Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 259 * 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 259 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 36 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 -81470.883 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 2730 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 -81470.883

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 2730 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 36 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 259 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 183138,6242.313,-1032.361,33,1.1,33,-10.5 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.197,-0.102

_SM_DEPTHo 0.64 KALMAN_X -120045.2,2352.6,825.7,135056.5,-22431.2

_SM_ANGLEo -49.5 KALMAN_Y -31740.4,187.1,406.1,92428.4,-2949.9

GPS2 183657,6242.341,-1032.515,14,1.4,14,-10.5 MHEAD_RNG_PITCHd_Wd 127.8,46616,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.018076 ALTIM_BOTTOM_PING 450.7,97.1

SM_CCo 13471,154.77,0.792,0,0,390,547.02 _24V_AH 23.8,49.425

SM_GC 0.49,0.00,0.00,154.77,0.000,0.000,0.792,418,2127,390,-10.64,-0.65,547.02 _10V_AH 10.1,23.982

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31726,644

TT8_MAMPS 0.029146 CAP_FILE_SIZE 109657,0

HUMID 1698 CFSIZE 254472192,234881024

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

XPDR_PINGS 333 GPS 020808,222608,6244.005,-1028.646,34,1.2,34,-10.5

ALTIM_TOP_PING 19.5,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 140 85.27 SBE_CT 440 24 251.71

Roll_motor 148 104 367.93 SBE_O2 477 19 215.91

VBD_pump_during_apogee 337 1205 9695.74 WL_BB2F 451 105 1127.79

VBD_pump_during_surface 154 792 2918.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 95.59 nil 0 0 0.00

Iridium_during_connect 27 160 104.65 nil 0 0 0.00

Iridium_during_xfer 131 223 697.13

Transponder_ping 87 420 869.65

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.45

TT8 1232 19 246.41

LPSleep 10135 2 224.18

TT8_Active 664 19 132.91

TT8_Sampling 1438 39 578.08

TT8_CF8 477 45 220.95

TT8_Kalman 33 81 27.56

Analog_circuits 1416 12 171.72

GPS_charging 0 0 0.00

Compass 1407 8 113.70

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 0 141 0.00 0.00 -111.28 0.000 6 0.000 0.000 418 2132 3099

145 -1.30 -117.3 2.2 -1.7 5 161 10.55 2.45 0.00 0.000 4 0.140 0.050 2440 754 3098

342 -1.05 -117.3 33.5 -11.6 13 347 0.30 2.50 0.00 0.000 6 0.095 0.046 2502 2156 3097

670 -0.99 -117.3 57.4 -5.8 29 674 0.00 2.53 0.00 0.000 4 0.000 0.053 2502 745 3098

783 -0.93 -117.3 65.5 -7.6 34 788 0.12 2.47 0.00 0.000 6 0.095 0.047 2526 2134 3098

1106 -0.93 -117.3 84.8 -5.4 50 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2135 3099

1414 -0.93 -117.3 101.4 -5.7 65 1416 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2135 3098

1723 -0.93 -117.3 120.9 -6.9 80 1727 0.00 2.55 0.00 0.000 4 0.000 0.058 2527 3563 3099

1751 -0.93 -117.3 122.9 -7.2 81 1756 0.00 2.53 0.00 0.000 6 0.000 0.045 2527 2142 3099

2069 -0.97 -117.3 145.1 -6.9 96 2073 0.00 2.58 0.00 0.000 4 0.000 0.059 2527 3556 3099

2079 -0.97 -117.3 146.2 -7.1 96 2086 0.00 2.50 0.00 0.000 6 0.000 0.045 2527 2144 3099

2396 -1.02 -117.3 170.1 -7.8 112 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2142 3099

2706 -1.06 -117.3 194.8 -7.7 127 2711 0.15 2.55 0.00 0.000 4 0.051 0.059 2479 3556 3098

2723 -1.06 -117.3 196.4 -8.2 128 2727 0.00 2.53 0.00 0.000 6 0.000 0.048 2479 2133 3098

3051 -0.97 -117.3 225.2 -8.4 144 3056 0.15 2.60 0.00 0.000 4 0.093 0.060 2514 3562 3098

3069 -0.91 -117.3 226.7 -8.2 145 3073 0.00 2.53 0.00 0.000 6 0.000 0.048 2515 2140 3098

3396 -0.91 -117.3 249.0 -6.4 161 3400 0.00 2.55 0.00 0.000 4 0.000 0.061 2514 3556 3098

3414 -0.91 -117.3 250.2 -6.9 162 3419 0.00 2.50 0.00 0.000 6 0.000 0.048 2514 2147 3098

3742 -0.91 -117.3 272.6 -7.2 178 3746 0.00 2.58 0.00 0.000 4 0.000 0.063 2514 3556 3097

3764 -0.91 -117.3 274.4 -7.4 179 3768 0.00 2.53 0.00 0.000 6 0.000 0.050 2514 2144 3097

4085 -0.91 -117.3 299.3 -8.1 195 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2144 3097

4394 -0.91 -117.3 324.9 -8.4 210 4395 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2144 3097

4703 -0.91 -117.3 349.9 -7.7 225 4705 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2145 3096

5013 -0.91 -117.3 371.5 -6.4 240 5018 0.00 2.50 0.00 0.000 4 0.000 0.061 2514 744 3096

5070 -0.91 -117.3 375.1 -6.4 242 5076 0.00 2.53 0.00 0.000 6 0.000 0.053 2514 2152 3096

5386 -0.91 -117.3 391.5 -4.8 258 5391 0.00 2.55 0.00 0.000 4 0.000 0.063 2515 747 3096

5405 -0.91 -117.3 392.6 -5.3 259 5409 0.00 2.53 0.00 0.000 6 0.000 0.054 2514 2152 3096

5731 -0.91 -117.3 412.5 -7.1 275 5736 0.00 2.55 0.00 0.000 4 0.000 0.066 2514 3564 3095

5743 -0.91 -117.3 413.4 -7.1 275 5749 0.00 2.55 0.00 0.000 6 0.000 0.054 2514 2146 3095

6060 -0.91 -117.3 436.1 -7.1 291 6064 0.00 2.62 0.00 0.000 4 0.000 0.067 2515 3563 3095

6093 -0.91 -117.3 438.8 -7.6 292 6099 0.00 2.55 0.00 0.000 6 0.000 0.054 2515 2146 3095

6409 -0.91 -117.3 456.3 -4.2 308 6413 0.00 2.53 0.00 0.000 4 0.000 0.066 2515 739 3095

6442 -0.91 -117.3 457.5 -4.1 309 6448 0.00 2.53 0.00 0.000 6 0.000 0.057 2514 2133 3094

6759 -0.91 -117.3 468.6 -3.7 325 6763 0.00 2.55 0.00 0.000 4 0.000 0.065 2515 737 3094

6777 -0.91 -117.3 469.4 -4.3 326 6781 0.00 2.55 0.00 0.000 6 0.000 0.058 2514 2147 3094

7104 -0.91 -117.3 488.9 -5.3 342 7109 0.00 2.58 0.00 0.000 4 0.000 0.071 2515 3557 3093

7167 -0.91 -117.3 492.8 -6.8 345 7171 0.00 2.53 0.00 0.000 6 0.000 0.058 2514 2157 3093

7495 -0.91 -117.3 514.6 -7.9 361 7496 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2140 3093

7804 -0.91 -117.3 534.5 -6.4 376 7808 0.00 2.60 0.00 0.000 4 0.000 0.073 2515 3553 3091

7845 end dive: BOTTOM_OBSTACLE_DETECTED

state 7846 begin apogee

7855 -0.33 0.0 538.1 7.8 378 7957 0.65 0.00 98.28 1.206 6 0.086 0.000 2651 2083 2620

7957 end apogee: CONTROL_FINISHED_OK

state 7957 begin climb

7961 1.30 117.3 540.8 0.0 383 8064 1.65 0.00 97.75 1.176 6 0.067 0.000 3011 2083 2141

8375 1.22 117.3 502.2 10.3 403 8379 0.00 2.65 0.00 0.000 4 0.000 0.072 3010 3507 2139

8476 1.10 117.3 491.8 10.5 407 8483 0.20 2.60 0.00 0.000 6 0.094 0.061 2974 2101 2138

8792 1.14 142.4 466.8 6.9 423 8819 0.00 2.72 21.90 1.120 4 0.000 0.072 2974 3508 2038

8928 1.21 186.2 457.8 6.0 429 8973 0.00 2.55 37.35 1.138 6 0.000 0.060 2974 2127 1860

9298 1.45 286.4 442.2 3.4 447 9389 0.32 2.70 82.60 1.145 4 0.047 0.071 3049 3505 1451

9412 1.35 286.4 433.2 9.2 452 9419 0.15 2.55 0.00 0.000 6 0.097 0.061 3022 2142 1452

9728 1.35 286.4 400.6 11.5 468 9730 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2130 1453

10037 1.35 286.4 361.6 13.2 483 10041 0.00 2.55 0.00 0.000 4 0.000 0.067 3022 3510 1452

10087 1.35 286.4 354.7 14.4 485 10092 0.00 2.47 0.00 0.000 6 0.000 0.055 3022 2154 1453

10403 1.35 286.4 315.9 10.5 500 10407 0.00 2.67 0.00 0.000 4 0.000 0.066 3022 679 1453

10436 1.35 286.4 312.2 10.8 501 10442 0.00 2.70 0.00 0.000 6 0.000 0.057 3022 2165 1453

10752 1.35 286.4 281.0 9.4 517 10756 0.00 2.45 0.00 0.000 4 0.000 0.065 3023 3512 1454

10808 1.35 286.4 275.3 9.7 519 10813 0.00 2.45 0.00 0.000 6 0.000 0.052 3022 2159 1454

11124 1.35 286.4 245.5 10.0 534 11128 0.00 2.65 0.00 0.000 4 0.000 0.064 3022 686 1453

11151 1.35 286.4 242.3 10.9 535 11156 0.00 2.67 0.00 0.000 6 0.000 0.054 3022 2170 1454

11467 1.35 286.4 209.2 10.7 550 11471 0.00 2.42 0.00 0.000 4 0.000 0.062 3022 3515 1454

11512 1.35 286.4 203.9 11.5 552 11516 0.00 2.42 0.00 0.000 6 0.000 0.050 3022 2168 1454

11832 1.35 286.4 169.0 10.5 568 11837 0.00 2.65 0.00 0.000 4 0.000 0.062 3022 690 1455

11866 1.35 286.4 165.1 10.9 569 11872 0.00 2.67 0.00 0.000 6 0.000 0.053 3022 2178 1455

12183 1.35 286.4 134.7 9.6 585 12187 0.00 2.40 0.00 0.000 4 0.000 0.061 3022 3514 1455

12210 1.35 286.4 131.9 9.9 586 12214 0.00 2.42 0.00 0.000 6 0.000 0.049 3022 2164 1455

12529 1.35 286.4 102.7 9.8 601 12533 0.00 2.65 0.00 0.000 4 0.000 0.061 3022 679 1456

12578 1.35 286.4 97.1 10.7 603 12582 0.00 2.65 0.00 0.000 6 0.000 0.051 3022 2163 1455

12896 1.35 286.4 64.1 10.4 618 12900 0.00 2.42 0.00 0.000 4 0.000 0.059 3022 3515 1456

12946 1.35 286.4 58.5 10.8 620 12951 0.00 2.45 0.00 0.000 6 0.000 0.048 3022 2147 1456

13264 1.40 286.4 22.7 10.3 635 13269 0.00 2.60 0.00 0.000 4 0.000 0.061 3023 692 1456

13298 1.40 286.4 17.9 13.4 636 13304 0.00 2.62 0.00 0.000 6 0.000 0.050 3022 2169 1456

13427 end climb: SURFACE_DEPTH_REACHED

state 13427 begin surface coast

13447 end surface coast: CONTROL_FINISHED_OK

state 13447 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	259	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	36	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	-81470.883	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	2730	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	183138,6242.313,-1032.361,33,1.1,33,-10.5	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.197,-0.102
_SM_DEPTHo	0.64	KALMAN_X	-120045.2,2352.6,825.7,135056.5,-22431.2
_SM_ANGLEo	-49.5	KALMAN_Y	-31740.4,187.1,406.1,92428.4,-2949.9
GPS2	183657,6242.341,-1032.515,14,1.4,14,-10.5	MHEAD_RNG_PITCHd_Wd	127.8,46616,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.1,1.018076	ALTIM_BOTTOM_PING	450.7,97.1
SM_CCo	13471,154.77,0.792,0,0,390,547.02	_24V_AH	23.8,49.425
SM_GC	0.49,0.00,0.00,154.77,0.000,0.000,0.792,418,2127,390,-10.64,-0.65,547.02	_10V_AH	10.1,23.982
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31726,644
TT8_MAMPS	0.029146	CAP_FILE_SIZE	109657,0
HUMID	1698	CFSIZE	254472192,234881024
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
XPDR_PINGS	333	GPS	020808,222608,6244.005,-1028.646,34,1.2,34,-10.5
ALTIM_TOP_PING	19.5,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	140	85.27	SBE_CT	440	24	251.71
Roll_motor	148	104	367.93	SBE_O2	477	19	215.91
VBD_pump_during_apogee	337	1205	9695.74	WL_BB2F	451	105	1127.79
VBD_pump_during_surface	154	792	2918.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	95.59	nil	0	0	0.00
Iridium_during_connect	27	160	104.65	nil	0	0	0.00
Iridium_during_xfer	131	223	697.13
Transponder_ping	87	420	869.65
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.45
TT8	1232	19	246.41
LPSleep	10135	2	224.18
TT8_Active	664	19	132.91
TT8_Sampling	1438	39	578.08
TT8_CF8	477	45	220.95
TT8_Kalman	33	81	27.56
Analog_circuits	1416	12	171.72
GPS_charging	0	0	0.00
Compass	1407	8	113.70
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	141	0.00	0.00	-111.28	0.000	6	0.000	0.000	418	2132	3099
145	-1.30	-117.3	2.2	-1.7	5	161	10.55	2.45	0.00	0.000	4	0.140	0.050	2440	754	3098
342	-1.05	-117.3	33.5	-11.6	13	347	0.30	2.50	0.00	0.000	6	0.095	0.046	2502	2156	3097
670	-0.99	-117.3	57.4	-5.8	29	674	0.00	2.53	0.00	0.000	4	0.000	0.053	2502	745	3098
783	-0.93	-117.3	65.5	-7.6	34	788	0.12	2.47	0.00	0.000	6	0.095	0.047	2526	2134	3098
1106	-0.93	-117.3	84.8	-5.4	50	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2135	3099
1414	-0.93	-117.3	101.4	-5.7	65	1416	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2135	3098
1723	-0.93	-117.3	120.9	-6.9	80	1727	0.00	2.55	0.00	0.000	4	0.000	0.058	2527	3563	3099
1751	-0.93	-117.3	122.9	-7.2	81	1756	0.00	2.53	0.00	0.000	6	0.000	0.045	2527	2142	3099
2069	-0.97	-117.3	145.1	-6.9	96	2073	0.00	2.58	0.00	0.000	4	0.000	0.059	2527	3556	3099
2079	-0.97	-117.3	146.2	-7.1	96	2086	0.00	2.50	0.00	0.000	6	0.000	0.045	2527	2144	3099
2396	-1.02	-117.3	170.1	-7.8	112	2397	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2142	3099
2706	-1.06	-117.3	194.8	-7.7	127	2711	0.15	2.55	0.00	0.000	4	0.051	0.059	2479	3556	3098
2723	-1.06	-117.3	196.4	-8.2	128	2727	0.00	2.53	0.00	0.000	6	0.000	0.048	2479	2133	3098
3051	-0.97	-117.3	225.2	-8.4	144	3056	0.15	2.60	0.00	0.000	4	0.093	0.060	2514	3562	3098
3069	-0.91	-117.3	226.7	-8.2	145	3073	0.00	2.53	0.00	0.000	6	0.000	0.048	2515	2140	3098
3396	-0.91	-117.3	249.0	-6.4	161	3400	0.00	2.55	0.00	0.000	4	0.000	0.061	2514	3556	3098
3414	-0.91	-117.3	250.2	-6.9	162	3419	0.00	2.50	0.00	0.000	6	0.000	0.048	2514	2147	3098
3742	-0.91	-117.3	272.6	-7.2	178	3746	0.00	2.58	0.00	0.000	4	0.000	0.063	2514	3556	3097
3764	-0.91	-117.3	274.4	-7.4	179	3768	0.00	2.53	0.00	0.000	6	0.000	0.050	2514	2144	3097
4085	-0.91	-117.3	299.3	-8.1	195	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2144	3097
4394	-0.91	-117.3	324.9	-8.4	210	4395	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2144	3097
4703	-0.91	-117.3	349.9	-7.7	225	4705	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2145	3096
5013	-0.91	-117.3	371.5	-6.4	240	5018	0.00	2.50	0.00	0.000	4	0.000	0.061	2514	744	3096
5070	-0.91	-117.3	375.1	-6.4	242	5076	0.00	2.53	0.00	0.000	6	0.000	0.053	2514	2152	3096
5386	-0.91	-117.3	391.5	-4.8	258	5391	0.00	2.55	0.00	0.000	4	0.000	0.063	2515	747	3096
5405	-0.91	-117.3	392.6	-5.3	259	5409	0.00	2.53	0.00	0.000	6	0.000	0.054	2514	2152	3096
5731	-0.91	-117.3	412.5	-7.1	275	5736	0.00	2.55	0.00	0.000	4	0.000	0.066	2514	3564	3095
5743	-0.91	-117.3	413.4	-7.1	275	5749	0.00	2.55	0.00	0.000	6	0.000	0.054	2514	2146	3095
6060	-0.91	-117.3	436.1	-7.1	291	6064	0.00	2.62	0.00	0.000	4	0.000	0.067	2515	3563	3095
6093	-0.91	-117.3	438.8	-7.6	292	6099	0.00	2.55	0.00	0.000	6	0.000	0.054	2515	2146	3095
6409	-0.91	-117.3	456.3	-4.2	308	6413	0.00	2.53	0.00	0.000	4	0.000	0.066	2515	739	3095
6442	-0.91	-117.3	457.5	-4.1	309	6448	0.00	2.53	0.00	0.000	6	0.000	0.057	2514	2133	3094
6759	-0.91	-117.3	468.6	-3.7	325	6763	0.00	2.55	0.00	0.000	4	0.000	0.065	2515	737	3094
6777	-0.91	-117.3	469.4	-4.3	326	6781	0.00	2.55	0.00	0.000	6	0.000	0.058	2514	2147	3094
7104	-0.91	-117.3	488.9	-5.3	342	7109	0.00	2.58	0.00	0.000	4	0.000	0.071	2515	3557	3093
7167	-0.91	-117.3	492.8	-6.8	345	7171	0.00	2.53	0.00	0.000	6	0.000	0.058	2514	2157	3093
7495	-0.91	-117.3	514.6	-7.9	361	7496	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2140	3093
7804	-0.91	-117.3	534.5	-6.4	376	7808	0.00	2.60	0.00	0.000	4	0.000	0.073	2515	3553	3091
7845	end dive: BOTTOM_OBSTACLE_DETECTED
state	7846	begin apogee
7855	-0.33	0.0	538.1	7.8	378	7957	0.65	0.00	98.28	1.206	6	0.086	0.000	2651	2083	2620
7957	end apogee: CONTROL_FINISHED_OK
state	7957	begin climb
7961	1.30	117.3	540.8	0.0	383	8064	1.65	0.00	97.75	1.176	6	0.067	0.000	3011	2083	2141
8375	1.22	117.3	502.2	10.3	403	8379	0.00	2.65	0.00	0.000	4	0.000	0.072	3010	3507	2139
8476	1.10	117.3	491.8	10.5	407	8483	0.20	2.60	0.00	0.000	6	0.094	0.061	2974	2101	2138
8792	1.14	142.4	466.8	6.9	423	8819	0.00	2.72	21.90	1.120	4	0.000	0.072	2974	3508	2038
8928	1.21	186.2	457.8	6.0	429	8973	0.00	2.55	37.35	1.138	6	0.000	0.060	2974	2127	1860
9298	1.45	286.4	442.2	3.4	447	9389	0.32	2.70	82.60	1.145	4	0.047	0.071	3049	3505	1451
9412	1.35	286.4	433.2	9.2	452	9419	0.15	2.55	0.00	0.000	6	0.097	0.061	3022	2142	1452
9728	1.35	286.4	400.6	11.5	468	9730	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2130	1453
10037	1.35	286.4	361.6	13.2	483	10041	0.00	2.55	0.00	0.000	4	0.000	0.067	3022	3510	1452
10087	1.35	286.4	354.7	14.4	485	10092	0.00	2.47	0.00	0.000	6	0.000	0.055	3022	2154	1453
10403	1.35	286.4	315.9	10.5	500	10407	0.00	2.67	0.00	0.000	4	0.000	0.066	3022	679	1453
10436	1.35	286.4	312.2	10.8	501	10442	0.00	2.70	0.00	0.000	6	0.000	0.057	3022	2165	1453
10752	1.35	286.4	281.0	9.4	517	10756	0.00	2.45	0.00	0.000	4	0.000	0.065	3023	3512	1454
10808	1.35	286.4	275.3	9.7	519	10813	0.00	2.45	0.00	0.000	6	0.000	0.052	3022	2159	1454
11124	1.35	286.4	245.5	10.0	534	11128	0.00	2.65	0.00	0.000	4	0.000	0.064	3022	686	1453
11151	1.35	286.4	242.3	10.9	535	11156	0.00	2.67	0.00	0.000	6	0.000	0.054	3022	2170	1454
11467	1.35	286.4	209.2	10.7	550	11471	0.00	2.42	0.00	0.000	4	0.000	0.062	3022	3515	1454
11512	1.35	286.4	203.9	11.5	552	11516	0.00	2.42	0.00	0.000	6	0.000	0.050	3022	2168	1454
11832	1.35	286.4	169.0	10.5	568	11837	0.00	2.65	0.00	0.000	4	0.000	0.062	3022	690	1455
11866	1.35	286.4	165.1	10.9	569	11872	0.00	2.67	0.00	0.000	6	0.000	0.053	3022	2178	1455
12183	1.35	286.4	134.7	9.6	585	12187	0.00	2.40	0.00	0.000	4	0.000	0.061	3022	3514	1455
12210	1.35	286.4	131.9	9.9	586	12214	0.00	2.42	0.00	0.000	6	0.000	0.049	3022	2164	1455
12529	1.35	286.4	102.7	9.8	601	12533	0.00	2.65	0.00	0.000	4	0.000	0.061	3022	679	1456
12578	1.35	286.4	97.1	10.7	603	12582	0.00	2.65	0.00	0.000	6	0.000	0.051	3022	2163	1455
12896	1.35	286.4	64.1	10.4	618	12900	0.00	2.42	0.00	0.000	4	0.000	0.059	3022	3515	1456
12946	1.35	286.4	58.5	10.8	620	12951	0.00	2.45	0.00	0.000	6	0.000	0.048	3022	2147	1456
13264	1.40	286.4	22.7	10.3	635	13269	0.00	2.60	0.00	0.000	4	0.000	0.061	3023	692	1456
13298	1.40	286.4	17.9	13.4	636	13304	0.00	2.62	0.00	0.000	6	0.000	0.050	3022	2169	1456
13427	end climb: SURFACE_DEPTH_REACHED
state	13427	begin surface coast
13447	end surface coast: CONTROL_FINISHED_OK
state	13447	begin surface