Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 251 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 251 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 52 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -7 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 547.01898 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 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 39 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 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 -81312.625 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 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 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

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 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

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 -81312.625

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

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 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 39 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 251 PHONE_DEVICE 16 SEABIRD_T_J 3.0424237e-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 101308,6236.283,-1027.058,25,1.4,25,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.204,0.087

_SM_DEPTHo 0.70 KALMAN_X -86934.6,1401.6,1920.8,106505.2,-19059.8

_SM_ANGLEo -53.3 KALMAN_Y -29204.7,-295.1,710.3,78852.8,-295.1

GPS2 101851,6236.308,-1027.036,14,1.4,14,-10.4 MHEAD_RNG_PITCHd_Wd 77.2,47168,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026332 ALTIM_BOTTOM_PING 550.3,12.9

SM_CCo 14054,224.07,0.772,0,0,390,547.02 _24V_AH 23.8,48.155

SM_GC 0.56,0.00,0.00,224.07,0.000,0.000,0.772,421,2136,390,-10.48,-0.40,547.02 _10V_AH 10.1,23.428

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34834,671

TT8_MAMPS 0.029146 CAP_FILE_SIZE 118586,0

HUMID 1686 CFSIZE 254472192,235311104

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,0,0

XPDR_PINGS 385 GPS 010808,141901,6236.364,-1027.548,41,1.4,41,-10.4

ALTIM_TOP_PING 19.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 80.94 SBE_CT 459 24 262.58

Roll_motor 153 75 276.86 SBE_O2 495 19 224.10

VBD_pump_during_apogee 246 1217 7130.25 WL_BB2F 435 105 1089.14

VBD_pump_during_surface 224 772 4119.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 37 160 141.51 nil 0 0 0.00

Iridium_during_xfer 144 223 768.08

Transponder_ping 101 420 1009.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.18

TT8 1314 19 262.82

LPSleep 10477 2 231.75

TT8_Active 664 19 132.90

TT8_Sampling 1657 39 666.12

TT8_CF8 508 45 235.28

TT8_Kalman 33 81 27.55

Analog_circuits 1505 12 182.49

GPS_charging 0 0 0.00

Compass 1619 8 130.82

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 139 0.00 0.00 -109.75 0.000 6 0.000 0.000 418 2124 3099

143 -1.30 -117.3 2.3 -1.8 5 156 10.30 0.00 0.00 0.000 6 0.136 0.000 2407 2113 3098

475 -0.98 -117.3 51.8 -14.0 21 480 0.35 2.47 0.00 0.000 4 0.094 0.057 2483 758 3097

561 -0.86 -117.3 61.9 -11.7 25 566 0.12 2.50 0.00 0.000 6 0.099 0.048 2509 2162 3098

889 -0.86 -117.3 90.0 -7.1 41 893 0.00 2.55 0.00 0.000 4 0.000 0.059 2509 759 3098

979 -0.86 -117.3 97.0 -7.4 45 983 0.00 2.47 0.00 0.000 6 0.000 0.049 2509 2149 3098

1301 -0.86 -117.3 121.1 -7.7 61 1305 0.00 2.53 0.00 0.000 4 0.000 0.059 2509 3563 3098

1558 -0.86 -117.3 143.1 -8.2 72 1564 0.00 2.42 0.00 0.000 6 0.000 0.048 2509 2188 3098

1874 -0.86 -117.3 166.5 -7.3 88 1878 0.00 2.58 0.00 0.000 4 0.000 0.061 2509 756 3098

2132 -0.86 -117.3 184.6 -6.1 99 2137 0.00 2.60 0.00 0.000 6 0.000 0.051 2509 2207 3098

2449 -0.86 -117.3 200.7 -5.1 115 2453 0.00 2.65 0.00 0.000 4 0.000 0.061 2509 753 3098

2684 -0.86 -117.3 214.7 -6.5 125 2690 0.00 2.60 0.00 0.000 6 0.000 0.051 2509 2207 3098

3001 -0.86 -117.3 235.0 -6.9 141 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2206 3097

3309 -0.86 -117.3 258.6 -8.0 156 3314 0.00 2.65 0.00 0.000 4 0.000 0.061 2509 746 3097

3421 -0.86 -117.3 268.2 -8.7 161 3426 0.00 2.60 0.00 0.000 6 0.000 0.051 2509 2201 3097

3743 -0.86 -117.3 294.0 -7.9 177 3747 0.00 2.65 0.00 0.000 4 0.000 0.061 2509 749 3097

3822 -0.86 -117.3 300.3 -7.8 180 3828 0.00 2.58 0.00 0.000 6 0.000 0.051 2509 2187 3097

4139 -0.86 -117.3 324.0 -7.6 196 4143 0.00 2.62 0.00 0.000 4 0.000 0.061 2509 749 3096

4241 -0.86 -117.3 332.3 -8.4 200 4247 0.00 2.55 0.00 0.000 6 0.000 0.052 2509 2172 3096

4557 -0.86 -117.3 356.9 -7.7 216 4558 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2169 3096

4867 -0.86 -117.3 380.8 -7.9 231 4871 0.00 2.58 0.00 0.000 4 0.000 0.064 2509 757 3095

4917 -0.86 -117.3 385.2 -8.5 233 4921 0.00 2.53 0.00 0.000 6 0.000 0.053 2509 2165 3095

5233 -0.86 -117.3 407.1 -6.7 248 5234 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2165 3095

5542 -0.86 -117.3 427.8 -6.5 263 5546 0.00 2.58 0.00 0.000 4 0.000 0.064 2509 757 3095

5672 -0.86 -117.3 436.7 -6.9 269 5676 0.00 2.50 0.00 0.000 6 0.000 0.054 2509 2159 3095

5999 -0.86 -117.3 457.6 -6.1 285 6003 0.00 2.53 0.00 0.000 4 0.000 0.067 2509 3555 3094

6039 -0.86 -117.3 460.1 -6.4 287 6043 0.00 2.47 0.00 0.000 6 0.000 0.053 2509 2170 3094

6366 -0.86 -117.3 478.9 -5.6 303 6367 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2151 3093

6675 -0.86 -117.3 496.7 -5.9 318 6679 0.00 2.55 0.00 0.000 4 0.000 0.067 2509 747 3093

6737 -0.86 -117.3 500.4 -6.0 321 6742 0.00 2.55 0.00 0.000 6 0.000 0.058 2509 2152 3093

7065 -0.86 -117.3 518.8 -5.4 337 7070 0.00 2.60 0.00 0.000 4 0.000 0.071 2509 742 3092

7236 -0.86 -117.3 528.8 -6.1 344 7242 0.00 2.53 0.00 0.000 6 0.000 0.061 2509 2122 3092

7553 -0.86 -117.3 547.9 -5.9 360 7557 0.00 2.65 0.00 0.000 4 0.000 0.076 2509 3556 3091

7590 -0.86 -117.3 550.3 -8.0 361 7596 0.00 2.62 0.00 0.000 6 0.000 0.064 2509 2119 3091

7655 end dive: BOTTOM_OBSTACLE_DETECTED

state 7656 begin apogee

7662 -0.33 0.0 554.3 5.5 365 7764 0.55 0.00 98.53 1.217 6 0.087 0.000 2623 2104 2620

7764 end apogee: CONTROL_FINISHED_OK

state 7765 begin climb

7768 1.30 117.3 557.4 0.0 370 7874 1.65 2.67 97.82 1.182 4 0.071 0.073 2977 3511 2141

7964 1.30 117.3 543.1 9.6 379 7968 0.00 2.62 0.00 0.000 6 0.000 0.062 2977 2099 2140

8285 1.30 117.3 515.6 8.6 395 8289 0.00 2.65 0.00 0.000 4 0.000 0.074 2977 3505 2139

8307 1.30 117.3 513.6 8.5 396 8311 0.00 2.60 0.00 0.000 6 0.000 0.063 2978 2099 2139

8627 1.30 117.3 486.6 8.1 412 8632 0.00 2.65 0.00 0.000 4 0.000 0.074 2977 3512 2138

8672 1.30 117.3 482.5 9.1 414 8676 0.00 2.60 0.00 0.000 6 0.000 0.061 2977 2103 2138

8994 1.33 131.9 457.6 7.3 430 9016 0.00 2.70 12.98 1.084 4 0.000 0.071 2977 3501 2082

9055 1.33 131.9 452.6 8.4 432 9061 0.00 2.55 0.00 0.000 6 0.000 0.062 2977 2119 2081

9372 1.37 159.1 431.0 6.8 448 9402 0.00 2.65 23.95 1.124 4 0.000 0.068 2977 3506 1971

9415 1.38 164.7 427.7 7.7 450 9431 0.10 2.58 6.30 0.914 6 0.061 0.058 3005 2113 1948

9741 1.33 164.7 399.8 8.7 466 9745 0.00 2.60 0.00 0.000 4 0.000 0.067 3005 3511 1947

9797 1.29 164.7 394.7 9.1 468 9804 0.12 2.55 0.00 0.000 6 0.101 0.057 2981 2117 1947

10113 1.30 171.2 371.1 7.7 484 10127 0.00 2.65 6.55 0.917 4 0.000 0.065 2981 3507 1922

10144 1.30 171.2 368.4 9.1 485 10148 0.00 2.53 0.00 0.000 6 0.000 0.057 2981 2132 1922

10461 1.34 171.2 341.9 8.8 500 10465 0.00 2.55 0.00 0.000 4 0.000 0.065 2981 3508 1922

10482 1.34 171.2 339.8 9.1 501 10486 0.00 2.50 0.00 0.000 6 0.000 0.056 2981 2133 1921

10804 1.38 171.6 313.4 8.0 517 10808 0.00 2.53 0.00 0.000 4 0.000 0.063 2981 3511 1921

10838 1.42 171.6 310.4 8.8 518 10844 0.12 2.47 0.00 0.000 6 0.054 0.055 3016 2145 1922

11154 1.36 171.6 279.2 10.2 534 11158 0.00 2.50 0.00 0.000 4 0.000 0.062 3016 3509 1922

11188 1.30 171.6 275.5 11.1 535 11195 0.17 2.45 0.00 0.000 6 0.091 0.054 2982 2155 1922

11505 1.34 171.7 249.1 8.0 551 11509 0.00 2.47 0.00 0.000 4 0.000 0.062 2982 3508 1922

11532 1.39 171.7 246.6 8.8 552 11536 0.00 2.45 0.00 0.000 6 0.000 0.054 2982 2158 1922

11849 1.44 171.7 221.9 8.2 567 11854 0.12 2.47 0.00 0.000 4 0.051 0.061 3019 3514 1923

11877 1.39 171.7 218.8 11.3 568 11881 0.00 2.42 0.00 0.000 6 0.000 0.054 3018 2172 1923

12193 1.33 171.7 185.4 11.1 583 12198 0.15 2.45 0.00 0.000 4 0.090 0.061 2985 3514 1923

12221 1.33 171.7 182.4 10.5 584 12225 0.00 2.42 0.00 0.000 6 0.000 0.052 2985 2170 1924

12537 1.37 171.7 153.3 9.5 599 12541 0.00 2.45 0.00 0.000 4 0.000 0.060 2985 3517 1924

12564 1.41 171.7 150.4 10.5 600 12569 0.10 2.40 0.00 0.000 6 0.058 0.051 3014 2184 1924

12882 1.37 171.7 115.8 11.4 615 12883 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2184 1924

13191 1.37 171.7 82.3 10.2 630 13192 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2184 1924

13499 1.37 171.7 50.7 10.0 645 13504 0.00 2.40 0.00 0.000 4 0.000 0.058 3015 3510 1925

13555 1.37 171.7 44.8 10.1 647 13561 0.00 2.35 0.00 0.000 6 0.000 0.050 3014 2191 1925

13871 1.37 171.7 15.2 9.6 663 13876 0.00 2.70 0.00 0.000 4 0.000 0.061 3014 679 1925

13889 1.37 171.7 13.3 9.5 664 13894 0.00 2.75 0.00 0.000 6 0.000 0.050 3014 2229 1925

14008 end climb: SURFACE_DEPTH_REACHED

state 14008 begin surface coast

14030 end surface coast: CONTROL_FINISHED_OK

state 14030 begin surface

ID	5	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	251	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	52	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-7	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	547.01898	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	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	39	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	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	-81312.625	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	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	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	101308,6236.283,-1027.058,25,1.4,25,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.204,0.087
_SM_DEPTHo	0.70	KALMAN_X	-86934.6,1401.6,1920.8,106505.2,-19059.8
_SM_ANGLEo	-53.3	KALMAN_Y	-29204.7,-295.1,710.3,78852.8,-295.1
GPS2	101851,6236.308,-1027.036,14,1.4,14,-10.4	MHEAD_RNG_PITCHd_Wd	77.2,47168,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026332	ALTIM_BOTTOM_PING	550.3,12.9
SM_CCo	14054,224.07,0.772,0,0,390,547.02	_24V_AH	23.8,48.155
SM_GC	0.56,0.00,0.00,224.07,0.000,0.000,0.772,421,2136,390,-10.48,-0.40,547.02	_10V_AH	10.1,23.428
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34834,671
TT8_MAMPS	0.029146	CAP_FILE_SIZE	118586,0
HUMID	1686	CFSIZE	254472192,235311104
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
XPDR_PINGS	385	GPS	010808,141901,6236.364,-1027.548,41,1.4,41,-10.4
ALTIM_TOP_PING	19.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	80.94	SBE_CT	459	24	262.58
Roll_motor	153	75	276.86	SBE_O2	495	19	224.10
VBD_pump_during_apogee	246	1217	7130.25	WL_BB2F	435	105	1089.14
VBD_pump_during_surface	224	772	4119.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	37	160	141.51	nil	0	0	0.00
Iridium_during_xfer	144	223	768.08
Transponder_ping	101	420	1009.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.18
TT8	1314	19	262.82
LPSleep	10477	2	231.75
TT8_Active	664	19	132.90
TT8_Sampling	1657	39	666.12
TT8_CF8	508	45	235.28
TT8_Kalman	33	81	27.55
Analog_circuits	1505	12	182.49
GPS_charging	0	0	0.00
Compass	1619	8	130.82
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	139	0.00	0.00	-109.75	0.000	6	0.000	0.000	418	2124	3099
143	-1.30	-117.3	2.3	-1.8	5	156	10.30	0.00	0.00	0.000	6	0.136	0.000	2407	2113	3098
475	-0.98	-117.3	51.8	-14.0	21	480	0.35	2.47	0.00	0.000	4	0.094	0.057	2483	758	3097
561	-0.86	-117.3	61.9	-11.7	25	566	0.12	2.50	0.00	0.000	6	0.099	0.048	2509	2162	3098
889	-0.86	-117.3	90.0	-7.1	41	893	0.00	2.55	0.00	0.000	4	0.000	0.059	2509	759	3098
979	-0.86	-117.3	97.0	-7.4	45	983	0.00	2.47	0.00	0.000	6	0.000	0.049	2509	2149	3098
1301	-0.86	-117.3	121.1	-7.7	61	1305	0.00	2.53	0.00	0.000	4	0.000	0.059	2509	3563	3098
1558	-0.86	-117.3	143.1	-8.2	72	1564	0.00	2.42	0.00	0.000	6	0.000	0.048	2509	2188	3098
1874	-0.86	-117.3	166.5	-7.3	88	1878	0.00	2.58	0.00	0.000	4	0.000	0.061	2509	756	3098
2132	-0.86	-117.3	184.6	-6.1	99	2137	0.00	2.60	0.00	0.000	6	0.000	0.051	2509	2207	3098
2449	-0.86	-117.3	200.7	-5.1	115	2453	0.00	2.65	0.00	0.000	4	0.000	0.061	2509	753	3098
2684	-0.86	-117.3	214.7	-6.5	125	2690	0.00	2.60	0.00	0.000	6	0.000	0.051	2509	2207	3098
3001	-0.86	-117.3	235.0	-6.9	141	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2206	3097
3309	-0.86	-117.3	258.6	-8.0	156	3314	0.00	2.65	0.00	0.000	4	0.000	0.061	2509	746	3097
3421	-0.86	-117.3	268.2	-8.7	161	3426	0.00	2.60	0.00	0.000	6	0.000	0.051	2509	2201	3097
3743	-0.86	-117.3	294.0	-7.9	177	3747	0.00	2.65	0.00	0.000	4	0.000	0.061	2509	749	3097
3822	-0.86	-117.3	300.3	-7.8	180	3828	0.00	2.58	0.00	0.000	6	0.000	0.051	2509	2187	3097
4139	-0.86	-117.3	324.0	-7.6	196	4143	0.00	2.62	0.00	0.000	4	0.000	0.061	2509	749	3096
4241	-0.86	-117.3	332.3	-8.4	200	4247	0.00	2.55	0.00	0.000	6	0.000	0.052	2509	2172	3096
4557	-0.86	-117.3	356.9	-7.7	216	4558	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2169	3096
4867	-0.86	-117.3	380.8	-7.9	231	4871	0.00	2.58	0.00	0.000	4	0.000	0.064	2509	757	3095
4917	-0.86	-117.3	385.2	-8.5	233	4921	0.00	2.53	0.00	0.000	6	0.000	0.053	2509	2165	3095
5233	-0.86	-117.3	407.1	-6.7	248	5234	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2165	3095
5542	-0.86	-117.3	427.8	-6.5	263	5546	0.00	2.58	0.00	0.000	4	0.000	0.064	2509	757	3095
5672	-0.86	-117.3	436.7	-6.9	269	5676	0.00	2.50	0.00	0.000	6	0.000	0.054	2509	2159	3095
5999	-0.86	-117.3	457.6	-6.1	285	6003	0.00	2.53	0.00	0.000	4	0.000	0.067	2509	3555	3094
6039	-0.86	-117.3	460.1	-6.4	287	6043	0.00	2.47	0.00	0.000	6	0.000	0.053	2509	2170	3094
6366	-0.86	-117.3	478.9	-5.6	303	6367	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2151	3093
6675	-0.86	-117.3	496.7	-5.9	318	6679	0.00	2.55	0.00	0.000	4	0.000	0.067	2509	747	3093
6737	-0.86	-117.3	500.4	-6.0	321	6742	0.00	2.55	0.00	0.000	6	0.000	0.058	2509	2152	3093
7065	-0.86	-117.3	518.8	-5.4	337	7070	0.00	2.60	0.00	0.000	4	0.000	0.071	2509	742	3092
7236	-0.86	-117.3	528.8	-6.1	344	7242	0.00	2.53	0.00	0.000	6	0.000	0.061	2509	2122	3092
7553	-0.86	-117.3	547.9	-5.9	360	7557	0.00	2.65	0.00	0.000	4	0.000	0.076	2509	3556	3091
7590	-0.86	-117.3	550.3	-8.0	361	7596	0.00	2.62	0.00	0.000	6	0.000	0.064	2509	2119	3091
7655	end dive: BOTTOM_OBSTACLE_DETECTED
state	7656	begin apogee
7662	-0.33	0.0	554.3	5.5	365	7764	0.55	0.00	98.53	1.217	6	0.087	0.000	2623	2104	2620
7764	end apogee: CONTROL_FINISHED_OK
state	7765	begin climb
7768	1.30	117.3	557.4	0.0	370	7874	1.65	2.67	97.82	1.182	4	0.071	0.073	2977	3511	2141
7964	1.30	117.3	543.1	9.6	379	7968	0.00	2.62	0.00	0.000	6	0.000	0.062	2977	2099	2140
8285	1.30	117.3	515.6	8.6	395	8289	0.00	2.65	0.00	0.000	4	0.000	0.074	2977	3505	2139
8307	1.30	117.3	513.6	8.5	396	8311	0.00	2.60	0.00	0.000	6	0.000	0.063	2978	2099	2139
8627	1.30	117.3	486.6	8.1	412	8632	0.00	2.65	0.00	0.000	4	0.000	0.074	2977	3512	2138
8672	1.30	117.3	482.5	9.1	414	8676	0.00	2.60	0.00	0.000	6	0.000	0.061	2977	2103	2138
8994	1.33	131.9	457.6	7.3	430	9016	0.00	2.70	12.98	1.084	4	0.000	0.071	2977	3501	2082
9055	1.33	131.9	452.6	8.4	432	9061	0.00	2.55	0.00	0.000	6	0.000	0.062	2977	2119	2081
9372	1.37	159.1	431.0	6.8	448	9402	0.00	2.65	23.95	1.124	4	0.000	0.068	2977	3506	1971
9415	1.38	164.7	427.7	7.7	450	9431	0.10	2.58	6.30	0.914	6	0.061	0.058	3005	2113	1948
9741	1.33	164.7	399.8	8.7	466	9745	0.00	2.60	0.00	0.000	4	0.000	0.067	3005	3511	1947
9797	1.29	164.7	394.7	9.1	468	9804	0.12	2.55	0.00	0.000	6	0.101	0.057	2981	2117	1947
10113	1.30	171.2	371.1	7.7	484	10127	0.00	2.65	6.55	0.917	4	0.000	0.065	2981	3507	1922
10144	1.30	171.2	368.4	9.1	485	10148	0.00	2.53	0.00	0.000	6	0.000	0.057	2981	2132	1922
10461	1.34	171.2	341.9	8.8	500	10465	0.00	2.55	0.00	0.000	4	0.000	0.065	2981	3508	1922
10482	1.34	171.2	339.8	9.1	501	10486	0.00	2.50	0.00	0.000	6	0.000	0.056	2981	2133	1921
10804	1.38	171.6	313.4	8.0	517	10808	0.00	2.53	0.00	0.000	4	0.000	0.063	2981	3511	1921
10838	1.42	171.6	310.4	8.8	518	10844	0.12	2.47	0.00	0.000	6	0.054	0.055	3016	2145	1922
11154	1.36	171.6	279.2	10.2	534	11158	0.00	2.50	0.00	0.000	4	0.000	0.062	3016	3509	1922
11188	1.30	171.6	275.5	11.1	535	11195	0.17	2.45	0.00	0.000	6	0.091	0.054	2982	2155	1922
11505	1.34	171.7	249.1	8.0	551	11509	0.00	2.47	0.00	0.000	4	0.000	0.062	2982	3508	1922
11532	1.39	171.7	246.6	8.8	552	11536	0.00	2.45	0.00	0.000	6	0.000	0.054	2982	2158	1922
11849	1.44	171.7	221.9	8.2	567	11854	0.12	2.47	0.00	0.000	4	0.051	0.061	3019	3514	1923
11877	1.39	171.7	218.8	11.3	568	11881	0.00	2.42	0.00	0.000	6	0.000	0.054	3018	2172	1923
12193	1.33	171.7	185.4	11.1	583	12198	0.15	2.45	0.00	0.000	4	0.090	0.061	2985	3514	1923
12221	1.33	171.7	182.4	10.5	584	12225	0.00	2.42	0.00	0.000	6	0.000	0.052	2985	2170	1924
12537	1.37	171.7	153.3	9.5	599	12541	0.00	2.45	0.00	0.000	4	0.000	0.060	2985	3517	1924
12564	1.41	171.7	150.4	10.5	600	12569	0.10	2.40	0.00	0.000	6	0.058	0.051	3014	2184	1924
12882	1.37	171.7	115.8	11.4	615	12883	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2184	1924
13191	1.37	171.7	82.3	10.2	630	13192	0.00	0.00	0.00	0.000	6	0.000	0.000	3014	2184	1924
13499	1.37	171.7	50.7	10.0	645	13504	0.00	2.40	0.00	0.000	4	0.000	0.058	3015	3510	1925
13555	1.37	171.7	44.8	10.1	647	13561	0.00	2.35	0.00	0.000	6	0.000	0.050	3014	2191	1925
13871	1.37	171.7	15.2	9.6	663	13876	0.00	2.70	0.00	0.000	4	0.000	0.061	3014	679	1925
13889	1.37	171.7	13.3	9.5	664	13894	0.00	2.75	0.00	0.000	6	0.000	0.050	3014	2229	1925
14008	end climb: SURFACE_DEPTH_REACHED
state	14008	begin surface coast
14030	end surface coast: CONTROL_FINISHED_OK
state	14030	begin surface