Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 267 * 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 267 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 24 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 -81636.227 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 -81636.227

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 24 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 267 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 010731,6245.171,-1012.718,42,1.3,42,-10.3 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.221,-0.017

_SM_DEPTHo 0.62 KALMAN_X -127305.5,1085.7,844.5,160627.8,-9818.1

_SM_ANGLEo -52.8 KALMAN_Y -16738.8,-582.7,-1456.7,85222.5,11917.5

GPS2 011239,6245.130,-1012.760,12,1.4,12,-10.3 MHEAD_RNG_PITCHd_Wd 104.7,29133,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.015313 ALTIM_BOTTOM_PING 400.6,99.7

SM_CCo 12909,209.43,0.787,0,0,390,547.02 _24V_AH 23.8,50.646

SM_GC 0.60,0.00,0.00,209.43,0.000,0.000,0.787,420,2162,390,-10.63,0.00,547.02 _10V_AH 10.1,24.519

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31743,614

TT8_MAMPS 0.029146 CAP_FILE_SIZE 103693,0

HUMID 1700 CFSIZE 254472192,234463232

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

XPDR_PINGS 385 GPS 040808,045331,6242.863,-1012.268,42,1.0,42,-10.3

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 142 85.82 SBE_CT 420 24 240.00

Roll_motor 131 78 245.08 SBE_O2 452 19 204.78

VBD_pump_during_apogee 263 1159 7267.33 WL_BB2F 454 105 1136.06

VBD_pump_during_surface 209 786 3922.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.58 nil 0 0 0.00

Iridium_during_connect 27 160 104.59 nil 0 0 0.00

Iridium_during_xfer 125 223 667.05

Transponder_ping 99 420 994.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.18

TT8 1179 19 235.81

LPSleep 9745 2 215.56

TT8_Active 657 19 131.43

TT8_Sampling 1396 39 561.21

TT8_CF8 453 45 209.88

TT8_Kalman 33 81 27.56

Analog_circuits 1365 12 165.50

GPS_charging 0 0 0.00

Compass 1369 8 110.62

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 0 142 0.00 0.00 -111.88 0.000 6 0.000 0.000 421 2168 3099

146 -1.30 -117.3 2.2 -1.8 5 162 10.57 2.58 0.00 0.000 4 0.143 0.051 2439 737 3098

311 -1.06 -117.3 25.0 -12.7 11 316 0.30 2.53 0.00 0.000 6 0.095 0.047 2500 2158 3097

628 -1.00 -117.3 49.7 -6.8 26 632 0.00 2.50 0.00 0.000 4 0.000 0.057 2500 3558 3097

692 -0.93 -117.3 54.1 -6.8 29 697 0.12 2.45 0.00 0.000 6 0.097 0.042 2525 2164 3098

1019 -0.93 -117.3 74.2 -6.7 45 1023 0.00 2.53 0.00 0.000 4 0.000 0.055 2525 740 3098

1119 -0.93 -117.3 82.5 -8.6 49 1125 0.00 2.53 0.00 0.000 6 0.000 0.048 2525 2156 3098

1437 -0.93 -117.3 109.9 -8.4 65 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2156 3098

1745 -0.93 -117.3 127.6 -4.8 80 1749 0.00 2.55 0.00 0.000 4 0.000 0.058 2525 751 3098

1823 -0.93 -117.3 132.0 -5.6 83 1830 0.00 2.53 0.00 0.000 6 0.000 0.049 2525 2166 3098

2142 -0.93 -117.3 151.3 -6.9 99 2147 0.00 2.55 0.00 0.000 4 0.000 0.058 2525 750 3098

2215 -0.93 -117.3 156.9 -7.5 102 2220 0.00 2.47 0.00 0.000 6 0.000 0.050 2525 2147 3097

2532 -0.97 -117.3 178.6 -6.3 117 2537 0.00 2.55 0.00 0.000 4 0.000 0.059 2525 744 3097

2560 -0.97 -117.3 180.4 -6.2 118 2565 0.00 2.53 0.00 0.000 6 0.000 0.051 2525 2150 3097

2877 -0.97 -117.3 197.5 -4.7 133 2881 0.00 2.58 0.00 0.000 4 0.000 0.061 2525 741 3097

2911 -0.97 -117.3 199.3 -5.2 134 2917 0.00 2.53 0.00 0.000 6 0.000 0.052 2525 2145 3097

3227 -1.02 -117.3 215.6 -5.5 150 3232 0.00 2.53 0.00 0.000 4 0.000 0.060 2525 750 3097

3261 -1.02 -117.3 217.7 -6.0 151 3267 0.00 2.50 0.00 0.000 6 0.000 0.051 2525 2141 3097

3578 -1.06 -117.3 234.1 -5.8 167 3583 0.12 2.55 0.00 0.000 4 0.054 0.060 2488 744 3096

3668 -0.99 -117.3 240.8 -7.2 171 3673 0.12 2.50 0.00 0.000 6 0.100 0.052 2513 2134 3097

3990 -0.99 -117.3 261.0 -6.5 187 3994 0.00 2.55 0.00 0.000 4 0.000 0.062 2513 3557 3096

4001 -0.99 -117.3 261.7 -6.4 187 4007 0.00 2.53 0.00 0.000 6 0.000 0.050 2514 2131 3096

4317 -0.99 -117.3 282.1 -6.5 203 4321 0.00 2.60 0.00 0.000 4 0.000 0.063 2513 3556 3095

4328 -0.99 -117.3 282.8 -6.3 203 4334 0.00 2.55 0.00 0.000 6 0.000 0.050 2514 2124 3096

4644 -0.99 -117.3 303.0 -6.3 219 4645 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2124 3096

4953 -0.99 -117.3 323.4 -7.1 234 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2123 3095

5263 -0.99 -117.3 344.8 -7.0 249 5267 0.00 2.45 0.00 0.000 4 0.000 0.063 2513 747 3095

5302 -0.99 -117.3 347.8 -7.5 250 5308 0.00 2.47 0.00 0.000 6 0.000 0.053 2514 2137 3095

5618 -0.99 -117.3 372.3 -8.4 266 5622 0.00 2.53 0.00 0.000 4 0.000 0.061 2514 744 3095

5758 -0.99 -117.3 385.5 -9.5 272 5762 0.00 2.47 0.00 0.000 6 0.000 0.054 2514 2122 3095

6074 -0.99 -117.3 412.7 -8.3 287 6078 0.00 2.60 0.00 0.000 4 0.000 0.066 2514 3558 3094

6130 -0.99 -117.3 417.0 -7.4 289 6136 0.00 2.55 0.00 0.000 6 0.000 0.053 2514 2135 3094

6446 -0.99 -117.3 434.5 -5.1 305 6450 0.00 2.60 0.00 0.000 4 0.000 0.066 2514 3560 3095

6456 -0.99 -117.3 435.0 -4.9 305 6463 0.00 2.55 0.00 0.000 6 0.000 0.053 2513 2136 3094

6774 -0.99 -117.3 449.7 -4.8 321 6778 0.00 2.62 0.00 0.000 4 0.000 0.067 2514 3555 3094

6836 -0.99 -117.3 453.3 -5.7 324 6840 0.00 2.50 0.00 0.000 6 0.000 0.053 2514 2158 3094

7163 -0.99 -117.3 474.5 -7.5 340 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2140 3094

7387 end dive: BOTTOM_OBSTACLE_DETECTED

state 7387 begin apogee

7395 -0.33 0.0 491.5 6.6 351 7496 0.68 0.00 97.70 1.160 6 0.084 0.000 2654 2075 2620

7496 end apogee: CONTROL_FINISHED_OK

state 7496 begin climb

7499 1.30 117.3 495.5 0.0 356 7604 1.67 2.70 97.18 1.131 4 0.067 0.068 3013 3504 2141

7633 1.19 117.3 486.7 11.5 362 7639 0.12 2.55 0.00 0.000 6 0.101 0.056 2991 2123 2140

7955 1.19 117.3 458.5 8.8 378 7956 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2112 2139

8264 1.22 135.0 433.3 7.2 393 8286 0.00 2.65 15.82 1.055 4 0.000 0.070 2991 3504 2068

8377 1.22 135.0 424.0 8.8 398 8382 0.00 2.55 0.00 0.000 6 0.000 0.058 2991 2116 2067

8704 1.22 135.0 395.9 8.6 414 8709 0.00 2.60 0.00 0.000 4 0.000 0.069 2991 3508 2066

8749 1.22 135.0 391.5 9.7 416 8753 0.00 2.50 0.00 0.000 6 0.000 0.057 2991 2144 2066

9070 1.22 135.0 358.1 11.7 432 9075 0.00 2.65 0.00 0.000 4 0.000 0.068 2992 690 2065

9098 1.22 135.0 354.5 13.0 433 9102 0.00 2.67 0.00 0.000 6 0.000 0.058 2991 2160 2065

9413 1.22 135.0 317.5 11.6 448 9415 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2160 2065

9724 1.22 135.0 281.9 11.0 463 9727 0.00 2.45 0.00 0.000 4 0.000 0.064 2992 3513 2064

9775 1.22 135.0 276.0 11.4 465 9779 0.00 2.45 0.00 0.000 6 0.000 0.052 2991 2155 2064

10096 1.22 135.0 245.0 8.7 481 10101 0.00 2.47 0.00 0.000 4 0.000 0.063 2992 3507 2064

10124 1.22 135.0 242.4 9.7 482 10128 0.00 2.40 0.00 0.000 6 0.000 0.050 2991 2171 2064

10440 1.26 159.1 219.3 6.9 497 10462 0.00 0.00 20.23 0.951 6 0.000 0.000 2991 2171 1970

10769 1.27 162.3 194.5 7.9 513 10778 0.00 2.47 4.22 0.660 4 0.000 0.061 2991 3507 1958

10818 1.27 162.3 190.1 8.8 515 10823 0.00 2.40 0.00 0.000 6 0.000 0.049 2991 2176 1958

11140 1.27 162.3 160.7 9.8 531 11141 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2176 1958

11450 1.27 162.3 130.6 9.8 546 11451 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2176 1958

11759 1.27 162.3 103.3 8.3 561 11763 0.00 2.42 0.00 0.000 4 0.000 0.061 2991 3507 1958

11786 1.27 162.3 101.1 8.4 562 11790 0.00 2.38 0.00 0.000 6 0.000 0.048 2992 2178 1959

12105 1.36 196.0 78.7 6.5 577 12140 0.15 2.75 28.15 0.857 4 0.048 0.059 3038 693 1820

12174 1.27 196.0 71.8 10.8 580 12180 0.17 2.65 0.00 0.000 6 0.088 0.051 3005 2171 1820

12497 1.27 196.0 39.7 11.2 596 12501 0.00 2.40 0.00 0.000 4 0.000 0.060 3005 3507 1819

12592 1.27 196.0 28.7 11.2 600 12596 0.00 2.38 0.00 0.000 6 0.000 0.047 3005 2175 1819

12864 end climb: SURFACE_DEPTH_REACHED

state 12865 begin surface coast

12886 end surface coast: CONTROL_FINISHED_OK

state 12886 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	267	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	24	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	-81636.227	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	010731,6245.171,-1012.718,42,1.3,42,-10.3	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.221,-0.017
_SM_DEPTHo	0.62	KALMAN_X	-127305.5,1085.7,844.5,160627.8,-9818.1
_SM_ANGLEo	-52.8	KALMAN_Y	-16738.8,-582.7,-1456.7,85222.5,11917.5
GPS2	011239,6245.130,-1012.760,12,1.4,12,-10.3	MHEAD_RNG_PITCHd_Wd	104.7,29133,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.0,1.015313	ALTIM_BOTTOM_PING	400.6,99.7
SM_CCo	12909,209.43,0.787,0,0,390,547.02	_24V_AH	23.8,50.646
SM_GC	0.60,0.00,0.00,209.43,0.000,0.000,0.787,420,2162,390,-10.63,0.00,547.02	_10V_AH	10.1,24.519
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31743,614
TT8_MAMPS	0.029146	CAP_FILE_SIZE	103693,0
HUMID	1700	CFSIZE	254472192,234463232
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
XPDR_PINGS	385	GPS	040808,045331,6242.863,-1012.268,42,1.0,42,-10.3
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	142	85.82	SBE_CT	420	24	240.00
Roll_motor	131	78	245.08	SBE_O2	452	19	204.78
VBD_pump_during_apogee	263	1159	7267.33	WL_BB2F	454	105	1136.06
VBD_pump_during_surface	209	786	3922.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.58	nil	0	0	0.00
Iridium_during_connect	27	160	104.59	nil	0	0	0.00
Iridium_during_xfer	125	223	667.05
Transponder_ping	99	420	994.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.18
TT8	1179	19	235.81
LPSleep	9745	2	215.56
TT8_Active	657	19	131.43
TT8_Sampling	1396	39	561.21
TT8_CF8	453	45	209.88
TT8_Kalman	33	81	27.56
Analog_circuits	1365	12	165.50
GPS_charging	0	0	0.00
Compass	1369	8	110.62
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	142	0.00	0.00	-111.88	0.000	6	0.000	0.000	421	2168	3099
146	-1.30	-117.3	2.2	-1.8	5	162	10.57	2.58	0.00	0.000	4	0.143	0.051	2439	737	3098
311	-1.06	-117.3	25.0	-12.7	11	316	0.30	2.53	0.00	0.000	6	0.095	0.047	2500	2158	3097
628	-1.00	-117.3	49.7	-6.8	26	632	0.00	2.50	0.00	0.000	4	0.000	0.057	2500	3558	3097
692	-0.93	-117.3	54.1	-6.8	29	697	0.12	2.45	0.00	0.000	6	0.097	0.042	2525	2164	3098
1019	-0.93	-117.3	74.2	-6.7	45	1023	0.00	2.53	0.00	0.000	4	0.000	0.055	2525	740	3098
1119	-0.93	-117.3	82.5	-8.6	49	1125	0.00	2.53	0.00	0.000	6	0.000	0.048	2525	2156	3098
1437	-0.93	-117.3	109.9	-8.4	65	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2156	3098
1745	-0.93	-117.3	127.6	-4.8	80	1749	0.00	2.55	0.00	0.000	4	0.000	0.058	2525	751	3098
1823	-0.93	-117.3	132.0	-5.6	83	1830	0.00	2.53	0.00	0.000	6	0.000	0.049	2525	2166	3098
2142	-0.93	-117.3	151.3	-6.9	99	2147	0.00	2.55	0.00	0.000	4	0.000	0.058	2525	750	3098
2215	-0.93	-117.3	156.9	-7.5	102	2220	0.00	2.47	0.00	0.000	6	0.000	0.050	2525	2147	3097
2532	-0.97	-117.3	178.6	-6.3	117	2537	0.00	2.55	0.00	0.000	4	0.000	0.059	2525	744	3097
2560	-0.97	-117.3	180.4	-6.2	118	2565	0.00	2.53	0.00	0.000	6	0.000	0.051	2525	2150	3097
2877	-0.97	-117.3	197.5	-4.7	133	2881	0.00	2.58	0.00	0.000	4	0.000	0.061	2525	741	3097
2911	-0.97	-117.3	199.3	-5.2	134	2917	0.00	2.53	0.00	0.000	6	0.000	0.052	2525	2145	3097
3227	-1.02	-117.3	215.6	-5.5	150	3232	0.00	2.53	0.00	0.000	4	0.000	0.060	2525	750	3097
3261	-1.02	-117.3	217.7	-6.0	151	3267	0.00	2.50	0.00	0.000	6	0.000	0.051	2525	2141	3097
3578	-1.06	-117.3	234.1	-5.8	167	3583	0.12	2.55	0.00	0.000	4	0.054	0.060	2488	744	3096
3668	-0.99	-117.3	240.8	-7.2	171	3673	0.12	2.50	0.00	0.000	6	0.100	0.052	2513	2134	3097
3990	-0.99	-117.3	261.0	-6.5	187	3994	0.00	2.55	0.00	0.000	4	0.000	0.062	2513	3557	3096
4001	-0.99	-117.3	261.7	-6.4	187	4007	0.00	2.53	0.00	0.000	6	0.000	0.050	2514	2131	3096
4317	-0.99	-117.3	282.1	-6.5	203	4321	0.00	2.60	0.00	0.000	4	0.000	0.063	2513	3556	3095
4328	-0.99	-117.3	282.8	-6.3	203	4334	0.00	2.55	0.00	0.000	6	0.000	0.050	2514	2124	3096
4644	-0.99	-117.3	303.0	-6.3	219	4645	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2124	3096
4953	-0.99	-117.3	323.4	-7.1	234	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2123	3095
5263	-0.99	-117.3	344.8	-7.0	249	5267	0.00	2.45	0.00	0.000	4	0.000	0.063	2513	747	3095
5302	-0.99	-117.3	347.8	-7.5	250	5308	0.00	2.47	0.00	0.000	6	0.000	0.053	2514	2137	3095
5618	-0.99	-117.3	372.3	-8.4	266	5622	0.00	2.53	0.00	0.000	4	0.000	0.061	2514	744	3095
5758	-0.99	-117.3	385.5	-9.5	272	5762	0.00	2.47	0.00	0.000	6	0.000	0.054	2514	2122	3095
6074	-0.99	-117.3	412.7	-8.3	287	6078	0.00	2.60	0.00	0.000	4	0.000	0.066	2514	3558	3094
6130	-0.99	-117.3	417.0	-7.4	289	6136	0.00	2.55	0.00	0.000	6	0.000	0.053	2514	2135	3094
6446	-0.99	-117.3	434.5	-5.1	305	6450	0.00	2.60	0.00	0.000	4	0.000	0.066	2514	3560	3095
6456	-0.99	-117.3	435.0	-4.9	305	6463	0.00	2.55	0.00	0.000	6	0.000	0.053	2513	2136	3094
6774	-0.99	-117.3	449.7	-4.8	321	6778	0.00	2.62	0.00	0.000	4	0.000	0.067	2514	3555	3094
6836	-0.99	-117.3	453.3	-5.7	324	6840	0.00	2.50	0.00	0.000	6	0.000	0.053	2514	2158	3094
7163	-0.99	-117.3	474.5	-7.5	340	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2140	3094
7387	end dive: BOTTOM_OBSTACLE_DETECTED
state	7387	begin apogee
7395	-0.33	0.0	491.5	6.6	351	7496	0.68	0.00	97.70	1.160	6	0.084	0.000	2654	2075	2620
7496	end apogee: CONTROL_FINISHED_OK
state	7496	begin climb
7499	1.30	117.3	495.5	0.0	356	7604	1.67	2.70	97.18	1.131	4	0.067	0.068	3013	3504	2141
7633	1.19	117.3	486.7	11.5	362	7639	0.12	2.55	0.00	0.000	6	0.101	0.056	2991	2123	2140
7955	1.19	117.3	458.5	8.8	378	7956	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2112	2139
8264	1.22	135.0	433.3	7.2	393	8286	0.00	2.65	15.82	1.055	4	0.000	0.070	2991	3504	2068
8377	1.22	135.0	424.0	8.8	398	8382	0.00	2.55	0.00	0.000	6	0.000	0.058	2991	2116	2067
8704	1.22	135.0	395.9	8.6	414	8709	0.00	2.60	0.00	0.000	4	0.000	0.069	2991	3508	2066
8749	1.22	135.0	391.5	9.7	416	8753	0.00	2.50	0.00	0.000	6	0.000	0.057	2991	2144	2066
9070	1.22	135.0	358.1	11.7	432	9075	0.00	2.65	0.00	0.000	4	0.000	0.068	2992	690	2065
9098	1.22	135.0	354.5	13.0	433	9102	0.00	2.67	0.00	0.000	6	0.000	0.058	2991	2160	2065
9413	1.22	135.0	317.5	11.6	448	9415	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2160	2065
9724	1.22	135.0	281.9	11.0	463	9727	0.00	2.45	0.00	0.000	4	0.000	0.064	2992	3513	2064
9775	1.22	135.0	276.0	11.4	465	9779	0.00	2.45	0.00	0.000	6	0.000	0.052	2991	2155	2064
10096	1.22	135.0	245.0	8.7	481	10101	0.00	2.47	0.00	0.000	4	0.000	0.063	2992	3507	2064
10124	1.22	135.0	242.4	9.7	482	10128	0.00	2.40	0.00	0.000	6	0.000	0.050	2991	2171	2064
10440	1.26	159.1	219.3	6.9	497	10462	0.00	0.00	20.23	0.951	6	0.000	0.000	2991	2171	1970
10769	1.27	162.3	194.5	7.9	513	10778	0.00	2.47	4.22	0.660	4	0.000	0.061	2991	3507	1958
10818	1.27	162.3	190.1	8.8	515	10823	0.00	2.40	0.00	0.000	6	0.000	0.049	2991	2176	1958
11140	1.27	162.3	160.7	9.8	531	11141	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2176	1958
11450	1.27	162.3	130.6	9.8	546	11451	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2176	1958
11759	1.27	162.3	103.3	8.3	561	11763	0.00	2.42	0.00	0.000	4	0.000	0.061	2991	3507	1958
11786	1.27	162.3	101.1	8.4	562	11790	0.00	2.38	0.00	0.000	6	0.000	0.048	2992	2178	1959
12105	1.36	196.0	78.7	6.5	577	12140	0.15	2.75	28.15	0.857	4	0.048	0.059	3038	693	1820
12174	1.27	196.0	71.8	10.8	580	12180	0.17	2.65	0.00	0.000	6	0.088	0.051	3005	2171	1820
12497	1.27	196.0	39.7	11.2	596	12501	0.00	2.40	0.00	0.000	4	0.000	0.060	3005	3507	1819
12592	1.27	196.0	28.7	11.2	600	12596	0.00	2.38	0.00	0.000	6	0.000	0.047	3005	2175	1819
12864	end climb: SURFACE_DEPTH_REACHED
state	12865	begin surface coast
12886	end surface coast: CONTROL_FINISHED_OK
state	12886	begin surface