Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 311 * 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 311 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -82579.406 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 -82579.406

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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 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 311 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 131438,6312.845,-853.280,31,1.4,31,-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 0.119,0.187

_SM_DEPTHo 0.29 KALMAN_X -133549.2,-550.0,-66.3,238182.1,-2.8

_SM_ANGLEo -46.2 KALMAN_Y -70269.6,811.1,1023.6,186186.1,-13275.4

GPS2 131957,6312.862,-853.368,11,1.4,11,-9.8 MHEAD_RNG_PITCHd_Wd 42.2,73849,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.025884 ALTIM_BOTTOM_PING 525.3,16.9

SM_CCo 13000,210.32,0.779,0,0,390,547.02 _24V_AH 23.8,57.207

SM_GC 0.22,0.00,0.00,210.32,0.000,0.000,0.779,416,2104,390,-10.64,-1.22,547.02 _10V_AH 10.1,27.384

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 31676,620

TT8_MAMPS 0.029146 CAP_FILE_SIZE 109387,0

HUMID 1695 CFSIZE 254472192,232251392

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,0,0

XPDR_PINGS 337 GPS 100808,170207,6314.316,-848.736,28,1.5,28,-9.7

ALTIM_TOP_PING 19.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 82.52 SBE_CT 425 24 242.83

Roll_motor 140 79 266.59 SBE_O2 462 19 208.97

VBD_pump_during_apogee 255 1212 7363.04 WL_BB2F 435 105 1088.06

VBD_pump_during_surface 210 778 3896.99 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 32 160 124.06 nil 0 0 0.00

Iridium_during_xfer 128 223 681.88

Transponder_ping 88 420 887.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.98

TT8 1233 19 246.62

LPSleep 9563 2 211.53

TT8_Active 654 19 130.84

TT8_Sampling 1607 39 646.19

TT8_CF8 474 45 219.48

TT8_Kalman 33 81 27.56

Analog_circuits 1459 12 176.89

GPS_charging 0 0 0.00

Compass 1571 8 127.01

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 -116.00 0.000 6 0.000 0.000 417 2181 3098

153 -1.30 -117.3 3.3 -3.4 6 169 10.52 2.50 0.00 0.000 4 0.139 0.055 2439 3567 3098

360 -1.02 -117.3 34.6 -13.0 14 365 0.32 2.53 0.00 0.000 6 0.092 0.043 2507 2142 3097

678 -0.97 -117.3 60.1 -6.7 29 683 0.00 2.60 0.00 0.000 4 0.000 0.057 2507 3566 3098

880 -0.90 -117.3 76.8 -8.8 38 885 0.12 2.47 0.00 0.000 6 0.097 0.043 2531 2157 3099

1208 -0.90 -117.3 104.2 -9.3 54 1212 0.00 2.50 0.00 0.000 4 0.000 0.055 2531 746 3099

1320 -0.90 -117.3 115.6 -10.3 59 1325 0.00 2.53 0.00 0.000 6 0.000 0.049 2531 2158 3099

1644 -0.90 -117.3 143.9 -7.8 75 1648 0.00 2.53 0.00 0.000 4 0.000 0.060 2531 3565 3099

1767 -0.90 -117.3 153.3 -7.3 80 1774 0.00 2.50 0.00 0.000 6 0.000 0.046 2531 2150 3099

2084 -0.90 -117.3 171.4 -5.3 96 2088 0.00 2.47 0.00 0.000 4 0.000 0.058 2531 750 3099

2207 -0.90 -117.3 178.6 -6.2 101 2213 0.00 2.53 0.00 0.000 6 0.000 0.051 2531 2156 3098

2524 -0.94 -117.3 196.8 -6.5 117 2525 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2154 3098

2832 -0.99 -117.3 218.5 -7.7 132 2834 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2154 3098

3142 -1.03 -117.3 243.0 -8.0 147 3147 0.12 2.58 0.00 0.000 4 0.052 0.058 2493 740 3098

3210 -0.95 -117.3 249.4 -9.4 150 3215 0.10 2.55 0.00 0.000 6 0.107 0.052 2517 2160 3098

3538 -0.95 -117.3 276.4 -7.9 166 3543 0.00 2.53 0.00 0.000 4 0.000 0.063 2517 3562 3098

3606 -0.95 -117.3 282.2 -8.7 169 3610 0.00 2.50 0.00 0.000 6 0.000 0.049 2517 2159 3097

3927 -0.95 -117.3 306.4 -7.3 185 3931 0.00 2.53 0.00 0.000 4 0.000 0.059 2517 744 3097

4052 -0.95 -117.3 315.1 -7.2 190 4058 0.00 2.53 0.00 0.000 6 0.000 0.053 2517 2150 3097

4368 -0.95 -117.3 337.3 -7.2 206 4369 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2149 3097

4677 -0.95 -117.3 360.2 -7.4 221 4681 0.00 2.55 0.00 0.000 4 0.000 0.062 2517 746 3097

4790 -0.95 -117.3 368.6 -7.7 226 4795 0.00 2.50 0.00 0.000 6 0.000 0.054 2517 2130 3097

5112 -0.95 -117.3 391.3 -7.2 242 5116 0.00 2.60 0.00 0.000 4 0.000 0.066 2517 3565 3097

5370 -0.95 -117.3 412.7 -8.3 253 5376 0.00 2.53 0.00 0.000 6 0.000 0.052 2517 2152 3096

5686 -0.95 -117.3 433.8 -6.2 269 5690 0.00 2.55 0.00 0.000 4 0.000 0.067 2517 742 3096

5821 -0.95 -117.3 442.7 -6.4 275 5825 0.00 2.58 0.00 0.000 6 0.000 0.058 2517 2160 3096

6143 -0.95 -117.3 461.1 -6.4 291 6147 0.00 2.60 0.00 0.000 4 0.000 0.067 2517 742 3095

6233 -0.95 -117.3 467.9 -7.6 295 6237 0.00 2.55 0.00 0.000 6 0.000 0.061 2517 2139 3095

6555 -0.95 -117.3 487.1 -5.9 311 6559 0.00 2.60 0.00 0.000 4 0.000 0.073 2517 3556 3094

6814 -0.95 -117.3 505.7 -7.4 322 6820 0.00 2.55 0.00 0.000 6 0.000 0.061 2517 2153 3094

7130 -0.95 -117.3 528.4 -7.2 338 7135 0.00 2.60 0.00 0.000 4 0.000 0.076 2517 742 3093

7183 end dive: BOTTOM_OBSTACLE_DETECTED

state 7184 begin apogee

7194 -0.33 0.0 532.6 7.7 340 7300 0.62 0.00 99.00 1.213 6 0.089 0.000 2649 2101 2619

7301 end apogee: CONTROL_FINISHED_OK

state 7301 begin climb

7304 1.30 117.3 535.7 0.0 346 7407 1.73 0.00 98.22 1.183 6 0.073 0.000 3014 2100 2141

7715 1.24 117.3 499.7 10.1 366 7719 0.00 2.65 0.00 0.000 4 0.000 0.080 3014 3505 2139

7781 1.15 117.3 492.1 11.1 369 7787 0.17 2.60 0.00 0.000 6 0.100 0.067 2982 2114 2139

8103 1.18 138.6 467.2 7.0 385 8128 0.00 2.72 18.73 1.124 4 0.000 0.078 2981 3501 2054

8180 1.18 138.6 461.2 8.1 388 8184 0.00 2.58 0.00 0.000 6 0.000 0.066 2982 2122 2053

8496 1.27 165.6 438.4 6.8 403 8526 0.10 2.70 23.62 1.145 4 0.067 0.078 3008 3505 1944

8533 1.23 165.6 435.3 9.1 404 8539 0.00 2.60 0.00 0.000 6 0.000 0.067 3008 2130 1943

8849 1.23 165.6 403.8 10.5 420 8853 0.00 2.60 0.00 0.000 4 0.000 0.076 3008 3505 1941

8911 1.23 165.6 396.8 11.2 423 8915 0.00 2.53 0.00 0.000 6 0.000 0.063 3008 2139 1941

9238 1.23 165.6 361.8 10.6 439 9242 0.00 2.58 0.00 0.000 4 0.000 0.073 3008 3505 1940

9300 1.23 165.6 354.1 12.5 442 9304 0.00 2.47 0.00 0.000 6 0.000 0.058 3008 2153 1940

9626 1.23 165.6 312.2 12.8 458 9630 0.00 2.55 0.00 0.000 4 0.000 0.070 3008 3512 1940

9699 1.23 165.6 302.9 13.1 461 9703 0.00 2.45 0.00 0.000 6 0.000 0.056 3008 2173 1939

10015 1.23 165.6 270.1 9.7 476 10019 0.00 2.47 0.00 0.000 4 0.000 0.067 3008 3508 1939

10025 1.23 165.6 268.9 9.7 476 10031 0.00 2.42 0.00 0.000 6 0.000 0.054 3008 2174 1939

10342 1.23 165.6 238.3 9.8 492 10346 0.00 2.47 0.00 0.000 4 0.000 0.065 3008 3514 1939

10386 1.23 165.6 233.4 11.7 494 10390 0.00 2.40 0.00 0.000 6 0.000 0.052 3008 2184 1939

10707 1.23 165.6 201.5 9.8 510 10711 0.00 2.42 0.00 0.000 4 0.000 0.063 3008 3508 1940

10740 1.23 165.6 197.9 10.3 511 10746 0.00 2.38 0.00 0.000 6 0.000 0.050 3008 2189 1940

11056 1.23 165.6 168.6 9.2 527 11060 0.00 2.42 0.00 0.000 4 0.000 0.062 3008 3514 1940

11095 1.23 165.6 164.8 9.8 529 11099 0.00 2.35 0.00 0.000 6 0.000 0.048 3008 2196 1940

11424 1.23 165.6 135.8 8.6 545 11428 0.00 2.40 0.00 0.000 4 0.000 0.062 3008 3507 1941

11441 1.23 165.6 134.2 8.6 546 11445 0.00 2.33 0.00 0.000 6 0.000 0.049 3008 2200 1942

11774 1.24 170.6 107.0 7.8 562 11784 0.00 2.40 5.32 0.703 4 0.000 0.060 3008 3508 1924

11792 1.25 181.0 105.7 7.5 563 11807 0.00 2.33 10.23 0.809 6 0.000 0.048 3009 2207 1882

12120 1.25 181.0 79.1 8.5 578 12124 0.00 2.38 0.00 0.000 4 0.000 0.060 3008 3508 1882

12130 1.25 181.0 77.9 8.7 578 12136 0.00 2.33 0.00 0.000 6 0.000 0.047 3008 2206 1882

12448 1.25 181.0 47.9 9.8 594 12449 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2204 1882

12756 1.26 182.7 20.7 7.9 609 12760 0.00 2.38 0.00 0.000 4 0.000 0.055 3008 3510 1883

12800 1.26 182.7 16.3 9.9 611 12804 0.00 2.30 0.00 0.000 6 0.000 0.045 3008 2219 1883

12954 end climb: SURFACE_DEPTH_REACHED

state 12954 begin surface coast

12976 end surface coast: CONTROL_FINISHED_OK

state 12976 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	311	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-82579.406	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	131438,6312.845,-853.280,31,1.4,31,-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	0.119,0.187
_SM_DEPTHo	0.29	KALMAN_X	-133549.2,-550.0,-66.3,238182.1,-2.8
_SM_ANGLEo	-46.2	KALMAN_Y	-70269.6,811.1,1023.6,186186.1,-13275.4
GPS2	131957,6312.862,-853.368,11,1.4,11,-9.8	MHEAD_RNG_PITCHd_Wd	42.2,73849,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.025884	ALTIM_BOTTOM_PING	525.3,16.9
SM_CCo	13000,210.32,0.779,0,0,390,547.02	_24V_AH	23.8,57.207
SM_GC	0.22,0.00,0.00,210.32,0.000,0.000,0.779,416,2104,390,-10.64,-1.22,547.02	_10V_AH	10.1,27.384
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	31676,620
TT8_MAMPS	0.029146	CAP_FILE_SIZE	109387,0
HUMID	1695	CFSIZE	254472192,232251392
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
XPDR_PINGS	337	GPS	100808,170207,6314.316,-848.736,28,1.5,28,-9.7
ALTIM_TOP_PING	19.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	82.52	SBE_CT	425	24	242.83
Roll_motor	140	79	266.59	SBE_O2	462	19	208.97
VBD_pump_during_apogee	255	1212	7363.04	WL_BB2F	435	105	1088.06
VBD_pump_during_surface	210	778	3896.99	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	32	160	124.06	nil	0	0	0.00
Iridium_during_xfer	128	223	681.88
Transponder_ping	88	420	887.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.98
TT8	1233	19	246.62
LPSleep	9563	2	211.53
TT8_Active	654	19	130.84
TT8_Sampling	1607	39	646.19
TT8_CF8	474	45	219.48
TT8_Kalman	33	81	27.56
Analog_circuits	1459	12	176.89
GPS_charging	0	0	0.00
Compass	1571	8	127.01
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	-116.00	0.000	6	0.000	0.000	417	2181	3098
153	-1.30	-117.3	3.3	-3.4	6	169	10.52	2.50	0.00	0.000	4	0.139	0.055	2439	3567	3098
360	-1.02	-117.3	34.6	-13.0	14	365	0.32	2.53	0.00	0.000	6	0.092	0.043	2507	2142	3097
678	-0.97	-117.3	60.1	-6.7	29	683	0.00	2.60	0.00	0.000	4	0.000	0.057	2507	3566	3098
880	-0.90	-117.3	76.8	-8.8	38	885	0.12	2.47	0.00	0.000	6	0.097	0.043	2531	2157	3099
1208	-0.90	-117.3	104.2	-9.3	54	1212	0.00	2.50	0.00	0.000	4	0.000	0.055	2531	746	3099
1320	-0.90	-117.3	115.6	-10.3	59	1325	0.00	2.53	0.00	0.000	6	0.000	0.049	2531	2158	3099
1644	-0.90	-117.3	143.9	-7.8	75	1648	0.00	2.53	0.00	0.000	4	0.000	0.060	2531	3565	3099
1767	-0.90	-117.3	153.3	-7.3	80	1774	0.00	2.50	0.00	0.000	6	0.000	0.046	2531	2150	3099
2084	-0.90	-117.3	171.4	-5.3	96	2088	0.00	2.47	0.00	0.000	4	0.000	0.058	2531	750	3099
2207	-0.90	-117.3	178.6	-6.2	101	2213	0.00	2.53	0.00	0.000	6	0.000	0.051	2531	2156	3098
2524	-0.94	-117.3	196.8	-6.5	117	2525	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2154	3098
2832	-0.99	-117.3	218.5	-7.7	132	2834	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2154	3098
3142	-1.03	-117.3	243.0	-8.0	147	3147	0.12	2.58	0.00	0.000	4	0.052	0.058	2493	740	3098
3210	-0.95	-117.3	249.4	-9.4	150	3215	0.10	2.55	0.00	0.000	6	0.107	0.052	2517	2160	3098
3538	-0.95	-117.3	276.4	-7.9	166	3543	0.00	2.53	0.00	0.000	4	0.000	0.063	2517	3562	3098
3606	-0.95	-117.3	282.2	-8.7	169	3610	0.00	2.50	0.00	0.000	6	0.000	0.049	2517	2159	3097
3927	-0.95	-117.3	306.4	-7.3	185	3931	0.00	2.53	0.00	0.000	4	0.000	0.059	2517	744	3097
4052	-0.95	-117.3	315.1	-7.2	190	4058	0.00	2.53	0.00	0.000	6	0.000	0.053	2517	2150	3097
4368	-0.95	-117.3	337.3	-7.2	206	4369	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2149	3097
4677	-0.95	-117.3	360.2	-7.4	221	4681	0.00	2.55	0.00	0.000	4	0.000	0.062	2517	746	3097
4790	-0.95	-117.3	368.6	-7.7	226	4795	0.00	2.50	0.00	0.000	6	0.000	0.054	2517	2130	3097
5112	-0.95	-117.3	391.3	-7.2	242	5116	0.00	2.60	0.00	0.000	4	0.000	0.066	2517	3565	3097
5370	-0.95	-117.3	412.7	-8.3	253	5376	0.00	2.53	0.00	0.000	6	0.000	0.052	2517	2152	3096
5686	-0.95	-117.3	433.8	-6.2	269	5690	0.00	2.55	0.00	0.000	4	0.000	0.067	2517	742	3096
5821	-0.95	-117.3	442.7	-6.4	275	5825	0.00	2.58	0.00	0.000	6	0.000	0.058	2517	2160	3096
6143	-0.95	-117.3	461.1	-6.4	291	6147	0.00	2.60	0.00	0.000	4	0.000	0.067	2517	742	3095
6233	-0.95	-117.3	467.9	-7.6	295	6237	0.00	2.55	0.00	0.000	6	0.000	0.061	2517	2139	3095
6555	-0.95	-117.3	487.1	-5.9	311	6559	0.00	2.60	0.00	0.000	4	0.000	0.073	2517	3556	3094
6814	-0.95	-117.3	505.7	-7.4	322	6820	0.00	2.55	0.00	0.000	6	0.000	0.061	2517	2153	3094
7130	-0.95	-117.3	528.4	-7.2	338	7135	0.00	2.60	0.00	0.000	4	0.000	0.076	2517	742	3093
7183	end dive: BOTTOM_OBSTACLE_DETECTED
state	7184	begin apogee
7194	-0.33	0.0	532.6	7.7	340	7300	0.62	0.00	99.00	1.213	6	0.089	0.000	2649	2101	2619
7301	end apogee: CONTROL_FINISHED_OK
state	7301	begin climb
7304	1.30	117.3	535.7	0.0	346	7407	1.73	0.00	98.22	1.183	6	0.073	0.000	3014	2100	2141
7715	1.24	117.3	499.7	10.1	366	7719	0.00	2.65	0.00	0.000	4	0.000	0.080	3014	3505	2139
7781	1.15	117.3	492.1	11.1	369	7787	0.17	2.60	0.00	0.000	6	0.100	0.067	2982	2114	2139
8103	1.18	138.6	467.2	7.0	385	8128	0.00	2.72	18.73	1.124	4	0.000	0.078	2981	3501	2054
8180	1.18	138.6	461.2	8.1	388	8184	0.00	2.58	0.00	0.000	6	0.000	0.066	2982	2122	2053
8496	1.27	165.6	438.4	6.8	403	8526	0.10	2.70	23.62	1.145	4	0.067	0.078	3008	3505	1944
8533	1.23	165.6	435.3	9.1	404	8539	0.00	2.60	0.00	0.000	6	0.000	0.067	3008	2130	1943
8849	1.23	165.6	403.8	10.5	420	8853	0.00	2.60	0.00	0.000	4	0.000	0.076	3008	3505	1941
8911	1.23	165.6	396.8	11.2	423	8915	0.00	2.53	0.00	0.000	6	0.000	0.063	3008	2139	1941
9238	1.23	165.6	361.8	10.6	439	9242	0.00	2.58	0.00	0.000	4	0.000	0.073	3008	3505	1940
9300	1.23	165.6	354.1	12.5	442	9304	0.00	2.47	0.00	0.000	6	0.000	0.058	3008	2153	1940
9626	1.23	165.6	312.2	12.8	458	9630	0.00	2.55	0.00	0.000	4	0.000	0.070	3008	3512	1940
9699	1.23	165.6	302.9	13.1	461	9703	0.00	2.45	0.00	0.000	6	0.000	0.056	3008	2173	1939
10015	1.23	165.6	270.1	9.7	476	10019	0.00	2.47	0.00	0.000	4	0.000	0.067	3008	3508	1939
10025	1.23	165.6	268.9	9.7	476	10031	0.00	2.42	0.00	0.000	6	0.000	0.054	3008	2174	1939
10342	1.23	165.6	238.3	9.8	492	10346	0.00	2.47	0.00	0.000	4	0.000	0.065	3008	3514	1939
10386	1.23	165.6	233.4	11.7	494	10390	0.00	2.40	0.00	0.000	6	0.000	0.052	3008	2184	1939
10707	1.23	165.6	201.5	9.8	510	10711	0.00	2.42	0.00	0.000	4	0.000	0.063	3008	3508	1940
10740	1.23	165.6	197.9	10.3	511	10746	0.00	2.38	0.00	0.000	6	0.000	0.050	3008	2189	1940
11056	1.23	165.6	168.6	9.2	527	11060	0.00	2.42	0.00	0.000	4	0.000	0.062	3008	3514	1940
11095	1.23	165.6	164.8	9.8	529	11099	0.00	2.35	0.00	0.000	6	0.000	0.048	3008	2196	1940
11424	1.23	165.6	135.8	8.6	545	11428	0.00	2.40	0.00	0.000	4	0.000	0.062	3008	3507	1941
11441	1.23	165.6	134.2	8.6	546	11445	0.00	2.33	0.00	0.000	6	0.000	0.049	3008	2200	1942
11774	1.24	170.6	107.0	7.8	562	11784	0.00	2.40	5.32	0.703	4	0.000	0.060	3008	3508	1924
11792	1.25	181.0	105.7	7.5	563	11807	0.00	2.33	10.23	0.809	6	0.000	0.048	3009	2207	1882
12120	1.25	181.0	79.1	8.5	578	12124	0.00	2.38	0.00	0.000	4	0.000	0.060	3008	3508	1882
12130	1.25	181.0	77.9	8.7	578	12136	0.00	2.33	0.00	0.000	6	0.000	0.047	3008	2206	1882
12448	1.25	181.0	47.9	9.8	594	12449	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2204	1882
12756	1.26	182.7	20.7	7.9	609	12760	0.00	2.38	0.00	0.000	4	0.000	0.055	3008	3510	1883
12800	1.26	182.7	16.3	9.9	611	12804	0.00	2.30	0.00	0.000	6	0.000	0.045	3008	2219	1883
12954	end climb: SURFACE_DEPTH_REACHED
state	12954	begin surface coast
12976	end surface coast: CONTROL_FINISHED_OK
state	12976	begin surface