Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 316 * 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 316 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 -82650.406 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 -82650.406

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 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 16 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 316 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 091108,6318.390,-830.775,39,1.1,39,-9.6 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.075,0.209

_SM_DEPTHo 0.25 KALMAN_X -127450.0,-77.9,-257.0,251357.0,5249.9

_SM_ANGLEo -47.6 KALMAN_Y -77977.4,1117.1,260.6,204521.8,-9660.4

GPS2 091626,6318.349,-830.737,10,1.6,10,-9.6 MHEAD_RNG_PITCHd_Wd 29.5,55409,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.2,1.026888 ALTIM_BOTTOM_PING 501.1,65.7

SM_CCo 13766,204.98,0.792,0,0,390,547.02 _24V_AH 23.7,57.997

SM_GC 0.20,0.00,0.00,204.98,0.000,0.000,0.792,423,2193,390,-10.61,1.19,547.02 _10V_AH 10.1,27.744

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34843,654

TT8_MAMPS 0.029146 CAP_FILE_SIZE 114888,0

HUMID 1702 CFSIZE 254472192,231956480

TCM_TEMP 16.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,19,0,0

XPDR_PINGS 322 GPS 110808,131151,6319.131,-828.551,43,3.6,62,-9.6

ALTIM_TOP_PING 18.4,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 82.35 SBE_CT 449 24 255.41

Roll_motor 145 82 283.93 SBE_O2 485 19 218.49

VBD_pump_during_apogee 262 1264 7851.03 WL_BB2F 442 105 1101.43

VBD_pump_during_surface 204 791 3845.25 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 27 160 102.97 nil 0 0 0.00

Iridium_during_xfer 133 223 706.23

Transponder_ping 84 420 843.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.08

TT8 1281 19 256.33

LPSleep 10208 2 225.81

TT8_Active 653 19 130.62

TT8_Sampling 1659 39 667.01

TT8_CF8 487 45 225.49

TT8_Kalman 33 81 27.56

Analog_circuits 1494 12 181.08

GPS_charging 0 0 0.00

Compass 1627 8 131.47

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 -116.50 0.000 6 0.000 0.000 423 2149 3097

153 -1.30 -117.3 3.1 -3.2 6 169 10.43 2.55 0.00 0.000 4 0.137 0.057 2436 3564 3096

255 -0.99 -117.3 20.7 -13.8 9 262 0.35 2.53 0.00 0.000 6 0.088 0.044 2512 2136 3095

571 -0.94 -117.3 49.6 -8.4 25 575 0.00 2.45 0.00 0.000 4 0.000 0.054 2512 745 3096

703 -0.89 -117.3 61.8 -8.9 31 708 0.12 2.50 0.00 0.000 6 0.096 0.048 2536 2155 3096

1032 -0.89 -117.3 86.4 -7.4 47 1033 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2153 3096

1340 -0.93 -117.3 111.7 -8.4 62 1344 0.00 2.55 0.00 0.000 4 0.000 0.056 2536 750 3097

1413 -0.93 -117.3 118.2 -9.4 65 1417 0.00 2.47 0.00 0.000 6 0.000 0.049 2536 2133 3097

1730 -0.98 -117.3 143.6 -7.7 80 1734 0.00 2.55 0.00 0.000 4 0.000 0.060 2536 3557 3096

1847 -0.98 -117.3 153.1 -7.8 85 1852 0.00 2.50 0.00 0.000 6 0.000 0.045 2536 2143 3096

2165 -1.03 -117.3 175.8 -6.9 100 2169 0.15 2.50 0.00 0.000 4 0.051 0.058 2488 744 3096

2250 -0.93 -117.3 183.0 -9.3 104 2255 0.17 2.50 0.00 0.000 6 0.091 0.051 2524 2139 3096

2578 -0.93 -117.3 206.2 -7.1 120 2582 0.00 2.55 0.00 0.000 4 0.000 0.061 2524 3557 3096

2678 -0.93 -117.3 214.0 -7.5 124 2684 0.00 2.53 0.00 0.000 6 0.000 0.047 2524 2138 3096

2995 -0.93 -117.3 238.4 -7.9 140 2999 0.00 2.47 0.00 0.000 4 0.000 0.058 2524 746 3096

3151 -0.93 -117.3 252.5 -9.3 147 3156 0.00 2.47 0.00 0.000 6 0.000 0.051 2524 2124 3096

3474 -0.93 -117.3 279.1 -7.9 163 3478 0.00 2.58 0.00 0.000 4 0.000 0.063 2524 3557 3096

3608 -0.93 -117.3 290.6 -8.5 169 3612 0.00 2.55 0.00 0.000 6 0.000 0.049 2524 2130 3095

3929 -0.93 -117.3 314.1 -6.7 185 3934 0.00 2.50 0.00 0.000 4 0.000 0.062 2524 737 3095

4030 -0.93 -117.3 321.3 -7.1 189 4036 0.00 2.53 0.00 0.000 6 0.000 0.053 2524 2141 3095

4347 -0.98 -117.3 341.8 -7.0 205 4351 0.00 2.58 0.00 0.000 4 0.000 0.064 2524 3564 3096

4531 -0.98 -117.3 355.1 -7.5 213 4535 0.00 2.53 0.00 0.000 6 0.000 0.051 2524 2148 3094

4847 -0.98 -117.3 372.9 -5.0 228 4851 0.00 2.53 0.00 0.000 4 0.000 0.063 2524 742 3095

5078 -0.98 -117.3 385.7 -6.0 238 5082 0.00 2.55 0.00 0.000 6 0.000 0.056 2524 2148 3094

5395 -1.02 -117.3 405.3 -6.5 253 5400 0.00 2.58 0.00 0.000 4 0.000 0.065 2524 741 3094

5463 -1.02 -117.3 410.0 -6.8 256 5467 0.00 2.53 0.00 0.000 6 0.000 0.058 2524 2132 3094

5784 -1.06 -117.3 430.3 -6.1 272 5789 0.12 2.62 0.00 0.000 4 0.058 0.071 2488 3564 3094

6014 -0.98 -117.3 449.5 -8.5 282 6019 0.12 2.55 0.00 0.000 6 0.102 0.058 2513 2151 3093

6331 -0.98 -117.3 470.9 -6.9 297 6335 0.00 2.55 0.00 0.000 4 0.000 0.073 2513 749 3092

6431 -0.98 -117.3 478.2 -7.3 301 6437 0.00 2.55 0.00 0.000 6 0.000 0.064 2513 2135 3092

6747 -0.98 -117.3 499.7 -6.6 317 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2135 3091

7057 -0.98 -117.3 520.5 -6.5 332 7058 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2135 3090

7366 -0.98 -117.3 541.3 -7.0 347 7367 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2135 3090

7589 end dive: BOTTOM_OBSTACLE_DETECTED

state 7590 begin apogee

7596 -0.33 0.0 556.9 6.9 358 7698 0.68 0.00 98.35 1.264 6 0.095 0.000 2651 2135 2620

7698 end apogee: CONTROL_FINISHED_OK

state 7699 begin climb

7702 1.30 117.3 559.8 0.0 363 7808 1.73 2.65 97.95 1.227 4 0.077 0.081 3013 3507 2140

7817 1.20 117.3 553.2 8.2 368 7821 0.00 2.67 0.00 0.000 6 0.000 0.069 3013 2103 2140

8139 1.13 117.3 524.1 8.9 384 8144 0.15 2.70 0.00 0.000 4 0.100 0.081 2981 3511 2138

8217 1.14 120.5 517.7 7.9 387 8226 0.00 2.62 4.15 0.802 6 0.000 0.069 2980 2116 2127

8555 1.15 128.9 491.0 7.6 404 8569 0.00 2.72 8.50 1.063 4 0.000 0.081 2981 3501 2094

8637 1.15 128.9 484.0 8.8 407 8643 0.00 2.60 0.00 0.000 6 0.000 0.071 2981 2120 2093

8954 1.15 128.9 457.9 8.4 423 8959 0.00 2.65 0.00 0.000 4 0.000 0.082 2981 3507 2092

9005 1.15 128.9 453.1 8.9 425 9009 0.00 2.58 0.00 0.000 6 0.000 0.068 2981 2133 2092

9321 1.15 128.9 427.6 8.1 440 9325 0.00 2.65 0.00 0.000 4 0.000 0.081 2981 3512 2090

9410 1.15 128.9 419.8 8.9 444 9414 0.00 2.58 0.00 0.000 6 0.000 0.066 2981 2133 2090

9732 1.21 165.0 396.3 6.4 460 9767 0.00 2.67 30.33 1.191 4 0.000 0.077 2981 3507 1947

9824 1.29 190.8 390.2 6.8 463 9856 0.15 2.53 22.80 1.153 6 0.061 0.064 3017 2136 1842

10170 1.29 190.8 360.0 9.6 480 10174 0.00 2.60 0.00 0.000 4 0.000 0.077 3017 3508 1840

10203 1.25 190.8 356.1 10.9 481 10209 0.00 2.50 0.00 0.000 6 0.000 0.063 3017 2166 1840

10519 1.25 190.8 325.5 9.8 497 10523 0.00 2.53 0.00 0.000 4 0.000 0.073 3017 3508 1840

10530 1.25 190.8 324.2 10.1 497 10536 0.00 2.45 0.00 0.000 6 0.000 0.059 3017 2176 1839

10846 1.25 190.8 290.7 10.5 513 10850 0.00 2.53 0.00 0.000 4 0.000 0.071 3017 3516 1840

10924 1.25 190.8 282.0 11.4 516 10930 0.00 2.42 0.00 0.000 6 0.000 0.057 3017 2193 1839

11241 1.25 190.8 249.0 10.5 532 11242 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2179 1839

11549 1.25 190.8 216.8 10.2 547 11553 0.00 2.45 0.00 0.000 4 0.000 0.066 3017 3518 1840

11559 1.25 190.8 215.6 10.4 547 11565 0.00 2.40 0.00 0.000 6 0.000 0.053 3017 2194 1840

11876 1.25 190.8 184.3 9.6 563 11880 0.00 2.42 0.00 0.000 4 0.000 0.064 3017 3511 1841

11893 1.25 190.8 182.5 9.5 564 11897 0.00 2.35 0.00 0.000 6 0.000 0.051 3017 2203 1841

12219 1.25 190.8 150.5 10.0 580 12224 0.00 2.40 0.00 0.000 4 0.000 0.064 3017 3510 1841

12230 1.25 190.8 149.3 10.2 580 12237 0.00 2.33 0.00 0.000 6 0.000 0.050 3017 2205 1842

12547 1.25 190.8 117.4 10.2 596 12552 0.00 2.40 0.00 0.000 4 0.000 0.062 3017 3515 1842

12581 1.25 190.8 113.5 10.9 597 12587 0.00 2.35 0.00 0.000 6 0.000 0.048 3017 2204 1842

12898 1.25 190.8 80.2 10.0 613 12903 0.00 2.40 0.00 0.000 4 0.000 0.061 3017 3515 1843

12932 1.25 190.8 76.6 10.1 614 12939 0.00 2.33 0.00 0.000 6 0.000 0.048 3017 2214 1843

13248 1.25 190.8 46.4 10.2 630 13250 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2214 1844

13558 1.25 190.8 16.2 9.9 645 13562 0.00 2.38 0.00 0.000 4 0.000 0.061 3017 3514 1844

13577 1.25 190.8 14.3 10.5 646 13581 0.00 2.30 0.00 0.000 6 0.000 0.047 3017 2221 1845

13721 end climb: SURFACE_DEPTH_REACHED

state 13721 begin surface coast

13744 end surface coast: CONTROL_FINISHED_OK

state 13744 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	316	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	-82650.406	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	091108,6318.390,-830.775,39,1.1,39,-9.6	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.075,0.209
_SM_DEPTHo	0.25	KALMAN_X	-127450.0,-77.9,-257.0,251357.0,5249.9
_SM_ANGLEo	-47.6	KALMAN_Y	-77977.4,1117.1,260.6,204521.8,-9660.4
GPS2	091626,6318.349,-830.737,10,1.6,10,-9.6	MHEAD_RNG_PITCHd_Wd	29.5,55409,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.2,1.026888	ALTIM_BOTTOM_PING	501.1,65.7
SM_CCo	13766,204.98,0.792,0,0,390,547.02	_24V_AH	23.7,57.997
SM_GC	0.20,0.00,0.00,204.98,0.000,0.000,0.792,423,2193,390,-10.61,1.19,547.02	_10V_AH	10.1,27.744
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34843,654
TT8_MAMPS	0.029146	CAP_FILE_SIZE	114888,0
HUMID	1702	CFSIZE	254472192,231956480
TCM_TEMP	16.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,19,0,0
XPDR_PINGS	322	GPS	110808,131151,6319.131,-828.551,43,3.6,62,-9.6
ALTIM_TOP_PING	18.4,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	82.35	SBE_CT	449	24	255.41
Roll_motor	145	82	283.93	SBE_O2	485	19	218.49
VBD_pump_during_apogee	262	1264	7851.03	WL_BB2F	442	105	1101.43
VBD_pump_during_surface	204	791	3845.25	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	27	160	102.97	nil	0	0	0.00
Iridium_during_xfer	133	223	706.23
Transponder_ping	84	420	843.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.08
TT8	1281	19	256.33
LPSleep	10208	2	225.81
TT8_Active	653	19	130.62
TT8_Sampling	1659	39	667.01
TT8_CF8	487	45	225.49
TT8_Kalman	33	81	27.56
Analog_circuits	1494	12	181.08
GPS_charging	0	0	0.00
Compass	1627	8	131.47
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	-116.50	0.000	6	0.000	0.000	423	2149	3097
153	-1.30	-117.3	3.1	-3.2	6	169	10.43	2.55	0.00	0.000	4	0.137	0.057	2436	3564	3096
255	-0.99	-117.3	20.7	-13.8	9	262	0.35	2.53	0.00	0.000	6	0.088	0.044	2512	2136	3095
571	-0.94	-117.3	49.6	-8.4	25	575	0.00	2.45	0.00	0.000	4	0.000	0.054	2512	745	3096
703	-0.89	-117.3	61.8	-8.9	31	708	0.12	2.50	0.00	0.000	6	0.096	0.048	2536	2155	3096
1032	-0.89	-117.3	86.4	-7.4	47	1033	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2153	3096
1340	-0.93	-117.3	111.7	-8.4	62	1344	0.00	2.55	0.00	0.000	4	0.000	0.056	2536	750	3097
1413	-0.93	-117.3	118.2	-9.4	65	1417	0.00	2.47	0.00	0.000	6	0.000	0.049	2536	2133	3097
1730	-0.98	-117.3	143.6	-7.7	80	1734	0.00	2.55	0.00	0.000	4	0.000	0.060	2536	3557	3096
1847	-0.98	-117.3	153.1	-7.8	85	1852	0.00	2.50	0.00	0.000	6	0.000	0.045	2536	2143	3096
2165	-1.03	-117.3	175.8	-6.9	100	2169	0.15	2.50	0.00	0.000	4	0.051	0.058	2488	744	3096
2250	-0.93	-117.3	183.0	-9.3	104	2255	0.17	2.50	0.00	0.000	6	0.091	0.051	2524	2139	3096
2578	-0.93	-117.3	206.2	-7.1	120	2582	0.00	2.55	0.00	0.000	4	0.000	0.061	2524	3557	3096
2678	-0.93	-117.3	214.0	-7.5	124	2684	0.00	2.53	0.00	0.000	6	0.000	0.047	2524	2138	3096
2995	-0.93	-117.3	238.4	-7.9	140	2999	0.00	2.47	0.00	0.000	4	0.000	0.058	2524	746	3096
3151	-0.93	-117.3	252.5	-9.3	147	3156	0.00	2.47	0.00	0.000	6	0.000	0.051	2524	2124	3096
3474	-0.93	-117.3	279.1	-7.9	163	3478	0.00	2.58	0.00	0.000	4	0.000	0.063	2524	3557	3096
3608	-0.93	-117.3	290.6	-8.5	169	3612	0.00	2.55	0.00	0.000	6	0.000	0.049	2524	2130	3095
3929	-0.93	-117.3	314.1	-6.7	185	3934	0.00	2.50	0.00	0.000	4	0.000	0.062	2524	737	3095
4030	-0.93	-117.3	321.3	-7.1	189	4036	0.00	2.53	0.00	0.000	6	0.000	0.053	2524	2141	3095
4347	-0.98	-117.3	341.8	-7.0	205	4351	0.00	2.58	0.00	0.000	4	0.000	0.064	2524	3564	3096
4531	-0.98	-117.3	355.1	-7.5	213	4535	0.00	2.53	0.00	0.000	6	0.000	0.051	2524	2148	3094
4847	-0.98	-117.3	372.9	-5.0	228	4851	0.00	2.53	0.00	0.000	4	0.000	0.063	2524	742	3095
5078	-0.98	-117.3	385.7	-6.0	238	5082	0.00	2.55	0.00	0.000	6	0.000	0.056	2524	2148	3094
5395	-1.02	-117.3	405.3	-6.5	253	5400	0.00	2.58	0.00	0.000	4	0.000	0.065	2524	741	3094
5463	-1.02	-117.3	410.0	-6.8	256	5467	0.00	2.53	0.00	0.000	6	0.000	0.058	2524	2132	3094
5784	-1.06	-117.3	430.3	-6.1	272	5789	0.12	2.62	0.00	0.000	4	0.058	0.071	2488	3564	3094
6014	-0.98	-117.3	449.5	-8.5	282	6019	0.12	2.55	0.00	0.000	6	0.102	0.058	2513	2151	3093
6331	-0.98	-117.3	470.9	-6.9	297	6335	0.00	2.55	0.00	0.000	4	0.000	0.073	2513	749	3092
6431	-0.98	-117.3	478.2	-7.3	301	6437	0.00	2.55	0.00	0.000	6	0.000	0.064	2513	2135	3092
6747	-0.98	-117.3	499.7	-6.6	317	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2135	3091
7057	-0.98	-117.3	520.5	-6.5	332	7058	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2135	3090
7366	-0.98	-117.3	541.3	-7.0	347	7367	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2135	3090
7589	end dive: BOTTOM_OBSTACLE_DETECTED
state	7590	begin apogee
7596	-0.33	0.0	556.9	6.9	358	7698	0.68	0.00	98.35	1.264	6	0.095	0.000	2651	2135	2620
7698	end apogee: CONTROL_FINISHED_OK
state	7699	begin climb
7702	1.30	117.3	559.8	0.0	363	7808	1.73	2.65	97.95	1.227	4	0.077	0.081	3013	3507	2140
7817	1.20	117.3	553.2	8.2	368	7821	0.00	2.67	0.00	0.000	6	0.000	0.069	3013	2103	2140
8139	1.13	117.3	524.1	8.9	384	8144	0.15	2.70	0.00	0.000	4	0.100	0.081	2981	3511	2138
8217	1.14	120.5	517.7	7.9	387	8226	0.00	2.62	4.15	0.802	6	0.000	0.069	2980	2116	2127
8555	1.15	128.9	491.0	7.6	404	8569	0.00	2.72	8.50	1.063	4	0.000	0.081	2981	3501	2094
8637	1.15	128.9	484.0	8.8	407	8643	0.00	2.60	0.00	0.000	6	0.000	0.071	2981	2120	2093
8954	1.15	128.9	457.9	8.4	423	8959	0.00	2.65	0.00	0.000	4	0.000	0.082	2981	3507	2092
9005	1.15	128.9	453.1	8.9	425	9009	0.00	2.58	0.00	0.000	6	0.000	0.068	2981	2133	2092
9321	1.15	128.9	427.6	8.1	440	9325	0.00	2.65	0.00	0.000	4	0.000	0.081	2981	3512	2090
9410	1.15	128.9	419.8	8.9	444	9414	0.00	2.58	0.00	0.000	6	0.000	0.066	2981	2133	2090
9732	1.21	165.0	396.3	6.4	460	9767	0.00	2.67	30.33	1.191	4	0.000	0.077	2981	3507	1947
9824	1.29	190.8	390.2	6.8	463	9856	0.15	2.53	22.80	1.153	6	0.061	0.064	3017	2136	1842
10170	1.29	190.8	360.0	9.6	480	10174	0.00	2.60	0.00	0.000	4	0.000	0.077	3017	3508	1840
10203	1.25	190.8	356.1	10.9	481	10209	0.00	2.50	0.00	0.000	6	0.000	0.063	3017	2166	1840
10519	1.25	190.8	325.5	9.8	497	10523	0.00	2.53	0.00	0.000	4	0.000	0.073	3017	3508	1840
10530	1.25	190.8	324.2	10.1	497	10536	0.00	2.45	0.00	0.000	6	0.000	0.059	3017	2176	1839
10846	1.25	190.8	290.7	10.5	513	10850	0.00	2.53	0.00	0.000	4	0.000	0.071	3017	3516	1840
10924	1.25	190.8	282.0	11.4	516	10930	0.00	2.42	0.00	0.000	6	0.000	0.057	3017	2193	1839
11241	1.25	190.8	249.0	10.5	532	11242	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2179	1839
11549	1.25	190.8	216.8	10.2	547	11553	0.00	2.45	0.00	0.000	4	0.000	0.066	3017	3518	1840
11559	1.25	190.8	215.6	10.4	547	11565	0.00	2.40	0.00	0.000	6	0.000	0.053	3017	2194	1840
11876	1.25	190.8	184.3	9.6	563	11880	0.00	2.42	0.00	0.000	4	0.000	0.064	3017	3511	1841
11893	1.25	190.8	182.5	9.5	564	11897	0.00	2.35	0.00	0.000	6	0.000	0.051	3017	2203	1841
12219	1.25	190.8	150.5	10.0	580	12224	0.00	2.40	0.00	0.000	4	0.000	0.064	3017	3510	1841
12230	1.25	190.8	149.3	10.2	580	12237	0.00	2.33	0.00	0.000	6	0.000	0.050	3017	2205	1842
12547	1.25	190.8	117.4	10.2	596	12552	0.00	2.40	0.00	0.000	4	0.000	0.062	3017	3515	1842
12581	1.25	190.8	113.5	10.9	597	12587	0.00	2.35	0.00	0.000	6	0.000	0.048	3017	2204	1842
12898	1.25	190.8	80.2	10.0	613	12903	0.00	2.40	0.00	0.000	4	0.000	0.061	3017	3515	1843
12932	1.25	190.8	76.6	10.1	614	12939	0.00	2.33	0.00	0.000	6	0.000	0.048	3017	2214	1843
13248	1.25	190.8	46.4	10.2	630	13250	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2214	1844
13558	1.25	190.8	16.2	9.9	645	13562	0.00	2.38	0.00	0.000	4	0.000	0.061	3017	3514	1844
13577	1.25	190.8	14.3	10.5	646	13581	0.00	2.30	0.00	0.000	6	0.000	0.047	3017	2221	1845
13721	end climb: SURFACE_DEPTH_REACHED
state	13721	begin surface coast
13744	end surface coast: CONTROL_FINISHED_OK
state	13744	begin surface