Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 310 * 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 310 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 44 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -82566.938 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 -82566.938

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 44 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 18 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 310 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 092738,6311.973,-855.111,38,1.2,38,-9.8 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,0.189

_SM_DEPTHo 0.27 KALMAN_X -131572.5,-222.4,-571.0,234784.3,3018.8

_SM_ANGLEo -45.1 KALMAN_Y -68355.6,1353.9,379.5,182668.8,-12195.2

GPS2 093303,6311.936,-855.212,12,1.8,12,-9.8 MHEAD_RNG_PITCHd_Wd 41.1,76125,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.0,1.026893 ALTIM_BOTTOM_PING 450.0,73.7

SM_CCo 12957,216.00,0.778,0,0,390,547.02 _24V_AH 23.8,57.055

SM_GC 0.18,0.00,0.00,216.00,0.000,0.000,0.778,417,2184,390,-10.64,0.96,547.02 _10V_AH 10.1,27.315

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31646,621

TT8_MAMPS 0.029146 CAP_FILE_SIZE 107348,0

HUMID 1690 CFSIZE 254472192,232304640

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,0,0

XPDR_PINGS 338 GPS 100808,131438,6312.845,-853.280,31,1.4,31,-9.8

ALTIM_TOP_PING 19.5,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 140 82.51 SBE_CT 425 24 243.06

Roll_motor 140 88 297.51 SBE_O2 458 19 207.40

VBD_pump_during_apogee 243 1195 6929.04 WL_BB2F 445 105 1113.27

VBD_pump_during_surface 216 777 3998.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.65 nil 0 0 0.00

Iridium_during_connect 30 160 115.34 nil 0 0 0.00

Iridium_during_xfer 134 223 713.65

Transponder_ping 88 420 882.15

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.33

TT8 1214 19 242.90

LPSleep 9603 2 212.43

TT8_Active 643 19 128.63

TT8_Sampling 1559 39 626.90

TT8_CF8 479 45 221.95

TT8_Kalman 33 81 27.56

Analog_circuits 1434 12 173.86

GPS_charging 0 0 0.00

Compass 1527 8 123.43

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 0 149 0.00 0.00 -116.75 0.000 6 0.000 0.000 420 2117 3098

153 -1.30 -117.3 2.2 -2.2 6 166 10.52 0.00 0.00 0.000 6 0.140 0.000 2435 2099 3097

486 -1.05 -117.3 45.2 -11.6 22 491 0.28 2.40 0.00 0.000 4 0.094 0.051 2497 760 3097

576 -0.95 -117.3 53.6 -8.4 26 581 0.12 2.50 0.00 0.000 6 0.106 0.048 2522 2161 3097

898 -0.95 -117.3 80.1 -8.3 42 902 0.00 2.50 0.00 0.000 4 0.000 0.058 2521 3560 3097

1051 -0.95 -117.3 93.6 -9.0 49 1055 0.00 2.45 0.00 0.000 6 0.000 0.043 2521 2165 3097

1378 -0.95 -117.3 116.1 -6.5 65 1382 0.00 2.50 0.00 0.000 4 0.000 0.054 2521 745 3098

1585 -0.95 -117.3 130.8 -7.0 74 1589 0.00 2.50 0.00 0.000 6 0.000 0.050 2521 2145 3098

1901 -0.95 -117.3 152.0 -6.8 89 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2143 3097

2211 -0.95 -117.3 172.7 -6.8 104 2215 0.00 2.55 0.00 0.000 4 0.000 0.058 2521 744 3098

2295 -0.95 -117.3 179.0 -7.2 108 2300 0.00 2.50 0.00 0.000 6 0.000 0.051 2521 2139 3098

2623 -0.95 -117.3 202.2 -7.3 124 2628 0.00 2.55 0.00 0.000 4 0.000 0.061 2521 3560 3098

2724 -0.95 -117.3 210.6 -8.2 128 2730 0.00 2.55 0.00 0.000 6 0.000 0.047 2521 2126 3097

3040 -0.95 -117.3 236.2 -8.2 144 3044 0.00 2.47 0.00 0.000 4 0.000 0.061 2521 742 3097

3112 -0.95 -117.3 242.8 -8.8 147 3117 0.00 2.50 0.00 0.000 6 0.000 0.052 2521 2131 3097

3428 -0.95 -117.3 271.0 -9.0 162 3432 0.00 2.58 0.00 0.000 4 0.000 0.063 2521 3559 3097

3554 -0.95 -117.3 281.8 -8.4 167 3560 0.00 2.55 0.00 0.000 6 0.000 0.048 2521 2118 3096

3870 -0.95 -117.3 305.6 -7.0 183 3874 0.00 2.45 0.00 0.000 4 0.000 0.060 2521 747 3096

3948 -0.95 -117.3 311.2 -7.4 186 3954 0.00 2.47 0.00 0.000 6 0.000 0.052 2521 2123 3096

4265 -0.95 -117.3 330.7 -6.2 202 4266 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2123 3096

4573 -0.95 -117.3 352.1 -6.8 217 4577 0.00 2.50 0.00 0.000 4 0.000 0.063 2521 747 3096

4658 -0.95 -117.3 358.0 -6.8 221 4663 0.00 2.42 0.00 0.000 6 0.000 0.054 2521 2096 3096

4986 -0.95 -117.3 377.4 -5.9 237 4991 0.00 2.65 0.00 0.000 4 0.000 0.067 2521 3564 3096

5072 -0.95 -117.3 383.5 -7.4 241 5077 0.00 2.65 0.00 0.000 6 0.000 0.053 2521 2071 3095

5400 -0.95 -117.3 404.6 -7.5 257 5404 0.00 2.40 0.00 0.000 4 0.000 0.063 2521 737 3095

5456 -0.95 -117.3 409.6 -9.4 259 5462 0.00 2.42 0.00 0.000 6 0.000 0.056 2521 2072 3095

5772 -0.95 -117.3 437.2 -8.2 275 5773 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2072 3095

6082 -0.99 -117.3 458.7 -5.8 290 6087 0.00 2.72 0.00 0.000 4 0.000 0.071 2521 3561 3094

6296 -0.99 -117.3 470.7 -5.3 299 6302 0.00 2.72 0.00 0.000 6 0.000 0.058 2521 2059 3093

6613 -0.99 -117.3 486.5 -6.0 315 6614 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2043 3093

6921 -0.99 -117.3 504.5 -5.9 330 6926 0.00 2.80 0.00 0.000 4 0.000 0.077 2521 3557 3092

7022 -0.99 -117.3 510.6 -5.5 334 7028 0.00 2.72 0.00 0.000 6 0.000 0.064 2521 2074 3092

7088 end dive: BOTTOM_OBSTACLE_DETECTED

state 7088 begin apogee

7095 -0.33 0.0 515.1 6.6 338 7197 0.62 0.00 98.65 1.196 6 0.088 0.000 2653 2099 2620

7198 end apogee: CONTROL_FINISHED_OK

state 7198 begin climb

7201 1.30 117.3 517.8 0.0 343 7307 1.67 2.70 97.97 1.164 4 0.074 0.076 3011 3505 2142

7371 1.21 117.3 505.7 9.1 351 7375 0.00 2.62 0.00 0.000 6 0.000 0.064 3011 2100 2140

7697 1.15 117.3 477.7 8.5 367 7703 0.15 2.67 0.00 0.000 4 0.100 0.077 2979 3505 2139

7799 1.17 128.7 469.2 7.5 371 7815 0.00 2.58 10.75 1.047 6 0.000 0.065 2979 2120 2095

8131 1.17 128.7 443.9 8.0 388 8135 0.00 2.65 0.00 0.000 4 0.000 0.079 2979 3504 2093

8203 1.17 128.7 437.6 9.1 391 8207 0.00 2.55 0.00 0.000 6 0.000 0.065 2979 2128 2093

8520 1.26 155.3 415.5 6.8 406 8550 0.10 2.70 23.02 1.131 4 0.064 0.076 3006 3501 1985

8590 1.26 155.3 408.8 10.2 409 8594 0.00 2.55 0.00 0.000 6 0.000 0.064 3006 2139 1985

8911 1.26 155.3 377.5 9.3 425 8915 0.00 2.60 0.00 0.000 4 0.000 0.073 3006 3514 1984

9019 1.26 155.3 366.9 9.8 430 9023 0.00 2.47 0.00 0.000 6 0.000 0.058 3006 2166 1984

9346 1.26 155.3 337.9 9.5 446 9350 0.00 2.50 0.00 0.000 4 0.000 0.069 3006 3507 1983

9357 1.26 155.3 336.7 9.6 446 9363 0.00 2.45 0.00 0.000 6 0.000 0.056 3006 2168 1983

9673 1.26 155.3 300.1 12.2 462 9677 0.00 2.47 0.00 0.000 4 0.000 0.067 3006 3507 1982

9690 1.26 155.3 297.9 12.4 463 9694 0.00 2.42 0.00 0.000 6 0.000 0.054 3006 2169 1982

10017 1.26 155.3 262.1 9.9 479 10021 0.00 2.47 0.00 0.000 4 0.000 0.065 3006 3509 1983

10050 1.26 155.3 258.5 10.2 480 10057 0.00 2.40 0.00 0.000 6 0.000 0.052 3006 2183 1983

10367 1.26 155.3 229.8 9.1 496 10371 0.00 2.42 0.00 0.000 4 0.000 0.064 3006 3512 1983

10384 1.26 155.3 228.2 9.1 497 10388 0.00 2.40 0.00 0.000 6 0.000 0.051 3006 2178 1983

10711 1.26 155.3 200.4 8.1 513 10716 0.00 2.45 0.00 0.000 4 0.000 0.063 3006 3514 1984

10745 1.26 155.3 197.4 9.1 514 10751 0.00 2.40 0.00 0.000 6 0.000 0.051 3006 2183 1984

11060 1.26 155.3 169.7 9.4 530 11065 0.00 2.42 0.00 0.000 4 0.000 0.061 3006 3508 1985

11106 1.26 155.3 165.1 10.3 532 11110 0.00 2.38 0.00 0.000 6 0.000 0.048 3006 2186 1985

11428 1.26 155.3 134.1 9.8 548 11432 0.00 2.42 0.00 0.000 4 0.000 0.061 3006 3510 1985

11451 1.26 155.3 131.8 10.3 549 11455 0.00 2.38 0.00 0.000 6 0.000 0.048 3006 2187 1985

11773 1.26 155.3 102.3 8.7 565 11777 0.00 2.42 0.00 0.000 4 0.000 0.061 3006 3515 1986

11806 1.26 155.3 98.9 9.5 566 11813 0.00 2.35 0.00 0.000 6 0.000 0.048 3006 2202 1986

12124 1.26 155.3 71.8 8.6 582 12125 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2199 1987

12433 1.26 155.3 42.0 10.1 597 12437 0.00 2.38 0.00 0.000 4 0.000 0.059 3006 3508 1987

12443 1.26 155.3 40.6 10.4 597 12449 0.00 2.33 0.00 0.000 6 0.000 0.047 3006 2200 1987

12760 1.32 170.0 15.2 7.3 613 12782 0.00 2.45 13.07 0.770 4 0.000 0.058 3006 3506 1927

12861 1.32 170.0 6.3 11.0 617 12865 0.00 2.33 0.00 0.000 6 0.000 0.046 3006 2206 1926

12912 end climb: SURFACE_DEPTH_REACHED

state 12912 begin surface coast

12934 end surface coast: CONTROL_FINISHED_OK

state 12934 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	310	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	44	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-82566.938	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	092738,6311.973,-855.111,38,1.2,38,-9.8	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,0.189
_SM_DEPTHo	0.27	KALMAN_X	-131572.5,-222.4,-571.0,234784.3,3018.8
_SM_ANGLEo	-45.1	KALMAN_Y	-68355.6,1353.9,379.5,182668.8,-12195.2
GPS2	093303,6311.936,-855.212,12,1.8,12,-9.8	MHEAD_RNG_PITCHd_Wd	41.1,76125,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.0,1.026893	ALTIM_BOTTOM_PING	450.0,73.7
SM_CCo	12957,216.00,0.778,0,0,390,547.02	_24V_AH	23.8,57.055
SM_GC	0.18,0.00,0.00,216.00,0.000,0.000,0.778,417,2184,390,-10.64,0.96,547.02	_10V_AH	10.1,27.315
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31646,621
TT8_MAMPS	0.029146	CAP_FILE_SIZE	107348,0
HUMID	1690	CFSIZE	254472192,232304640
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
XPDR_PINGS	338	GPS	100808,131438,6312.845,-853.280,31,1.4,31,-9.8
ALTIM_TOP_PING	19.5,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	140	82.51	SBE_CT	425	24	243.06
Roll_motor	140	88	297.51	SBE_O2	458	19	207.40
VBD_pump_during_apogee	243	1195	6929.04	WL_BB2F	445	105	1113.27
VBD_pump_during_surface	216	777	3998.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.65	nil	0	0	0.00
Iridium_during_connect	30	160	115.34	nil	0	0	0.00
Iridium_during_xfer	134	223	713.65
Transponder_ping	88	420	882.15
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.33
TT8	1214	19	242.90
LPSleep	9603	2	212.43
TT8_Active	643	19	128.63
TT8_Sampling	1559	39	626.90
TT8_CF8	479	45	221.95
TT8_Kalman	33	81	27.56
Analog_circuits	1434	12	173.86
GPS_charging	0	0	0.00
Compass	1527	8	123.43
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	149	0.00	0.00	-116.75	0.000	6	0.000	0.000	420	2117	3098
153	-1.30	-117.3	2.2	-2.2	6	166	10.52	0.00	0.00	0.000	6	0.140	0.000	2435	2099	3097
486	-1.05	-117.3	45.2	-11.6	22	491	0.28	2.40	0.00	0.000	4	0.094	0.051	2497	760	3097
576	-0.95	-117.3	53.6	-8.4	26	581	0.12	2.50	0.00	0.000	6	0.106	0.048	2522	2161	3097
898	-0.95	-117.3	80.1	-8.3	42	902	0.00	2.50	0.00	0.000	4	0.000	0.058	2521	3560	3097
1051	-0.95	-117.3	93.6	-9.0	49	1055	0.00	2.45	0.00	0.000	6	0.000	0.043	2521	2165	3097
1378	-0.95	-117.3	116.1	-6.5	65	1382	0.00	2.50	0.00	0.000	4	0.000	0.054	2521	745	3098
1585	-0.95	-117.3	130.8	-7.0	74	1589	0.00	2.50	0.00	0.000	6	0.000	0.050	2521	2145	3098
1901	-0.95	-117.3	152.0	-6.8	89	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2143	3097
2211	-0.95	-117.3	172.7	-6.8	104	2215	0.00	2.55	0.00	0.000	4	0.000	0.058	2521	744	3098
2295	-0.95	-117.3	179.0	-7.2	108	2300	0.00	2.50	0.00	0.000	6	0.000	0.051	2521	2139	3098
2623	-0.95	-117.3	202.2	-7.3	124	2628	0.00	2.55	0.00	0.000	4	0.000	0.061	2521	3560	3098
2724	-0.95	-117.3	210.6	-8.2	128	2730	0.00	2.55	0.00	0.000	6	0.000	0.047	2521	2126	3097
3040	-0.95	-117.3	236.2	-8.2	144	3044	0.00	2.47	0.00	0.000	4	0.000	0.061	2521	742	3097
3112	-0.95	-117.3	242.8	-8.8	147	3117	0.00	2.50	0.00	0.000	6	0.000	0.052	2521	2131	3097
3428	-0.95	-117.3	271.0	-9.0	162	3432	0.00	2.58	0.00	0.000	4	0.000	0.063	2521	3559	3097
3554	-0.95	-117.3	281.8	-8.4	167	3560	0.00	2.55	0.00	0.000	6	0.000	0.048	2521	2118	3096
3870	-0.95	-117.3	305.6	-7.0	183	3874	0.00	2.45	0.00	0.000	4	0.000	0.060	2521	747	3096
3948	-0.95	-117.3	311.2	-7.4	186	3954	0.00	2.47	0.00	0.000	6	0.000	0.052	2521	2123	3096
4265	-0.95	-117.3	330.7	-6.2	202	4266	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2123	3096
4573	-0.95	-117.3	352.1	-6.8	217	4577	0.00	2.50	0.00	0.000	4	0.000	0.063	2521	747	3096
4658	-0.95	-117.3	358.0	-6.8	221	4663	0.00	2.42	0.00	0.000	6	0.000	0.054	2521	2096	3096
4986	-0.95	-117.3	377.4	-5.9	237	4991	0.00	2.65	0.00	0.000	4	0.000	0.067	2521	3564	3096
5072	-0.95	-117.3	383.5	-7.4	241	5077	0.00	2.65	0.00	0.000	6	0.000	0.053	2521	2071	3095
5400	-0.95	-117.3	404.6	-7.5	257	5404	0.00	2.40	0.00	0.000	4	0.000	0.063	2521	737	3095
5456	-0.95	-117.3	409.6	-9.4	259	5462	0.00	2.42	0.00	0.000	6	0.000	0.056	2521	2072	3095
5772	-0.95	-117.3	437.2	-8.2	275	5773	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2072	3095
6082	-0.99	-117.3	458.7	-5.8	290	6087	0.00	2.72	0.00	0.000	4	0.000	0.071	2521	3561	3094
6296	-0.99	-117.3	470.7	-5.3	299	6302	0.00	2.72	0.00	0.000	6	0.000	0.058	2521	2059	3093
6613	-0.99	-117.3	486.5	-6.0	315	6614	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2043	3093
6921	-0.99	-117.3	504.5	-5.9	330	6926	0.00	2.80	0.00	0.000	4	0.000	0.077	2521	3557	3092
7022	-0.99	-117.3	510.6	-5.5	334	7028	0.00	2.72	0.00	0.000	6	0.000	0.064	2521	2074	3092
7088	end dive: BOTTOM_OBSTACLE_DETECTED
state	7088	begin apogee
7095	-0.33	0.0	515.1	6.6	338	7197	0.62	0.00	98.65	1.196	6	0.088	0.000	2653	2099	2620
7198	end apogee: CONTROL_FINISHED_OK
state	7198	begin climb
7201	1.30	117.3	517.8	0.0	343	7307	1.67	2.70	97.97	1.164	4	0.074	0.076	3011	3505	2142
7371	1.21	117.3	505.7	9.1	351	7375	0.00	2.62	0.00	0.000	6	0.000	0.064	3011	2100	2140
7697	1.15	117.3	477.7	8.5	367	7703	0.15	2.67	0.00	0.000	4	0.100	0.077	2979	3505	2139
7799	1.17	128.7	469.2	7.5	371	7815	0.00	2.58	10.75	1.047	6	0.000	0.065	2979	2120	2095
8131	1.17	128.7	443.9	8.0	388	8135	0.00	2.65	0.00	0.000	4	0.000	0.079	2979	3504	2093
8203	1.17	128.7	437.6	9.1	391	8207	0.00	2.55	0.00	0.000	6	0.000	0.065	2979	2128	2093
8520	1.26	155.3	415.5	6.8	406	8550	0.10	2.70	23.02	1.131	4	0.064	0.076	3006	3501	1985
8590	1.26	155.3	408.8	10.2	409	8594	0.00	2.55	0.00	0.000	6	0.000	0.064	3006	2139	1985
8911	1.26	155.3	377.5	9.3	425	8915	0.00	2.60	0.00	0.000	4	0.000	0.073	3006	3514	1984
9019	1.26	155.3	366.9	9.8	430	9023	0.00	2.47	0.00	0.000	6	0.000	0.058	3006	2166	1984
9346	1.26	155.3	337.9	9.5	446	9350	0.00	2.50	0.00	0.000	4	0.000	0.069	3006	3507	1983
9357	1.26	155.3	336.7	9.6	446	9363	0.00	2.45	0.00	0.000	6	0.000	0.056	3006	2168	1983
9673	1.26	155.3	300.1	12.2	462	9677	0.00	2.47	0.00	0.000	4	0.000	0.067	3006	3507	1982
9690	1.26	155.3	297.9	12.4	463	9694	0.00	2.42	0.00	0.000	6	0.000	0.054	3006	2169	1982
10017	1.26	155.3	262.1	9.9	479	10021	0.00	2.47	0.00	0.000	4	0.000	0.065	3006	3509	1983
10050	1.26	155.3	258.5	10.2	480	10057	0.00	2.40	0.00	0.000	6	0.000	0.052	3006	2183	1983
10367	1.26	155.3	229.8	9.1	496	10371	0.00	2.42	0.00	0.000	4	0.000	0.064	3006	3512	1983
10384	1.26	155.3	228.2	9.1	497	10388	0.00	2.40	0.00	0.000	6	0.000	0.051	3006	2178	1983
10711	1.26	155.3	200.4	8.1	513	10716	0.00	2.45	0.00	0.000	4	0.000	0.063	3006	3514	1984
10745	1.26	155.3	197.4	9.1	514	10751	0.00	2.40	0.00	0.000	6	0.000	0.051	3006	2183	1984
11060	1.26	155.3	169.7	9.4	530	11065	0.00	2.42	0.00	0.000	4	0.000	0.061	3006	3508	1985
11106	1.26	155.3	165.1	10.3	532	11110	0.00	2.38	0.00	0.000	6	0.000	0.048	3006	2186	1985
11428	1.26	155.3	134.1	9.8	548	11432	0.00	2.42	0.00	0.000	4	0.000	0.061	3006	3510	1985
11451	1.26	155.3	131.8	10.3	549	11455	0.00	2.38	0.00	0.000	6	0.000	0.048	3006	2187	1985
11773	1.26	155.3	102.3	8.7	565	11777	0.00	2.42	0.00	0.000	4	0.000	0.061	3006	3515	1986
11806	1.26	155.3	98.9	9.5	566	11813	0.00	2.35	0.00	0.000	6	0.000	0.048	3006	2202	1986
12124	1.26	155.3	71.8	8.6	582	12125	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2199	1987
12433	1.26	155.3	42.0	10.1	597	12437	0.00	2.38	0.00	0.000	4	0.000	0.059	3006	3508	1987
12443	1.26	155.3	40.6	10.4	597	12449	0.00	2.33	0.00	0.000	6	0.000	0.047	3006	2200	1987
12760	1.32	170.0	15.2	7.3	613	12782	0.00	2.45	13.07	0.770	4	0.000	0.058	3006	3506	1927
12861	1.32	170.0	6.3	11.0	617	12865	0.00	2.33	0.00	0.000	6	0.000	0.046	3006	2206	1926
12912	end climb: SURFACE_DEPTH_REACHED
state	12912	begin surface coast
12934	end surface coast: CONTROL_FINISHED_OK
state	12934	begin surface