278.8 346.2 8.2 545 11333 0.00 2.70 0.00 0.000 4 0.000 0.078 2530 3616 1643

11368 1.02 278.8 342.8 9.2 547 11372 0.00 2.62 0.00 0.000 6 0.000 0.061 2530 2200 1643

11694 1.02 278.8 316.9 7.7 563 11695 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

12003 1.02 278.8 293.4 7.7 578 12004 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

12313 1.02 278.8 270.0 7.4 593 12314 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1642

12622 1.02 278.8 247.4 7.1 608 12626 0.00 2.70 0.00 0.000 4 0.000 0.077 2530 3620 1642

12677 1.02 278.8 242.9 7.8 610 12683 0.00 2.60 0.00 0.000 6 0.000 0.059 2530 2199 1643

12993 1.02 278.8 220.7 7.1 626 12994 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

13302 1.02 278.8 198.1 7.1 641 13303 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

13611 1.02 278.8 173.2 8.4 656 13612 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

13920 1.02 278.8 148.6 8.0 671 13922 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2199 1643

14231 1.02 278.8 125.4 7.2 686 14236 0.00 2.67 0.00 0.000 4 0.000 0.076 2530 3617 1643

14281 1.02 278.8 121.3 8.0 688 14285 0.00 2.60 0.00 0.000 6 0.000 0.058 2530 2199 1643

14598 1.02 278.8 98.2 7.5 703 14599 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2198 1643

14906 1.02 278.8 74.7 7.8 718 14911 0.00 2.67 0.00 0.000 4 0.000 0.076 2530 3616 1643

14956 1.02 278.8 70.1 9.2 720 14961 0.00 2.60 0.00 0.000 6 0.000 0.058 2530 2194 1643

15272 1.02 278.8 44.9 7.3 735 15277 0.00 2.62 0.00 0.000 4 0.000 0.066 2530 778 1643

15313 1.02 278.8 42.0 7.3 737 15317 0.00 2.60 0.00 0.000 6 0.000 0.051 2530 2204 1643

15640 1.02 278.8 19.3 7.2 753 15641 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2204 1643

15884 end climb: SURFACE_DEPTH_REACHED

state 15884 begin surface coast

15906 end surface coast: CONTROL_FINISHED_OK

state 15906 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	84	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2094587.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	075325,6124.271,-827.359,40,1.5,40,-8.9	TGT_NAME	FBC_4
_CALLS	1	TGT_LATLONG	6140.000,-845.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,0.209
_SM_DEPTHo	1.18	KALMAN_X	-144301.4,1677.3,-3767.8,-25724.1,-267.3
_SM_ANGLEo	-53.2	KALMAN_Y	-76065.0,165.9,-1522.5,145178.8,-16567.3
GPS2	075835,6124.242,-827.279,11,9.5,30,-8.9	MHEAD_RNG_PITCHd_Wd	340.8,33081,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027135	ALTIM_BOTTOM_PING	525.9,72.1
SM_CCo	15928,133.12,0.599,0,0,508,557.32	_24V_AH	23.7,16.885
SM_GC	1.05,0.00,0.00,133.12,0.000,0.000,0.599,72,2313,508,-10.25,0.37,557.32	_10V_AH	10.2,8.640
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37993,766
TT8_MAMPS	0.02301	CAP_FILE_SIZE	116954,0
HUMID	1850	CFSIZE	260165632,252923904
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	2	GPS	250608,122857,6124.788,-823.478,50,2.2,69,-8.9
ALTIM_TOP_PING	19.3,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	106.46	SBE_CT	560	24	318.89
Roll_motor	127	88	266.17	SBE_O2	525	19	236.84
VBD_pump_during_apogee	374	987	8766.09	WL_BB2F	499	105	1243.17
VBD_pump_during_surface	133	599	1889.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.71	nil	0	0	0.00
Iridium_during_connect	27	160	103.06	nil	0	0	0.00
Iridium_during_xfer	131	223	693.89
Transponder_ping	5	420	52.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.86
TT8	1410	19	284.92
LPSleep	12175	2	271.97
TT8_Active	684	19	138.21
TT8_Sampling	1670	39	678.14
TT8_CF8	433	45	202.28
TT8_Kalman	33	81	27.83
Analog_circuits	1517	12	185.70
GPS_charging	0	0	0.00
Compass	1619	8	132.15
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
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.85	0.000	2	0.000	0.000	68	2309	2982
150	-0.85	-146.6	3.8	-3.0	6	177	11.43	2.70	-9.52	0.000	4	0.170	0.088	2107	3712	3379
402	-0.66	-146.6	38.2	-12.2	17	407	0.22	2.60	0.00	0.000	6	0.094	0.055	2151	2297	3379
719	-0.60	-146.6	70.0	-10.6	32	720	0.00	0.00	0.00	0.000	6	0.000	0.000	2151	2297	3379
1027	-0.55	-146.6	102.7	-10.3	47	1032	0.15	2.65	0.00	0.000	4	0.098	0.066	2184	875	3379
1100	-0.64	-146.6	108.9	-8.0	50	1105	0.12	2.65	0.00	0.000	6	0.044	0.058	2139	2304	3379
1418	-0.56	-146.6	137.2	-8.6	65	1420	0.20	0.00	0.00	0.000	6	0.084	0.000	2179	2304	3379
1726	-0.61	-146.6	154.9	-5.2	80	1730	0.00	2.65	0.00	0.000	4	0.000	0.064	2179	881	3379
1804	-0.70	-146.6	159.1	-5.7	83	1810	0.15	2.62	0.00	0.000	6	0.042	0.058	2130	2299	3379
2120	-0.59	-146.6	182.1	-7.7	99	2125	0.17	2.65	0.00	0.000	4	0.084	0.067	2168	881	3379
2161	-0.65	-146.6	184.8	-5.4	101	2165	0.00	2.62	0.00	0.000	6	0.000	0.058	2169	2299	3379
2487	-0.65	-146.6	205.9	-6.6	117	2492	0.00	2.65	0.00	0.000	4	0.000	0.067	2168	880	3379
2555	-0.70	-146.6	210.8	-6.8	120	2559	0.00	2.62	0.00	0.000	6	0.000	0.058	2168	2299	3378
2875	-0.70	-146.6	234.3	-7.7	136	2877	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2299	3379
3185	-0.70	-146.6	259.2	-7.9	151	3189	0.00	2.65	0.00	0.000	4	0.000	0.067	2169	881	3379
3247	-0.76	-146.6	264.3	-8.4	154	3252	0.15	2.62	0.00	0.000	6	0.042	0.059	2120	2303	3379
3574	-0.62	-146.6	296.0	-9.2	170	3576	0.22	0.00	0.00	0.000	6	0.085	0.000	2165	2303	3379
3883	-0.62	-146.6	316.2	-6.5	185	3887	0.00	2.65	0.00	0.000	4	0.000	0.068	2165	883	3379
3950	-0.67	-146.6	320.8	-7.3	188	3954	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2300	3379
4270	-0.67	-146.6	343.2	-7.2	204	4275	0.00	2.65	0.00	0.000	4	0.000	0.068	2165	881	3379
4315	-0.72	-146.6	346.6	-7.5	206	4319	0.00	2.62	0.00	0.000	6	0.000	0.058	2165	2301	3379
4636	-0.72	-146.6	370.1	-7.5	222	4637	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2301	3379
4945	-0.72	-146.6	394.6	-8.0	237	4949	0.00	2.65	0.00	0.000	4	0.000	0.067	2165	878	3379
5023	-0.78	-146.6	401.2	-8.1	240	5030	0.17	2.62	0.00	0.000	6	0.041	0.059	2111	2302	3378
5340	-0.61	-146.6	437.9	-12.0	256	5342	0.28	0.00	0.00	0.000	6	0.087	0.000	2166	2302	3378
5648	-0.61	-146.6	464.5	-7.0	271	5652	0.00	2.65	0.00	0.000	4	0.000	0.068	2166	883	3378
5710	-0.68	-146.6	468.8	-7.0	274	5715	0.00	2.60	0.00	0.000	6	0.000	0.058	2166	2303	3378
6037	-0.68	-146.6	487.8	-5.6	290	6041	0.00	2.65	0.00	0.000	4	0.000	0.067	2166	881	3378
6087	-0.73	-146.6	490.8	-5.9	292	6092	0.12	2.62	0.00	0.000	6	0.047	0.058	2123	2307	3378
6403	-0.62	-146.6	515.4	-8.4	307	6409	0.17	2.67	0.00	0.000	4	0.090	0.067	2162	877	3378
6437	-0.67	-146.6	518.1	-6.8	308	6443	0.00	2.62	0.00	0.000	6	0.000	0.056	2162	2304	3378
6753	-0.67	-146.6	535.1	-5.6	324	6757	0.00	2.65	0.00	0.000	4	0.000	0.067	2162	882	3378
6803	-0.74	-146.6	538.3	-6.2	326	6808	0.12	2.60	0.00	0.000	6	0.046	0.057	2121	2300	3378
7119	-0.61	-146.6	564.8	-8.5	341	7121	0.22	0.00	0.00	0.000	6	0.084	0.000	2165	2300	3378
7428	-0.61	-146.6	582.2	-6.4	356	7432	0.00	2.65	0.00	0.000	4	0.000	0.067	2165	880	3377
7501	-0.70	-146.6	586.8	-6.3	359	7505	0.00	2.62	0.00	0.000	6	0.000	0.057	2165	2305	3378
7525	end dive: BOTTOM_OBSTACLE_DETECTED
state	7525	begin apogee
7532	-0.31	0.0	588.1	5.1	360	7668	0.32	0.00	129.23	0.987	6	0.098	0.000	2231	2190	2781
7669	end apogee: CONTROL_FINISHED_OK
state	7669	begin climb
7672	0.85	146.6	594.0	0.0	367	7810	1.20	2.70	127.95	0.969	4	0.080	0.064	2481	787	2183
7878	0.91	209.5	590.4	4.3	377	7940	0.00	2.62	55.38	0.950	6	0.000	0.052	2481	2199	1926
8252	0.99	209.5	569.4	7.1	395	8257	0.15	2.70	0.00	0.000	4	0.062	0.077	2520	3613	1925
8292	0.93	209.5	565.7	9.3	397	8296	0.00	2.62	0.00	0.000	6	0.000	0.058	2520	2206	1925
8618	0.88	209.5	541.6	7.4	413	8623	0.15	2.70	0.00	0.000	4	0.087	0.070	2490	780	1925
8669	0.95	215.9	538.3	5.8	415	8681	0.00	2.62	7.10	0.762	6	0.000	0.052	2489	2204	1900
8990	1.02	278.8	522.8	4.3	431	9050	0.15	0.00	55.05	0.936	6	0.046	0.000	2530	2204	1644
9359	1.02	278.8	495.1	7.4	449	9363	0.00	2.70	0.00	0.000	4	0.000	0.078	2530	3614	1643
9399	1.02	278.8	491.9	8.9	451	9403	0.00	2.65	0.00	0.000	6	0.000	0.061	2530	2202	1643
9725	1.02	278.8	468.2	7.1	467	9726	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2202	1643
10034	1.02	278.8	445.1	7.7	482	10036	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2201	1643
10344	1.02	278.8	420.7	7.8	497	10345	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2201	1643
10653	1.02	278.8	397.1	7.3	512	10657	0.00	2.70	0.00	0.000	4	0.000	0.078	2530	3616	1643
10698	1.02	278.8	393.5	8.0	514	10703	0.00	2.62	0.00	0.000	6	0.000	0.061	2530	2199	1643
11020	1.02	278.8	370.7	7.1	530	11021	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
11329	1.02	278.8	346.2	8.2	545	11333	0.00	2.70	0.00	0.000	4	0.000	0.078	2530	3616	1643
11368	1.02	278.8	342.8	9.2	547	11372	0.00	2.62	0.00	0.000	6	0.000	0.061	2530	2200	1643
11694	1.02	278.8	316.9	7.7	563	11695	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
12003	1.02	278.8	293.4	7.7	578	12004	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
12313	1.02	278.8	270.0	7.4	593	12314	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1642
12622	1.02	278.8	247.4	7.1	608	12626	0.00	2.70	0.00	0.000	4	0.000	0.077	2530	3620	1642
12677	1.02	278.8	242.9	7.8	610	12683	0.00	2.60	0.00	0.000	6	0.000	0.059	2530	2199	1643
12993	1.02	278.8	220.7	7.1	626	12994	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
13302	1.02	278.8	198.1	7.1	641	13303	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
13611	1.02	278.8	173.2	8.4	656	13612	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
13920	1.02	278.8	148.6	8.0	671	13922	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2199	1643
14231	1.02	278.8	125.4	7.2	686	14236	0.00	2.67	0.00	0.000	4	0.000	0.076	2530	3617	1643
14281	1.02	278.8	121.3	8.0	688	14285	0.00	2.60	0.00	0.000	6	0.000	0.058	2530	2199	1643
14598	1.02	278.8	98.2	7.5	703	14599	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2198	1643
14906	1.02	278.8	74.7	7.8	718	14911	0.00	2.67	0.00	0.000	4	0.000	0.076	2530	3616	1643
14956	1.02	278.8	70.1	9.2	720	14961	0.00	2.60	0.00	0.000	6	0.000	0.058	2530	2194	1643
15272	1.02	278.8	44.9	7.3	735	15277	0.00	2.62	0.00	0.000	4	0.000	0.066	2530	778	1643
15313	1.02	278.8	42.0	7.3	737	15317	0.00	2.60	0.00	0.000	6	0.000	0.051	2530	2204	1643
15640	1.02	278.8	19.3	7.2	753	15641	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2204	1643
15884	end climb: SURFACE_DEPTH_REACHED
state	15884	begin surface coast
15906	end surface coast: CONTROL_FINISHED_OK
state	15906	begin surface