Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 314 * 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 314 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 55 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -82623.609 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 -82623.609

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 55 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 23 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 314 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 010308,6315.801,-841.846,33,1.1,33,-9.7 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.107,0.194

_SM_DEPTHo 0.36 KALMAN_X -133168.1,409.4,-39.9,246764.8,-596.9

_SM_ANGLEo -50.4 KALMAN_Y -75894.8,1180.9,885.5,196995.0,-12759.2

GPS2 010833,6315.783,-841.853,14,1.3,14,-9.7 MHEAD_RNG_PITCHd_Wd 38.5,64055,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.026924 ALTIM_BOTTOM_PING 526.4,33.5

SM_CCo 14025,198.68,0.792,0,0,390,547.02 _24V_AH 23.7,57.683

SM_GC 0.20,0.00,0.00,198.68,0.000,0.000,0.792,422,2113,390,-10.61,-1.13,547.02 _10V_AH 10.1,27.600

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34812,666

TT8_MAMPS 0.029146 CAP_FILE_SIZE 120226,0

HUMID 1701 CFSIZE 254472192,232067072

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

XPDR_PINGS 362 GPS 110808,050738,6317.506,-836.151,29,1.3,29,-9.6

ALTIM_TOP_PING 19.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 82.46 SBE_CT 457 24 260.46

Roll_motor 151 79 283.14 SBE_O2 490 19 221.03

VBD_pump_during_apogee 272 1241 8023.36 WL_BB2F 445 105 1108.64

VBD_pump_during_surface 198 792 3730.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 29 160 112.35 nil 0 0 0.00

Iridium_during_xfer 133 223 707.10

Transponder_ping 95 420 945.63

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.26

TT8 1329 19 265.96

LPSleep 10326 2 228.42

TT8_Active 656 19 131.26

TT8_Sampling 1742 39 700.36

TT8_CF8 496 45 229.50

TT8_Kalman 33 81 27.56

Analog_circuits 1526 12 184.99

GPS_charging 0 0 0.00

Compass 1701 8 137.44

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 -116.03 0.000 6 0.000 0.000 420 2112 3098

153 -1.30 -117.3 3.3 -3.5 6 169 10.43 2.62 0.00 0.000 4 0.135 0.058 2437 3556 3098

294 -1.03 -117.3 25.4 -13.7 11 299 0.32 2.45 0.00 0.000 6 0.091 0.044 2506 2177 3096

611 -0.97 -117.3 53.9 -7.7 26 615 0.00 2.55 0.00 0.000 4 0.000 0.054 2506 740 3096

684 -0.90 -117.3 59.8 -8.2 29 689 0.15 2.55 0.00 0.000 6 0.092 0.048 2537 2165 3096

1001 -0.94 -117.3 81.8 -7.0 44 1005 0.00 2.50 0.00 0.000 4 0.000 0.058 2537 3563 3097

1142 -0.94 -117.3 92.8 -7.5 50 1146 0.00 2.47 0.00 0.000 6 0.000 0.043 2537 2161 3097

1459 -0.99 -117.3 115.2 -7.1 65 1463 0.00 2.50 0.00 0.000 4 0.000 0.054 2537 750 3098

1566 -0.99 -117.3 123.6 -8.0 70 1571 0.00 2.53 0.00 0.000 6 0.000 0.049 2537 2164 3098

1895 -1.04 -117.3 149.2 -8.0 86 1900 0.15 2.50 0.00 0.000 4 0.050 0.059 2488 3558 3098

1985 -0.93 -117.3 158.4 -10.7 90 1990 0.17 2.50 0.00 0.000 6 0.091 0.045 2523 2150 3097

2307 -0.93 -117.3 184.6 -7.8 106 2312 0.00 2.50 0.00 0.000 4 0.000 0.058 2524 750 3097

2397 -0.93 -117.3 192.0 -7.9 110 2401 0.00 2.55 0.00 0.000 6 0.000 0.051 2524 2168 3097

2719 -0.93 -117.3 216.9 -7.6 126 2720 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2168 3097

3029 -0.93 -117.3 241.4 -8.0 141 3033 0.00 2.58 0.00 0.000 4 0.000 0.060 2524 744 3097

3180 -0.93 -117.3 254.8 -8.5 148 3185 0.00 2.50 0.00 0.000 6 0.000 0.052 2524 2153 3097

3509 -0.93 -117.3 281.5 -8.0 164 3513 0.00 2.58 0.00 0.000 4 0.000 0.060 2524 739 3096

3582 -0.93 -117.3 287.4 -7.9 167 3586 0.00 2.50 0.00 0.000 6 0.000 0.051 2524 2134 3096

3899 -0.93 -117.3 308.7 -6.3 182 3903 0.00 2.55 0.00 0.000 4 0.000 0.063 2524 3560 3096

4091 -0.93 -117.3 320.9 -6.4 190 4098 0.00 2.50 0.00 0.000 6 0.000 0.048 2524 2148 3095

4408 -0.93 -117.3 339.7 -5.8 206 4413 0.00 2.53 0.00 0.000 4 0.000 0.062 2524 740 3095

4569 -0.93 -117.3 350.2 -7.3 213 4573 0.00 2.53 0.00 0.000 6 0.000 0.053 2524 2145 3095

4890 -0.93 -117.3 370.5 -6.3 229 4895 0.00 2.55 0.00 0.000 4 0.000 0.066 2524 3556 3095

5025 -0.93 -117.3 379.8 -6.9 235 5030 0.00 2.53 0.00 0.000 6 0.000 0.051 2523 2145 3095

5350 -0.93 -117.3 401.0 -6.7 251 5354 0.00 2.53 0.00 0.000 4 0.000 0.064 2524 740 3094

5496 -0.93 -117.3 410.9 -6.7 257 5502 0.00 2.55 0.00 0.000 6 0.000 0.056 2524 2152 3095

5812 -0.93 -117.3 427.8 -5.3 273 5817 0.00 2.58 0.00 0.000 4 0.000 0.069 2524 3563 3094

5984 -0.93 -117.3 437.0 -5.0 280 5990 0.00 2.50 0.00 0.000 6 0.000 0.055 2524 2157 3094

6301 -0.97 -117.3 454.5 -5.7 296 6302 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2156 3093

6611 -1.02 -117.3 470.5 -5.0 311 6615 0.00 2.58 0.00 0.000 4 0.000 0.073 2524 3556 3093

6868 -1.02 -117.3 487.9 -7.7 322 6874 0.00 2.45 0.00 0.000 6 0.000 0.059 2524 2203 3093

7185 -1.08 -117.3 509.5 -6.4 338 7187 0.15 0.00 0.00 0.000 6 0.058 0.000 2483 2189 3092

7494 -1.02 -117.3 532.7 -7.5 353 7499 0.12 2.65 0.00 0.000 4 0.104 0.072 2508 760 3091

7602 -1.02 -117.3 540.8 -7.8 358 7606 0.00 2.62 0.00 0.000 6 0.000 0.067 2508 2183 3091

7740 end dive: BOTTOM_OBSTACLE_DETECTED

state 7740 begin apogee

7747 -0.33 0.0 550.9 7.3 365 7849 0.73 0.00 98.78 1.242 6 0.096 0.000 2655 2091 2620

7850 end apogee: CONTROL_FINISHED_OK

state 7850 begin climb

7853 1.30 117.3 553.5 0.0 370 7956 1.67 0.00 98.30 1.206 6 0.079 0.000 3010 2092 2141

8269 1.26 117.3 519.2 9.3 390 8274 0.00 2.67 0.00 0.000 4 0.000 0.078 3010 3509 2139

8319 1.18 117.3 513.5 10.3 392 8324 0.12 2.60 0.00 0.000 6 0.104 0.066 2988 2118 2139

8636 1.19 121.1 487.5 7.8 407 8645 0.00 2.67 4.25 0.805 4 0.000 0.079 2988 3514 2126

8685 1.19 121.1 483.1 9.2 409 8689 0.00 2.60 0.00 0.000 6 0.000 0.065 2988 2116 2126

9003 1.19 121.1 457.5 8.0 424 9007 0.00 2.65 0.00 0.000 4 0.000 0.079 2988 3512 2124

9024 1.19 121.1 455.4 8.3 425 9029 0.00 2.60 0.00 0.000 6 0.000 0.065 2988 2114 2124

9346 1.21 137.0 432.5 7.3 441 9367 0.00 2.72 14.48 1.127 4 0.000 0.077 2988 3514 2060

9463 1.21 137.0 422.0 8.6 446 9468 0.00 2.58 0.00 0.000 6 0.000 0.064 2988 2130 2060

9785 1.21 137.0 393.7 8.5 462 9789 0.00 2.62 0.00 0.000 4 0.000 0.075 2988 3509 2058

9857 1.21 137.0 387.4 8.5 465 9861 0.00 2.50 0.00 0.000 6 0.000 0.062 2988 2154 2058

10174 1.23 152.2 364.7 7.3 480 10195 0.00 2.62 13.73 1.087 4 0.000 0.073 2988 3502 1999

10264 1.23 152.2 357.0 9.1 484 10268 0.00 2.47 0.00 0.000 6 0.000 0.059 2988 2161 1999

10591 1.23 152.2 325.9 10.0 500 10596 0.00 2.53 0.00 0.000 4 0.000 0.070 2988 3509 1999

10619 1.23 152.2 322.7 11.7 501 10623 0.00 2.45 0.00 0.000 6 0.000 0.056 2988 2171 1999

10935 1.23 152.2 292.5 8.8 516 10936 0.00 0.00 0.00 0.000 6 0.000 0.000 2988 2153 1999

11245 1.28 152.2 265.0 8.9 531 11249 0.00 2.47 0.00 0.000 4 0.000 0.067 2988 3512 1999

11289 1.28 152.2 260.9 9.1 533 11294 0.00 2.45 0.00 0.000 6 0.000 0.054 2988 2164 1999

11611 1.33 152.5 234.0 8.0 549 11616 0.15 2.47 0.00 0.000 4 0.051 0.064 3034 3517 1999

11653 1.21 152.5 230.0 10.2 551 11658 0.20 2.42 0.00 0.000 6 0.093 0.051 2995 2171 1999

11980 1.26 183.3 206.6 6.6 567 12013 0.00 2.55 26.67 0.969 4 0.000 0.063 2995 3510 1872

12055 1.34 201.8 201.5 7.2 570 12077 0.12 2.40 16.42 0.933 6 0.054 0.050 3028 2186 1797

12396 1.34 201.8 170.1 9.8 587 12400 0.00 2.45 0.00 0.000 4 0.000 0.062 3028 3513 1797

12429 1.30 201.8 166.1 11.5 588 12435 0.00 2.40 0.00 0.000 6 0.000 0.049 3028 2184 1797

12746 1.30 201.8 130.4 12.0 604 12750 0.00 2.42 0.00 0.000 4 0.000 0.061 3028 3511 1798

12767 1.30 201.8 127.4 13.0 605 12771 0.00 2.35 0.00 0.000 6 0.000 0.048 3028 2195 1798

13089 1.30 201.8 91.3 10.9 621 13093 0.00 2.42 0.00 0.000 4 0.000 0.061 3028 3518 1798

13107 1.30 201.8 89.2 11.0 622 13111 0.00 2.35 0.00 0.000 6 0.000 0.048 3028 2194 1798

13435 1.30 201.8 55.4 10.2 638 13439 0.00 2.42 0.00 0.000 4 0.000 0.061 3028 3517 1799

13452 1.30 201.8 53.5 10.2 639 13456 0.00 2.35 0.00 0.000 6 0.000 0.047 3028 2201 1799

13780 1.30 201.8 22.6 9.0 655 13784 0.00 2.40 0.00 0.000 4 0.000 0.059 3027 3512 1799

13846 1.30 201.8 15.4 11.9 658 13851 0.00 2.33 0.00 0.000 6 0.000 0.046 3028 2209 1799

13980 end climb: SURFACE_DEPTH_REACHED

state 13980 begin surface coast

14002 end surface coast: CONTROL_FINISHED_OK

state 14002 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	314	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	55	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-82623.609	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	010308,6315.801,-841.846,33,1.1,33,-9.7	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.107,0.194
_SM_DEPTHo	0.36	KALMAN_X	-133168.1,409.4,-39.9,246764.8,-596.9
_SM_ANGLEo	-50.4	KALMAN_Y	-75894.8,1180.9,885.5,196995.0,-12759.2
GPS2	010833,6315.783,-841.853,14,1.3,14,-9.7	MHEAD_RNG_PITCHd_Wd	38.5,64055,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.026924	ALTIM_BOTTOM_PING	526.4,33.5
SM_CCo	14025,198.68,0.792,0,0,390,547.02	_24V_AH	23.7,57.683
SM_GC	0.20,0.00,0.00,198.68,0.000,0.000,0.792,422,2113,390,-10.61,-1.13,547.02	_10V_AH	10.1,27.600
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34812,666
TT8_MAMPS	0.029146	CAP_FILE_SIZE	120226,0
HUMID	1701	CFSIZE	254472192,232067072
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
XPDR_PINGS	362	GPS	110808,050738,6317.506,-836.151,29,1.3,29,-9.6
ALTIM_TOP_PING	19.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	82.46	SBE_CT	457	24	260.46
Roll_motor	151	79	283.14	SBE_O2	490	19	221.03
VBD_pump_during_apogee	272	1241	8023.36	WL_BB2F	445	105	1108.64
VBD_pump_during_surface	198	792	3730.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	29	160	112.35	nil	0	0	0.00
Iridium_during_xfer	133	223	707.10
Transponder_ping	95	420	945.63
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.26
TT8	1329	19	265.96
LPSleep	10326	2	228.42
TT8_Active	656	19	131.26
TT8_Sampling	1742	39	700.36
TT8_CF8	496	45	229.50
TT8_Kalman	33	81	27.56
Analog_circuits	1526	12	184.99
GPS_charging	0	0	0.00
Compass	1701	8	137.44
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	-116.03	0.000	6	0.000	0.000	420	2112	3098
153	-1.30	-117.3	3.3	-3.5	6	169	10.43	2.62	0.00	0.000	4	0.135	0.058	2437	3556	3098
294	-1.03	-117.3	25.4	-13.7	11	299	0.32	2.45	0.00	0.000	6	0.091	0.044	2506	2177	3096
611	-0.97	-117.3	53.9	-7.7	26	615	0.00	2.55	0.00	0.000	4	0.000	0.054	2506	740	3096
684	-0.90	-117.3	59.8	-8.2	29	689	0.15	2.55	0.00	0.000	6	0.092	0.048	2537	2165	3096
1001	-0.94	-117.3	81.8	-7.0	44	1005	0.00	2.50	0.00	0.000	4	0.000	0.058	2537	3563	3097
1142	-0.94	-117.3	92.8	-7.5	50	1146	0.00	2.47	0.00	0.000	6	0.000	0.043	2537	2161	3097
1459	-0.99	-117.3	115.2	-7.1	65	1463	0.00	2.50	0.00	0.000	4	0.000	0.054	2537	750	3098
1566	-0.99	-117.3	123.6	-8.0	70	1571	0.00	2.53	0.00	0.000	6	0.000	0.049	2537	2164	3098
1895	-1.04	-117.3	149.2	-8.0	86	1900	0.15	2.50	0.00	0.000	4	0.050	0.059	2488	3558	3098
1985	-0.93	-117.3	158.4	-10.7	90	1990	0.17	2.50	0.00	0.000	6	0.091	0.045	2523	2150	3097
2307	-0.93	-117.3	184.6	-7.8	106	2312	0.00	2.50	0.00	0.000	4	0.000	0.058	2524	750	3097
2397	-0.93	-117.3	192.0	-7.9	110	2401	0.00	2.55	0.00	0.000	6	0.000	0.051	2524	2168	3097
2719	-0.93	-117.3	216.9	-7.6	126	2720	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2168	3097
3029	-0.93	-117.3	241.4	-8.0	141	3033	0.00	2.58	0.00	0.000	4	0.000	0.060	2524	744	3097
3180	-0.93	-117.3	254.8	-8.5	148	3185	0.00	2.50	0.00	0.000	6	0.000	0.052	2524	2153	3097
3509	-0.93	-117.3	281.5	-8.0	164	3513	0.00	2.58	0.00	0.000	4	0.000	0.060	2524	739	3096
3582	-0.93	-117.3	287.4	-7.9	167	3586	0.00	2.50	0.00	0.000	6	0.000	0.051	2524	2134	3096
3899	-0.93	-117.3	308.7	-6.3	182	3903	0.00	2.55	0.00	0.000	4	0.000	0.063	2524	3560	3096
4091	-0.93	-117.3	320.9	-6.4	190	4098	0.00	2.50	0.00	0.000	6	0.000	0.048	2524	2148	3095
4408	-0.93	-117.3	339.7	-5.8	206	4413	0.00	2.53	0.00	0.000	4	0.000	0.062	2524	740	3095
4569	-0.93	-117.3	350.2	-7.3	213	4573	0.00	2.53	0.00	0.000	6	0.000	0.053	2524	2145	3095
4890	-0.93	-117.3	370.5	-6.3	229	4895	0.00	2.55	0.00	0.000	4	0.000	0.066	2524	3556	3095
5025	-0.93	-117.3	379.8	-6.9	235	5030	0.00	2.53	0.00	0.000	6	0.000	0.051	2523	2145	3095
5350	-0.93	-117.3	401.0	-6.7	251	5354	0.00	2.53	0.00	0.000	4	0.000	0.064	2524	740	3094
5496	-0.93	-117.3	410.9	-6.7	257	5502	0.00	2.55	0.00	0.000	6	0.000	0.056	2524	2152	3095
5812	-0.93	-117.3	427.8	-5.3	273	5817	0.00	2.58	0.00	0.000	4	0.000	0.069	2524	3563	3094
5984	-0.93	-117.3	437.0	-5.0	280	5990	0.00	2.50	0.00	0.000	6	0.000	0.055	2524	2157	3094
6301	-0.97	-117.3	454.5	-5.7	296	6302	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2156	3093
6611	-1.02	-117.3	470.5	-5.0	311	6615	0.00	2.58	0.00	0.000	4	0.000	0.073	2524	3556	3093
6868	-1.02	-117.3	487.9	-7.7	322	6874	0.00	2.45	0.00	0.000	6	0.000	0.059	2524	2203	3093
7185	-1.08	-117.3	509.5	-6.4	338	7187	0.15	0.00	0.00	0.000	6	0.058	0.000	2483	2189	3092
7494	-1.02	-117.3	532.7	-7.5	353	7499	0.12	2.65	0.00	0.000	4	0.104	0.072	2508	760	3091
7602	-1.02	-117.3	540.8	-7.8	358	7606	0.00	2.62	0.00	0.000	6	0.000	0.067	2508	2183	3091
7740	end dive: BOTTOM_OBSTACLE_DETECTED
state	7740	begin apogee
7747	-0.33	0.0	550.9	7.3	365	7849	0.73	0.00	98.78	1.242	6	0.096	0.000	2655	2091	2620
7850	end apogee: CONTROL_FINISHED_OK
state	7850	begin climb
7853	1.30	117.3	553.5	0.0	370	7956	1.67	0.00	98.30	1.206	6	0.079	0.000	3010	2092	2141
8269	1.26	117.3	519.2	9.3	390	8274	0.00	2.67	0.00	0.000	4	0.000	0.078	3010	3509	2139
8319	1.18	117.3	513.5	10.3	392	8324	0.12	2.60	0.00	0.000	6	0.104	0.066	2988	2118	2139
8636	1.19	121.1	487.5	7.8	407	8645	0.00	2.67	4.25	0.805	4	0.000	0.079	2988	3514	2126
8685	1.19	121.1	483.1	9.2	409	8689	0.00	2.60	0.00	0.000	6	0.000	0.065	2988	2116	2126
9003	1.19	121.1	457.5	8.0	424	9007	0.00	2.65	0.00	0.000	4	0.000	0.079	2988	3512	2124
9024	1.19	121.1	455.4	8.3	425	9029	0.00	2.60	0.00	0.000	6	0.000	0.065	2988	2114	2124
9346	1.21	137.0	432.5	7.3	441	9367	0.00	2.72	14.48	1.127	4	0.000	0.077	2988	3514	2060
9463	1.21	137.0	422.0	8.6	446	9468	0.00	2.58	0.00	0.000	6	0.000	0.064	2988	2130	2060
9785	1.21	137.0	393.7	8.5	462	9789	0.00	2.62	0.00	0.000	4	0.000	0.075	2988	3509	2058
9857	1.21	137.0	387.4	8.5	465	9861	0.00	2.50	0.00	0.000	6	0.000	0.062	2988	2154	2058
10174	1.23	152.2	364.7	7.3	480	10195	0.00	2.62	13.73	1.087	4	0.000	0.073	2988	3502	1999
10264	1.23	152.2	357.0	9.1	484	10268	0.00	2.47	0.00	0.000	6	0.000	0.059	2988	2161	1999
10591	1.23	152.2	325.9	10.0	500	10596	0.00	2.53	0.00	0.000	4	0.000	0.070	2988	3509	1999
10619	1.23	152.2	322.7	11.7	501	10623	0.00	2.45	0.00	0.000	6	0.000	0.056	2988	2171	1999
10935	1.23	152.2	292.5	8.8	516	10936	0.00	0.00	0.00	0.000	6	0.000	0.000	2988	2153	1999
11245	1.28	152.2	265.0	8.9	531	11249	0.00	2.47	0.00	0.000	4	0.000	0.067	2988	3512	1999
11289	1.28	152.2	260.9	9.1	533	11294	0.00	2.45	0.00	0.000	6	0.000	0.054	2988	2164	1999
11611	1.33	152.5	234.0	8.0	549	11616	0.15	2.47	0.00	0.000	4	0.051	0.064	3034	3517	1999
11653	1.21	152.5	230.0	10.2	551	11658	0.20	2.42	0.00	0.000	6	0.093	0.051	2995	2171	1999
11980	1.26	183.3	206.6	6.6	567	12013	0.00	2.55	26.67	0.969	4	0.000	0.063	2995	3510	1872
12055	1.34	201.8	201.5	7.2	570	12077	0.12	2.40	16.42	0.933	6	0.054	0.050	3028	2186	1797
12396	1.34	201.8	170.1	9.8	587	12400	0.00	2.45	0.00	0.000	4	0.000	0.062	3028	3513	1797
12429	1.30	201.8	166.1	11.5	588	12435	0.00	2.40	0.00	0.000	6	0.000	0.049	3028	2184	1797
12746	1.30	201.8	130.4	12.0	604	12750	0.00	2.42	0.00	0.000	4	0.000	0.061	3028	3511	1798
12767	1.30	201.8	127.4	13.0	605	12771	0.00	2.35	0.00	0.000	6	0.000	0.048	3028	2195	1798
13089	1.30	201.8	91.3	10.9	621	13093	0.00	2.42	0.00	0.000	4	0.000	0.061	3028	3518	1798
13107	1.30	201.8	89.2	11.0	622	13111	0.00	2.35	0.00	0.000	6	0.000	0.048	3028	2194	1798
13435	1.30	201.8	55.4	10.2	638	13439	0.00	2.42	0.00	0.000	4	0.000	0.061	3028	3517	1799
13452	1.30	201.8	53.5	10.2	639	13456	0.00	2.35	0.00	0.000	6	0.000	0.047	3028	2201	1799
13780	1.30	201.8	22.6	9.0	655	13784	0.00	2.40	0.00	0.000	4	0.000	0.059	3027	3512	1799
13846	1.30	201.8	15.4	11.9	658	13851	0.00	2.33	0.00	0.000	6	0.000	0.046	3028	2209	1799
13980	end climb: SURFACE_DEPTH_REACHED
state	13980	begin surface coast
14002	end surface coast: CONTROL_FINISHED_OK
state	14002	begin surface