Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 176 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 176 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 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 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 0.00109 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 -2079326.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 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 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 -2079326.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 176 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-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 21

Pre-dive calculations and measurements:

GPS1 055407,6317.345,-849.582,31,1.9,31,-9.8 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.107,0.193

_SM_DEPTHo 1.27 KALMAN_X -117169.4,-1308.0,-1801.2,134383.5,13260.8

_SM_ANGLEo -46.9 KALMAN_Y 99813.8,228.1,150.7,83522.4,-3583.2

GPS2 055945,6317.391,-849.694,16,1.9,16,-9.8 MHEAD_RNG_PITCHd_Wd 38.8,65356,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.014673 ALTIM_BOTTOM_PING 476.0,84.4

SM_CCo 15225,185.27,0.672,1,0,509,566.15 _24V_AH 23.5,30.439

SM_GC 1.45,0.00,0.00,185.27,0.000,0.000,0.672,74,2397,509,-10.74,-0.08,566.15 _10V_AH 10.2,14.604

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37944,739

TT8_MAMPS 0.02301 CFSIZE 260165632,249487360

HUMID 2074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,1,0

TCM_TEMP 16.70 GPS 131207,101838,6320.813,-849.380,31,1.7,31,-9.8

XPDR_PINGS 60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 172 103.11 SBE_CT 534 24 301.19

Roll_motor 144 88 301.97 SBE_O2 508 19 227.14

VBD_pump_during_apogee 321 1088 8218.45 WL_BB2F 502 105 1239.74

VBD_pump_during_surface 185 671 2925.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.88 nil 0 0 0.00

Iridium_during_connect 36 160 136.45 nil 0 0 0.00

Iridium_during_xfer 170 223 894.34

Transponder_ping 18 420 185.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.33

TT8 1358 19 274.27

LPSleep 11678 2 260.88

TT8_Active 673 19 136.03

TT8_Sampling 1647 39 668.94

TT8_CF8 401 45 187.70

TT8_Kalman 33 81 27.84

Analog_circuits 1503 12 184.05

GPS_charging 0 0 0.00

Compass 1613 8 131.63

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.10 0.000 2 0.000 0.000 69 2402 3152

126 -0.85 -146.6 4.1 -3.4 5 152 12.18 2.75 -5.72 0.000 4 0.173 0.080 2221 977 3417

359 -0.85 -146.6 38.1 -12.2 15 364 0.00 2.62 0.00 0.000 6 0.000 0.055 2221 2404 3418

681 -0.85 -146.6 61.7 -6.9 31 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3418

990 -0.85 -146.6 88.4 -9.1 46 994 0.00 2.70 0.00 0.000 4 0.000 0.071 2221 976 3418

1074 -0.85 -146.6 95.0 -6.6 50 1079 0.00 2.62 0.00 0.000 6 0.000 0.057 2221 2403 3418

1400 -0.85 -146.6 118.1 -7.1 66 1405 0.00 2.67 0.00 0.000 4 0.000 0.070 2221 982 3419

1427 -0.85 -146.6 120.0 -7.9 67 1431 0.00 2.60 0.00 0.000 6 0.000 0.057 2221 2400 3418

1749 -0.85 -146.6 142.7 -7.5 83 1753 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 982 3418

1775 -0.85 -146.6 144.7 -7.7 84 1779 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2400 3418

2096 -0.85 -146.6 168.3 -7.6 100 2100 0.00 2.67 0.00 0.000 4 0.000 0.072 2221 980 3418

2134 -0.85 -146.6 171.4 -8.2 102 2139 0.00 2.62 0.00 0.000 6 0.000 0.058 2221 2405 3418

2460 -0.85 -146.6 194.4 -6.9 118 2464 0.00 2.70 0.00 0.000 4 0.000 0.071 2220 974 3419

2503 -0.85 -146.6 197.5 -7.5 120 2507 0.00 2.62 0.00 0.000 6 0.000 0.056 2221 2405 3419

2830 -0.85 -146.6 220.6 -6.8 136 2835 0.00 2.70 0.00 0.000 4 0.000 0.072 2221 977 3419

2869 -0.85 -146.6 223.2 -7.3 138 2874 0.00 2.62 0.00 0.000 6 0.000 0.057 2221 2408 3419

3194 -0.85 -146.6 246.5 -7.8 154 3199 0.00 2.70 0.00 0.000 4 0.000 0.071 2221 976 3418

3256 -0.85 -146.6 251.5 -7.8 157 3260 0.00 2.60 0.00 0.000 6 0.000 0.056 2221 2400 3419

3581 -0.85 -146.6 277.7 -7.6 173 3585 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 982 3418

3619 -0.85 -146.6 280.6 -7.9 175 3624 0.00 2.60 0.00 0.000 6 0.000 0.056 2221 2403 3418

3946 -0.85 -146.6 300.0 -5.2 191 3947 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3418

4255 -0.85 -146.6 313.9 -4.2 206 4256 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3418

4564 -0.85 -146.6 332.7 -7.4 221 4565 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3418

4873 -0.85 -146.6 357.9 -8.4 236 4878 0.00 2.67 0.00 0.000 4 0.000 0.070 2221 980 3419

4899 -0.85 -146.6 360.1 -8.8 237 4904 0.00 2.60 0.00 0.000 6 0.000 0.052 2221 2395 3419

5220 -0.85 -146.6 384.1 -6.7 253 5225 0.00 2.65 0.00 0.000 4 0.000 0.066 2221 974 3418

5327 -0.85 -146.6 390.8 -5.5 258 5331 0.00 2.60 0.00 0.000 6 0.000 0.056 2221 2399 3419

5652 -0.85 -146.6 405.7 -4.7 274 5653 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2399 3419

5962 -0.85 -146.6 423.3 -5.3 289 5963 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2399 3419

6270 -0.85 -146.6 439.8 -6.1 304 6275 0.00 2.60 0.00 0.000 4 0.000 0.081 2221 3766 3419

6319 -0.85 -146.6 443.0 -6.7 306 6324 0.00 2.55 0.00 0.000 6 0.000 0.058 2221 2396 3419

6641 -0.85 -146.6 460.6 -5.7 322 6642 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2396 3419

6950 -0.85 -146.6 485.2 -6.8 337 6951 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2396 3419

7259 -0.85 -146.6 507.1 -7.6 352 7263 0.00 2.67 0.00 0.000 4 0.000 0.075 2221 980 3418

7320 -0.85 -146.6 511.9 -8.5 355 7325 0.00 2.62 0.00 0.000 6 0.000 0.063 2221 2398 3418

7646 -0.85 -146.6 533.7 -6.0 371 7650 0.00 2.67 0.00 0.000 4 0.000 0.074 2221 985 3417

7729 -0.85 -146.6 538.7 -6.6 375 7734 0.00 2.65 0.00 0.000 6 0.000 0.064 2221 2403 3417

7930 end dive: BOTTOM_OBSTACLE_DETECTED

state 7930 begin apogee

7935 -0.31 0.0 551.6 6.5 385 8059 0.60 0.00 120.43 1.088 6 0.116 0.000 2338 2192 2817

8060 end apogee: CONTROL_FINISHED_OK

state 8060 begin climb

8061 0.85 146.6 555.2 0.0 391 8184 1.27 0.00 117.85 1.071 6 0.104 0.000 2589 2192 2220

8492 0.85 146.6 532.7 6.7 412 8493 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2192 2218

8801 0.85 146.6 510.8 7.4 427 8805 0.00 2.78 0.00 0.000 4 0.000 0.089 2589 3613 2216

8855 0.85 146.6 506.6 7.2 429 8862 0.00 2.67 0.00 0.000 6 0.000 0.068 2589 2205 2216

9171 0.90 191.9 488.0 4.8 445 9214 0.00 2.88 36.78 1.048 4 0.000 0.082 2589 784 2033

9246 0.96 249.2 484.5 4.4 448 9300 0.15 2.65 46.28 1.039 6 0.078 0.058 2622 2201 1801

9610 0.96 249.2 456.7 8.5 466 9615 0.00 2.75 0.00 0.000 4 0.000 0.088 2622 3613 1799

9672 0.96 249.2 450.7 8.7 469 9676 0.00 2.70 0.00 0.000 6 0.000 0.071 2622 2200 1799

9997 0.96 249.2 423.5 8.0 485 9998 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2200 1798

10306 0.96 249.2 400.3 8.5 500 10311 0.00 2.75 0.00 0.000 4 0.000 0.084 2622 3616 1796

10350 0.96 249.2 395.9 10.6 502 10354 0.00 2.70 0.00 0.000 6 0.000 0.069 2622 2198 1796

10676 0.96 249.2 367.3 8.7 518 10678 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2198 1796

10986 0.96 249.2 342.3 7.4 533 10990 0.00 2.67 0.00 0.000 4 0.000 0.074 2622 784 1795

11012 0.96 249.2 340.1 7.7 534 11017 0.00 2.62 0.00 0.000 6 0.000 0.054 2623 2203 1795

11333 0.96 249.2 314.1 8.2 550 11338 0.00 2.70 0.00 0.000 4 0.000 0.081 2622 3614 1795

11389 0.96 249.2 309.3 8.6 552 11395 0.00 2.65 0.00 0.000 6 0.000 0.064 2621 2200 1795

11703 0.96 249.2 283.3 8.6 568 11708 0.00 2.67 0.00 0.000 4 0.000 0.073 2622 784 1795

11742 0.96 249.2 279.7 9.8 570 11747 0.00 2.60 0.00 0.000 6 0.000 0.051 2622 2202 1795

12069 0.96 249.2 251.1 8.8 586 12073 0.00 2.67 0.00 0.000 4 0.000 0.077 2623 3613 1795

12102 0.96 249.2 248.1 9.1 587 12108 0.00 2.65 0.00 0.000 6 0.000 0.063 2622 2194 1795

12416 0.96 249.2 222.1 8.2 603 12421 0.00 2.67 0.00 0.000 4 0.000 0.072 2623 777 1797

12455 0.96 249.2 218.7 8.8 605 12460 0.00 2.62 0.00 0.000 6 0.000 0.051 2623 2208 1797

12781 0.96 249.2 191.9 7.9 621 12786 0.00 2.65 0.00 0.000 4 0.000 0.075 2621 3613 1797

12815 0.96 249.2 189.0 8.9 622 12821 0.00 2.65 0.00 0.000 6 0.000 0.064 2623 2194 1798

13130 0.96 249.2 164.3 7.8 638 13134 0.00 2.65 0.00 0.000 4 0.000 0.071 2623 785 1798

13172 0.96 249.2 160.8 7.9 640 13177 0.00 2.60 0.00 0.000 6 0.000 0.050 2622 2208 1798

13500 0.96 249.2 136.3 7.5 656 13501 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2208 1799

13809 0.96 249.2 112.1 8.1 671 13810 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2208 1799

14119 0.96 249.2 87.0 7.8 686 14123 0.00 2.70 0.00 0.000 4 0.000 0.069 2622 778 1800

14173 0.96 249.2 82.6 7.6 688 14180 0.00 2.62 0.00 0.000 6 0.000 0.049 2622 2203 1800

14488 0.96 249.2 57.6 8.0 704 14490 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1800

14798 0.96 249.2 33.0 8.0 719 14802 0.00 2.67 0.00 0.000 4 0.000 0.067 2622 781 1801

14859 0.96 249.2 27.4 8.4 722 14864 0.00 2.60 0.00 0.000 6 0.000 0.049 2623 2205 1801

15183 end climb: SURFACE_DEPTH_REACHED

state 15183 begin surface coast

15205 end surface coast: CONTROL_FINISHED_OK

state 15205 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	176	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	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	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	0.00109	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	-2079326.6	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	055407,6317.345,-849.582,31,1.9,31,-9.8	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.107,0.193
_SM_DEPTHo	1.27	KALMAN_X	-117169.4,-1308.0,-1801.2,134383.5,13260.8
_SM_ANGLEo	-46.9	KALMAN_Y	99813.8,228.1,150.7,83522.4,-3583.2
GPS2	055945,6317.391,-849.694,16,1.9,16,-9.8	MHEAD_RNG_PITCHd_Wd	38.8,65356,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.014673	ALTIM_BOTTOM_PING	476.0,84.4
SM_CCo	15225,185.27,0.672,1,0,509,566.15	_24V_AH	23.5,30.439
SM_GC	1.45,0.00,0.00,185.27,0.000,0.000,0.672,74,2397,509,-10.74,-0.08,566.15	_10V_AH	10.2,14.604
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37944,739
TT8_MAMPS	0.02301	CFSIZE	260165632,249487360
HUMID	2074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
TCM_TEMP	16.70	GPS	131207,101838,6320.813,-849.380,31,1.7,31,-9.8
XPDR_PINGS	60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	172	103.11	SBE_CT	534	24	301.19
Roll_motor	144	88	301.97	SBE_O2	508	19	227.14
VBD_pump_during_apogee	321	1088	8218.45	WL_BB2F	502	105	1239.74
VBD_pump_during_surface	185	671	2925.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.88	nil	0	0	0.00
Iridium_during_connect	36	160	136.45	nil	0	0	0.00
Iridium_during_xfer	170	223	894.34
Transponder_ping	18	420	185.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.33
TT8	1358	19	274.27
LPSleep	11678	2	260.88
TT8_Active	673	19	136.03
TT8_Sampling	1647	39	668.94
TT8_CF8	401	45	187.70
TT8_Kalman	33	81	27.84
Analog_circuits	1503	12	184.05
GPS_charging	0	0	0.00
Compass	1613	8	131.63
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.10	0.000	2	0.000	0.000	69	2402	3152
126	-0.85	-146.6	4.1	-3.4	5	152	12.18	2.75	-5.72	0.000	4	0.173	0.080	2221	977	3417
359	-0.85	-146.6	38.1	-12.2	15	364	0.00	2.62	0.00	0.000	6	0.000	0.055	2221	2404	3418
681	-0.85	-146.6	61.7	-6.9	31	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3418
990	-0.85	-146.6	88.4	-9.1	46	994	0.00	2.70	0.00	0.000	4	0.000	0.071	2221	976	3418
1074	-0.85	-146.6	95.0	-6.6	50	1079	0.00	2.62	0.00	0.000	6	0.000	0.057	2221	2403	3418
1400	-0.85	-146.6	118.1	-7.1	66	1405	0.00	2.67	0.00	0.000	4	0.000	0.070	2221	982	3419
1427	-0.85	-146.6	120.0	-7.9	67	1431	0.00	2.60	0.00	0.000	6	0.000	0.057	2221	2400	3418
1749	-0.85	-146.6	142.7	-7.5	83	1753	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	982	3418
1775	-0.85	-146.6	144.7	-7.7	84	1779	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2400	3418
2096	-0.85	-146.6	168.3	-7.6	100	2100	0.00	2.67	0.00	0.000	4	0.000	0.072	2221	980	3418
2134	-0.85	-146.6	171.4	-8.2	102	2139	0.00	2.62	0.00	0.000	6	0.000	0.058	2221	2405	3418
2460	-0.85	-146.6	194.4	-6.9	118	2464	0.00	2.70	0.00	0.000	4	0.000	0.071	2220	974	3419
2503	-0.85	-146.6	197.5	-7.5	120	2507	0.00	2.62	0.00	0.000	6	0.000	0.056	2221	2405	3419
2830	-0.85	-146.6	220.6	-6.8	136	2835	0.00	2.70	0.00	0.000	4	0.000	0.072	2221	977	3419
2869	-0.85	-146.6	223.2	-7.3	138	2874	0.00	2.62	0.00	0.000	6	0.000	0.057	2221	2408	3419
3194	-0.85	-146.6	246.5	-7.8	154	3199	0.00	2.70	0.00	0.000	4	0.000	0.071	2221	976	3418
3256	-0.85	-146.6	251.5	-7.8	157	3260	0.00	2.60	0.00	0.000	6	0.000	0.056	2221	2400	3419
3581	-0.85	-146.6	277.7	-7.6	173	3585	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	982	3418
3619	-0.85	-146.6	280.6	-7.9	175	3624	0.00	2.60	0.00	0.000	6	0.000	0.056	2221	2403	3418
3946	-0.85	-146.6	300.0	-5.2	191	3947	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3418
4255	-0.85	-146.6	313.9	-4.2	206	4256	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3418
4564	-0.85	-146.6	332.7	-7.4	221	4565	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3418
4873	-0.85	-146.6	357.9	-8.4	236	4878	0.00	2.67	0.00	0.000	4	0.000	0.070	2221	980	3419
4899	-0.85	-146.6	360.1	-8.8	237	4904	0.00	2.60	0.00	0.000	6	0.000	0.052	2221	2395	3419
5220	-0.85	-146.6	384.1	-6.7	253	5225	0.00	2.65	0.00	0.000	4	0.000	0.066	2221	974	3418
5327	-0.85	-146.6	390.8	-5.5	258	5331	0.00	2.60	0.00	0.000	6	0.000	0.056	2221	2399	3419
5652	-0.85	-146.6	405.7	-4.7	274	5653	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2399	3419
5962	-0.85	-146.6	423.3	-5.3	289	5963	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2399	3419
6270	-0.85	-146.6	439.8	-6.1	304	6275	0.00	2.60	0.00	0.000	4	0.000	0.081	2221	3766	3419
6319	-0.85	-146.6	443.0	-6.7	306	6324	0.00	2.55	0.00	0.000	6	0.000	0.058	2221	2396	3419
6641	-0.85	-146.6	460.6	-5.7	322	6642	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2396	3419
6950	-0.85	-146.6	485.2	-6.8	337	6951	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2396	3419
7259	-0.85	-146.6	507.1	-7.6	352	7263	0.00	2.67	0.00	0.000	4	0.000	0.075	2221	980	3418
7320	-0.85	-146.6	511.9	-8.5	355	7325	0.00	2.62	0.00	0.000	6	0.000	0.063	2221	2398	3418
7646	-0.85	-146.6	533.7	-6.0	371	7650	0.00	2.67	0.00	0.000	4	0.000	0.074	2221	985	3417
7729	-0.85	-146.6	538.7	-6.6	375	7734	0.00	2.65	0.00	0.000	6	0.000	0.064	2221	2403	3417
7930	end dive: BOTTOM_OBSTACLE_DETECTED
state	7930	begin apogee
7935	-0.31	0.0	551.6	6.5	385	8059	0.60	0.00	120.43	1.088	6	0.116	0.000	2338	2192	2817
8060	end apogee: CONTROL_FINISHED_OK
state	8060	begin climb
8061	0.85	146.6	555.2	0.0	391	8184	1.27	0.00	117.85	1.071	6	0.104	0.000	2589	2192	2220
8492	0.85	146.6	532.7	6.7	412	8493	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2192	2218
8801	0.85	146.6	510.8	7.4	427	8805	0.00	2.78	0.00	0.000	4	0.000	0.089	2589	3613	2216
8855	0.85	146.6	506.6	7.2	429	8862	0.00	2.67	0.00	0.000	6	0.000	0.068	2589	2205	2216
9171	0.90	191.9	488.0	4.8	445	9214	0.00	2.88	36.78	1.048	4	0.000	0.082	2589	784	2033
9246	0.96	249.2	484.5	4.4	448	9300	0.15	2.65	46.28	1.039	6	0.078	0.058	2622	2201	1801
9610	0.96	249.2	456.7	8.5	466	9615	0.00	2.75	0.00	0.000	4	0.000	0.088	2622	3613	1799
9672	0.96	249.2	450.7	8.7	469	9676	0.00	2.70	0.00	0.000	6	0.000	0.071	2622	2200	1799
9997	0.96	249.2	423.5	8.0	485	9998	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2200	1798
10306	0.96	249.2	400.3	8.5	500	10311	0.00	2.75	0.00	0.000	4	0.000	0.084	2622	3616	1796
10350	0.96	249.2	395.9	10.6	502	10354	0.00	2.70	0.00	0.000	6	0.000	0.069	2622	2198	1796
10676	0.96	249.2	367.3	8.7	518	10678	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2198	1796
10986	0.96	249.2	342.3	7.4	533	10990	0.00	2.67	0.00	0.000	4	0.000	0.074	2622	784	1795
11012	0.96	249.2	340.1	7.7	534	11017	0.00	2.62	0.00	0.000	6	0.000	0.054	2623	2203	1795
11333	0.96	249.2	314.1	8.2	550	11338	0.00	2.70	0.00	0.000	4	0.000	0.081	2622	3614	1795
11389	0.96	249.2	309.3	8.6	552	11395	0.00	2.65	0.00	0.000	6	0.000	0.064	2621	2200	1795
11703	0.96	249.2	283.3	8.6	568	11708	0.00	2.67	0.00	0.000	4	0.000	0.073	2622	784	1795
11742	0.96	249.2	279.7	9.8	570	11747	0.00	2.60	0.00	0.000	6	0.000	0.051	2622	2202	1795
12069	0.96	249.2	251.1	8.8	586	12073	0.00	2.67	0.00	0.000	4	0.000	0.077	2623	3613	1795
12102	0.96	249.2	248.1	9.1	587	12108	0.00	2.65	0.00	0.000	6	0.000	0.063	2622	2194	1795
12416	0.96	249.2	222.1	8.2	603	12421	0.00	2.67	0.00	0.000	4	0.000	0.072	2623	777	1797
12455	0.96	249.2	218.7	8.8	605	12460	0.00	2.62	0.00	0.000	6	0.000	0.051	2623	2208	1797
12781	0.96	249.2	191.9	7.9	621	12786	0.00	2.65	0.00	0.000	4	0.000	0.075	2621	3613	1797
12815	0.96	249.2	189.0	8.9	622	12821	0.00	2.65	0.00	0.000	6	0.000	0.064	2623	2194	1798
13130	0.96	249.2	164.3	7.8	638	13134	0.00	2.65	0.00	0.000	4	0.000	0.071	2623	785	1798
13172	0.96	249.2	160.8	7.9	640	13177	0.00	2.60	0.00	0.000	6	0.000	0.050	2622	2208	1798
13500	0.96	249.2	136.3	7.5	656	13501	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2208	1799
13809	0.96	249.2	112.1	8.1	671	13810	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2208	1799
14119	0.96	249.2	87.0	7.8	686	14123	0.00	2.70	0.00	0.000	4	0.000	0.069	2622	778	1800
14173	0.96	249.2	82.6	7.6	688	14180	0.00	2.62	0.00	0.000	6	0.000	0.049	2622	2203	1800
14488	0.96	249.2	57.6	8.0	704	14490	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1800
14798	0.96	249.2	33.0	8.0	719	14802	0.00	2.67	0.00	0.000	4	0.000	0.067	2622	781	1801
14859	0.96	249.2	27.4	8.4	722	14864	0.00	2.60	0.00	0.000	6	0.000	0.049	2623	2205	1801
15183	end climb: SURFACE_DEPTH_REACHED
state	15183	begin surface coast
15205	end surface coast: CONTROL_FINISHED_OK
state	15205	begin surface