Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 268 * 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 268 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -81653.164 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 -81653.164

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 24 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 268 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 045331,6242.863,-1012.268,42,1.0,42,-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 0.213,0.062

_SM_DEPTHo 0.56 KALMAN_X -131038.2,1471.0,-331.0,165493.9,-10727.7

_SM_ANGLEo -49.2 KALMAN_Y -23307.8,-346.6,-989.9,86843.6,1873.7

GPS2 045845,6242.812,-1012.420,16,1.0,16,-10.3 MHEAD_RNG_PITCHd_Wd 84.0,30476,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.026925 ALTIM_BOTTOM_PING 475.2,40.6

SM_CCo 13076,199.00,0.791,0,0,390,547.02 _24V_AH 23.8,50.801

SM_GC 0.50,0.00,0.00,199.00,0.000,0.000,0.791,419,2175,390,-10.63,0.23,547.02 _10V_AH 10.1,24.585

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31746,626

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104597,0

HUMID 1698 CFSIZE 254472192,234409984

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 367 GPS 040808,084227,6242.676,-1014.066,36,3.2,55,-10.3

ALTIM_TOP_PING 19.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 141 94.38 SBE_CT 429 24 245.05

Roll_motor 121 71 206.90 SBE_O2 460 19 208.43

VBD_pump_during_apogee 277 1176 7770.71 WL_BB2F 442 105 1106.01

VBD_pump_during_surface 199 790 3745.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 27 160 106.08 nil 0 0 0.00

Iridium_during_xfer 127 223 674.24

Transponder_ping 95 420 957.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.24

TT8 1193 19 238.60

LPSleep 9918 2 219.39

TT8_Active 634 19 126.92

TT8_Sampling 1389 39 558.71

TT8_CF8 456 45 211.31

TT8_Kalman 33 81 27.56

Analog_circuits 1347 12 163.30

GPS_charging 0 0 0.00

Compass 1357 8 109.73

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 -112.65 0.000 6 0.000 0.000 420 2152 3099

146 -1.30 -117.3 2.0 -1.5 5 162 10.55 2.53 0.00 0.000 4 0.141 0.051 2436 738 3098

169 0.27 -117.3 7.6 -14.6 5 177 1.65 2.53 0.00 0.000 6 0.085 0.048 2783 2150 3097

496 -0.63 -117.3 22.0 -5.8 21 502 0.85 2.55 0.00 0.000 4 0.052 0.052 2589 739 3098

583 -0.82 -117.3 27.7 -6.1 25 588 0.17 2.53 0.00 0.000 6 0.045 0.048 2539 2159 3098

911 -0.89 -117.3 57.3 -9.2 41 915 0.00 2.50 0.00 0.000 4 0.000 0.058 2540 3555 3098

1104 -0.94 -117.3 73.7 -8.0 49 1110 0.00 2.47 0.00 0.000 6 0.000 0.043 2539 2145 3099

1423 -1.02 -117.3 95.2 -6.4 65 1425 0.12 0.00 0.00 0.000 6 0.053 0.000 2501 2125 3099

1729 -1.02 -117.3 117.1 -7.0 80 1733 0.00 2.50 0.00 0.000 4 0.000 0.058 2499 740 3099

1781 -0.96 -117.3 121.0 -7.3 82 1785 0.00 2.53 0.00 0.000 6 0.000 0.050 2500 2147 3099

2097 -0.96 -117.3 145.6 -8.2 97 2101 0.00 2.53 0.00 0.000 4 0.000 0.061 2499 3555 3098

2141 -0.90 -117.3 149.3 -8.8 99 2146 0.15 2.50 0.00 0.000 6 0.092 0.047 2531 2149 3098

2466 -0.96 -117.3 173.4 -7.7 115 2467 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2149 3098

2772 -1.01 -117.3 196.5 -7.4 130 2776 0.00 2.50 0.00 0.000 4 0.000 0.061 2531 752 3098

2820 -1.05 -117.3 200.1 -7.4 132 2826 0.15 2.53 0.00 0.000 6 0.052 0.051 2487 2160 3098

3142 -0.99 -117.3 227.7 -8.5 148 3147 0.12 2.53 0.00 0.000 4 0.095 0.061 2513 3564 3098

3175 -0.99 -117.3 230.5 -8.7 149 3181 0.00 2.50 0.00 0.000 6 0.000 0.048 2513 2160 3098

3492 -0.99 -117.3 253.0 -7.0 165 3496 0.00 2.53 0.00 0.000 4 0.000 0.060 2513 744 3097

3554 -0.99 -117.3 257.6 -6.9 168 3558 0.00 2.53 0.00 0.000 6 0.000 0.051 2513 2154 3098

3882 -0.99 -117.3 279.1 -6.2 184 3883 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2153 3097

4190 -0.99 -117.3 296.3 -5.2 199 4191 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2153 3097

4499 -0.99 -117.3 311.5 -4.9 214 4503 0.00 2.58 0.00 0.000 4 0.000 0.061 2513 740 3097

4617 -0.99 -117.3 318.1 -5.9 219 4622 0.00 2.53 0.00 0.000 6 0.000 0.053 2513 2143 3097

4933 -0.99 -117.3 334.9 -5.5 234 4935 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2143 3096

5244 -0.99 -117.3 352.3 -5.4 249 5245 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2143 3096

5552 -0.99 -117.3 370.0 -5.7 264 5557 0.00 2.58 0.00 0.000 4 0.000 0.063 2513 739 3096

5626 -0.99 -117.3 374.7 -6.2 267 5630 0.00 2.53 0.00 0.000 6 0.000 0.054 2513 2139 3096

5947 -0.99 -117.3 392.5 -5.7 283 5949 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2140 3096

6256 -0.99 -117.3 412.7 -6.6 298 6257 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2140 3095

6565 -0.99 -117.3 434.8 -7.2 313 6566 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2140 3095

6875 -0.99 -117.3 456.0 -6.4 328 6879 0.00 2.55 0.00 0.000 4 0.000 0.066 2513 746 3094

6920 -0.99 -117.3 459.0 -6.4 330 6924 0.00 2.50 0.00 0.000 6 0.000 0.056 2513 2127 3094

7242 -0.99 -117.3 472.7 -3.5 346 7246 0.00 2.55 0.00 0.000 4 0.000 0.068 2513 744 3094

7313 -0.99 -117.3 475.2 -4.8 349 7318 0.00 2.47 0.00 0.000 6 0.000 0.058 2513 2104 3094

7635 -0.99 -117.3 492.3 -5.3 365 7636 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2104 3093

7879 end dive: BOTTOM_OBSTACLE_DETECTED

state 7879 begin apogee

7887 -0.33 0.0 506.9 5.8 377 7987 0.68 0.00 97.60 1.177 6 0.083 0.000 2654 2104 2620

7988 end apogee: CONTROL_FINISHED_OK

state 7988 begin climb

7991 1.30 117.3 508.5 0.0 382 8097 1.65 2.72 96.60 1.146 4 0.065 0.071 3013 692 2141

8118 1.17 117.3 498.3 12.4 388 8123 0.15 2.60 0.00 0.000 6 0.097 0.059 2986 2103 2141

8445 1.17 117.3 467.5 8.2 404 8450 0.00 2.60 0.00 0.000 4 0.000 0.071 2986 3508 2139

8518 1.12 117.3 460.6 9.1 407 8523 0.00 2.55 0.00 0.000 6 0.000 0.058 2985 2117 2139

8835 1.16 141.5 438.5 6.9 422 8862 0.00 2.67 21.02 1.089 4 0.000 0.069 2986 3501 2042

8885 1.17 150.2 434.7 7.6 424 8900 0.00 2.53 9.07 0.984 6 0.000 0.058 2986 2134 2006

9230 1.21 172.8 411.3 7.0 441 9254 0.00 2.62 19.30 1.078 4 0.000 0.068 2986 3507 1915

9300 1.21 172.8 405.5 8.2 444 9305 0.00 2.50 0.00 0.000 6 0.000 0.057 2985 2149 1914

9616 1.25 197.6 381.4 6.9 459 9645 0.00 2.62 21.60 1.075 4 0.000 0.068 2986 3512 1814

9670 1.31 210.2 377.5 7.4 461 9689 0.12 2.47 12.30 1.005 6 0.056 0.057 3020 2169 1762

10011 1.31 210.2 342.3 11.3 478 10016 0.00 2.50 0.00 0.000 4 0.000 0.067 3020 3509 1760

10029 1.27 210.2 340.3 11.3 479 10034 0.00 2.42 0.00 0.000 6 0.000 0.055 3019 2179 1760

10357 1.27 210.2 301.0 11.7 495 10358 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2179 1760

10666 1.27 210.2 263.8 11.9 510 10670 0.00 2.45 0.00 0.000 4 0.000 0.064 3019 3508 1760

10676 1.27 210.2 262.2 11.7 510 10683 0.00 2.40 0.00 0.000 6 0.000 0.052 3019 2183 1760

10993 1.27 210.2 226.4 10.9 526 10997 0.00 2.42 0.00 0.000 4 0.000 0.062 3019 3508 1760

11015 1.27 210.2 223.9 10.7 527 11019 0.00 2.38 0.00 0.000 6 0.000 0.050 3020 2190 1760

11336 1.27 210.2 188.0 11.0 543 11340 0.00 2.70 0.00 0.000 4 0.000 0.061 3019 682 1760

11358 1.23 210.2 185.5 11.6 544 11363 0.12 2.70 0.00 0.000 6 0.097 0.053 2997 2189 1760

11680 1.27 210.2 153.4 10.0 560 11681 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2189 1760

11989 1.32 210.2 121.2 10.5 575 11990 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2189 1761

12300 1.37 210.2 88.5 10.8 590 12305 0.15 2.38 0.00 0.000 4 0.050 0.061 3041 3510 1761

12328 1.32 210.2 84.4 13.5 591 12333 0.12 2.35 0.00 0.000 6 0.094 0.048 3017 2194 1761

12645 1.32 210.2 47.5 11.4 606 12649 0.00 2.70 0.00 0.000 4 0.000 0.061 3017 679 1761

12685 1.32 210.2 42.9 11.6 608 12690 0.00 2.67 0.00 0.000 6 0.000 0.051 3018 2183 1761

13012 1.32 210.2 5.7 11.5 624 13016 0.00 2.72 0.00 0.000 4 0.000 0.060 3017 682 1761

13042 end climb: SURFACE_DEPTH_REACHED

state 13042 begin surface coast

13050 end surface coast: CONTROL_FINISHED_OK

state 13050 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	268	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-81653.164	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	045331,6242.863,-1012.268,42,1.0,42,-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	0.213,0.062
_SM_DEPTHo	0.56	KALMAN_X	-131038.2,1471.0,-331.0,165493.9,-10727.7
_SM_ANGLEo	-49.2	KALMAN_Y	-23307.8,-346.6,-989.9,86843.6,1873.7
GPS2	045845,6242.812,-1012.420,16,1.0,16,-10.3	MHEAD_RNG_PITCHd_Wd	84.0,30476,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	1.1,1.026925	ALTIM_BOTTOM_PING	475.2,40.6
SM_CCo	13076,199.00,0.791,0,0,390,547.02	_24V_AH	23.8,50.801
SM_GC	0.50,0.00,0.00,199.00,0.000,0.000,0.791,419,2175,390,-10.63,0.23,547.02	_10V_AH	10.1,24.585
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31746,626
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104597,0
HUMID	1698	CFSIZE	254472192,234409984
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	367	GPS	040808,084227,6242.676,-1014.066,36,3.2,55,-10.3
ALTIM_TOP_PING	19.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	141	94.38	SBE_CT	429	24	245.05
Roll_motor	121	71	206.90	SBE_O2	460	19	208.43
VBD_pump_during_apogee	277	1176	7770.71	WL_BB2F	442	105	1106.01
VBD_pump_during_surface	199	790	3745.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	27	160	106.08	nil	0	0	0.00
Iridium_during_xfer	127	223	674.24
Transponder_ping	95	420	957.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.24
TT8	1193	19	238.60
LPSleep	9918	2	219.39
TT8_Active	634	19	126.92
TT8_Sampling	1389	39	558.71
TT8_CF8	456	45	211.31
TT8_Kalman	33	81	27.56
Analog_circuits	1347	12	163.30
GPS_charging	0	0	0.00
Compass	1357	8	109.73
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	-112.65	0.000	6	0.000	0.000	420	2152	3099
146	-1.30	-117.3	2.0	-1.5	5	162	10.55	2.53	0.00	0.000	4	0.141	0.051	2436	738	3098
169	0.27	-117.3	7.6	-14.6	5	177	1.65	2.53	0.00	0.000	6	0.085	0.048	2783	2150	3097
496	-0.63	-117.3	22.0	-5.8	21	502	0.85	2.55	0.00	0.000	4	0.052	0.052	2589	739	3098
583	-0.82	-117.3	27.7	-6.1	25	588	0.17	2.53	0.00	0.000	6	0.045	0.048	2539	2159	3098
911	-0.89	-117.3	57.3	-9.2	41	915	0.00	2.50	0.00	0.000	4	0.000	0.058	2540	3555	3098
1104	-0.94	-117.3	73.7	-8.0	49	1110	0.00	2.47	0.00	0.000	6	0.000	0.043	2539	2145	3099
1423	-1.02	-117.3	95.2	-6.4	65	1425	0.12	0.00	0.00	0.000	6	0.053	0.000	2501	2125	3099
1729	-1.02	-117.3	117.1	-7.0	80	1733	0.00	2.50	0.00	0.000	4	0.000	0.058	2499	740	3099
1781	-0.96	-117.3	121.0	-7.3	82	1785	0.00	2.53	0.00	0.000	6	0.000	0.050	2500	2147	3099
2097	-0.96	-117.3	145.6	-8.2	97	2101	0.00	2.53	0.00	0.000	4	0.000	0.061	2499	3555	3098
2141	-0.90	-117.3	149.3	-8.8	99	2146	0.15	2.50	0.00	0.000	6	0.092	0.047	2531	2149	3098
2466	-0.96	-117.3	173.4	-7.7	115	2467	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2149	3098
2772	-1.01	-117.3	196.5	-7.4	130	2776	0.00	2.50	0.00	0.000	4	0.000	0.061	2531	752	3098
2820	-1.05	-117.3	200.1	-7.4	132	2826	0.15	2.53	0.00	0.000	6	0.052	0.051	2487	2160	3098
3142	-0.99	-117.3	227.7	-8.5	148	3147	0.12	2.53	0.00	0.000	4	0.095	0.061	2513	3564	3098
3175	-0.99	-117.3	230.5	-8.7	149	3181	0.00	2.50	0.00	0.000	6	0.000	0.048	2513	2160	3098
3492	-0.99	-117.3	253.0	-7.0	165	3496	0.00	2.53	0.00	0.000	4	0.000	0.060	2513	744	3097
3554	-0.99	-117.3	257.6	-6.9	168	3558	0.00	2.53	0.00	0.000	6	0.000	0.051	2513	2154	3098
3882	-0.99	-117.3	279.1	-6.2	184	3883	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2153	3097
4190	-0.99	-117.3	296.3	-5.2	199	4191	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2153	3097
4499	-0.99	-117.3	311.5	-4.9	214	4503	0.00	2.58	0.00	0.000	4	0.000	0.061	2513	740	3097
4617	-0.99	-117.3	318.1	-5.9	219	4622	0.00	2.53	0.00	0.000	6	0.000	0.053	2513	2143	3097
4933	-0.99	-117.3	334.9	-5.5	234	4935	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2143	3096
5244	-0.99	-117.3	352.3	-5.4	249	5245	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2143	3096
5552	-0.99	-117.3	370.0	-5.7	264	5557	0.00	2.58	0.00	0.000	4	0.000	0.063	2513	739	3096
5626	-0.99	-117.3	374.7	-6.2	267	5630	0.00	2.53	0.00	0.000	6	0.000	0.054	2513	2139	3096
5947	-0.99	-117.3	392.5	-5.7	283	5949	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2140	3096
6256	-0.99	-117.3	412.7	-6.6	298	6257	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2140	3095
6565	-0.99	-117.3	434.8	-7.2	313	6566	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2140	3095
6875	-0.99	-117.3	456.0	-6.4	328	6879	0.00	2.55	0.00	0.000	4	0.000	0.066	2513	746	3094
6920	-0.99	-117.3	459.0	-6.4	330	6924	0.00	2.50	0.00	0.000	6	0.000	0.056	2513	2127	3094
7242	-0.99	-117.3	472.7	-3.5	346	7246	0.00	2.55	0.00	0.000	4	0.000	0.068	2513	744	3094
7313	-0.99	-117.3	475.2	-4.8	349	7318	0.00	2.47	0.00	0.000	6	0.000	0.058	2513	2104	3094
7635	-0.99	-117.3	492.3	-5.3	365	7636	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2104	3093
7879	end dive: BOTTOM_OBSTACLE_DETECTED
state	7879	begin apogee
7887	-0.33	0.0	506.9	5.8	377	7987	0.68	0.00	97.60	1.177	6	0.083	0.000	2654	2104	2620
7988	end apogee: CONTROL_FINISHED_OK
state	7988	begin climb
7991	1.30	117.3	508.5	0.0	382	8097	1.65	2.72	96.60	1.146	4	0.065	0.071	3013	692	2141
8118	1.17	117.3	498.3	12.4	388	8123	0.15	2.60	0.00	0.000	6	0.097	0.059	2986	2103	2141
8445	1.17	117.3	467.5	8.2	404	8450	0.00	2.60	0.00	0.000	4	0.000	0.071	2986	3508	2139
8518	1.12	117.3	460.6	9.1	407	8523	0.00	2.55	0.00	0.000	6	0.000	0.058	2985	2117	2139
8835	1.16	141.5	438.5	6.9	422	8862	0.00	2.67	21.02	1.089	4	0.000	0.069	2986	3501	2042
8885	1.17	150.2	434.7	7.6	424	8900	0.00	2.53	9.07	0.984	6	0.000	0.058	2986	2134	2006
9230	1.21	172.8	411.3	7.0	441	9254	0.00	2.62	19.30	1.078	4	0.000	0.068	2986	3507	1915
9300	1.21	172.8	405.5	8.2	444	9305	0.00	2.50	0.00	0.000	6	0.000	0.057	2985	2149	1914
9616	1.25	197.6	381.4	6.9	459	9645	0.00	2.62	21.60	1.075	4	0.000	0.068	2986	3512	1814
9670	1.31	210.2	377.5	7.4	461	9689	0.12	2.47	12.30	1.005	6	0.056	0.057	3020	2169	1762
10011	1.31	210.2	342.3	11.3	478	10016	0.00	2.50	0.00	0.000	4	0.000	0.067	3020	3509	1760
10029	1.27	210.2	340.3	11.3	479	10034	0.00	2.42	0.00	0.000	6	0.000	0.055	3019	2179	1760
10357	1.27	210.2	301.0	11.7	495	10358	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	2179	1760
10666	1.27	210.2	263.8	11.9	510	10670	0.00	2.45	0.00	0.000	4	0.000	0.064	3019	3508	1760
10676	1.27	210.2	262.2	11.7	510	10683	0.00	2.40	0.00	0.000	6	0.000	0.052	3019	2183	1760
10993	1.27	210.2	226.4	10.9	526	10997	0.00	2.42	0.00	0.000	4	0.000	0.062	3019	3508	1760
11015	1.27	210.2	223.9	10.7	527	11019	0.00	2.38	0.00	0.000	6	0.000	0.050	3020	2190	1760
11336	1.27	210.2	188.0	11.0	543	11340	0.00	2.70	0.00	0.000	4	0.000	0.061	3019	682	1760
11358	1.23	210.2	185.5	11.6	544	11363	0.12	2.70	0.00	0.000	6	0.097	0.053	2997	2189	1760
11680	1.27	210.2	153.4	10.0	560	11681	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2189	1760
11989	1.32	210.2	121.2	10.5	575	11990	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2189	1761
12300	1.37	210.2	88.5	10.8	590	12305	0.15	2.38	0.00	0.000	4	0.050	0.061	3041	3510	1761
12328	1.32	210.2	84.4	13.5	591	12333	0.12	2.35	0.00	0.000	6	0.094	0.048	3017	2194	1761
12645	1.32	210.2	47.5	11.4	606	12649	0.00	2.70	0.00	0.000	4	0.000	0.061	3017	679	1761
12685	1.32	210.2	42.9	11.6	608	12690	0.00	2.67	0.00	0.000	6	0.000	0.051	3018	2183	1761
13012	1.32	210.2	5.7	11.5	624	13016	0.00	2.72	0.00	0.000	4	0.000	0.060	3017	682	1761
13042	end climb: SURFACE_DEPTH_REACHED
state	13042	begin surface coast
13050	end surface coast: CONTROL_FINISHED_OK
state	13050	begin surface